systems and methods for controlling the engine speed of a surgical stapling and cutting instrument

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member. A motor is coupled to the displacement member. A control circuit is attached to the motor. A position sensor is coupled to the control circuit. A timer circuit is coupled to the control circuit to measure the elapsed time. The control circuit is configured to receive the position of the displacement member from the position sensor, receive the elapsed time of the timer circuit and control the motor speed based on the position of the displacement member and the elapsed time. A method of controlling the speed of the surgical instrument's motor is also disclosed.
公开号:BR112019027332A2
申请号:R112019027332-8
申请日:2018-05-21
公开日:2020-07-07
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND
[002] [002] In a motorized surgical stapling and cutting instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at predetermined position intervals of the displacement member or measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the cutting element speed during a firing stroke to take into account tissue conditions. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it can be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different pivot speed than the standard pivot speed in one or more regions within a scan range of the end actuator.
[003] [003] When using a motorized surgical stapling and cutting instrument, the force to fire the load on a cutting member or a trigger member can vary as a function of tissue thickness. In general, the firing force exerted on the cutting member or the firing member will increase as the thickness of the fabric increases. Therefore, it may be necessary at the initial stage of the cutting member over a ramp of the closing anvil slit to determine the initial thickness of the fabric and to adjust the firing speed of the cutting member based on the thickness of the fabric determined to reduce the force to fire the load on the cutting member or the firing member. It may also be desirable to provide a continuous speed control of the firing motor based on the travel of the cutting member over a fixed time interval as an intermediate to the force in order to trigger the load exerted on the cutting member or on the firing member. SUMMARY
[004] [004] In one aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit configured to measure the elapsed time; the control circuit being configured to: receive the position of the displacement member from the position sensor; receive the elapsed time of the timer circuit; and controlling the speed of the engine based on the position of the displacement member and the elapsed time.
[005] [005] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; the control circuit being configured to: receive the position of the displacement member from the position sensor; receive the elapsed time of the timer circuit; and controlling the speed of the engine based on the position of the displacement member and the elapsed time.
[006] [006] In another aspect, a method of controlling the speed of the engine of a surgical instrument is provided. The surgical instrument comprises a displacement member configured to move within the surgical instrument, a motor coupled to the displacement member of the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the displacement circuit. control, the position sensor configured to measure the position of the displacement member, a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time. The method comprises receiving, through a control circuit, a position of a displacement member from a position sensor; receive, by the control circuit, the elapsed time of a timer circuit; and controlling, through the control circuit, the speed of an engine based on the position of the displacement member and the elapsed time. FIGURES
[007] [007] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[008] [008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to one aspect of this description.
[009] [009] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this description.
[0010] [0010] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to an aspect of this description.
[0011] [0011] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this description.
[0012] [0012] Figures 5A to 5B is a block diagram of a control circuit of the surgical instrument of Figure 1 that comprises two drawing sheets, according to one aspect of this description.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the cable assembly, the power assembly and the cable assembly and the interchangeable drive shaft assembly, according to with an aspect of the present description.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, the absolute positioning system comprising a motor controlled drive circuit arrangement comprising a sensor arrangement, according to a aspect of this description.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor array, according to an aspect of this description.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present description.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, which shows a course of the firing member in relation to the tissue trapped within the end actuator, in accordance with an aspect of the present description. .
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to an aspect of the present description.
[0022] [0022] Figure 15 illustrates a diagram that plots two examples of displacement limb courses performed, in accordance with an aspect of the present description.
[0023] [0023] Figure 16 is a graph that represents the motor current (I) as a function of the travel of the displacement member (d), according to one aspect of the description.
[0024] [0024] Figure 17 is a logic flow diagram that represents a process of a control program or a logical configuration to control the rate of a displacement member, according to one aspect of this description. DESCRIPTION
[0025] [0025] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0026] [0026] Attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0027] [0027] Attorney Document No. END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0028] [0028] Attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0029] [0029] Attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT ACCORDING TO ARTICULATION ANGLE OF END
[0030] [0030] Attorney document number END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY by the inventors Frederick ES. Shelton, IV et al., Filed on June 20, 2017.
[0031] [0031] Attorney document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELOCITY
[0032] [0032] Attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0033] [0033] Attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0034] [0034] Attorney document number END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0035] [0035] Attorney Document No. END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, by inventors Raymond E. Parfett, filed on June 20, 2017.
[0036] [0036] Attorney document number END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0037] [0037] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0038] [0038] Attorney document number END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0039] [0039] Attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0040] [0040] Attorney Document No. END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Jason L. Harris et al., Filed on June 20,
[0041] [0041] Attorney document number END8270USNP / 170191,
[0042] [0042] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0043] [0043] The applicant for the present application holds the following design patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0044] [0044] Attorney document number END8274USDP / 170193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0045] [0045] Attorney document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0046] [0046] Attorney document number END8272USDP / 170195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0047] [0047] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the devices and methods described. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this description.
[0048] [0048] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, with the term "proximal" referring to the portion closest to the doctor and the term "distal" referring to the portion located farthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0049] [0049] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft of the surgical instrument can be advanced.
[0050] [0050] Figure 1 to 4 illustrates a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a cable assembly 14 that is configured to be picked up, handled and operated by the physician. The compartment 12 is configured for operational attachment to an interchangeable drive shaft assembly 200 that has an end actuator 300 operably coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the sets of drive shaft. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. The interchangeable drive shaft assemblies described herein can be used with various robotic systems, instruments, components and methods described in US Patent No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated herein by way of reference, in its entirety.
