closed-loop feedback control of the motor speed of a surgical cutting and stapling instrument based

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member, a power supply, an engine, a control circuit and a position sensor. The control circuit is configured to initiate the trip of the displacement member at a given electrical load on the power supply, and the predetermined electrical load is applied to the motor to drive the displacement member, monitor the position of the displacement member by through the position sensor, continuously sample a voltage from the power supply during a first displacement interval of the displacement member, compare the sampled voltage to a limit voltage, and continue the displacement trip at the first speed when the sampled voltage is greater than or equal to the voltage limit or adjust the first speed when the sampled voltage is less than the limit voltage. Techniques for handling engine stopping conditions and transitions between speeds are also revealed.
公开号:BR112019027390A2
申请号:R112019027390-5
申请日:2018-05-21
公开日:2020-08-18
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris；Shane R. Adams；Brian D. Schings
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 tool for stapling and cutting, it is possible that the battery will overheat due to externally applied loads that cause a sudden stop, or stall, of the engine. Therefore, it may be desirable to interrogate the voltage in the battery during a portion of the firing stroke, when the system is loaded, to assess the capacity of the battery and adjust the firing speed of the cutting member or firing member based on this feedback ( feedback). SUMMARY
[004] [004] In one aspect, the present description provides a surgical instrument. The surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a power supply; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the power supply and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; where the control circuit is configured to: initiate the trip of the displacement member at a predetermined electrical load on the power supply, where the predetermined electrical load is applied to the motor to actuate the displacement member; monitor the position of the displacement member through the position sensor; continuously sampling a voltage from the power supply during a first displacement interval of the displacement member; compare the sampled voltage to a limit voltage; and continue triggering the displacement at the first speed when the sampled voltage is greater than or equal to the limit voltage; or adjust the first speed when the sampled voltage is less than the limit voltage.
[005] [005] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument; a motor comprising a drive shaft, the motor being coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; where the control circuit is configured to: initiate the trip of the displacement member at a control speed set to a first speed, where the control speed is the speed applied to the motor; check for an engine stop condition; and continue the trip triggering at first speed when the engine is not stopped; or reduce the control speed to a second speed, where the second speed is slower than the first speed.
[006] [006] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument over a plurality of predefined zones; a power supply; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the power supply and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; where the control circuit is configured to: initiate the trip of the displacement member at a control speed set to a first speed, where the control speed is the speed applied to the motor; monitor the position of the displacement member in a current zone until the displacement member reaches a target position for comparison; when the displacement member reaches the target position, determine whether a change in control speed was initiated in a previous zone before the current zone; and continue triggering the displacement member at the command speed when a change in the command speed was initiated in the previous zone. 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 following description, 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, in which the absolute positioning system comprises 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 one or more aspects 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 displacement member courses performed, according to an aspect of the present description.
[0023] [0023] Figure 16 is a logic flow diagram of a process that represents a control program or a logical configuration for controlling the motor speed based on the condition of the battery, according to an aspect of the present description.
[0024] [0024] Figure 17 is a logic flow diagram of a process that represents a control program or logic configuration to control the motor speed based on the stopped condition during a normal trip cycle, according to one aspect of this description.
[0025] [0025] Figure 18 is a logic flow diagram of a process that represents a control program or a logical configuration to control the motor speed while in manual mode, according to an aspect of the present description.
[0026] [0026] Figure 19 is a logic flow diagram of a process that represents a control program or logic configuration to control the motor speed based on the stopped condition during a normal trip cycle and implement a forced pause in the cycle. firing according to one aspect of the present description.
[0027] [0027] Figure 20 is a logic flow diagram of a process that represents a control program or logic setting to control the motor speed based on the stopped condition during a normal trip and reduce the speed one level after the cycle triggering is restarted in accordance with one aspect of the present description.
[0028] [0028] Figure 21 is a logic flow diagram of a process that represents a control program or a logical configuration to control the motor speed based on the stopped condition during a normal trip cycle in manual mode and reduce speed one level after the trip cycle is restarted, according to one aspect of the present description.
[0029] [0029] Figure 22 is a logic flow diagram of a process that represents a control program or logic configuration to control the motor speed based on the stopped condition during a normal trip cycle and interrupt the trip cycle until the release the trigger according to one aspect of this description.
[0030] [0030] Figure 23 is a logic flow diagram of a process that represents a control program or a logical configuration to control the motor speed during the transition between speeds, according to an aspect of the present description. DESCRIPTION
[0031] [0031] 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:
[0032] [0032] Power of attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0033] [0033] Power of attorney document number END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMERNT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0034] [0034] Power of attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0035] [0035] Power of attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0036] [0036] Power of attorney document number END8195USNP / 170058, tited SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0037] [0037] Power of 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.
[0038] [0038] Power of attorney document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0039] [0039] Power of attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENT. MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Frederick E. Shelton, IV et al, filed on June 20, 2017.
[0040] [0040] Power of attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0041] [0041] Power of attorney document number END8199USNP / 170062M, entitled ECHNIQUES FOR ADAPTIVE
[0042] [0042] Proxy document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED
[0043] [0043] Power of attorney document number END8268USNP / 170186, entitled CLOSED LOOP REALIMENTAÇÃO CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0044] [0044] Power of attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0045] [0045] Power of attorney document number END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0046] [0046] Power of attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0047] [0047] Power of attorney document number 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,
[0048] [0048] Power of attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0049] [0049] 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:
[0050] [0050] Power of 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.
[0051] [0051] Power of 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.
[0052] [0052] Power of 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.
[0053] [0053] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the disclosed devices and methods. 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.
[0054] [0054] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, where "proximal" refers to the portion closest to the doctor and the term "distal" refers 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.
[0055] [0055] 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.
