closed circuit speed control techniques for robotic surgical instrument

专利摘要:
Methods for controlling the speed of a firing limb in a robotic surgical system are disclosed. A method detects a condition of the end actuator during closing, establishes a command speed of a travel member based on the closing condition, triggers the travel member at the defined command speed, detects a condition of the end actuator during a trigger phase and defines a command speed based on the trigger condition. Another method receives the closing force of a closing member, compares the actual closing force with a limit, determines a setpoint speed based on the comparison, and controls the actual speed of the closing member based on the point speed adjustment. Another method receives the actual closing force of a closing member, receives the actual position of a firing member, and defines a new closing force based on the actual closing force applied to the closing member and the actual position of the closing member. shooting.
公开号:BR112019027452A2
申请号:R112019027452-9
申请日:2018-06-13
公开日:2020-07-07
发明作者:Frederick E. Shelton Iv；Jason L. Harris；David C. Yates；Gregory J. Bakos；Sarah A. Worthington；Chester O. Baxter Iii
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to robotic surgical instruments and, in various circumstances, robotic stapling and cutting surgical instruments, and staple cartridges for them, which are designed to staple and cut fabrics. BACKGROUND
[0002] [0002] In a robotic surgical instrument for stapling and motorized cutting, it can be useful to measure the position and speed of a cutting member at an initial time or index to control the speed. Measuring position or speed in relation to an initial predetermined time or offset can be useful for assessing tissue thickness and for adjusting the speed of the remaining stroke based on such a comparison with respect to a limit.
[0003] [0003] In a robotic surgical instrument for stapling and motorized cutting, it can be useful to measure the position and speed of a cutting member in an initial time or index to control the speed. Measuring position or speed in relation to an initial predetermined time or offset can be useful for assessing the thickness of the fabric and for adjusting the speed of the remaining stroke based on such a comparison with respect to a limit.
[0004] [0004] In a robotic surgical instrument for stapling and motorized cutting, it may be useful to measure the position and speed of a cutting member at an initial time or index to control the speed. Measuring position or speed in relation to an initial predetermined time or offset can be useful for assessing the thickness of the fabric and for adjusting the speed of the remaining stroke based on such a comparison with respect to a limit.
[0005] [0005] Robotic surgical tools can be useful in providing a stable and reliable application for surgical procedures. Several components can be interchangeable so that a single support device can be used to attach to different modular robotic surgical arms. Some of these robotic systems employ multiple motors to control individual components that can move independently, but still involve a degree of interrelation. SUMMARY
[0006] [0006] In one aspect, a method for controlling the speed of a firing member in a robotic surgical system is provided. The method comprises detecting, through a control circuit, a condition on an end actuator during a closing phase; define, by means of the control circuit, the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger, by means of the control circuit, the displacement member at the defined command speed; detect, through the control circuit, a condition on the end actuator during a trigger phase; and define, by means of the control circuit, the motor control speed based on the condition detected in the end actuator during the trip phase.
[0007] [0007] In another aspect, a method for controlling the speed of a firing member in a robotic surgical system comprises receiving, through a control circuit, the actual closing force of a closing member from a force sensor coupled to the closing member and the control circuit; compare, through the control circuit, the actual closing force to a limit closing force; determining, through the control circuit, a setpoint speed for displacing the closing member based on the comparison; and control, by means of the control loop, the actual speed of the closing member based on the setpoint speed.
[0008] [0008] In another aspect, a method for controlling the speed of a firing member in a robotic surgical system comprises receiving, through a control circuit, the actual closing force of a closing member from a force sensor coupled to the closing member and the control circuit; receive, through the control circuit, the actual position of a trigger member from a position sensor coupled to the trigger member and the control circuit; and defining, by means of the control circuit, a new closing force based on the actual closing force applied to the closing member and the actual position of the firing member.
[0009] [0009] In another aspect, a robotic surgical system is provided. The robotic surgical system comprises a control circuit configured to: detect a condition on an end actuator during a closing phase; define the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger the displacement member at the defined command speed; detect a condition on the end actuator during a firing phase; and set the motor control speed based on the condition detected in the end actuator during the trip phase.
[0010] [0010] In another aspect, the robotic surgical system comprises
[0011] [0011] In another aspect, the robotic surgical system comprises a first motor to drive a displacement member coupled to a cutting member; a second motor for driving a closing tube coupled to an anvil portion of an end actuator, in which the closing tube is configured to close or open the anvil; and a control circuit coupled to the first and second motors, in which the control circuit is configured to define a control speed of the first motor during a closing phase or a triggering phase and to define a control speed of the second motor for apply a closing force to the closing tube coupled to the anvil, where the control circuit is configured to: detect a first condition in the end actuator; detect a second condition on the end actuator; define the first motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the first defined command speed.
[0012] [0012] In another aspect, a control system for a robotic surgical system is provided. The control system comprises a control circuit configured to: determine the closing force
[0013] [0013] In another aspect, the control system comprises a first motor configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member; a closed-loop feedback control system comprising a control circuit coupled to the first motor and the force sensor, in which the control circuit is configured to: receive, from the force sensor, the actual closing force of the limb closure; compare the actual closing force to a limit closing force; determining a setpoint speed of the first motor to displace the closing member based on the comparison; and controlling the actual speed of the closing member based on the setpoint speed.
[0014] [0014] In another aspect, the control system comprises a proportional, integral and derivative feedback control system (PID), the control circuit being configured to: determine the real closing force of a closing member; compare the actual closing force to a limit closing force; determining a setpoint speed for displacing the closure member based on the comparison; and controlling the actual speed of the closing member based on the setpoint speed; a force sensor coupled to the control circuit, the force sensor configured to measure the closing force; and a motor coupled to the control circuit and the closing member, where the control circuit is configured to advance the closing member during
[0015] [0015] In another aspect, a control system for a robotic surgical system is provided. The control system of a robotic surgical system, the control system comprising: a control circuit configured to: determine a closing force applied to a closing member; determine a firing member's position; and defining a new closing force based on the closing force applied to the closing member and the position of the firing member.
[0016] [0016] In another aspect, the control system of a robotic surgical system comprises a first engine configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member; a control circuit coupled to the first motor and the force sensor, where the control circuit is configured to: receive, from the force sensor, the actual closing force applied to the closing member; receiving, from the position sensor, a position of a firing member; and defining a new closing force based on the actual closing force applied to the closing member and the position of the firing member.
[0017] [0017] In another aspect, the control system of a robotic surgical system comprises a control circuit configured for: applying a closing force to a closing member during
[0018] [0018] In another aspect, a system of a robotic surgical instrument is presented. The system can include: a control circuit; a first motor and a second motor, both communicatively coupled to the control circuit; a first articulation arm communicatively coupled to the first engine; a second articulation arm communicatively coupled to the second motor; an end actuator coupled to the first pivot arm through a first hinge and to the second arm via a second hinge. The control circuit can be configured to cause the first motor to apply a first force to the first link arm. The control circuit can be configured to cause the second engine to apply a second force to the second articulation arm, where the second force is antagonistic to the first force so that the first and second forces neutralize. the forces applied to the end actuator. The first and second forces can cause the end actuator to be pivoted through the first and second hinges.
[0019] [0019] In another aspect, the end actuator is configured to articulate at a prescribed angle based on a ratio of magnitudes between the first force and the second force. In some aspects, the system additionally includes a pivot pivot coupled to the end actuator, where the end actuator is additionally configured to pivot around the pivot pivot.
[0020] [0020] In another aspect, a method of a robotic surgical instrument is presented comprising a control circuit, a first motor, a second motor, a first articulation arm, a second articulation arm and an actuator. far end. The method may include: instructing, through the control circuit, the first motor to apply a first force to the first articulation arm; instruct, through the control circuit, the second motor to apply a second force to the second articulation arm, in which the second force is antagonistic to the first force so that the first and second forces neutralize the forces applied to the actuator extremity; and causing the end actuator to be articulated through the first and second hinges based on the first and second forces applied to the first and second articulation arms, respectively. FIGURES
[0021] [0021] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[0022] [0022] Figure 1 is a perspective view of a robotic controller, in accordance with an aspect of the present description.
[0023] [0023] Figure 2 is a perspective view of a robotic surgical arm car / manipulator of a robotic surgical system that operationally supports a plurality of surgical tools.
[0024] [0024] Figure 3 is a side view of the car / robotic surgical arm manipulator shown in Figure 2, according to an aspect of the present description.
[0025] [0025] Figure 4 is a perspective view of a surgical instrument, according to an aspect of the present description.
[0026] [0026] Figure 5 is an exploded view of an adapter and the arrangement of the instrument holder for fixing various surgical tools, according to one aspect of the present description.
[0027] [0027] Figure 6 illustrates a bottom perspective view of the aspect of the surgical instrument of Figure 4, according to an aspect of the present description.
[0028] [0028] Figure 7 is a partial exploded view of a portion of an articulated surgical end actuator, in accordance with an aspect of the present description.
[0029] [0029] Figure 8 is a rear perspective view of the surgical instrument of Figure 105 with the instrument mounting compartment removed, according to an aspect of the present description.
[0030] [0030] Figure 9 is a front perspective view of the surgical instrument of Figure 6 with the instrument mounting compartment removed, in accordance with an aspect of the present description.
[0031] [0031] Figure 10 is a partial exploded perspective view of the surgical instrument of Figure 6, according to an aspect of the present description.
[0032] [0032] Figure 11A is a side view in partial cross section of the surgical instrument of Figure 6, according to an aspect of the present description.
[0033] [0033] Figure 11B is an enlarged cross-sectional view of a portion of the surgical instrument represented in Figure 11A, according to an aspect of the present description.
[0034] [0034] Figure 12 illustrates an aspect of an end actuator comprising a first sensor and a second sensor, in accordance with an aspect of the present description.
[0035] [0035] Figure 13A illustrates an aspect in which the tissue compensator is removably attached to the anvil portion of the end actuator, in accordance with an aspect of the present description.
[0036] [0036] Figure 13B illustrates a detailed view of a portion of the tissue compensator shown in Figure 13A, in accordance with an aspect of the present description.
[0037] [0037] Figure 13C illustrates several examples of aspects that use the layer of conductive elements, as well as conductive elements in the staple cartridge, to detect the distance between the anvil and the upper surface of the staple cartridge, according to one aspect. of this description.
[0038] [0038] Figure 14A illustrates an end actuator that comprises integrated conductors, according to an aspect of the present description.
[0039] [0039] Figure 14B illustrates an end actuator that comprises integrated conductors, according to an aspect of the present description.
[0040] [0040] Figure 15A illustrates a sectional view of the staple cartridge, according to an aspect of the present description.
[0041] [0041] Figure 15B illustrates a sectional view of the staple cartridge shown in Figure 15A illustrating conductors integrated into the end actuator, according to an aspect of the present description.
[0042] [0042] Figure 16 illustrates an aspect of a segmented flexible right-left circuit of an end actuator, according to an aspect of the present description.
[0043] [0043] Figure 17 illustrates an aspect of a segmented flexible circuit configured to be fixedly attached to a claw member of an end actuator, in accordance with an aspect of the present description.
[0044] [0044] Figure 18 illustrates an aspect of a segmented flexible circuit configured to be mounted on a claw member of an end actuator, according to an aspect of the present description.
[0045] [0045] Figure 19 illustrates an aspect of an end actuator configured to measure a GT fabric span, according to an aspect of the present description.
[0046] [0046] Figure 20 illustrates an aspect of an end actuator comprising a segmented flexible circuit, in accordance with an aspect of the present description.
[0047] [0047] Figure 21 illustrates the end actuator shown in Figure 20 with the claw member holding the fabric between the claw member and the staple cartridge, according to an aspect of the present description.
[0048] [0048] Figure 22 illustrates a logical diagram of an aspect of a feedback system, in accordance with an aspect of the present description.
[0049] [0049] Figure 23 illustrates a control circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0050] [0050] Figure 24 illustrates a combinational logic circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0051] [0051] Figure 25 illustrates a sequential logic circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0052] [0052] Figure 26 illustrates a logic diagram of a common control module for use with a plurality of motors in the robotic surgical instrument, according to an aspect of the present description.
[0053] [0053] Figure 27 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, in accordance with with an aspect of the present description.
[0054] [0054] Figure 28 is a diagram of a position sensor comprising an absolute magnetic rotary positioning system, according to an aspect of the present description.
[0055] [0055] Figure 29 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 inside the end actuator, according to an aspect of this description.
[0056] [0056] Figure 30 is a schematic diagram of a robotic surgical instrument configured to operate a surgical instrument described herein, in accordance with an aspect of the present description.
[0057] [0057] Figure 31 is a graph illustrating the techniques to control the speed of advance or retraction of a displacement member of a robotic surgical instrument, according to an aspect of the present description.
[0058] [0058] Figure 32 is a graphical representation of a closed circuit speed control process, according to an aspect of the present description.
[0059] [0059] Figure 33 is a logic flow diagram representing a process of a control program or a logical configuration to determine tissue conditions in an end actuator.
[0060] [0060] Figure 34 is a first graph of two plots of closing force (FTC) representing the force applied to a closing member to close on thick and thin tissue during a closing phase and a second plot of two plots firing force (FTF) representing the force applied to a firing member to fire through thick, thin tissue during a firing phase.
[0061] [0061] Figure 35 is a first graph of two plots of closing force representing the force applied to a closing member to close in thick and thin tissue and a second graph of two plots of firing force representing the applied force a firing member to fire through thin, personal tissue during a simultaneous closing and firing phase, in accordance with an aspect of the present description.
[0062] [0062] Figure 35A is a detailed view of a section of the first graph shown in Figure 35.
[0063] [0063] Figure 36 is a graph of a control process for thick tissue in order to control the speed of the closure member based on the load of closing force on a closure member and the actual speed of the closure member. , in accordance with an aspect of the present description.
[0064] [0064] Figure 37 is a detailed view of the closing force, displacement and speed of the closing tube with closed loop feedback control during a firing stroke, according to an aspect of the this description.
[0065] [0065] Figure 38 illustrates a graph of a control process for thin tissue in order to control the speed of the closing member based on the load of closing force on a closing member and the actual speed of the closing member. according to one aspect of the present description.
[0066] [0066] Figure 39 is a graph of a control system configured to provide progressive closure of a closing member during a firing stroke, when the displacement member advances distally and engages an arm clamping force to decrease the load of the closing force on the closing member at a desired speed and to decrease the load of the firing force on the firing member, according to an aspect of the present description.
[0067] [0067] Figure 40 illustrates a proportional, integral, derivative (PID) controller feedback control system, in accordance with an aspect of the present description.
[0068] [0068] Figure 41 is a logic flow diagram representing a process of a control program or a logical configuration to determine the speed of a closing member, according to an aspect of the present description.
[0069] [0069] Figure 42 is a diagram of a displacement graph representing a plot of the displacement of the closing member as a function of time, a graph of the closing force of the closing member representing a plot of the closing force ( FTC) as a function of time and a plot of the firing force of the firing member representing a plot of the firing force (FTF) as a function of time, according to one aspect of the present description.
[0070] [0070] Figure 43 is a logic flow diagram representing a process of a control program or a logical configuration to determine the speed of a closing member, according to an aspect of the present description.
[0071] [0071] Figure 44 shows an example of a structural portion of a robotic surgical arm that includes two articulation arms connected to an end actuator, according to some aspects of the present description.
[0072] [0072] Figure 45 shows the anvil in a neutral or linear position in relation to the articulation arms.
[0073] [0073] Figure 46 shows the left articulation arm moved upwards along a first direction, while, simultaneously, the right articulation arm is moved downwards in an opposite direction.
[0074] [0074] Figure 47 shows opposite movements of the articulation arms that cause the anvil to move in the opposite direction, that is, clockwise.
[0075] [0075] Figure 48 shows, according to some aspects, that the pivot moment of the end actuator is really outside the center line of the drive shaft structure.
[0076] [0076] Figure 49 shows an example of a graph that represents an amount of force applied by both articulation arms as a function of a degree of articulation of the head from the horizontal central line, according to some aspects.
[0077] [0077] Figure 50 shows an example of how forces can be applied to the two articulation arms to make the head / end actuator articulate 60º from the center line, according to some aspects.
[0078] [0078] Figure 51 shows another example of how forces can be applied to the two articulation arms to make the head / end actuator articulate 30º from the center line, according to some aspects.
[0079] [0079] Figure 52 shows a third example of how forces can be applied to the two articulation arms to make the head / end actuator articulate back to the central or neutral position, according to some aspects.
[0080] [0080] Figure 53 illustrates a logic flow diagram representing a control program process or logic configuration to cause an end actuator of a robotic surgical system based on the control of two independent articulation arms to articulate, according to some aspects. DESCRIPTION
[0081] [0081] The applicant for this application holds the following patent applications filed simultaneously with the same and which are each incorporated herein by reference in their respective totalities: Proxy document number END8288USNP / 170197, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL, by the inventors Frederick E. Shelton, IV et al. filed on June 29, 2017.
[0082] [0082] Figure 1 represents an aspect of a master robotic controller 11 that can be used in connection with a robotic arm servo 100 of the type shown in Figure 2. Master controller 11 and robotic arm servo 100, as well as their respective components and control systems, are collectively referred to in the present invention as robotic surgical system 10. Examples of such systems and devices are disclosed in US patent no.
[0083] [0083] As can be seen in Figure 2, in one form, the robotic arm carriage 100 is configured to operate a plurality of surgical tools, generically designated as 200. Various robotic surgery systems and methods that employ the master controller and robotic arm car are disclosed in US Patent No. 6,132,368, entitled "Multi-Component Telepresence System and Method", the complete description of which is incorporated herein by reference. In various forms, the surgical arm carriage 100 includes a base 102 from which, in the illustrated aspect, three tools
[0084] [0084] Now with reference to Figure 3, in at least one form, robotic manipulators 106 may include a connection 108 that restricts the movement of the surgical instrument 200. In various aspects, connection 108 includes rigid connections coupled to each other by rotating joints in a parallelogram arrangement so that the surgical instrument 200 rotates around a point in space 110, as described in more detail in US Patent No. 5,817,084, the full description of which is here incorporated as a reference. The parallelogram arrangement restricts rotation to pivot around a geometry axis 112a, sometimes called a pitch geometry axis. The connections that support the parallelogram connection are pivotally mounted to configure joints 104 (Figure 2), so that the surgical instrument 200 additionally rotates around a geometry axis 112b, sometimes called the yaw geometry axis. The geometrical pitch and yaw axes 112a, 112b intersect at the remote center 114, which is aligned along a drive axis 208 of the surgical instrument 200. The surgical instrument 200 can have additional degrees of freedom driven as supported by the manipulator 106, including a sliding movement of the surgical instrument 200 along the geometric axis of the longitudinal instrument "LT-LT". As the surgical instrument 200 slides along the geometric axis of the LT-LT instrument in relation to the manipulator 106 (arrow 112c), the remote center 114 remains fixed in relation to the base 116 of the manipulator 106. Therefore, the entire manipulator is, in general, moved to reposition remote center 114. Connection 108 of manipulator 106 is driven by a series of motors 120. These motors actively move connection 108 in response to commands from a processor in a control system. As will be discussed in more detail below, motors 120 are also used to manipulate surgical instrument 200.
[0085] [0085] Figure 4 is a perspective view of a surgical instrument 200 that is adapted for use with a robotic surgical system 10 that has an instrument drive assembly that is operationally coupled to a master controller 11 that is operable. input from an operator (ie, a surgeon). As can be seen in this Figure, the surgical instrument 200 includes a surgical end actuator 1012 that comprises a cutter. In at least one form, the surgical instrument 200 generally includes an elongated drive shaft assembly 1008 that has a proximal closure tube 1040 and a distal closure tube 1042 that are coupled by a hinge joint
[0086] [0086] Figure 5 is an exploded view of an adapter and the arrangement of the instrument holder for fixing various surgical instruments, according to one aspect of the present description. A removable locking arrangement 239 can be used to releasably secure adapter 240 to the instrument holder
[0087] [0087] As shown in Figures 4 to 6, adapter portion 240 generally includes an instrument side 244 and a support side 246. In various forms, a plurality of rotating bodies 250 are assembled on a floating plate 248 that has a limited range of movement relative to the adapter structure surrounding normal to the main surfaces of the adapter 240. Axial movement of the floating plate 248 helps to decouple the rotating bodies 250 from the instrument mounting portion 300 when the levers 303 along the sides of the housing of the instrument mounting portion 301 are actuated. Other mechanisms / arrangements can be used to releasably couple the mounting portion of the instrument 300 to the adapter 240. In at least one form, the rotating bodies 250 are resiliently mounted on the floating plate 248 by resilient radial members that extend in an indent - circumferential rotation around the rotating bodies 250. The rotating bodies 250 can move axially in relation to the plate 248 by deflecting these resilient structures. When arranged in a first axial position (towards the side of the instrument 244), the rotating bodies 250 are free to rotate without limiting angles.
[0088] [0088] Figure 6 is a partial bottom perspective view of the appearance of the surgical instrument of Figure 4. As shown in Figures 6 to 10, the surgical end actuator 1012 is attached to the mounting portion of the instrument 300 by a set of elongated drive shaft 1008 according to various aspects. As shown in the illustrated aspect, the drive shaft assembly 1008 includes an articulated joint generically indicated as 1011 which allows the surgical end actuator 1012 to be selectively articulated around a geometric axis of articulation AA-AA which is substantially transversal to a longitudinal axis LT-LT. See Figure 7. In other respects, the articulated joint is omitted. In several respects, the drive shaft assembly 1008 may include a closure tube assembly 1009 comprising a proximal closure tube 1040 and a distal closure tube 1042 which are pivotally connected by pivot connections 1044 and operationally supported on a central column assembly generally represented as 1049. In the illustrated aspect, the central column assembly 1049 comprises a distal central column portion 1050 that is attached to the elongated channel 1022 and is pivotally coupled to the central column portion proximal 1052. The closing tube assembly 1009 is configured to slide axially on the central column assembly 1049 in response to actuation movements applied to it. The distal closure tube 1042 includes an opening 1045 into which the flap 1027 on the anvil 1024 is inserted to facilitate opening of the anvil 1024, as the distal closure tube 1042 is moved axially in the proximal "DP" direction. The closing tubes 1040, 1042 can be made of electrically conductive material (such as metal) so that they can serve as part of the antenna, as described above. The components of the main drive shaft assembly (for example, the 1048, 1050 drive shafts) can be made of a non-conductive material (such as plastic). Anvil 1024 can be pivoted open and closed at a pivot point 1025 located at the proximal end of elongated channel 1022.
