surgical instrument comprising a sensor system

专利摘要:
The present invention discloses a surgical instrument configured for use in a surgical procedure. The surgical instrument comprises a compartment, a first sensor configured to detect a condition of the surgical instrument, and a second sensor configured to detect a second condition of the surgical instrument. The surgical instrument additionally comprises a processor, the processor being located inside the compartment. The first sensor and the second sensor are in signal communication with the processor. The processor receives a first signal from the first sensor and a second signal from the second sensor. The processor is configured to use the first signal and the second signal to determine the condition and communicate instructions to the surgical instrument during the surgical procedure in view of the condition.
公开号:BR112020004923A2
申请号:R112020004923-9
申请日:2018-10-26
公开日:2020-09-15
发明作者:Richard L. Leimbach；Shane R. Adams；Mark D. Overmyer；Frederick E. Shelton Iv
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present application is a continuation-in-part application that claims priority under 35 USC §120 to US patent application serial number 14 / 226,142, filed on March 26, 2014, entitled SURGICAL INSTRUMENT COMPRISING SENSOR SYS- TEM, now publishing US patent application No. 2015/0272575, the disclosure of which is incorporated herein by reference, in its entirety. BACKGROUND
[002] [002] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BRIEF DESCRIPTION OF THE DRAWINGS
[003] [003] The characteristics and advantages of this invention, and the way to obtain them will become more evident, and the invention itself will be better understood by reference to the description of the modalities of the invention presented below, considered together with the attached drawings, in which:
[004] [004] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axes operationally coupled to it;
[005] [005] Figure 2 is an exploded view of the interchangeable drive shaft assembly and the surgical instrument in Figure 1;
[006] [006] Figure 3 is another exploded view showing portions of the interchangeable drive shaft assembly and the surgical instrument in Figures 1 and 2;
[007] [007] Figure 4 is an exploded view of a portion of the surgical instrument of Figures 1 to 3;
[008] [008] Figure 5 is a side view in cross section of a portion of the surgical instrument of Figure 4 with the trigger in a fully activated position;
[009] [009] Figure 6 is another cross-sectional view of a portion of the surgical instrument of Figure 5 with the trigger trigger in an off position;
[0010] [0010] Figure 7 is an exploded view of an interchangeable drive shaft assembly;
[0011] [0011] Figure 8 is another exploded assembly view showing portions of the interchangeable drive shaft assembly of Figure 7;
[0012] [0012] Figure 9 is another exploded view showing portions of the interchangeable drive shaft assembly of Figures 7 and 8;
[0013] [0013] Figure 10 is a cross-sectional view of a portion of the interchangeable drive shaft assembly of Figures 7 to 9;
[0014] [0014] Figure 11 is a perspective view of a portion of the drive shaft assembly of Figures 7 to 10, with the switching cylinder omitted for the sake of clarity;
[0015] [0015] Figure 12 is another perspective view of the portion of the interchangeable drive shaft assembly of Figure 11 with the switching cylinder mounted for clarity purposes;
[0016] [0016] Figure 13 is a perspective view of a portion of the interchangeable drive shaft assembly of Figure 11 operatively coupled to a portion of the surgical instrument of Figure 1, illustrated with its closing trigger in a non-position. triggered;
[0017] [0017] Figure 14 is a right side elevation view of the interchangeable drive shaft set and the surgical instrument in Figure 13;
[0018] [0018] Figure 15 is a left side elevation view of the interchangeable drive shaft assembly and the surgical instrument of Figures 13 and 14;
[0019] [0019] Figure 16 is a perspective view of a portion of the interchangeable drive shaft assembly of Figure 11, operatively coupled to a portion of the surgical instrument of Figure 1, illustrated with its closing trigger in one position activated and a trigger trigger in a non-activated position;
[0020] [0020] Figure 17 is a right side elevation view of the interchangeable drive shaft set and the surgical instrument in Figure 16;
[0021] [0021] Figure 18 is a left side elevation view of the interchangeable drive shaft assembly and the surgical instrument of Figures 16 and 17;
[0022] [0022] Figure 18A is an elevated right side view of the interchangeable drive shaft assembly of Figure 11, operationally coupled to a portion of the surgical instrument of Figure 1, illustrated with its closing trigger in a position activated and its trigger in an activated position;
[0023] [0023] Figure 19 is a perspective view of a portion of an interchangeable drive shaft assembly showing an electrical coupler arrangement;
[0024] [0024] Figure 20 is an exploded view of the interchangeable drive shaft assembly and the electrical coupler in Figure 19;
[0025] [0025] Figure 21 is a perspective view of the circuit chip set;
[0026] [0026] Figure 22 is a plan view of a portion of the circuit track set of Figure 21;
[0027] [0027] Figure 23 is a perspective view of a portion of another interchangeable drive shaft assembly showing another electrical coupler arrangement;
[0028] [0028] Figure 24 is an exploded view of the interchangeable drive shaft assembly and the electrical coupler in Figure 23;
[0029] [0029] Figure 25 is another view of the exploded assembly showing portions of the interchangeable axis assembly of Figures 23 and 24;
[0030] [0030] Figure 26 is a perspective view of a portion of another interchangeable drive shaft assembly showing another arrangement of electric coupler;
[0031] [0031] Figure 27 is an exploded view of the interchangeable drive shaft assembly and the electrical coupling in Figure 26;
[0032] [0032] Figure 28 is an anterior perspective view of a portion of the slip ring assembly of the electrical coupler of Figures 26 and 27;
[0033] [0033] Figure 29 is an exploded view of the slide ring assembly portion of Figure 28;
[0034] [0034] Figure 30 is a rear perspective view of the portion of the slip ring assembly of Figures 28 and 29;
[0035] [0035] Figure 31 is a perspective view of an energized surgical instrument that comprises a feeding set, a handle set and an interchangeable drive shaft set;
[0036] [0036] Figure 32 is a perspective view of the surgical instrument of Figure 31, with an exchangeable drive shaft assembly separate from the handle assembly;
[0037] [0037] Figure 33, which is divided into Figures 33A and 33B, is a circuit diagram of the surgical instrument in Figure 31;
[0038] [0038] Figure 34 is a block diagram of the interchangeable drive shaft assemblies for use with the surgical instrument of Figure 31;
[0039] [0039] Figure 35 is a perspective view of the feeding set for the surgical instrument of Figure 31 separated from the handle set;
[0040] [0040] Figure 36 is a block diagram of the surgical instrument in Figure 31 illustrating the interfaces between the handle assembly and the power assembly and between the handle assembly and the interchangeable drive shaft assembly ;
[0041] [0041] Figure 37 is an energy management module for the surgical instrument of Figure 31;
[0042] [0042] Figure 38 is a perspective view of a surgical instrument comprising an interchangeable working set mounted with the feeding set;
[0043] [0043] Figure 39 is a block diagram of the surgical instrument of Figure 38 that illustrates an interface between the interchangeable work set and the supply set;
[0044] [0044] Figure 40 is a block diagram that illustrates a module of the surgical instrument in Figure 38;
[0045] [0045] Figure 41 is a perspective view of a surgical instrument comprising a feeding set and an interchangeable working set mounted with the feeding set;
[0046] [0046] Figure 42 is a circuit diagram of an exemplary power supply set for the surgical instrument of Figure 41;
[0047] [0047] Figure 43 is a circuit diagram of an exemplary power supply set for the surgical instrument of Figure 41;
[0048] [0048] Figure 44 is a circuit diagram of an interchangeable working set exemplifying the surgical instrument of Fi-
[0049] [0049] Figure 45 is a circuit diagram of an interchangeable working set exemplifying the surgical instrument of Figure 41;
[0050] [0050] Figure 46 is a block diagram that illustrates an example module of the surgical instrument of Figure 41;
[0051] [0051] Figure 47A is a graphical representation of an exemplary communication signal generated by a working set controller of the interchangeable working set of the surgical instrument of Figure 41, detected by a tension monitoring mechanism;
[0052] [0052] Figure 47B is a graphic representation of an exemplary communication signal generated by a working set controller of the interchangeable working set of the surgical instrument of Figure 41, detected by a current monitoring mechanism;
[0053] [0053] Figure 47C is a graphical representation of the actual motor displacement of an interchangeable working set motor of Figure 41 in response to the communication signal generated by the working set controller of Figure 47A;
[0054] [0054] Figure 48 is a perspective view of a surgical instrument comprising a handle assembly and a drive shaft assembly including an end actuator;
[0055] [0055] Figure 49 is a perspective view of the handle set of the surgical instrument of Figure 48;
[0056] [0056] Figure 50 is an exploded view of the handle set of the surgical instrument of Figure 48;
[0057] [0057] Figure 51 is a schematic diagram of a retraction information system ("bailout") of the surgical instrument of Figure 48;
[0058] [0058] Figure 52 is a block diagram of a module for use with the retraction feedback system of Figure 51;
[0059] [0059] Figure 53 is a block diagram of a module for use with the retraction feedback system of Figure 51;
[0060] [0060] Figure 54 illustrates an example of a power supply comprising a cycle of use cycles configured to generate a count of cycles of use of the battery reserve;
[0061] [0061] Figure 55 illustrates an example of a use cycle circuit comprising a resistor-capacitor timer;
[0062] [0062] Figure 56 illustrates an example of a use cycle circuit comprising a stopwatch and a rechargeable battery;
[0063] [0063] Figure 57 illustrates an example of a combined sterilization and loading system, configured to sterilize and load a feeding set simultaneously;
[0064] [0064] Figure 58 illustrates an example of a combined sterilization and charging system, configured to sterilize and charge a power supply having a battery charger integrally formed therein;
[0065] [0065] Figure 59 is a schematic of a system to supply an electrical connector to a surgical instrument cable when a drive shaft assembly is not coupled to it;
[0066] [0066] Figure 60 is a flow chart representing a method for adjusting the speed of a trigger element, according to various modalities of the present disclosure;
[0067] [0067] Figure 61 is a flow chart representing a method for adjusting the speed of a trigger element, according to various modalities of the present disclosure;
[0068] [0068] Figure 62 is a partial perspective view of an end actuator and a fastener cartridge, according to various modalities of the present disclosure;
[0069] [0069] Figure 63 is a partial perspective view of an end actuator and a fastener cartridge, according to various modalities of the present disclosure;
[0070] [0070] Figure 64 is an elevated cross-sectional view of an end actuator and a fastener cartridge, according to various modalities of the present disclosure;
[0071] [0071] Figure 65 is an elevated cross-sectional view of an end actuator and a fastener cartridge, according to various modalities of the present disclosure;
[0072] [0072] Figure 66 is a partial perspective view of an end actuator with removed portions and a fastener cartridge, according to the various modalities of the present disclosure;
[0073] [0073] Figure 67 is a partial perspective view of an end actuator with removed portions and a fastener cartridge, according to the various modalities of the present disclosure;
[0074] [0074] Figure 68A is a schematic illustrating an integrated circuit, according to the various modalities of the present disclosure;
[0075] [0075] Figure 68B is a schematic illustrating a magnetic-resistive circuit, according to various modalities of the present disclosure;
[0076] [0076] Figure 68C is a table showing several specifications of a resistive magnet sensor, according to the various modalities of the present disclosure;
[0077] [0077] Figure 69 is a perspective view of an energized surgical instrument that comprises a feeding set, a handle set and an interchangeable drive shaft set;
[0078] [0078] Figure 70 is a perspective view of the surgical instrument of Figure 69, with a set of interchangeable drive axes.
[0079] [0079] Figure 71, which is divided into Figures 71A and 71B, is a circuit diagram of the surgical instrument of Figure 69;
[0080] [0080] Figure 72, which is divided into Figures 72A and 72B, illustrates a modality of a segmented circuit comprising a plurality of circuit segments configured to control an energized surgical instrument;
[0081] [0081] Figure 73, which is divided into Figures 73A and 73B, illustrates a segmented circuit comprising a security processor configured to implement a surveillance function;
[0082] [0082] Figure 74 illustrates a block diagram of a segmented circuit modality that comprises a safety processor configured to monitor and compare a first property and a second property of a surgical instrument;
[0083] [0083] Figure 75 illustrates a block diagram illustrating a security process configured to be implemented by a security processor;
[0084] [0084] Figure 76 illustrates a modality of a four-by-four multiple switch comprising four input / output pins;
[0085] [0085] Figure 77 illustrates a modality of a four-by-four circuit comprising an input / output pin;
[0086] [0086] Figure 78, which is divided into Figures 78A and 78B, illustrates a segmented circuit modality comprising a four by four multiple switch coupled to a primary processor;
[0087] [0087] Figure 79 illustrates a modality of a process for sequentially energizing a segmented circuit;
[0088] [0088] Figure 80 illustrates a modality of a power segment comprising a plurality of power converters connected in series;
[0089] [0089] Figure 81 illustrates a modality of a segmented circuit
[0090] [0090] Figure 82 illustrates a modality of a power system that comprises a plurality of power converters connected in series configured to be energized sequentially;
[0091] [0091] Figure 83 illustrates a modality of a segmented circuit that comprises an isolated control section;
[0092] [0092] Figure 84 illustrates a modality of a segmented circuit comprising an accelerometer;
[0093] [0093] Figure 85 illustrates a modality of a process for the sequential initialization of a segmented circuit;
[0094] [0094] Figure 86 illustrates a modality of a 1950 method for controlling a surgical instrument comprising a segmented circuit, such as, for example, segmented control circuit 1602, illustrated in Figure 80;
[0095] [0095] Figure 87 is a perspective view of a surgical instrument comprising a handle assembly and a drive shaft assembly including an end actuator;
[0096] [0096] Figure 88 is a perspective view of the handle set of the surgical instrument of Figure 87;
[0097] [0097] Figure 89 is a schematic block diagram that illustrates a control system for the surgical instrument of Figure 87;
[0098] [0098] Figure 90 is a schematic block diagram that illustrates a module for use with the surgical instrument of Figure 87;
[0099] [0099] Figure 91 is a schematic block diagram of a module for use with the surgical instrument of Figure 87;
[00100] [00100] Figure 92 is a schematic block diagram of a module for use with the surgical instrument of Figure 87;
[00101] [00101] Figure 93 is a schematic illustration of an interface of the surgical instrument of Figure 87 in an inactive or neutral configuration;
[00102] [00102] Figure 94 is a schematic illustration of the Figure 93 interface activated to articulate an end actuator;
[00103] [00103] Figure 95 is a schematic illustration of the Figure 93 interface activated to return the end actuator to a pivot position in its initial state;
[00104] [00104] Figure 96 is a schematic illustration of a partial view of a handle assembly of the surgical instrument of Figure 87 that illustrates a screen;
[00105] [00105] Figure 97 illustrates a module of the surgical instrument of Figure 87;
[00106] [00106] Figure 98A is a schematic illustration of a display orientation for the screen in Figure 96;
[00107] [00107] Figure 98B is a schematic illustration of a display orientation for the screen in Figure 96;
[00108] [00108] Figure 98C is a schematic illustration of a display orientation for the screen in Figure 96;
[00109] [00109] Figure 98D is a schematic illustration of a display orientation for the screen in Figure 96;
[00110] [00110] Figure 99 illustrates a module of the surgical instrument of Figure 87;
[00111] [00111] Figure 100A is a side view of the handle assembly of Figure 96 in a vertical position;
[00112] [00112] Figure 100B is a side view of the handle assembly of Figure 96 in an inverted position;
[00113] [00113] Figure 101 is a schematic illustration of the screen in Figure 96 showing a plurality of icons;
[00114] [00114] Figure 102 is a schematic illustration of the screen in Figure 96 showing a navigation menu;
[00115] [00115] Figure 103 is a schematic block diagram of an indicator system for the surgical instrument of Figure 87;
[00116] [00116] Figure 104 illustrates a module of the surgical instrument of Figure 87;
[00117] [00117] Figure 105 is a perspective view of the surgical instrument of Figure 87 coupled to a remote operation unit;
[00118] [00118] Figure 106 is a perspective view of the surgical instrument of Figure 87 coupled to a remote operation unit;
[00119] [00119] Figure 107 is a schematic block diagram of the surgical instrument of Figure 87 in wireless communication with a remote operation unit;
[00120] [00120] Figure 108 is a schematic illustration of a first surgical instrument that includes a remote operating unit for controlling a second surgical instrument;
[00121] [00121] Figure 109 is a perspective view of a modular surgical instrument, according to the various modalities of the present disclosure;
[00122] [00122] Figure 110 is an exploded perspective view of the modular surgical instrument of Figure 109;
[00123] [00123] Figure 111 is a schematic representing the control systems of a modular surgical system, according to various modalities of the present disclosure;
[00124] [00124] Figure 112 is a flowchart representing a method for updating a component of a modular surgical system, according to various modalities of the present disclosure;
[00125] [00125] Figure 113 is a flowchart representing a method for updating a component of a modular surgical system, according to various modalities of the present disclosure;
[00126] [00126] Figures 114A and 114B are diagrams representing a control circuit, according to various modalities of the present disclosure;
[00127] [00127] Figures 115A and 115B are diagrams representing a control circuit, according to various modalities of the present disclosure;
[00128] [00128] Figure 116 is a flowchart representing a method for processing data recorded by a surgical instrument, according to various modalities of the present disclosure;
[00129] [00129] Figure 117 is a flowchart representing a method for processing data recorded by a surgical instrument, according to various modalities of the present disclosure;
[00130] [00130] Figures 118A to 118C are flowcharts representing various methods for processing data recorded by a surgical instrument, according to various modalities of the present disclosure;
[00131] [00131] Figure 119 is a schematic illustrating a surgical system having wireless communication capabilities, according to the various modalities of the present disclosure;
[00132] [00132] Figure 120 is an elevated view of an external monitor representing an end actuator at a surgical site, according to various modalities of the present disclosure;
[00133] [00133] Figure 121 is an elevated view of an external monitor illustrated in Figure 120, representing a notification, according to various modalities of the present disclosure;
[00134] [00134] Figure 122 is an elevation view of the external monitor illustrated in Figure 120, representing a selection menu, according to the various modalities of the present disclosure;
[00135] [00135] Figure 123 is a partial perspective view of an interchangeable drive shaft assembly, illustrated with some components removed, which includes a switching cylinder illustrated in a first position according to at least one modality;
[00136] [00136] Figure 124 is a perspective view of the interchangeable drive shaft assembly of Figure 123 illustrated with the switching cylinder rotated to a second position and a torsion spring extended by rotating the switching cylinder;
[00137] [00137] Figure 125 is a graph showing the relationship between the spring inductance and the rotation of the switching cylinder;
[00138] [00138] Figure 126 is a perspective view of a drive shaft assembly, illustrated with some components removed, according to at least one modality;
[00139] [00139] Figure 127 is a cross-sectional view of the interchangeable drive shaft assembly of Figure 126 including a switching cylinder illustrated in a first position;
[00140] [00140] Figure 128 is a cross-sectional view of the interchangeable drive shaft assembly of Figure 126 illustrating the switching cylinder in a second position;
[00141] [00141] Figure 129 is a longitudinal cross-sectional view of the set of interchangeable drive axles of Figure 126 shown in an electrical path;
[00142] [00142] Figure 130 is a graph representing the relationship between the state of an electrical circuit and a mechanical state of the interchangeable drive shaft assembly of Figure 126;
[00143] [00143] Figure 131 is an elevation view of an interchangeable drive shaft assembly, illustrated with some components removed, including a detection fork according to at least one mode;
[00144] [00144] Figure 132 is a cross-sectional view of the interchangeable drive shaft assembly of Figure 131 taken along the axis 132-132 in Figure 131 illustrated in a first state;
[00145] [00145] Figure 133 is a cross-sectional view of the interchangeable drive shaft assembly of Figure 131 taken along
[00146] [00146] Figure 134 is a partial longitudinal cross-sectional view of an interchangeable drive shaft assembly, according to at least one modality;
[00147] [00147] Figure 135 is a cross-sectional view of the interchangeable drive shaft assembly of Figure 134 taken along lines 135-135 in Figure 134 illustrated in a first state;
[00148] [00148] Figure 136 is a cross-sectional view of the interchangeable drive shaft assembly of Figure 134 taken along geometry axis 135-135 in Figure 134 illustrated in a second state;
[00149] [00149] Figure 137 is a partial exploded view of an interchangeable drive shaft assembly and a surgical instrument cable in a disassembled configuration, according to at least one mode;
[00150] [00150] Figure 138 is a partial cross-sectional view of the interchangeable drive shaft assembly and the surgical instrument handle of Figure 137 in a partially assembled condition;
[00151] [00151] Figure 139 is a partial cross-sectional view of the interchangeable drive shaft assembly and the surgical instrument cable of Figure 137 in an assembled condition;
[00152] [00152] Figure 140 is a cross-sectional view of the interchangeable drive shaft assembly and the surgical instrument cable of Figure 137 in the condition of Figure 138;
[00153] [00153] Figure 141 is a cross-sectional view of the interchangeable drive shaft assembly and the surgical instrument cable of Figure 137 in the condition of Figure 139;
[00154] [00154] Figure 142 is a partial exploded view of an interchangeable drive shaft assembly and a surgical instrument cable in a disassembled configuration, according to at least one mode;
[00155] [00155] Figure 143 is an elevation view of a firing member and leaf spring of the interchangeable drive shaft assembly and the longitudinal drive member of the surgical instrument cable of Figure 142 illustrated in a disassembled condition ;
[00156] [00156] Figure 144 is an elevation view of the trigger member and leaf spring of the exchangeable drive shaft assembly and the longitudinal drive member of the surgical instrument cable of Figure 142 illustrated in a mounted condition;
[00157] [00157] Figure 145 is an elevation view of the firing member and leaf spring of the exchangeable drive shaft assembly and the longitudinal drive member of the surgical instrument handle of Figure 142;
[00158] [00158] Figure 146 is a partial cross-sectional view of the interchangeable drive shaft assembly and the surgical instrument cable of Figure 142 in the condition of Figure 143;
[00159] [00159] Figure 147 is a partial cross-sectional view of the interchangeable drive shaft assembly and the surgical instrument cable of Figure 142 in the condition of Figure 144; and
[00160] [00160] Figure 148 is a software module executable by a set of interchangeable drive axes and / or surgical instrument cable according to at least one modality. DETAILED DESCRIPTION
[00161] [00161] The applicant for this application holds the following patent applications that were filed on March 1, 2013 and which are each incorporated herein by reference in their respective totalities:
[00162] [00162] - U.S. patent application serial number 13 / 782,295, entitled
[00163] [00163] - U.S. patent application serial number 13 / 782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSUMENTS, now U.S. patent No. 9,782,169;
[00164] [00164] - U.S. Patent Application Serial No. 13 / 782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSUMENTS", now publication of U.S. Patent Application No. 2014/0249557;
[00165] [00165] - U.S. patent application serial number 13 / 782,499, entitled
[00166] [00166] - U.S. patent application serial number 13 / 782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. patent No. 9,554,794;
[00167] [00167] - U.S. patent application serial number 13 / 782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. patent No. 9,326,767;
[00168] [00168] - U.S. patent application serial number 13 / 782,481, entitled
[00169] [00169] - U.S. patent application serial number 13 / 782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH RE-MOVABLE IMPLEMENT PORTIONS", now publication of U.S. patent application No. 2014/0246475;
[00170] [00170] - U.S. patent application serial number 13 / 782,375, entitled
[00171] [00171] - U.S. patent application serial number 13 / 782,536, entitled SURGICAL INSTRUMENT SOFT STOP, now U.S. patent No.
[00172] [00172] The applicant for this application also holds the following patent applications that were filed on March 14, 2013 and which are each incorporated by reference in their respective totalities:
[00173] [00173] - U.S. patent application serial number 13 / 803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIERING DRIVE, now U.S. patent No. 9,687,230;
[00174] [00174] - U.S. patent application serial number 13 / 803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. patent No. 9,332,987;
[00175] [00175] - U.S. patent application serial number 13 / 803,053, entitled
[00176] [00176] - U.S. patent application serial number 13 / 803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN AR-TICULATION LOCK, now publication of U.S. patent application No. 2014/0263541;
[00177] [00177] - U.S. patent application serial number 13 / 803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYS- TEM FOR SURGICAL INSTRUMENTS, now publication of U.S. patent application No. 2014/0263538;
[00178] [00178] - U.S. patent application serial number 13 / 803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now publication of U.S. patent application No. 2014/0263554;
[00179] [00179] - U.S. patent application serial number 13 / 803,066, entitled
[00180] [00180] - U.S. patent application serial number 13 / 803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENT, now U.S. patent No. 9,351,726;
[00181] [00181] - U.S. patent application serial number 13 / 803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTSS, now U.S. patent No. 9,351,727; and
[00182] [00182] - U.S. patent application serial number 13 / 803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now publication of U.S. patent application No. 2014/0277017.
[00183] [00183] The applicant for this application also holds the following patent applications that were filed on March 26, 2014 and which are each incorporated by reference in their respective totalities:
[00184] [00184] - U.S. patent application serial number 14 / 226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now publication of U.S. patent application No. 2015/0272582;
[00185] [00185] - U.S. patent application serial number 14 / 226,099, entitled "STERILIZATION VERIFICATION CIRCUIT", now U.S. patent application publication No. 2015/0272581;
[00186] [00186] - U.S. patent application serial number 14 / 226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT, now publication of U.S. patent application No. 2015/0272581;
[00187] [00187] - U.S. patent application serial number 14 / 226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEG- MENTED CIRCUIT AND WAKE UP CONTROL", now publication of U.S. patent application No. 2015/0272574;
[00188] [00188] - U.S. patent application serial number 14 / 226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHA-BLE SHAFT ASSEMBLIES, now U.S. patent No. 9,743,929;
[00189] [00189] - U.S. patent application serial number 14 / 226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now publication of U.S. patent application No. 2015/0272569;
[00190] [00190] - U.S. patent application serial number 14 / 226,116, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now publication of U.S. patent application No. 2015/0272571;
[00191] [00191] - U.S. patent application serial number 14 / 226,071, entitled
[00192] [00192] - U.S. patent application serial number 14 / 226,097, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now publication of U.S. patent application No. 2015/0272570;
[00193] [00193] - U.S. patent application serial number 14 / 226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now publication of U.S. patent application No. 2015/0272572;
[00194] [00194] - U.S. patent application serial number 14 / 226,133, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now publication of U.S. patent application No. 2015/0272557;
[00195] [00195] - U.S. patent application serial number 14 / 226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now publication of U.S. patent application No. 2015/0277471;
[00196] [00196] - U.S. patent application serial number 14 / 226,076, entitled
[00197] [00197] - U.S. patent application serial number 14 / 226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. patent No. 9,750,499; and
[00198] [00198] - U.S. patent application serial number 14 / 226,125, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now, publication of U.S. patent application No. 2015/0280384.
[00199] [00199] Certain exemplifying modalities will now be described to provide a general understanding of the principles of structure, function, manufacture and use of the devices and methods reviewed here. One or more examples of these modalities are illustrated in the attached drawings. Those skilled in the art will understand that the devices and methods specifically described and illustrated in the accompanying drawings are non-limiting exemplary modalities. The resources illustrated or described in relation to an exemplary modality can be combined with the resources of other modalities. Such modifications and variations are intended to be included in the scope of the present invention.
[00200] [00200] Throughout this specification, the terms "various modalities", "some modalities", "one (1) modality" or "a modality", or similar, mean that a specific feature, structure or characteristic described together with the modality they are included in at least one modality. Thus, the appearance of the expressions "in various modalities", "in some modalities", "in a modality" or "in the modality", or similar, in places throughout the specification is not necessarily necessary. referring to the same modality. In addition, specific resources, structures or characteristics can be combined in any appropriate way in one or more modalities. Therefore, the specific resources, structures or characteristics illustrated or described in conjunction with a modality can be combined, in whole or in part, with the resource structures or characteristics of one or more other modalities, without limitation. Such modifications and variations are intended to be included in the scope of the present invention.