[0056] [0056] Figures 1 to 4 illustrate 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 disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in US Patent No. 9,072,535, entitled SURGICAL STAPLING
[0057] [0057] 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.
[0058] [0058] The cable assembly 14 can comprise a pair of interconnectable segments of cable compartment 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.
[0059] [0059] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to 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 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a physician. When the physician holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 may pivot from an initial or "unacted" position to an "acted" position and, more particularly, to a fully compressed or completely actuated.
[0060] [0060] The cable assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly fixed thereto. The firing drive system 80 may employ an electric motor 82 located in the pistol grip portion 19 of the cable assembly
[0061] [0061] The electric motor 82 may include a rotary drive shaft (not shown), which, in an operational manner, interfaces with a gear reduction assembly 84 mounted on 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
[0062] [0062] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, where the voltage polarity applied to the electric motor by the battery can be reversed so as 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.
[0063] [0063] 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 rotated between an unacted position and an acted position.
[0064] [0064] 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
[0065] [0065] Returning to Figure 1, the closing tube 260 is moved 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 US Patent Application No. 2014/0263541. Anvil 306 is opened by proximal translation of the closing tube
[0066] [0066] 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 sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a portion distal cutter or cutter bar 280. The firing member 220 can be called a "second drive shaft" or a "second drive shaft assembly". 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 channel 302. The back 210 it has an elongated opening or window 213 inside to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 inside the back 210. When the intermediate trigger drive shaft 222 has been inserted into it, an upper segment of the frame 215 can be engaged with drive shaft structure 212 to enclose intermediate trigger drive shaft 222 and cutter bar 280 itself. Operation of trigger member 220 can be seen in US Patent Application Publication No. 2014 / 0263541. The central column 210 can be configured to slidably support a firing member 220 and the closing tube 260 which extends around the central column 210. The central column 210 can slidably support a pivoting actuator 230.
[0067] [0067] 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, where the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the hinge 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 employed 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.
[0068] [0068] 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, where each contact corresponds and is 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 606 can extend proximally through a connector opening defined on the chassis mounting flange. US Patent Application Publication No. 2014/0263551, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. US Patent Application Publication No. 2014/0263552, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. Additional details regarding the slip ring assembly 600 can be found in US Patent Application Publication No. 2014/0263541.
[0069] 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.
[0070] [0070] 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 can 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 the 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 300. The firing bar 172 may be constructed of a solid section or may include a laminated material comprising, for example, a stack of steel plates.
[0071] [0071] The rod with profile | 178 may include upper pins 180 that engage anvil 306 during firing. The rod with profile in | 178 may include intermediate pins 184 and a bottom foot 186 for engaging 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 groove 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 groove 302. In use, the rod with profile in | 178 can slide through the aligned longitudinal slits 193, 197 and 189, where, as shown in Figure 4, the base 186 of the rod with profile | 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 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 advanced distally in order to fire the staples from the surgical staple cartridge 304 and / or make an incision in the captured tissue between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the rod with profile | 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and cut tissue portions.
[0072] [0072] Figures 5A and 5B show a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 which comprises two drawing sheets, in accordance with an aspect of the present description. Referring mainly to Figures 6A to 6B, a cable assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the trigger system of the surgical instrument 10. In several ways, the motor 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, which can be used as the power supply to power the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack can be replaceable and / or rechargeable. In at least one example, the battery cells can be (lithium-ion batteries) that can be separably attachable to the 706 power pack.
[0073] [0073] 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 set 706 are coupled to cable set 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 connectors — drive shaft assembly electrical corresponding and a second portion of interface 727 which may include one or more connectors for coupling coupling with the corresponding electrical connectors of the power package 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 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 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.
[0074] [0074] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft assembly controller 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 power supply are attached to the cable assembly
[0075] [0075] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the 717 main controller can be a Core Cortex-M4F LM4F230H5QOR 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 StellarisWareO program, memory only 2 KB electrically erasable programmable readout (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters (ADC) ) 12-bit with 12 analog input channels, details of which are available for the product data sheet.
[0076] [0076] 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.
[0077] [0077] The power supply 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 704 drive shaft assembly, while the 704 drive shaft assembly and the 706 power supply assembly are coupled to the cable assembly
[0078] [0078] 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, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly
[0079] [0079] 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 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 of the circuit segments can be coupled to the safety controller and / or to the main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board (PCBA) assembly inside the energized surgical instrument 10. It should be understood that the term - processor, as used here, includes any microprocessor , processor, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The 717 main controller is a programmable multipurpose device that accepts digital data as input, processes it according to the instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described herein.
[0080] [0080] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Upon entry from the accelerometer it 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.
[0081] [0081] 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.
[0082] [0082] 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 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters, and / or other data that correspond to one or more sets of drive axes 200 and / or end actuators 300 that can interface with the energized surgical instrument
[0083] [0083] 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 examples,
[0084] [0084] 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.
[0085] [0085] 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.
[0086] [0086] The power 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.
[0087] [0087] 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.
[0088] [0088] 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,
[0089] [0089] 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 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. Power assembly 706 may include a power assembly connector 732, a power management circuit power 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the power requirements of the interchangeable drive shaft assembly 704 while the interchangeable 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 power modulator 738 from the power output of the power pack tion 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 over the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 to electrically couple the drive shaft assembly 704 to the cable assembly 702. The connectors of the drive shaft assembly 726, 728 form an interface 725. The main controller 717, the drive shaft processor 719 and / or the power management controller 716 can be configured to implement one or more of the processes described herein.