[0051] [0051] Figure 1 is a perspective view of a surgical instrument 10 having an interchangeable drive shaft assembly 200 operatively coupled thereto, according to an aspect of this description. The housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 therein. Housing 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of clamp cartridges, and that have different lengths, sizes and types of shaft drive. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to actuator arrangements tips adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0052] [0052] The cable assembly 14 may comprise a pair of interconnectable cable compartment segments 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached thereto. A screen can be provided under a cover 45.
[0053] [0053] Figure 2 illustrates an exploded view of a portion of the surgical instrument 10 of Figure 1, in accordance with an aspect of this description. The cable assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by the structure
[0054] [0054] The cable assembly 14 and the structure 20 can operationally support a firing drive system 80 configured to apply firing movements to the corresponding portions of the interchangeable drive shaft assembly fixed thereto. The firing drive system 80 can use an electric motor 82 located in the pistol grip handle portion 19 of the cable assembly 14. Electric motor 82 can be a brushed direct current (DC) motor having a maximum rotation of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. Electric motor 82 can be powered by a power supply 90 which can comprise a removable power source
[0055] [0055] The electric motor 82 may include a rotary drive shaft (not shown), which, in an operational manner, interfaces with a gear reducer assembly 84 mounted on a coupling coupling with a set or rack, of drive teeth 122 in a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0056] [0056] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in the anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "DP". The cable assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The cable assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0057] [0057] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position.
[0058] [0058] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge
[0059] [0059] Returning to Figure 1, the closing tube 260 is translated distally (direction "DD") to close the anvil 306, for example, in response to the actuation of the closing trigger 32 in the manner described in the previously mentioned reference of the publication Patent Application No. 2014/0263541. Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0060] [0060] Figure 3 is another view of the exploded set of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of the present description. The interchangeable drive shaft assembly 200 may include a firing member 220 sustained to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing drive shaft 222 configured to connect to a portion of distal cut or cut bar 280. The firing member 220 can be called a "second drive shaft" or a "second drive shaft set". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a tab 284 at the proximal end 282 of the cutter bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow relative movement between them and may comprise a slide joint 286. The slide joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot end actuator 300 around pivot joint 270 without moving, or at least without substantially moving the cutter bar 280. When the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the cutting bar 280 and fire a staple cartridge positioned inside the groove
[0061] [0061] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a locking ring or sleeve 402 positioned around the firing member 220, the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the articulation actuator 230 to the firing member 220, and a disengaged position, where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 distally and, correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The mouthpiece 201 can be used to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in US Patent Application Publication No. 2014/0263541.
[0062] [0062] The interchangeable drive shaft assembly 200 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from it and / or communicate signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the nozzle portions 202, 203. The flange of the proximal connector 604 may comprise a first face and the flange the distal connector 601 can comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange of proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the circuit board of the drive shaft. The electrical connector
[0063] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the cable assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated with respect to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal rotary drive shaft portion.
[0064] [0064] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. The openings 199 can be defined in the elongated channel 302 to receive pins 152 extending from the anvil 306 to allow anvil 306 to rotate from an open position to a closed position in relation to the elongated groove 302 and surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator
[0065] [0065] The I-shaped rod 178 may include upper pins 180 that engage the anvil 306 during firing. The I-shaped rod 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the I-shaped rod 178 can slide through the aligned longitudinal slits 193, 197 and 189, and, as shown in Figure 4, the base 186 of the I-shaped rod 178 can engage a groove positioned along the lower surface of the elongated channel 302 along the length of the slot 189, the middle pins 184 can engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage the anvil 306. The rod with I-shaped profile 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, as the firing bar 172 is distally advanced in order to fire the staples from the surgical staple cartridge 304 and / or make a incision in the tissue captured between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the I-shaped rod 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and cut tissue portions .
[0066] [0066] Figures 5A and 5B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 that comprises two drawing sheets, according to one aspect of this description. Referring primarily to Figures 5A and 5B, a handle assembly 702 can include an engine 714, which can be controlled by an engine driver 715 and can be used by the trigger system of the surgical instrument 10. In several ways, the engine 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the power set 706 releasably mounted to the cable set 200 to supply control power to the surgical instrument 10. The power set 706 may comprise a battery that may include several battery cells connected in series, that can be used as the energy source to energize the surgical instrument
[0067] [0067] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with corresponding electrical drive shaft assembly connectors and a second interface portion 727 which can include one or more connectors for coupling coupling with the corresponding power pack electrical connectors to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and the supply assembly 706 are coupled s to cable assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 attached to the power management controller 716. In response, the controller management module can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the 704 fixed drive shaft assembly. The connectors can comprise switches that can be activated after mechanically coupling the cable assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0068] [0068] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located in the assembly cable 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 via cable assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are attached to cable assembly 702.
[0069] [0069] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex from Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0070] [0070] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0071] [0071] The power set 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit can be configured to modulate the battery's output power based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power set 706 and the current sensor circuit 736 can be used to monitor the power output of the power set 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output of the battery power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0072] [0072] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0073] [0073] The control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor segment , and a feed segment. Each circuit segment can be coupled to the safety controller and / or the main controller