[00201] [00201] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located in the opposite direction to the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.
[00202] [00202] Various devices and exemplary methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the person skilled in the art will readily understand that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, those in conjunction with open surgical procedures. With the advancement of this Detailed Description, people commonly versed in the technique will also understand that the various instruments disclosed here can be inserted into a body in any way, such as through a natural orifice, through an incision or perforation formed in fabric, etc. . Functional portions or portions of the instrument's end actuator can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end actuator and the elongated drive shaft of a surgical instrument can be advanced.
[00203] [00203] Figures 1 to 6 represent a surgical cutting and fixation instrument driven by motor 10 that may or may not be reused. In the illustrated embodiment, the instrument 10 includes a compartment 12 comprising a handle 14 which is configured to be picked up, manipulated and operated by the physician. The compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has a surgical end actuator 300 operatively coupled to it that is configured to perform one or more surgical tasks or procedures. As the present detailed description proceeds, it will be understood that several unique and innovative arrangements of the various forms of interchangeable drive shaft assemblies disclosed herein can also be effectively employed in relation to robotically controlled surgical systems. Thus, the term "compartment" can also cover a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the interchangeable drive shaft assemblies disclosed in the present invention and their respective equivalents. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. For example, the interchangeable drive shaft assemblies disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in U.S. Patent Application Serial No. 13 / 118,241, entitled SURGICAL STA-
[00204] [00204] The compartment 12 shown in Figures 1 to 3 is shown in connection with an interchangeable drive shaft assembly 200 that includes an end actuator 300 comprising a surgical device for cutting and fixing that is configured to hold operably, a 304 staple cartridge inside. Enclosure 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to support different sizes and types of clamp cartridges, have different lengths, sizes, and types drive shaft, etc. In addition, compartment 12 can also be used effectively with a variety of other interchangeable drive shaft assemblies including those that are configured to apply other motions and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to end actuator arrangements adapted for use in various applications and surgical procedures. In addition, end actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any one or more suitable fasteners to secure tissues. For example, a fastener cartridge that comprises a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[00205] [00205] Figure 1 illustrates the surgical instrument 10 with an interchangeable drive shaft assembly 200 operably coupled to it. Figures 2 and 3 illustrate the attachment of the interchangeable drive shaft assembly 200 to housing 12 or cable 14. As can be seen in Figure 4, cable 14 can comprise a pair of interconnectable segments of the handle housing. 16 and 18 that can be interconnected by screws, snap-on members, adhesive, etc. In the illustrated arrangement, the grip compartment segments 16, 18 cooperate to form a pistol grip portion 19 that can be handled and manipulated by the physician. As will be discussed in more detail below, cable 14 operationally supports, inside, a plurality of drive systems that are configured to generate and apply various control movements to the corresponding portions of the interchangeable drive shaft assembly that are is operationally attached to it.
[00206] [00206] Now with reference to Figure 4, the cable 14 can also include a structure 20 that operationally supports a plurality of drive systems. For example, frame 20 can operationally support a "first" drive system or closing drive system, generally designated as 30, which can be used to apply closing movements and opening to the interchangeable drive shaft assembly 200 that is fixed or operationally coupled to it. In at least one way, the closing drive system 30 may include an actuator in the form of a closing trigger 32, pivotally supported by frame 20. More specifically, as shown in Figure 4, the trigger locking device 32 is pivotally coupled to compartment 14 by a pin 33. This arrangement allows the locking trigger 32 to be manipulated by a doctor, so that when the doctor wields the pistol grip portion 19 of the handle 14, the closing trigger 32 can be easily rotated from an initial or "not acted" position to an "acted" position and, more particularly, to a completely compressed or fully acted position. The closing trigger 32 can be moved to the unacted position by means of a spring or other propensity arrangement (not shown). In several ways, the closing drive system 30 additionally includes a set of closing links 34, which is pivotally coupled to the closing trigger 32. As can be seen in Figure 4, the set of closing links 34 can include a first closing link 36 and a second closing link 38 which are pivotally coupled to the closing trigger 32 by a pin
[00207] [00207] Still with reference to Figure 4, it can be seen that the first closing link 36 can have in it a wall or locking end 39, configured to cooperate with a closing release assembly 60 which is pivotally coupled to the structure 20. In at least one form, the closing release assembly 60 may comprise a release button assembly 62 that has a distally projecting locking tongue 64 formed thereon. The release button assembly 62 can be turned counterclockwise by a release spring (not shown). When the doctor presses the closing trigger 32 from its unacted position towards the pistol grip handle portion 19 of the handle 14, the first closing link 36 rotates upward, to a point where the locking tab 64 falls off in a retaining engagement with the locking wall 39 in the first closing link 36, thus preventing the closing trigger 32 from returning to the unacted position. See Figure 18. In this way, the closing release assembly 60 serves to lock the trigger
[00208] [00208] In addition to that described above, Figures 13 to 15 illustrate the closing trigger 32 in its non-actuated position that is associated with an open or un-stapled configuration of the actuating shaft assembly 200 in which the fabric can be positioned between the claws of the drive shaft assembly 200. Figures 16 to 18 illustrate the closing trigger 32 in its activated position which is associated with an open or stapled configuration of the drive shaft assembly 200 in which the fabric is stapled between the claws of the drive shaft assembly 200. When Figures 14 and 17 are compared, the reader observes that when the closing trigger 32 is moved from its non-activated position (Figure 14) to its activated position (Figure 17), the closing release button 62 is articulated between a first position (Figure 14) and a second position (Figure 17). The rotation of the closing release button 62 can be designated as an upward rotation; however, at least a portion of the closing release button 62 is rotated towards circuit board 100. Referring to Figure 4, the closing release button 62 may include an arm 61 extending from the same and a magnetic element 63, such as a permanent magnet, for example, mounted on the arm 61. When the closing release button 62 is turned from its first position to its second position, the magnetic element 63 can move in towards the circuit board 100. The circuit board 100 can include at least one sensor configured to detect the movement of the magnetic element 63. In at least one embodiment, a Hall effect sensor 65, for example, can be mounted on the bottom surface of circuit board 100. The Hall 65 effect sensor can be configured to detect changes in a magnetic field surrounding the Hall 65 effect sensor caused by the movement of the magnetic element
[00209] [00209] In at least one way, the cable 14 and structure 20 can operationally support another drive system, called, in the present invention, a trigger drive system 80, which is configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly attached to it. The trigger drive system 80 can also be called, in the present invention, "second drive system". The trigger drive system 80 may employ an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. In various forms, the motor (82) can be a direct current (DC) drive motor with brushes, with a maximum rotation of approximately 25,000 RPM, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. Motor 82 can be powered by a power supply 90 which, in one form, can comprise a removable power source 92. As can be seen in Figure 4, for example, power pack 92 can comprise a proximal compartment portion 94 which is configured to be attached to a portion of the distal compartment 96. The portion of the proximal compartment 94 and the portion of the distal compartment 96 are configured to operationally support a plurality of batteries
[00210] [00210] As described above in relation to other various forms, the electric motor 82 may include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reducer assembly 84, which is mounted in hitch of coupling with a set or rack, of drive teeth 122 in a longitudinally movable drive member 120. In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, with the The polarity of voltage applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the drive member 120 will be axially activated in the distal direction "DD". When motor 82 is driven in the opposite rotating direction, the drive member 120 will be axially activated in the proximal "PD" direction. The handle 14 can include a key that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. As with the other shapes described in the present invention, the cable 14 can also include a sensor configured to detect the position of the drive member 120 and / or the direction in which the drive member 120 is being moved.
[00211] [00211] The activation of motor 82 can be controlled by a trigger trigger 130 pivotally supported on the cable 14. The trigger trigger 130 can be rotated between an unacted position and an actuated position. The trigger trigger 130 can be propelled to the unacted position by means of a spring 132 or other propensity arrangement so that, when the doctor releases trigger trigger 130, it can be rotated or otherwise , returned to the unactivated position by means of spring 132 or the propensity arrangement. In at least one way, the trigger trigger 130 can be positioned "remote" from the closing trigger 32, as discussed above. In at least one way, a trigger trigger safety button 134 can be pivotally mounted to the lock trigger 32 by pin 35. Safety button 134 can be positioned between trigger trigger 130 and the closing trigger 32 and having a pivot arm 136 projecting therefrom. See Figure 4. When the closing trigger 32 is in the unacted position, the safety button 134 is contained in the handle 14, where the doctor cannot readily access it and move it between a safety position. , which prevents the trigger trigger 130 from operating, and a trigger position in which trigger trigger 130 can be triggered. When the doctor presses the closing trigger 32, the safety button 134 and the trigger trigger 130 pivot down to a position where they can then be manipulated by the doctor.
[00212] [00212] As discussed above, the handle 14 may include a closing trigger 32 and a trigger trigger 130. With reference to Figures 14 to 18A, trigger trigger 130 can be pivotally mounted on the closing trigger 32 The closing trigger 32 can include an arm 31 extending therefrom and the trigger trigger 130 can be pivotally mounted to the arm 31 around a pivot pin 33. When the closing trigger 32 is moved from its unacted position (Figure 14) to its acted position (Figure 17), the trigger trigger 130 can move downwards, as described above. After the safety button 134 has been moved to its firing position, referring mainly to Figure 18A, the trigger trigger 130 can be pressed to operate the surgical instrument's trigger system motor. In various circumstances, handle 14 may include a tracking system, such as system 800, for example, configured to determine the position of the closing trigger 32 and / or the position of the trigger trigger
[00213] [00213] As indicated above, in at least one way, the longitudinally movable drive member 120 has a tooth rack 122 formed thereon for gear engagement with the corresponding drive gear 86 of the gear reducer assembly 84 At least one shape also includes a manually actuated "rescue" set 140, which is configured to allow the physician to manually retract the longitudinally movable drive member 120, in the event that engine 82 stops running. The retract assembly 140 may include a lever or retract handle assembly 142 that is configured to be manually rotated for ratchet engagement with the teeth 124 also provided on the drive member 120. In this way, the physician can manually retract drive member 120 using retract handle assembly 142 to engage drive member 120 in the proximal direction "DP". U.S. Patent Application Publication No. 2010/0089970, now U.S. Patent No. 8,608,045, discloses retraction arrangements and other components, arrangements and systems that can also be employed with the various instruments disclosed herein. U.S. Patent Application Serial No. 12 / 249,117, entitled "POWERED SURGICAL CUTTING AND STA-
[00214] [00214] Now with respect to Figures 1 and 7, the interchangeable drive shaft assembly 200 includes a surgical end actuator 300 that comprises an elongated channel 302 that is configured to operationally support a staple cartridge 304. The end actuator 300 can additionally include an anvil 306 which is pivotally supported in relation to the elongated channel 302. The exchangeable drive shaft assembly 200 can additionally include an articulated joint 270 and a lock linkage 350 (Figure 8) that can be configured to releasably secure end actuator 300 in a desired position in relation to a geometric axis of the SA-SA drive shaft. Details regarding the construction and operation of end actuator 300, hinge joint 270 and articulation lock 350 are presented in US patent application serial number 13 / 803,086, filed on March 14, 2013 , entitled "ARTICU-LATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION-LOCK", now US patent application serial number 2014/0263541. The full description of U.S. Patent Application Serial No.
[00215] [00215] Referring mainly to Figure 7, the interchangeable drive shaft assembly 200 includes a closing transport element 250 that is slidably supported within the chassis 240, so that it can be moved axially with respect to it. As can be seen in Figures 3 and 7, the movable locking element 250 includes a pair of hooks in proximal projection 252 that is configured to be attached to the locking pin 37, which is attached to the second locking link 38, as will be discussed. with more details below. A proximal end 261 of the closing tube 260 is coupled to the closing transport element 250 for relative rotation with respect to it. For example, a U-shaped connector 263 is inserted into an annular slot 262 at the proximal end 261 of the closing tube 260 and is retained within the vertical slots 253 in the closing transport element 250. See Figure 7. This arrangement serves to fix the closing tube 260 to the closing transport element 250 for axial displacement with it, while allowing the closing tube 260 to rotate in relation to the closing transport element 250 around of the geometric axis of the drive shaft SA-SA. A closing spring 268 is seated on the closing tube 260 and serves to tilt the closing tube 260 in the proximal direction "DP", which can serve to rotate the closing trigger to the unacted position when the set of drive shaft is operationally coupled to cable 14.
[00216] [00216] In at least one form, the interchangeable drive shaft assembly 200 may also include an articulated joint
[00217] [00217] In use, closing tube 260 is moved distally (direction "DD") to close anvil 306, for example, in response to the action of closing trigger 32. Anvil 306 is closed by translating distally the closing tube 260 and, thus, the closing sleeve assembly of the drive shaft 272, causing it to reach a proximal surface on the anvil 360, as described in the previously mentioned reference of US patent application serial number 13 /803,086, now publication of US patent application 2014/0263541. As also described in detail in this reference, the anvil 306 is opened by moving the closing tube 260 and the drive shaft closing sleeve assembly 272 proximally, causing the flap 276 and the opening to open. horseshoe 275 come into contact and push against the anvil flap to lift the anvil 306. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[00218] [00218] As indicated above, surgical instrument 10 may additionally include a joint lock 350 of the types and construction described in more detail in US patent application serial number 13 / 803,086, now US patent application publication n ° 2014/0263541, which can be configured and operated to selectively lock an end actuator 300 in position. This arrangement allows the end actuator 300 to be rotated or articulated in relation to the drive shaft closing tube 260 when the hinge lock 350 is in its unlocked state. In such an unlocked state, end actuator 300 can be positioned and forced against soft tissue and / or bone, for example,
[00219] [00219] As indicated above, the interchangeable drive shaft assembly 200 additionally includes a firing member 220 which is supported to carry out an axial displacement in the driving shaft column 210. The firing member 220 includes an intermediate portion trigger drive shaft 222, which is configured to connect to a distal cut portion or cut bar
[00220] [00220] In addition to the above, the drive shaft assembly 200 may include a clutch assembly 400, which can be configured to selectively and releasably couple the proximal articulation actuator 230 to the firing member 220. In one form, the clutch assembly 400 comprises a locking ring or sleeve 402 positioned around the firing member 220, the locking sleeve 402 being rotatable between a engaged position, where the locking sleeve 402 couples the hinge actuator 360 to the firing member 220, and a disengaged position, where the hinge actuator 360 is not operably coupled to the firing member 200. When locking sleeve 402 is in its engaged position, movement distal of the firing member 220 can move the hinge actuator 360 distally, and correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in its disengaged position, the movement of the firing member 220 is not transmitted to the hinge actuator 230 and, as a result, the firing member
[00221] [00221] With reference mainly to Figure 9, the locking sleeve 402 can comprise a cylindrical body, or at least substantially cylindrical, including a longitudinal opening 403 defined therein, configured to receive the firing member 220. Locking sleeve 402 may comprise diametrically opposed locking protrusions facing inward 404 and a locking member facing outward 406. Locking protrusions 404 can be configured to be selectively engaged with firing member 220. More particularly , when the locking sleeve 402 is in its engaged position, the locking protrusions 404 are positioned within a drive notch 224 defined in the firing member 220, so that a pushing force distal force and / or a proximal pulling force can be transmitted from firing member 220 to locking sleeve 402. When locking sleeve 402 is in position engaged, the second locking member 406 is received inside a drive notch 232 defined in the hinge driver 230, so that the distal pushing force and / or the proximal pulling force applied to the locking sleeve 402 can be transmitted to the hinge driver 230. In effect, the firing member 220, the locking sleeve 402 and the hinge driver 230 will move together when the locking sleeve 402 is in its engaged position. On the other hand, when the locking sleeve 402 is in its disengaged position, the locking protrusions 404 may not be positioned inside the drive notch 224 of the firing member 220 and, as a result, a pushing force distal force and / or a proximal pulling force may not be transmitted from the firing member 220 to the locking sleeve 402. Correspondingly, the distal pushing force and / or the proximal pulling force may not be transmitted to the hinge driver 230. In these circumstances, the firing member 220 can be slid proximally and / or distally with respect to the locking sleeve 402 and the proximal hinge driver 230.
[00222] [00222] As can be seen in Figures 8 to 12, the drive shaft assembly 200 additionally includes a switching cylinder 500 which is rotatably received in the closing tube 260. The switching cylinder 500 comprises a segment of hollow drive shaft 502 which has a drive shaft protrusion 504 formed therein, designed to receive inside it an actuating pin 410 which protrudes outwards. In various circumstances, the actuating pin 410 extends through a slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when it is engaged with the pivot driver 230 A rotating torsion spring 420 is configured to engage the protrusion 504 on the switching cylinder 500 and a portion of the nozzle compartment 203, as shown in Figure 10, to apply a displacement force to the switching cylinder 500. The switching cylinder 500 may additionally comprise at least partially circumferential openings 506 defined within it, which, with reference to Figures 5 and 6, can be configured to receive circumferential sockets 204, 205 extending from the nozzle halves 202, 203, and allow relative rotation, but not translation, between the switching cylinder 500 and the proximal nozzle 201. As can be seen in those Figs Otherwise, the crimps 204 and 205 also extend through the openings 266 in the closing tube 260 to be seated in the recesses 211 present in the drive shaft column 210. However, the rotation of the nozzle 201 to a point at which the bezels 204, 205 reach the end of their respective slots 506 in the switching cylinder 500 will result in the rotation of the switching cylinder 500 around the geometric axis of the SA-SA drive shaft. The rotation of the switching cylinder 500 will ultimately result in the rotation of the actuating pin 410 and the locking sleeve 402 between their engaged and disengaged positions. In this way, in essence, the nozzle 201 can be used to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in more detail in US patent application serial number 13 / 803,086 , now US Patent Application Publication No. 2014/0263541.
[00223] [00223] Also as illustrated in Figures 8 to 12, the drive shaft assembly 200 may comprise a slide ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from and / or communicating signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 mounted to a chassis flange 242 extending from the chassis 240 and a distal connector flange 601 positioned within a defined slot in the axle compartments. drive 202, 203. The proximal connector flange 604 may comprise a first face and the distal connector flange 601 may comprise a second face that is positioned adjacent and that is movable with respect to the first face. The distal connector flange 601 can rotate in relation to the proximal connector flange 604 around the geometry axis of the SA-SA drive shaft. The proximal connector flange
[00224] [00224] As discussed above, the drive shaft assembly
[00225] [00225] Again with reference to Figures 3 and 7, the chassis 240 includes at least one and, preferably, two conical fixing portions 244 formed in the same and which are adapted to be received in the slits in the form of tail dovetail 702 formed in a distal fixing flange portion 700 of the structure 20. Each slot 702 can be tapered or, in other words, have an approximate V shape to seat the fixing portions 244 in a seated manner. As can also be seen in Figures 3 and 7, a drive shaft fixation pin 226 is formed at the proximal end of the intermediate drive drive shaft 222. As will be discussed in more detail below, when the drive shaft assembly interchangeable drive 200 is attached to the cable 14, the drive shaft fixation pin 226 is received on a trigger drive shaft fixation base 126, formed at the distal end 125 of the longitudinal drive member 120. See Figures 3 and 6.
[00226] [00226] Several types of drive shaft assemblies employ a locking system 710 to removably couple the drive shaft assembly 200 to housing 12 and more specifically to frame 20. As can be seen in Figure 7, for example, in at least one form, the locking system 710 includes a locking member or locking fork 712 which is movably coupled to the chassis 240. In the illustrated embodiment, for example, the locking fork 712 has a U-shape with two spaced downward extending legs 714. Legs 714 each have a pivot pin 716 formed in them which is adapted to be received in corresponding holes 245 formed in the chassis
[00227] [00227] When using an interchangeable drive shaft assembly that includes an end actuator of the type described here that is adapted to cut and secure the fabric, as well as other types of end actuators, it may be desirable to prevent detachment of the housing's interchangeable drive shaft assembly while the end actuator is operating. For example, in use, the physician can actuate the closing trigger 32 to wield and manipulate the target tissue to a desired position. When the target tissue is positioned inside the end actuator 300 in a desired orientation, the physician can then fully actuate the closing trigger 32 to close the anvil 306 and secure the target tissue in the position for cutting and stapling. In this case, the first drive system 30 has been fully activated. After the target tissue has been attached to the end actuator 300, it may be desirable to prevent inadvertent detachment of the drive shaft assembly 200 from housing 12. A form of the locking system 710 is configured to prevent this inadvertent detachment.
[00228] [00228] As can be seen more particularly in Figure 7, the locking fork 712 includes at least one and, preferably, two locking hooks 718 which are adapted to contact the corresponding locking pin portions 256 which are formed on the closing movable member 250. With reference to Figures 13 to 15, when the closing carriage 250 is in a non-activated position (that is, the first drive system 30 is deactivated and the anvil 306 is open), the claw locking mechanism 712 can be rotated in a distal direction to unlock the interchangeable drive shaft assembly 200 from housing 12. When in this position, locking hooks 718 do not come into contact with the locking pin portions 256 on the closing movable member 250. However, when the closing transport element 250 is moved to an actuated position (ie, the first drive system 30 is actuated and the anvil 306 is in the closed position the locking fork 712 is prevented from turning to an unlocked position. See Figures 16 to 18. In other words, if the doctor tried to pivot the locking fork 712 to an unlocked position or, for example, if the locking fork 712 was inadvertently protruded or brought into contact in a way that could another way to make the same pivots distally, the locking hooks 718 on the locking fork 712 would contact the locking pins 256 on the closing movable member 250 and prevent the movement of the locking fork 712 to an unlocked position.
[00229] [00229] The attachment of the interchangeable drive shaft assembly 200 to the cable 14 will now be described with reference to Figure 3. To start the coupling process, the doctor can position the frame 240 of the interchangeable drive shaft assembly 200 above or adjacent to the distal fixing flange portion 700 of structure 20 so that the tapered fixing portions 244 formed in the frame 240 are aligned with the slot slots 702 in the structure 20. The physician can then move the drive shaft assembly 200 along an installation axis IA which is perpendicular to the axis of the SA-SA drive axis to seat the mounting portions 244 in "operational engagement" with the corresponding receiver slots in the shape of swallowtail
[00230] [00230] As discussed above, at least five systems of the interchangeable drive shaft assembly 200 can be operatively coupled to at least five corresponding systems of the cable 14. A first system may comprise a structure system that couples and / or aligns the frame or central column of the drive shaft assembly 200 with the frame 20 of the cable 14. Another system may comprise a locking drive system 30 which can operationally connect the cable lock trigger 32 14 and the closing tube 260 and the anvil 306 of the drive shaft assembly 200. As described above, the clamp fork of the closing pipe 250 of the drive shaft assembly 200 can be engaged with pin 37 in the second closing link 38. Another system may comprise the trigger drive system 80 which can operationally connect the trigger trigger 130 of cable 14 with the intermediate trigger axis drive shaft assembly diary 222 200. As outlined above, drive shaft clamp pin 226 optionally connects to base 126 of longitudinal drive member 120. Another system may comprise an electrical system which can signal to a controller on cable 14, such as the microcontroller, for example, that a set of drive axes, such as the
[00231] [00231] Again with reference to Figures 2 and 3, the cable 14 may include an electrical connector 4000 comprising a plurality of electrical contacts. Now returning to Figure 59, electrical connector 4000 can comprise a first contact 4001a, a second contact 4001b, a third contact 4001c, a fourth contact 4001d, a fifth contact 4001e and a sixth contact 4001f, for example. Although the illustrated mode uses six contacts, other modes are designed that use more than six contacts or less than six contacts. As illustrated in Figure 59, the first contact 4001a can be in electrical communication with a transistor 4008, contacts 4001b to 4001e can be in electrical communication with a microcontroller 7004, and the sixth contact 4001f can be in electrical communication with a ground. In certain cases, one or more of the electrical contacts 4001b to 4001e may be in electrical communication with one or more output channels of the 7004 microcontroller and may be energized or have a potential difference applied to them when the 1042 cable is in an energized state.
[00232] [00232] In several circumstances, again with reference to the
[00233] [00233] In various modalities, any number of magnetic detection elements can be used to detect whether a set of drive axes has been mounted on cable 14, for example. For example, technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds , magneto diode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00234] [00234] With reference to Figure 59, microcontroller 7004 can generally comprise a microprocessor ("processor") and one or more memory units, operably coupled to the processor. When executing the instruction code stored in memory, the processor can control various components of the surgical instrument, such as the motor, several drive systems, and / or a user screen, for example. The 7004 microcontroller can be implemented using integrated and / or distinct hardware members, software members and / or a combination of both. Examples of integrated hardware elements can include processors, microprocessors, microcontrollers, integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD, or "programmable logic devices") ), digital signal processors (DSP), field programmable gate arrays (FPGA, or field programmable gate arrays)), logic gates, registers, semiconductor devices, chips, microcircuits, chipsets, microcontrollers , systems on a chip (SoC, or "system-on-chip")
[00235] [00235] With reference to Figure 59, the microcontroller 7004 can be an LM 4F230H5QR, available from Texas Instruments, for example. In certain cases, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a pre buffer -search to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), read-only memory (ROM, or "internal read-only memory ") loaded with StellarisWare® software, electrically erasable programmable read-only memory (EEPROM), or 2KB" electrically erasable programmable read-only memory ", one or more pulse width modulation (PWM, or "pulse width modulation"), one or more analogs of quadrature encoder inputs (QEI, or "quadrature encoder inputs"), one or more analog-to-Digital Converters (ADC) of 12 bits with 12 analog input channels, among other features that are readily available viable. Other microcontrollers can be readily replaced for use with the present disclosure. Consequently, the present disclosure should not be limited in this context.
[00236] [00236] As discussed above, cable 14 and / or the drive shaft assembly 200 may include systems and configurations configured to prevent, or at least reduce, the possibility of the contacts of the electrical cable connector 4000 and / or the contacts of the 4010 drive shaft electrical connector short-circuit when the shaft assembly 200 is not mounted, or completely mounted, on cable 14. Referring to Figure 3, the 4000 cable electrical connector can be at least partially lowered within a cavity 4009 defined in the cable structure 20. The six contacts 4001a to 4001f of the electrical connector 4000 can be completely lowered within the cavity 4009. These arrangements can reduce the possibility of an object coming into contact accidental contact with one or more of contacts 4001a to 4001f.
[00237] [00237] In various circumstances, cable 14 may comprise a connector shield configured to at least partially cover the electrical connector of cable 4000 and / or a connector shield configured to cover at least partially the electrical connector of the drive shaft 4010. A connector bulkhead can prevent, or at least reduce, the possibility of an object accidentally touching the contacts of an electrical connector when the drive shaft assembly is not assembled, or is only partially assembled, on the cable. A connector bulkhead can be movable. For example, the connector bulkhead can be moved between a protective position, in which it, at least partially, protects a connector, and an unprotected position, in which it does not protect, or at least protects, the connector. In at least one mode, a connector bulkhead can be moved as the drive shaft assembly is being mounted on the cable. For example, if the cable comprises a cable connector shield, the drive shaft assembly can come in contact with the cable connector shield and move it as the drive shaft assembly is being mounted on the cable. Similarly, if the drive shaft assembly comprises a drive shaft connector shield, the cable may come into contact with the drive shaft connector shield and move it according to the drive shaft assembly. is being mounted on the cable. In several cases, a coil shield
[00238] [00238] As described above, the surgical instrument can include a system that can selectively energize or activate the contacts of an electrical connector, such as electrical connector 4000, for example. In many cases, contacts can transition between an unactivated condition and an activated condition. In certain cases, contacts can transition between a monitored condition, an unactivated condition and an activated condition. For example, microcontroller 7004 can, for example, monitor electrical contacts 4001a to 4001f when a drive shaft assembly has not been mounted on cable 14, to determine whether one or more of electrical contacts 4001a to 4001f may have entered short-circuited. The 7004 microcontroller can be configured to apply a low voltage potential to each of the contacts 4001a to 4001f and assess whether only a minimum resistance is present in each of the contacts. This operational state can comprise a monitored condition. If the resistance detected in a contact is high or is above a limit resistance, the 7004 microcontroller can disable that contact, it can disable more than one contact or, alternatively, it can disable all contacts. This operational state
[00239] [00239] The various driveshaft assemblies disclosed in the present invention can use sensors and various other components that require electrical communication with the controller in the compartment. These driveshaft assemblies are generically configured so that they can rotate in relation to the compartment requiring a connection that facilitates such electrical communication between two or more components that can rotate with each other. When end actuators of the types described in the present invention are used, the connector arrangements need to be relatively robust in nature, while at the same time they need to be somewhat compact to fit the drive shaft assembly connector portion. .