[0089] [0089] In use, it may be desirable to rotate the surgical end actuator 1012 around the longitudinal geometric axis of the LT-LT instrument. In at least one aspect, the mounting portion of the instrument 300 includes a rotary drive assembly 1069 that is configured to receive a rotary output movement corresponding to the instrument drive assembly 101 of the robotic surgical system 10 and to convert that rotary output movement into a rotary control movement in order to rotate the elongated drive shaft assembly 1008 (and the surgical end actuator 1012) about the geometric axis of the LT-LT longitudinal instrument. In several respects, for example, the proximal end 1060 of the proximal closing tube 1040 is swiveled on the instrument mounting plate 302 of the instrument mounting portion 300 by a front support cradle 309 and a slide lock 1100 which is also movably supported on the instrument mounting plate 302. In at least one form, the 1069 rotary drive assembly includes a 1062 tube gear segment that is formed over (or attached to) the proximal end 1060 of the proximal closing tube 1040 for operational engagement by means of a rotating gear assembly 1070 that is operationally supported on the instrument mounting plate
[0090] [0090] In at least one aspect, the closure of the anvil 1024 in relation to the staple cartridge 1034 is carried out by axially moving the closing tube assembly 1009 in the distal direction "DD" in the central column assembly 1049. As indicated above, in
[0091] [0091] In various forms, the closing gear set 1110 includes a closing gear wheel 1112 that is coupled to one second among the corresponding disks or driven elements 304 on the adapter side 307 of the instrument mounting plate 302. See Figure 6. Thus, the application of a second rotating output movement from the instrument drive set 101 of the robotic surgical system 10 to the corresponding second driven element 304 will cause the gear wheel to rotate. closing 1112 when the instrument mounting portion 300 is coupled to the instrument drive assembly
[0092] [0092] Figure 11A is a side view in partial cross section of the surgical instrument 200 in Figure 6 and Figure 11B is an enlarged cross section view of a portion of the surgical instrument represented in Figure 11A, from according to one aspect of this description. With reference to Figures 11A and 11B, the distal end 1202 of the cutting bar 1200 is attached to the cutting instrument
[0093] [0093] In several respects, the surgical instrument 200 employs an articulation system that includes an articulated joint 12011 that allows the surgical end actuator 1012 to be articulated around a geometric axis of articulation AA-AA that is substantially transversal to the longitudinal geometric axis LT-LT. In at least one aspect, the surgical instrument 200 includes the first and second pivot bars 1250a, 1250b which are slidably supported within the corresponding passages provided through the proximal central column portion 1052. In at least one form, the first and the second pivot bar 1250a, 1250b are actuated by a pivot transmission that is operatively supported on the instrument mounting plate 302. Each of the pivot bars 1250a, 1250b has a proximal end that has a guide rod projecting from it extending laterally through a corresponding slot in the proximal end portion of the proximal central column portion and into a corresponding arcuate slot in a 1260 hinge nut comprising a portion articulation transmission. The pivot bar 1250a has a guide rod 1254 extending laterally through a corresponding slot in the proximal end portion of the distal central column portion 1050 and into a corresponding arcuate slot in the pivot nut 1260. In addition, the pivot bar 1250a has a distal end which is pivotally coupled to the distal central column portion 1050 by means of, for example, a pin, and a pivot bar 1250b has a distal end which is pivotally coupled to the portion of distal central column 1050 by means of a pin. In particular, the pivot bar 1250a is laterally displaced in a first lateral direction from the longitudinal axis LT-LT and the pivot bar 1250b is laterally displaced in a second lateral direction from the longitudinal geometric axis LT-LT . Thus, the axial movement of the articulation bars 1250a, 1250b in opposite directions will result in the articulation of the distal central column portion 1050 as well as the surgical end actuator 1012 fixed to it around the geometric axis of articulation AA- AA, as will be discussed in more detail below.
[0094] [0094] The articulation of the surgical end actuator 1012 is controlled by the rotation of the joint nut 1260 around the longitudinal geometric axis of the LT-LT instrument. The hinge nut 1260 is pivoted on the proximal end portion of the distal central column portion 1050 and is pivoted by a hinge gear assembly
[0095] [0095] The aspect of the instrument described above employs an interface arrangement that is particularly suitable for assembling the robotically controllable medical instrument under at least one form of robotic arm arrangement that generates at least four different rotary control movements. Those skilled in the art will recognize that such rotary output movements can be selectively controlled through the programmable control systems used by the robotic system / controller. For example, the instrument arrangement described above may be suitable for use with robotic systems produced by Intuitive Surgical, Inc. of Sunnyville, California, USA, many of which can be described in detail in various patents incorporated herein by way of of reference. The innovative and exclusive aspects of several aspects of the present invention serve to use the rotating exit movements provided by the robotic system in order to generate specific control movements that are of sufficient magnitude that allow the end actuators to cut and staple the fabric . In this way, the unique provisions and principles of various aspects of the present invention may enable a variety of different forms of the tool systems disclosed and claimed herein to be used effectively in conjunction with other types and forms of robotic systems. that provide programmed rotary movements or other outgoing movements. In addition, as will become additionally evident as the present detailed description proceeds, various aspects of the end actuator of the present invention that require other forms of actuation movements can also be effectively acted upon by using one or more among the control movements generated by the robotic system.
[0096] [0096] Figure 12 illustrates an aspect of an end actuator 3000 comprising a first sensor 3008a and a second sensor 3008b. The first and second sensors 3008a, 3008b are
[0097] [0097] The end actuator 3000 comprises a second sensor 3008b. The second sensor 3008b is configured to measure one or more parameters of the end actuator 3000. For example, in several respects, the second sensor 3008b may comprise a strain gauge configured to measure the magnitude of the mechanical stress on the anvil 3002 during a condition of fixation. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. In several respects, the first sensor 3008a and / or the second sensor 3008b may comprise, for example, a magnetic sensor such as, for example, a Hall effect sensor, an effort meter, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the 3000 end actuator. The first sensor 3008a and the second sensor 3008b can be arranged in a series configuration and / or a parallel configuration. In a series configuration, the second sensor 3008b can be configured to directly affect the output of the first sensor 3008a. In a parallel configuration, the second sensor 3008b can be configured to indirectly affect the output of the first sensor 3008a.
[0098] [0098] In one aspect, the first sensor 3008a can be configured to measure the gap 3010 between the anvil 3002 and the second claw member 3004. The gap 3010 is representative of the thickness and / or compressibility of a section of fabric clamped between the anvil 3002 and the staple cartridge 3006. The first sensor 3008a may comprise, for example, a Hall effect sensor configured to detect a magnetic field generated by a magnet 3012 coupled to the second claw member 3004 and / or the cartridge of staples
[0099] [0099] In some respects, the second sensor 3008b can be configured to detect one or more parameters indicative of a type of tissue bite, for example, a complete bite, a proximal partial bite and / or a distal partial bite. In some respects, the thickness measurement of the first sensor 3008a can be provided to an output device of the robotic surgical system 10 coupled to the end actuator 3000. In one aspect, for example, the end actuator 3000 is coupled to the robotic surgical system 10 which comprises a screen. The measurement of the first sensor 3008a is provided to a processor.
[0100] [0100] In another aspect, the end actuator 3000 can comprise a plurality of second sensors configured to measure an amplitude of the mechanical stress exerted on the anvil 3002 during a gripping procedure. In another aspect, the plurality of sensors makes it possible to implement a robust process for detecting tissue thickness. By detecting various parameters along the length of the anvil 3202, the plurality of sensors allows a surgical instrument, such as the surgical instrument 10, to calculate the thickness of the tissue in the claws, regardless of the bite, for example, a partial or complete bite. In some respects, the plurality of sensors comprises a plurality of effort meters. The plurality of effort meters is configured to measure the mechanical stress at various points on the anvil 3002. The amplitude and / or the angular coefficient of the mechanical stress at each of the various points on the anvil 3002 can be used to determine - to determine the thickness of the fabric disposed between the anvil 3002 and the staple cartridge 3006. The plurality of effort meters can be configured to optimize the maximum amplitude and / or the differences in angular coefficient based on the gripping dynamics so that - finish the thickness, the positioning of the fabric and / or the material properties of the fabric. Time-based monitoring of sensor plurality during gripping allows a processor, such as a primary processor, to use query tables and algorithms to recognize tissue characteristics and gripping and adjusting positions dynamically the end actuator 3000 and / or the fabric clamped between the anvil 3002 and the staple cartridge 3006.
[0101] [0101] Figure 13A illustrates an aspect of a 5500 end actuator that comprises a plurality of conductive elements
[0102] [0102] Figure 13C illustrates several examples of aspects using the conductive elements layer 5512 and, as well as conductive elements 5524, 5526 and 5528, in the staple cartridge 5506, to detect the distance between the anvil 5502 and the upper surface of the staple cartridge 5506. The distance between the anvil 5502 and the staple cartridge 5506 indicates the amount and / or density of the compressed 5518 tissue between them. This distance can, additionally or alternatively, indicate which areas of the 5500 end actuator contain tissue. The thickness, density and / or location of the 5518 tissue can be communicated to the operator of the surgical instrument
[0103] [0103] In the examples of illustrated aspects, the layer of conductive elements 5512 is located on the surface facing the bib 5514 of the tissue compensator 5510 and comprises one or more coils of metallic wire 5522 in communication with a control circuit comprising a 5520 microprocessor. The 5500 microprocessor can be located on the end actuator 5500 or any component thereof, or it can be located in the assembly compartment of the instrument 301 or it can comprise any microprocessor or microcontroller described above. In the examples of illustrated aspects, the staple cartridge 5506 also includes conductive elements, which can be any one of: one or more coils of metal wire 5524, one or more conductive plates 5526, a wire mesh 5528, or any other convenient configuration, or any combination thereof. The conductive elements of the 5506 staple cartridge may be in communication with the same microprocessor 5520 or with some other microprocessor in the robotic surgical instrument. Conductive elements 5512 can be used to measure thickness, strength, displacement, compression, tissue impedance and tissue location within the end actuator
[0104] [0104] When the anvil 5502 is in a closed position and is therefore compressing 5518 fabrics against the staple cartridge 5506, the conductive element layer 5512 of the tissue compensator 5510 can be capacitively coupled to the conductors in the staple cartridge 5506. The strength of the capacitive field between the layer of conductive elements 5512 and the conductive elements of the staple cartridge 5506 can be used to determine the amount of fabric 5518 being compressed. Alternatively, the staple cartridge 5506 can comprise eddy current sensors in communication with a 5520 microprocessor, in which the eddy current sensors are operable to detect the distance between the anvil 5502 and the upper surface of the staple cartridge 5506 using the use of eddy currents.
[0105] [0105] It is understood that other configurations of conductive elements are possible and that the aspects of Figure 13C are only by way of example and not of limitation. For example, in some aspects, the layer of conductive elements 5512 may be located on the surface facing the staple cartridge 5516 of the tissue compensator 5510. In addition, in some aspects, the conductive elements 5524, 5526 and / or 5528 can be located on or inside the anvil 5502. Thus, in some aspects, the layer of conductive elements 5512 can be capacitively coupled to conductive elements in the anvil 5502 and thus detect the properties of the fabric 5518 captured inside the end actuator.
[0106] [0106] It can also be recognized that a layer of conductive elements 5512 can be arranged both on the surface facing the anvil 5514 and on the surface facing the cartridge
[0107] [0107] Now with reference to Figure 14A, a sectional view is shown in approach of the end actuator 5600 with the anvil 5602 in a closed position. Figure 14B illustrates an end actuator 5600 comprising built-in 5620 electrical conductors, in accordance with an aspect of the present description. In a closed position, the anvil 5602 can compress tissue 5618 between the tissue compensator 5610 and the staple cartridge 5606. In some cases, only a portion of the 5600 end actuator may be capturing tissue 5618. In areas of the extremity 5600 surrounding the fabric 5618, in areas of greater compression 5624, the matrix of conductors 5620 will also be compressed, while in areas not compressed 5626, the matrix of conductors 5620 will be more separated. Therefore, conductivity, resistance, capacitance and / or some other electrical property between the 5620 conductor array can indicate which areas of the 5600 end actuator contain tissue. The 5620 conductor matrix can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and tissue location within the 5600 end actuator.
[0108] [0108] With reference to Figures 14A and 14B, the 5600 end actuator comprises a 5610 fabric compensator which further comprises 5620 embedded conductors. The 5600 end actuator comprises a first claw member, or mustache. na, 5602 pivotally coupled to a second claw member
[0109] [0109] A 5620 conductor matrix is embedded within the material comprising the 5610 tissue compensator. The 5620 conductor matrix can be arranged in an opposite configuration, and the opposite elements can be separated by insulating material. Each of the 5620 conductor matrix is coupled to one or more conductive metal wires 5622. Conductive metal wires 5622 enable the 5620 conductor matrix to communicate with a 961 microprocessor or control circuit (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26), 2510 (Figure 30). The 5620 conductor array can span the width of the tissue compensator 5610, so that they are in the path of a cutting member or cutting bar 280. As the cutting bar 280 advances, it will cut, destroy or otherwise it will disable the 5620 conductors, and thus indicate their position inside the 5600 end actuator. The 5610 conductor matrix can comprise conductive elements, electrical circuits, microprocessors or any combination thereof.
[0110] [0110] Figures 15A and 15B illustrate an aspect of a 5650 end actuator that further comprises 5662 conductors embedded within it.
[0111] [0111] Figure 16 illustrates an aspect of a 4600 left-right segmented flexible circuit. The 4600 left-right segmented flexible circuit comprises a plurality of segments L1-L5 on the left side of the left-right segmented flexible circuit 4600. and a plurality of segments R1-R5 on the right side of the segmented flexible left-right circuit 4600. Each of the segments L1-L5 and R1I-R5 comprises temperature sensors and / or force sensors to detect tissue parameters locally within each segment L1-L5 and R1-R5. The segmented flexible left-to-right circuit 4600 is configured to detect parameters locally within each of the segments L1-L5 and R1-R5. The 4600 flexible circuit can be used to measure tissue thickness, force, displacement, compression, tissue impedance and tissue location within an end actuator.
[0112] [0112] Figure 17 illustrates an aspect of a segmented flexible circuit 6430 configured to be fixedly attached to a 6434 jaw member of an end actuator. The segmented flexible circuit 6430 comprises a distal segment 6432a and side segments 6432b, 6432c that include individually addressable sensors to enable the detection of the presence of local tissue. Segments 6432a, 6432b, 6432c are individually addressable to detect tissue and to measure tissue parameters based on individual sensors located within each segment
[0113] [0113] Figure 18 illustrates an aspect of a 6440 segmented flexible circuit configured to be mounted on a 6444 jaw member of an end actuator. The segmented flexible circuit 6580 comprises a distal segment 6442a and side segments 6442b, 6442c that include individually addressable sensors for tissue control. The 6442a, 6442b, 6442c segments are individually addressable for treating tissue and for reading individual sensors located within each of the 6442a, 6442b, 6442c segments. The 6442a, 6442b, 6442c segments of the 6440 segmented flexible circuit are mounted on the clamping member 6444 and are electrically coupled to a power source through conductive electrical members 6446. A Hall effect sensor 6448, or another suitable magnetic sensor, is provided at a distal end of the 6444 claw member. The Hall 6448 effect sensor operates in conjunction with a magnet to provide a measure of an aperture defined by the 6444 claw member of the end actuator or gap of fabric, as shown in particular in Figure 19. In addition to
[0114] [0114] Figure 19 illustrates an aspect of a 6460 end actuator configured to measure a gap of tissue Gr. The 6460 end actuator comprises a 6462 jaw member and a 6444 jaw member. The flexible loop 6440 , as described in Figure 18, is mounted on claw member 6444. The flexible circuit 6440 comprises a Hall effect sensor 6448 that operates with a 6464 magnet mounted on claw member 6462 to measure the gap of fabric Gr. This technique can be used to measure the defined gap between jaw member 6444 and jaw member 6462. Jaw member 6462 can be a staple cartridge.
[0115] [0115] Figure 20 illustrates an aspect of a 6470 end actuator comprising a 6468 segmented flexible circuit, as shown in Figure 16. The 6470 end actuator comprises a 6472 jaw member and a staple cartridge
[0116] [0116] Figure 21 illustrates end actuator 6470, shown in Figure 20, with claw member 6472 securing fabric 6476 between claw member 6472, for example, the anvil and the staple cartridge. As shown in Figure 21, tissue 6476 is positioned between segments 1 to 3 and represents tissue zones 1 to 3. Consequently, the 6476 fabric is detected by the sensors in the segments | a 3 and the absence of tissue (void) is detected in section 6478 by segments 4 and 5. Information regarding the presence and absence of 6476 tissue positioned within certain segments 1 to 3 and 4 and 5, respectively, is communicated to a control circuit, as described here, through, for example, interface circuits. The control circuit is configured to detect the tissue located in segments 1 to 3. It will be recognized that segments 1 a can contain any suitable temperature, force / pressure and / or Hall effect magnetic sensors to measure tissue parameters located in certain segments 1 to 5 and electrodes to supply energy to the tissue located in certain segments 1 to 5. The 6468 segmented flexible circuit can be used to measure the thickness of the tissue, the force, the displacement, the compression, the impedance of the tissue and the location of the tissue within the 6470 end actuator.
[0117] [0117] Figure 22 illustrates a logic diagram of a feedback system 970 of the robotic surgical system 10 of Figure 1, according to one or more aspects of the present description. The 970 system comprises a circuit. The circuit includes a 961 controller comprising a 962 processor and a 968 memory. One or more of the 972, 974, 976 sensors, for example, provide real-time feedback to the 962 processor. A 982 motor, driven by a motor drive 992, operationally couples a longitudinally movable displacement member to drive the beam cutting element with an i-profile. A 980 tracking system is configured to determine the position of the longitudinally movable displacement member. Position information is provided to the 962 processor, which can be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of a firing member, firing bar and a beam cutting element. with i profile. Additional motors can be provided at the instrument driver interface to control the firing of the beam with an i-profile, the displacement of the closing tube, the rotation of the drive shaft and the articulation.
[0118] [0118] In one form, an effort meter can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. Referring now to Figure 22, a system 970 for measuring forces applied to the tissue attached by the end actuator comprising a 972 strain gauge sensor, such as a microstrain gauge, is configured to measure one or more end actuator parameters, for example. In one aspect, the 972 strain gauge sensor can measure the amplitude or magnitude of the mechanical stress exerted on a grip member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 962 processor of a 961 microcontroller. A 974 load sensor can measure the force to operate the cutting element, for example, to cut the tissue captured between the anvil and the staple cartridge . A 976 magnetic field sensor can be used to measure the thickness of the captured tissue. The measurement of the 976 magnetic field sensor can also be converted into a digital signal and supplied to the processor
[0119] [0119] Measurements of tissue compression, tissue thickness and / or force required to close the end actuator on the tissue, as measured by sensors 972, 974, 976, respectively, can be used by microcontroller 961 to characterize the position selected trigger member and / or the corresponding trigger member speed value. In one case, a 968 memory can store a technique, an equation and / or a look-up table that can be used by the 961 microcontroller in the evaluation.
[0120] [0120] In the aspect illustrated in Figure 22, a 972 sensor, such as an effort meter or a micro force meter, is configured to measure one or more parameters of the 912 end actuator, such as, for example, the amplitude of the mechanical stress exerted on the anvil 914 during a gripping operation, which can be indicative of the closing forces applied to the anvil 914. The measured effort is converted into a digital signal and supplied to the processor 962. Alternatively, or in addition to sensor 972, a sensor 974, such as a load sensor, can measure the closing force applied by the closing drive system to the anvil 914. The sensor 976, such as, for example, a load, can measure the firing force applied to a beam with an i-profile in a firing stroke of the robotic surgical system 10 (Figure 1). The beam with an i-profile is configured to engage a wedge slider, which is configured to move the clamp actuators upward to force the clamps to deform in contact with a whisker. The i-profile beam includes a sharp cutting edge that can be used to separate fabric, as the i-profile beam is advanced distally by the firing bar. Alternatively, a current sensor 978 can be used to measure the current drawn by the motor 982. The force required to advance the trigger member 220 may correspond to the current drawn by the motor 982, for example. The measured force is converted into a digital signal and supplied to the 962 processor.
[0121] [0121] Figure 23 illustrates a control circuit configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. Figure 23 illustrates a control circuit 800 configured to control the robotic surgical system 10, in accordance with an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. The 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. The memory circuit 804 stores instructions executable on a machine that, when executed by the 802 processor, they cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of several single-core processors or multi-core processors known in the art. The memory circuit 804 may comprise volatile and non-volatile storage media. The processor 802 may include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit may be configured to receive instructions from memory circuit 804 of the present description.
[0122] [0122] Figure 24 illustrates a combinational logic circuit 810 configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. The 810 combinational logic circuit can be configured to implement various
[0123] [0123] Figure 25 illustrates a sequential logic circuit 820 configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described here. 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, a clock 829 and, 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 robotic surgical system 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 finite state machine to implement 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.
[0124] [0124] Aspects can be implemented in the form of a manufacturing article. The article of manufacture 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.
[0125] [0125] Referring mainly to Figure 26, a robotic surgical system 10 can include a plurality of motors that can be activated to perform various functions. In certain instances, a first engine can be activated to perform a first function; a second engine can be activated to perform a second function; a third engine can be activated to perform a third function, a fourth engine can be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the 4400 robotic surgical instrument can be individually activated to cause firing, closing and / or articulation movements on the 1012 end actuator. The firing, closing and / or articulation movements can be transmitted to end actuator 1012 via drive shaft assembly 200, for example.
[0126] [0126] In certain cases, the robotic surgical system 10 may include a trigger motor 4402. The trigger motor 4402 can be optionally coupled to a trigger drive set 4404, which can be configured to transmit movements of firing, generated by the 4402 motor to the end actuator 1012, and, in particular, to move the beam element with an i-profile. In certain cases, the firing movements generated by the 4402 firing motor can cause the clamps to be positioned from the clamp cartridge in the fabric captured by the end actuator and / or by the cutting edge of the beam element with profile in profile. i to be advanced in order to cut the captured tissue, for example. The beam element with an i-profile can be retracted by reversing the direction of the 4402 motor.