[0090] [0090] 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, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to the output device
[0091] [0091] 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 the memory circuit
[0092] [0092] 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.
[0093] [0093] 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 various processes 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.
[0094] [0094] 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.
[0095] [0095] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises a motor controlled drive circuit arrangement comprising an arrangement of sensor 1102, in accordance with an aspect of the present description. The position sensor 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member 1111. Back to Figures 2 to 4, in one aspect the displacement member 1111 represents a displacement member. drive - longitudinally movable 120 (Figure 2) comprising a rack of drive teeth 122 for coupling coupling with a corresponding drive gear 86 of a gear reduction assembly 84. In other respects, the displacement member 1111 represents the drive member trigger 220 (Figure 3), which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member 1111 represents the firing bar 172 (Figure 4) or the rod with profile in | 178 (Figure 4), each of which can be adapted and configured to include a rack of drive teeth. Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the surgical instrument 10, such as the driving member 120, the firing member 220, the firing bar 172, the stem with profile on | 178, or any element that can be moved. In one aspect, the longitudinally movable driving member 120 is coupled to the firing member 220, the firing bar 172 and the rod with profile | 178. Consequently, the 1100 absolute positioning system can, in effect, track the linear displacement of the stem with | 178 by tracking the linear displacement of the longitudinally movable driving member 120. In several other aspects, the displacement member 1111 can be coupled to any suitable sensor to measure the linear displacement. In this way, the longitudinally movable drive member 120, the firing member 220, the firing bar 172, or the rod with profile | 178, or combinations thereof, can be coupled to any suitable linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors can comprise variable differential linear transformers (LVDT), variable reluctance differential transducers (DVRT), a potentiometer, a magnetic detection system comprising a moving magnet and a series linearly arranged in Hall effect sensors, a system magnetic detection system comprising a fixed magnet and a series of furniture, linearly arranged in Hall effect sensors, a mobile optical detection system comprising a mobile light source and a series of linearly arranged photodiodes or photodetectors, an optical detection system which comprises a fixed light source and a mobile series of linearly arranged photodiodes or photodetectors, or any combination thereof.
[0096] [0096] An electric motor 1120 may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which 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 1111. An array of gears and sensors 1118 can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power supply 1129 supplies power to the absolute positioning system 1100 and an output indicator 1128 can show the output of the absolute positioning system 1100. In Figure 2, the drive member 1111 represents the longitudinally movable drive member 120 which comprises a drive tooth rack 122 formed therein for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. The displacement member - 1111 represents the longitudinally movable firing member 220, the firing bar 172, the rod with profile in | 178, or combinations thereof.
[0097] [0097] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement di 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.
[0098] [0098] A series of keys 1122a to 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 position sensor 1112. 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 di + d2 + ... dn of the drive member 1111. The sensor output 1124 position 1112 is provided to controller 1104. Position sensor 1112 of sensor array 1102 can comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements that emit a unique combination of position signs or values.
[0099] [0099] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the energization of the instrument 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.
[00100] [00100] 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
[00101] [00101] Controller 1104 can be programmed to provide precise control of the speed and position of travel members 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.
[00102] [00102] 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 sensors 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 the which the output of the absolute positioning system 1100 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 to 5B).
[00103] [00103] 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 can be used to supply the excess voltage to that supplied by the battery needed 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.
[00104] [00104] 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 the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the 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 complete stroke of the drive member 1111, and a set gearbox 1206 to provide gear reduction. With reference to Figure 2, the drive member 1111 can represent the longitudinally movable drive member 120 comprising a rack of drive teeth 122 for coupling engagement with a corresponding drive 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.
[00105] [00105] 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 magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00106] [00106] 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 drive member complete
[00107] [00107] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for holding the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder
[00108] [00108] 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 position sensor, ASSOSSEQFT, 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 lookup table. 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 ASS055 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[00109] [00109] 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 transverse 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 ASS055 1200 position sensor,
[00110] [00110] The ASS055 1200 position sensor requires only a few external components to operate when connected to the controller
[00111] [00111] Due to the measurement principle of the ASS055 1200 position sensor, only a single angle measurement is performed in a very short time (-600uUs) after each energization sequence. As soon as an angle measurement is completed, the ASS5055 1200 position sensor enters 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 variation can be reduced by averaging multiple angle samples in the controller
[00112] [00112] 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 rod with profile in | 2514 with respect to fabric 2526 trapped within end actuator 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 channel 2503 with a staple cartridge 2518 positioned in the elongated channel
[00113] [00113] An exemplary firing stroke of the rod with profile in | 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The example fabric 2526 is also shown aligned with end actuator 2502. The stroke of the firing member may comprise a start position 2527 and an end position stroke 2528. During a firing stroke of the rod with profile | 2514, the rod with profile | 2514 can be advanced distally from the start position 2527 to the end position 2528. The rod with profile | 2514 is shown in an exemplary location of a 2527 start position. Graph 2529 of the stem shooting member travel with | 2514 illustrates five regions of travel of the firing member 2517, 2519, 2521, 2523 and 2525. In a first region of the firing course 2517, the stem | 2514 can begin to advance distally. In the first region of the 2517 firing stroke, the rod with a | 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 profile in | 2514 in the first region 2517 can be substantially constant.
[00114] [00114] In the second travel region of firing member 2519, cutting edge 2509 can start to come into contact and cut fabric 2526. In addition, wedge slide 2513 can start to come into contact with the 2511 clamp drivers to actuate the clamps 2505. The force to actuate the rod with profile in | 2514 may start to increase gradually. As shown, the fabric initially found can be compressed and / or thinner due to the way the anvil 2516 rotates in relation to the staple cartridge 2518. In the third stroke region of the firing member 2521, cutting edge 2509 can be continuously in contact and cut the fabric 2526 and the wedge slider 2513 can repeatedly come in contact with the clip drivers