[00240] [00240] Figures 19 to 22 represent a form of electrical coupler or slip ring connector 1600 that can be used with, for example, an interchangeable drive shaft assembly 1200 or a variety of other applications that require electrical connections between components that revolve in relation to each other. The drive shaft assembly 1200 may be similar to the drive shaft assembly 200 described herein and include a closing tube or external drive shaft 1260 and a proximal nozzle 1201 (the upper half of the nozzle 1201 is omitted for purposes of clarity). In the illustrated example, the external drive shaft 1260 is mounted on a central column of the drive shaft 1210, so that the external pipe 1260 can be selectively movable axially in it. The former
[00241] [00241] When sensors are used in the end actuator or in locations within or over the drive shaft assembly, for example, conductors such as wires and / or dashes (not shown) can be received or mounted inside the outer tube 1260 or could even even being guided along the outer tube 1260 of the sensors to a distal electrical component 1800 mounted on the nozzle 1201. In this way, the distal electrical component 1800 is rotatable with the nozzle 1201 around the geometric axis of the SA-SA drive axis. In the modality illustrated in Figure 20, the electrical component 1800 comprises a connector, battery, etc. which includes contacts 1802, 1804, 1806 and 1808 that are laterally separated from each other.
[00242] [00242] The slip ring connector 1600 additionally includes a mounting member 1610 that includes a cylindrical body portion 1612 that defines an annular mounting surface 1613. A distal flange 1614 can be formed on at least one end of the mounting portion. cylindrical body 1612. The body portion 1612 of the mounting member 1610 is dimensioned to be mounted non-rotatively on a mounting hub 1241 on the chassis 1240. In the illustrated embodiment, a distal flange 1614 is provided on one end of the body portion 1612. A second flange 1243 is formed on the chassis 1240, so that when the body portion 1612 is fixedly mounted (non-rotating) on it, the second flange 1243 abuts the proximal end of the body portion
[00243] [00243] The slip ring connector 1600 also employs a set of innovative and exclusive annular circuit tracks 1620 which is wound around the annular mounting surface 1613 of the body portion 1612, so that it is received between the first and second. flanges 1614 and 1243. Referring now to Figures 21 and 22, the circuit track set 1620 may comprise a flexible adhesive substrate 1622 that can be wrapped around the circumference of body portion 1612 (i.e. , the annular mounting surface 1613). Before being wrapped around the body portion 1612, the flexible substrate 1622 may have a "T-shape" with a first annular portion 1624 and a wired portion 1626. As can be seen in Figures 19 to 21, the assembly of circuit tracks 1620 may additionally include circuit tracks 1630, 1640, 1650, 1660 which can comprise, for example, electrically conductive gold-plated tracks. However, other electrically conductive materials can also be used. Each electrically conductive circuit track includes an "annular portion" that will form an annular portion of the track when the substrate is wrapped around body portion 1612, as well as another "wired portion" that extends crosswise or perpendicularly from the annular portion. More specifically, with reference to Figure 22, the first electrical circuit track
[00244] [00244] When the circuit track assembly 1620 is wrapped around the annular mounting surface 1613 and secured to it by means of adhesive, double-sided tapes, etc., the ends of the substrate portion containing annular portions 1632, 1642, 1652, 1664 are juxtaposed so that the annular portions 1632, 1642, 1652, 1664 form electrically conductive annular, continuous and discrete paths 1636, 1646, 1656, 1666, respectively that extend around the geometric axis of the drive axis SA-SA. In this way, the electrically conductive paths 1636, 1646, 1656 and 1666 are laterally or axially displaced from each other along the geometric axis of the SA-SA drive axis. The wired portion
[00245] [00245] For example, in the represented mode, the electrical component 1800 is mounted on the nozzle 1261 to rotate around the mounting member 1610, so that: the contact 1802 is placed in constant electrical contact with the first suit - electrically conductive annular story 1636; contact 1804 is placed in constant electrical contact with the second electrically conductive annular path 1646; contact 1806 is placed in constant electrical contact with the third electrically conductive annular path 1656; and contact 1808 is placed in electrical contact with the fourth electrically conductive annular path 1666. It will be understood, however, that the various advantages of the slip ring connector 1600 can also be obtained in applications where the mounting member 1610 is supported for rotation around the SA-SA drive shaft and the electrical component 1800 is fixedly mounted in relation to it. It will be further understood that the slip ring connector 1600 can be effectively employed in connection with a variety of different components and applications outside the field of surgery, in which it is desirable to provide electrical connections between rotating components.
[00246] [00246] The slip ring connector 1600 comprises a radial slip ring that provides a conductive contact means for passing the signal (s) and energy to and from any radial position and after the rotation of the drive shaft. In applications where the electrical component comprises a battery contact, the battery contact position can be located in relation to the mounting member to minimize any accumulation of tolerance between those components. The coupler arrangement can represent a low-cost coupling arrangement that can be assembled at minimal manufacturing costs. Gold-plated tracks can also minimize the likelihood of corrosion. The unique and innovative contact arrangement facilitates the complete rotation in a clockwise and anticomplete direction around the geometric axis of the SA-SA drive axis while remaining in electrical contact with the corresponding electrically conductive annular paths.
[00247] [00247] Figures 23 to 25 represent a form of electrical coupler or slip ring connector 1600 'that can be used with, for example, an interchangeable drive shaft assembly 1200' or a variety of other applications that require electrical connections between the components that rotate in relation to each other. The drive shaft assembly 1200 'may be similar to the drive shaft assembly 1200 described herein and include a closure tube or external drive shaft 1260 and a proximal nozzle 1201 (the upper half of the nozzle 1201 is omitted for purposes clarity). In the illustrated example, the external drive shaft 1260 is mounted on a central column of the drive shaft 1210 so that the external tube 1260 can be selectively movable axially therein. The proximal ends of the central column of the drive shaft 1210 and the outer tube 1260 can be pivotally coupled to a chassis 1240 'for rotation with respect to it around a geometric axis of the drive shaft SA-SA. As discussed above, the proximal nozzle 1201 may include crimps or mounting pins that project into portions of the nozzle 1266 and extend through corresponding openings in the outer tube 1260 to be seated in the corresponding recesses 1211 in the central column of the drive shaft 1210. Thus, to rotate the external drive shaft 1260 and the drive shaft of the central column 1210 and presumably an end actuator (not shown) coupled to it around the geometric axis of the drive shaft SA -SA in relation to chassis 1240 ', the doctor simply rotates the nozzle 1201 as represented by the arrows "R" in Figure 23.
[00248] [00248] When sensors are used in the end actuator or in locations within or over the drive shaft assembly, for example, conductors such as wires and / or tracks (not shown) can be received or mounted inside the outer tube 1260 or could even even being directed along the external tube 1260 of the sensors to a distal electrical component 1800 'mounted on the nozzle 1201. In this way, the distal electrical component 1800' can be rotated with the nozzle 1201 and with the wires / tracks fixed on it. In the modality illustrated in Figure 23, the electrical component 1800 comprises a connector, battery, etc. which includes contacts 1802 ', 1804', 1806 'and 1808' which are laterally separated from each other.
[00249] [00249] The slip ring connector 1600 'additionally includes a laminated slip ring assembly 1610' which is manufactured from a plurality of conductive rings which are laminated together. More specifically, and with reference to Figure 25, a shape of the slip ring assembly 1610 'may comprise a first electrically non-conductive flange 1670 that forms a distal end of the slip ring assembly 1610'. The 1670 flange can be manufactured with a material highly resistant to heat, for example. A first electrically conductive ring 1680 is positioned directly adjacent to the first flange 1670. The first electrically conductive ring 1680 may comprise a first copper ring 1681 that has a first gold coating 1682 on it. A second electrically non-conductive ring 1672 is adjacent to the first electrically conductive ring 1680. A second electrically non-conductive ring 1684 is adjacent to the second electrically non-conductive ring 1672. The second electrically conductive ring 1684 can comprise a second copper ring 1685 which has a second 1686 gold coating on it. A third electrically non-conductive ring 1674 is adjacent to the second electrically conductive ring
[00250] [00250] As can be seen in Figure 24, the sliding ring connector 1600 'additionally includes a non-conductive cross-mounting member 1720 that is adapted to be inserted in axially aligned grooves 1710 in each of the rings 1670, 1680, 1672, 1684, 1674, 1688, 1676, 1692 and 1678. The cross-mounting member 1720 has a first circuit track 1722 that is adapted for electrical contact with the first electrically conductive annular route 1700, when the transverse mounting member 1672 is mounted on slots 1710. Similarly, a second circuit track 1724 is printed on transverse mounting member 1720 and is configured to promote electrical contact with the second electrically conductive annular route 1702. A third circuit 1726 is printed on the cross-member 1720 and is configured to promote electrical contact with the third electrically conductive annular route 1704. A fourth circuit of 1728 circuit is printed on the 1720 cross-mounting member and is configured to promote electrical contact with the fourth electrically conductive annular route 1706.
[00251] [00251] In the arrangement shown in Figures 23 to 25, the slip ring assembly 1610 'is configured to be received in a fixed (non-rotating) manner on a mounting hub 1241' on the chassis 1240 '. The transverse mounting member 1720 is received in the groove 1243 'formed in the mounting hub 1241', which acts as a key opening for the transverse mounting member 1720 and that serves to prevent the sliding ring assembly 1610 'from rotating in to the mounting hub 1241 '.
[00252] [00252] For example, in the modality shown, the electrical component 1800 'is mounted on the nozzle 1201 to perform a rotating movement.
[00253] [00253] The slip ring connector 1600 'comprises a radial slip ring that provides a conductive contact means for passing signals and energy to and from any radial position and after rotation of the drive shaft. In applications where the electrical component comprises a battery contact, the battery contact position can be located in relation to the mounting member to minimize any accumulation of tolerance between those components. The 1600 'slip ring connector represents a low-cost coupling arrangement that can be assembled with minimal manufacturing costs. Gold-plated tracks can also minimize the likelihood of corrosion. The unique and innovative contact arrangement facilitates complete rotation in a clockwise and counterclockwise direction around the geometric axis of the drive axis while remaining in electrical contact with the corresponding electrically conductive annular paths.
[00254] [00254] Figures 26 to 30 represent another form of electrical coupler or 1600 "slip ring connector that can be used with, for example, an exchangeable drive shaft assembly 1200" or a variety of other applications that require electrical connections between components that rotate in relation to each other. The drive shaft assembly 1200 "may be similar to the drive shaft assemblies 1200 and / or 1200 'described here except for the differences noted below. The drive shaft assembly 1200" may include a closing tube or external drive shaft 1260 and a proximal nozzle 1201 (the upper half of nozzle 1201 is omitted for clarity purposes). In the illustrated example, the external drive shaft 1260 is mounted on a central column of the drive shaft 1210 so that the external tube 1260 can be selectively movable axially therein. The proximal ends of the central column of the drive shaft 1210 and the outer tube 1260 can be swiveled to a chassis 1240 "for rotation with respect to a geometric axis of the drive shaft SA-SA As discussed above, proximal nozzle 1201 can include crimps or mounting pins that project into portions of nozzle 1266 and extend through corresponding openings in outer tube 1260 to be seated in corresponding recesses 1211 in the center column of the drive shaft 1210. Thus, to rotate the external drive shaft 1260 and the drive shaft of the central column 1210 and presumably an end actuator (not shown) coupled to it around the geometric axis of the drive shaft SA-SA in relation to the 1240 "chassis, the doctor simply turns the nozzle 1201.
[00255] [00255] When sensors are used in the end actuator or in locations within or on the drive shaft assembly, for example, conductors such as wires and / or tracks (not shown) can be received or mounted inside the outer tube 1260 or could even even be directed along the outer tube 1260 of the sensors to a distal electrical component 1800 "'mounted on the nozzle 1201. In the illustrated embodiment, for example, the electrical component 1800" is mounted on the nozzle 1201 so that it is substantially aligned with the axis geometry of the SA-SA drive shaft. The distal electrical component 1800 "can be rotated around the geometric axis of the drive shaft SA-SA with the nozzle 1201 and with the wires / tracks attached to it. The electrical component 1800" can comprise a connector, a battery, etc. . which includes four contacts 1802 ", 1804", 1806 "and 1808" that are laterally separated from each other.
[00256] [00256] The slip ring connector 1600 "additionally includes a slip ring assembly 1610" which includes a base ring 1900 which is manufactured from an electrically non-conductive material and which has a central mounting hole 1902 through it. Mounting hole 1902 has a flat surface 1904 and is configured for non-rotating attachment with a 1930 mounting flange assembly that is supported on a distal end of the 1240 "chassis. A distal side 1905 of base ring 1900 has a series of electrically conductive concentric rings 1906, 1908, 1910 and 1912, fixed or laminated therein, rings 1906, 1908, 1910, and 1912 can be fixed to the base ring 1900 by any suitable method.
[00257] [00257] The base ring 1900 may additionally include a circuit track extending along it that is coupled with each of the electrically conductive rings 1906, 1908, 1910 and 1912. Referring now to Figures 28 to 30, a first circuit track 1922 extends through a first hole 1920 in the base ring
[00258] [00258] Referring now to Figure 27, the base ring 1900 is configured to be supported in a non-rotating way inside the nozzle 1201 through a 1950 mounting flange that is coupled in a non-rotating way to the mounting hub 1241 "of the chassis 1240". The mounting hub portion 1241 "can be formed with a flat surface 1243" to support a transverse mounting member of the type, for example, described above that includes a plurality (preferably four) of conductors that can be coupled - for example, to a circuit board or other corresponding electrical components supported on the chassis in the various ways and arrangements described in the present invention, as well as in US patent application serial number 13 / 803.086. The transverse support member was omitted for clarity in Figures 26 and 27. However, as can be seen in Figures 26 and 27, the mounting flange
[00259] [00259] For example, in the represented mode, the electrical component 1800 "is mounted on the nozzle 1201 to rotate around the sliding ring assembly 1610", so that, for example, contact 1802 "on component 1800 ", is in constant electrical contact with the 1906 rings; contact 1804 "is in contact with ring 1908; contact 1806" is in contact with ring 1910; and contact 1808 "is in contact with ring 1912 even though nozzle 1201 is rotated in relation to chassis 1240". It will be understood, however, that the various advantages of the 1600 "slip ring connector can also be obtained in applications where the 1610" slip ring assembly is supported for rotation around the geometric axis of the drive axis SA-SA and the electrical component 1800 "is fixedly mounted in relation to it. It will be further understood that the slip ring connector 1600" can be effectively used together with a variety of components and different applications from others to the field of surgery, in which it is desirable to provide electrical connections between rotating components.
[00260] [00260] The 1600 "slip ring connector comprises a radial slip ring that provides a conductive contact means for passing signals and energy to and from any radial position and after rotation of the drive shaft. Since the electrical component comprises a battery contact, the battery contact position can be located in relation to the mounting member to minimize any accumulation of tolerance between those components. The 1600 "slip ring connector represents a coupling arrangement of low cost and compact that can be assembled with minimal manufacturing costs. The unique and innovative contact arrangement facilitates complete rotation clockwise and counterclockwise around the geometric axis of the drive shaft while remaining in electrical contact with the corresponding electrically conductive annular rings.
[00261] [00261] Figures 31 to 36 represent, in general, a surgical fixation and cutting instrument powered by a motor 2000. As shown in Figures 31 and 32, the surgical instrument 2000 includes a handle set 2002, a drive shaft assembly 2004 and power supply 2006 ("power supply" or "power pack"). The 2004 drive shaft assembly may include a 2008 end actuator which, in certain circumstances, can be configured to act as an end cutter to secure, cut, and / or staple the fabric, although in other cases it will Different types of end actuators can be used, such as end actuators for other types of surgical devices, claws, cutters, staplers, clip applicators, access devices, gene / drug therapy devices, ultrasound devices, ultrasound devices, RF, and / or laser devices, for example. Various radio frequency devices can be found in US Patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which was granted on April 4, 1995, and in US patent application serial number 12 / 031,573, entitled SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES, deposited
[00262] [00262] Referring mainly to Figures 32 and 33, the 2002 handle assembly can be used with a plurality of interchangeable drive shaft assemblies, such as the 2004 drive shaft assembly. interchangeable drives can comprise surgical end actuators such as the 2008 end actuator that can be configured to perform one or more surgical tasks or procedures. Examples of interchangeable drive shaft assemblies are revealed in US provisional patent application serial number 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, filed on March 14, 2013. The full disclosure of the provisional patent application US Serial No. 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, filed on March 14, 2013, is incorporated into the present invention in its entirety by way of reference.
[00263] [00263] With reference mainly to Figure 32, the handle set 2002 can comprise a 2010 compartment consisting of a handle 2012 that can be configured to be handled, handled and acted by a doctor. However, it will be understood that the various exclusive and innovative arrangements of the various forms of interchangeable drive shaft assemblies disclosed herein can also be used effectively in connection with robotically controlled surgical systems. Thus, the term
[00264] [00264] With reference again to Figure 32, the handle set 2002 can operationally support, inside, a plurality of drive systems, which can be configured to generate and apply various control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. For example, the handle set 2002 can operationally support a first drive system or closing drive system, which is used to apply closing and opening movements to the 2004 drive shaft assembly while it is attached or operationally coupled to the assembly. grip 2002. In at least one way, the grip handle 2002 can operationally support a trigger drive system, which can be configured to apply trigger movements to corresponding portions
[00265] [00265] Referring mainly to Figures 33A and 33B, the 2002 handle set can include a 2014 engine, which can be controlled by a 2015 engine driver and can be employed by the surgical instrument 2000 firing system. In many ways, the 2014 motor can be a brushless DC drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other provisions, the 2014 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. In certain cases, the motor driver 2015 may comprise an H-bridge 2019 field effect transistor (FET), as illustrated in Figures 33A and 33B, for example. The 2014 engine can be powered by the 2006 power set (Figure 35) which can be releasably mounted to the 2002 handle set, with the 2006 power set being configured to provide control energy to the 2000 surgical instrument. 2006 power supply can comprise a 2007 battery (Figure 36) which can include several battery cells connected in series, which can be used as the power source to power the 2000 surgical instrument. In this configuration, the power supply 2006 can be called a battery pack. In certain circumstances, the battery cells in the 2006 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 2006 power pack.
[00266] [00266] Examples of drive systems and closure systems suitable for use with the 2000 surgical instrument are disclosed in U.S. provisional patent application serial number 61 / 782,866,
[00267] [00267] In certain cases, the 2000 surgical instrument may comprise a locking mechanism to prevent a user from attaching incompatible cable assemblies and power assemblies. For example, as shown in Figure 35, the 2006 power pack may include a 2011 plug-in element. In certain cases, the 2011 plug-in element may be a spike that extends from the 2006 power pack. In cases like this, the grip handle 2002 may comprise a corresponding attachable element (not shown) for attachable engagement with the 2011 attachable element. Such an arrangement can be useful to prevent a user from attaching incompatible cable assemblies and power assemblies.
[00268] [00268] The reader will understand that different sets of axis of acci-
[00269] [00269] Referring again to Figures 32 to 36, the handle set 2002 can be coupled or releasably attached to an interchangeable drive shaft assembly, such as the 2004 drive shaft assembly. cases, the handle set 2002 can be coupled or releasably attached to the power set 2006. Various coupling means can be used to releasably couple the handle set 2002 to the drive shaft set 2004 and / or to the 2006 power supply. Examples of coupling mechanisms are described in US provisional patent application serial number 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed on March 14, 2013. For example, the drive shaft assembly 2004 may include a drive shaft attachment module 2018 (Figure 32) that may also include a lock actuator assembly that can be configured to cooperate with a locking fork that is pivotally coupled to the drive shaft clamping module 2018 for selective pivoting displacement in relation to it, and the locking fork may include locking pins that project proximally that are configured for releasable coupling with the detent or locking grooves formed in a 2020 fixing module of the 2002 handle set.
[00270] [00270] Referring now mainly to Figures 33A to 36, the drive shaft assembly 2004 can include a drive shaft controller 2022 that can communicate with the 2016 power management controller through an interface 2024 , while the drive shaft set 2004 and the supply set 2006 are coupled to the handle set 2002. For example, interface 2024 may comprise a first portion of interface 2025 that may include one or more connectors electrical connectors 2026 for coupling coupling with corresponding drive shaft assembly 2028 electrical connectors and a second portion of interface 2027 that may include one or more electrical connectors 2030 for coupling coupling with electrical connectors of the assembly corresponding 2032 power to enable electrical communication between the drive shaft assembly 2022 controller and the power management controller ia 2016 while drive shaft set 2004 and power set 2006 are coupled to handle set 2002. One or more communication signals can be transmitted via interface 2024 to communicate one or more of the requirements power from the interchangeable drive shaft assembly attached 2004 to the 2016 power management controller. In response, the power management controller can modulate the 2007 battery power output from the 2006 power set, as described below in more detail, according to the power requirements of the 2004 drive shaft assembly. In certain cases, one or more of the electrical connectors 2026, 2028, 2030, and / or 2032 may comprise switches that can be activated after being engaged by mechanical coupling of the 2002 handle set to the 2004 drive shaft and / or the 2006 power set to allow
[00271] [00271] In certain circumstances, the 2024 interface can facilitate the transmission of one or more communication signals between the energy management controller 2016 and the controller of the drive shaft assembly 2022 by routing these signals communication via a main controller 2017 (Figures 33A and 33B) located in the 2002 handle set, for example. In other circumstances, the 2024 interface can facilitate a direct communication line between the energy management controller 2016 and the drive shaft controller 2022 through the handle handle 2002, while the drive shaft assembly 2004 and the 2006 feeding set are coupled to the 2002 handle set.
[00272] [00272] In one case, the 2017 main microcontroller can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one case, the surgical instrument 2000 may comprise a 2016 energy management controller, such as a safety microcontroller platform that comprises two families based on microcontrollers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. However, other suitable substitutes for microcontrollers and safety processors can be used, without limitation. In one embodiment, the 1004 security processor can be configured specifically for IEC 61508 and ISO 26262 security critical applications, among others, to provide advanced integrated security features while providing scalable performance, connectivity and memory options.
[00273] [00273] In certain cases, the 2017 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments Instrument LM4F230H5QR is an ARM Cortex-M4F processor core comprising an integrated 256 KB single cycle flash memory, or other non-volatile memory, up to 40 MHz, a buffer transfer to optimize performance above 40 MHz, 32 KB single cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with the StellarisWare® program, electrically erasable programmable read-only memory (EEPROM) of 2KB, one or more pulse width modulation (PWM) modules, one or more input analogs of the quadrature encoder (QEI), one or more 12-bit analog to digital converters (ADC) with 12 analog input channels, among other resources that are readily available for the product data sheet. The present disclosure should not be limited in this context.
[00274] [00274] Referring now mainly to Figures 36 and 37, the 2006 power pack may include a 2034 power management circuit that may comprise the 2016 power management controller, a 2038 power modulator and a current sensor circuit 2036. The energy management circuit 2034 can be configured to modulate the output energy of the 2007 battery based on the power needs of the 2004 drive shaft assembly, while the drive shaft assembly 2004 and the 2006 power pack are coupled to the 2002 handle set. For example, the 2016 power management controller can be programmed to control the 2038 power modulator of the 2006 power pack output energy and the current sensor circuit. 2036 can be employed to monitor the power output of the 2006 power pack to provide
[00275] [00275] It is noteworthy that the 2016 power management controller and / or the drive shaft assembly 2022 controller can each comprise one or more processors and / or memory units that can store multiple software modules - tware. Although certain modules and / or blocks of the surgical instrument 2000 can be described by way of example, it can be understood that a greater or lesser number of modules and / or blocks can be used. In addition, although several cases can be described in terms of modules and / or blocks to facilitate description, these modules and / or blocks can be implemented by one or more hardware components, for example, processors, signal processors (DSPs), programmable logic devices (PLDs), application-specific integrated circuits (ASICs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations hardware and software components.
[00276] [00276] In certain cases, the surgical instrument 2000 may comprise an output device 2042 that may include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), hearing feedback devices (for example, a speaker, a bell) or feedback devices. - tactile information (for example, haptic actuators). In certain cases, the 2042 output device may comprise a 2043 screen that may be included in the 2002 handle set, as shown in the illustration.
[00277] [00277] With reference now to Figures 38 and 39, a 2050 surgical instrument is represented. The 2050 surgical instrument is similar in many ways to the 2000 cutting and fixation surgical instrument (Figure 31). For example, the 2050 surgical instrument may include a 2052 end actuator that is similar in many respects to the 2008 end actuator. For example, the 2052 end actuator can be configured to act as an end cutter to hold, cut and / or staple the fabric.
[00278] [00278] In addition to the above, the surgical instrument 2050 may include an interchangeable working set 2054 that may include a handle set 2053 and a drive shaft 2055 that extends between the handle set 2053 and the end actuator 2052, as shown in Figure 38. In certain cases, the 2050 surgical instrument may include a 2056 feeding set that can be used with a plurality of interchangeable working sets such as the 2054 interchangeable working set. interchange work
[00279] [00279] Similar to the 2000 surgical instrument, the 2050 surgical instrument can operably support a plurality of drive systems that can be powered by the 2056 power supply, while the 2056 power supply is coupled to the working set interchangeable 2054. For example, the 2054 interchangeable working set can operationally support a closing drive system, which can be used to apply closing and opening movements to the 2052 end actuator. In at least one way, the interchangeable working set 2054 can operationally support a trigger drive system that can be configured to apply trigger movements to the 2052 end actuator. Examples of drive systems suitable for use with the 2050 surgical instrument are described in the patent application US provisional serial number 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed on March 14, 2013, the disclosure of which is incorporated herein by reference in its entirety.
[00280] [00280] Referring to Figure 39, the 2056 power supply set of the 2050 surgical instrument can be separately coupled to an interchangeable working set such as the 2054 interchangeable working set. Various coupling means can be used to reliably couple the 2056 power pack to the 2054 interchangeable working set. Exemplary coupling mechanisms are described in the present invention and in US provisional patent application serial number 61 / 782,866, entitled CONTROL SYSTEM OF SURGICAL INSTRUMENT, and filed on March 14, 2013, the disclosure of which is incorporated herein by reference in its entirety.
[00281] [00281] Still with reference to Figure 39, the power supply 2056 can include a power source 2058 such as, for example, a battery that can be configured to power the 2054 interchangeable working set while coupled to the power supply. 2056. In certain cases, the 2056 power pack may include a 2060 memory that can be configured to receive and store information about the 2058 battery and / or the 2054 interchangeable working set, such as 2058 battery charge, the number of treatment cycles performed using the 2058 battery, and / or the identification information for the interchangeable working sets coupled to the 2056 power set during the 2058 battery life cycle. In addition to the description above, the 2054 interchangeable working set can include a 2062 controller that can be configured to provide the 2060 memory with such information about the 2058 battery and / or the 2054 interchangeable working set.
[00282] [00282] Still referring to Figure 39, the power supply 2056 can include a 2064 interface, which can be configured to facilitate electrical communication between the memory 2060 of the power supply 2056 and a controller of a working set in - interchangeable that is coupled to the 2056 power supply such as, for example, the 2062 controller of the 2054 interchangeable working set. For example, the 2064 interface can comprise one or more 2066 connectors for coupling by coupling with the connectors.