[0127] [0127] In certain cases, the robotic surgical system 10 may include a 4403 closing motor. The 4403 closing motor can be operationally coupled to a 4405 closing drive assembly that can be configured to transmit closing movements , generated by the 4403 motor to the end actuator 1012 and, in particular, to move the closing tube 1040, 1042 in order to close the anvil 1024 and compress the fabric between the anvil 1024 and the staple cartridge 1034. The closing movements they can cause the end actuator 1012 to transition from an open configuration to an approximate configuration in order to capture the tissue, for example. End actuator 102 can be moved to an open position by reversing the direction of the 4403 motor.
[0128] [0128] In certain cases, the robotic surgical instrument 10 may include one or more articulation motors 4406a, 4406b, for example. The 4406a, 4406b motors can be operationally coupled to the respective articulation drive assemblies 4408a, 4408b, which can be configured to transmit articulation movements generated by the 4406a, 4406b motors to the end actuator 1012. In certain cases, the articulation movements can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.
[0129] [0129] As described above, the robotic surgical instrument can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the robotic surgical instrument 10 can be activated individually or separately to perform one or more functions, while the other motors remain inactive. For example, the articulation motors 4406a, 4406b can be activated to cause the end actuator to be articulated, while the
[0130] [0130] In certain cases, the robotic surgical system 10 can include a common control module 4410 that can be used with a plurality of motors of the robotic surgical instrument 10. In certain cases, the common control module 4410 can accommodate a among the plurality of engines at a time. For example, the common control module 4410 can be separately separable from the plurality of motors of the robotic surgical instrument 10 individually. In certain cases, a plurality of motors of the robotic surgical instrument 10 may share one or more common control modules, such as module 4410. In certain cases, the plurality of motors of the robotic surgical instrument 10 may be individually and selectively engaged by the common control module 4410. In certain cases, module 4410 can be selectively switched between interfacing with one of a plurality of motors of the robotic surgical instrument 10 and interfacing with another among the plurality of motors of the robotic surgical instrument 10.
[0131] [0131] In at least one example, the 4410 module can be selectively switched between the operational coupling with the 4406a, 4406b link motors and the operational coupling with the 4402 trip motor or the 4403 closing motor. at least one example, as shown in Figure 26, a key 4414 can be moved or transitioned between a plurality of positions and / or states. In a first position 4416, switch 4414 can electrically couple module 4410 to trip motor 4402; in a second position 4417, switch 4414 can electrically couple module 4410 to the closing motor 4403; in a third position 4418a, key 4414 can electrically couple module 4410 to the first articulation motor 4406a; and in a fourth position 4418b, key 4414 can electrically couple module 4410 to the second articulation motor 4406b, for example. In certain cases, separate modules 4410 can be electrically coupled to the trigger motor 4402, the closing motor 4403 and the articulation motors 4406a, 4406b at the same time, as shown, for example, in Figure 30. In certain instances, key 4414 can be a mechanical key, an electromechanical key, a solid state key or any suitable switching mechanism.
[0132] [0132] Each of the 4402, 4403, 4406a, 4406b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a torque sensor on the motor that acts on the jaws.
[0133] [0133] In several cases, as shown in Figure 26, the common control module 4410 may comprise a 4426 motor drive that may comprise one or more H bridge field-effect transistors (FETs) The motor driver 4426 can modulate the energy transmitted from a 4428 power supply to a motor coupled to the 4410 module, based on the input from a 4420 microcontroller ("controller"), for example. In certain instances, the 4420 controller can be used to determine the current drawn by the motor, for example, while the motor is coupled to the 4410 module, as described above.
[0134] [0134] In certain examples, the 4420 controller may include a 4422 microprocessor ("processor") and one or more computer-readable media or 4424 memory units ("memory"). In certain cases, the 4424 memory can store various program instructions which, when executed, can cause the 4422 processor to perform a plurality of functions and / or calculations described herein. In certain cases, one or more of the 4424 memory units can be coupled to the 4422 processor, for example.
[0135] [0135] In certain instances, the 4428 power supply can be used to supply power to the 4420 controller, for example. In certain cases, the 4428 power source may comprise a battery (or "battery pack" or "power source"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted to the handle 14 in order to supply power to the surgical instrument 4400. Several battery cells connected in series can be used as the 4428 power supply. In certain cases, the 4428 power source may be replaceable and / or rechargeable, for example.
[0136] [0136] In several instances, the 4422 processor can control the 4426 motor starter to control the position, direction of rotation and / or speed of a motor that is coupled to the module
[0137] [0137] In one example, the 4422 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 4420 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single-cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, a pre- search to optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWareG software, a 2 KB EEPROM, one or more pulse width modulation modules, one or more analogues of QEI, one or more 12-bit AD converters with 12 analog input channels, among other features that are readily available in the product data sheet. Other microcontrollers can be readily replaced for use with the module
[0138] [0138] In certain instances, memory 4424 may include program instructions for controlling each of the motors of the surgical instrument 4400 that are attachable to module 4410. For example, memory 4424 may include program instructions for controlling the motor trip 4402, the closing motor 4403 and the articulation motors 4406a, 4406b. Such program instructions can cause the 4422 processor to control the triggering, closing and articulation functions according to the inputs from the robotic surgical system control algorithms or programs 10.
[0139] [0139] In certain cases, one or more mechanisms and / or sensors, for example, 4430 sensors, can be used to alert the 4422 processor about program instructions that need to be used in a specific configuration. For example, 4430 sensors can alert the 4422 processor to use the program instructions associated with triggering, closing, and pivoting the 1012 end actuator. In certain cases, 4430 sensors may comprise position sensors that can be used to detect the position of key 4414, for example. Consequently, the 4422 processor can use the program instructions associated with firing the i-profile beam of the end actuator 1012 by detecting, through sensors 4430, for example, that the switch 4414 is in the first position 4416; the processor 4422 can use the program instructions associated with closing the anvil upon detection through sensors 4430, for example, that switch 4414 is in second position 4417; and the 4422 processor can use the program instructions associated with the articulation of the end actuator 1012 by detecting, through sensors 4430, for example, that switch 4418a, 4418b is in the third or fourth position 4418a, 4418b.
[0140] [0140] Figure 27 is a diagram of an absolute positioning system 11100 of the robotic surgical instrument 10, in which absolute positioning system 11100 comprises a motor controlled drive circuit arrangement comprising a sensor arrangement 11102, according to an aspect of the present description. The position sensor 11102 of an absolute positioning system 11100 provides a unique position signal that corresponds to the location of a displacement member 11111. In one aspect, displacement member 11111 represents the longitudinally movable drive member to the cutting instrument or knife (for example, cutting instrument 1032 of Figure 11A, beam with i-profile 3005 in Figure 12 and / or beam with i-profile 2514 in Figures 29 and 30) comprising the first driven gear cutter 1226 in gear engaged with cutting gear 1222, the second cut drive gear 1228 in gear engaged with a third cut drive gear 1230 which is pivotally supported on the instrument mounting plate 302 in engagement in gear with cutting rack gear 1206. In other respects, displacement member 11111 represents the firing member coupled to the cutting instrument or knife, which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member 11111 represents the firing bar or beam with i-shaped profile 3005, 2514 (Figures 12, 30), each of which can be adapted and configured to include a rack drive teeth. Consequently, as used in the present invention, the term "displacement member" is used generically to refer to any moving member of the robotic surgical instrument 10, such as the driving member, the firing member, the firing bar, the cutting instrument, knife and / or beam with an i-profile or any element that can be moved.
[0141] [0141] Consequently, the absolute positioning system 11100 can, in effect, track the displacement of the beam with i-shaped profile 3005, 2514 of the cutting instrument (Figures 12, 29 and 30) by tracking the displacement of a long drive member - all mobile. In several other respects, displacement member 11111 can be coupled to any suitable sensor for measuring displacement. In this way, the longitudinally movable drive member, the firing member, the firing bar or the
[0142] [0142] An 11120 electric motor may include a rotary drive shaft 11116, which interfaces operationally with a gear set 11114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 11111. A sensor element 11126 can be operatively coupled to a gear set 11114 so that a single revolution of the sensor element 11126 corresponds to some linear longitudinal translation of the displacement member
[0143] [0143] A single revolution of the sensor element 11126 associated with the position sensor 11112 is equivalent to a longitudinal displacement di of the displacement member 11111, where d1 represents the longitudinal distance by which the displacement member 11111 moves from the point " a "to point" b "after a single revolution of the sensor element 11126 coupled to the displacement member 11111. The arrangement of the sensor 11102 can be connected by means of a gear reduction and, as a result, the position sensor 11112 completes a or more revolutions for the full travel of the travel member 11111. The position sensor 11112 can complete multiple revolutions for the full travel of the travel member 11111.
[0144] [0144] A series of keys 11122a to 11122n, 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 sensor revolution position 11112. The status of keys 11122a to 11122n is fed back to a controller 11104 that applies logic to determine a single position signal that corresponds to the longitudinal displacement d1 + d2 + ... dn of the drive member 11111. Output 11124 of position sensor 11112 is supplied to controller 11104. Position sensor 11112 of sensor array 11102 can comprise a magnetic sensor, an analog rotary sensor such as a potentiometer, an array of Hall effect elements analog signals, which emit a unique combination of position of signals or values. Controller 11104 may be contained in master controller 11 or may be contained within the instrument mounting portion compartment
[0145] [0145] The absolute positioning system 11100 provides an absolute position of the displacement member 11111 with the energization of the robotic surgical instrument 10 without retracting or advancing the driving member 11111 to the reset position (zero or initial), as it can be the case with conventional rotary encoders that merely count the number of progressive or regressive steps that the 11120 motor has traveled to infer the position of a device actuator, actuation bar, knife and the like.
[0146] [0146] The 11104 controller can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, the 11104 controller includes an 11108 processor and an 11106 memory. The 11120 electric motor can be a brushed direct current motor with a gearbox and mechanical connections with an articulation or cutting system. In one aspect, a 11110 motor drive can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in the 11100 absolute positioning system.
[0147] [0147] The 11104 controller can be programmed to provide precise control of the speed and position of the 11111 displacement member and articulation systems. The 11104 controller can be configured to compute a response in the 11104 controller software. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for actual decisions based on feedback. 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.
[0148] [0148] The absolute positioning system 11100 can
[0149] [0149] The 11110 motor drive can be an A3941, available from Allegro Microsystems, Inc. The 11110 A3941 drive is a complete bridge controller for use with semiconductor metal oxide field effect transistors ("'MOSFET" - metal oxide semiconductor field effect transistors) of external power, N channel, specifically designed for inductive loads, such as brushed DC motors. The 11110 actuator comprises an exclusive charge pump regulator, provides a complete 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 required for the N-channel MOS-FETs. An internal charge pump for the upper side drive allows direct current operation (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. The power FETs are protected from the shoot-through effect by means of resistors with programmable dead time. The integrated diagnosis provides indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect the power MOSFETs under most short-circuit conditions. Other motor controllers can be readily replaced for use in the absolute positioning system
[0150] [0150] Figure 28 is a diagram of a position sensor 11200 of an absolute positioning system 11100, which comprises a rotating magnetic absolute positioning system, according to an aspect of the present description. The 11200 position sensor can be implemented as a single integrated circuit rotating magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The 11200 position sensor interfaces with the 11104 controller to provide an 11100 absolute positioning system. The 11200 position sensor is a low voltage and low power component and includes four Hall effect elements 11228A, 11228B , 11228C, 11228D in an area 11230 of the position sensor 11200 which is located above a magnet 11202 located on a rotating element associated with a displacement member such as the cutting drive gear 1228, 1230 and / or the closing drive gear 1118,
[0151] [0151] The Hall effect elements 11228A, 11228B, 11228C, 11228D are located directly above the rotating magnet 11202. 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 electric conductor transversal to an electric current in the 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 11200 position sensor, the Hall effect elements 11228A, 11228B, 11228C, 11228D are capable of producing a voltage signal indicative of the ab-
[0152] [0152] The ASS055 11200 position sensor requires only a few external components to operate when connected to the controller
[0153] [0153] Due to the measurement principle of the AS5055 11200 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as an angle measurement is completed, the ASS055 11200 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 power-up time, which is not desired in low power applications. The angle variation can be reduced by averaging multiple angle samples on the 11104 controller. For example, an average of four samples reduces the variation by 6 dB (50%).
[0154] [0154] Figure 29 is a cross-sectional view of an end actuator 2502 of the robotic surgical instrument 10 showing a firing path of the beam with i 2514 profile in relation to the fabric 2526 trapped inside the actuator. end 2502, in accordance with an aspect of the present description. The end actuator 2502 is configured to operate with the surgical instrument 10. The end actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a staple cartridge 2518 positioned on the elongated groove 2503. One firing bar 2520 is translatable distally and proximally along a longitudinal geometry axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the drive shaft the instrument. An i-beam beam 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar 2520. A wedge slide 2513 is positioned on the staple cartridge 2518. As the i-beam beam 2514 is moved distally , the cutting edge 2509 comes into contact and can cut the fabric 2526 positioned between the anvil 2516 and the staple cartridge 2518. In addition, the beam with i-profile 2514 comes into contact with the wedge slide 2513 and pushes it distally, causing the wedge slide 2513 to contact the clamp drivers 2511. Clamp drivers 2511 can be driven upward into clamps 2505, causing clamps 2505 to advance through the fabric and to inside pockets 2507 defined in anvil 2516, which form the clamps 2505.
[0155] [0155] An example of the firing stroke of the beam with i-profile 2514 is illustrated by a graphic 2529 aligned with the end actuator 2502. The example fabric 2526 is also shown aligned with the end actuator 2502. The The stroke of the firing member can comprise a start position 2527 and an end position 2528. During a firing stroke of the beam with i-profile 2514, the beam with i-profile 2514 can be advanced distally from the position of start of stroke 2527 to end of stroke position 2528. The beam with i-shaped profile 2514 is shown in an example location from a starting position of stroke 2527. Graph 2529 of the profile beam member travel of i 2514 illustrates five travel regions of the firing member 2517, 2519, 2521, 2523 and 2525. In a first region of the firing course 2517, the beam with i-profile 2514 can begin to move distally. In the first region of the firing stroke 2517, the beam with i-profile 2514 can come into contact with the wedge slider 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. Once the static friction is overcome, the force to trigger the beam with i-profile 2514 in the first region 2517 can be substantially constant.
[0156] [0156] In the second travel region of firing member 2519, cutting edge 2509 can start to come in contact and cut the fabric 2526. In addition, the wedge slide 2513 can start to come in contact with the clamp actuators 2511 to drive clamps 2505. The force to drive the beam with i 2514 profile can begin to gradually increase. 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
[0157] [0157] As discussed above and with reference now to Figures 27 to 29, electric motor 11122 positioned on master controller 13 of surgical instrument 10 can be used to advance and / or retract the trigger system of the drive shaft assembly , including the beam with I-profile 2514, in relation to the 2502 end actuator of the drive shaft assembly in order to staple and / or cut the tissue captured inside the end actuator
[0158] [0158] The force acting on the beam with i 2514 profile can be determined using various techniques. The strength of the i-beam profile 2514 can be determined by measuring the motor current 2504, where the motor current 2504 is based on the load experienced by the i-profile beam 2514 as it advances distally. The strength of the beam with i 2514 profile can be determined by placing a strain gauge on the drive member, on the firing member, on the beam with i 2514 profile, on the firing bar and / or at one end proximal to the cutting edge 2509. The strength of the i-profile beam 2514 can be determined by monitoring the actual position of the i-profile beam 2514 that moves at an expected speed based on the current set speed of the 11122 engine after a predetermined elapsed period T1 and by comparing the actual position of the beam with i 2514 profile in relation to the expected position of the beam with i 2514 profile based on the current defined speed of engine 11122 at the end of period T1. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force in the beam with profile in | 2514 is greater than a nominal force. On the other hand, if the actual position of the beam with i 2514 profile is greater than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is less than the nominal force. The difference between the actual and expected positions of the beam with i 2514 profile is proportional to the deviation of the force in the beam with i 2514 profile from the nominal force.
[0159] [0159] Figure 30 is a schematic diagram of a 2500 robotic surgical instrument configured to operate the surgical instrument described in this document, in accordance with an aspect of the present description. The 2500 robotic surgical instrument can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of the closing tube, the rotation and articulation of the drive shaft, either with a single type or multiple articulation drive connections. In one aspect, the surgical instrument 2500 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The 2500 surgical instrument comprises a 2510 control circuit configured to control motor driven trigger members, closing members, drive shaft members and / or one or more hinge members.
[0160] [0160] In one aspect, the robotic surgical instrument 2500 comprises a control circuit 2510 configured to control an anvil 2516 and a beam portion with i-profile 2514 (including a sharp cutting edge) of an end actuator 2502, a removable staple cartridge 2518, a drive shaft 2540 and one or more hinge members 2542a, 2542b via a plurality of motors 2504a to 2504e. A 2534 position sensor can be configured to provide feedback on the 2514 i-profile beam to the 2510 control circuit. Other 2538 sensors can be configured to provide feedback to the control circuit
[0161] [0161] In one aspect, the 2510 control circuit may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions to the processor or processors. Control circuit 2510 can be implemented as a control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26). In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate beam position with i 2514 profile, 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 beam with i-profile 2514 at a specific time (t) in relation to an initial position or time (t) when the beam with i 2514 profile is in a specific position in relation to an initial position. The timer / counter 2531 can be configured to measure elapsed time, count external events or measure external events.
[0162] [0162] In one aspect, the control circuit 2510 can be programmed to control functions of the end actuator 2502 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 trigger control program or closing control program based on the conditions of the fabric. 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 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. A closure control program can control the closing force applied to the tissue by the anvil
[0163] [0163] In one aspect, the 2510 motor control circuit can generate motor setpoint signals. Motor setpoint signals can be provided for several 2508a to 2508e motor controllers. Motor controllers 2508a to 2508e can comprise one or more circuits configured to provide motor drive signals for motors 2504a to 2504e in order to drive motors 2504a to 2504e, as described here. In some instances, motors 2504a to 2504e may be brushed DC motors. For example, the speed of engines 2504a to 2504e can be proportional to the respective motor start signals. In some instances, motors 2504a to 1540e may be brushless direct current electric motors and the respective motor drive signals 2524a to 2524e may comprise a pulse width modulated (PWM) signal supplied to one or more windings of the stator of the 2504a to 2504e engines. In addition, in some instances, motor controllers 2508a to 2508e can be omitted and control circuit 2510 can directly generate motor drive signals 2524a to 2524e.
[0164] [0164] In one aspect, the 2510 control circuit can initially operate each of the 2504a to 2504e motors in an open circuit configuration for a first open circuit portion of the travel member travel. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program in a closed circuit configuration. The instrument response may include a translation of the distance from 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 pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during a closed-loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed-loop manner to translate the member of travel at a constant speed.
[0165] [0165] In one aspect, motors 2504a to 2504e can receive power from a 2512 power source. The 2512 power source can be a direct current power source powered by an alternating main current power source, a battery, a supercapacitor or any other suitable 2512 power source. Motors 2504a to 2504e can be mechanically coupled to individual mobile mechanical elements such as the i-profile beam 2514, the bib 2516, the drive shaft 2540, the joint 2542a and the joint 2542b, through the respective transmissions 2506a at 2506e. Transmissions 2506a to 2506e may include one or more gears or other connecting components to couple motors 2504a to 2504e to moving mechanical elements. A 2534 position sensor can detect a beam position with a | 2514. The 2534 position sensor can be or can include any type of sensor that is capable of generating position data that indicate a beam position with | 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 beam with profile in | 2514 moved distally and proximally. The 2510 control circuit can track the pulses to determine the position of the profile beam | 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 beam with profile in | 2514. In addition, in some examples, the 2534 position sensor may be omitted. When any of the 2504a to 2504e motors is a stepper motor, the 2510 control circuit can track the beam position with i 2514 profile by adding the number and direction of the steps that the 2504 motor was instructed to perform . The 2534 position sensor can be located on end actuator 2502 or any other portion of the instrument. The outputs of each of the 2504a to 2504e motors include a torque sensor 2544a to 2544e to detect force and have an encoder to detect the rotation of the drive shaft.
[0166] [0166] In one aspect, the 2510 control circuit is configured to drive a firing member as the 2514 i-profile beam portion of end actuator 2502. The 2510 control circuit provides a motor setpoint for a motor control 2508a, which provides a drive signal for motor 2504a. The motor output shaft 2504a is coupled to a torque sensor 2544a and a transmission 2506a which is coupled to the beam with I-profile 2514. The transmission 2506a comprises moving mechanical elements, such as rotating elements, and a disc member - ro to control distally and proximally the movement of the beam with
[0167] [0167] In one aspect, control circuit 2510 is configured to drive a closing member, such as anvil portion 2516 of end actuator 2502. Control circuit 2510 provides a motor setpoint for control motor 2508b, which provides a drive signal for motor 2504b. The motor output shaft 2504b is coupled to a torque sensor 2544b and to a transmission 2506b, which is coupled to the anvil
[0168] [0168] In one aspect, the 2510 control circuit is configured to rotate a drive shaft member, such as the 2540 drive shaft, to rotate the end actuator 2502. The 2510 control circuit provides a set point motor for a 2508c motor control, which provides a drive signal for the 2504c motor. The motor output shaft 2504c is coupled to a torque sensor 2544c and a transmission 2506c, which is coupled to the drive shaft 2540. The transmission 2506c comprises moving mechanical elements, such as rotating elements, to control rotation of the drive shaft 2540 clockwise or counterclockwise up to and above 360º. In one aspect, the motor 2504c is coupled to the rotary transmission assembly 1069, which includes a tube gear segment 1062 that is formed over (or attached to) the proximal end 1060 of the proximal closing tube 1040 for operational engagement by a set rotary gear 1070 that is operationally supported on the instrument mounting plate 302. As shown in Figure 8, the 1070 rotary gear assembly, in at least one aspect, comprises a 1072 rotating drive gear that is coupled to a first correspondent among the disks or driven elements 304 on the adapter side 307 of the instrument mounting plate 302 when the instrument mounting portion 300 is coupled to the instrument driving assembly 101. See Figure 6. The gear assembly rotary gear 1070 additionally comprises a rotary driven gear 1074 which is rotatably supported on the instrument mounting plate 302 grouped with the 1062 tube gear segment and the 1072 rotary drive gear. The 2544c torque sensor provides a rotary force feedback signal to the control circuit