[0074] [0074] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0075] [0075] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0076] [0076] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft set 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for a end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument
[0077] [0077] The position encoder segment (segment 6) comprises one or more magnetic encoders of the position of the rotation angle. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0078] [0078] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0079] [0079] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation (PWM) signal ), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0080] [0080] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0081] [0081] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a surgical instrument status 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot for the right side, one for the right pivot for the right side, and a central pivot key for the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central hinge key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flexing connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0082] [0082] Any suitable mechanical, electromechanical, or solid state switches can be used to implement the plurality of switches, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0083] [0083] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the cable assembly 702 and the power supply 706 and between the cable assembly 702 and the cable assembly. interchangeable drive shaft 704, in accordance with an aspect of the present description. Cable assembly 702 may comprise a main controller
[0084] [0084] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly
[0085] [0085] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor may be any one of several single-core or multi-core processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The 802 processor can include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804.
[0086] [0086] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. The combinational logic circuit 810 can be configured to implement various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0087] [0087] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock 829, for example. The at least one memory circuit 820 can store a state of the finite state machine current. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the surgical instrument 10, an input 826, process the data through the combinational logic circuit 822, and provide an output 828. In other respects, the circuit may comprise a combination of the 802 processor and the finite state machine for implementing various processes of the present invention. In other respects, the finite state machine may comprise a combination of the combinational logic circuit 810 and the sequential logic circuit 820.
[0088] [0088] Aspects can be implemented in the form of a manufacturing article. The manufacturing article may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application specific processor.
[0089] [0089] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising a motor controlled drive circuit arrangement comprising an arrangement of sensor 1102, in accordance with an aspect of the present description. Position sensor 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member
[0090] [0090] An electric motor 1120 may include a rotary drive shaft 1116 which, operationally, interfaces with a gear set 1114 that is mounted on a coupling hitch with a set, or rack, of drive teeth on the drive member 1111 A sensor element 1126 can be operationally coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member
[0091] [0091] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 represents the longitudinal linear distance by which the displacement member 1111 moves from the point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the position sensor 1112 completing one or more revolutions for the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the full travel of the travel member 1111.
[0092] [0092] A series of keys 1122a through 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The state of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the drive member 1111. The output 1124 of the position sensor 1112 is supplied to controller 1104. Position sensor 1112 of sensor array 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements, which emit a unique combination of signal position or values.
[0093] [0093] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the driving member 1111 to the reset position (zero or initial), as can be case of conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0094] [0094] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and scalpel systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. Electric motor 1120 can be a direct current motor with brushes with a gearbox and mechanical connections with an articulation or scalpel system. In one aspect, an 1110 motor driver can be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR
[0095] [0095] Controller 1104 can be programmed to provide precise control of the speed and position of displacement member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0096] [0096] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and an adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensor (s) can be provided to mediate the physical parameters of the physical system in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an absolute positioning system 1100 is coupled to a digital data capture system in which the output of the 1100 absolute positioning system will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control circuit, that trigger the calculated response towards the measured response . The computed response of the physical system considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict by knowing the input which will be the states and outputs of the physical system. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[0097] [0097] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 1110 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide (MOSFET) field transistors. , N-channel, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor Input control unit can be used to supply the excess voltage to that supplied by the battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows operation in direct current (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. Power FETs are protected from the shoot-through effect through programmable dead-time resistors. The integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be readily replaced for use in the 1100 absolute positioning system.
[0098] [0098] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor arrangement 1102, the description now turns to Figures 11 to 12 for a description of an aspect of a sensor arrangement 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of sensor arrangement 1102 for absolute positioning system 1100 showing a circuit 1205 and the relative alignment of elements of sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the drive member 1111, and a set of gears 1206 to provide a gear reduction. With brief reference to Figure 2, the displacement member 1111 can represent the longitudinally movable driving member 120 which comprises a rack of driving teeth 122 for coupling engagement with a corresponding driving gear 86 of the gear reducer assembly 84. Returning to Figure 11, a structural element, such as a bracket 1216, is provided to support gear assembly 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises one or more magnetic sensing elements as effect elements Hall, and is positioned next to magnet 1202. As magnet 1202 rotates, the magnetic sensing elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[0099] [0099] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magneto-impedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00100] [00100] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is engaged in coupling with the drive member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive 1111 moves in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive shaft 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the drive member 1111. Thus, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P, corresponds to three rotations of the second gear 1210 and a single rotation of first gear 1208. As the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes a rotation with each stroke the complete of drive member 1111.
[00101] [00101] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for containing the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder 1204. A central point 1222 is provided that mates with first gear 1208 and magnet holder 1204. Second gear 1210 and third gear 1212 coupled to shaft 1214 are also shown.