[00115] [00115] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the cable assembly of the surgical instrument 10 (Figures 1 to 4) can be used to advance and / or retract the control system. triggering of the drive shaft assembly, including the rod with profile | 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the end actuator 2502. The stem with profile in | 2514 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 | 2514. Controller 1104 can be configured to predict the speed of the rod with | 2514 based on various parameters of the energy supplied to the 1122 electric motor, 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 speed of the rod-shaped profile | 2514 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 | 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the rod with | 2514 and the detected speed of the rod with profile | 2514 to determine if the power of the 1122 electric motor needs to be increased in order to increase the speed of the profile rod | 2514 and / or decreased in order to decrease the speed of the rod with profile |
[00116] [00116] The force acting on the rod with profile in | 2514 can be determined using several techniques. The strength of the rod with profile | 2514 can be determined by measuring the motor current 2504, where the motor current 2504 is based on the load experienced by the rod with profile in | 2514 as it advances distally. The strength of the rod with profile | 2514 can be determined by placing a strain gauge on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the rod with profile | 2514 (shank with | 178 profile, Figure 20), on the firing bar 172 (Figure 2), and / or on a proximal end of the cutting edge 2509. With the force of the shank with | 2514 can be determined by monitoring the actual position of the stem with profile in | 2514 which moves at an expected speed based on the speed of the adjusted motor current 2504 after a predetermined elapsed period T; and by comparing the actual position of the rod with profile | 2514 in relation to the expected position of the rod with profile | 2514 based on the speed of the adjusted motor current 2504 at the end of the period.
[00117] [00117] 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 2500 surgical instrument is programmed to control the distal translation of an 1111 displacement member such as the | 2514. The surgical instrument 2500 comprises an end actuator 2502 which may comprise an anvil 2516, a rod with a profile in | 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. The end actuator 2502, the anvil 2516, the stem | 2514 and staple cartridge 2518 can be configured as described here, for example, with reference to Figures 1 to 13.
[00118] [00118] The position, movement, displacement, and / or translation of a displacement member 1111, such as the rod with profile in | 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. Due to the | 2514 be coupled to a longitudinally movable drive member 120, the position of the rod with profile in | 2514 can be determined by measuring the position of the longitudinally movable driving member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the closing member 2514 can be obtained by the 2534 position sensor, as described in the present invention. A control circuit 2510, like the control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the rod with profile in | 2514, as described in connection with Figures 10 to 12. The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the rod with profile | 2514, in the manner described In one aspect, a timer / counter 2531 provides an output signal, such as elapsed time or a digital count, to the control circuit 2510 to correlate the position of the rod with | 2514, as determined by the position sensor 2534, with the timer / counter output 2531 so that the control circuit 2510 can determine the position of the profile rod | 2514 at a specific time (t) in relation to an initial position. The 2531 timer / counter can be configured to measure elapsed time, count external events, or measure external events.
[00119] [00119] 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.
[00120] [00120] The 2504 motor can receive power from a 2512 power supply. The 2512 power supply can be or include a battery, a super capacitor, or any other suitable 2512 power supply. The 2504 motor can be mechanically coupled to the rod with profile in | 2514 by means of a 2506 transmission. The 2506 transmission may include one or more gears or other connecting components for coupling the 2504 engine to the | 2514. A 2534 position sensor can detect a position of the rod with profile in | 2514. The 2534 position sensor can be or can include any type of sensor that is capable of generating position data that indicates a position of the rod with profile in | 2514. In some examples, the 2534 position sensor may include an encoder configured to supply a series of pulses to the 2510 control circuit according to the | 2514 moved distally and proximally. The 2510 control circuit can track pulses to determine the position of the profile rod | 2514. Another suitable position sensor can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the rod with profile in | 2514.
[00121] [00121] 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 gap distance in relation to time, the compression of the tissue in relation to time, and the tension of the anvil 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.
[00122] [00122] 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 2516 anvil and the staple cartridge
[00123] [00123] 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 processor 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.
[00124] [00124] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the rod with profile in | 2514 corresponds to the current drained by the motor
[00125] [00125] Using the physical properties of the instruments disclosed here, now with reference to Figures 1 to 14, and with reference to Figure 14, a 2510 controller can be configured to simulate the actual system response of the instrument in the controller software.
[00126] [00126] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, the cutting member or the shank with profile in | 2514, by a DC motor with brushes with gearbox and mechanical connections to an articulation system 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.
[00127] [00127] 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.
[00128] [00128] 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, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may 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. As the displacement member moves distally, the stem with a | 2514 with a cutting element positioned at a distal end, you can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[00129] [00129] 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 stem with profile in | 2514, for example, based on one or more tissue conditions. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, 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 translate 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.
[00130] [00130] In one aspect, control circuit 2510 can initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel of the displacement member. 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 energy supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc.
[00131] [00131] 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 rod with profile | 2514 between a start position of the stroke 2586 and an end position of the stroke 2588. On the horizontal geometry axis 2584, the control circuit 2510 can receive the trip signal and begin to provide the initial motor configuration in to. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between bet.
[00132] [00132] 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 to and t1, the rod with profile | 2514 can move from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trigger control program that advances the rod with profile in | 2514 at a constant selected speed (Vlenta), indicated by the slope of example 2592 after t: (for example, in the closed circuit portion). The 2510 control circuit can drive the rod with profile | 2514 for Vlenta speed by monitoring the position of the rod with profile in | 2514 and modulation of the engine setpoint 2522 and / or the motor start signal 2524 to maintain 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.
[00133] [00133] During the initial time period (for example, the open circuit period) between to and t1, the rod with profile in | 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 travel 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 | 2514. As a result, the | 2514 can move a larger portion of the course during 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.