[0169] [0169] In one aspect, the 2510 control circuit is configured to link the 2502 end actuator. The 2510 control circuit provides a motor setpoint for a 2508d motor control, which provides a drive signal for the motor 2504d. The motor output shaft 2504d is coupled to a torque sensor 2544d and to a transmission 2506d which is coupled to a hinge member 2542a. The 2506d transmission comprises moving mechanical elements, such as articulation elements, to control the articulation of the 2502 + 65º end actuator. In one aspect, the 2504d motor is coupled to a 1260 pivot nut, which is pivotally seated on the proximal end portion of the distal column portion 1050 and is pivoted on it by a set of articulation gear 1270.
[0170] [0170] In another aspect, the articulation function of the robotic surgical system 10 can comprise two articulation members 2542a, 2542b or connections. These articulation members 2542a, 2542b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 2508d, 2508e. When the separate firing motor 2504a is provided, each hinge link 2542a, 2542b can be antagonistically driven with respect to the other link to provide a resistive holding movement and a load to the head when it is not moving and to provide a articulation movement when the head is articulated. Articulation members 2542a, 2542b, or connections, attach to the head in a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull connection changes when the head is turned. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.
[0171] [0171] In one aspect, end actuator 2502 can be implemented as the surgical end actuator 1012, 3000, 5650, 6460, 6470 shown and described in conjunction with Figures 4,
[0172] [0172] In one aspect, the one or more motors 2504a to 2504e may comprise a brushed DC motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example are electric motors 2504a to 2504e that operate the moving mechanical elements, such as the displacement member, the articulation connections, the closing tube and the drive shaft. An external influence is an unreasonable and unpredictable influence of things like fabric, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to an electric motor 2504a to 2504e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0173] [0173] In one aspect, the position sensor 2534 can be implemented as an absolute positioning system, as shown and described in conjunction with Figures 27 and 28. In one aspect, the position sensor 2534 can comprise an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The 2534 position sensor can interface with the 2510 control circuit to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnitude and coupled to a CORDIC processor, also known as digit by digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic functions and trigonometrics that require only addition, subtraction, bit shift and lookup table operations.
[0174] [0174] In one aspect, the control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 in order to measure the various derived parameters such as the gap distance as a function of time, the compression of the tissue as a function of time and the tension of the mustache as a function of time. The 2538 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensor suitable for measuring one or more parameters of the 2502 end actuator. The 2538 sensors may include one or more sensors. The 2538 sensors can be located on the 2518 staple cartridge platform to determine the location of the tissue using segmented electrodes. Torque sensors 2544a to 2544e can be configured to detect force, such as firing force, closing force and / or articulation force, among others. Consequently, the control circuit 26510 can detect: (1) the closing load experienced by the distal closing tube and its position; (2) the firing member in the rack and its position; (3) which portion of the staple cartridge 2518 has tissue over it; and (4) detecting the load and position on both articulation rods.
[0175] [0175] In one aspect, the one or more 2538 sensors can comprise an effort meter such as, for example, a microstrain meter, configured to measure the magnitude of the effort on the 2516 burner during a clamped condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[0176] [0176] In one aspect, the 2538 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magneto-resistive devices (MR), giant magnetoresistive devices ("GMR "- giant magneto-resistive), magnetometers, among others. In other implementations, the 2538 sensors can be implemented as solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (eg, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). In other implementations, the 2538 sensors can include driverless electric switches, ultrasonic switches, accelerometers and inertia sensors, among others.
[0177] [0177] In one aspect, the 2538 sensors can be configured to measure the forces exerted on the 2516 anvil by the closing drive system. For example, one or more 2538 sensors may be at a point of interaction between the closing tube and anvil 2516 to detect the closing forces applied by the closing tube on anvil 2516. The forces exerted on the anvil 2516 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. One or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system to detect forces closing applied to the 2516 anvil by the closing drive system. The one or more 2538 sensors can be sampled in real time during a gripping operation by the 2510 control circuit processor. The 2510 control circuit receives sample measurements in real time to provide time-based analysis information and evaluate, in real time the closing forces applied to the anvil 2516.
[0178] [0178] In one aspect, a current sensor 2536 can be used to measure the current drained by each of the 2504a to 2504e motors. The force required to advance any of the moving mechanical elements, such as the beam with i 2514 profile, corresponds to the current drained by a 2504a to 2504e motor. The force is converted into a digital signal and supplied to the 2510 control circuit. The 2510 control circuit can be configured to simulate the response of the instrument's actual system in the controller software. A displacement member can be actuated to move a beam with a profile | 2514 on end actuator 2502 at or near a target speed. The 2500 robotic surgical instrument may include a feedback controller, which may be one of any of the feedback controllers, including, but not limited to, a PID, state feedback, a LOR (quadratic linear controller) and / or an adaptable controller, for example. The 2500 robotic surgical instrument can include a power source to convert the feedback controller signal into a physical input, such as case voltage, pulse width modulated voltage, frequency modulated voltage, current, torque and / or strength, for example. Closed loop speed control techniques based on tissue parameters detected for robotic surgical instrument
[0179] [0179] In use, a robotic surgical instrument can detect and identify certain tissue conditions in the end actuator that can affect the performance of staple formation and the tissue cutting process. Consequently, in such situations, the displacement, for example, advance or retraction, the process to control the speed of the firing member can be based on the detected and identified parameters of the tissue gap, load of the steel member - plating, knife advance speed and tissue compression. In one aspect, the present description provides various techniques for controlling the forward or retracting speed of a displacement member of a robotic surgical instrument based on the detected and identified parameters of the end actuator span (for example, indicative thickness), load of the coupling member as closing force (FTC) or firing force (FTF), knife advance speed, fabric impedance, tissue compression, tissue cover in the cartridge, among others parameters.
[0180] [0180] Figure 31 is a graph 12000 illustrating the techniques to control the speed of advance or retraction of a displacement member of a robotic surgical instrument, according to an aspect of the present description. Graph 12000 represents the displacement of the displacement limb from a closed anvil condition or from a firing condition for the tissue that is thinner than expected or thicker than predicted. The first column 12002 shows the variables or parameters on which the speed control is based, such as the span of the end actuator between the anvil and the staple cartridge, closing force or firing force, knife speed, impedance of fabric and fabric cover over the cartridge. The second column 12004 shows the selection of the initial closing speed of the slow or fast anvil, also known as the defined speed or control speed based on the detected and identified parameters shown in the first column 12002. The third column 12006 shows the upgrades to reduce or increase the shooting speed along the length of the cartridge (for example, X mm main in different sections, where X is the length of the cartridge, such as 10 mm to 60 mm, or plus) based on the detected and identified parameters shown in the first column 12002.
[0181] [0181] Consequently, with reference now to the triggering process from closing during the closing of the bigoran shown in the second column 12004 based on the fabric span parameter, if the fabric span measured on the end actuator is less than a nominal fabric span and the defined initial velocity of the displacement member is slow, the velocity of the displacement member will be increased, as indicated by the symbol ++, where the number of symbols "+" or "-" is refers to a proportional increase or decrease in the set speed, respectively. On the other hand, if the measured fabric span is greater than the nominal fabric span and the initial defined speed of the travel member is fast, the speed of the travel member is reduced as indicated by the - - symbol.
[0182] [0182] With reference now to the triggering process from closing during the closing phase of the anvil shown in the second column 12004 based on the closing force parameter
[0183] [0183] The next variable, the cutting speed parameter (for example, the speed of the displacement member), is ignored because the initial knife speed from the closing is always zero. Consequently, with reference now to the firing process from closing during the anvil closing phase shown in the second column 12004 based on the fabric impedance parameter, if the measured fabric impedance is less than the expected slow, indicating that the tissue is thinner than expected, and the defined initial velocity of the displacement limb is slow, the velocity of the displacement limb can be increased, as indicated by the symbol ++. In contrast, if the measured tissue impedance is greater than the limit impedance of the tissue, indicating that the tissue is thicker than expected, and the initial adjustment speed of the displacement limb is fast, the limb speed of displacement is decreased as indicated by the - - symbol.
[0184] [0184] With reference now to the firing process from the closing during the anvil closing phase shown in the second column 12004 based on the cartridge cover parameter, for example, based on the fabric partially or totally covering the es - space between the anvil and the staple cartridge, if the measured tissue does not cover the entire cartridge and the initial defined speed of the travel member is slow, the speed of the travel member can be increased as indicated by the + symbol. In contrast
[0185] [0185] The description now turns to the firing phase shown in the third column 12006. Consequently, with reference to the fabric span parameter, if during the firing phase at the current defined firing speed, the measured fabric span when the end actuator decreases, the speed of the displacement member is increased, as indicated by the + symbol. On the other hand, if during the firing phase at the current set firing speed, the measured span of the end actuator increases, the speed of the displacement member is decreased, as indicated by the symbol -.
[0186] [0186] With reference to the FTF parameter, if, during the trigger phase at the current defined trigger speed, the measured FTF decreases, the defined speed of the displacement member is increased, as indicated by the symbol ++. On the other hand, if during the firing phase at the current defined firing speed, the measured FTF increases, the defined speed of the displacement member is decreased, as indicated by the - - symbol.
[0187] [0187] With reference to the cutting speed parameter (for example, travel speed), as indicated in the third column 12006, the - symbol indicates a decrease in the defined speed and the + symbol indicates an increase in the defined speed. Consequently, with reference now to the tissue impedance parameter, if during the firing phase at the current defined firing speed, the measured tissue impedance decreases (indicating a decrease in the thickness of the tissue), the defined limb speed displacement is increased as indicated by the + symbol. On the other hand, if during the firing phase at the defined current firing speed, the measured tissue impedance increases (indicating an increase in the thickness of the tissue), the defined speed of the speed displacement member is decreased as indicated by the symbol -.
[0188] [0188] Finally, with reference now to the cartridge coverage parameter, if during the firing phase at the current defined firing speed, the measured cartridge coverage decreases, the defined speed of the displacement member is increased as indicated by the + symbol . On the other hand, if during the firing phase at the current set firing speed, the measured cartridge coverage increases, the defined speed of the travel member is decreased, as indicated by the - symbol.
[0189] [0189] With the background above, the description now turns to Figure 32, which is a graphical representation of a closed loop speed control process 12100, in accordance with an aspect of the present description. The top graph 12102 shows the variation in the thickness of the fabric as a function of the position along the staple cartridge. The horizontal geometric axis 12142 is dimensioned to represent the length of the staple cartridge X mm, where X is 10 to 60 mm, for example. Consequently, for a 60 mm staple cartridge, X = 60 mm. The vertical geometric axis 12144 represents the thickness T (mm) of the fabric. The horizontal geometry axis 242 is also divided into four zones (Zone 1 to Zone 4) of equal length. As shown, the thickness of the 12110 fabric ranges from 0.25X to 0.74X (15 to 45mm for a 60mm cartridge). The control circuit monitors the thickness of the fabric along the length of the cartridge and compares the thickness of the fabric 12110 to a limit thickness of 12115. The plot of the fabric thickness 12110 indicates that the fabric is located only in Zone 2 and Zone 3 of the cartridge and not in Zone 1 and Zone 4. In addition, the thickness of tissue 12110 is above the limit thickness 12115 between à: and 52, so that the tissue segments 12112, 12116 are below the limit thickness 12115 and the thickness of a portion of the fabric 12114 is located above the limit thickness 12115. Consequently, as discussed in graph 12000 in Figure 31, the closed loop speed control process will be adjusted based on the tissue condition parameters found in the closing and firing phase.
[0190] [0190] The second graphic 12104, from the top, represents the fabric cover 12110 as a function of the position along the staple cartridge, where the horizontal geometric axis 12142 represents the length of the staple cartridge X mm, and the vertical geometric axis 12148 represents the presence of fabric 12110 in a specific zone (Zone 1 to Zone 4). The cartridge cover is represented as a binary variable so that, if the 12110 fabric is present, the cartridge cover is 1 and, if the 12110 fabric is not present, the cartridge cover is 0. As shown, the cover cartridge size is O in Zone 1 and Zone 4 and is 1 in Zone 2 and Zone
[0191] [0191] The third graph 12106, from the top, represents the firing force (N) as a function of the position along the staple cartridge for slow and fast travel speeds and for a controlled speed. The horizontal axis 12150 represents the length of the staple cartridge X mm, and the vertical axis 12148 represents the firing force (N). As shown, the slow speed FTF curve 12126 has a lower force profile than the fast speed curve 12130. The controlled curve 12128 represents the force profile when process 12200 discussed with reference to Figure 33 is performed by the circuit control 2510 (Figure 30). In general, when the knife or the displacement member encounters the fabric 12110 which is thicker than the limit thickness 12115, the control circuit decreases the defined velocity of the displacement member, as discussed in more detail with reference to background graphic 12108.
[0192] [0192] Background graphic 12108 represents command speed 12118 (dashed line) and actual speed 12120 (solid line) as a function of the position along the staple cartridge when the horizontal geometric axis 12154 represents the length of the staple cartridge X mm and the vertical axis 12156 represent the control speed (mm / s). The control speed 12118 is the motor speed defined by the control circuit and the actual speed 12120 is the real speed, as measured by the control circuit by feedback from the position sensor and the timer / counter circuit. The control speed 12118 is determined based on the tissue conditions experienced during the initial closing phase and the firing phase. The control circuit adjusts the control speed 12118 based on the closed circuit control process 12200 described in reference to Figure 33 to compensate, for example, the thickness of the fabric and the cover of the cartridge. However, command speed 12118 can be adjusted by the closed loop control process 12200 based on any of the parameters or variables described in the first column 12002 of graph 12000 shown in Figure 31.
[0193] [0193] In the example in Figure 32, upon detecting that there is no tissue in Zone 1, the control circuit increases the command speed from O mm / s to Varta 12122 during the period from Zone 1 to the tissue 12110 can be found by the beam knife with an i-profile at the beginning of Zone 2 (0.25 X mm), at which point the control speed 12118 is reduced to the speed V low range 12124. The speed low V 12124 is maintained until the beam knife with an i-shaped profile
[0194] [0194] Figure 33 is a logic flow diagram representing a 12200 process from a control program or a logical configuration for determining tissue conditions in an end actuator.
[0195] [0195] Process 12200 continues during the trigger phase. Consequently, the one or more 2538 sensors detect 12208 fabric conditions on end actuator 2502 during the firing phase of the I-profile beam 2514. Control circuit 2510 receives input from one or more 2538 sensors and additionally from the torque 2544a, the position sensor 2534 and, optionally, the current sensor 2536 to define 12210 the command speed of the displacement member coupled to the beam with i-profile beam 2514 based on the detected fabric conditions 12208. The member of displacement advances at the set speed until changes in tissue conditions are detected 12212. The control speed is then adjusted 12210 to a new command speed based on the detected tissue conditions 12212. Reference is made to graph 12000 in Figure 31 and in the appended description for firing the displacement member from a 2516 anvil closure condition or a firing condition for a fabric based in the fabric conditions found on end actuator 2502. Process 12200 continues 12214 until the displacement member, for example, the i-profile beam 2514, reaches the end of the stroke 12216.
[0196] [0196] According to process 12200, the control circuit 2510 of the robotic surgical system 2500 is configured to detect 12202 a condition in an end actuator 2502 during a closing phase. The control circuit 2510 defines 12204 the control speed of the motor 2504a coupled to a displacement member, for example, the beam with i-profile 2514, coupled to the end actuator 2502 based on the detected condition 12202 on the end actuator 2502 during the closing phase. Control circuit 2510 fires 12206 the travel member at the set command speed. Control circuit 2510 detects 12208 a condition on end actuator 2502 during a trip phase. The control circuit defines 1210 the motor control speed 2504a based on the detected condition 12208 on the end actuator 2502 during the trip phase.
[0197] [0197] During the closing or firing phase, the control circuit 2510 of the 2500 robotic surgical system is configured to detect tissue thickness based on 2538 sensors and is configured to detect a defined gap between the anvil portion 2516 and staple cartridge 2518 of end actuator 2502 based on sensors 2538 and adjust the control speed based on the span and the control speed when the gap is detected. The thickness of the fabric can be detected by several 2538 sensors, such as those shown in Figures 13 to 21 and in the attached description.
[0198] [0198] The control circuit 2510 can be configured to detect a closing force defined as the force experienced by the anvil portion 2516 and staple cartridge 2518 of the end actuator 2502 closed on the fabric located between them and adjust the control speed based on the closing force and the control speed when the force is detected. The force can be detected by force sensors, such as strain gauges, located on the anvil 2516 or on the staple cartridge 2518 or elsewhere on the end actuator 2502 as shown in Figures 13 to 21 and the accompanying description. In addition, the closing force can be provided by the torque sensor 2544b coupled to a second motor 2508b.
[0199] [0199] The 2510 control circuit can be configured to detect a trigger force to displace the displacement member and adjust the command speed based on the trigger force and the command speed when the force is detected. The trigger force can be supplied to the 2510 control circuit by the 2538 sensors or by the 2544a torque sensor coupled to the motor output shaft 2508a.
[0200] [0200] The control circuit 2510 can be configured to detect the electrical impedance of the tissue located between the anvil 2516 and the staple cartridge 2518 of the end actuator 2502 and adjust the control speed based on the electrical impedance and the speed. - control power when impedance is detected. The electrical impedance can be detected using a variety of 2538 sensors, such as those shown in Figures 13 to 21 and in the attached description. The electric current driven through the tissue located between the electrode segments can be used by the 2510 control circuit to measure the tissue impedance.
[0201] [0201] The 2510 control circuit can be configured to detect the fabric cover between an anvil and staple cartridge portion of the end actuator and adjust the control speed based on the cover and the command when coverage is detected. The fabric cover can be detected using several sensors such as those shown in Figures 13 to 21 and in the attached description.
[0202] [0202] The functions or processes 12000 described here can be performed by any of the processing circuits described here, such as control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 ( Figure 25), 4420 (Figure 26) and / or 2510 control circuit (Figure 30). The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details.
[0203] [0203] Several aspects of the subject described here are defined in the following examples:
[0204] [0204] Example 1. A robotic surgical system comprising: a control circuit configured to: detect a condition in an end actuator during a closing phase; define the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger the travel member at the defined command speed; detect a condition on the end actuator during a trip phase; and defining the motor control speed based on the condition detected in the end actuator during the trip phase.
[0205] [0205] Example 2. The robotic surgical system of Example 1, in which the condition during the closing phase or the firing phase is the thickness of the tissue and the control circuit is configured to detect a defined gap between a portion anvil and staple cartridge of the end actuator and adjust the command speed based on the span and control speed when the span is detected.
[0206] [0206] Example 3. The robotic surgical system of any one of Example 1 and Example 2, where the condition during the closing phase is the closing force applied to an anvil towards a staple cartridge and the circuit control panel is configured to detect a closing force defined as the force experienced by the anvil and a portion of the clamp cartridge of the closed-end actuator on the fabric between them and adjust the control speed based on the closing force and command speed when the force is detected.
[0207] [0207] Example 4. The robotic surgical system of any one of Example 1 and Example 3, where the condition during the firing phase is the firing force to displace the displacement member and the control circuit is configured to detect a trigger force to displace the displacement member and adjust the command speed based on the trigger force and command speed when the force is detected.
[0208] [0208] Example 5. The robotic surgical system of any one of Example 1 and Example 4, where the condition during the closing phase or the firing phase is the electrical impedance of the tissue located between an anvil and a cartridge in the end actuator and the control circuit is configured to detect the electrical impedance of the fabric located between the anvil and the end actuator clamp cartridge and adjust the command speed based on electrical impedance and command speed when the impedance is detected.
[0209] [0209] Example 6. The robotic surgical system of any one of Example 1 and Example 5, where the condition during the closing phase or the firing phase is the tissue cover on the end actuator and the control circuit it is configured to detect the tissue cover located between an anvil and a clip cartridge portion of the end actuator and adjust the control speed based on the cover and the control speed when the cover is detected.
[0210] [0210] Example 7. The robotic surgical system of any one of Example 1 and Example 6, where the control circuit is configured to adjust the command speed during the firing phase to adjust the speed of the displacement member during - the shot.
[0211] [0211] Example 8. A robotic surgical system comprising: a control circuit coupled to a motor and configured to define a motor control speed during a closing phase or a firing phase, in which the motor is configured to drive a displacement member at the control speed, where the control circuit is configured to: detect a first condition on the end actuator; detecting a second condition on the end actuator; set the motor control speed based on the first and second conditions detected on the
[0212] [0212] Example 9. The robotic surgical system of Example 8, in which the first condition is the tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of the end actuator; set the motor control speed to a first speed in the sections of the end actuator where there is no fabric; and setting the motor control speed to a second speed in sections of the end actuator where the fabric is located on the end actuator, where the second speed is less than the first speed.
[0213] [0213] Example 10. The robotic surgical system of any one of Example 8 and Example 9, where the first condition is the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the fabric of a span sensor located on the end actuator; and set the motor control speed to a third speed in sections of the end actuator where the fabric thickness is greater than a limit thickness and where the third speed is less than the second speed.
[0214] [0214] Example 11. The robotic surgical system of any one of Example 8 and Example 10, where the first condition is the closing force applied to the end actuator and the control circuit is configured to: receive the closing from a sensor located on the end actuator; and set the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0215] [0215] Example 12. The robotic surgical system of any one of Example 8 and Example 11, in which the first condition is the trigger force to displace the displacement member and the control circuit is configured to: receive the force trigger from a sensor coupled to the motor output; and set the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0216] [0216] Example 13. The robotic surgical system of any of Example 8 and Example 12, where the first condition is the tissue impedance at the end actuator and the control circuit is configured to: receive the impedance the tissue from a sensor located on the end actuator; and set the motor control speed to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and where the third speed is less than the second speed.