[00283] [00283] Still referring to Figure 39, the 2056 power supply set may include a 2070 charge status monitoring circuit. In certain circumstances, the 2070 charge state monitoring circuit may comprise a counter Coulomb. The 2062 controller can be in communication with the 2070 charge status monitoring circuit, while the 2054 interchangeable working set is coupled to the 2056 power supply set. The 2070 charge status monitoring circuit can be operable to provide a accurate monitoring of 2058 battery charge states.
[00284] [00284] Figure 40 represents an example module 2072 for use with an interchangeable working set controller such as, for example, the 2062 controller of the interchangeable working set 2054 while coupled to the 2056 power set. For example , the 2062 controller can comprise one or more processors and / or memory units that can store various software modules such as the 2072 module. Although certain modules and / or blocks of the 2050 surgical instrument can be described as an example, it should be understood that a greater or lesser number of modules and / or blocks can be used. Additionally, although several cases can be described in terms of modules and / or blocks to facilitate the description, these modules and / or blocks can
[00285] [00285] In any case, by coupling the interchangeable working set 2054 to the power supply 2056, the interface 2064 can facilitate communication between the controller 2062 and the memory 2060 and / or the load status monitoring circuit 2070 to run the 2072 module, as shown in Figure 40. For example, the 2062 controller of the 2054 interchangeable working set can use the 2070 charge status monitoring circuit to measure the 2058 battery charge status. The 2062 controller can then access memory 2060 and determine whether a previous value for battery charge status 2058 is stored in memory
[00286] [00286] In addition to the one described above, the 2072 module can also be executed by other controllers by coupling the interchangeable working set of these other controllers to the 2056 power supply set. For example, a user can disconnect the 2054 interchangeable working set from the 2056 power supply set. The user can then connect another interchangeable working set comprising another controller to the 2056 power supply. This controller can, in turn, use a 2070 Coulomb count circuit to measure the battery charge status 2058 and can then access memory 2060 and determine if a previous value for battery charge status 2058 is stored in memory 2060 such as a value entered by the 2060 controller while the 2054 interchangeable working set was coupled to the 2056 power set. When a previous value is detected, the 2062 controller can with stop the measured value with the previously stored value. When the measured value is different from the previously stored value, the controller can update the previously stored value.
[00287] [00287] Figure 41 represents the surgical instrument 2090 which is similar, in many aspects, to the surgical instrument 2000 (Figure 31) and / or the surgical instrument 2050 (Figure 38). For example, the 2090 surgical instrument may include a 2092 end actuator that is similar in many ways to the 2008 end actuator and the 2052 end actuator. For example, the 2092 end actuator can be configured to act as a cutter to secure, cut and / or staple the fabric.
[00288] [00288] In addition to the above, the surgical instrument 2090 may include an interchangeable working set 2094 that may include a handle set 2093 and a drive shaft 2095 that may extend between the handle set 2093 and the actuator of end 2092. In certain cases, the 2090 surgical instrument may include a 2096 feeding set that can be used with a plurality of interchangeable working sets, such as the interchangeable working set
[00289] [00289] In addition, the 2096 power supply set for the 2090 surgical instrument can be separably coupled to an interchangeable working set such as the 2094 interchangeable working set. Various coupling means can be used to couple the 2096 power set is interchangeable with the 2094 interchangeable working set. Similar to the 2050 surgical instrument and / or the 2000 surgical instrument, the 2090 surgical instrument can operably support one or more drive systems that can be powered by supply set 2096, while supply set 2096 is coupled to the interchangeable working set 2094. For example, the interchangeable working set 2094 can operably support a closing drive system, which can be used to apply closing and opening movements to the 2092 end actuator. In at least one way, the working set int exchangeable 2094 can operationally support a trigger drive system that can be configured to apply trigger movements to the 2092 end actuator. Exemplary drive systems and coupling mechanisms for use with the 2090 surgical instrument are described in more detail in US provisional patent application serial number 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed on March 14, 2013, the disclosure of which is incorporated herein by reference in its entirety.
[00290] [00290] With reference to Figures 41 to 45, the interchangeable working set 2094 can include an engine such as the 2014 engine (Figure 44) and a motor starter such as the 2015 motor starter (Figure 44) that can be used to induce the closing drive system and / or the trigger system of the 2094 interchangeable working set, for example. The 2014 engine can be powered by a 2098 battery (Figure 42) that can reside in the 2096 power pack. As illustrated in Figures 42 and 43, the 2098 battery can include several battery cells connected in series, which can be used as a power source to power the 2014 engine. In certain cases, the battery cells in the 2096 power pack can be replaceable and / or rechargeable. The battery cells can be lithium-ion batteries that can be separably coupled to the 2096 power pack, for example. In use, a voltage polarity provided by the 2096 power pack can operate the 2014 motor to drive a longitudinally movable drive member to drive the 2092 end actuator. For example, the 2014 motor can be configured to drive the drive element. longitudinally movable drive to advance a cutting member to cut the tissue captured by the 2092 end actuator and / or a trigger mechanism for firing staples from a staple cartridge mounted with the 2092 end actuator, for example. The clips can be fired on the tissue captured by the 2092 end actuator, for example.
[00291] [00291] With respect now to Figures 41 to 45, the work set
[00292] [00292] In addition, the power supply controller 2100 can be configured to perform one or more functions in response to receiving one or more signals generated by working set controller 2102. For example, the interchangeable working set 2094 can understand a power requirement and working set controller 2102 can be configured to generate a signal to instruct power set controller 2100 to select 2098 battery output power, according to the set power requirement interchangeable working 2094; the signal can be generated, as described above, by modulating the power transmission from the 2096 power supply to the 2094 interchangeable working set while the 2096 power supply is coupled to the interchangeable working set
[00293] [00293] Referring now primarily to Figures 42 and 43, the 2096 power pack may include a 2106 power modulator control which may comprise, for example, one or more field effect transistors (FETs), a Darlington matrix , an adjustable amplifier, and / or any other power modulator. The power pack controller 2100 can trigger power modulator control 2106 to adjust the output power of battery 2098 to the power requirement of the 2094 interchangeable working set in response to the signal generated by the power set controller. 2102, while the 2094 interchangeable working set is coupled to the 2096 feeding set.
[00294] [00294] Still referring to Figures 42 and 43, the power supply controller 2100 can be configured to monitor the power transmission from the power supply 2096 to the 2094 interchangeable working set for one or more signals generated by the controller set 2102 of the 2094 interchangeable working set, while the 2094 interchangeable working set is coupled to the 2096 power set. As shown in Figure 42, the 2100 power set controller can use a monitoring mechanism voltage monitor to monitor the voltage in battery 2098 to detect one or more signals generated by working set controller 2102, for example. In certain circumstances, a voltage conditioner can be used to scale
[00295] [00295] In other circumstances, as shown in Figure 43, the 2096 power pack may comprise a current monitoring mechanism to monitor the current transmitted to the 2094 interchangeable working set to detect one or more signals generated by the working set controller 2102, for example. In certain cases, the 2096 power pack may comprise a current sensor 2110 that can be used to monitor the current transmitted to the 2094 interchangeable working set. The monitored current can be reported to the 2100 power pack controller via a ADC, for example. In other circumstances, the power pack controller 2100 can be configured to simultaneously monitor both the current transmitted to the 2094 interchangeable working set and the corresponding battery voltage 2098 to detect the one or more signals generated by the power controller working 2102. The reader will understand that several other mechanisms to monitor the current and / or voltage can be used by the power supply controller 2100 to detect the one or more signals generated by the working set controller 2102; all of these mechanisms are contemplated by the present revelation.
[00296] [00296] As illustrated in Figure 44, the working set controller 2102 can be configured to generate the one or more signals for communication with the power set controller 2100 by activating the motor driver 2015 to modulate the energy transmitted to the 2014 engine from battery 2098. As a result, voltage across battery 2098 and / or current drained from battery 2098 to power the 2014 engine can form distinct patterns or waveforms that represent one or more signals. As described above, the power pack controller 2100 can be configured to monitor the battery voltage 2098 and / or the battery current 2098 for the one or more signals generated by the work set controller 2102 .
[00297] [00297] When a signal is detected, the power pack controller 2100 can be configured to perform one or more functions that correspond to the detected signal. In at least one example, when detecting a first signal, the power pack controller 2100 can be configured to activate power modulator control 2106 to adjust the output power of battery 2098 to the first duty cycle. In at least one example, when detecting a second signal, the power pack controller 2100 can be configured to activate power modulator control 2106 to adjust battery output 2098 to a second duty cycle, different from the first work cycle.
[00298] [00298] In certain circumstances, as illustrated in Figure 45, the 2094 interchangeable working set may include a 2012 power modulation circuit that may comprise one or more field effect transistors (FETs) that can be controlled by the controller set 2102 to generate a signal or waveform recognizable by the power set controller
[00299] [00299] Referring now mainly to Figures 42 and 43, the power supply 2096 may comprise a key 2104 which can be switched between an open position and a closed position. Key 2104 can be moved from the open to the closed position when the 2096 power pack is coupled with the 2094 interchangeable working set, for example. In certain cases, key 2104 can be manually transitioned from the open to the closed position after the 2096 power pack is coupled with the 2094 interchangeable working set, for example. While switch 2104 is in the open position, components of the 2096 power pack can drain sufficiently low or no power to maintain the capacity of the 2098 battery for clinical use. The 2104 key can be a mechanical mechanism, with vanes, Hall or any other suitable switching mechanism. In addition, in certain circumstances, the 2096 power pack may include an optional 2105 power supply that can be configured to provide sufficient power for various components of the 2096 power pack during use of the 2098 battery. interchangeable workhorse 2094 may also include an optional 2107 power supply that can be configured to provide sufficient power for various components of the 2094 interchangeable working set.
[00300] [00300] In use, as illustrated in Figure 46, the 2096 power pack can be coupled to the interchangeable working set
[00301] [00301] To generate and transmit a communication signal to the power supply controller 2100 through energy modulation, working set controller 2102 can employ the motor drive 2015 to boost energy for the motor 2014 in patterns or shapes surge waveforms, for example. In certain circumstances, the working set controller 2102 can be configured to communicate with the motor driver 2015 to quickly switch the direction of movement of the motor 2014 by quickly switching the voltage polarity through the motor windings 2014 so limiting the effective current transmission to the 2014 engine, resulting from voltage spikes. As a result, as illustrated in Figure 47C, the effective displacement of the motor resulting from voltage peaks can be reduced to minimize the effective displacement of a 2090 surgical instrument drive system that is coupled to the 2014 engine, in response to to peak voltage.
[00302] [00302] In addition to the above, the work set controller 2102 can communicate with the power set controller 2100 using the motor driver 2015 to drain battery power 2098 in peaks arranged in predetermined packages or groups, which can be repeated for predetermined periods of time to form patterns detectable by the power pack controller 2100. For example, as shown in Figures 47A and 47B, the power pack controller 2100 can be configured to monitor the battery voltage 2100 for predetermined voltage patterns like, for example, voltage pattern 2103 (Figure 47A) and / or predetermined current patterns like, for example, current pattern 2109 (Figure 47B) using the voltage and / or chain, as described in more details above. In addition, the 2100 power pack controller can be configured to perform one or more functions when a pattern is detected. The reader will understand that communication between the power pack controller 2100 and working set controller 2102 through power transmission modulation can reduce the number of connecting lines between the 2094 interchangeable working set and the power set. 2096 power supply.
[00303] [00303] In certain circumstances, the 2096 power supply can be used with several interchangeable working sets from multiple generations that can understand different energy needs. Some of the various interchangeable working sets may comprise communication systems, as described above, while others may be devoid of those communication systems. For example, the 2096 power pack can be used with a first generation interchangeable working set without the communication system described above. Alternatively, the 2096 power pack can be used with a second generation interchangeable working set such as the 2094 interchangeable working set comprising a communication system, as described above.
[00304] [00304] In addition to the above, the first generation interchangeable working set may comprise a first energy requirement and the second generation interchangeable working set may comprise a second energy requirement that may differ from first energy need.
[00305] [00305] As described above, the 2098 battery can be rechargeable. In certain circumstances, it may be desirable to drain the 2098 battery before transporting the 2096 power pack. A dedicated drain circuit can be activated to drain the 2098 battery in preparation for transporting the power pack.
[00306] [00306] Again with reference to Figures 42 to 45, the power set controller 2100 and / or the work set controller 2102 may comprise one or more processors and / or memory units that can store multiple software modules - tware. Although certain modules and / or blocks of the 2050 surgical instrument can be described by way of example, it should be understood that a greater or lesser number of modules and / or blocks can be used. Additionally, although several cases can be described in terms of modules and / or blocks to facilitate description, these modules and / or blocks can be implemented by one or more hardware components, for example, processors, digital signal processors (DSPs) , programmable logic devices (PLDs), application-specific integrated circuits (ASICs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware components and software.
[00307] [00307] Figure 48 generally represents a surgical instrument powered by a 2200 engine. In certain circumstances, the surgical instrument 2200 may include a handle set 2202, a set of drive shaft 2204, and a set of 2206 power supply (or "power supply" or "power pack"). The drive shaft assembly 2204 can include an end actuator 2208 which, in certain circumstances, can be configured to act as an end cutter to secure, cut, and / or staple the fabric, although in other circumstances, different types of end actuators can be used, such as end actuators for other types of surgical devices, claws, cutters, staplers, clip applicators, access devices, gene therapy / drug devices, ultrasound, RF and / or laser, etc. Several RF devices can be found in US patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which was granted on April 4, 1995, and in US patent application serial number 12 / 031,573, entitled SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES, deposited
[00308] [00308] Under certain circumstances, the handle assembly 2202 can be separately separable from the drive shaft assembly 2204, for example. In such circumstances, the handle assembly 2202 can be used with a plurality of interchangeable drive shaft assemblies that can comprise surgical end actuators such as, for example, the end actuator 2208 that can be configured to perform one or more surgical tasks or procedures. For example, one or more of the interchangeable drive shaft assemblies can use end actuators that are adapted to support different sizes and types of clamp cartridges, have different lengths, sizes, and types of drive shafts, etc. Suitable examples of interchangeable drive shaft assemblies are revealed in US provisional patent application serial number 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed on March 14, 2013, whose entire disclosure tion is hereby incorporated by reference, in its entirety.
[00309] [00309] Referring further to Figure 48, the handle assembly 2202 may comprise a compartment 2210 consisting of a handle 2212 that can be configured to be held, handled and / or activated by a physician. However, it will be understood that the various exclusive and innovative arrangements of the 2210 compartment can also be effectively employed in relation to robotically controlled surgical systems. In this way, the term "compartment" can also cover a compartment or similar portion of a robotic system that houses or sustains operationally, otherwise, at least one drive system configured to generate and apply at least one control movement that can be used to drive the driveshaft assemblies 2204 disclosed in the present invention and their respective equivalents. For example, compartment 2210 disclosed in the present invention can be used with various robotic systems, instruments, components and methods disclosed in US patent application serial number 13 / 118.241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now US patent no.
[00310] [00310] In at least one form, the 2200 surgical instrument can be a surgical instrument for cutting and fixing. In addition, compartment 2210 can operably support one or more drive systems. For example, as illustrated in Figure 50, compartment 2210 can hold a drive system called, in the present invention, a trigger drive system 2214 that is configured to apply trigger movements to end actuator 2208. The The trigger drive system 2214 can employ an electric motor 2216, which can be located in cable 2212, for example. In many ways, the 2216 motor can be a brushless DC drive motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. A 2218 battery (or "power supply" or "power pack"), such as a Li ion battery, for example, can be attached to the 2212 cable to supply power to a control circuit board assembly 2220 and, finally, the engine
[00311] [00311] In certain circumstances, still referring to Figure 50, the 2216 electric motor may include a rotary drive shaft (not shown), which can, in an operational manner, interface with a 2222 gear reducer assembly, which it can be mounted in gear engaged with a set or rack, of driving teeth 2224 in a longitudinally movable driving member 2226. In use, a voltage polarity provided by the 2218 battery can operate the 2216 electric motor clockwise , and the voltage polarity applied to the electric motor by battery 2218 can be reversed in order to operate the electric motor 2216 in a counterclockwise direction. When the 2216 electric motor is rotated in one direction, the driving member 2226 will be driven axially in a distal direction "D", for example, and when the 2216 motor is driven in the opposite rotating direction, the driving member 2226 will be driven axially in a proximal "P" direction, for example, as shown in Figure 50. Cable 2212 may include a switch that can be configured to reverse the polarity applied to the 2216 electric motor by the 2218 battery. As with in the other ways described in the present invention, cable 2212 may also include a sensor configured to detect the position of drive member 2226 and / or the direction in which drive member 2226 is being moved.
[00312] [00312] As indicated above, in at least one way, the longitudinally movable drive member 2226 may include a drive tooth rack 2224 formed thereon for gear engagement with the gear reducer assembly
[00313] [00313] In addition to the above, as shown in Figure 50, retract assembly 2228 may include a retractable lever or cable 2230 configured to be moved manually or pivoted to engage the ratchet with teeth 2224 on drive member 2226. In In such circumstances, the physician can manually retract the drive member 2226 using the retraction cable 2230 to engage the drive member 2226 in the proximal direction "P", for example, to release the tissue retained by the drive actuator. end 2208, for example. Exemplary retraction arrangements and other exemplary components, arrangements and systems that can be used with the various instruments disclosed herein in U.S. patent application serial number 12 / 249,117, entitled PO-
[00314] [00314] In addition to the above, now referring mainly to Figures 48 and 50, retraction cable 2230 of retract assembly 2228 may reside within compartment 2210 of handle shaft 2202. In certain circumstances, access to the cable retractable 2230 can be controlled by a retract port
[00315] [00315] Referring now to Figure 51, the surgical instrument 2200 may include a retraction 2222 feedback system that can be configured to guide and / or provide feedback to the physician through the various steps of using the 2228 retraction set , as described in more detail below. In certain cases, the 2236 retraction feedback system may include a 2238 microcontroller and / or one or more retraction feedback elements. The electrical and electronic circuit elements associated with the 2236 retraction feedback system and / or the retraction feedback information elements can be supported by the 2220 control circuit board assembly, for example. The 2238 microcontroller can generally comprise a 2240 memory and a 2242 microprocessor ("processor") operationally coupled to the 2240 memory. The 2242 processor can control a 2244 motor driver that is generally used to control position and position. motor speed 2216. In certain cases, processor 2242 may signal motor driver 2244 to stop and / or disable motor 2216,
[00316] [00316] In one example, the 2242 processor can be any single-core or multi-core processor, such as those known by the trade name of ARM Cortex from Texas Instruments. In one example, the 2200 surgical instrument may comprise a safety processor, such as a safety microcontroller platform, comprising two families based on microcontrollers, such as TMS570 and RM4x known by the trade name of Hercules ARM Cortex R4 , also available from Texas Instruments. However, other suitable substitutes for microcontrollers and safety processors can be employed, without limitation. In one embodiment, the safety processor 1004 can be configured specifically for critical safety applications IEC 61508 and ISO 26262, among others, to provide advanced integrated safety features as a product.
[00317] [00317] In certain cases, the 2238 microcontroller can 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 comprising an integrated 2240 256 KB single cycle flash memory, or other non-volatile memory, up to 40 MHz, a pre buffer -search to optimize performance above 40 MHz, 32 KB single cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with the StellarisWare® program, read-only memory programmable 2KB electrically erasable (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder (QEI) input analogs, one or more 12- bit with 12 analog input channels, among other features that are readily available for the product data sheet. Other microcontrollers can be replaced immediately for use in the 2236 retraction information system. Consequently, the present disclosure should not be limited in this context.
[00318] [00318] Again with reference to Figure 51, the retraction information system 2236 may include a retract door element 2246, for example. In certain cases, the retract port 2246 feedback element can be configured to alert the 2242 processor that the 2234 locking mechanism is unlocked. In at least one example, the retract port 2246 element may comprise a switch circuit (not shown) operably coupled to the 2242 processor; the switch circuit can be configured to be transitioned to an open configuration, when the locking mechanism 2234 is unlocked by a physician, and / or transitioned to a closed configuration, when the locking mechanism 2234 is locked by the physician, for example. In at least one example, the retract port 2246 feedback element may comprise a sensor (not shown) operably coupled to the 2242 processor; the sensor can be configured to reactivate when the 2234 locking mechanism is transitioned to the unlocked and / or locked settings by the physician, for example. The reader will understand that the retract port 2246 feedback element may include other means for detecting the locking and / or unlocking of the locking mechanism 2234 by the physician.
[00319] [00319] In certain cases, the retraction door feedback element 2246 may comprise a switch circuit (not shown) operably coupled to the 2242 processor; the switch circuit can be configured to transition to an open configuration when retract door 2232 is removed or opened, for example, and / or transition to a closed configuration when retract door 2232 is installed or closed, for example example. In at least one example, the retract port 2246 feedback element may comprise a sensor (not shown) operably coupled to the 2242 processor; the sensor can be configured to be triggered when retract door 2232 is removed or opened, for example, and / or when retract door 2232 is closed or installed, for example. The reader will understand that the retract door 2246 element may include other means to detect the locking and / or unlocking of the 2234 locking mechanism and / or the opening and / or closing of the retract port 2232 by the physician .
[00320] [00320] In certain cases, as shown in Figure 51, the retraction feedback system 2236 may comprise one or more additional feedback elements 2248 that may comprise additional switch circuits and / or sensors in communication operable with the 2242 processor; the additional switch circuits and / or sensors can be employed by the 2242 processor to measure other parameters associated with the 2236 retraction feedback system. In certain cases, the 2236 retraction feedback system may comprise one or more interfaces that can include one or more devices to provide sensory feedback to a user. These devices can comprise, for example, visual feedback devices, such as display screens and / or LED indicators, for example. In certain cases, these devices may comprise audio feedback devices, such as speakers and / or bells, for example. In certain cases, these devices may comprise tactile feedback devices, such as haptic actuators, for example. In certain cases, these devices may comprise combinations of visual feedback devices, audio feedback devices, and / or tactile feedback devices. In certain circumstances, as illustrated in Figure 48, the one or more interfaces may comprise a screen 2250 which may be included in the handle assembly 2202, for example. In certain cases, the 2242 processor may employ screen 2250 to alert, guide and / or provide feedback to a user of the 2200 surgical instrument about performing a manual retraction of the 2200 surgical instrument using the retraction set 2228.
[00321] [00321] In certain cases, the retraction information system 2236 may comprise one or more integrated applications implemented as firmware, software, hardware or any combination thereof. In some cases, the 2236 retraction feedback system may comprise several executable modules, such as
[00322] [00322] As shown in Figure 52, the 2252 module can be run by the 2242 processor to provide instructions to the user on how to access and / or use the 2228 retraction set to perform manual retraction of the 2200 surgical instrument, for example. In several cases, the 2252 module may comprise one or more decision-making steps such as, for example, a decision-making step 2254 related to detecting one or more errors that require manual retraction of the 2200 surgical instrument.
[00323] [00323] In several cases, the 2242 processor can be configured to detect a retraction error in response to the occurrence of one or more intermediate events during the normal operation of the 2200 surgical instrument, for example. In certain cases, the 2242 processor can be configured to detect a retraction error when one or more retraction error signals are received by the 2242 processor; retraction error signals can be communicated to the 2242 processor by other processors and / or sensors in the 2200 surgical instrument, for example. In certain cases, the retraction error can be detected by processor 2242 when a temperature of the surgical instrument 2200, detected by a sensor (not shown), exceeds a limit, for example. In certain cases, the 2200 surgical instrument may comprise a positioning system (not shown) to detect and record the position of the drive member
[00324] [00324] In any case, again with reference to Figure 52, when processor 2242 detects a retraction error in decision-making step 2254, processor 2242 can respond by stopping and / or disabling engine 2216, for example. In addition, in certain cases, processor 2242 can also store a retraction state in memory 2240 after detecting the retraction error, as shown in Figure 52. In other words, processor 2242 can store in situation 2240 a situation that indicates that a retraction error has been detected. As described above, the 2240 memory can be a non-volatile memory that can preserve stored a situation in which a retraction error was detected when the 2200 surgical instrument is reset by the user, for example.
[00325] [00325] In several cases, the 2216 motor can be stopped and / or deactivated by disconnecting the 2218 battery from the 2216 motor, for example. In several cases, the 2242 processor may employ the 2244 driver to stop and / or disable the 2216 motor. In certain cases, when the motor deactivation circuit is used, the 2242 processor may employ the motor deactivation circuit to stop and / or disable the 2216 engine. In certain cases, stopping and / or deactivating the 2216 engine may prevent a user of the 2200 surgical instrument from using the 2216 engine at least until a manual retraction is performed, for example example. The reader will note that stopping and / or deactivating the 2216 engine, in response to detecting a retraction error, can be advantageous for protecting the tissue captured by the cyclic instrument.
[00326] [00326] In addition to the above, still with reference to Figure 52, the 2252 module can include a decision-making step 2256 to detect if the retract port 2232 is removed. As described above, processor 2242 can be operationally coupled to retract port 2246 feedback element which can be configured to alert processor 2242 whether retract port 2232 is removed or not. In certain cases, processor 2242 may be programmed to detect that retract port 2232 is removed when retract port 2246 feedback reports that locking mechanism 2234 is unlocked, for example. In certain cases, processor 2242 can be programmed to detect that retract port 2232 is removed when retract element 2246 retract reports that retract port 2232 is open, for example. In certain cases, processor 2242 can be programmed to detect that retract door 2232 is removed when retract door retractor 2246 reports that lock mechanism 2234 is unlocked and that retraction 2232 is open, for example.
[00327] [00327] In several cases, still with reference to Figure 52, when the 2242 processor does not detect a retraction error in the decision making step 2254 and does not detect that the retract port 2232 is removed in the making step decision 2256, the 2242 processor may not interrupt the normal operation of the 2200 surgical instrument and may proceed with various clinical algorithms. In certain cases, when processor 2242 does not detect a retraction error in decision-making step 2254, but detects that retract port 2232 is removed in decision-making step 2256, processor 2242 can respond by stopping and / or deactivating the engine
[00328] [00328] In certain cases, when the user does not reinstall the 2232 retract port, the 2242 processor may not reconnect power to the 2216 engine and may continue to provide instructions to the user for reinstallation of the 2232 retract port. In certain cases, when the user does not reinstall the retract port 2232, the 2242 processor can send the user a warning that the retract port 2232 needs to be reinstalled to proceed with the normal operation of the 2200 surgical instrument. In certain cases, the surgical instrument 2200 can be equipped with a deactivation mechanism (not shown) to allow the user to reconnect power to the 2216 engine, even when the 2216 retract port is not installed.
[00329] [00329] In several cases, the 2242 processor can be configured to provide the user with sensory feedback when the 2242 processor detects that the 2232 retract port is removed. In several cases, the 2242 processor can be configured to provide the user with sensory feedback when the 2242 processor detects that the 2232 retract port is reinstalled. Various devices can be employed by the 2242 processor to provide sensory feedback to the user. These devices can comprise, for example, visual feedback devices, such as display screens and / or LED indicators, for example. In certain cases, these devices may comprise audio feedback devices, such as speakers and / or bells, for example. In certain cases, these devices may comprise tactile feedback devices, such as haptic actuators, for example. In certain cases, these devices may comprise combinations of visual feedback devices, audio feedback devices, and / or tactile feedback devices. In certain cases, processor 2242 may employ screen 2250 to instruct the user to reinstall retract port 2232. For example, processor 2242 may present the user with an alert symbol next to an image of retract port 2232 through the screen 2250, for example. In certain cases, the 2242 processor may present an animated image of the retract port 2232 during its installation, for example. Other images, symbols and / or words can be displayed on screen 2250 to alert the user of the 2200 surgical instrument to reinstall the 2232 retraction port.