[00102] [00102] Figure 12 is a diagram of a position sensor 1200 for an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, in accordance with an aspect of the present invention. The position sensor 1200 can be implemented as a rotary, magnetic, single chip AS5055EQFT position sensor, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A 1232 high-resolution ADC and a 1238 intelligent power management controller are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for Coordinate Rotation Digital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and table lookup. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an AS5055 integrated circuit supplied in a small 16-pin QFN package measuring 4 x 4 x 0.85 mm.
[00103] [00103] Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transversal to an electric current conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This value The angle, which is a single position signal, is calculated by the CORDIC 1236 processor, which is stored integrated in the AS5055 1200 position sensor in a register or a memory. The angle value that is indicative of the position of magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, when energizing or upon demand from controller 1104.
[00104] [00104] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00105] [00105] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as the angle measurement is completed, the AS5055 1200 position sensor is suspended to enter the de-energized state. There is no filter of the angle value by digital average implemented, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. Angle instability can be reduced by averaging several angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[00106] [00106] Figure 13 is a sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the I-shaped profile 2514 in relation to the tissue 2526 trapped inside the actuator end 2502, in accordance with an aspect of the present description. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a staple cartridge 2518 positioned in the elongated groove 2503. An firing 2520 is translatable distally and proximally along a longitudinal geometric axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the instrument driving shaft. An I-shaped rod 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[00107] [00107] An exemplary firing stroke of the I-profile rod 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The exemplifying tissue 2526 is also shown aligned with end actuator 2502. The stroke of the firing member can comprise a start position 2527 and an end position 2528. During a firing stroke of the I-profile rod 2514, the I-profile rod 2514 can be advanced distally from the start position 2527 to the end position 2528. The I 2514 profile rod is shown in an exemplary location of the 2527 start position. The 2529 stroke profile of the I 2514 profile rod illustrates five regions of trip member 2517, 2519, 2521, 2523 and 2525. In a first region of the trip course 2517, the I-shaped rod 2514 can begin to advance distally. In the first region of the firing stroke 2517, the I-shaped rod 2514 can contact the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. After the static friction is overcome, the force to drive the rod with I-profile 2514 in the first region 2517 can be substantially constant.
[00108] [00108] In the second travel region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric
[00109] [00109] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the handle set of the surgical instrument 10 (Figures 1 to 4) can be used to advance and / or retract the firing system of the drive shaft assembly, including the I-profile beam 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or cut the fabric captured inside the end actuator 2502. The beam with I 2514 profile it can be advanced or retracted at a desired speed or within a desired speed range. Controller 1104 can be configured to control the speed of the I-profile beam 2514. Controller 1104 can be configured to predict the speed of the I-profile beam 2514 based on various parameters of the energy supplied to the electric motor 1122, such as voltage and / or current, for example, and / or other operating parameters of the 1122 electric motor or external influences. Controller 1104 can be configured to predict the current speed of the I-2514 beam based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the I-profile beam 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the I-profile beam 2514 and the detected speed of the I-profile beam 2514 to determine whether the energy for the 1122 electric motor should be increased in order to increase the speed of the beam with I 2514 profile and / or reduced in order to reduce the speed of the I 2514 profile beam. US patent No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, is hereby incorporated by reference in its entirety . US patent No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, is hereby incorporated by reference in its entirety.
[00110] [00110] The force acting on the rod with I 2514 profile can be determined using various techniques. The strength of the I-profile rod 2514 can be determined by measuring the current of the 2504 motor, the current of the engine 2504 being based on the load experienced by the I-profile rod 2514 as it advances distally. The strength of the rod with I 2514 profile can be determined by placing a tension meter on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the rod with I 2514 profile (rod with I-profile 178, Figure 20), on the trigger bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The strength of the I-profile rod 2514 can be determined by monitoring the actual position of the rod with I-2514 profile that moves at an expected speed based on the set current speed of the 2504 motor after a predetermined elapsed period T1 and by comparing the actual position of the I-2514 profile rod with the expected position of the profile rod in I 2514 based on the set current speed of the motor 2504 at the end of the T1 period. Thus, if the actual position of the I 2514 profile rod is less than the expected position of the I 2514 profile rod, the force on the I 2514 profile rod is greater than a nominal force. On the other hand, if the actual position of the rod with I 2514 profile is greater than the expected position of the rod with I 2514 profile, the force on the rod with I 2514 profile is less than the nominal force. The difference between the actual and expected positions of the I-2514 shaped rod is proportional to the force deviation in the I-2514 shaped rod from the nominal force. These techniques are described in the attorney's document number END8195USNP, which is incorporated herein by reference in its entirety.
[00111] [00111] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present description. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111 such as the I-shaped rod 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a rod with I-profile 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, I-profile stem 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[00112] [00112] The position, movement, displacement, and / or translation of a displacement member 1111, such as the I-profile rod 2514, can be measured by the absolute positioning system
[00113] [00113] The control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor 2524 drive signal. In some instances, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more stator windings motor 2504. In addition, in some examples, the motor controller 2508 can be omitted, and the control circuit 2510 can generate the motor 2524 drive signal directly.
[00114] [00114] The 2504 motor can receive power from an energy source
[00115] [00115] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters, such as the distance from the they go in relation to time, the compression of the tissue in relation to time and the anvil tension in relation to time. The 2538 sensors may comprise, for example, a magnetic sensor, a magnetic field sensor, a voltage meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[00116] [00116] The one or more 2538 sensors may comprise a strain gauge, such as a microtension gauge, configured to measure the magnitude of the strain on the 2516 anvil during a tight condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[00117] [00117] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 may be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the closing drive system 30. The one or more 2538 sensors can be sampled in real time during a hold operation by a processor as described in Figures 5A to 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[00118] [00118] A current sensor 2536 can be used to measure the current drained by the motor 2504. The force required to advance the rod with I-profile 2514 corresponds to the current drained by the motor