[00134] [00134] The description now turns to a closed loop feedback system to control the motor speed based on a variety of conditions. In one aspect, a logic flow diagram of a control program process or logic configuration is provided to control the engine speed based on the condition of the battery. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed based on the stopped condition during a normal trip cycle. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed while in manual mode. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed based on a stopped condition during a normal trip cycle and to implement a forced stop in the trip cycle. . In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed based on a stopped condition during normal triggering operation and to reduce the speed one level after the cycle firing time is restarted. In another aspect, a logic flow diagram of a control program process or logic setting is provided to control the motor speed based on the stopped condition during a normal triggering cycle in manual mode and to reduce the speed by one level. after the trip cycle is restarted. In another aspect, a logic flow diagram of a process that represents a control program or a logical configuration is provided to control the motor speed based on the stopped condition during a normal trip cycle and interrupt the trip cycle until the release the trigger. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed during the transition between speeds. These aspects are described in greater detail below, with reference to Figures 16 to 23.
[00135] [00135] A motor stop condition occurs when the rotational motor output drops to zero. Stop torque is the torque that is produced by the motor when the rotational speed of the output is zero. This can also mean the torque load that causes the rotational speed of the motor output to become zero, that is, cause the stop. Stopping is a condition in which the engine stops turning. This condition occurs when the load torque is greater than the motor starting torque, that is, the maximum torque condition. In this condition the motor drains the maximum current, but the motor shaft does not rotate. The current is called the stop current (stall current). Electric motors continue to supply torque when stopped. However, electric motors left in a stopped condition are prone to overheating and possible damage since the current flow that flows is maximum under these conditions. The maximum torque that an electric motor can produce in the long run when stopped without causing damage is called the maximum continuous stopping torque.
[00136] [00136] With reference to Figure 14, an engine stop condition can be detected using a variety of techniques. In one aspect, an engine stop can be detected by monitoring power supply 2512 to engine 2504. If the voltage drops below a predetermined limit, it can be an indication of an engine stop condition. In another aspect, a motor stop condition can be detected by monitoring the current flowing through the 2504 motor through the current sensor 2536. If the current detected by the current sensor 2536 increases above a predetermined limit to a greater value that the stop current, motor 2504 may stall or stall. In another aspect, the current sensor 2536 can be placed in series with the ground leg of the 2504 motor. In another aspect, a motor stop condition can be detected by monitoring the current applied to the 2504 motor in relation to the actual displacement of a displacement member, such as the rod with profile in | 2514, monitored by the 2534 position sensor. If the motor current is greater than expected, close to or greater than the stop current, and the actual speed is less than the control speed, the motor may stall or stall. The 2504 engine can be damaged by overheating if an engine stop condition is not corrected in a timely manner.
[00137] [00137] —Consequently, with reference now to Figure 16, a logic flow diagram of a 11500 process is illustrated which represents a control program or a logical configuration for controlling the motor speed based on the condition of the battery, according to an aspect of the present description. With reference also to Figures 1 to 15 and in particular to Figure 14, in one aspect, the control circuit 2510 is configured to interrogate the power supply 2512 to determine the voltage on the battery during a portion of the trip cycle, when the surgical instrument 2500 is loaded to assess the capacity of the battery and adjust the firing speed of the displacement member (for example, the driving member 120, the firing member 220, the firing bar 172, the rod with profile in | 2514, etc.) based on this feedback. As previously discussed, the firing speed of the displacement member is controlled by the control circuit 2510 based on various feedback conditions. The control circuit 2510 determines a new speed of the displacement member and applies a setpoint of the motor 2522 to the control of the motor 2508 which, in turn, applies the motor start signal 2524 to the motor 2504. The adjusted speed or motor control 2504 is applied to a transmission 2506. The actual speed of the displacement member is determined based on feedback from position sensor 2534, power supply 2512, current sensor 2536, timer / counter 2531, or 2538 sensors, alone or in combination. As previously discussed, factors that can affect the actual speed of the displacement limb include external influences such as tissue thickness,
[00138] [00138] Now with reference to Figures 14 and 16, according to process 11500, control circuit 2510 initiates 11502 a trip cycle of the displacement member and continuously samples 11504 the power supply 2512 during the initial trip phase ( for example, during the first 0.090 "of travel as determined by the position sensor 2534). The sampled voltage is compared. 11506 to a threshold voltage. In one example, for a 12 V 2512 power supply, the threshold is set to 9 V. The threshold can be adjusted to accommodate the voltage requirements of the system.If the sampled voltage is greater than or equal to the threshold voltage, the 2510 control circuit continues along the NO branch and 11508 continues the trip cycle until the voltage sampled is less than the threshold voltage, control circuit 2510 continues along the YES branch and control circuit 2510 communicates 11510 low battery condition via a status indicator like a screen 43, 743 (Fi figures 2, 5B, 6). The status indicator can be an LED, a screen, an audible signal, among others. After communicating
[00139] [00139] Figure 17 is a logic flow diagram of a 11520 process that represents a control program or logic configuration to control the motor speed based on the stopped condition during a normal trip cycle according to one aspect of the present description. In general, if the engine stops during a normal trip cycle, the 11520 process forces the engine to run in the slowest mode for the rest of the trip cycle. In this way, if the engine stops, the remaining travel is performed at a slow speed.
[00140] [00140] With reference now to Figures 14 and 17, according to process 11520, control circuit 2510 initiates 11522 a trip cycle of the displacement member at an average command speed such as 12 mm / sec. During the trip cycle, control circuit 2510 checks 11524 if there is a motor stop condition and if the control circuit determines 11526 that the motor is not stopped, control circuit 2510 continues along branch NO and continues 11532 the trip cycle until engine 2504 stops. As control circuit 2510 continues along the YES branch, it reduces 11528 the control speed to slow and indicates 11530 the status via the warning light or other indicator as screen 43, 743 (Figures 2, 5B, 6). By reducing the control speed to 11528 slow, control circuit 2510 continues 11532 the firing cycle and checks 11524 for stops until engine 2504 stops or travel = limb reaches the end of travel. As previously discussed, a slow command speed can be less than 10 mm / s and in some ways it can be less than mm / s. In this example, the control speed is set to 9 mm / sec.
[00141] [00141] Figure 18 is a flow diagram of a 11540 process that represents a control program or a logical configuration for controlling the motor speed while in manual mode, according to an aspect of the present description. In general, while the 2500 surgical instrument is in manual mode, the engine is at risk of stopping and the control circuit displays a warning. If the motor control speed is not interrupted or reduced by the user, the device will automatically enter a low speed for the remainder of the trip cycle. Consequently, while the surgical instrument is in manual mode and the risk of a stop is detected by the control circuit, the user has the opportunity to manually adjust the control speed to prevent an engine stop.
[00142] [00142] - Now with reference to Figures 14 and 18, according to process 11540, control circuit 2510 selects 11542 the manual mode upon receiving a request from the user and initiates a 11544 trip cycle of the displacement member. During the trip cycle, control circuit 2510 checks 11546 if there is a motor stop and if control circuit 2510 does not detect 11548 a slow speed, control circuit 2510 proceeds along the branch
[00143] [00143] Figure 19 is a flow diagram of a 11560 process that represents a control program or a logical configuration to control the motor speed based on the stopped condition during a normal trip cycle and implement a forced pause in the cycle. trigger according to one aspect of the present description.