[00330] [00330] Again with reference to Figure 52, when a retraction error is detected, the 2242 processor can signal the user of the 2200 surgical instrument to perform manual retraction using the 2230 retraction cable. In several cases, the 2242 processor can signal the user to perform manual retraction, providing visual, audio and / or tactile feedback, for example. In certain cases, as illustrated in Figure 52, the 2242 processor can signal the user of the 2200 surgical instrument to perform manual retraction by flashing a 2250 backlight. In any case, the 2242 processor can then provide instructions the user to perform manual retraction. In several cases, as shown in Figure 52, instructions may depend on whether the retract port 2232 can be reinstalled; a decision-making step 2258 can determine the type of instructions provided to the user. In certain cases, when the 2242 processor detects that the response port
[00331] [00331] Again with reference to Figure 52, in several examples, the instructions provided by the 2242 processor to the user to remove the retract port 2232 and / or operate the retract cable 2230 may comprise one or more steps; the steps can be presented to the user in chronological order. In certain cases, the steps may comprise actions to be taken by the user. In such cases, the user can proceed with the steps of manual retraction by executing the actions presented in each of the stages. In certain cases, the actions required in one or more of the steps can be presented to the user in the form of animated images displayed on screen 2250, for example. In certain cases, one or more steps may be presented to users in the form of messages that may include words, symbols and / or images that guide the user through the entire manual retraction process. In certain cases, one or more steps to perform manual retraction can be combined into one or more messages, for example. In certain cases, each message may comprise a separate step, for example.
[00332] [00332] In certain cases, the steps and / or messages that provide information for manual retraction can be presented to the user at predetermined time intervals to allow the user enough time to complete the steps and / or messages presented, for example. In certain cases, the 2242 processor can be
[00333] [00333] In certain cases, as shown in Figure 52, after detecting that the retract port 2232 is installed, the 2242 processor can be configured to cause the screen 2250 to present an animated image 2260 representing a hand that moves towards retract port 2232. Processor 2242 can continue to display animated image 2260 for a period of time sufficient for the user to engage retract port 2232, for example. In certain cases, processor 2242 can then replace animated image 2260 with an animated image 2262 that represents a finger engaging the locking mechanism of retract door 2234, for example. The 2242 processor can continue to display the animated image 2262 for a period of time sufficient for the user to unlock the 2234 locking mechanism, for example. In certain cases, processor 2242 may continue to display animated image 2262 until retract door feedback element 2246 reports that locking mechanism 2234 is unlocked, for example. In certain cases, processor 2242 may continue to display animated image 2262 until the user alerts processor 2242 that the step of unlocking the 2234 locking mechanism is complete.
[00334] [00334] In any case, the 2242 processor can then replace the animated image 2262 with an animated image 2264 that represents a finger by removing the retract port 2232, for example. The 2242 processor can continue to display the animated image 2264 for a period of time sufficient for the user to remove the retract port 2232, for example. In certain cases, processor 2242 may continue to display animated image 2264 until the retract port 2246 element reports that retract port 2232 is removed, for example. In certain cases, the 2242 processor may continue to display the animated image 2264 until the user alerts processor 2242 that the retraction port 2232 removal step has been removed, for example. In certain cases, processor 2242 can be configured to continue to display animated images 2260, 2262 and 2246 in their respective order, when processor 2242 continues to detect that the retract port is installed in decision-making step 2258 , for example.
[00335] [00335] In addition to that described above, after detecting that the 2232 retract port is removed, the 2242 processor can continue to guide the user through the 2230 retract cable operation steps. In certain instances, the 2242 processor they can replace the animated image 2264 with an animated image 2266 representing a finger lifting the retract cable 2230, for example, for engaging the ratchet with the teeth 2224 on the driving member 2226, as described above. The 2242 processor can continue to display the animated image 2266 for a period of time sufficient for the user to lift the retract cable 2230, for example. In certain cases, the 2242 processor may continue to display the animated image 2266 until the processor receives feedback that the retract cable 2230 has been lifted. For example, the 2242 processor can continue to display the animated image 2266 until the user alerts the 2242 processor that the 2230 pull cable lift step has been removed.
[00336] [00336] In certain instances, as described above, the user can manually retract drive member 2226 using retract cable 2230 to engage drive member 2226 in the proximal direction "P", for example, to release the tissue retained by end actuator 2208, for example. In such cases, processor 2242 can replace animated image 2266 with an animated image 2268 that represents a finger repeatedly pulling, then pushes the retract cable 2230, for example, to simulate the ratchet movement of the retract cable 2230. Processor 2242 can continue to display animated image 2268 for a time sufficient for the user to drive drive member 2226 to the standard position by means of ratchet movement, for example. In certain cases, processor 2242 may continue to display animated image 2268 until processor 2242 receives feedback that drive member 2226 has been retracted.
[00337] [00337] Figure 53 represents a module 2270 'which is similar in many respects to module 2258. For example, module 2252 can also be stored in memory 2240, and / or executed by processor 2242, for example, to alert, guide and / or provide feedback to a user of the 2200 surgical instrument about performing a manual retraction of the 2200 surgical instrument. In some cases, the 2200 surgical instrument may not comprise a retraction port. In such circumstances, the 2270 module can be used by the 2242 processor to provide the user with instructions on how to operate the 2230 retract cable, for example.
[00338] [00338] With reference again to the 2270 module, represented in Figure 53, when the 2242 processor does not detect a retraction error in the decision-making step 2254 of the 2270 module, the 2242 processor may not interrupt the normal operation of the surgical instrument 2200 and can proceed with several clinical algorithms. However, when processor 2242 detects a retraction error in decision-making step 2254 of module 2270, processor 2242 can respond by stopping and / or disabling engine 2216, for example. In addition, in certain cases, the 2242 processor can also store a retraction state in memory 2240 after detecting the retraction error, as shown in Figure 53. In the absence of a retract port, the 2242 processor can signal the user of the 2200 surgical instrument to perform manual retraction by flashing a backlight on the 2250 screen, for example; the 2242 processor can then proceed directly to provide the user with instructions for operating the 2230 retract cable, as described above.
[00339] [00339] The reader will note that the steps represented in Figures 52 and / or 53 are illustrative examples of the instructions that can be provided to the user of the 2200 surgical instrument to perform a manual retraction. Modules 2252 and / or 2270 can be configured to provide more or less steps in relation to those illustrated in Figures 52 and 53. The reader will notice that modules 2252 and / or 2270 are exemplary modules; several other modules can be executed by the 2242 processor to provide the user of the 2200 surgical instrument with instructions for performing manual retraction.
[00340] [00340] In several cases, as described above, the 2242 processor can be configured to present the user of the 2200 surgical instrument with the steps and / or messages to perform a manual retraction at predetermined time intervals. Such time intervals can be the same or can vary depending on the complexity of the task to be performed by the user, for example. In certain cases, these time intervals can be any time interval in the range of about 1 second, for example, to about 10 minutes, for example. In certain cases, these time intervals can be any time interval in the range of about 1 second, for example, to about 1 minute, for example. Other time intervals are contemplated by the present revelation.
[00341] [00341] In some cases, a feeding set, such as the 2006 feeding set illustrated in Figures 31 to 33B, is configured to monitor the number of uses of the 2006 feeding set and / or a 2000 surgical instrument coupled to the 2006 power pack. The 2006 power pack keeps a count of usage cycles corresponding to the number of uses. The 2006 feeding set and / or the 2000 surgical instrument performs one or more actions based on the count of use cycles. For example, in some cases, when the use cycle count exceeds a predetermined use limit, the 2006 power supply and / or a 2000 surgical instrument may disable the 2006 power supply, disable the 2000 surgical power supply , indicate that a reconditioning or service cycle is required, provide a count of usage cycles for an operator and / or remote system and / or perform any other action. The count of use cycles is determined by any suitable system, such as, for example, a mechanical limiter, a cycle of use cycles and / or any other suitable system coupled to the 2006 battery and / or the 2000 surgical instrument.
[00342] [00342] Figure 54 illustrates an example of a food set
[00343] [00343] In some cases, a cycle of use, or use, is defined by one or more parameters of power supply 2400. For example, in one case, a cycle of use comprises using more than 5% of the total energy available from the 2400 power pack when the 2400 power pack is at a full charge level. In another case, a cycle of use comprises a continuous energy drain from the power supply 2400 that exceeds a predetermined time limit. For example, one use cycle can correspond to five minutes of continuous and / or total energy drain from the 2400 power supply. In some cases, the 2400 power supply comprises a 2402 duty cycle circuit having a continuous energy drainage to maintain one or more components of the 2402 use cycle circuit, for example, the
[00344] [00344] Processor 2404 maintains a count of usage cycles. The usage cycle count indicates the number of uses detected by the usage indicator 2406 for the 2400 power supply set and / or the 2410 surgical instrument. The 2404 processor can increment and / or reduce the usage cycle count based on input of use indicator 2406. The use cycle count is used to control one or more operations of the 2400 feeding set and / or the 2410 surgical instrument. For example, in some cases, a feeding set 2400 is disabled when the usage cycle count exceeds a predetermined usage limit. Although the cases discussed here refer to increasing the usage cycle count above a predetermined usage limit, those skilled in the art will recognize that the usage cycle count can start at a predetermined amount and can be reduced by the processor
[00345] [00345] The usage cycle count is maintained by a counter
[00346] [00346] In some cases, the 2406 usage indicator is configured to monitor the number of modular components used with the surgical instrument 2410 coupled to the 2400 power supply set. A modular component can comprise, for example, a modular drive shaft, a modular end actuator and / or any other modular component. In some cases, the usage indicator 2406 monitors the use of one or more disposable components, such as, for example, insertion and / or positioning of a staple cartridge inside an end effector coupled to the surgical instrument 2410. The usage indicator 2406 comprises one or more sensors to detect the exchange of one or more modular and / or disposable components of the surgical instrument 2410.
[00347] [00347] In some cases, usage indicator 2406 is configured to monitor single patient surgical procedures performed while the 2400 power set is installed. For example, the usage indicator 2406 can be configured to monitor shots from the surgical instrument 2410 while the power supply 2400 is attached to the surgical instrument 2410. One shot may correspond to implantation of a staple cartridge, application of electrosurgical energy and / or any other suitable surgical event. The usage indicator 2406 can comprise one or more circuits to measure the number of trips while the 2400 power pack is installed. Usage indicator 2406 transmits a signal to processor 2404 when a single patient procedure is performed and processor 2404 increases the count of usage cycles.
[00348] [00348] In some cases, the usage indicator 2406 comprises a circuit configured to monitor one or more parameters of the power source 2414, such as, for example, a current drain from the power source 2414. The one or more parameters of the source of energy 2414 correspond to one or more operations that can be performed by the surgical instrument 2410, such as, for example, a cutting and sealing operation. The 2406 usage indicator provides the 2404 processor with one or more parameters, which increases the usage cycle count when the one or more parameters indicate that a procedure has been performed.
[00349] [00349] In some cases, the usage indicator 2406 comprises a timing circuit configured to increase a count of usage cycles after a predetermined period of time. The predetermined period of time corresponds to a single patient procedure time, which is the time required for an operator to perform a procedure, such as a cutting and sealing procedure. When power supply 2400 is attached to surgical instrument 2410, processor 2404 checks usage indicator 2406 to determine when the single patient procedure time has expired. After the predetermined period of time, processor 2404 increases the count of usage cycles. After increasing the usage cycle count, the 2404 processor resets the 2406 usage indicator timing circuit.
[00350] [00350] In some cases, the usage indicator 2406 comprises a time constant that approaches the time of the single patient procedure. Figure 55 illustrates a case of a 2500 power pack comprising a 2502 use cycle circuit with a resistor / capacitor (RC) 2506 timing circuit. The RC 2506 timing circuit comprises a time constant. defined by a resistor / capacitor pair. The time constant is defined by the values of resistor 2518 and capacitor 2516. When the power supply 2500 is installed on a surgical instrument, a 2504 processor checks the RC 2506 timing circuit. When one or more circuit parameters RC 2506 timings are below a predetermined threshold, processor 2504 increases the cycle count. For example, processor 2504 can check the voltage of capacitor 2518 of the resistor / capacitor pair 2506. When the voltage of capacitor 2518 is below a predetermined limit, processor 2504 increases the cycle count. Processor 2504 can be coupled to the RC 2506 timing circuit, for example, via an ADC 2520. After increasing the cycle count, processor 2504 connects a transistor 2522 to connect the RC 2506 timing circuit to a power source. energy 2514 to charge capacitor 2518 of the RC 2506 timing circuit. After capacitor 2518 is fully charged, transistor 2522 is opened and the RC 2506 timing circuit is charged, as governed by the time constant, to indicate a posterior single patient procedure.
[00351] [00351] Figure 56 illustrates a case of a 2550 power pack comprising a 2552 use cycle circuit equipped with a 2564 rechargeable battery and a 2560 watch. When the 2550 power pack is installed on a surgical instrument, the rechargeable battery 2564 is charged by power source 2558. Rechargeable battery 2564 comprises enough energy to operate the 2560 watch for at least the duration of the single patient procedure. The 2560 clock may comprise a real-time clock, a processor configured to implement a time function or any other suitable timing circuit. The 2554 processor receives a signal from the 2560 watch and increases the cycle count when the 2560 watch indicates that the
[00352] [00352] Referring again to Figure 54, in some cases, the 2406 usage indicator comprises a sensor configured to monitor one or more environmental conditions experienced by the 2400 power supply set. For example, the 2406 usage indicator may comprise an accelerometer. The accelerometer is configured to monitor the acceleration of the 2400 power supply. The 2400 power supply comprises a maximum acceleration tolerance. An acceleration above a predetermined threshold indicates, for example, that the 2400 power pack has been discarded. When the 2406 usage indicator detects acceleration above the maximum acceleration tolerance, the 2404 processor increases a usage cycle count. In some cases, the 2406 usage indicator comprises a humidity sensor. The humidity sensor is configured to indicate when the 2400 power pack has been exposed to moisture. The humidity sensor may comprise, for example, an immersion sensor configured to indicate when the 2400 supply set has been completely immersed in a cleaning fluid, a humidity sensor configured to indicate when moisture comes in contact with the set 2400 power supply during use and / or any other suitable humidity sensor.
[00353] [00353] In some cases, the 2406 use indicator comprises a chemical exposure sensor. The chemical exposure sensor is configured to indicate when the 2400 power pack has come in contact with harmful and / or dangerous chemicals. For example, during a sterilization procedure, an inappropriate chemical can be used, leading to the degradation of the 2400 power supply. The 2404 processor increases the usage cycle count when the 2406 usage indicator detects a unsuitable chemical.
[00354] [00354] In some cases, the 2402 use cycle circuit is configured to monitor the number of reconditioning cycles experienced by the 2400 supply set. A reconditioning cycle can comprise, for example, a cleaning, a sterilization cycle, a loading cycle, routine and / or preventive maintenance and / or any other suitable reconditioning cycle. Usage indicator 2406 is configured to detect a re-conditioning cycle. For example, the usage indicator 2406 can comprise a humidity sensor to detect a cleaning and / or sterilization cycle. In some cases, the use cycle circuit 2402 monitors the number of overhaul cycles experienced by the 2400 power supply and disables the power supply 2400 after the number of overhaul cycles exceeds a predetermined limit.
[00355] [00355] The 2402 use cycle circuit can be configured to monitor the number of 2400 power pack changes. The 2402 use cycle circuit increases the use cycle count each time the power set 2400 is exchanged. When the maximum number of exchanges is exceeded, the 2402 use cycle circuit blocks the 2400 supply set and / or the surgical instrument
[00356] [00356] In some cases, the use cycle count corresponds to the sterilization of the 2400 power supply set. The use indicator 2406 comprises a sensor configured to detect one or more parameters of a sterilization cycle, such as a parameter meter of temperature, a chemical parameter, a humidity parameter, and / or any other suitable parameter. The 2404 processor increases the cycle count when a sterilization parameter is detected. The use cycle circuit 2402 deactivates the power supply 2400 after a number of predetermined sterilizations. In some cases, the 2402 use cycle circuit is reset during a sterilization cycle, a voltage sensor detects a recharge cycle and / or any suitable sensor. Processor 2404 increases the cycle count when a reconditioning cycle is detected. The 2402 use cycle circuit is disabled when a sterilization cycle is detected. The use cycle circuit 2402 is reactivated and / or reset when the power supply 2400 is coupled to the surgical instrument 2410. In some cases, the use indicator comprises a zero energy indicator. The zero energy indicator changes state during a sterilization cycle and is checked by processor 2404 when the power supply 2400 is attached to the surgical instrument 2410. When the zero energy indicator indicates that a sterilization cycle has occurred, the processor 2404 increases the usage cycle count.
[00357] [00357] A 2408 counter maintains the count of usage cycles. In some cases, counter 2408 comprises a memory module
[00358] [00358] In some cases, the use cycle circuit 2402 prevents the additional use of the 2400 power supply set and / or the surgical instrument 2410 when the use cycle count exceeds a predetermined use limit. In one example, the usage cycle count associated with the 2400 power pack is provided to an operator, for example, using a monitor formed entirely with the 2410 surgical instrument. The 2410 surgical instrument provides an indication to the operator that the usage cycle count has exceeded a predetermined limit for the 2400 power supply set and prevents further operation of the surgical instrument
[00359] [00359] In some cases, the 2402 use cycle circuit is configured to physically prevent operation when the predetermined use limit is reached. For example, the 2400 power pack may comprise a guard configured for positioning over the 2400 power pack contacts when the usage cycle count exceeds the predetermined usage limit. The protection prevents the recharging and use of the 2400 power supply by covering the electrical connections of the 2400 power supply.
[00360] [00360] In some cases, the use cycle circuit 2402 is located, at least partially, inside the surgical instrument 2410 and is configured to maintain a count of use cycles for the surgical instrument 2410. The Figure 54 illustrates one or more components of the use cycle circuit 2402 in the surgical instrument 2410 in dashed lines, illustrating the alternate positioning of the use cycle circuit 2402. When a predetermined use limit of the surgical instrument 2410 is exceeded, the use cycle circuit 2402 disables and / or prevents the operation of the surgical instrument
[00361] [00361] In some cases, the use cycle circuit 2402 is configured to prevent the operation of the surgical instrument 2410 after the predetermined use limit is reached. In some cases, the surgical instrument 2410 comprises a visible indicator to indicate when the predetermined use limit has been reached and / or exceeded. For example, a flag, such as a red flag, may be displayed on the surgical instrument 2410, such as from the handle, to provide the operator with a visual indication that the surgical instrument 2410 has exceeded the predetermined use limit. As another example, the 2402 use cycle circuit can be coupled to a screen formed entirely with the 2410 surgical instrument. The 2402 use cycle circuit displays a message indicating that the predetermined use limit has been exceeded. The 2410 surgical instrument can provide an audible indication to the operator that the predetermined use limit has been exceeded. For example, in a modality, the surgical instrument 2410 emits an audible sound when the predetermined use limit is exceeded and the power set 2400 is removed from the surgical instrument 2410. The audible sound indicates the last use of the surgical instrument 2410 and indicates that the 2410 surgical instrument must be discarded or reconditioned.
[00362] [00362] In some cases, the use cycle circuit 2402 is configured to transmit the use cycle count of the surgical instrument 2410 to a remote location, such as, for example, a central database. Usage cycle circuit 2402 comprises a communications module 2412 configured to transmit the usage cycle count to a remote location. The 2412 communications module can use any suitable communications system, such as a wired and / or wireless communication system. The remote site can comprise a central database configured to maintain usage information. In some cases, when the 2400 power set is coupled to the 2410 surgical instrument, the 2400 power set records a serial number for the 2410 surgical instrument. The serial number is transmitted to the central database, for example, when the 2400 power pack is attached to a charger. In some cases, the central database maintains a count that corresponds to each use of the 2410 surgical instrument. For example, a bar code associated with the 2410 surgical instrument can be scanned optically each time the 2410 surgical instrument is used. When the usage count exceeds a predetermined usage limit, the central database provides a signal to the surgical instrument 2410 indicating that the surgical instrument 2410 should be discarded.
[00363] [00363] The 2410 surgical instrument can be configured to block and / or prevent the operation of the 2410 surgical instrument when the use cycle count exceeds a predetermined use limit. In some cases, the 2410 surgical instrument comprises a disposable instrument and is discarded after the use cycle count exceeds the predetermined use limit. In other cases, the surgical instrument 2410 comprises a reusable surgical instrument that can be reconditioned after the count of use cycles exceeds the predetermined use limit. The 2410 surgical instrument initiates a reversible block after the predetermined use limit is reached. A technician refurbishes the surgical instrument 2410 and releases the lock, for example, with the use of a specialized technical key configured to reset the 2402 use cycle circuit.
[00364] [00364] In some cases, the 2400 power pack is loaded and sterilized simultaneously before use. Figure 57 illustrates an example of a combined sterilization and charging system 2600, configured to charge and sterilize a 2602 battery simultaneously.
[00365] [00365] The load profile applied by the battery charger 2610 is configured to correspond to the sterilization cycle of the sterilization chamber 2604. For example, in one example, a sterilization procedure time is about 28 to 38 minutes. The 2610 battery charger is configured to provide a charge profile that charges the battery during the sterilization procedure time. In some cases, the load profile may extend over a cooling period after the sterilization procedure. The charging profile can be adjusted by the battery charger 2610 based on feedback from the supply set 2602 and / or the sterilization set 2604. For example, in one example, a sensor 2612 is located in the sterilization chamber 2604. The 2612 sensor is configured to monitor one or more characteristics of the 2604 sterilization chamber, such as chemicals in the chamber.
[00366] [00366] Figure 58 illustrates an example of a combined sterilization and charging system 2650, configured to energize a power supply 2652 equipped with a battery charger 2660 integrally formed with it. An alternating current source (AC) 2666 is located outside the sterilization chamber 2654 and is attached to the battery charger 2660 via an AC cable 2656 mounted through a wall 2658 of the sterilization chamber
[00367] [00367] In several cases, a surgical system may include a magnet and a sensor. In combination, the magnet and the sensor can cooperate to detect various conditions of a fastener cartridge, such as the presence of a fastener cartridge in a surgical instrument end actuator, the type of fastener cartridge loaded in the actuator edge and or the release status of a loaded fastener cartridge, for example. Referring now to Figure 62, a claw 902 of an end actuator 900 can comprise a magnet 910, for example, and a clamp cartridge 920 can comprise a sensor 930, for example. In several cases, the magnet 910 can be positioned at the distal end 906 of an elongated channel 904 sized and configured to receive the clamp cartridge 920. In addition, the sensor 930 can be at least partially integrated and retained at the distal end 926 from the tip 924 of the fastener cartridge 920, for example. In several cases, the 924 sensor may be in signal communication with the surgical instrument's microcontroller.
[00368] [00368] In several circumstances, sensor 930 can detect the presence of magnet 910 when clamp cartridge 920 is positioned in elongated groove 904 of claw 902. Sensor 930 can detect when clamp cartridge 920 is incorrect positioned in the elongated channel 904 and / or not loaded in the elongated channel 904, for example, and can communicate the state of loading of the cartridge to the microcontroller of the surgical system, for example. In certain cases, magnet 910 can be positioned on fastener cartridge 920, for example, and sensor 930 can be positioned on end actuator 900, for example. In several cases, sensor 930 can detect the type of fastener cartridge 920 loaded in end actuator 900. For example, different types of fastener cartridges may have different magnetic arrangements, such as different offset (s) ) in relation to the
[00369] [00369] With reference now to Figure 63, in certain cases, an end actuator 3000 may include a plurality of magnets and a plurality of sensors. For example, a claw 3002 may include a plurality of magnets 3010, 3012 positioned at the distal end 3006 thereof. In addition, the clamp cartridge 3020 may include a plurality of sensors 3030, 3032 positioned at the distal end 3026 of the tip 3024, for example. In some cases, the sensors 3030, 3032 can detect the presence of the clamp cartridge 3020 in the elongated channel 3004 of the claw 3002. In many cases, the sensors 3030, 3032 can comprise Hall effect sensors, for example . Several sensors are described in U.S. Patent No. 8,210,411, filed September 23, 2008, and entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT. U.S. Patent No. 8,210,411, filed September 23, 2008, and entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT is hereby incorporated by reference in its entirety. The addition of a sensor or additional sensors can provide a signal with a greater bandwidth, for example, which can provide additional and / or optimized information to the microcontroller of the surgical instrument. Additionally or alternatively, the additional sensors can determine if the clamp cartridge 3020 is properly seated in the elongated groove of the claw 3002, for example.
[00370] [00370] In several cases, a magnet can be positioned on a moving component of a fastener cartridge. For example, a magnet can be positioned over a component of the fastener cartridge that moves during a firing stroke. In such cases, a sensor on the end actuator can detect the trigger state of the fastener cartridge. For example, with reference now to Figure 64, a magnet 3130 can be positioned on the cart 3122 of a fastener cartridge 3120. In addition, a sensor 1110 can be positioned on the claw 3102 of the end actuator 3100. In various circumstances , cart 3122 can move during a firing stroke. In addition, in certain cases, the cart 3120 may remain at the distal end of the clamp cartridge 3120 after the firing stroke. In other words, after the cartridge has been fired, the cart 3120 can remain at the distal end of the clamp cartridge 3120. Consequently, the sensor 3110 can detect the position of the magnet 3130 and the corresponding cart 3120 to determine the trigger state of the 3120 fastener cartridge. For example, when the sensor 3110 detects the proximal position of the magnet 3130, the fastener cartridge 3120 may be in the non-triggered state and ready to fire, for example, and when the 3110 sensor detects the distal position of the magnet 3130, the clamp cartridge 3120 can be worn, for example. With reference now to Figure 65, in several cases, the jaw 3202 of an end actuator 3200 may include a plurality of sensors
[00371] [00371] Additionally or alternatively, an end actuator can include a plurality of electrical contacts that can detect the presence and / or a trigger state of a fastener cartridge. Now referring to Figure 66, a 3300 end actuator can include a clamp 3302 that defines a channel 3304 configured to receive a clamp cartridge 3320. In several cases, clamp 3302 and clamp cartridge 3320 can buy - address electrical contacts. For example, the elongated channel 3304 can define a bottom surface 3306, and an electrical contact 3310 can be positioned on the bottom surface 3306. In several cases, a plurality of electrical contacts 3310 can be defined on the elongated channel 3304. The electrical contacts 3310 can form part of a trip state circuit 3340, which can be in signal communication with a microcontroller of the surgical system. For example, electrical contacts 3310 can be electrically coupled to and / or be in communication with a power source and can form electrically active ends of an open circuit, for example. In some cases, one of the 3310 electrical contacts can be energized so that a voltage potential is created between the 3310 electrical contacts. In certain cases, one of the contacts can be coupled to a microprocessor output channel, for example, which can apply a voltage potential to the contact. Another contact can be coupled to a microprocessor output channel, for example
[00372] [00372] In several cases, the electrical contact 3330 may comprise a metal bar or plate on the 3320 cart, for example. The 3330 electrical contact on the 3320 fastener cartridge can cooperate with the 3310 electrical contact (s) on the 3300 end actuator, for example. In certain circumstances, the 3330 electrical contact may come into contact with the 3310 electrical contact (s) when the 3322 trolley is positioned in a particular position, or a range of positions, on the 3320 fastener cartridge. For example, electrical contact 3330 may come into contact with electrical contacts 3310 when the cart 3322 is in the non-triggered position and, therefore, positioned proximally on the 3320 gripper cartridge. In these circumstances, the electrical contact 3330 can close the circuit between electrical contacts 3310, for example. In addition, the trip state circuit 3340 can communicate the closed circuit, that is, the indication of a non-triggered cartridge, to the micro-controller of the surgical system. In such cases, when the 3322 trolley is triggered distally during a firing stroke, the electrical contact 3330 can move out of the electrical contact with electrical contacts 3310, for example. Consequently, the trip state circuit 3340 can communicate the open circuit, that is, the
[00373] [00373] Additionally or alternatively, referring now to Figure 67, an end actuator 3400 may include a claw 3402 and a cartridge circuit present 3440. In several cases, claw 3402 may comprise an electrical contact 3410, or a plurality of electrical contacts 3410, in an elongated channel 3404 of the same, for example. In addition, a 3420 fastener cartridge can include a 3430 electrical contact, or a plurality of 3430 electrical contacts, on an outer surface of the 3420 fastener cartridge. In many cases, the 3430 electrical contacts can be positioned and / or mounted in a fixed or stationary component of the 3420 fastener cartridge, for example. In various circumstances, the electrical contacts 3430 of the clamp cartridge 3420 may come in contact with the electrical contacts 3410 of the end actuator 3400 when the clamp cartridge 3420 is loaded in the elongated pipe 3404, for example. Before placing the clamp cartridge 3420 in the elongated groove 3404, the cartridge circuit present 3440 can be an open circuit, for example. When the clamp cartridge 3420 is properly seated on clamp 3402, electrical contacts 3410 and 3430 can form the closed cartridge circuit 3440. In cases where clamp 3402 and / or clamp cartridge 3420 comprises a plurality of con- electrical contacts 3410, 3430, the cartridge circuit present 3440 may comprise a plurality of circuits. In addition, in certain cases, the 3440 cartridge circuit can identify the type of cartridge loaded in clamp 3402 based on the number and / or arrangement of electrical contacts 3430 on the 3420 fastener cartridge, for example, and corresponding open and / or closed circuits of the present 3440 cartridge circuit, for example.