[00119] [00119] Using the physical properties of the instruments described here, with reference to Figures 1 to 14, and with reference to Figure 14, the control circuit 2510 can be configured to simulate the real system response of the instrument in the controller software. A displacement member can be actuated to move an I-shaped rod 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which can be one or any of the feedback feedback controllers, including, but not limited to, a PID, state feedback, LQR, and / or an adaptive controller, for example. The 2500 surgical instrument can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency-modulated voltage, current, torque and / or force, for example.
[00120] [00120] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or rod with I 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a system articulation and / or scalpel. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00121] [00121] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the attached description . The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention have been chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[00122] [00122] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, a motor 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 can comprise an articulating anvil 2516 and, when configured for use, an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position of the stroke. As the displacement member moves distally, the I-shaped rod 2514 with a cutting element positioned at a distal end, can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[00123] [00123] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the I-profile rod 2514, for example, based on one or more tissue conditions . The 2510 control circuit can be programmed to detect tissue conditions, such as thickness, directly or indirectly, as described here. The 2510 control circuit can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to move the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[00124] [00124] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel member travel. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into one constant speed.
[00125] [00125] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to an aspect of the present description. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the I-shaped rod 2514 between an initial position of stroke 2586 and an end position of stroke 2588. On horizontal axis 2584, control circuit 2510 can receive the trigger signal and start provide the initial motor configuration at t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t0 and t1.
[00126] [00126] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trip control program that advances the I-shaped rod 2514 at a constant selected speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The control circuit 2510 can drive the rod with I-profile 2514 to Vlenta speed by monitoring the position of the rod with I-profile 2514 and modulation of the setpoint of the engine 2522 and / or the motor start signal 2524 to keep Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[00127] [00127] During the initial time period (for example, the open circuit period) between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the displacement member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile rod 2514. As a result, the I-profile rod 2514 can move a larger portion of the course over the initial time period. In addition, in some instances, thinner fabric (for example, a larger portion of the displacement member travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[00128] [00128] Figure 16 is a 5000 graph showing the motor current (I) as a function of the travel of the displacement member (d), according to an aspect of the present description. Figure 16 will now be described with reference also to Figures 10 to 15. In the example shown in Figure 16, the horizontal geometry axis 5002 represents the displacement of the I-profile beam 2514 along the length of a staple cartridge 2518. The axis horizontal geometry 5002 is dimensioned to represent the displacement of the I-profile beam 2514 along the length X of the stapler cartridge 2518,
[00129] [00129] In one aspect, the surgical instrument 2500 is programmed to control the firing motor current (I) as a function of the position, displacement or path of the displacement member, for example, the beam with I-shaped profile 2514 , as it passes through the 2518 stapler cartridge. Control circuit 2510 monitors the output of the 2534 position sensor to determine the location of the I-beam beam 2514. The 2534 position sensor uses an 1100 absolute positioning system described in connection with Figures 10 to 15. The displacement of the I-profile beam 2514 is determined over a predetermined time interval, as measured by the timer / counter 2531, can be used as an intermediary for the force applied to the profile beam in I 2514 to control the displacement rate or speed of the I-beam profile 2514 to control the force for firing in the I-beam profile 2514. Consequently, the time (t) it takes for the beam with the I-beam profile I 2514 obtain a known distance is determined by timer / counter 2531, and the distance covered during that time (t) is determined by the position sensor 2534, as described in connection with the absolute positioning system 1100. The time (t) that takes the beam with I 2514 profile to reach a known distance and the distance covered during that time (t) can be used by an algorithm or control process to maximize the motor current (i) without excessively raising the load on the beam with I-2514 profile. This allows the clamp to form properly through the fabric.
[00130] [00130] Consequently, the surgical instrument 2500 is configured to make continuous measurements of the expected displacement of the beam with I-2514 profile, at its programmed current speed, against a predetermined time interval to be an intermediary for the force applied to the beam with I 2514 profile. The difference between the measured distance traveled by the I 2514 profile beam and the anticipated distance traveled by the I 2514 profile beam multiplied by a function (eg cutting edge friction coefficient 2509, articulation angle , cutting edge location 2509 within the stroke) can be used to calculate the load on the I-profile beam 2514 and provide the load as feedback to the 2510 control circuit and the 2508 motor control in order to adjust the duty cycle current of the motor start signal 2524 (for example, PWM) to control the speed of motor 2504. Consequently, motor 2504 can be controlled via an inter the load experienced by the 2504 engine.
[00131] [00131] Again with reference to the graphic 5000 shown in Figure 16 and also with reference to Figure 13, Figure 16 shows three different trigger force curves based on the motor current (I) as a function of the beam displacement with profile in I 2514. The first curve 5006 is a force curve for optimal firing (shown as a dashed line) that is characteristic of good staple formation through the fabric, having a nominal fabric thickness. Initially, the motor current (I) increases rapidly to a peak current Imax1 as the displacement member advances distally through the first and second stroke regions 2517, 2519 (Figure 13) from about 0.1X to about 0.25X and crosses the anvil closure ramp 2516. As the I-2514 beam transitions to the third travel region of the displacement member 2521 (Figure 13), the I-2514 beam can continuously contact and cut the fabric 2526, and the wedge slider 2513 can repeatedly come into contact with the 2511 clamp drivers. As the I-beam beam 2514 advances distally and encounters a fabric resistance load on the In the third travel region of displacement member 2521, the motor current (I) decreases steadily from the peak current Imax1 as the resistance load of less tissue decreases. During the third travel region of the displacement member 2521, the motor current (I) shows ripples 5012 indicative of clamps driven through the fabric and formed by the anvil 2516. Through the fourth region of the travel stroke 2523 (Figure 13), the force to drive the beam with I 2514 profile it starts to decline steadily to zero and the motor current (I) decreases to zero.
[00132] [00132] The second curve 5008 is a force curve for firing (shown in the form of a dashed line) that is characteristic of the formation of staples through the fabric that is thicker than the nominal fabric thickness shown in the first curve 5006. The current motor (I) increases rapidly and reaches a peak current Imax2 as it advances distally through the first and second travel regions of displacement member 2517, 2519 (Figure 13). The motor current (I) ripples 5014 as the I-beam beam 2514 advances through the third travel region of the displacement member 2521 (Figure 13) and eventually drops to zero when the I-beam beam 2514 reaches the end of course.