[00144] [00144] - Now with reference to Figures 14 and 19, according to process 11560, control circuit 2510 initiates 11562 a trip cycle of the displacement member and stores 11564 the speed of the motor current (for example, SLOW: 0 <V <10 mm / s; AVERAGE: mm / s <V <12.5 mm / s; FAST: 12.5 mm / s <V <15 mm / s) and checks 11566 if there is a stop condition motor. Control circuit 2510 then determines 11568 whether engine 2504 has stopped. If the 2504 motor has stopped, the control circuit continues along the NO branch and the 2510 control circuit continues the 11570 trip cycle and checks 11566 if there is an engine stop condition until the 2504 engine stops. The control circuit 2510 then proceeds along the YES branch and evaluates three conditions. A first evaluation determines 11572 if the speed of the previous 2504 motor was FAST and if it is, the 2510 control circuit sets 11574 a delay greater than or equal to 2 seconds and less than or equal to 5 seconds and continues the 11576 trip cycle in stored speed. At the same time, control circuit 2510 indicates 11578 the status of surgical instrument 2500 by displaying or showing an alert light, among other feedback techniques such as screen 43, 743 (Figures 2, 5B, 6). A second evaluation determines 11580 if the speed of the previous 2504 motor was AVERAGE and if it is, the control circuit 2510 sets 11582 a delay greater than or equal to 1 and less than 2 seconds and 11584 continues the trip cycle at the stored speed. At the same time, control circuit 2510 indicates 11586 the status by showing or showing an alert light, among other feedback techniques such as screen 43, 743. A third assessment determines 11588 whether the speed of the previous 2504 engine was SLOW and if it is, control circuit 2510 sets 11590 a delay from 0 to 1 second and, preferably, a delay from 0 to 0.25 if the firing cycle continues at 11592 at the stored speed. At the same time, control circuit 2510 indicates 11594 the status by showing or showing an alert light, among other feedback techniques such as screen 43, 743. Process 11560 continues until the displacement member reaches the end of the stroke.
[00145] [00145] Figure 20 is a logic flow diagram of a 11600 process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and reducing the speed one level after the firing cycle is restarted in accordance with an aspect of the present description. In general, when the motor stops during a normal trip cycle, the motor speed is reduced one level below the motor current speed after the trip cycle is restarted. If the engine speed is already at the slowest speed, a forced pause of a predetermined duration is required before restarting the firing cycle at the slowest speed. Consequently, if the engine stops, the control circuit slows the engine down to a level below the stored speed.
[00146] [00146] Now with reference to Figures 14 and 20, according to process 11600, the control circuit 2510 initiates 11602 a trip cycle of the displacement member and stores 11604 the motor current speed (for example, SLOW: V <10 mm / s; AVERAGE: 10 mm / s <V <12.5 mm / s; FAST: V> 12.5 mm / s) and checks 11606 if there is an engine stop condition. Control circuit 2510 determines 11608 whether motor 2504 has stopped. If engine 2504 has stopped, control circuit 2510 continues along branch NO and control circuit 2510 continues 11610 the trip cycle and checks 11606 if there is a condition of the engine stopping until the engine stops
[00147] [00147] Figure 21 is a flow diagram of a 11630 process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal triggering cycle in manual mode and reducing speed one level after the trip cycle is restarted according to one aspect of this description. In general, when the engine stops during a normal trip cycle while in manual mode, the control circuit reduces the engine speed by one level after the trip cycle is restarted. If already at the slowest speed, the control circuit forces a predetermined duration pause before restarting the firing cycle at the lowest speed again. The user can choose only one speed that is slower than the speed at which the stop occurred for the rest of the trip cycle. Consequently, if the engine stops while in manual mode, the control circuit slows down the engine by one level and blocks the previous highest engine speeds.
[00148] [00148] Now with reference to Figures 14 and 21, according to process 11630, control circuit 2510 initiates 11632 a trip cycle of displacement member 11634 and stores the motor current speed (for example, SLOW: V <10 mm / s; AVERAGE: 10 mm / s <V <12.5 mm / s; FAST: V> 12.5 mm / s) and checks 11636 if there is an engine stop condition. Control circuit 2510 then determines 11638 whether motor 2504 has stopped. If motor 2504 has stopped, control circuit 2510 continues along the NO branch and control circuit 2510 continues 11640 the trip cycle and checks 11636 if there is an engine stop condition until engine 2504 stops. The circuit control 2510 then proceeds along the YES branch and evaluates three conditions. A first assessment determines 11642 whether the speed of the previous 2504 motor was FAST and if it is, the 2510 control circuit slows 11644 to AVERAGE and disables, inhibits, or blocks FAST speed. Control circuit 2510 restarts 11632 the trip cycle at the new speed
[00149] [00149] Figure 22 is a 11660 logic flow diagram of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and interrupting the trip cycle until the user releases the trigger, according to one aspect of this description. In general, when the engine stops during a normal firing cycle, the control circuit stops even the user (for example, the surgeon) to release the trigger. When the trip cycle is restarted, the control circuit restarts at the same command speed at which the engine stopped.
[00150] [00150] With reference now to Figures 14 and 22, according to process 11660, control circuit 2510 initiates 11622 a trip cycle of the displacement member and checks 11664 if there is a motor stop. If the motor is not stopped 11666, control circuit 2510 continues along the NO branch and checks 11664 if there is a motor stop until the 2504 motor stops. If the motor stops, control circuit 2510 continues along the YES branch and interrupts 11668 motor 2504 and the trip cycle. Control circuit 2510 indicates 11674 status and alerts you to an engine stop condition on a screen 43, 743 (Figures 2, 5B, 6) and instructs the user (for example, the surgeon) to release the trigger. Control circuit 2510 then determines 116/72 whether the trigger is released and continues along the NO branch until the trigger is released. The control circuit 2510 then proceeds along the YES branch and continues the 11670 tripping cycle until the motor 2504 stops or the travel member reaches the end of the stroke.
[00151] [00151] Figure 23 is a logic flow diagram of a 11680 process that represents a control program or a logical configuration for controlling the motor speed during the transition between speeds according to an aspect of the present description. In general, during control schemes based on time, distance or speed, the transition from one speed to another is likely to affect the target value for the next comparison. To avoid constant speed changes triggered mainly by changes in control speed, zones immediately after the last speed change are excluded from consideration. In one respect, the return speed is always the fastest speed.
[00152] [00152] - Now with reference to Figures 14 and 23, according to process 11680, control circuit 2510 starts 11682 a trip cycle of the displacement member and monitors 11684 the position of the displacement member based on the position sensor 2534 until the displacement member reaches a target for comparison of changes in speed. When the displacement member reaches a target position for comparison, control circuit 2510 determines 11686 whether the previous zone has initiated a change in speed. If the previous zone initiated a change in speed, control circuit 2510 continues along the YES branch and continues to fire 11688 at the current command speed and monitors 11684 if the limb offset has reached a target for comparison. The process continues until control circuit 2510 determines 11686 that the previous zone did not initiate a change in speed. Control circuit 2510 proceeds along the NO branch and compares 11690 the value of the expected speed of the travel member with the value of the actual speed of the travel member. Control circuit 2510 adjusts 11692 to the new control speed of motor 2504 for the next zone based on the results of comparison 11690. After adjusting 11692 to new command speed 2504, the control circuit determines 11694 if the displacement member is located in the final zone. If the travel member is not located in the end zone, control circuit 2510 continues along the NO branch and continues to fire at the new command speed and the process continues until the travel member is located in the end zone. At this point, control circuit 2514 continues to fire 11696 until the displacement member reaches the end of the stroke. Otherwise, the control circuit 2510 continues 11688 to trigger the displacement member at the current control speed.
[00153] [00153] The functions or processes 11500, 11520, 11540, 11560, 11600, 11630, 11660, 11680 described herein can be performed by any of the processing circuits described here, such as the control circuit 700 described in Figures 5 to 6, circuits 800, 810, 820 described in Figures 7 to 9, microcontroller 1104 described in Figures 10 and 12, and / or control circuit 2510 described in Figure 14.