[0217] [0217] Example 14. The robotic surgical system of any one of Example 8 and Example 13, where the second condition is tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receiving the presence of the tissue from a sensor located in a section of the end actuator; set the motor control speed to a first speed in the sections of the end actuator where there is no fabric; and set the motor control speed to a second speed in sections of the end actuator where the fabric is located on the end actuator, where the second speed is less than the first speed.
[0218] [0218] Example 15. The robotic surgical system of any one of Example 8 and Example 14, in which the second condition is the thickness of the tissue located in the end actuator and the control circuit is configured to: receive the thickness of the fabric of a span sensor located on the end actuator; and set the motor control speed to a third speed in sections of the end actuator where the fabric thickness is greater than a limit thickness and where the third speed is less than the second speed.
[0219] [0219] Example 16. The robotic surgical system of any one of Example 8 and Example 15, where the second condition is the closing force applied to the end actuator and the control circuit is configured to: receive the closing from a sensor located on the end actuator; and set the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0220] [0220] Example 17. The robotic surgical system of any one of Example 8 and Example 16, in which the second condition is the trigger force to displace the displacement member and the control circuit is configured to: receive the force trigger from a sensor coupled to the motor output; and set the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0221] [0221] Example 18. The robotic surgical system of any one of Example 8 and Example 17, where the second condition is the tissue impedance at the end actuator and the control circuit is configured to: receive the impedance the tissue from a sensor located on the end actuator; and set the motor control speed to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and where the third speed is less than the second speed.
[0222] [0222] Example 19. A robotic surgical system comprising: a first motor to drive a displacement member coupled to a cutting member; a second motor for driving a closing tube coupled to an anvil portion of an end actuator, wherein the closing tube is configured to close or open the anvil; and a control circuit coupled to the first and second motor, where the control circuit is configured to define a control speed of the first motor during a closing phase or a trip phase and to define a control speed of the second motor motor to apply a closing force to the closing tube coupled to the anvil, where the control circuit is configured to: detect a first condition on the end actuator; detect a second condition on the end actuator; define the first motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the first defined command speed.
[0223] [0223] Example 20. The robotic surgical system of Example 19, where the first condition is the tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence of the tissue a from a sensor located in a section of the end actuator; set the control speed of the first motor to a first speed in the sections of the end actuator where there is no fabric; and set the command of the first motor to a second speed in the sections of the actuator
[0224] [0224] Example 21. The robotic surgical system of any one of Example 19 and Example 20, where the first condition is the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the fabric of a span sensor located on the end actuator; and set the engine control speed to a third speed in sections of the end actuator where the fabric thickness is greater than a limit thickness and where the third speed is less than the second speed.
[0225] [0225] Example 22. The robotic surgical system of any one of Example 19 and Example 21, where the first condition is the closing force applied to the end actuator and the control circuit is configured to: receive the closing from a sensor coupled to an output drive shaft of the second motor; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0226] [0226] Example 23. The robotic surgical system of any one of Example 19 and Example 22, in which the first condition is the trigger force to displace the displacement member and the control circuit is configured to: receive the force trip from a sensor coupled to the drive shaft of the first engine output; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0227] [0227] Example 24. The robotic surgical system of any of Example 19 and Example 23, where the first condition is the tissue impedance at the end actuator and the control circuit is configured to: receive the impedance the tissue from a sensor located on the end actuator; and setting the control speed of the first motor to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and where the third speed is less than the second speed.
[0228] [0228] Example 25. The robotic surgical system of any of Example 19 and Example 24, where the first condition is tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receiving the presence of the tissue from a sensor located in a section of the end actuator; set the control speed of the first motor to a first speed in the sections of the end actuator where there is no fabric; and defining the command of the first motor for a second speed in the sections of the end actuator where the fabric is located in the end actuator; where the second speed is less than the first speed.
[0229] [0229] Example 26. The robotic surgical system of any one of Example 19 and Example 25, where the first condition is the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the fabric of a span sensor located on the end actuator; and set the engine control speed to a third speed in sections of the end actuator where the fabric thickness is greater than a limit thickness and where the third speed is less than the second speed.
[0230] [0230] Example 27. The robotic surgical system of any one of Example 19 and Example 26, where the first condition is the closing force applied to the end actuator and the control circuit is configured to: receive the closing from a sensor coupled to an output drive shaft of the second motor; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0231] [0231] Example 28. The robotic surgical system of any one of Example 19 and Example 27, in which the first condition is the trigger force to displace the displacement member and the control circuit is configured to: receive the force trip from a sensor coupled to the drive shaft of the first engine output; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and where the third speed is less than the second speed.
[0232] [0232] Example 29. The robotic surgical system of any of Example 19 and Example 28, where the first condition is the tissue impedance at the end actuator and the control circuit is configured to: receive the impedance the tissue from a sensor located on the end actuator; and setting the control speed of the first motor to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and where the third speed is less than the second speed. Closed-loop speed control of the closing member for robotic surgical instrument
[0233] [0233] When using a motorized robotic surgical stapling system, the force on the closing member drops verti-
[0234] [0234] In one aspect, the present description provides several techniques for the adaptive control of the speed of the closing member. In one aspect, the present description provides techniques for the adaptive control of the speed of the closing member that measure at least two parameters of a robotic drive shaft. Parameters associated with the robotic drive shaft include, but are not limited to, location of the firing member, firing of the firing member, knife advance speed, location of the closing tube stroke, closing tube loading, among others, via a removable robotic interface unit and a removable cartridge together with a circuit arranged on the robotic interface, and the cartridge that can identify itself and its status or provide parameters or a control program for actuate the device or the end actuator and record its use.
[0235] [0235] In one aspect, the force on the closing tube drops precipitously from the moment the beam with an i-profile engages the anvil and begins to receive a load. This can be overcome by advancing the closing tube while the firing member advances distally. In one aspect, a robotic interface individually provides a closing tube and a controllable closed-loop trigger member. These closed-loop control techniques are described later in this document.
[0236] [0236] Before starting a description of closed loop control techniques for the closing tube and firing member, the description briefly goes back to Figure 34. Figure 34 is a 12500 graph representing two plots of closing force (FTC ) 12506, 12508 representing the force applied to a closing member to close on thick and thin tissue during a closing phase, and a 12501 plot of two fire force (FTF) plots 12522, 12524 representing the force applied to a firing member to fire through thick, thin tissue during a firing phase. With reference to Figures 30 and 34, graph 12500 shows an example of the force applied to thick and thin tissue during a closing stroke to close the end actuator 2502 in relation to the tissue trapped between the anvil 2516 and the staple cartridge 2518, in which the closing force is plotted as a function of time. Closing force plots 12506, 12508 are plotted on two geometric axes. A vertical geometric axis 12502 indicates the closing force (FTC) of end actuator 2502 in Newtons (N). A horizontal geometric axis 12504 indicates the time in seconds and is marked from to t13 for clarity of the description. The first closing force plot 12506 is an example of the force applied to the thick tissue during a closing stroke to close the end actuator 2502 in relation to the tissue trapped between the anvil 2516 and the staple cartridge 2518 and a second plot 12508 is an example of the force applied to the thin fabric during a closing stroke to close the end actuator 2502 in relation to the tissue stuck between the anvil 2516 and the staple cartridge 2518. The first and second plots of closing force 12506, 12508 are divided into three phases, a closing course (CLOSING), a waiting period (ES-
[0237] [0237] The first and second plots of closing force 12506, 12508 indicate that the closing force on end actuator 2502 increases during an initial hold period ending in a time (t1). The closing force reaches a maximum force (F1, F3) in time (t1). The initial hold period can be about one second, for example. A waiting period can be applied before starting a trip course. The waiting period allows fluid to escape from the compressed tissue through the end actuator 2502, which reduces the thickness of the compressed tissue, producing a smaller gap between the anvil 2516 and the gram cartridge.
[0238] [0238] Figure 34 also represents a graph 12501 of the first and second plot of the firing force 12522, 12524 that plots the applied force to advance the beam with i-profile 2514 during the firing stroke of the surgical instrument 2500. Plots for firing force 12522, 12524 are plotted on two geometric axes.
[0239] [0239] As previously described, the strength of the closing tube drops precipitously from time t 'to the time of about ts, which represents the moment when the beam with i-profile 2514 is coupled to anvil 2516 and it begins to receive the load and the closing force decreases as the firing force increases, as shown by the first and second plots of the firing force 12522, 12524. As the beam with i-profile 2514 is advanced from the stroke start position at time t, to the stroke end positions between tg and ta for plotting the firing force 12524 for thin tissue and at t13 for plotting the firing force I stop 12522 for thick fabric. As the i-profile beam 2514 is advanced distally during the firing stroke, the closing assembly delivers control of the staple cartridge 2518 and anvil 2516 to the firing assembly, which causes the firing force to increase and the closing force decreases.
[0240] [0240] In the firing force plot of thick tissue 12522, during the firing period (SHOOTING), plot 12522 is divided into three distinct segments. A first segment 12528 indicates the firing force as it increases from O to t 4 to a peak force F ', just before ts. The first segment 12528 is the firing force during the initial phase of the firing stroke when the beam with i-profile 2514 advances distally from the top of the beam ramp until the beam with i-profile 2514 contacts the you-
[0241] [0241] The thin tissue firing force plot 12524 follows a pattern similar to the thick tissue firing force plot 12522. Thus, during the first phase of the firing stroke, the firing force 12534 increases dramatically from O for F'3 in about ts. During the second phase of the firing stroke, firing force 12536 drops steadily from F'3 to F'4 by about te. During the final phase of the firing stroke, firing force 12532 drops dramatically from F'4 to O between tg and to.
[0242] [0242] To overcome the drastic drop in the closing force from time ta to around time t 5, which represents the moment when the beam with i-profile 2514 engages in anvil 2516 and begins to receive the load and closing force decreases as the firing force increases, as shown by the first and second plots of firing force 12522, 12524, the closing tube 1040,
[0243] [0243] Still with reference to Figure 30 and now turning to Figure 35, a graph 12600 of two plots of closing force 12606, 12608 is shown representing the force applied to a closing member to close on thick and thin tissue and a graph 12601 of two plots of firing force 12622, 12624 depicting the force applied to a firing member to fire through thick and thin tissue during a simultaneous firing and closing phase, in accordance with an aspect of the present description. description. With reference to Figure 35, graph 12600 represents an example of the force applied to thick and thin tissue during a simultaneous closing and firing stroke. Consequently, the anvil 2516 closes on the staple cartridge 2518 while the beam with i-profile 2514 advances distally. This action overcomes the drastic drop in the closing force from time ta to about time ts, which represents the moment when the beam with i-shaped profile 2514 engages in anvil 2516 and begins to receive the load and closing force decreased as the force increased, as shown by the first and second firing force plots 12522, 12524 in Figure 34. In contrast, Figure 35 shows that the closing force decreases over the longest period leading to a drop more gradual in the closing force.
[0244] [0244] Closing force plots 12606, 12608 are plotted on two geometric axes. A vertical axis 12602 indicates the closing force of the end actuator 2502 in Newtons (N). A horizontal geometric axis 12604 indicates the time in seconds and is marked from top to bottom for clarity of the description. The first closing force plot 12506 is an example of the force applied to the thick tissue during a closing stroke to close the end actuator 2502 in relation to the tissue trapped between the anvil 2516 and the staple cartridge 2518 and a second plot 12608 is an example of the force applied to the thin tissue during a closing stroke to close the 2502 end actuator in relation to the tissue trapped between the anvil 2516 and the staple cartridge 2518. The first and second plots of force force - chamento 12606, 12608 are divided into three phases, a closing stroke (CLOSING), a waiting period (WAITING) and a triggering stroke (SHOOTING). During the closing stroke, the closing tube 1040, 1042 (Figures 4 and 6 to 10) is moved distally (direction "DD") to move the anvil 2516, for example, in relation to the staple cartridge 2518 in response the actuation of the closing stroke by the closing motor 2504b. In other cases, the closing stroke involves the movement of a staple cartridge 2518 in relation to an anvil 2516 in response to the activation of the closing motor 2504b and, in other cases, the closing stroke involves the movement of the staple cartridge 2518 and anvil 2516 in response to the activation of the closing motor
[0245] [0245] The first and second graph of clamping force 12606, 12608 indicate that the clamping force on end actuator 2502 increases during an initial grip period ending in time (t1). The closing force reaches a maximum force (F1, F3) in time (t1). The initial hold period can be about one second, for example. A waiting period can be applied before starting a trip course. The waiting period allows fluid to escape from the compressed tissue through the end actuator 2502, which reduces the thickness of the compressed tissue by producing a smaller gap between the anvil 2516 and the staple cartridge 2518 and a reduction in strength closing period at the end of the waiting period. With reference to the first closing force plot 12606, there is a nominal drop in closing force 12612 from F1 to F2 during the waiting period between t, and ta. Similarly, with reference to the second closing force plot 12608, there is a nominal drop in closing force 12618 from F3 to Fa during the waiting period between t1 and ta. In some examples, a waiting period (t: to t1) selected from a range of about 10 seconds to about 20 seconds is typically used. In the example of the first and second plot of closing force 12606, 12608, a small
[0246] [0246] Figure 35 also represents a graph 12601 of the first and second plot of the firing force 12622, 12624 that plots the applied force to advance the beam with i-profile 2514 during the firing course while advances the closing tube 1040, 1042 during a portion of the firing stroke of the surgical instrument
[0247] [0247] In the plot of the firing force of the thick tissue, 12622,
[0248] [0248] Closing force 12614, 12620 and firing force 12630, 12636 shown in diagrams 12600, 12601 illustrate the effects on the firing force load exerted on the firing support (background graphic 12601) and the closing force exerted on the closing tube (top graph 12600) when the closing tube is advanced and the load is controlled during at least a portion of the firing stroke, as shown by the initial value of limits a, a ', a ”In the upper part of graph 12600 of the thick tissue plot 12606 and enlarged in Figure 35A, are represented by the upper limit of the closing force limit 12642, a lower limit of the closing force limit 12644 and a closing force 12643 nominal clamping between the lower and upper limits of the closing force limit 12642, 12644. Similar limits apply to the plot of thin tissue 12608 as shown by upper limit 12646, lower limit 12648 and nominal 12647. One nested PID feedback control system monitors the closing force exerted on the closing tube 1040, 1042 and controls the speed of the closing tube 1040, 1042 to maintain the closing force between the limits 12642, 12644 for the thick tissue and limits 12646, 12648 for thin tissue. For example, with the closing tube 1040, 1042 stopped, from time t, over the period To, the closing force 12614 falls below the lower limit of the closing force limit 12644. At that time, controller 2510 start advancing the closing tube 1040, 1042 at a predetermined speed. Under nested PID feedback control, the 2510 control circuit measures the force exerted on the 1040, 1042 closing tube and adjusts the point speed of the 1040, 1042 closing tube based on the actual speed and force exerted on the closing tube 1040, 1042. Consequently, as the closing tube 1040, 1042 starts advancing distally, the closing force begins to increase during the next period 71, until it exceeds the lower limit 12644 ', at which point the control circuit 2510 interrupts the closing tube 1040, 1042, and during the next period T2, the closing force begins to decrease again until it falls below and exceeds the lower limit of the force limit closure 12644, at which point the control circuit 2510 once again begins to advance the closing tube 1040, 1042 distally. This process is repeated until the closing force drops to zero in the time between ts and to. A similar process applies to the closing force for the closing force of the thin tissue 12620. The PID-controlled feedback system is explained in more detail in conjunction with Figures 36 to 40. The upper and lower limits of the closing force limit 12642, 12644, 12646, 12648, as shown in Figure 35, vary linearly with the initial values a ”, a", a "", a "" to about zero in a slope negative over time, it will be recognized that the upper and lower limits of the closing forces limits 12642, 12644, 12646, 12648 can be configured using non-linear expressions or custom defined limits stored in memory in the form of a Although the initial values a ', a ", a" ", a" "of the upper and lower limits of the closing forces limit 12642, 12644, 12646, 12648 are provided at the point in time that coincides with the start of the trip course, the start values ials a ', a ", a", a "" can be provided anywhere along the firing stroke.
[0249] [0249] In order to reduce the closing force and firing force variables as shown in Figure 35, the present description provides an adaptive closing tube speed control algorithm that measures at least two parameters of the axis of acci-
[0250] [0250] Figure 36 illustrates a 12700 graph of a PID control algorithm for thick tissue in order to control the speed of the closing tube based on the load of the closing force on a closing tube and the actual speed of the tube closing in accordance with an aspect of the present description. The nested PID control algorithm can be implemented by the 2510 control circuit shown in Figure 30. The 2510 control circuit is configured to measure at least two parameters of the robotic drive axis, such as the location of the firing member, firing member load, knife advance speed, location of the closing tube stroke and / or the closing tube load. The top graph 12702 is a graph representing the displacement of the ôcr (mm) closing tube along the vertical geometric axis 12706 and the time "t" (s) along the horizontal geometric axis 12708. The graph of bottom 12704 is a graph representing the velocity of the closing tube Vcr (mm / s) along the vertical geometric axis 12710 and the time "t" (s) along the horizontal geometric axis 12711. The top and bottom diagrams bottom 12702, 12704 are divided into three phases, a closing stroke (CLOSING), a waiting period (WAITING) and a triggering stroke (SHOOTING), as shown in Figures 34 and 35 on the same time scale over of the horizontal geometric axes 12708, 12711, 12604, 12605, 12504, 12505. During the closing stroke (CLOSING), the closing tube 1040, 1042 (Figures 4 and 6 to 10) is moved distally to move the anvil 2516 , for example, in relation to the staple cartridge 2518 in response to the actuation of the closing stroke by the motor d and closing 2504b. Under normal operation, the speed curve 12728 corresponds to the speed of the closing tube 1040, 1042 for the load plots shown in Figure 34. Under nested PID control, the speed of the closing tube 12730 is much less than the standard speed of the 12728 closing tube.
[0251] [0251] With reference to top and bottom diagrams 12702, 12704, during the closing (CLOSING) phase between to and ti, the speed of the closing tube 1040, 1042 increases, as shown by the profile of the speed curve 12730, causing the closing tube 1040, 1042 to advance distally, as shown by offset 12716 to do. In one example, the shift in t, -0.08 mm (-0.200 in.). The end of the closing phase is marked by t1, which is when the instrument enters the waiting period (WAITING) and the speed of the closing tube 1040, 1042 goes to zero during the period of time t: at time ta. In other words, the closing tube 1040, 1042 stops advancing
[0252] [0252] Referring now to Figures 30, 36 and 37, control circuit 2510, configured as a nested PID feedback controller, monitors the closing force 12614 acting on the closing tube 1040, 1042 and the actual speed of the closing tube 1040, 1042 and progressively controls the advance of closing tube 1040, 1042 based on the measured closing force 12614 and the actual speed of the closing tube 1040, 1042. This process starts at instant ta, where the speed from the closing tube 1040, 1042 is zero and the closing force 12614 falls from point 12801, which is the midpoint of limits 12642, 12644, to point 12802 over a period To. During the To period, the closing tube 1040, 1042 is stationary and the displacement remains in Do.
[0253] [0253] As the closing force 12614 falls below the lower limit 12644, the feedback control system (for example, control circuit 2510) defines a command speed for the closing motor 2504b and the motor trip 2508a to start the trip phase. It will be recognized that the closing force
[0254] [0254] Once the speed of the closing tube is set to zero, over a period T2, the closing tube 1040, 1042 does not advance distally, offset 12721 remains at (õo + 51), and the closing force 12614 decreases below the lower limit 12644 at point 12806. Control circuit 2510 then increases speed 12736 and displacement 12722 of closing tube 1040, 1042 advances õ2 over a period 13. As the training
[0255] [0255] Although the process in conjunction with Figures 35 to 37 has been described in the context of the closing force 12614 approaching the lower limit 12644 until an ideal closing force is determined by the nested PID controller, a similar process can be used when the closing force 12614 increases above the upper limit 12642 with one exception. In relation to the process described in Figures 39 and 40, the closing tube 10410, 1042 was advanced distally when the closing force 12614 decreased below the lower limit 12644. However, when the closing force 12614 increases above the upper limit 12642, the closing tube 1040, 1042 is retracted proximally instead of advancing distally until the closing force 12614 decreases below the upper limit 12642.
[0256] [0256] Figure 38 illustrates a 12900 graph of a control algorithm for thin tissue in order to control the speed of the closing tube based on the load of the closing force on a closing tube and the actual speed of the closing tube. according to one aspect of the present description. In one aspect, the control algorithm can be implemented as a derivative integral proportional control (PID) algorithm by the 2510 control circuit shown in Figure 30. The 2510 control circuit is configured to measure at least two axis parameters. robotic drive such as location of the firing member stroke, firing member load, knife advance speed, location of the closing tube stroke and / or the loading tube closure. The top graph 12902 is a graph representing the displacement of the ôcrt closing tube (mm) along the vertical geometric axis 12906 and the time "t" (s) along the horizontal geometric axis 12908. O background graph 12904 is a graph representing the velocity of the closing tube Vcr (mm / s) along the vertical geometric axis 12910 and the time "t" (s) along the horizontal geometric axis 12912. The top diagrams and bottom 12902, 12904 are divided into three phases, a closing stroke (CLOSING), a waiting period (WAITING) and a triggering stroke (SHOOTING), as shown in Figures 34 to 36 on the same time scale over of the horizontal geometric axes 12908, 12708, 12711, 12604, 12605, 12504, 12505. During the closing stroke (CLOSING), the closing tube 1040, 1042 (Figures 4 and 6 to 10) is moved distally to move the anvil 2516, for example, in relation to the staple cartridge 2518 in response to the actuation of the closing stroke by the closing motor 2504b. Under normal operation, the speed curve 12914 corresponds to the speed of the closing tube 1040, 1042 for the load plots shown in Figure 34. Under nested PID control, the speed of the closing tube 12916 is much less than the standard speed of closing tube 12914.
[0257] [0257] With reference to Figures 30, 36 and 38, at the beginning of the firing stroke in ta, the speed of the closing tube 1040, 1042 is zero during a first period to. During this period, the closing force 12620 (Figure 36) decreases and, when it falls below the lower limit 12648, the closing motor 2504b is started and the speed of the closing pipe 12918 is increased by the control circuit. - le 2510 to activate the closing tube 1040, 1042. During the following period T1, the closing tube 1040, 1042 travels distally until the closing force 12620 increases above the lower limit 12648 causing the control circuit stops the 2504b closing motor. During the Tt1 period, the closing tube 1040, 1042 advanced distally from 31 to 31. The control circuit 2510 keeps the closing motor 2504b off during period 12 until the closing force 12620 falls below the lower limit 12648, in which control circuit 2510 starts the closing motor 2504b and activates the closing tube 1040, 1042 at speed 12920 during the next period 13. The closing tube 1040, 1042 moves through 52. During the next period Ta, the closing tube 1040, 1042 does not move distally and remains in position (o + 31 + Õ2) until the closing force 12620 reaches a desired equilibrium or falls below the lower limit 12648. Although the tube speed control process closure 1040, 1042 of thin tissue has been discussed in the context of the lower limit 12648, a similar process would apply in the context of the upper limit 12646 with one exception. When the closing force 12620 increases above the upper limit 12646, the closing tube 1040, 1042 it is retracted proximally instead of advancing distally until the closing force 12620 decreases below the upper limit 12646.