[00133] [00133] The third curve 5010 is a force-to-fire curve (shown as a continuous line) that is characteristic of staple formation through the fabric that is thinner than the nominal fabric thickness shown in the first curve 5006. The current of the motor (I) increases rapidly and reaches a peak current Imax3 as it advances distally through the first and second travel regions of displacement member 2517, 2519 (Figure 13). The motor current (I) ripples 5016 as the I-beam beam 2514 advances through the third travel region of the displacement member 2521 (Figure 13) and eventually drops to zero when the I-beam beam 2514 reaches the end of course.
[00134] [00134] Now with reference to Figures 13, 14 and 16, a process for controlling the rate of the displacement member, such as the beam with I-2514 profile, will be described, in accordance with an aspect of the present description. In one aspect, the surgical instrument 2500 is configured to make the measurements of the expected position A1, A2 of the beam with I-profile 2514 or of the cutting edge 2509 continuous, at its programmed speed VEXP, for a predefined time interval (t2 - t1) to be an intermediary for the force applied to the cutting edge 2509 of the I-profile beam 2514 and, consequently, to the I-profile beam 2514. The difference between the measured distance B, B 'traveled by the I-profile beam 2514 and the anticipated position A1, A2 traversed by the I-beam beam 2514 during the predetermined period (t2 - t1) multiplied by a function (for example, friction coefficient of the cutting edge 2509, articulation angle, location of the beam with profile in I 2514 within the stroke) can be used to calculate the load on the beam with I 2514 profile and provide the load as feedback to adjust the current duty cycle (eg PWM) to control the 2504 motor. otor 2504 can be controlled by an intermediary of the load experienced by the 2504 engine.
[00135] [00135] An initial speed Vi of the motor 2504 is determined during the initial travel regions of the I-beam beam 2514 by the control circuit 2510 and is defined by the motor controller 2508 to adjust the initial speed of the motor 2504 which, in a This aspect can be based on the thickness of the fabric or the resistance of the fabric to the beam with I-2514 profile. An initial position Ao (t1) of the beam with I-2514 profile is determined at time t1 based on the output of the position sensor 2534 and at the timer / counter circuit output 2531. The control circuit 2510 can determine an anticipated position A 1 or A2, depending on the thickness of the fabric, for a predetermined period (t2 - t1) based on the programmed speed VEXP as follows : A1 = Ao + VEXP (t2 - t1); where the difference between the initial position Ao and the anticipated position A1 is: A1 - Ao = δ = VEXP (t2 - t1).
[00136] [00136] If the actual displacement B1 or B2, depending on the thickness of the fabric, deviates from the anticipated displacement A1 or A2 ', the control circuit 2510 determines a motor speed adjustment factor to increase the speed or decrease the motor 2504. The motor controller 2508 applies the motor start signal 2524 set to speed up or slow down the motor 2504. The value of the programmed speed of the VEXP chain changes based on the thickness of the fabric as the I-2514 beam advances distally.
[00137] [00137] With reference first to the case presented by the second curve 5008 where the fabric is thicker than expected (for example, in relation to a nominal thickness shown in curve 5006), the real position B1 (t2) of the beam with profile in I 2514 as measured by position sensor 2534 at time t2 as measured by timer / counter circuit 2531 is less than the anticipated position A1 (t2) calculated by control circuit 2510 based on the expected initial speed VEXP. Control circuit 2510 determines that if the actual position of the I-beam beam 2514 B 1 (t2) is less than the anticipated position A1 (t2), the fabric is thicker than expected and adjusts the set point motor speed 2522 to reduce the current (I) of the motor start signal 2524 supplied to motor 2504 by motor controller 2508 and, consequently, reduce the speed of the I-profile beam 2514. The amount of current (I ) of the motor start signal 2524 is reduced is proportional to the difference between the real position B1 (t2) of the beam with I-shaped profile 2514 and δ1 = VEXP (t2 - t1). In short notation: If B1 (t2) <A1 (t2), the tissue is larger than expected; Reduce the motor current (I) by an amount proportional to B1 (t2) - δ1.
[00138] [00138] With reference now to the case presented by the third curve 5010 in which the fabric is thinner than expected (for example, in relation to a nominal thickness shown in curve 5006), the real position B2 (t2) of the beam with profile in I 2514, as measured by position sensor 2534 at time t2, as measured by timer / counter circuit 2531, is greater than the anticipated position A2 (t2) calculated by control circuit 2510 based on the expected initial speed VEXP. The 2510 control circuit determines that if the actual position of the I-beam beam 2514 B2 (t2) is greater than the anticipated A2 (t2) position, the fabric is thinner than expected and adjusts the set point of the motor speed 2522 to increase the current (I) of the motor activation signal 2524 supplied to motor 2504 by motor controller 2508 and, consequently, increase the speed of the beam with I-profile 2514. The amount of current (I) the 2524 motor drive signal is increased is proportional to the difference between the actual position B2 (t2) of the beam with I-shaped profile 2514 and δ2 = VEXP (t2 - t1). In short notation: If B2 (t2)> A2 (t2), the fabric is larger than expected; Increase the motor current (I) in an amount proportional to B2 (t2) - δ2.
[00139] [00139] Figure 17 is a logic flow diagram showing a 5100 process of a control program or a logical configuration to control the rate of a displacement member, such as the beam with I 2514 profile, according to an aspect of this description. In the following desorption of process 5100 in Figure 17, reference should also be made to Figures 13, 14 and 16. Initially, the control circuit 2510 adjusts 5102 to the initial speed VEXP of the motor 2504. The control circuit 2510 then provides the motor 2522 set point to motor controller 2508 which in turn applies the motor 2524 drive signal to motor 2504. As soon as the VEXP motor speed is adjusted, control circuit 2510 determines 5104 the starting position Ao of a displacement member, for example, the I-profile beam 2514, based on the position sensor 2534 at time tn and based on the timer / counter circuit 2531. In the example where the displacement member is the profile beam in I 2514, by determining 5104 of the initial position Ao of the beam with I-2514 profile, control circuit 2510 determines 5106 the anticipated position A of the beam with I-2514 profile at time tn + 1 based on the current motor speed VEXP. At time tn + 1, the control circuit 2510 determines 5108 the actual position B of the I-beam beam 2514 based on information from the timer / counter circuit 2531 and the position sensor 2534. The control circuit 2510 compares the position 5110 real B of the beam with I 2514 profile in tn + 1 and the anticipated position A of the beam with I 2514 profile in tn + 1.
[00140] [00140] If the real position B of the beam with I-2514 profile in tn + 1 is greater than the anticipated position A of the beam with I-2514 profile in tn + 1, process 5100 continues along the "Yes" branch ( Y) and the control circuit 2510 increases the speed setpoint 2522 of the engine 2504. The speed setpoint of the engine 2522 is increased proportionally to the difference between the actual position B and the anticipated position A. The control circuit control 2510 provides the new motor speed setpoint 2522 for motor controller 2508, which applies a new motor 2524 drive signal to motor 2504 to increase motor speed 2504.
[00141] [00141] If the actual position B of the beam with I-2514 profile at t n + 1 is less than the anticipated position A of the beam with I-2514 profile at tn + 1, process 5100 continues along the "No" branch (N) and the 2510 control circuit decreases the engine speed setpoint 2522
[00142] [00142] The speed of motor 2504 can be maintained at the adjusted speed of the chain if the real position B of the beam with I-profile 2514 in tn + 1 is equal to the anticipated position A of the beam with I-profile 2514 in tn + 1. In addition, it will be understood that, since the I-beam beam 2514 is an integral element of a rigid I-beam beam 2514, the determination of the position and / or translation of the I-beam beam 2514 can be used to determine the position and / or translation of the beam with I 2514 profile. Consequently, the 5100 process can be implemented by determining the position and / or translation of the beam with I 2514 profile.
[00143] [00143] When the new motor speed is adjusted upwards or downwards, the position of the beam with I 2514 profile is compared 5116 at the end of the stroke. If the beam with I 2514 profile has reached the end of the stroke, process 5100 ends 5118. If the beam with I 2514 profile has not reached the end of the course, process 5100 increments the counter index 5120 and continues until the beam with I 2514 profile reaches the end of the course.