[00154] [00154] The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present description. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, in which a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals "capable of being stored, transferred, combined, compared and handled in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[00155] [00155] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of several types of "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit,
[00156] [00156] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, several portions of the subject described here can be implemented through application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this description.
[00157] [00157] The mechanisms of the disclosed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[00158] [00158] The previously mentioned description of one or more aspects was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00159] [00159] Various aspects of the subject described in this document are defined in the following numbered examples:
[00160] [00160] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a power supply; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the power supply and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; where the control circuit is configured to: initiate the trip of the displacement member at a predetermined electrical load on the power supply, where the predetermined electrical load is applied to the motor to actuate the displacement member; monitor the position of the displacement member through the position sensor; continuously sampling a voltage from the power supply during a first displacement interval of the displacement member; compare the sampled voltage to a limit voltage; and continue triggering the displacement at the first speed when the sampled voltage is greater than or equal to the limit voltage; or adjust the first speed when the sampled voltage is less than the limit voltage.
[00161] [00161] Example 2. The surgical instrument of Example 1 in which, when the sampled voltage is less than the limit voltage, the control circuit is further configured to determine whether the surgical instrument is in automatic or manual mode.
[00162] [00162] Example 3. The surgical instrument of Example 2 in which,
[00163] [00163] Example 4.0 The surgical instrument of Example 3 in which the control circuit is further configured to reduce the control speed to a second speed, where the second speed is less than the first speed.
[00164] [00164] Example 5. The surgical instrument of Example 4 in which the second speed is greater than zero and less than 10 mm / sec.
[00165] [00165] Example 6. The surgical instrument from Example 1 to Example 5 in which the first gap is between 2 mm and 3 mm.
[00166] [00166] Example 7. The surgical instrument from Example 1 to Example 6 in which the control circuit is configured to communicate the state of the power supply when the sampled voltage is less than the limit voltage.
[00167] [00167] Example 8. A surgical instrument, comprising: a displacement member configured to move within the surgical instrument; a motor comprising a drive shaft, the motor being coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; where the control circuit is configured to: initiate the trip of the displacement member at a control speed set to a first speed, where the control speed is the speed applied to the motor; check for an engine stop condition; and continue the trip triggering at first speed when the engine is not stopped; or reduce the control speed to a second speed, where the second speed is slower than the first speed.
[00168] [00168] Example 9. 0The surgical instrument of Example 8 in which the first speed is between 10 mm / sec. and 12 mm / sec. and the second speed is less than 9 mm / sec.
[00169] [00169] “Example 10. The surgical instrument from Example 8 to Example 9 in which the control circuit is configured to indicate an engine stop alert.
[00170] [00170] Example 11. The surgical instrument of Example 10 in which the control circuit is configured to: adjust the surgical instrument in manual mode based on an input received; detect a low engine speed condition; indicate the low engine speed condition for a predetermined period of time; monitor a manual control or pause speed setting; and reduce the control speed when the manual control or pause speed setting is not detected.
[00171] [00171] Example 12. The surgical instrument from Example 8 to Example 11 in which the control circuit is configured to: store a current control speed in memory as a fast speed, an average speed, or a slow speed, in which fast speed is greater than average speed and average speed is greater than slow speed; and when an engine stop condition is detected, the control circuit is configured to: stop the engine for a first delay when the stored command speed is a fast speed and continue the trip of the travel member at fast speed; stop the engine for a second delay when the stored control speed is an average speed and continue the trip of the displacement member at average speed; or stop the engine for a third delay when the stored control speed is an average speed and continue the trip of the travel member at slow speed; where the first delay is greater than the second delay and the second delay is greater than the third delay.
[00172] [00172] Example 13. The surgical instrument of Example 12 where:
[00173] [00173] Example 14. The surgical instrument from Example 12 to Example 13, in which: the first delay is greater than or equal to 2 seconds and less than five seconds; the second delay is greater than or equal to 1 second and less than two seconds; and the third delay is greater than 0 and less than 1 second.
[00174] [00174] Example 15. The surgical instrument from Example 8 to Example 14 in which the control circuit is configured to: store a current control speed in memory as a fast speed, an average speed, or a slow speed, in which fast speed is greater than average speed and average speed is greater than slow speed; and when an engine stop condition is detected, the control circuit is configured to: auto-adjust the control speed to an average speed when the stored control speed is a fast speed; auto-adjust the control speed to a slow speed when the stored control speed is an average speed; and stop the engine when the stored control speed is a slow speed.
[00175] [00175] Example 16. The surgical instrument from Example 8 to Example 15, in which the control circuit is configured to: interrupt the trigger stroke of a current command speed in memory as a fast speed, an average speed, or a slow speed, where the fast speed is greater than the average speed and the average speed is greater than the slow speed; and when an engine stop condition is detected, the control circuit is configured to: reduce the control speed to an average speed and inhibit fast speed when the stored control speed is a fast speed; reduce the control speed to a slow speed and inhibit an average speed and a fast speed when the stored control speed is an average speed; and stop the engine when the stored control speed is a slow speed.
[00176] [00176] Example 17. The surgical instrument from Example 8 to Example 16, in which when an engine stop condition is detected, the control circuit is configured to: stop the engine; indicate an engine stop alert and instruct the user to release the trigger; monitor trigger release; and continue firing the displacement member when the trigger is released.
[00177] [00177] Example 18. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a power supply; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the power supply and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; where the control circuit is configured to: initiate the trip of the displacement member at a control speed set to a first speed, where the control speed is the speed applied to the motor; monitor the position of the displacement member in a current zone until the displacement member reaches a target position for comparison; when the displacement member reaches the target position, determine whether a change in control speed was initiated in a previous zone before the current zone; and continue triggering the displacement member at the command speed when a change in the command speed was initiated in the previous zone.
[00178] [00178] Example 19.0The surgical instrument of Example 18 in which, when a change in the control speed is not initiated in the previous zone, the control circuit is configured to: compare an expected speed of the displacement member to a real speed of the limb displacement; and adjust the command speed based on the results of the comparison.
[00179] [00179] Example 20. The surgical instrument of Example 19 in which the control circuit is configured to: determine when the displacement is in an end zone; and continue firing the displacement member until a limit switch is reached.
[00180] [00180] Example 21. The surgical instrument from Example 19 to Example 20 in which the control circuit is configured to continue triggering the displacement member at the current control speed when the displacement member is not in the final zone.