[0258] [0258] Figure 39 is a diagram of a 12950 control system configured to provide the progressive closure of a closing member (for example, closing tube 1040, 1042) when the firing member (for example, the beam with profile in i 2514) advances distally and is coupled to a clamping arm (for example, anvil 2516) to decrease the load of the closing force on the closing member at a desired speed and to decrease the load of the firing force on the firing member , in accordance with an aspect of the present description. In one aspect, the 12950 control system can be implemented as a nested PID feedback controller. A PID controller is a feedback loop control mechanism (controller) for continuously calculating an error value such as the difference between a desired setpoint and a measured process variable and applying a correction based on the proportional, integral and derivative terms (sometimes indicated P, |, and D respectively). The 12950 nested PID controller feedback control system includes a primary controller 12952, on a primary (external) feedback circuit
[0259] [0259] In the context of controlling the displacement of the closing tube 1040, 1042, the 12950 control system can be configured so that the primary setpoint SP is a desired closing force value and the primary controller 12952 is configured to receive the closing force 12614 from the torque sensor 2544b coupled to the output of the closing motor 2504b and determine a motor speed from setpoint SP> to the closing motor 2504b. In other respects, the closing force 12614 can be measured with strain gauges, load cells or other suitable force sensors. The speed setpoint SP2 of the closing motor 2504b is compared to the actual speed of the closing tube 1040, 1042, which is determined by the secondary controller 12954. The actual speed of the closing tube 1040, 1042 can be measured by comparing the displacement of the closing tube 1040, 1042 with the 2534 position sensor and measuring the elapsed time with a timer.
[0260] [0260] Figure 40 illustrates a PID 12970 feedback control system, according to one aspect of this description. Primary controller 12952 or secondary controller 12954, or both, can be implemented as a PID 12972 controller. In one aspect, PID 12972 controller can comprise a proportional element 12974 (P), an integral element 12976 (|), and a derivative element 12978 (D). The outputs of elements P, | and D 12974, 12976, 12978 are added by an adder 12986, which provides the control variable u (t) to process 1250. The output of process 12950 is the process variable y (t). A 12984 adder calculates the difference between a desired setpoint r (t) and a measured process variable y (t). The PID 12972 controller continuously calculates an error value e (t) (for example, the difference between the closing force threshold and the measured closing force) as the difference between a desired setpoint r (t) ( for example, the closing force threshold) and the measured process variable y (t) (for example, the speed and direction of the closing tube) and applies a correction based on the proportional, integral and derivative terms calculated by proportional element 12974 (P), integral element 12976 (| I), and derivative element 12978 (D), respectively. The PID 12972 controller tries to minimize the error e (t) over time by adjusting the control variable u (t) (for example, the speed and direction of the closing tube).
[0261] [0261] According to the PID algorithm, the element "P" 12974 represents the present error values. For example, if the error is large and positive, the control output will also be large and positive. According to the present description, the error term e (t) is the difference between the desired closing force and measured closing force of the closing tube. The "I" element 12976 represents the values passed from the error. For example, if the current output is not strong enough, the integral of the error will accumulate over time, and the controller will respond by applying a stronger action. The "D" element 12978 represents possible future trends of the error, based on its actual rate of change. For example, continuing example P above, when the large positive control output succeeds in bringing the error closer to zero, it also puts the process in a major negative error mode in the near future. In this case, the derivative becomes negative and module D reduces the force of the action to avoid this excess.
[0262] [0262] It will be understood that other variables and set points can be monitored and controlled according to the feedback control systems 12950, 12970. For example, the adaptive closing member speed control algorithm described here can mediate at least two of the following parameters: the location of the trigger member, the load of the trigger member, the travel of the cutting element, the speed of the cutting element, the travel location of the closing tube, the loading of the closing tube, among others.
[0263] [0263] Figure 41 is a logic flow diagram representing a 12990 process of a control program or a logical configuration for determining the speed of a closing member, in accordance with an aspect of the present description. Referring also to Figure 30, a control system for a robotic surgical system comprises a 2510 control circuit configured to, according to process 12990, the 2510 control circuit determine 12992 the actual closing force of a closing member. Control circuit 2510 compares 12994 the actual closing force to a limit closing force and determines 12996 a setpoint speed for displacing the closing member based on the comparison. Control circuit 2510 controls the actual speed 12998 of the closing member based on the setpoint speed.
[0264] [0264] Now with reference also to Figures 39 and 40, in one aspect, the control circuit 2510 comprises a proportional, integral and derivative feedback control system (PID) 12950,
[0265] [0265] In one aspect, the closing force limit SP comprises an upper limit and a lower limit. The SP setpoint speed is configured to advance the closing member distally when the actual closing force is less than the lower limit and the setpoint speed is configured to retract the closing member proximally when the actual closing force is greater than the lower limit. In one respect, the setpoint speed is set to keep the closing member in place when the actual closing force is between the upper and lower limits.
[0266] [0266] In one aspect, the control system additionally comprises a force sensor coupled to the control circuit, the force sensor 2538 being configured to measure the closing force. In one aspect, the force sensor comprises a 2544b torque sensor coupled to an output drive shaft of a 2504b motor coupled to the closing member. In one aspect, the 2538 force sensor comprises a strain gauge coupled to the closing member. In one aspect, the force sensor comprises a load cell coupled to the closing member. In one aspect, the control system comprises a position sensor coupled to the closing member, where the position sensor is configured to measure the position of the closing member.
[0267] [0267] In one aspect, the control system comprises a first motor configured to couple the closing member and the control circuit is configured to advance the closing member during at least a portion of a firing stroke.
[0268] [0268] The functions or processes 12990 described herein can be performed by any of the processing circuits described here, such as the control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 ( Figure 25), 4420 (Figure 26) and / or 2510 control circuit (Figure 30). The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details.
[0269] [0269] Several aspects of the subject described here are defined in the following examples:
[0270] [0270] Example 1. A control system for a robotic surgical system, the control system comprising: a control circuit configured to: determine an actual closing force of a closing member; compare the actual closing force with a limit closing force; determining a setpoint speed for displacing the closing member based on the comparison; and controlling the actual speed of the closing member based on the setpoint speed.
[0271] [0271] Example 2. The control system of Example 1, in which the control circuit comprises a proportional, integral and derivative feedback (PID) control system.
[0272] [0272] Example 3. The control system of Example 2, where the PID feedback control system comprises a primary PID feedback circuit and a secondary PID feedback circuit, where the primary feedback circuit is configured to determine a first error between the actual closing force of the closing member and a limit closing force and define the setpoint speed based on the first error; and where the secondary feedback circuit is configured to determine a second error between the actual speed of the closing member and the current.
[0273] [0273] Example 4. The control system of one or more from Example 1 to Example 3, in which the limit closing force comprises an upper limit and a lower limit, in which the setpoint speed is configured to advance the closing member distally when the actual closing force is less than the lower limit, and where the setpoint speed is set to retract the closing member proximally when the actual closing force is greater than the inferior limit.
[0274] [0274] Example 5. The control system of Example 4, in which the setpoint speed is set to hold the closing member in place when the actual closing force is between the upper and lower limits.
[0275] [0275] Example 6. The control system of one or more from Example 1 to Example 5, which additionally comprises a force sensor coupled to the control circuit, the force sensor being configured to measure the closing force.
[0276] [0276] Example 7. The control system of Example 6, in which the force sensor comprises a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, in which the torque sensor it is configured to measure the closing force.
[0277] [0277] Example 8. The control system of one or more of Example 6 and Example 7, in which the force sensor comprises a strain gauge coupled to the closing member, in which the strain gauge is configured to measure the closing force.
[0278] [0278] Example 9. The control system of one or more from Example 6 to Example 8, in which the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[0279] [0279] Example 10. The control system of one or more from Example 6 to Example 9, which further comprises a position sensor coupled to the closing member, in which the position sensor is configured to measure the position of the closing member. closure.
[0280] [0280] Example 11. The control system of one or more from Example 1 to Example 10, in which the control circuit is configured to advance the closing member during at least a portion of a firing stroke.
[0281] [0281] Example 12. A control system for a robotic surgical system, the control system comprising: a first motor configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member; a closed-loop feedback control system comprising a control circuit coupled to the first motor and the force sensor, in which the control circuit is configured to: receive, from the force sensor, the actual closing force of the limb closure; compare the actual closing force to a limit closing force; determining a setpoint speed of the first motor to displace the closing member based on the comparison; and controlling the actual speed of the closing member based on the setpoint speed.
[0282] [0282] Example 13. The control system of Example 12, in which the closed loop feedback control system comprises a proportional, integral and derivative feedback control system (PID).
[0283] [0283] Example 14. The control system of Example 13, wherein the PID feedback control system comprises a primary PID feedback circuit and a PID feedback circuit following each other.
[0284] [0284] Example 15. The control system of one or more from Example 12 to Example 14, in which the limit closing force comprises an upper limit and a lower limit, in which the setpoint speed is configured to advance the closing member distally when the actual closing force is less than the lower limit, and where the setpoint speed is set to retract the closing member proximally when the actual closing force is greater than the lower limit.
[0285] [0285] Example 16. The control system of Example 15, in which the setpoint speed is configured to keep the closing member in place when the actual closing force is between the upper and lower limits.
[0286] [0286] Example 17. The control system of one or more from Example 12 to Example 16, in which the force sensor comprises a torque sensor coupled to an output drive shaft of the first motor, in which the torque is set to measure the closing force.
[0287] [0287] Example 18. The control system of one or more from Example 12 to Example 17, in which the force sensor comprises a stress meter coupled to the closing member, in which the stress meter is configured to measure the closing force.
[0288] [0288] Example 19. The control system of one or more from Example 12 to Example 18, in which the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[0289] [0289] Example 20. The control system of one or more from Example 12 to Example 19, which additionally comprises a position sensor coupled to the closing member, in which the position sensor is configured to measure the position of the closing member.
[0290] [0290] Example 21. The control system of one or more from Example 12 to Example 20, which further comprises a second motor coupled to a trip member, in which the control circuit is configured to advance the trip member. closing for at least a portion of a firing stroke of the firing member.
[0291] [0291] Example 22. A control system for a robotic surgical system, the control system comprising: a control circuit comprising a proportional, integral and derivative feedback control system (PID), the control circuit configured to: determine the actual closing force of a closing member; compare the actual closing force with a limit closing force; determining a setpoint speed to move the closing member based on the comparison; and controlling the actual speed of the closing member based on the setpoint speed; a force sensor coupled to the control circuit, the force sensor configured to measure the closing force; and a motor coupled to the control circuit and the closing member, in which the control circuit is configured to advance the closing member during at least a portion of a firing stroke; where the limit closing force comprises an upper limit and a lower limit, where the setpoint speed is configured
[0292] [0292] Example 23. The control system of Example 22, where the PID feedback control system comprises a primary PID feedback circuit and a secondary PID feedback circuit, where the primary feedback circuit determines a first error between the actual closing force of the closing member and a limit closing force and defines the setpoint speed based on the first error; and where the secondary feedback circuit determines a second error between the actual speed of the closing member and the setpoint speed and controls the actual speed of the closing member based on the second error.
[0293] [0293] Example 24. The control system of one or more of Example 22 and Example 23, where the setpoint speed is set to hold the closing member in place when the actual closing force is between upper and lower limits.
[0294] [0294] Example 25. The control system of one or more from Example 22 to Example 24, in which the force sensor comprises a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, where the torque sensor is configured to measure the closing force.
[0295] [0295] Example 26. The control system of one or more from Example 22 to Example 25, in which the force sensor comprises a stress meter coupled to the closing member, in which the stress meter is configured to measure the closing force.
[0296] [0296] Example 27. The control system for one or more of the
[0297] [0297] Example 28. The control system of one or more from Example 22 to Example 27, which additionally comprises a position sensor coupled to the closing member, in which the position sensor is configured to measure the position of the closing member.
[0298] [0298] For the use of a motorized robotic surgical stapling system, the force on the closing member drops slightly during a waiting period after the tissue has been held due to the compression on the tissue and the exit of fluid. In addition, the force on the closing member drops precipitously from the moment the firing member engages the clamping arm and the closing force is transferred from the closing member to the firing member. Therefore, the present description provides a closed loop feedback control system configured to advance the closing member during the waiting period and during the trip course while the trip member advances distally. The present description also provides individually controllable closing and firing members configured to be coupled to an interface of the robotic surgical instrument.
[0299] [0299] In one aspect, the present description provides several techniques for the adaptive control of the speed of the closing member. In one aspect, the present description provides techniques for the adaptive control of the speed of the closing member that measure at least two parameters of a robotic drive shaft. Parameters associated with the robotic drive shaft include, but are not limited to, location of the firing member, firing of the firing member, knife advance speed, location of the closing tube stroke, closing tube loading, among others, via a removable robotic interface unit and a removable cartridge together with a circuit arranged on the robotic interface, and the cartridge that can identify itself and its status or provide parameters or a control program for actuate the device or the end actuator and record its use.
[0300] [0300] In one aspect, the present description provides closed loop feedback control techniques for advancing a closing member during a waiting period and during a trip course. A closed loop feedback control system can be configured to receive at least two parameters, such as trigger member travel location, trigger member load, knife advance speed, travel tube travel location closing or loading of the closing tube, to progressively close the closing member as the firing member is advancing.
[0301] [0301] The advance of the closing tube can be controlled based on the location of the firing member within its travel and the measured force on the closing tube actuator. In one aspect, the advance of the closing tube can be controlled based on the continuous advance of the closing tube based on both the location of the firing member within its course and the measured closing force (FTC). The advancement of the closing tube during shooting provides a lower firing force (FTF) and results in greater articulation angles, shorter joint lengths and better fabric capacity.
[0302] [0302] Figure 42 is a 13000 diagram of three graphs. A displacement graph 13002 represents a plot of the displacement
[0303] [0303] Displacement graph 13002 represents the first and second graphs 13020, 13026 of displacement of the closing member as a function of time, where the displacement of the closing limb is plotted along the vertical geometric axis 13008 and time (s) is plotted along the horizontal geometric axis
[0304] [0304] The graph of the closing force 13004 represents the first and second plots 13022, 13028 of the closing force as a function of time, where the closing force (FCT) N is plotted along the vertical geometric axis 13012 and time is plotted along the horizontal geometric axis 13014. The first plot 13022 represents the closing force applied to the closing member as a function of the time the closing member travels over a fixed distance and stops and applies a force of constant closing during the firing stroke. The second plot 13028 represents the closing force applied to the closing member as a function of the time the force of the closing member is under feedback control during the firing stroke, in accordance with an aspect of the present description.
[0305] [0305] The firing force graph 13006 represents the first and second plots 13024, 13030 of the firing force as a function of time, where the firing force (FCF) N is plotted along the vertical geometric axis 13016 and the time (seconds) is plotted along the horizontal geometric axis 13018. The first plot 13024 represents the firing force applied to the firing member as a function of the time the closing member travels over a fixed distance and stops e applies a constant closing force during the firing stroke. The second graph 13030 represents firing force as a function of the time when the closing member is under feedback control while the member is advancing distally during the firing stroke, according to one aspect of the present description.
[0306] [0306] The period of the closing stroke (CLOSING) starts at time to and ends at time t1. During the closing stroke, a closing force 13038, 13058 is applied to the closing member, for example, closing tube 1040, 1042 (Figures 4 and 6 to 10), causing closing tube 1040, 10402 distally translate 13032, 13050 to move the anvil 2516 in relation to the staple cartridge 2518 in response to the actuation of the closing motor 2504b through one or more transmission components 2506b. During the period of the closing stroke, the firing force 13044, 13070 is substantially zero. As the closing force 13038, 13058 increases exponentially up to a maximum force of Frc1, the closing tube 1040, 1042 travels a fixed distance up to (mm). The closing force reaches a maximum force Frc1 at time ti. The initial hold period can be about one second, for example.
[0307] [0307] After the closing stroke period comes the waiting period (WAITING), which starts at time t and ends at time t2. A waiting period can be applied before starting a training course.
[0308] [0308] The trigger stroke period (TRIGGER) starts at time t2 and ends at time ts. The triggering stroke starts at the end of the waiting period. In a conventional closing force process, as the firing force increases exponentially in the initial stage of the firing stroke, the closing force 13041 falls exponentially as the beam with i-profile 2514 is coupled to the anvil 2516 and the closing load is transferred from the closing tube 1040, 1042 to the i-profile beam 2514. In a conventional process, as the firing force 13046 increases rapidly for Frr1, the closing force decreases quickly to Frc3 and the clamping force remains constant for the rest of the firing stroke and firing force 13048 drops steadily to Frr3 at the end of the stapling period and then drops to zero at the end of the stroke firing time. During the firing period, the displacement 13036 of the closing tube remains constant. In other words, in a conventional process, the displacement of the closing tube 1040, 1042 stops after the initial displacement during the closing stroke.
[0309] [0309] In one aspect, the present description provides the closed loop feedback control system to advance the closing tube 1040, 1042 during the firing stroke. A closed loop feedback control system comprising a 2510 control circuit configured to receive at least two parameters, such as the location of the beam with an i 2510 profile (firing member) during the firing stroke, the load on the beam with i-profile 2514 (firing member), the advance speed of the firing member, the location of the closing tube 1040, 1042 (closing member) and / or the speed in the closing tube 1040, 1042 ( closing member), and to progressively close anvil 2516 during the firing stroke. Consequently, the closing force can be varied during the firing stroke by controlling the displacement (advance or retraction) of the closing tube 1040, 1042 based on the measured feedback parameters to reduce the total firing force, as shown in the second 13030 firing force graph relative to the conventional 13024 firing power graph.
[0310] [0310] For example, with reference to the second plot portion 13028 of the closing force graph 13004 and the second plot portion 13030 of the firing force graph 13006, after the waiting period, the closing tube 1040, 1042 is under constant closing force 13060 applied during the waiting period until the firing force 13072 increases rapidly to Frr2 and the closing force 13062 begins to decrease as the beam with i-profile 2514 is coupled to the anvil 2516 and the closing load is transferred from the closing tube 1040, 1042 to the i-profile beam 2514. During this brief period, however, the control circuit 2510 of the closed loop feedback receives the closing force. plate 13062 from the torque sensor 2544b coupled to the output drive shaft of the closing motor 2504b and the position of the beam with i-profile 2514 during the firing stroke and increases the closing force 13064 in the closing tube 1040, 1042 based on these measured parameters. To increase the closing force 13064, the control circuit 2510 advances the offset 13056 of the closing tube 1040, 1042 to 52 and, in this example, remains in that position 13054 for the rest of the firing stroke. Consequently, after the brief drop in the closing force 13062, the closing force 13064 recovers to Frc: and remains constant until the beam with an i-profile 2514 is approximately one third (1/3) of the period trigger stroke. At that time, the control circuit 2510 allows the closing force 13066 to decrease from Frc: to Frca when the beam with i-profile 2514 is approximately two thirds (2/3) of the firing stroke period. In this example, the closing force 13068 remains constant at Frc3 for the remaining third (1/3) of the firing stroke period. As shown by the second plot 13030, the firing force 13074 decreases from a peak firing force Frr2, which is less than the peak firing force FrrF1 in the conventional process, to FrrF3, which coincides with the firing force of the conventional process and rapidly drops to zero for the remainder of the trigger stroke period until the end of the trigger stroke is reached.
[0311] [0311] Consequently, the advance of the closing tube 1040, 1042 can be controlled based on the location of the firing member such as the measured position of the beam with i-profile 2514 within the firing stroke period and the closing force measurement applied to the closing tube 1040, 1042 as measured, for example, by the torque sensor 2544b coupled to the output drive shaft of the closing motor 2504b. The closing tube 1040, 1042 can be advanced or retracted based on these performance parameters
[0312] [0312] Consequently, with reference now mainly to Figure 30, in one aspect, the control circuit 2510 is configured to provide progressive closure of a closing member (e.g., closing tube 1040, 1042) during the waiting period and during the firing stroke, according to one aspect of this description. As previously described, in a conventional pressing and firing process, the closing force drops during the waiting period due to the compression of the tissue and fluid outflow from the tissue. Thus, during the closing and waiting periods, the control circuit 2510 monitors the closing force on the closing tube 1040, 1042 and advances the closing tube 1040, 1042 providing a motor setpoint signal to the control circuit. motor control 2508b, which applies a motor start signal to motor 2504b. Motor 2504b drives a transmission 2506b, which includes one or more gears or other connecting components to couple the output of motor 2504b to the closing tube 1040, 1042. Consequently, the closing tube 1040, 1042 applies a force anvil closing mechanism 2516. A torque sensor 2444b coupled to the motor output 2504b provides closing force to the control circuit 2510.
[0313] [0313] In addition, at the start of the firing stroke, as the closing force is transferred from the closing tube 1040, 1042 to the beam with i 2514 profile, the control circuit 2510 receives the position of the beam with profile in i 2514 (or another component of the firing system) of the position sensor 2534. After the beam with i-2514 profile advances distally and is coupled to the anvil 2516, during the firing stroke, the control circuit 2510 receives the force of fe-