[00374] [00374] In addition, the electrical contacts 3410 on the clamp 3402 may be in signal communication with the microcontroller of the surgical instrument. The 3410 electrical contacts can be wired to a power source, for example, and / or can communicate with the microcontroller via a wired and / or wireless connection, for example. In several cases, the 3440 cartridge circuit can communicate the presence or absence of a cartridge to the micro-controller of the surgical system. In many cases, a firing stroke can be prevented when the 3440 cartridge circuit indicates the absence of a fastener cartridge in the 3402 end actuator claw, for example. In addition, a firing stroke may be allowed when the 3440 cartridge circuit indicates the presence of a 3420 fastener cartridge in the 3402 end actuator claw.
[00375] [00375] As described throughout the present disclosure, various sensors, programs and circuits can detect and measure various characteristics of the surgical instrument and / or its components, the surgical use or operation and / or the tissue and / or surgical site . For example, the thickness of the tissue, the identification of the instrument components, the data of use and feedback of surgical functions and indications of error and failure can be detected by the surgical instrument. In certain cases, the fastener cartridge may include a non-volatile memory unit, which can be integrated or removably attached to the fastener cartridge, for example. Such a non-volatile memory unit may be in signal communication with the micro-controller through hardware, such as the electrical contacts described in the present invention, radio frequency, or various other forms of data transmission. In such cases, the microcontroller can communicate data and feedback to the non-volatile memory unit in the fastener cartridge, so the fastener cartridge can store information. In many cases, information can be securely stored and access to it can be restricted, as appropriate and appropriate for the circumstances.
[00376] [00376] In certain cases, the non-volatile memory unit may comprise information regarding the characteristics of the fastener cartridge and / or its compatibility with various other components of the modular surgical system. For example, when the fastener cartridge is loaded on an end actuator, the non-volatile memory unit can provide information of compatibility to the microcontroller of the surgical system. In such cases, the microcontroller can check the validity or compatibility of the modular assembly. For example, the microcontroller can confirm that the cable component can trigger the clamp cartridge and / or that the proper clamp cartridge fits the end actuator, for example. In certain circumstances, the microcontroller can communicate the compatibility or lack thereof to the operator of the surgical system, and / or can prevent a surgical function if the modular components are incompatible, for example.
[00377] [00377] As described in the present invention, the surgical instrument can include a sensor, which can cooperate with a magnet to detect various characteristics of the surgical instrument, operation and surgical site. In certain cases, the sensor may comprise a Hall effect sensor, and in other cases, the sensor may comprise a magnetoresistive sensor, as shown in the Figures
[00378] [00378] In several cases, the magnetoresistive sensor can detect the position of the magnetic element, and, in this way, it can detect the thickness of the tissue trapped between the first and the second opposing claws, for example. The magnetoresistive sensor can be in signal communication with the microcontroller, and the magnetoresistive sensor can perform wireless data transmission to an antenna in signal communication with the microcontroller, for example. In several cases, a passive circuit can comprise the magnetoresistive sensor. In addition, the antenna can be positioned on the end actuator and can detect a wireless signal from the magnetoresistive sensor and / or the microprocessor coupled operably to it, for example. In such circumstances, an exposed electrical connection between the end actuator comprising the antenna, for example, and the fastener cartridge comprising the magnetoresistive sensor, for example, can be avoided. In addition, in several cases, the antenna may be in communication with a wire and / or wireless with the microcontroller of the surgical instrument.
[00379] [00379] The tissue can contain fluid and, when the tissue is compressed, the fluid can be pressed from the compressed tissue. For example, when the tissue is trapped between two opposing jaws of a surgical end actuator, the fluid can flow and / or be displaced from the trapped tissue. The flow or displacement of fluid in the black tissue may depend on various characteristics of the tissue, such as thickness and / or the type of tissue, as well as the various characteristics of the surgical operation, such as compression of the desired tissue and / or the elapsed holding time, for example. In many cases, fluid displacement between the opposing jaws of an end actuator can contribute to the malformation of clamps formed between the opposing jaws. For example, fluid displacement during and / or after clamp formation can induce flexion and / or other uncontrolled movement of a clamp in the opposite direction to its desired or intended formation. Consequently, in several cases, it may be desirable to control the firing stroke, for example, to control the firing speed, in relation to the detected fluid flow, or the lack of this, between the opposing jaws of a surgical end actuator .
[00380] [00380] In several cases, the displacement of fluid in the trapped tissue can be determined or approximated through various measurable and / or detectable tissue characteristics. For example, the degree of tissue compression may correspond to the degree of fluid displacement in the trapped tissue. In several cases, a higher degree of tissue compression may correspond to a greater flow of fluid, for example, and a reduced degree of tissue compression may correspond to a lesser flow of fluid, for example. In several circumstances, a
[00381] [00381] In certain cases, the displacement of fluid in the trapped tissue can be determined or approximated by the force necessary to fire the cutting element, that is, the force for firing. The firing force can correspond to the resistance of the cutting element, for example. In addition, the firing force can be measured or approximated by a microcontroller in signal communication with the electric motor that drives the cutting element. For example, when the resistance of the cutting element is greater, the electric motor may need more current to drive the cutting element through the fabric. Similarly, if the resistance of the cutting element is lower, the electric motor may need less current to drive the cutting element through the fabric. In such cases, the microcontroller can detect the amount of current drained by the electric motor during the trip course. For example, the microcontroller can include a current sensor, which can detect the current used to drive the cutting element through the fabric, for example.
[00382] [00382] With reference now to Figure 60, a set or system of surgical instrument can be configured to detect the compression force in the attached tissue. For example, in several cases, an electric motor can drive the trigger element, and a microcontroller can be in signal communication with the electric motor. As the electric motor drives the trigger element, the microcontroller can determine the current drained by the electric motor, for example. In these cases, the firing force can correspond to the current drained by the electric motor over the entire firing stroke, as described above. Referring also to Figure 60, in step 3501, the microcontroller of the surgical instrument can determine whether the current drained by the electric motor increases during the triggering stroke and, if so, can calculate the percentage increase in the current.
[00383] [00383] In several cases, the microcontroller can compare the increase in current drain during the trip stroke to a predefined limit value. For example, the predefined limit value can be 5%, 10%, 25%, 50% and / or 100%, for example, and the microcontroller can compare the current increase detected during a trip course with a value predefined limit. In other cases, the limit increase can be a value or range of values between 5% and 100% and, in other cases, the limit increase can be less than 5% or greater than 100%, for example. For example, if the default limit value is 50%, the microcontroller can compare the percentage of current drain change to 50%, for example. In certain cases, the microcontroller can determine whether the current drained by the electric motor during the trip stroke exceeds a percentage of the maximum current or a baseline value. For example, the microcontroller can determine whether the current exceeds 5%, 10%, 25%, 50% and / or 100% of the maximum motor current. In other cases, the microcontroller can compare the current drained by the electric motor during the trip stroke with a predefined baseline value,
[00384] [00384] In several cases, the microcontroller can use an algorithm to determine the change in the current drained by the electric motor during a trip stroke. For example, the current sensor can detect the current drained by the electric motor at various times and / or intervals during the trip stroke. The current sensor can continuously detect the current drained by the electric motor and / or can intermittently detect the current drained by the electric motor. In several cases, the algorithm can compare the most recent current reading with the current reading, for example. Additionally or alternatively, the algorithm can compare a sample reading within a period of time X with a previous current reading. For example, the algorithm can compare the sample reading with a previous sample reading within a previous period of time X, such as the period of time immediately coming from X, for example. In other cases, the algorithm can calculate the average current trend drained by the motor. The algorithm can calculate the average current drain over a period of time X that includes the most recent current reading, for example, and can compare that average current drain with the average current drain over a period of time X immediately. proceeding, for example.
[00385] [00385] Still with reference to Figure 60, if the microcontroller detects an increase in current that is greater than the change or limit value, the microcontroller can proceed to step 3503, and the triggering speed of the trigger element can be reduced. For example, the microcontroller can communicate with the electric motor to slow down the firing speed of the firing element. For example, the shooting speed can be reduced by a predefined step and / or predefined percentage. In many cases, the microcontroller may comprise a speed control module that can affect changes in the cutting element speed and / or that can maintain the cutting element speed. The speed control module may comprise a resistor, a variable resistor, a pulse width modulation circuit and / or a frequency modulation circuit, for example. Still with reference to Figure 60, if the current increase is less than the limit value, the microcontroller can proceed to step 3505, in which the triggering speed of the triggering element can be maintained, for example . In several cases, the microcontroller can continue to monitor the current drained by the electric motor and changes to it during at least a portion of the trip course. In addition, the microcontroller and / or the speed control module can adjust the speed of the triggering element throughout the triggering stroke, according to the current drain detected. Under these circumstances, control of the firing speed based on the approximate fluid flow or displacement in the fixed tissue, for example, can reduce the incidence of staple malformation in the trapped tissue.
[00386] [00386] With reference now to Figure 61, in several cases, the micro-controller can adjust the speed of the triggering element, setting the triggering element for a predefined period of time. For example, similarly to the embodiment shown in Figure 60, if the microcontroller detects a current drain that exceeds a predefined threshold value 3511, the microcontroller can proceed to step 3513, and the trigger element can be ground. For example, the microcontroller can pause the movement and / or translation of the triggering element for one second if the increase in current measured by the microcontroller exceeds the limit value. In other cases, the trigger stroke can be paused for a fraction of a second and / or more than a second, for example. Similarly,
[00387] [00387] As described herein, a surgical instrument, such as a surgical stapling instrument, for example, can include a processor, computer and / or controller, for example (in the present invention collectively called "processor") and one or more sensors in signal communication with the processor, computer and / or controller. In several cases, a processor may comprise a microcontroller and one or more memory units operationally coupled with the microcontroller. When executing the instruction code stored in the memory, the processor can control various components of the surgical instrument, such as the engine, several drive systems, and / or a user screen, for example. The processor can be implemented using integrated and / or distinct hardware elements, software elements and / or a combination of both. Examples of integrated hardware elements may include processors, microprocessors, microcontrollers, integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP, or "digital signal processors"), field programmable gate arrays (FPGA, or "field programmable gate arrays"), logic gates, registers, semiconductor devices, chips, microcircuits, chipsets, microcontrollers , systems on a chip (SoC, or "system-on-chip") and / or packaged systems (SiP, or "system-in-package"). Examples of different hardware elements may include circuits and / or circuit elements, such as logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors and / or relays. In certain cases, the processor may include a hybrid circuit comprising elements or components of separate and integrated circuits on one or more substrates, for example.
[00388] [00388] The processor can be an LM 4F230H5QR, available from Texas Instruments, for example. In certain cases, 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 prefetch buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), internal read-only memory (ROM) or internal loaded with StellarisWare® software, electrically erasable programmable read-only memory (EEPROM), or 2KB "electrically erasable programmable read-only memory", one or more pulse width modulation (PWM) modules modulation "), one or more analogs of quadrature encoder inputs (QEI), one or more 12-bit analog-to-digital converters (ADC," Analog-to-Digital Converters ") with 12 channels analog inputs, among other features that are readily available. Other microcontrollers can be readily replaced for use with the
[00389] [00389] Signal communication can comprise any suitable form of communication by which information is transmitted between a sensor and the processor. Such communication may comprise wired communication that uses one or more conductors and / or wireless communication that uses a wireless transmitter and receiver, for example. In several cases, a surgical instrument may include a first sensor configured to detect a first condition of the surgical instrument, and a second sensor configured to detect a second condition of the surgical instrument. For example, the surgical instrument can include a first sensor configured to detect whether a surgical instrument closing trigger has been activated and a second surgical sensor configured to detect whether a surgical instrument trigger has been activated, for example.
[00390] [00390] Several modalities are provided for in which the surgical instrument can include two or more sensors configured to detect the same condition. In at least one of these modalities, the surgical instrument can comprise a processor, a first sensor in signal communication with the processor and a second sensor in signal communication with the processor. The first sensor can be configured to communicate a first signal to the processor and the second sensor can be configured to communicate a second signal to the processor. In several cases, the processor may include a first input channel to receive the first signal from the first sensor and a second input channel to receive the second signal from the second sensor. In other cases, a multiplexing device can receive the first signal and the second signal and communicate the data of the first and second signals to the processor as part of a single combined signal, for example. In some cases,
[00391] [00391] In cooperation with the sensors, as described in more detail below, the processor of the surgical instrument can verify that the surgical instrument is operating correctly. The first sign can include data regarding a condition of the surgical instrument and the second sign can include data relating to the same condition. The processor may include an algorithm configured to compare the data from the first signal with the data from the second signal and determine whether the data communicated by the two signals are the same or different. If the data for the two signals are the same, the processor can use the data to operate the surgical instrument. In such circumstances, the processor may assume that a fault condition does not exist. In several cases, the processor can determine whether the data from the first signal and the data from the second signal are located in an acceptable or recognized data range. If the data for the two signals is located in the recognized data range, the processor can use the data from both one and both signals to operate the surgical instrument. In such circumstances, the processor may assume that a fault condition does not exist. If the first signal data is outside the recognized data range, the processor can assume that a fault condition exists in relation to the first sensor, ignore the first signal and operate the surgical instrument in response to the second signal data . Likewise, if the data from the second signal is outside the recognized data range, the processor can assume that a fault condition exists in relation to the second sensor, ignore the second signal and operate the surgical instrument in response to data from the first sign. The processor can be configured to selectively ignore the input of one or more sensors.
[00392] [00392] In several cases, in addition to the one described above, the processor may include a module configured to implement an algorithm configured to evaluate whether the data of the first signal are located between a first value and a second value. Similarly, the algorithm can be configured to assess whether the data for the second signal is located between the first value and the second value. In certain cases, a surgical instrument may include at least one memory device. A memory device can be integrated into the processor, in signal communication with the processor and / or accessible by the processor. In certain cases, the memory device may include a memory chip that includes data stored on it. The data stored on the memory chip can be in the form of a look-up table, for example, and the processor can access the look-up table to establish the acceptable and recognized data range. In certain cases, the memory device may comprise non-volatile memory (ROM) with bitmask or flash memory, for example. Non-volatile memory (NVM) can comprise other types of memory including, for example, programmable ROM (PROM, "programmable ROM"), programmable erasable ROM (EPROM), electrically erasable programmable ROM (EEPROM, or memory battery-backed random access (RAM), such as
[00393] [00393] In addition to the above, the first sensor and the second sensor can be redundant. The processor can be configured to compare the first signal from the first sensor with the second signal from the second sensor to determine what action, if any, needs to be taken. In addition to or in place of the above, the processor can be configured to compare the data from the first signal and / or the second signal with limits established by the algorithm and / or the data stored in a memory device. In many circumstances, the processor can be configured to apply a gain to a signal it receives, such as the first and / or the second signal, for example. For example, the processor can apply a first gain to the first signal and a second gain to the second signal. In certain cases, the first gain may be the same as the second gain. In other cases, the first gain and the second gain may be different. In some circumstances, the processor can be configured to calibrate the first gain and / or the second gain. In at least one of these circumstances, the processor can modify a gain so that the amplified signal is within a desired or acceptable range. In various circumstances, the unmodified gain and / or the modified gain can be stored in a memory device that is integrated with and / or accessible by the processor. In certain modes, the memory device can track the history of gains applied to a signal. In any case, the processor can be configured to provide this calibration before, during and / or after a surgical procedure.
[00394] [00394] In several modalities, the first sensor can apply a first gain to the first signal and the second sensor can apply a second gain to the second signal. In certain embodiments, the processor can include one or more output channels and can communicate with the first and second sensors. For example, the processor may include a first output channel in signal communication with the first sensor and a second output channel in signal communication with the second sensor. In addition to the above, the processor can be configured to calibrate the first sensor and / or the second sensor. The processor can send a calibration signal through said first output channel, to modify a first gain that the first sensor is applying to the first signal. Similarly, the processor can send a second calibration signal through said second output channel, to modify a second gain that the second sensor is applying to the first signal.
[00395] [00395] As discussed above, the processor can modify the operation of the surgical instrument, in view of the data received from the first signal and / or the second signal. In some circumstances, the processor may ignore the signal from a redundant sensor that the processor considers to be defective. In some circumstances, the processor may return the surgical instrument to a safe state and / or warn the user of the surgical instrument that one or both of the sensors may be defective. In certain circumstances, the processor may disable the surgical instrument. In various circumstances, the processor may disable and / or modify certain functions of the surgical instrument when the processor detects that one or more of the sensors may be defective. In at least one circumstance, the processor may limit operable controls to those controls that can allow the surgical instrument to be safely removed from the surgical site, for example, when the processor detects that one or more of the sensors may be defective . In at least one circumstance, when the processor detects that one or more of the sensors may be defective. In certain circumstances, the processor may limit the maximum speed, energy and / or torque that can be released (or released) by the motor of the surgical instrument, for example, when the processor detects that one or more of the sensors may be defective. In various circumstances, the processor may enable a recalibration control that may allow the user of the surgical instrument to recalibrate the sensor with poor or unproductive performance, for example, when the processor detects that one or more of the sensors may be defective . Although several exemplary modalities using two sensors to detect the same condition are described in the present invention, several other modalities that use more than two sensors are envisaged. The principles applied to the two-sensor system described in the present invention can be adapted to systems that include three or more sensors.
[00396] [00396] As discussed above, the first sensor and the second sensor can be configured to detect the same condition as the surgical instrument. For example, the first sensor and the second sensor can be configured to detect whether an anvil of the surgical instrument is in an open condition, for example. In at least one case, the first sensor can detect the movement of a closing trigger to an actuated position, and the second sensor can detect the movement of an anvil in a fixed position, for example. In some cases, the first sensor and the second sensor can be configured to detect the position of a trigger member configured to implant clamps from a surgical instrument end actuator. In at least one of these cases, the first sensor can be configured to detect the position of a motor-driven rack on a surgical instrument cable and the second sensor can be configured to detect the position of a firing member on a drive shaft or a surgical instrument end actuator that is operationally coupled to the motor driven rack, for example. In several cases, the first and second sensors could check whether the same event is taking place. The first and second sensors could be located in the same portion of the surgical instrument and / or in different portions of the surgical instrument. A first sensor can be located on the cable, for example, and a second sensor can be located on the drive shaft or on the end actuator, for example.
[00397] [00397] In addition to the above, the first and second sensors can be used to determine whether two events are occurring at the same time. For example, if the closing trigger and the mustache are in motion or have been moved, concomitantly. In certain cases, the first and second sensors can be used to determine whether two events are occurring at the same time. For example, it may not be desirable for the anvil of the end actuator to open while the firing member of the surgical instrument is being advanced to implant clamps from the end actuator. The first sensor can be configured to determine whether the anvil is in a fixed position and the second sensor can be configured to determine whether the trigger member is being advanced. If the first sensor detects that the anvil is in an unfixed position while the second sensor detects that the firing member is being advanced, the processor can interrupt the power supply to the surgical instrument motor, for example. Similarly, the first sensor can be configured to detect whether a release actuator configured to release the end actuator has been pressed and the second sensor can be configured to detect whether a trigger actuator configured to operate the surgical instrument motor. was pressed. The pro-
[00398] [00398] In some cases, in addition to that described above, the condition detected may include the energy consumed by the surgical instrument. In at least one case, the first sensor can be configured to monitor the current drained from a battery of the surgical instrument and the second sensor can be configured to monitor the battery voltage. As discussed above, this information can be communicated from the first sensor and the second sensor to the processor. With this information, the processor can calculate the electrical energy drain from the surgical instrument. This system could be called "power supply side" energy monitoring. In certain cases, the first sensor can be configured to monitor the current drained by a surgical instrument motor and the second sensor can be configured to detect the current drained by a surgical instrument processor, for example. As discussed above, this information can be communicated from the first sensor and the second sensor to the processor. With this information, the processor can calculate the electrical energy drain from the surgical instrument. As other components of the surgical instrument drain electrical energy, a sensor could be used to detect the current drawn for each component and communicate this information to the processor. This system could be called "side of use" energy monitoring. Several modalities are foreseen that use energy monitoring of the feeding side. In several cases, the processor and / or an algorithm implemented by the processor, can be configured to calculate a device state using more than one sensor that can be detected directly by just one sensor. Based on this calculation, the processor can allow, block and / or modify a function of the surgical instrument.
[00399] [00399] In various circumstances, the condition of the surgical instrument that can be detected by a processor and a sensor system may include the orientation of the surgical instrument. In at least one embodiment, the surgical instrument may include a cable, an axis extending from the cable, and an end actuator extending from the drive axis. A first sensor can be positioned inside the cable and a second sensor can be positioned inside the drive shaft, for example. The first sensor may comprise a first inclination sensor and the second sensor may comprise a second inclination sensor, for example. The first tilt sensor can be configured to detect the instrument's orientation in relation to the foreground and the second tilt sensor can be configured to detect the instrument's orientation in relation to a background. The foreground and background may or may not be orthogonal. The first sensor can comprise an accelerometer and / or a gyroscope, for example. The second sensor can comprise an accelerometer and / or a gyroscope, for example. Several modalities are provided that comprise more than two sensors and each sensor can comprise an accelerometer and / or a gyroscope, for example. In at least one implementation, a first sensor can comprise a first accelerometer arranged along a first geometry axis and a second sensor can comprise a second accelerometer disposed along the second geometry axis which is different from the first axis geometric. In at least these cases, the first geometric axis can be transversal to the second geometric axis.
[00400] [00400] In addition to the above, the processor can use data from the first and second accelerometers to determine the direction in which gravity is acting in relation to the instrument, that is, the direction of earth in relation to the surgical instrument. In certain cases, the magnetic fields generated in the environment surrounding the surgical instrument can affect one of the accelerometers. In addition to the above, the processor can be configured to ignore data from an accelerometer if the accelerometer data is inconsistent. In addition, the processor can be configured to ignore data from an accelerometer if the accelerometer hesitates between two or more strong polarity orientations, for example. To the extent that an external magnetic field is affecting two or more and / or all accelerometers of a surgical instrument, the processor can disable certain functions of the surgical instrument that depend on data from the accelerometers. In many cases, a surgical instrument may include a screen configured to display images communicated to the screen by the processor, and the processor can be configured to change the orientation of the images displayed on the screen when the surgical instrument cable is reoriented, or at least when a cable orientation is detected by the accelerometers. In at least one case, the display on the monitor can be reversed when the cable is oriented upside down. If the processor determines that the orientation data for one or more accelerometers is flawed, the processor may prevent the display from being redirected away from its standard position, for example.
[00401] [00401] In addition to the above, the orientation of a surgical instrument may or may not be detectable from a single sensor. In at least one case, the handle of the surgical instrument can include a first sensor and the drive shaft can include a second sensor, for example. By using data from the first sensor and the second sensor, and / or data from any other sensor, the processor can determine the orientation of the surgical instrument. In some cases, the processor may use an algorithm configured to combine data from the first sensor signal, the second sensor signal, and / or any suitable number of sensor signals to determine the orientation of the surgical instrument. In at least one case, a cable sensor positioned on the cable can determine the orientation of the cable in relation to gravity. A drive shaft sensor positioned on the drive shaft can determine the orientation of the drive shaft with respect to gravity. In modes in which the drive shaft, or at least a portion of the drive shaft, does not articulate with respect to the cable, the processor can determine the direction in which the drive shaft, or the drive shaft portion. un articulated, is pointing. In some cases, a surgical instrument may include an end actuator that can articulate with respect to the drive shaft. The surgical instrument may include an articulation sensor that can determine the direction and degree in which the end actuator was articulated in relation to the drive shaft, for example. With the data from the cable sensor, the drive shaft sensor and the articulation sensor, the processor can determine the direction in which the end actuator is pointing. With additional data that includes the length of the cable, the drive shaft and / or the end actuator, the processor can determine the position of the distal end of the end actuator, for example. With this information, the processor can allow, block and / or modify a function of the surgical instrument.
[00402] [00402] In several cases, a surgical instrument may include a redundant processor in addition to a first processor. The redundant processor may be in signal communication with some or all of the sensors with which the processor is in signal communication. The redundant processor can perform some or all
[00403] [00403] In several modalities, a surgical instrument can include a processor and one or more sensors in signal communication with the processor. The sensors can comprise digital sensors, and / or analog sensors. A digital sensor can generate a measurement signal and can include an electronic chip. The electronic chip can convert the measurement signal into a digital output signal. The digital output signal can then be transmitted to the processor using a suitable transmission medium, such as a conductor cable, fiber optic cable, and / or a wireless emitter. An analog sensor can generate a measurement signal and communicate the measurement signal to the processor using an analog output signal.
[00404] [00404] In addition to the above, an analog output signal from a sensor can comprise a series of voltage potentials applied to a processor input channel. In various modes, the voltage potentials of the sensor's analog output signal can be within a defined range. For example, voltage potentials can be between about 0 V and about 12 V, between about 0 V and about 6 V, between about 0 V and about 3 V, and / or between about 0 V and about 1 V, for example. In some cases, voltage potentials may be less than or equal to 12 V, less than or equal to 6 V, less than or equal to 3 V and / or less than or equal to 1 V, for example. In some cases, voltage potentials can be between about 0 V and about -12 V, between about 0 V and about -6 V, between about 0 V and about -3 V, and / or between about 0 V and about -1 V, for example. In some cases, the voltage potentials may be greater than or equal to -12 V, greater than or equal to -6 V, greater than or equal to -3 V, and / or greater than or equal to -1 V, for example example. In some cases, the voltage potentials can be between about 12 V and about -12 V, between about 6 V and about -6 V, between about 3 V and about -3 V, and / or between about 1 V and about -1 V, for example. In many cases, the sensor can supply voltage potentials to a processor input channel in a continuous flow. The processor can sample this data stream at a rate that is less than the rate at which data is delivered to the processor. In some cases, the sensor can supply voltage potentials to a process input channel intermittently or at periodic intervals. In any case, the processor can be configured to evaluate the voltage potentials applied to the input channel or channels and to operate the surgical instrument in response to the voltage potentials, as described in more detail below.