权利要求:
Claims (21)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the Surgical Instrument along a plurality of predefined zones; a power supply; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the power supply and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; in which the circuit is configured to: initiate the trip of the displacement member at a predetermined electrical load on the power supply, in which the predetermined electrical load is applied to the motor to drive the displacement member; monitor the position of the displacement member through the position sensor; continuously sampling a voltage from the power supply during a first displacement interval of the displacement member; compare the sampled voltage to a limit voltage; and continue triggering the displacement at the first speed when the sampled voltage is greater than or equal to the limit voltage; or adjust the first speed when the sampled voltage is less than the limit voltage.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that, when the sampled voltage is less than the limit voltage, the control circuit is further configured to determine whether the surgical instrument is in automatic mode or in manual mode .
[3]
3. Surgical instrument, according to claim 2, characterized by the fact that, when the surgical instrument is in automatic mode, the control circuit is further configured to convert the operation of the surgical instrument to manual mode.
[4]
4. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is further configured to reduce the control speed to a second speed, in which the second speed is less than the first speed.
[5]
5. Surgical instrument, according to claim 4, characterized by the fact that the second speed is greater than zero and less than 10 mm / sec.
[6]
6. Surgical instrument, according to claim 1, characterized by the fact that the first interval is between 2 mm and 3 mm.
[7]
7. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to communicate the state of the power supply when the sampled voltage is less than the limit voltage.
[8]
8. Surgical instrument characterized by the fact that it comprises: a displacement member configured to move inside the surgical instrument; a motor comprising a drive shaft, the motor being coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; where the circuit is configured to: start the trip of the displacement member at a control speed set to a first speed, where the control speed is the speed applied to the motor; check for an engine stop condition; and continue the trip triggering at first speed when the engine is not stopped; or reduce the control speed to a second speed, where the second speed is less than the first speed.
[9]
9. Surgical instrument, according to claim 8, characterized by the fact that the first speed is between mm / s and 12 mm / s and the second speed is less than 9 mm / s.
[10]
10. Surgical instrument, according to claim 8, characterized by the fact that the control circuit is configured to indicate an engine stop alert.
[11]
11. Surgical instrument, according to claim 10, characterized by the fact that the control circuit is configured to: adjust the surgical instrument in manual mode based on an input received; detect a low engine speed condition; indicate the low engine speed condition for a predetermined period of time; and monitor a manual command or pause speed adjustment; and reduce the control speed when the manual control or pause speed setting is not detected.
[12]
12. Surgical instrument, according to claim 8,
characterized by the fact that the control circuit is configured to: store a current command speed in memory as a fast speed, an average speed, or a slow speed, where the fast speed is greater than the average speed and the speed medium is greater than slow speed; and when a stopped motor condition is detected, the control circuit is configured to: stop the motor for a first delay when the stored command speed is a fast speed and continue the trip of the travel member at fast speed; stop the engine for a second delay when the stored control speed is an average speed and continue the trip of the displacement member at average speed; or stop the engine for a third delay when the stored control speed is a slow speed and continue the trip of the travel member at slow speed; where the first delay is greater than the second delay and the second delay is greater than the third delay.
[13]
13. Surgical instrument, according to claim 12, characterized by the fact that: the slow speed is greater than zero and less than 10 mm / s; the average speed is greater than or equal to 10 mm / s and less than or equal to 12.5 mm / s; and the fast speed is greater than 12.5 mm / s and less than mm / s.
[14]
14. Surgical instrument, according to claim 12, characterized by the fact that: the first delay is greater than or equal to 2 seconds and less than five seconds; the second delay is greater than or equal to 1 second and less than two seconds; and the third delay is greater than 0 and less than 1 second.
[15]
15. Surgical instrument, according to claim 8, characterized by the fact that the control circuit is configured to: store a current control speed in memory as a fast speed, an average speed, or a slow speed, in which fast speed is greater than average speed and average speed is greater than slow speed; and when a stopped motor condition is detected, the control circuit is configured to: auto-adjust the control speed to a medium speed when the stored control speed is a fast speed; auto-adjust the control speed to a slow speed when the stored control speed is an average speed; and stop the engine when the stored control speed is a slow speed.
[16]
16. Surgical instrument, according to claim 8, characterized by the fact that the control circuit is configured to: interrupt the trigger store a current command speed in memory as a fast speed, an average speed, or a slow speed , with fast speed being greater than average speed and average speed being greater than slow speed; and when a stopped engine condition is detected, the control circuit is configured to: reduce the control speed to an average speed and inhibit a fast speed when the stored control speed is a fast speed; reduce the control speed to a slow speed and inhibit an average speed and a fast speed when the stored control speed is an average speed; and stop the engine when the stored control speed is a slow speed.
[17]
17. Surgical instrument, according to claim 8, characterized by the fact that, when an engine stop condition is detected, the control circuit is configured to: stop the engine; indicate an engine stop alert and instruct the user to release the trigger; monitor trigger release; and continue firing the displacement member when the trigger is released.
[18]
18. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the Surgical Instrument along a plurality of predefined zones; a power supply; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the power supply and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; where the circuit is configured to:
start the trip of the displacement member at a control speed set for a first speed, the control speed being the speed applied to the motor; monitor the position of the displacement member in a current zone until the displacement member reaches a target position for comparison; when the displacement member reaches the target position, determine whether a change in command speed was initiated in a previous zone before the current zone; and continue triggering the displacement member at the command speed when a change in the command speed is initiated in the previous zone.
[19]
19. Surgical instrument, according to claim 18, characterized by the fact that, when a change in the control speed is not initiated in the anterior zone, the control circuit is configured to: compare an expected speed of the displacement member with a actual speed of the displacement member; and adjust the command speed based on the results of the comparison.
[20]
20. Surgical instrument, according to claim 19, characterized by the fact that the control circuit is configured to: determine when the displacement is in a final zone; and continue firing the displacement member until a limit switch is reached.
[21]
21. Surgical instrument, according to claim 19, characterized by the fact that the control circuit is configured to continue the triggering of the displacement member at the current control speed when the displacement member is not in the final zone.

类似技术:

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同族专利:

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公开号 | 公开日

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WO2018234904A1|2018-12-27|

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EP3417802A1|2018-12-26|

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CN110769759A|2020-02-07|

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US10813639B2|2020-10-27|

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EP3881774A1|2021-09-22|

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JP2020524049A|2020-08-13|

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EP3417802B1|2021-01-20|

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US20180360455A1|2018-12-20|

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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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US15/628,115|US10813639B2|2017-06-20|2017-06-20|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions|

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US15/628,115|2017-06-20|

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PCT/IB2018/053582|WO2018234904A1|2017-06-20|2018-05-21|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions|

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