[0314] [0314] Figure 43 is a logic flow diagram representing a 13100 process from a control program or a logical configuration to determine the closing force applied to the closing member and the position of the firing member and defining the closing force. grounding based on the measured closing force and position information. Control circuit 2510 initiates the closing stroke by applying 13102 a closing force to the closing member during the closing period. To apply 13102 the closing force to the closing member, the control circuit 2510 sets a motor setpoint to the motor control 2508b, which applies a motor start signal to the motor 250b causing the transmission 2506b to displace the tube closure 1040, 1042 and close the anvil 2516 to compress the tissue positioned between the anvil 2516 and the staple cartridge 2518. At the end of the closing period, the control circuit 2510 increases the closing force applied to the closing during the waiting period to compensate for tissue compression and fluid output. Control circuit 2510 determines 13106 the closing force applied to the closing member. For example, the 2510 control circuit receives the closing force from the torque sensor 2544b or other 2538 sensors, such as a strain gauge located on the end actuator 2502, to measure the force or a configured load cell. to measure the load on the closing tube 1040, 1042. The firing stroke starts after the end of the
[0315] [0315] The functions or processes 13100 described here can be performed by any of the processing circuits described here, such as control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 ( Figure 25), 4420 (Figure 26) and / or 2510 control circuit (Figure 30). The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention.
[0316] [0316] Example 1. A control system for a robotic surgical system, the control system comprising: a control circuit configured to: determine a closing force applied to a closing member; determine a firing member's position; and defining a new closing force based on the closing force applied to the closing member and the position of the firing member.
[0317] [0317] Example 2. The control system of Example 1, which further comprises a force sensor coupled to the control circuit, in which the force sensor is configured to measure the closing force.
[0318] [0318] Example 3. The control system of Example 2, in which the force sensor comprises a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, in which the torque sensor it is configured to measure the closing force.
[0319] [0319] Example 4. The control system of one or more of Example 2 and Example 3, in which the force sensor comprises a stress meter coupled to the closing member, in which the stress meter is configured to measure the closing force.
[0320] [0320] Example 5. The control system of one or more of Example 2 and Example 4, in which the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[0321] [0321] Example 6. The control system of one or more of Example 2 and Example 5, which additionally comprises a position sensor coupled to the firing member, in which the position sensor is configured to measure the position of the firing member.
[0322] [0322] Example 7. The control system of one or more of Example 1 and Example 6, in which the control circuit is configured to advance the closing member during at least a portion of the firing stroke.
[0323] [0323] Example 8. A control system for a robotic surgical system, the control system comprising: a first motor configured to be coupled to a closing member; a force sensor configured to measure the closing force applied to the closing member; a control circuit coupled to the first motor and the force sensor, where the control circuit is configured to: receive, from the force sensor, the actual closing force applied to the closing member; receive, from the position sensor, a position of a firing member; and defining a new closing force based on the actual closing force applied to the closing member and the position of the firing member.
[0324] [0324] Example 9. The control system of Example 8, in which the force sensor comprises a torque sensor coupled to an output drive shaft of the first motor, in which the torque sensor
[0325] [0325] Example 10. The control system of one or more of Example 8 and Example 9, in which the force sensor comprises a stress meter coupled to the closing member, in which the stress meter is configured to measure the closing force.
[0326] [0326] Example 11. The control system of one or more of Example 8 and Example 10, in which the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[0327] [0327] Example 12. The control system of one or more of Example 8 and Example 11, which further comprises a position sensor coupled to the closing member, where the position sensor is configured to measure the position of the closing member.
[0328] [0328] Example 13. The control system of one or more of Example 8 and Example 12, which additionally comprises a second motor coupled to the trigger member, in which the control circuit is configured to advance the trigger member. firing during at least a portion of a firing stroke of the firing member.
[0329] [0329] Example 14. A control system for a robotic surgical system, the control system comprising: a control circuit configured to: apply a closing force to a closing member during a closing period; increase the closing force during a waiting period after the closing period; determining a closing force applied to the closing member; determining a position of a firing member during a firing stroke; and defining a new closing force of the closing member based on the closing force and the position of the firing member.
[0330] [0330] Example 15. The control system of Example 14, which further comprises a force sensor coupled to the control circuit, in which the force sensor is configured to measure the closing force.
[0331] [0331] Example 16. The control system of Example 15, in which the force sensor comprises a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, in which the torque sensor is configured to measure the closing force.
[0332] [0332] Example 17. The control system of one or more of Example 15 and Example 16, in which the force sensor comprises a stress meter coupled to the closing member, in which the stress meter is configured to measure the closing force.
[0333] [0333] Example 18. The control system of one or more of Example 15 and Example 17, in which the force sensor comprises a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[0334] [0334] Example 19. The control system of one or more of Example 15 and Example 18, which further comprises a position sensor coupled to the firing member, where the position sensor is configured to measure the position of the member firing time.
[0335] [0335] Example 20. The control system of one or more of Example 14 and Example 19, in which the control circuit is configured to advance the closing member during at least a portion of the firing stroke. System to control joint forces
[0336] [0336] In some respects, a control algorithm is provided to manipulate a pair of articulation arms configured to control an articulation angle of a robotic surgical instrument end actuator. Other aspects of the present description focus on the robotic arm system, including the pair of articulation arms coupled to the end actuator and guided by independent motors, for example, the 2504d and 2504e motors. The two articulation arms are designed to exert antagonistic forces competing against each other and whose magnitudes are distributed according to a ratio specified in the control algorithm. The ratio between antagonistic forces can be used to determine the angle of articulation of the head or end actuator of the robotic surgical arm. In one aspect, the present description provides control algorithms to safely manage the movements of two or more of these components when there is an interrelation.
[0337] [0337] Referring to Figure 44, illustration 13500 shows an example of a structural portion of a robotic surgical arm that includes two articulation arms connected to an end actuator, in accordance with some aspects of the present description. Here, the end actuator includes an anvil 13502 connected to the right articulation arm 13504 and the left articulation arm 13506. The right articulation arm 13504 includes a right articulation connection 13508 and a right articulation bar 13510. These two components are connected via a hinge as shown. Similarly, the left pivot arm 13506 includes a left pivot link 13512 and a left link bar 13514. As shown, the left and right pivot arms are connected to the end actuator by hinges to the side of channel 13520. Pulling or pushing forces from the left and right pivot arms can cause the end actuator to pivot around pivot pivots 13518. The off-center pivot connection 13516 helps to stabilize the end actuator as it is pivoted, due to the 13516 off-center connection being placed stably on the drive shaft where the pivot arms reside, which is not shown here for purposes of illustration. The anvil 13502 is attached to the articulation joints through the anvil retainer
[0338] [0338] With reference to Figures 45 to 47, examples are shown of how the movements of the articulation arms cause the end actuator to articulate, according to some aspects. In Figure 45, the anvil 13502 is in a neutral or straight position in relation to the articulation arms 13504 and 13506. In Figure 46, the left articulation arm 13506 is moved upward along direction B, while simultaneously the right pivot arm 13504 is moved downward along the C direction. Since the hinges of the pivot arms that connect to the end actuator are positioned on opposite sides of the 13518 pivot pivot, these described movements cause the anvil 13502 articulate counterclockwise A, as shown. This is consistent by noting that the hinge of the left pivot arm 13506 is to the right of pivot 13518 and therefore an upward movement in direction B is consistent with a counterclockwise movement. Similarly, as the hinge connecting the right pivot arm 13504 is positioned to the left of pivot 13518, a downward movement in direction C is consistent with a counterclockwise movement. In contrast, as shown in Figure 47, the inverse movements of the articulation arms cause the anvil 13502 to move in the reverse direction, that is, clockwise. That is, a movement of the right articulation arm 13504 in the upward direction B and any simultaneous movement of the left articulation arm 13506 in the downward direction C creates a clockwise movement of the anvil 13502 around pivot 13518.
[0339] [0339] With reference to Figure 48, according to some aspects
[0340] [0340] Referring to Figure 49, illustration 13600 shows an example of a graph representing an amount of force applied by both articulation arms as a function of a degree of head articulation from the horizontal center line, according to with some aspects. As shown, graph 13600 shows the force as the Y 13602 geometric axis and a degree of articulation of a horizontal | central axis represents the X 13604 geometric axis. The maximum value 13606 represents the maximum amount of force that the motors can apply to the articulation arms. In this example, curve 13608 represents an amount of force that must be applied to the left articulation arm 13506 as a function of the desired articulation angle according to the X 13604 geometry axis and curve 13610 represents an amount of force that must be applied. applied to the right articulation arm 13504 as a function of the same desired articulation angle. In this example, the maximum articulation range is +/- 60º from the center line.
[0341] [0341] In some ways, getting the head / end actuator to articulate involves applying forces to both articulation arms in an antagonistic relationship. For example, each motor coupled to the articulation arms can exert pulling forces on both articulation arms at the same time. The ratio of the amount of pulling force between the two pivoting arms can determine the angle at which the head / end actuator pivots. This force ratio can be mapped or represented by the graph
[0342] [0342] For example, in order to cause the head / end actuator to be articulated 45º from the center line, a traction force of the magnitude of length E must be applied to the right articulation arm, according to the curve 13610. Simultaneously, a pulling force of the magnitude of length F must be applied to the left articulation arm, according to curve 13608. In general
[0343] [0343] As another example, since 13518 pivot pivot is located off center, the amount of counterbalance, or antagonistic forces, needed to stabilize the head / end actuator at 0 ° level is not the same between the two air arms - ticulation. This is exemplified by the forces E 'and F', which are different amounts of force applied to the two articulation arms at the 0º point in graph 13600.
[0344] [0344] With reference to Figure 50, an example is shown of how antagonistic forces can be applied to the two joint arms to make the head / end actuator articulate 60º from the center line, according to some aspects. Here, a motor coupled to the right pivot arm 13504 can apply a substantially greater pull force than a pull force applied by a second motor to the left pivot arm 13506. The exact ratio of the forces between the two pivot arms can be determined by the 13600 control algorithm graph example in Figure 49, according to the amount of forces shown on the 60º line in the graph. The greater amount of traction force applied to the right pivot arm 13504 compared to the left pivot arm 13506 results in the fact that the right pivot arm 13504 is pulled to the right in Figure 50. Consequently, as As a result of this force ratio, the left articulation arm 13506 moves to the left or is pushed towards the head / end actuator. However, as there is still a certain amount of tractive force that is applied to the left articulation arm 13506, the antagonistic forces effectively counterbalance or balance at a point so that the head / end actuator articulates 60º from the center line , as shown.
[0345] [0345] With reference to Figure 51, another example is shown of how forces can be applied to the two articulation arms to make the head / end actuator articulate 30º from the center line, according to some aspects. Here, the motor coupled to the right pivot arm 13504 can apply a pull force greater than the pull force applied to the left pivot arm 13506 by the second motor. In this case, the difference between the forces is not as substantial as those described in Figure 50. As an example, the exact ratio of forces between the two articulation arms can be determined by the 13600 control algorithm graph example in Figure 49 , according to the amount of forces shown at the 30º point on the graph. Therefore, it can be seen that the ratio of the two forces is less, which means that the smaller compensating force applied to the left articulation arm 13506 has a magnitude closer to the predominant force applied to the right articulation arm 13504. From of the pivot position in the illustration in Figure 50, the change in forces applied to the two pivot arms in Figure 51 results in an effective force Fe 13706 applied to the head / end actuator in Figure 51. Arrows 13702 and 13704 they represent changes in the force applied to their respective articulation arms in relation to the forces illustrated in Figure 50 above.
[0346] [0346] Referring to Figure 52, a third example is shown of how forces can be applied to the two pivoting arms to cause the head / end actuator to pivot back to the central or neutral position, according to some aspects. Here, the motor coupled to the right pivot arm 13504 can apply less pulling force than a pull force applied to the left pivot arm 13506 by the second motor. As shown in graph 13600 of Figure 49, the antagonistic pull force
[0347] [0347] Referring to Figure 53, a logic flow diagram depicting a 13900 process from a control program or a logical configuration is illustrated to cause an end actuator in a robotic surgical system to articulate based on the control of two independent articulation arms, according to some aspects. As shown in Figure 30, control circuit 2510 can be configured to command a 2508d motor control and a 2508e motor control. These can be coupled to the respective 2504d and 2504e engines. These motors can, finally, respectively, create a pulling or pulling force applied to the 13504 and 13506 articulation arms. The independent nature of the two motors, while being used to control the articulation of a single end actuator, enables a design simple that it is easier to program accurately and also to diagnose problems and the parts to be replaced.
[0348] [0348] The control circuit, for example, control circuit 2510, can be configured to make 13902 with the first articulation motor, for example, the 2504d motor, apply a first force to the first articulation arm, for example example, articulation arm
[0349] [0349] The control circuit can be configured to make 13904 with the second articulation motor, for example, the 2504e motor, applying a second force to a second articulation arm, for example, the articulation arm 2542b or any one between articulation arms 13504 and 13506. The second applied force is antagonistic to the first force, which means that the second force results in a counterbalancing or balancing force in the opposite direction to the first force. As shown in the previous Figures, this antagonistic force can be a pulling force that generates a torque to be applied in the opposite direction around the end actuator pivot. In other respects, if the first force is a pushing force, then the second force can also be a pushing force applied in an opposite direction to the end actuator.
[0350] [0350] The end actuator that is coupled to the first and second articulation arms articulates 13906 around a pivot, where the degree of articulation is based on a ratio between the first and the second force. If the pivot around which the end actuator articulates is positioned between the hinges that connect the end actuator to the two articulation arms, then the second antagonistic force must be a type of force equal to the first force, for example, both are pulling forces or both are pushing forces. On the other hand, if both hinges connecting the two pivot arms to the end actuator are located on the same side as the pivot pivot, then the second antagonistic force must be a type of force opposite the first force, for example, a it is a pulling force and the other is a pushing force. As shown in the previous examples, the pivot pivot can be located off-center from the center line, allowing for a single force ratio at all pivot angles.
[0351] [0351] The functions or processes 13900 described here can be performed by any of the processing circuits described here, such as control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26) and / or the 2510 control circuit (Figure 30). The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details.
[0352] [0352] Several aspects of the subject described here are defined in the following examples:
[0353] [0353] 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 manipulated 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.
[0354] [0354] 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 various types of "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits that form a general purpose computing device configured by a computer program (for example, a general purpose computer or processor configured by a computer program that at least partially performs the processes and / or device described here), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment) . These aspects can be implemented in analog or digital form, or combinations of them.
[0355] [0355] 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 of them. In one aspect, several portions of the subject described here can be implemented by means of specific application 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 revealed 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 computers). computer systems), 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.
[0356] [0356] 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 for 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 example, transmitter, receiver, transmission logic, reception logic, etc.).
[0357] [0357] The previously mentioned description of one or more aspects has been 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 with the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[0358] [0358] Several aspects of the subject described here are defined in the following examples:
[0359] [0359] Example 1. A method for controlling the speed of a firing member in a robotic surgical system, in which the method comprises: detecting, through a control circuit, a condition on an end actuator during a closing phase; define, by means of the control circuit, the operating speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger, by means of the control circuit, the displacement member at the defined command speed; detect, through the control circuit, a condition on the end actuator during a trip phase
[0360] [0360] Example 2. The method of Example 1, in which the condition during the closing phase or the firing phase is the thickness of the tissue and the method additionally comprises: detecting, through the control circuit, a gap defined between an anvil and staple cartridge portion of the end actuator; and adjust, through the control circuit, the control speed based on the span and the control speed when the span is detected.
[0361] [0361] Example 3. The method of one or more of Example 1 and Example 2, where the condition during the closing phase is the closing force applied to an anvil towards a staple cartridge and the The method additionally comprises: detecting, through the control circuit, a closing force defined as the force experienced by the anvil and staple cartridge portion of the closed-end actuator on the fabric located between them; and adjust, by means of the control circuit, the command speed based on the closing force and the command speed when the force is detected.
[0362] [0362] Example 4. The method of one or more from Example 1 to Example 3, where the condition during the firing phase is the firing force to displace the displacement member and the method further comprises: detecting, by means of of the control circuit, a firing force to displace the displacement member; and adjust, by means of the control circuit, the control speed based on the closing force and the control speed when the force is detected.
[0363] [0363] Example 5. The method of one or more of Example 1 and Example 4, where the condition during the closing phase or the firing phase is the electrical impedance of the fabric located between an anvil and a cartridge in the actuator and the method additionally comprises: detecting, by means of the control circuit, the electrical impedance of the tissue located between the anvil and the staple cartridge of the end actuator; and adjust, through the control circuit, the control speed based on the electrical impedance and the control speed when the force is detected.
[0364] [0364] Example 6. The method of one or more from Example 1 to Example 5, where the condition during the closing phase or the firing phase is the covering of the tissue in the end actuator and the method further comprises: detecting , by means of the control circuit, the fabric cover located between a portion of the anvil and staple cartridge of the end actuator and adjust the control speed based on the cover and the control speed when the cover is detected.
[0365] [0365] Example 7. The method of one or more from Example 1 to Example 6, which further comprises adjusting, through the control circuit, the command speed during the firing phase to adjust the speed of the limb. during shooting.
[0366] [0366] Example 8. A method for controlling the speed of a firing member in a robotic surgical system, the method comprising: receiving, through a control circuit, the actual closing force of a closing member a from a force sensor coupled to the closing member and the control circuit; compare, through the control circuit, the actual closing force to a limit closing force; determining, through the control circuit, a setpoint speed for displacing the closing member based on the comparison; and control, by means of the control loop, the actual speed of the closing member based on the setpoint speed.
[0367] [0367] Example 9. The method of Example 8, in which the control circuit comprises a proportional, integral and derivative feedback control system (PID) and in which the PID feedback control system comprises a feedback circuit Primary PID and a secondary PID feedback circuit, the method further comprising: determining, via the primary feedback circuit, a first error between the actual closing force of the closing member and a limit closing force and define the setpoint based on the first error; and determining, via the secondary feedback circuit, a second error between the actual speed of the closing member and the speed of the setpoint and controlling the actual speed of the closing member based on the second error.
[0368] [0368] Example 10. The method of one or more of Example 8 and Example 9, in which the limit closing force comprises an upper limit and a lower limit, the method additionally comprises: advancing through the circuit control, the closing member distally when the actual closing force is less than the lower limit; and retract, by means of the control circuit, the closing member proximally when the actual closing force is greater than the lower limit.
[0369] [0369] Example 11. The method of Example 10, which further comprises holding, through the control circuit, the closing member in place when the actual closing force is between the upper and lower limits.
[0370] [0370] Example 12. The method of one or more from Example 8 to Example 11, in which, by means of the control circuit, receiving the closing force of a force sensor coupled to the control circuit comprises receiving, by means of of the control circuit, the closing force from a torque sensor coupled to a drive shaft output from a motor coupled to the closing member, where the torque sensor is configured to measure the closing force.
[0371] [0371] Example 13. The method of one or more from Example 8 to Example 12 in which, by means of the control circuit, receiving the closing force of a force sensor coupled to the control circuit comprises receiving , through the control circuit, the closing force of an effort meter coupled to the closing member, in which the effort meter is configured to measure the closing force.
[0372] [0372] Example 14. The method of Example 8, in which receiving, through the control circuit, the closing force of a force sensor coupled to the control circuit comprises receiving, through the control circuit, the closing a load cell coupled to the closing member, where the load cell is configured to measure the closing force.
[0373] [0373] Example 15. The method of one or more from Example 8 to Example 14, which additionally comprises a position sensor coupled to the closing member and the control circuit, the method which additionally comprises receiving, via the control circuit, a position of the closing member from the position sensor.
[0374] [0374] Example 16. The method of controlling one or more from Example 8 to Example 15, which further comprises advancing, through the control circuit, the closing member during at least a portion of a firing stroke.
[0375] [0375] Example 17. A method for controlling the speed of a firing member in a robotic surgical system, the method comprising: receiving, through a control circuit, the actual closing force of a closing member a from a force sensor coupled to the closing member and the control circuit; receive, through the control circuit, the actual position of a trigger member from a position sensor coupled to the trigger member and the control circuit; and defining, by means of the control circuit, a new closing force based on the actual closing force applied to the closing member and the actual position of the firing member.
[0376] [0376] Example 18. The method of Example 17, in which receiving, through a control circuit, the actual closing force of the closing member from the force sensor comprises receiving, through the control circuit , the actual closing force of the closing member from a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, where the sensor is configured to measure the closing force.
[0377] [0377] Example 19. Method, from one or more of Example 17 and Example 18, in which, by means of a control circuit, receiving the actual closing force of the closing member from the force sensor comprises receiving , by means of the control circuit, the actual closing force of the closing member from an effort meter coupled to the closing member, in which the effort meter is configured to measure the closing force.
[0378] [0378] Example 20. The method of one or more of Example 17 and Example 18, in which, by means of a control circuit, receiving the actual closing force of the closing member from the force sensor it comprises receiving, through the control circuit, the actual closing force of the closing member from a load cell coupled to the closing member, in which the load cell is configured to measure the closing force.
[0379] [0379] Example 21. The method of one or more of Example 17 and Example 18, which further comprises advancing, through the control circuit, the closing member during at least a portion of the firing stroke.