[00405] [00405] In addition to the above, the processor can be configured to evaluate the analog output signal of a sensor. In several modalities, the processor can be configured to evaluate each voltage potential of the analog output signal and / or to take samples of the analog output signal. When taking samples of the analog output signal, the processor can make periodic evaluations of the signal to periodically obtain voltage potentials of the analog output signal. For each evaluation, the processor can compare the voltage potential obtained from the evaluation with a reference value. In various circumstances, the processor can calculate a digital value, such as 0 or 1, or on or off, for example, from this comparison. For example, if the rated voltage potential is equal to the reference value, the processor can calculate a digital value of 1. Alternatively, the processor can calculate a digital value of 0 if the rated voltage potential is equal to the value of reference. In relation to a first modality, the processor can calculate a digital value of 1 if the rated voltage potential is less than the reference value and a digital value of 0, if the rated voltage potential is greater than the value of reference. In relation to a second mode, the processor can calculate a digital value of 0 if the rated voltage potential is less than the reference value and a digital value of 1, if the rated voltage potential is greater than the value of reference. In either case, the processor can convert the analog signal to a digital signal. When the processor is continuously evaluating the voltage potential of the sensor's output signal, the processor can continuously compare the voltage potential to the reference value and continuously calculate the digital value. When the processor is evaluating the voltage potential of the sensor output signal at periodic intervals, the processor can compare the voltage potential to the reference value at periodic intervals and calculate the digital value at periodic intervals.
[00406] [00406] In addition to that described above, the reference value can be part of an algorithm used by the processor. The reference value can be pre-programmed in the algorithm. In some cases, the processor can obtain, calculate, and / or modify the reference value in the algorithm. In some cases, the reference value can be stored on a memory device that is accessible by or integrated with the processor. The reference value can be pre-programmed in the memory device. In some cases, the processor can obtain, calculate, and / or modify the reference value on the memory device. In at least one case, the reference value can be stored in a non-volatile memory. In some cases, the reference value can be stored in volatile memory. The reference value can comprise a constant value. The reference value may or may not be modifiable or overwritten. In certain cases, the reference value can be stored, modified and / or otherwise determined as a result of a calibration procedure. The calibration procedure can be performed during the manufacture of the surgical instrument, during the initialization or initial energization of the instrument, during energization of the instrument from a standby mode, during the use of the instrument, during the placement of the instrument. instrument in a standby mode, and / or during complete instrument de-energization, for example.
[00407] [00407] Also in addition to that described above, the processor can be configured to store the digital value. The digital value can be stored in an electronic logic gate. In several modalities, the electronic logic gate can provide a binary output that can be referenced by the processor to assess a condition detected by the sensor, as described in more detail below. The processor can include the electronic logic port. The binary output of the electronic logic gate can be updated. In various embodiments, the processor can include one or more output channels. The processor can provide binary output for at least one of the output channels. The processor can apply a low voltage to this output channel to indicate a disconnect bit or a high voltage to the output channel to indicate a connection bit, for example. Low voltage and high voltage can be measured against a limit value. In at least one case, low voltage can comprise no voltage, for example. In at least one other case, the low voltage can comprise a voltage that has a first polarity and the high voltage can comprise a voltage that has an opposite polarity, for example.
[00408] [00408] In at least one case, if the voltage potentials evaluated by the processor are consistently at or below the reference value, the electronic logic gate can maintain an "on" output . When a rated voltage potential exceeds the setpoint, the output of the logic gate can be switched to "off". If the voltage potentials evaluated by the processor are consistently above the reference value, the electronic logic gate can maintain an "off" output. When a rated voltage potential is then measured at or below the reference value, the output of the logic gate can be switched back to "on" and so on. In many ways, the electronic logic gate may not maintain a history of its output. In some cases, the processor may include a memory device configured to record the output history of the electronic logic port, that is, record a history of the calculated digital value. In several modalities, the processor can be configured to access the memory device to determine the current digital value and / or at least a previously existing digital value, for example.
[00409] [00409] In several modalities, the processor can provide an immediate response to a change in the calculated digital value. When the processor first detects that the calculated digital value has been changed from "on" to "off" or from "off" to "on", for example, the processor can immediately modify the operation of the surgical instrument. logical. In certain cases, the processor may not immediately modify the operation of the surgical instrument when it detects that the calculated digital value has been changed from "on" to "off" or from "off" to "on",
[00410] [00410] A hysteresis algorithm may be suitable for handling key debounce. A surgical instrument may include a key vibration filter circuit ("debouncer") that uses a capacitor to filter out any rapid changes in signal response.
[00411] [00411] In the example provided above, the sampling delay to go from "on" to "off" was equal to the sampling delay to go from "off" to "on". Provisions are made in which the sampling delays are not the same. For example, if an "on" value in an output channel activates the motor of the surgical instrument and an "off" value in an output channel deactivates the motor, the "on" delay may be greater than the delay in "off", for example. In such cases, the processor may not suddenly start the engine in response to accidental or incidental movements of the trigger while, on the other hand, the processor may react quickly to a release of the trigger to stop the engine. In at least one of these cases, the processor may have an "on" delay, but no "off" delay, so that the motor can be stopped immediately after the trigger is released, for example. As discussed above, the processor can wait for a number of consecutive consistent binary output calculations before changing the binary output value. Other algorithms are provided. For example, a processor may not need a number of consecutive consistent binary output calculations; instead, the processor may only need a certain number, or percentage, of consecutive calculations to be consistent in order to change the binary output.
[00412] [00412] As discussed above, a processor can convert an analog output signal to a digital output signal using a reference value. Also as discussed above, the processor can use the reference value to convert the analog input data, or samples of the analog input data, to "on" values or to "off" values as part of its signal. digital output. In several embodiments, the processor can use more than one reference value to determine whether to issue an "on" or an "off" value. A reference value can define two ranges. One range below the reference value and one range above the reference value. The reference value itself can be part of the first range or the second range, depending on the circumstances. The use of additional reference values can define additional ranges. For example, a first reference value and a second reference value could
[00413] [00413] In addition to the above, the processor can assign an "on" value or an "off" value to the binary output, if the data sample is in the second range. In various modalities, a sample of analog data in the second range may not change the binary output value. For example, if the processor is receiving analog data above the second reference value and producing a certain binary output and the processor subsequently receives analog data between the first reference value and the second reference value, the processor may not change the binary output. If the processor, in this example, receives analog data below the first reference value, the processor can then change the binary output. Correspondingly, in this example, if the processor is receiving analog data below the first reference value and producing a certain binary output and, subsequently, the processor receiving analog data between the first reference value and the second reference value, the processor may not change the binary output. If the processor, in this example, receives analog data above the second reference value, the processor can then change the binary output. In various embodiments, the second range between the first reference value and the second reference value may comprise an observation window in which the processor may not alter the binary output signal. In certain cases, the processor may use different sampling delays, depending on whether the analog input data can jump directly between the first track and the third track or whether the analog input data will transition to the second track before the transition to the third track. For example, the sampling delay may be shorter if the analog input data transitions to the second track before making the transition to the first track or to the third track, compared to when the input data salts. - are directly between the first and third tracks.
[00414] [00414] As discussed above, an analog sensor, such as a Hall effect sensor, for example, can be used to detect a condition of a surgical instrument. In various modalities, the Hall effect sensor can produce a linear analog output that can include a positive and a negative polarity and, in certain cases, produce a wide range of analog output values. This wide range of values may not always be useful, or may not correspond to events that are actually possible for the surgical instrument. For example, a Hall effect sensor can be used to track the anvil orientation of an end actuator which, due to certain physical restrictions on the movement of the anvil, can move only over a small range of movement, such as about 30 degrees, for example. Although the Hall effect sensor can detect the movement of the anvil outside this range of motion, as a practical matter, the Hall effect sensor does not need to do so, and as a result, a portion of the output range of the effect sensor Hall may not be used. The processor can be programmed to recognize only one output range of the Hall effect sensor that corresponds to a possible range of motion of the beaker and, as the processor receives data from the Hall effect sensor that are outside that range of effect. output, either above or below the range, the processor can ignore this data, generate a failure condition, modify the operation of the surgical instrument and / or notify the user of the surgical instrument, for example. In such cases, the processor can recognize a valid range of sensor data and any data received from the sensor, which is outside that range, may be considered invalid by the processor. The valid data range can be defined by a first reference value, or limit, and a second reference value, or limit. The valid data range can include data having a positive and a negative polarity. Alternatively, the valid data range can only comprise data of positive polarity or data of negative polarity.
[00415] [00415] The first reference value and the second reference value, in addition to the one described above, can comprise fixed values. In certain circumstances, the first reference value and / or the second reference value can be calibrated. The first reference value and / or the second reference value can be calibrated when the surgical instrument is initially manufactured and / or subsequently refitted. For example, a trigger, such as the closing trigger, for example, can be moved along its entire range of motion during a calibration procedure and a Hall effect sensor, for example, positioned on the surgical instrument, can detect movement. - closing trigger trigger, or at least the movement of a magnetic element, such as a permanent magnet, for example, positioned on the closing trigger.
[00416] [00416] In addition to the above, a sensor can be calibrated in view of a reference value. For example, if a reference value of +2 V, for example, is associated with an unpinned position of the closing trigger and the processor detects a sensor output value other than +2 V when the trigger of closing is in its unfixed position, the processor can recalibrate the sensor, or the sensor gain, so that the sensor output corresponds, or at least substantially corresponds to the reference value. The processor can use an independent method to confirm that the closing trigger is in its unfixed position. In at least one case, the surgical instrument can include a second sensor in signal communication with the processor, which can independently verify that the closing trigger is in its unfixed position. The second sensor can also comprise an analog sensor, such as a Hall effect sensor, for example. The second sensor can comprise a proximity sensor, a resistance-based sensor, and / or any other suitable sensor, for example. Same or similar attributes could be applied to a trigger trigger of the surgical instrument, for example.
[00417] [00417] As discussed above, with reference to Figures 14 to 18A, a tracking system 800 can comprise one or more sensors, such as a first Hall 803 effect sensor and a second Hall 804 effect sensor, for example, which can be configured to track the position of the 802 magnet. When Figures 14 and 17 are compared, the reader notes that when the closing trigger 32 is moved from its disabled position to its activated position, the 802 magnet can move between a first position adjacent to the first Hall 803 effect sensor and a second position adjacent to the second Hall 804 effect sensor. When magnet 802 is in its first position, the position of magnet 802 can be detected by the first Hall 803 effect sensor, and / or the second Hall 804 effect sensor. The processor of the surgical instrument can use data from the first sensor 803 to determine the position of the magnet 802 and the data from the second sensor 804 to determine independently. the position of the 802 magnet. In these cases, the processor can use data from the second sensor 804 to verify the data integrity of the first sensor 803. Alternatively, the processor can use the data from the first sensor 803 to verify the data integrity of the second sensor 804. The processor can use any suitable hierarchy to determine whether data from a sensor should be used to provide a primary determination or a secondary determination of the position of the 802 magnet. For example, when the 802 magnet is in its In the first position, the 802 magnet can cause a greater disturbance to the magnetic field surrounding the first sensor 803 than to the magnetic field surrounding the second sensor 804 and, as a result, the processor can use the data from the first sensor 803 as a primary determination of the position of the magnet 802. When magnet 802 is closer to the second sensor 804 than to the first sensor 803, the magnet 802 can propose greater disturbance to the magnetic field surrounding the second sensor 804 than to the magnetic field surrounding the first sensor 803 and, as a result, the processor can use the data from the second sensor 804 as a primary determination of the position of the magnet 802.
[00418] [00418] In addition to the above, the path of the magnet 802 in relation to the first sensor 803 can be determined when the magnet 802 moves along a first path segment, when the closing trigger 32 is moved between its position not fixed and its position fixed, and a second segment of trajectory when the closing trigger 130 is moved between its non-triggered position and its triggered position. The range of outputs that the first sensor 803 will produce while tracking the magnet 802, as it moves along its first path segment, can define a valid first range of data, while the range of outputs that the first sensor 803 will produce while tracks the 802 magnet, as it moves along its second path segment, it can define a valid second data range. The first valid range of data may or may not be contiguous with the second valid range of data. In either case, the path of the magnet 802 with respect to the second sensor 804 can also be determined when the magnet 802 moves along its first path segment and its second path segment. The output range that the second sensor 804 will produce while tracking the 802 magnet, as it moves along its first path segment, can define a valid first data range, while the output range that the second sensor 804 will produce while tracking the 802 magnet, as it moves along its second path segment, it can define a second valid data range. When the first sensor 803 and / or the second sensor 804 receive data that is outside its respective first valid data range and second valid data range, the processor can assume that an error has occurred, modify the operation of the surgical instrument and / or notify the operator of the surgical instrument. In certain cases, the processor can be configured to use data from the first sensor 803 and the second sensor 804 to determine whether the surgical instrument has been positioned in a strong external magnetic field, which can affect the operation of the surgical instrument. For example, magnet 802 can move along a path, so that the first sensor 803 and the second sensor 804 do not produce the same output at the same time and, if the first sensor 803 and the second sensor 804 produce the same output at the same time, the processor can determine the existence of a fault condition, for example.
[00419] [00419] Figures 69 to 71B generally represent a surgical fixation and cutting instrument powered by a motor 2000. As illustrated in Figures 69 and 70, the surgical instrument 2000 can include a handle set 2002, a set drive shaft 2004 and power supply 2006 ("power supply", "power pack" or "battery pack"). The drive shaft assembly 2004 can include an end actuator 2008 which, in certain circumstances, can be configured to act as an endocutter to hold, cut, and / or staple the fabric, although in other embodiments, different types of actuators end devices can be used, such as end actuators for other types of surgical devices, claws, cutters, staplers, clip applicators, access devices, gene / drug therapy devices, ultrasound devices, RF, and / or laser devices, for example. Several radiofrequency devices can be found in US patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which was granted on April 4, 1995, and in US patent application serial number 12 / 031,573, entitled SURGICAL FASTENING AND CUTTING INSTRUMENT
[00420] [00420] Referring mainly to Figures 70, 71A, the 2002 handle set can be used with a plurality of interchangeable drive shaft assemblies such as the 2004 drive shaft assembly. interchangeable drives can comprise surgical end actuators such as the 2008 end actuator that can be configured to perform one or more surgical tasks or procedures. Examples of suitable interchangeable drive shaft assemblies are disclosed in US provisional patent application serial number 61 / 782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed on March 14, 2013, the entire disclosure of which is incorporated herein as a reference, in its entirety.
[00421] [00421] With reference mainly to Figure 70, the handle set 2002 can comprise a 2010 compartment consisting of a handle 2012 that can be configured to be handled, handled and acted by a doctor. It will be appreciated that the various exclusive and innovative arrangements of the various forms of interchangeable drive shaft assemblies disclosed herein can also be used effectively in connection with robotically controlled surgical systems. Thus, the term "compartment" can also cover a compartment or similar portion of a robotic system that houses or, otherwise, operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the interchangeable drive shaft assemblies disclosed in the present invention and their equivalents. For example
[00422] [00422] With reference again to Figure 70, the handle set 2002 operationally supports, inside, a plurality of drive systems, which can be configured to generate and apply various control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. For example, the 2002 handle set can operationally support a first drive system or closing drive system, which is used to apply closing and opening movements to the 2004 drive shaft assembly while it is attached or operationally coupled to the handle set 2002. In at least one shape, handle set 2002 can operationally support a trigger drive system, which can be configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly attached to it .
[00423] [00423] Referring mainly to Figures 71A and 71B, the 2002 handle set can include a 2014 engine, which can be controlled by a 2015 engine driver and can be used by the 2000 instrument's trigger system. In many ways, the 2014 motor can be a brushless DC drive motor with a maximum speed of approximately 25,000 RPM, for example. In other provisions, the 2014 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. In certain cases, the motor driver 2015 may comprise an H-bridge 2019 field effect transistor (FET), as illustrated in Figures 71A and 71B, for example. The 2014 engine can be powered by the 2006 power set (Figures 71A and 71B), which can be releasably mounted to the 2002 handle set to provide control energy to the 2000 surgical instrument. The 2006 power set can be comprise a battery that may include several battery cells connected in series, which can be used as the power source to power the surgical instrument 2000. In certain circumstances, the battery cells in the 2006 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 2006 power pack.
[00424] [00424] The drive shaft assembly 2004 can include a drive shaft controller 2022 which can be communicated with the 2016 power management controller via an interface, while the drive shaft assembly 2004 and the power set 2006 are coupled to the handle set 2002. For example, the interface may comprise a first portion of interface 2025 which may include one or more electrical connectors for coupling coupling with corresponding electrical driveshaft assembly connectors and a second portion of interface 2027 which may include one or more connectors for coupling coupling with the corresponding electrical connectors of the power set to enable electrical communication between the drive shaft assembly controller 2022 and the energy management controller 2016 while the drive shaft assembly 2004 and the power supply 2006 are accommodated handgrip set 2002. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the 2004 interchangeable drive shaft set to the 2016 power management controller In response, the power management controller can modulate the battery power output of the 2006 power pack, as described in more detail below, according to the power requirements of the 2004 drive shaft assembly. In certain cases, one or more of the electrical connectors may comprise switches that can be activated after engagement by mechanical coupling of the handle set 2002 to the drive shaft 2004 and / or the power set 2006 to enable electrical communication between the 2022 drive set controller and the 2016 power management controller.
[00425] [00425] In certain circumstances, the interface can facilitate the transmission of one or more communication signals between the energy management controller 2016 and the controller of the drive shaft assembly 2022 by routing these communication signals through a main controller 2017 resident in the 2002 handle set, for example. In other circumstances, the interface can facilitate a direct communication line between the energy management controller 2016 and the drive shaft assembly controller 2022 through the handle handle 2002, while the drive shaft assembly 2004 and the 2006 power pack are attached to the handle set
[00426] [00426] In one case, the main microcontroller 2017 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas
[00427] [00427] In certain cases, the 2017 microcontroller can be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments Instrument LM4F230H5QR is an ARM Cortex-M4F processor core comprising an integrated 256 KB single cycle flash memory, or other non-volatile memory, up to 40 MHz, a buffer transfer to optimize performance above 40 MHz, 32 KB single cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with the StellarisWare® program, electrically erasable programmable read-only memory (EEPROM) of 2KB, one or more pulse width modulation (PWM) modules, one or more input analogs of the quadrature encoder (QEI), one or more 12-bit analog to digital converters (ADC) with 12 analog input channels, among other resources that are readily available for the product data sheet. The present disclosure should not be limited in this context.
[00428] [00428] The 2006 power pack may include a power management circuit which may comprise the 2016 power management controller, a 2038 power modulator and a 2036 current sensor circuit. The power management circuit may be configured to modulate the battery's output power based on the power needs of the 2004 drive shaft assembly, while the 2004 drive shaft assembly and the 2006 power supply assembly are coupled to the 2002 handle assembly. For example, the 2016 power management controller can be programmed to control the 2038 power modulator of the power set 2006 power output and the 2036 current sensor circuit can be used to monitor the power set power output. 2006 to provide feedback to the 2016 power management controller about battery power output so that the management controller 2016 power supply can adjust the power output of the 2006 power supply to maintain a desired output.
[00429] [00429] It is noteworthy that the 2016 power management controller and / or the drive shaft assembly 2022 controller can each comprise one or more processors and / or memory units that can store multiple software modules - tware. Although certain modules and / or blocks of the surgical instrument 2000 can be described by way of example, it can be understood that a greater or lesser number of modules and / or blocks can be used. In addition, although several cases can be described in terms of modules and / or blocks to facilitate description, these modules and / or blocks can be implemented by one or more hardware components, for example, processors, signal processors (DSPs), programmable logic devices (PLDs), application-specific integrated circuits (ASICs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations hardware and software components.
[00430] [00430] In certain cases, the surgical instrument 2000 may comprise an output device 2042 that may include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), hearing feedback devices (for example, a speaker, a bell) or feedback devices. - tactile information (for example, haptic actuators). In certain circumstances, the output device 2042 may comprise a screen 2043 which may be included in the handle assembly
[00431] [00431] Having described a 2000 surgical instrument in general terms, the description now turns to a detailed description of the various electrical / electronic components of the surgical instrument
[00432] [00432] In one embodiment, the 11006 main processor can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one embodiment, the 11004 security processor can be a security microcontroller platform that comprises two families based on microcontrollers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. However, other suitable substitutes for microcontrollers and safety processors can be used, without limitation. In one embodiment, the 11004 safety processor can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing performance, connectivity and memory options. scalable.
[00433] [00433] In certain cases, the main processor 11006 may be an LM 4F230H5QR processor, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a transfer buffer for optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with the StellisWare® program, electrically erasable programmable read-only memory (EEPROM ) of 2KB, one or more pulse width modulation (PWM) modules, one or more input encoders of the quadrature encoder (QEI), one or more 12-bit analog to digital converters (ADC) with 12 analog input channels, among other resources that are readily available for the product data sheet.
[00434] [00434] In one mode, the 11000 segmented circuit comprises an 11002c acceleration segment (segment 3). The 11002c acceleration segment comprises an acceleration sensor
[00435] [00435] In one embodiment, the 11000 segmented circuit comprises an 11002d display segment (segment 4). The display segment 11002d comprises a connector for the screen 11024 coupled to the primary processor 11006. The connector for the screen 11024 couples the primary processor 11006 to a screen 11028 through one or more driver integrated circuits of the screen 11026. The driver integrated circuits of the screen 11026 can be integrated with the 11028 screen and / or can be located separately from the 11028 screen. The 11028 screen can comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal screen ( LCD), and / or any other suitable screen. In some embodiments, the display segment 11002d is coupled to the security processor 11004.
[00436] [00436] In some examples, the 11000 segmented circuit
[00437] [00437] In some embodiments, the 11000 segmented circuit comprises a position encoding segment 11002f (segment 6). The position encoder segment 11002f comprises one or more rotatable magnetic position encoders 11040a to 11040b. The one or more rotary magnetic position encoders 11040a to 11040b are configured to identify the rotational position of a 11048 motor, a drive shaft 2004 and / or an end actuator 2006 of the surgical instrument 2000. In some modalities, rotary magnetic position encoders 11040a to 11040b can be coupled to the security processor 11004 and / or the primary processor 11006.
[00438] [00438] In some modalities, the 11000 segmented circuit comprises an 11002g motor segment (segment 7). The 11002g engine segment comprises a 11048 engine configured to control one or more movements of the energized surgical instrument
[00439] [00439] The 11000 segmented circuit comprises an 11002h power segment (segment 8). A 11008 battery is coupled to the security processor 11004, primary processor 11006, and one or more of the additional circuit segments 11002c to 11002g. The 11008 battery is coupled to the 11000 segmented circuit by a 11010 battery connector and a 11012 current sensor. The 11012 current sensor is configured to measure the total current drain from the 11000 segmented circuit. In some embodiments, one or more voltage converters 11014a, 11014b, 11016 are configured to provide predetermined voltage values to one or more circuit segments 11002a to 11002g. For example, in some modalities,
[00440] [00440] In some embodiments, the safety segment 11002a comprises a motor power switch 11020. The motor power switch 11020 is coupled between the power segment 11002h and the motor segment 11002g. Safety segment 11002a is configured to interrupt power to motor segment 11002g when an error or fault condition is detected by safety processor 11004 and / or primary processor 11006, as discussed in more detail here. invention. Although circuit segments 11002a to 11002g are illustrated with all components of circuit segments 11002a to 11002h located in physical proximity, the skilled person will understand that a circuit segment 11002a to 11002h may comprise components physically and / or electrically. separated from the other components of the same circuit segment 11002a to 11002g. In some embodiments, one or more components can be shared between two or more circuit segments 11002a to 11002g.
[00441] [00441] In some embodiments, a plurality of keys 11056-11070 is coupled to the security processor 11004 and / or the primary processor 11006. The plurality of keys 11056 to 11070 can be configured to control one or more operations of the surgical instrument. 2000, control one or more operations of the 11100 segmented circuit, and / or indicate a state of the surgical instrument
[00442] [00442] The plurality of keys 11056-11070 may comprise, for example, a plurality of handle controls mounted on a handle of the surgical instrument 2000, a plurality of indicator keys, and / or any combination thereof. In various modalities, the plurality of keys 11056-11070 allows a surgeon to manipulate the surgical instrument, provide feedback to the 11000 segmented circuit regarding the position and / or operation of the surgical instrument, and / or indicate unsafe operation of the instrument. surgical 2000. In some modalities, additional keys or a smaller number of keys can be coupled to the 11000 segmented circuit, one or more of the keys 11056-11070 can be combined into a single key, and / or expanded to multiple keys. For example, in one embodiment, one or more of the left and / or right side hinge keys 11058a-11064b can be combined into a single multiposition key.
[00443] [00443] Figures 73A and 73B illustrate a segmented circuit 11100 that comprises a modality of a security processor 11104 configured to implement a surveillance function, among other security operations. Safety processor 11004 and primary processor 11106 of segmented circuit 11100 are in signal communication. A plurality of circuit segments 11102c-11102h are coupled to the primary processor 11106 and are configured to control one or more operations of a surgical instrument, such as, for example, the surgical instrument 2000 illustrated in Figures 1 to 3. For example, in the modality illustrated, segmented circuit 11100 comprises an acceleration segment 11102c, a display segment 11102d, a drive shaft segment 11102e, an encoder segment 11102f, a motor segment 11102g, and a supply segment 11102h. Each of the 11102c and 11102g circuit segments can be coupled to the 11104 safety processor and / or the 11106 primary processor. The primary processor is also coupled to a
[00444] [00444] The 11102c acceleration segment comprises an 11122 accelerometer configured to monitor the movement of the surgical instrument 2000. In several modalities, the 11122 accelerometer can be a single, double, or triple geometric axis accelerometer. The accelerometer 11122 can be used to measure the proper acceleration which is not necessarily the coordinated acceleration (rate of change of speed). Instead, the accelerometer sees the acceleration associated with the weight phenomenon experienced by a test mass at rest in the accelerometer's reference structure
[00445] [00445] The display segment 11102d comprises a screen embedded in the surgical instrument 2000, such as, for example, an OLED screen. In certain embodiments, the surgical instrument 2000 may comprise an output device that may include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), hearing feedback devices (for example, a speaker, a bell) or feedback devices. - tactile training (eg haptic actuators). In some respects, the output device may comprise a screen that may be included in the grip handle 2002, as shown in Figure 69. The drive shaft assembly controller and / or the power management controller can provide feedback to a user of the 2000 surgical instrument via the output device. The interface can be configured to connect the drive shaft assembly controller and / or the power management controller to the output device.
[00446] [00446] The drive shaft segment 11102e comprises a circuit board 11131, such as, for example, a PCI drive shaft, configured to control one or more operations of a drive shaft 2004 and / or an end actuator 2006 coupled to the drive shaft 2004 and a Hall effect switch to indicate the engagement of the drive shaft 1170. The drive shaft circuit board 1131 also includes an 1190 low power microprocessor with access memory technology electric-iron random switch (FRAM), a mechanical hinge switch 1192, a drive shaft release switch 1194 and flash memory 1134. The encoder segment 11102f comprises a plurality of motor encoders 11140a, 11140b configured for provide rotational position information for a 11048 motor, drive shaft 2004, and / or end actuator 2006.
[00447] [00447] The 11102g motor segment comprises a 11048 motor, such as a brushed direct current (DC) motor. Motor 11048 is coupled to primary processor 11106 via a plurality of H 11142 bridge actuators and a motor controller 11143. Motor controller 11143 controls a first motor flag 11174a and a second motor flag 11174b to indicate the status and the position of motor 11048 to primary processor 11106. Primary processor 11106 provides a high pulse width modulation (PWM) signal 11176a, a low PWM signal 11176b, a direction signal 11178, a synchronization signal 11180, and a readjust signal from motor 11182 to motor controller 11143 via a buffer 11184. The power segment 11102h is configured to supply a segment voltage to each of the circuit segments 11102a to 11102g.