[00144] [00144] The function or process 5100 described here can be performed by any of the processing circuits described here, such as control circuit 700 described in connection with Figures 5 to 6, circuits 800, 810, 820 described in Figures 7 to 9, microcontroller 1104 described in connection with Figures 10 and 12 and / or control circuit 2510 described in Figure 14.
[00145] [00145] Various aspects of the subject described in this document are defined in the following numbered examples:
[00146] [00146] Example 1. A surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; the control circuit being configured to: receive the position of the displacement member from the position sensor; receive the elapsed time of the timer circuit; and controlling the speed of the engine based on the position of the displacement member and the elapsed time.
[00147] [00147] Example 2. The surgical instrument according to Example 1, in which the control circuit is configured to: adjust the motor speed to a first speed; receiving an initial position Ao of the displacement member from the position sensor; receiving a reference time t1 of the timer circuit corresponding to the initial position Ao of the displacement member; and determining an anticipated position A1 of the displacement member at a time t2 based on the first speed.
[00148] [00148] Example 3. The surgical instrument according to
[00149] [00149] Example 4. The surgical instrument according to Example 3, in which the control circuit is configured to: increase the motor speed when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[00150] [00150] Example 5. The surgical instrument according to Example 3 to Example 4, in which the control circuit is configured to: decrease the speed of the motor when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member at time t2.
[00151] [00151] Example 6. The surgical instrument according to Example 3 through Example 5, in which the control circuit is configured to: determine the thickness adjustment of the actual tissue based on the difference between the actual position B 1 of the limb time displacement t2 and the anticipated position A 1 of the time displacement member t2.
[00152] [00152] Example 7. The surgical instrument according to Example 6, in which the control circuit is configured to: determine that the thickness of the actual tissue is less than anticipated when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[00153] [00153] Example 8. The surgical instrument according to the
[00154] [00154] Example 9. A surgical instrument, which comprises: a beam member with an I-profile configured to move within an end actuator of the surgical instrument; a motor coupled to the I-beam member to move the I-beam member into the end actuator; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the I-beam member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; the control circuit is configured to: receive the position of the beam member with an I-profile from the position sensor; receive the elapsed time of the timer circuit; and controlling the motor speed based on the position of the I-beam member and the elapsed time.
[00155] [00155] Example 10. Surgical instrument according to Example 9, in which the control circuit is configured to: adjust the motor speed to a first speed; receiving an initial position of the beam member with an I-profile from the position sensor; receiving a reference time t1 of the timer circuit corresponding to the initial position Ao of the beam member with an I-profile; and determining an anticipated position A1 of the I-beam member at a time t2 based on the first speed.
[00156] [00156] Example 11. Surgical instrument according to Example 10, in which the control circuit is configured to: receive a real position B1 of the beam member with I profile at a time t2 from the position sensor; compare the real position B 1 of the beam member with I-shaped profile at time t 2 with the anticipated position A1 of the beam member with I-profile at time t 2; and adjusting the motor speed to a second speed based on a difference between the actual position B 1 of the I-beam member at time t2 and the anticipated position A 1 of the I-beam member at time t2.
[00157] [00157] Example 12. The surgical instrument according to Example 11, in which the control circuit is configured to: increase the speed of the motor when the real position B1 of the beam member with I profile at time t2 is greater than the anticipated position A1 of the beam member with I-shaped profile at time t2.
[00158] [00158] Example 13. The surgical instrument according to Example 11 to Example 12, in which the control circuit is configured to: decrease the speed of the motor when the real position B1 of the beam member with I profile in time t2 is less than the anticipated position A1 of the beam member with an I-profile at time t2.
[00159] [00159] Example 14. The surgical instrument according to Example 11 through Example 13, the control circuit being configured to: determine the thickness adjustment of the actual tissue based on the difference between the actual position B1 of the limb of beam with I-shaped profile at time t2 and the anticipated position A1 of the beam member with I-shaped profile at time t2.
[00160] [00160] Example 15. The surgical instrument according to Example 14, in which the control circuit is configured to: determine that the thickness of the real tissue is less than anticipated when the real position B1 of the beam member with profile in I at time t2 is greater than the anticipated position A1 of the beam member with I-shaped profile at time t2.
[00161] [00161] Example 16. The surgical instrument according to the
[00162] [00162] Example 17. A method for controlling the speed of a surgical instrument's motor, the surgical instrument comprising a displacement member configured to translate, a motor coupled to the displacement member to translate the displacement member, a control coupled to the motor, a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the displacement member, a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure time traveled, and the method comprises: receiving, through a control circuit, a position of a displacement member from a position sensor; receive, by the control circuit, the elapsed time of a timer circuit; and controlling, through the control circuit, the speed of an engine based on the position of the displacement member and the elapsed time.
[00163] [00163] Example 18. The method according to Example 17, which comprises: adjusting, through the control circuit, the motor speed to a first speed; receive, via the control circuit, an initial position Ao of the displacement member from the position sensor; receive, by means of the control circuit, a reference time t1 of the timer circuit corresponding to the initial position Ao of the displacement member; and determining, by means of the control circuit, an anticipated position A1 of the displacement member at a time t2 based on the first speed.
[00164] [00164] Example 19. The method according to Example 18, which comprises receiving, through the control circuit, a real position B1 of the displacement member at time t2 from the position sensor; compare, through the control circuit, the real position B1 of the displacement member at time t2 with the anticipated position A1 of the displacement member at time t2; and adjusting, through the control circuit, the motor speed for a second speed based on a difference between the actual position B1 of the displacement member at time t2 and the anticipated position A1 of the displacement member at time t2.
[00165] [00165] Example 20. The method according to Example 19, which comprises: increasing, through the control circuit, the motor speed when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the unblocking member at time t2.
[00166] [00166] Example 21. The method according to Example 19 through Example 20, which comprises: decreasing, through the control circuit, the motor speed when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member at time t2.
[00167] [00167] Example 22. The method according to Example 19 through Example 21, which comprises: determining, by means of the control circuit, the thickness adjustment of the actual tissue based on a difference between the actual position B1 of the limb displacement at time t2 and the anticipated position A1 of the displacement member at time t2.
[00168] [00168] Example 23. The method according to Example 22, which comprises: determining, by means of the control circuit, that the actual tissue thickness is less than anticipated when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[00169] [00169] Example 24. The method according to Example 22 until the
Example 23, which comprises: determining, by means of the control circuit, that the thickness of the actual tissue is greater than anticipated when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member in the t2 time.