权利要求:
Claims (21)
[1]
1. Method for controlling the speed of a firing member in a robotic surgical system, characterized by the fact that it comprises: detecting, through a control circuit, a condition in an end actuator during a closing phase; define, by means of the control circuit, the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger, by means of the control circuit, the displacement member at the defined command speed; detect, through the control circuit, a condition on the end actuator during a trip phase; and define, by means of the control circuit, the motor control speed based on the condition detected in the end actuator during the trip phase.
[2]
2. Method, according to claim 1, characterized by the fact that the condition during the closing phase or the firing phase is the thickness of the tissue and the method additionally comprises: detecting, through the control circuit, a gap defined between an anvil and staple cartridge portion of the end actuator; and adjust, through the control circuit, the control speed based on the span and the control speed when the span is detected.
[3]
3. Method, according to claim 1, characterized by the fact that the condition during the closing phase is the closing force applied to an anvil towards a staple cartridge and the method additionally comprises: detecting, by means of the control circuit, a closing force defined as the force experienced by the portion of the mustache and clip cartridge of the closed-end actuator on the fabric located between them; and adjust, by means of the control circuit, the control speed based on the closing force and the control speed when the force is detected.
[4]
4. Method, according to claim 1, characterized by the fact that the condition during the firing phase is the trigger force to displace the displacement member and the method additionally comprises: detecting, by means of the circuit control, a firing force to displace the displacement member; and adjust, by means of the control circuit, the command speed based on the firing force and the command speed when the force is detected.
[5]
5. Method, according to claim 1, characterized by the fact that the condition during the closing or firing phase is the electrical impedance of the fabric located between an anvil and a cartridge in the end actuator and the method comprises adding tionally: detect, through the control circuit, the electrical impedance of the fabric located between the anvil and the end actuator staple cartridge; and adjust, through the control circuit, the control speed based on electrical impedance and the control speed when the force is detected.
[6]
6. Method, according to claim 1, characterized by the fact that the condition during the closing phase or the firing phase is the tissue cover on the end actuator and the method additionally comprises: detecting, by means of the control circuit, the fabric cover located between an anvil and staple cartridge portion of the end actuator and adjust the control speed based on the cover and the control speed when the cover is detected.
[7]
7. Method, according to claim 1, characterized by the fact that it additionally comprises adjusting, by means of the control circuit, the command speed during the firing phase to adjust the speed of the displacement member during the firing. stop.
[8]
8. Method for controlling the speed of a firing member in a robotic surgical system, characterized by the fact that it comprises: receiving, through the control circuit, the real closing force of a closing member from a force sensor coupled to the closing member and the control circuit; compare, through the control circuit, the actual closing force with a limit closing force; determine, through the control circuit, a setpoint speed to move the closing member based on the comparison; and controlling, through the control circuit, the actual speed of the closing member based on the set point speed.
[9]
9. Method, according to claim 8, characterized by the fact that the control circuit comprises a proportional, integral and derivative feedback control system (PID) and in which the PID feedback control system comprises a circuit primary PID feedback loop and a PID feedback loop, the method further comprising: determining, via the primary feedback loop, a first error between the actual closing speed of the closing member and a limit closing force and defining a setpoint based on the first error; and determining, by means of the secondary feedback circuit, a second error between the actual speed of the closing member and the speed of the setpoint and controlling the actual speed of the closing member based on the second error.
[10]
10. Method, according to claim 8, characterized by the fact that the limit closing force comprises an upper limit and a lower limit, the method additionally comprising: advancing, through the control circuit, the closing member distally when the actual closing force is less than the lower limit; and retract, by means of the control circuit, the closing member proximally when the actual closing force is greater than the lower limit.
[11]
11. Method, according to claim 10, characterized by the fact that it additionally comprises holding, through the control circuit, the closing member in place when the actual closing force is between the upper and lower limits.
[12]
12. Method, according to claim 8, characterized by the fact that receiving, through the control circuit, the closing force of a force sensor coupled to the control circuit comprises receiving, through the control circuit, the closing force from a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, where the torque sensor is configured to measure the closing force
chamento.
[13]
13. Method, according to claim 8, characterized by the fact that receiving, through the control circuit, the closing force of a force sensor coupled to the control circuit comprises receiving, through the control circuit, the closing force of a load cell coupled to the closing member, where the load cell is configured to measure the closing force.
[14]
14. Method, according to claim 8, characterized by the fact that receiving, through the control circuit, the closing force of a force sensor coupled to the control circuit comprises receiving, through the control circuit, the closing force of a load cell coupled to the closing member, where the load cell is configured to measure the closing force.
[15]
15. Method according to claim 8, characterized by the fact that it additionally comprises a position sensor coupled to the closing member and the control circuit, the method additionally comprising receiving, through the control circuit, a position of the closing member from the position sensor.
[16]
16. Method, according to claim 8, characterized by the fact that it additionally comprises advancing, through the control circuit, the closing member during at least a portion of a firing stroke.
[17]
17. Method for controlling the speed of a firing member in a robotic surgical system, characterized by the fact that it comprises: receiving, through the control circuit, the actual closing force of a closing member from a force sensor coupled to the closing member and the control circuit; receiving, through the control circuit, the actual position of a firing member from a position sensor coupled to the firing member and the control circuit; and define, by means of the control circuit, a new closing force based on the actual closing force applied to the closing member and the actual position of the firing member.
[18]
18. Method, according to claim 17, characterized by the fact that receiving, by means of a control circuit, the actual closing force of the closing member from the force sensor comprises receiving, by means of of the control circuit, the actual closing force of the closing member from a torque sensor coupled to an output drive shaft of a motor coupled to the closing member, where the sensor is configured to measure the closing force .
[19]
19. Method, according to claim 17, characterized by the fact that receiving, by means of a control circuit, the real closing force of the closing member from the force sensor comprises receiving, by means of of the control circuit, the actual closing force of the closing member from a stress meter coupled to the closing member, where the stress meter is configured to measure the closing force.
[20]
20. Method, according to claim 17, characterized by the fact that receiving, by means of a control circuit, the actual closing force of the closing member from the force sensor comprises receiving, through of the control circuit, the actual closing force of the closing member from a load cell coupled to the closing member, where the load cell is configured to measure the closing force.
[21]
21. Method according to claim 17, characterized
due to the fact that it additionally comprises advancing, through the control circuit, the closing member during at least a portion of the firing stroke.

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同族专利:

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公开号 | 公开日

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JP2020525161A|2020-08-27|

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US20190000446A1|2019-01-03|

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WO2019003023A1|2019-01-03|

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CN110809455A|2020-02-18|

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US10932772B2|2021-03-02|

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EP3466366A1|2019-04-10|

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US20210244407A1|2021-08-12|

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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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US15/636,829|2017-06-29|

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US15/636,829|US10932772B2|2017-06-29|2017-06-29|Methods for closed loop velocity control for robotic surgical instrument|

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PCT/IB2018/054341|WO2019003023A1|2017-06-29|2018-06-13|Closed loop velocity control techniques for robotic surgical instrument|

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