权利要求:
Claims (24)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move inside the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; wherein the circuit is configured to: receive the position of the displacement member from the position sensor; receive the elapsed time of the timer circuit; and controlling the speed of the engine based on the position of the displacement member and the elapsed time.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to: adjust the motor speed to a first speed; receiving an initial position Ao of the displacement member from the position sensor; receiving a reference time t1 of the timer circuit corresponding to the initial position Ao of the displacement member; and determining an anticipated position A1 of the displacement member at a time t2 based on the first speed.
[3]
3. Surgical instrument, according to claim 2, characterized by the fact that the control circuit is configured to: receive a real position B1 of the displacement member at a time t2 from the position sensor; compare the actual position B1 of the displacement member at time t2 with the anticipated position A1 of the linear displacement sensor at time t2; and adjusting the motor speed to a second speed based on a difference between the actual position B1 of the time-shifting member t2 and the anticipated position A1 of the time-shifting member t2.
[4]
4. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to: increase the speed of the motor when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[5]
5. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to: decrease the motor speed when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member at time t2.
[6]
6. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to: determine the adjustment of the actual tissue thickness based on a difference between the actual position B1 of the displacement member at time t2 and the anticipated position A1 of the displacement member at time t2.
[7]
7. Surgical instrument, according to claim 6, characterized by the fact that the control circuit is configured for:
determining that the actual tissue thickness is less than anticipated when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[8]
8. Surgical instrument according to claim 6, characterized by the fact that the control circuit is configured to: determine that the actual tissue thickness is greater than anticipated when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member at time t2.
[9]
9. Surgical instrument, characterized by the fact that it comprises: a beam member with an I-profile configured to move inside the end actuator of the surgical instrument; a motor coupled to the I-beam member to move the I-beam member into the end actuator; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the I-beam member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; wherein the circuit is configured to: receive the position of the I-beam member from the position sensor; receive the elapsed time of the timer circuit; and controlling the motor speed based on the position of the I-beam member and the elapsed time.
[10]
10. Surgical instrument, according to claim 9, characterized by the fact that the control circuit is configured to: adjust the motor speed to a first speed; receiving an initial position of the beam member with an I-profile from the position sensor; receiving a reference time t1 of the timer circuit corresponding to the initial position Ao of the beam member with an I-profile; and determining an anticipated position A1 of the I-beam member at a time t2 based on the first speed.
[11]
11. Surgical instrument, according to claim 10, characterized by the fact that the control circuit is configured to: receive a real position B1 of the beam member with I profile at a time t2 from the position sensor; compare the actual position B1 of the beam member with I-shaped profile at time t2 with the anticipated position A1 of the beam member with I-shaped profile at time t2; and adjusting the motor speed to a second speed based on a difference between the actual position B1 of the I-beam member at time t2 and the anticipated position A1 of the I-beam member at time t2.
[12]
12. Surgical instrument, according to claim 11, characterized by the fact that the control circuit is configured to: increase the speed of the motor when the real position B1 of the beam member with I profile at time t 2 is greater than the anticipated position A1 of the beam member with I-shaped profile at time t2.
[13]
13. Surgical instrument, according to claim 11, characterized by the fact that the control circuit is configured for:
decrease the motor speed when the real position B1 of the beam member with I-profile at time t2 is less than the anticipated position A1 of the beam member with I-profile at time t2.
[14]
14. Surgical instrument according to claim 11, characterized by the fact that the control circuit is configured to: determine the adjustment of the thickness of the actual tissue based on a difference between the actual position B1 of the beam member with profiled profile I at time t2 and the anticipated position A1 of the beam member with I-shaped profile at time t2.
[15]
15. Surgical instrument, according to claim 14, characterized by the fact that the control circuit is configured to: determine that the thickness of the actual tissue is less than anticipated when the actual position B1 of the beam member with profiled profile I at time t2 is greater than the anticipated position A1 of the beam member with I-shaped profile at time t2.
[16]
16. Surgical instrument, according to claim 14, characterized by the fact that the control circuit is configured to: determine that the thickness of the actual tissue is greater than anticipated when the actual position B1 of the beam member with profile in I at time t2 is less than the anticipated position A1 of the beam member with I-shaped profile at time t2.
[17]
17. Method for controlling the speed of a surgical instrument's motor, characterized by the fact that the surgical instrument comprises a displacement member configured to transfer, a motor coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor being configured to measure the position of the displacement member, a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time, the method comprising: receiving, through a control circuit, a position of a displacement member from the position sensor; receive, by the control circuit, the elapsed time of a timer circuit; and controlling, through the control circuit, the speed of an engine based on the position of the displacement member and the elapsed time.
[18]
18. Method, according to claim 17, characterized by the fact that it comprises: adjusting, through the control circuit, the motor speed to a first speed; receive, via the control circuit, an initial position Ao of the displacement member from the position sensor; receive, by means of the control circuit, a reference time t1 of the timer circuit corresponding to the initial position Ao of the displacement member; and determining, by means of the control circuit, an anticipated position A1 of the displacement member at a time t2 based on the first speed.
[19]
19. Method, according to claim 18, characterized by the fact that it comprises: receiving, through the control circuit, a real position B1 of the displacement member at a time t2 from the position sensor; compare, through the control circuit, the real position B1 of the displacement member at time t2 with the anticipated position A1 of the displacement member at time t2; and adjusting, through the control circuit, the motor speed for a second speed based on a difference between the actual position B1 of the displacement member at time t2 and the anticipated position A1 of the displacement member at time t2.
[20]
20. Method, according to claim 19, characterized by the fact that it comprises: increasing, through the control circuit, the motor speed when the actual position B1 of the displacement member at time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[21]
21. Method, according to claim 19, characterized by the fact that it comprises: decreasing, through the control circuit, the motor speed when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member at time t2.
[22]
22. Method, according to claim 19, characterized by the fact that it comprises: determining, by means of the control circuit, the adjustment of the thickness of real tissue based on a difference between the real position B1 of the displacement member in time t2 and the anticipated position A1 of the displacement member at time t2.
[23]
23. Method, according to claim 22, characterized by the fact that it comprises: determining, by means of the control circuit, that the actual tissue thickness is less than anticipated when the real position B1 of the displacement member in time t2 is greater than the anticipated position A1 of the displacement member at time t2.
[24]
24. Method, according to claim 22, characterized by the fact that it comprises:
determine, by means of the control circuit, that the actual tissue thickness is greater than anticipated when the actual position B1 of the displacement member at time t2 is less than the anticipated position A1 of the displacement member at time t2.

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同族专利:

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公开号 | 公开日

---

EP3417795A1|2018-12-26|

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CN110785129A|2020-02-11|

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JP2020524048A|2020-08-13|

---

US10624633B2|2020-04-21|

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US20180360447A1|2018-12-20|

---

WO2018234900A1|2018-12-27|

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US11051807B2|2019-06-28|2021-07-06|Cilag Gmbh International|Packaging assembly including a particulate trap|

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US11246678B2|2019-06-28|2022-02-15|Cilag Gmbh International|Surgical stapling system having a frangible RFID tag|

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US11219455B2|2019-06-28|2022-01-11|Cilag Gmbh International|Surgical instrument including a lockout key|

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US11259803B2|2019-06-28|2022-03-01|Cilag Gmbh International|Surgical stapling system having an information encryption protocol|

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US11234698B2|2019-12-19|2022-02-01|Cilag Gmbh International|Stapling system comprising a clamp lockout and a firing lockout|

法律状态:
2021-11-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,075|US10624633B2|2017-06-20|2017-06-20|Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument|

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US15/628,075|2017-06-20|

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PCT/IB2018/053578|WO2018234900A1|2017-06-20|2018-05-21|Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument|

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