[00448] [00448] In one embodiment, the security processor 11104 is configured to implement a monitoring function with respect to one or more circuit segments 11102c to 11102h, such as, for example, the motor segment 11102g. In this sense, the 11104 safety processor employs the surveillance function to detect and recover from primary processor 10006 failures. During normal operation, the 11104 safety processor monitors hardware failures or processor program errors. primary 11104 and initiates corrective action or actions. Corrective actions may include placing the primary processor 10006 in a safe state and restoring normal system operation. In one embodiment, the security processor 11104 is coupled to at least one first sensor. The first sensor measures a first property of the surgical instrument 2000. In some embodiments, the safety processor 11104 is configured to compare the measured property of the surgical instrument 2000 to a predetermined value. For example, in one embodiment, a 11140a motor sensor is coupled to the 11104 safety processor. The 11140a motor sensor provides information about the motor speed and position to the 11104 safety processor. The safety processor
[00449] [00449] In some embodiments, a second sensor is coupled to the primary processor 11106. The second sensor is configured to measure the first physical property. Safety processor 11104 and primary processor 11106 are configured to provide a signal indicating the value of the first sensor and the second sensor, respectively. When safety processor 11104 or primary processor 11106 indicates a value outside an acceptable range, segmented circuit 11100 prevents the operation of at least one of circuit segments 11102c to 11102h, such as the motor segment 11102g. For example, in the embodiment illustrated in Figures 73A and 73B, the safety processor 11104 is coupled to a first motor position sensor 11140a and the primary processor 11106 is coupled to a second motor position sensor 11140b. The motor position sensors 11140a, 11140b can comprise any suitable motor position sensor, such as, for example, a rotating magnetic angle input comprising a sine and cosine output. The motor position sensors 11140a, 11140b provide the respective signals to the safety processor 11104 and to the primary processor 11106 indicative of the motor position 11048.
[00450] [00450] The 11104 security processor and the primary processor
[00451] [00451] In some embodiments, the security processor 11104 receives a signal indicating the value of the second sensor 11140b and compares the value of the second sensor to the value of the first sensor. For example, in one embodiment, the safety processor 11104 is coupled directly to a first sensor on the 11140a engine. A second engine sensor 11140b is coupled to a primary processor 11106, which provides the value of the second sensor of engine 11140b to the security processor 11104, and / or coupled directly to the security processor 11104. The security processor 11104 compares the value of the first sensor of the 11140 engine to the value of the second sensor of the 11140b engine. When the safety processor 11104 detects a disparity between the first sensor of the engine 11140a and the second sensor of the engine 11140b, the safety processor 11104 can interrupt the operation of the engine segment 11102g, for example, cutting off the energy sent to the segment engine 11102g.
[00452] [00452] In some embodiments, the security processor 11104 and / or the primary processor 11106 is coupled to a first sensor 11140a configured to measure a first property of a surgical instrument and a second sensor 11140b configured to measure a second property of the surgical instrument . The first property and the second property comprise a predetermined ratio when the surgical instrument is operating normally. The 11104 security processor monitors the first property and the second property. When a value of the first property and / or the second property inconsistent with the predetermined relationship is detected, a failure occurs. When a fault occurs, the 11104 safety processor performs at least one action, such as, for example, preventing the operation of at least one of the circuit segments, performing a predetermined operation and / or resetting the primary processor 11106. For example, the 11104 safety processor can open the 11120 motor power switch to cut power to the 11102g motor circuit segment when a fault is detected.
[00453] [00453] Figure 74 illustrates a block diagram of a segmented circuit modality 11200 that comprises a safety processor 11204 configured to monitor and compare a first property and a second property of a surgical instrument, such as , for example, the surgical instrument 2000 shown in Figures 1 to 3. The 11204 safety processor is coupled to a first sensor 11246 and a second sensor 11266. The first sensor 11246 is configured to monitor a first property - physics of the surgical instrument 2000. The second sensor 11266 is configured to monitor a second physical property of the surgical instrument 2000. The first and second properties comprise a predetermined relationship when the surgical instrument 2000 is operating normally. For example, in one mode, the first sensor 11246 comprises an engine current sensor configured to monitor the current drain of an engine from a power source. Current drain from the motor can be indicative of the motor speed. The second sensor comprises a linear Hall sensor configured to monitor the position of a cutting member inside an end actuator, for example, an end actuator 2006 coupled to the surgical instrument 2000. The position of the member Cutting speed is used to calculate the speed of the cutting member within the 2006 end actuator. The speed of the cutting member has a predetermined relationship with the speed of the motor when the 2000 surgical instrument is operating normally.
[00454] [00454] Security processor 11204 provides a signal to main processor 11206 indicating that the first sensor 11246 and the second sensor 11266 are producing values compatible with the predetermined ratio. When the 11204 safety processor detects a value from the first sensor 11246 and / or the second sensor
[00455] [00455] With respect again to Figures 73A and 73B, in one embodiment, the security processor 11104 is configured to execute an independent control algorithm. In operation, the 11104 safety processor monitors the 11100 segmented circuit and is configured to control and / or superimpose signals from other components of the circuit, such as, for example, the primary processor 11106, independently. The 11104 safety processor can execute a pre-programmed algorithm and / or can be updated or programmed instantly during operation based on one or more actions and / or positions of the surgical instrument 2000. For example, in one embodiment, the safety processor safety 11104 is reprogrammed with new safety parameters and / or algorithms each time a new drive shaft and / or end actuator is coupled to the surgical instrument 2000. In some modalities, one or more safety values stored by the security processor 11104 are duplicated by the primary processor
[00456] [00456] In some embodiments, the 11104 security processor and the 11106 primary processor implement a redundant security check. The security processor 11104 and primary processor 11106 provide periodic signals that indicate normal operation. For example, during operation, the 11104 security processor can indicate to the 11106 primary processor that the 11104 security processor is running the code and is operating normally. The primary processor 11106 can similarly indicate to the security processor 11104 that the primary processor 11106 is executing the code and functioning normally. In some embodiments, the communication between the security processor 11104 and the primary processor 11106 occurs at a predetermined interval. The predetermined interval can be constant or can be variable based on the state of the circuit and / or the operation of the 2000 surgical instrument.
[00457] [00457] Figure 75 is a block diagram that illustrates a security process 11250 configured to be implemented by a security processor, such as, for example, security process 11104 illustrated in Figures 73A and 73B. In one embodiment, values corresponding to a plurality of properties of a 2000 surgical instrument are provided to the safety processor
[00458] [00458] With reference again to Figures 73A and 73B, the segmented circuit 11100 comprises a plurality of switches 11156 to 11170 configured to control one or more operations of the surgical instrument 2000. For example, in the illustrated embodiment, the segmented circuit 11100 comprises a claw release key 11168, a trigger trigger 11166 and a plurality of keys 11158a to 11164b configured to control the articulation of a drive shaft 2004 and / or the end actuator 2006 coupled to the surgical instrument 2000. The release key clip 11168, trigger trigger 11166, and the plurality of hinge keys 11158a-11164b can comprise analog and / or digital keys. In particular, key 11156 indicates the downward position of the mechanical key elevator, keys 11158a, 11158b indicate left-hand articulation (1) and (2), keys 11160a, 1160b indicate articulation
[00459] [00459] Figure 77 illustrates an embodiment of a multiple key 11350 comprising a plurality of keys. In various modalities, one or more keys are configured to control one or more operations of a surgical instrument, such as, for example, the surgical instrument 2000 illustrated in Figures 69 to 71B. A plurality of toggle switches SW1 to SW16 is configured to control the articulation of a drive shaft 2004 and / or an end actuator 2006 coupled to the surgical instrument 2000. A trigger trigger 11366 is configured to fire the surgical instrument 2000, for example, to position a plurality of clamps, transfer a cutting member inside the end actuator 2006 and / or apply electrosurgical energy to the end actuator
[00460] [00460] Figures 78A and 78B illustrate a modality of a segmented circuit 11400 comprising a multiple key 11450 coupled to primary processor 11406. multiple key 11450 is similar to multiple key 11350 illustrated in Figure 77. Multiple key 11450 comprises a plurality of SW keys to -SW16 configured to control one or more operations of a surgical instrument;
[00461] [00461] In some embodiments, a 11469 potentiometer is coupled to the primary processor 11406 to provide a signal indicative of a claw position of a 2006 end actuator coupled to the 2000 surgical instrument. Potentiometer 11469 can replace and / or supplement a safety processor (not shown) by providing a signal indicating an open / closed position of the grapple used by the primary processor 11106 to control the operation of one or more circuit segments, such as, for example , the 11102g engine segment. For example, when potentiometer 11469 indicates that the end actuator is in a completely closed position and / or a completely open position, primary processor 11406 can open the 11420 motor power switch and prevent further operation of the motor segment 11402g in a specific direction. In some modes, the primary processor 11406 controls the current released to the 11402g motor segment in response to a signal received from the 11469 potentiometer. For example, the primary processor 11406 can limit the energy that can be released to the motor segment 11402g when potentiometer 11469 indicates that the end actuator is closed beyond a predetermined position.
[00462] [00462] With respect again to Figures 73A and 73B, the segmented circuit 11100 comprises an acceleration segment 11102c. The acceleration segment comprises an 11122 accelerometer. The 11122 accelerometer can be coupled to the 11104 safety processor and / or the 11106 primary processor. The 11122 accelerometer is configured to monitor the movement of the surgical instrument
[00463] [00463] In some modalities, the accelerometer 11122 is configured to initiate a transition to and / or in a suspended mode, for example, between suspended mode and wake-up mode and vice versa. The standby mode may comprise a low power mode in which one or more of the segments of the 11102a-11102g circuit are deactivated or placed in a low power state. For example, in one mode, the accelerometer 11122 remains active in suspended mode and the security processor 11104 is placed in a low power mode in which the security processor 11104 monitors the accelerometer 11122, but otherwise does not perform any occupation. The remaining circuit segments 11102b to 11102g are disconnected from the power. In several modalities, the primary processor 11104 and / or the safety processor 11106 are configured to monitor the accelerometer 11122 and to transition the 11100 segmented circuit to the suspended mode, for example, when no movement is detected in a period of time. predetermined time. Although described in relation to monitoring by the 11104 safety processor of the 11122 accelerometer, the standby / wake-up mode can be implemented by the 11104 safety processor by monitoring any of the sensors, keys, or other indicators associated with the surgical instrument. 2000, as described here. For example, the 11104 safety processor can monitor an inertia sensor, or one or more switches.
[00464] [00464] In some modalities, the 11100 segmented circuit transitions to suspended mode after a predetermined period of inactivity. A timer is in signal communication with the 11104 safety processor and / or the primary processor
[00465] [00465] In some modalities, all circuit segments, except the accelerometer 11122, or other sensors and / or keys assigned and the security processor 11104, are disabled when in standby mode. The 11104 safety processor monitors the 11122 accelerometer, or other designated sensors and / or switches. When the accelerometer 11122 indicates movement of the surgical instrument 2000, the safety processor 11104 initiates a transition from the suspended mode to the operational mode. In operational mode, all segments of the 11102a-11102h circuit are fully energized and the 2000 surgical instrument is ready for use. In some
[00466] [00466] The transition to and / or suspended mode can comprise a plurality of stages. For example, in a modality, the 11100 segmented circuit transitions from operational mode to suspended mode in four stages. The first stage starts after the accelerometer 11122 has not detected movement of the surgical instrument for a predetermined first period of time. After the first predetermined period of time, the 11100 segmented circuit turns on a backlight of the 11102d display segment. When no movement is detected within a predetermined second period, the security processor 11104 transitions to a second stage, in which the backlight of the display segment 11102d is switched off. When no movement is detected within a third predetermined period of time, the safety processor 11104 transitions to a third stage, in which the probing rate of the accelerometer 11122 is reduced. When no movement is detected within a fourth predetermined period of time, display segment 11102d is deactivated and segmented circuit 11100 enters suspended mode. In suspend mode, all segments of the circuit, except the accelerometer 11122 and the safety processor 11104 are deactivated. The 11104 security processor enters a low-power mode in which the 11104 security processor only probes the accelerometer
[00467] [00467] In some modalities, the safety processor 11104 makes the transition from segmented circuit 11100 to operating mode only when the accelerometer 11122 detects movement of the surgical instrument 2000 above a predetermined limit. Responding only to movement above a predetermined limit, the safety processor 11104 prevents the inadvertent transition from segmented circuit 11100 to operating mode when surgical instrument 2000 is collided or moved while stored. In some embodiments, the 11122 accelerometer is configured to monitor movement in a plurality of directions. For example, the 11122 accelerometer can be configured to detect movement in a first and a second direction. Safety processor 11104 monitors accelerometer 11122 and transitions segmented circuit 11100 from suspended mode to operating mode when movement above a predetermined limit is detected in the first direction and in the second direction. Because it requires movement above a predetermined limit in at least two directions, the 11104 safety processor is configured to prevent the inadvertent transition of the 11100 segmented circuit from the suspended mode due to accidental movement during storage.
[00468] [00468] In some modalities, the accelerometer 11122 is configured to detect movement in a first direction, a second direction, and a third direction. Safety processor 11104 monitors accelerometer 11122 and is configured to transition segmented circuit 11100 from suspended mode only when accelerometer 11122 detects oscillating motion in each of the first, second and third directions. In some
[00469] [00469] In some modalities, as the time since the last detected movement increases, the predetermined movement limit necessary for the 11100 segmented circuit to leave suspended mode also increases. For example, in some modes, the timer continues to run during standby. As the timer count increases, the safety processor 11104 increases the predetermined movement limit required for segmented circuit 11100 to go into operational mode. The 11104 safety processor can increase the default limit to an upper limit. For example, in some modalities, the 11104 safety processor transitions from the 11100 segmented circuit to the standby mode and resets the timer. The predetermined movement limit is initially set at a low value, requiring only a small movement of the surgical instrument 2000 to remove the 11100 segmented circuit from suspend mode. As the time since the transition to standby mode, as measured by the timer, increases, the 11104 safety processor increases the predetermined movement limit. At time T, safety processor 11104 increased the predetermined limit to an upper limit. For all times T +, the predetermined limit maintains a constant value for the upper limit.
[00470] [00470] In some modalities, one or more additional and / or alternative sensors are used to transition the segmented circuit 11100 between the suspended mode and the operational mode. For example, in one mode, a touch sensor is located on the instrument.
[00471] [00471] In some modalities, the 11104 safety processor is configured to pass the 11100 segmented circuit from the suspended mode to the operational mode when one or more cable controls are actuated. After transition to standby mode, such as after the accelerometer 11122 has not detected movement for a predetermined period, the security processor 11104 monitors one or more cable controls, such as the plurality of joint 11158a-11164b. In other modes, the one or more cable controls comprise, for example, a claw control 11166, a release button 11168, and / or any other suitable cable control. An operator of the 2000 surgical instrument can activate one or more of the cable controls to transition the 11100 segmented circuit to operating mode. When the 11104 safety processor detects the actuation of a cable control, the 11104 safety processor initiates the transition from the 11100 segmented circuit to the operational mode. Because the primary processor 11106 is not active when the cable control is actuated, the operator can actuate the cable control without causing a corresponding action on the 2000 surgical instrument.
[00472] [00472] Figure 84 illustrates a modality of a segmented circuit 11900 comprising an accelerometer 11922 configured to monitor the movement of a surgical instrument, such as, for example, the surgical instrument 2000 illustrated in Figures 69 to 71B. An 11902 power segment supplies power from an 11908 battery to one or more circuit segments, such as the 11922 accelerometer. The 11922 accelerometer is coupled to an 11906 processor. The 11922 accelerometer is configured to monitor the movement of the surgical instrument 2000. The 11922 accelerometer is configured to generate one or more signals indicative of movement in one or more directions. For example, in some modalities, the 11922 accelerometer is configured to monitor the movement of the 2000 surgical instrument in three directions.
[00473] [00473] In certain cases, the 11906 processor can be a
[00474] [00474] In some modalities, the 11922 accelerometer is configured to detect an impact event. For example, when a 2000 surgical instrument is dropped, the 11922 accelerometer will detect acceleration caused by gravity in a first direction and then a change in acceleration in a second direction (caused by impact with the floor and / or another surface). As another example, when the 2000 surgical instrument collides with a wall, the 11922 accelerometer will detect a sudden increase in acceleration in one or more directions. When the 11922 accelerometer detects an impact event, the 11906 processor can prevent the operation of the surgical instrument 2000, as impact events can loosen mechanical and / or electrical components. In some modalities, only impacts above a predetermined limit prevent functioning. In other modalities, all impacts are monitored and cumulative impacts above a predetermined limit can prevent the operation of the 2000 surgical instrument.
[00475] [00475] Referring again to Figures 73A and 73B, in one embodiment, the 11100 segmented circuit comprises a 11102h power segment. The 11102 h supply segment is configured to supply a segment voltage to each of the 11102a to 11102g circuit segments. The 11102h power segment comprises a 11108 battery. The 11108 battery is configured to provide a predetermined voltage, such as, for example, 12 volts through the 11110 battery connector. One or more 11114a, 11114b, 11116 power converters are coupled battery 11108 to supply a specific voltage. For example, in the illustrated modes, the power segment 11102h comprises an auxiliary switching converter 11114a, a switching converter 11114b and a low voltage drop converter (LDO) 11116. The switching converters 11114a, 11114b are configured to supply 3.3 volts to one or more circuit components. The LDO 11116 converter is configured to supply 5.0 volts to one or more components in the circuit. In some embodiments, the 11102h power segment comprises an 11118 amplification converter. A transistor switch (eg, N-channel MOSFET transistor) 11115 is coupled to the 11114b, 11116 power converters. The 11118 amplification converter is configured to provide a high voltage higher than the voltage supplied by the 11108 battery, such as 13 volts. The 11118 amplification converter can comprise,
[00476] [00476] In some modalities, the 11100 segmented circuit is configured for sequential initialization. An error check is performed for each segment of circuit 11102a to 11102g before energizing the next segment of circuit 11102a to 11102g sequential. Fig. 79 illustrates a modality of a process for sequentially energizing a segmented circuit 11270, such as segmented circuit 11100. When a battery 11108 is coupled to segmented circuit 11100, the safety processor 11104 is energized 11272. The processor safety 11104 performs an error self-check 11274. When an error 11276a is detected, the safety processor stops energizing the 11100 segmented circuit and generates an error code 11278a. When no error is detected 11276b, safety processor 11104 initiates 11278b to power on primary processor 11106. Primary processor 11106 performs an error self check. When no error is detected, primary processor 11106 begins sequential energizing of each of the remaining circuit segments 11278b. Each circuit segment is energized and checked for errors by the primary processor 11106. When no error is detected, the next circuit segment is energized 11278b. When an error is detected, the 11104 safety processor and / or the primary processor stops energizing the current segment and generates an error
[00477] [00477] Figure 80 illustrates an embodiment of a 11502 power segment comprising a plurality of 11514, 11516, 11518 series connected power converters. The 11502 power segment comprises an 11508 battery. The 11508 battery is configured to provide a source voltage, such as 12 V. A 11512 current sensor is coupled to battery 11508 to monitor the current drain of a segmented circuit and / or one or more circuit segments. The 11512 current sensor is coupled to a 11513 FET switch. The 11508 battery is coupled to one or more voltage converters 11509, 11514, 11516. An 11509 always-on converter provides constant voltage to one or more components of the circuit, such as a 11522 motion sensor. The 11509 always-on converter comprises, for example, a 3.3 V converter. The 11509 always-on converter can provide a constant voltage to additional circuit components, such as , for example, a security processor (not shown). The 11508 battery is coupled to a 11518 amplification converter. The 11518 amplification converter is configured to provide an amplified voltage above the voltage supplied by the 11508 battery. For example, in the illustrated mode, the 11508 battery provides a 12 V voltage. The 11518 amplification converter is configured to raise the voltage to 13 V. The 11518 amplification converter is configured to maintain a minimum voltage during the operation of a surgical instrument, for example, the surgical instrument 2000 illustrated in Figures 69 a 71B. The operation of a motor can result in the drop of energy supplied to the primary processor 11506 below a minimum threshold and the creation of a blackout or reset condition in the primary processor 11506. The amplification converter 11518 ensures that sufficient energy is available for the primary processor 11506 and / or other circuit components, such as 11543 motor controller, during operation of the surgical instrument
[00478] [00478] The 11518 amplification converter is coupled to one or more reduction converters to supply voltages below the amplified voltage level. A first 11516 voltage converter is coupled to the 11518 amplification converter and provides a reduced first voltage to one or more circuit components. In the illustrated mode, the first voltage converter 11516 provides a voltage of 5 V. The first voltage converter 11516 is coupled to a rotary encoder 11540. A FET switch 11517 is connected between the first voltage converter 11516 and the rotary position encoder 11540. The FET key 11517 is controlled by the 11506 processor. The 11506 processor opens the FET key 11517 to disable the 11540 position encoder, for example, during power-intensive operations. The first 11516 voltage converter is coupled to a second 11514 voltage converter configured to provide a reduced second voltage. The second reduced voltage comprises, for example, 3.3 V. The second voltage converter 11514 is coupled to a 11506 processor. In some embodiments, the amplification converter 11518, the first voltage converter 11516, and the second converter 11514 voltage switches are coupled in a series configuration. The series chaining configuration allows the use of smaller and more efficient converters to generate voltage levels below the amplified voltage level. The modalities, however,
[00479] [00479] Figure 81 illustrates a modality of a 11600 segmented circuit configured to maximize the available energy for intense critical and / or power functions. The 11600 segmented circuit comprises an 11608 battery. The 11608 battery is configured to supply a source voltage, such as 12 V. The source voltage is supplied to a plurality of 11609, 11618 voltage converters. A voltage converter always on 11609 supplies a constant voltage to one or more components of the circuit, for example, a 11622 motion sensor and a 11604 safety processor. The always on voltage converter 11609 is coupled directly to the 11608 battery. 11609 supplies a voltage, for example, of 3.3 V. The modalities, however, are not limited to the particular voltage range (s) described in the context of this specification.
[00480] [00480] The 11600 segmented circuit comprises a 11618 amplification converter. The 11618 amplification converter provides an amplified voltage greater than the source voltage supplied by the 11608 battery, such as 13 V. An 11618 amplification converter provides a voltage amplified directly to one or more components of the circuit, for example, an OLED screen 11688 and a motor controller 11643. By coupling the OLED screen 11688 directly to the amplification converter 11618, the 11600 segmented circuit eliminates the need for a power converter dedicated to the 11688 OLED screen. The 11618 amplification converter provides an amplified voltage to the 11643 motor controller and 11648 motor during one or more operations that require a lot of 11648 motor power, such as a cutting operation. The 11618 amplification converter is coupled to a 11616 reduction converter. The 11616 reduction converter is configured to supply a voltage below the amplified voltage to one or more components of the circuit, such as 5 V. The 11616 reduction converter it is coupled, for example, to a FET key 11651 and to a position encoder
[00481] [00481] The 11616 reduction converter is coupled to a 11614 linear converter. The 11614 linear converter is configured to supply a voltage, for example, 3.3 V. The 11614 linear converter is coupled to the primary processor 11606. The 11614 linear converter supplies the 11606 primary processor with an operating voltage. The 11614 linear converter can be coupled to one or more additional circuit components. The modalities, however, are not limited to the particular tension range (s) described in the context of this specification.
[00482] [00482] The 11600 segmented circuit comprises a retract switch 11656. The retract switch 11656 is attached to a retract port on the surgical instrument 2000. The retract switch 11656 and the security processor 11604 are attached to an AND port
[00483] [00483] An 11646 motor current sensor is coupled in series with the 11648 motor to provide a motor current sensor reading for an 11647 current monitor. The 11647 current monitor is coupled to the 11606 primary processor. current monitor 11647 provides a signal indicative of the current drain of the 11648 motor. The primary processor 11606 can use the 11647 motor current signal to control the operation of the motor, for example, to ensure that the current drain of the 11648 motor is within an acceptable range, to compare the current drain of the 11648 motor to one or more other parameters of the 11600 circuit, for example, the position encoder 11640, and / or to determine one or more parameters of a treatment site. In some embodiments, the 11647 current monitor can be coupled to the 11604 safety processor.
[00484] [00484] In some modalities, the actuation of one or more wrist controls, such as, for example, a trigger trigger, causes the primary processor 11606 to decrease the power supply to one or more components while the wrist control is acted upon. For example, in one embodiment, a trigger trigger controls a firing stroke for a cutting member. The cutting member is driven by the 11648 engine. Activation of the triggering trigger results in the forward operation of the 11648 engine and advancing the cutting member. During firing, the primary processor 11606 closes the FET switch 11651 to remove power to the 11640 position encoder. Disabling one or more components in the circuit allows more energy to be released to the 11648 motor. trigger is released, the total power is restored for the deactivated components, for example, closing the FET switch 11651 and reactivating the position encoder 11640.
[00485] [00485] In some embodiments, the 11604 safety processor controls the operation of the 11600 segmented circuit. For example, the 11604 safety processor can initiate sequential power from the 11600 segmented circuit, transition from the 11600 segmented circuit to the suspended mode and suspended mode, and / or can override one or more control signals from the primary processor
[00486] [00486] Figure 82 illustrates a modality of a 11700 power system comprising a plurality of series-connected energy converters 11714, 11716, 11718 configured to be energized sequentially. The plurality of power converters connected in series 11714, 11716, 11718 can be activated sequentially, for example, by a safety processor during initial power-up and / or suspended mode transition. The safety processor can be powered by an independent power converter (not shown). For example, in a mode, when a voltage from the VBATT battery is coupled to the 11700 supply system and / or when an accelerometer detects movement in the suspended mode, the safety processor initiates a sequential initialization of the power converters connected in series 11714, 11716, 11718. The safety processor activates the lift section to 13 V 11718. The lift section 11718 is energized and performs a self check. In some embodiments, the elevation section 11718 comprises an integrated circuit 11720 configured to raise the source voltage and perform a self-check. A D diode prevents a 5 V 11716 supply section from energizing until lift section 11718 has completed a self check and provided a signal to diode D indicating that lift section 11718 has not identified any errors. In some embodiments, this signal is provided by the security processor. The modalities, however, are not limited to the particular tension range (s) described in the context of this specification.
[00487] [00487] The 5 V 11716 supply section is energized sequentially after the 11718 lift section. The 5 V 11716 supply section performs a self check during energization to identify any errors in the 5 V 11716 supply section. The 11716 5 V supply section comprises an integrated circuit
[00488] [00488] In one embodiment, the 11700 power system comprises an overvoltage identification and mitigation circuit. The overvoltage identification and mitigation circuit is configured to detect a monopolar return current in the surgical instrument and interrupt the supply of the power segment when the monopolar return current is detected. The overvoltage identification and mitigation circuit is configured to identify ground fluctuation in the supply system. The overvoltage identification and mitigation circuit comprises a metal oxide varistor.
[00489] [00489] Figure 83 illustrates a 11800 segmented circuit modality comprising an isolated 11802 control section. Isolated control section 11802 isolates control hardware from the 11800 segmented circuit from a power section (not shown). of the 11800 segmented circuit. Control section 11802 comprises, for example, a primary processor 11806, a safety processor (not shown), and / or additional control hardware, for example, a FET switch 11817 The supply section includes, for example, a motor, a motor starter and / or a plurality of motor MOSFETS. The isolated control section 11802 comprises a charging circuit 11803 and a rechargeable battery 11808 coupled to a 5 V power converter 11816. The charging circuit 11803 and rechargeable battery 11808 isolate the primary processor 11806 from the power section. In some embodiments, the 11808 rechargeable battery is coupled with a security processor and any additional supporting hardware. The isolation of the control section 11802 from the power section allows the control section 11802, for example, the primary processor 11806, to remain active even when the main power is removed, provides a filter, via the battery rechargeable 11808, to keep noise out of control section 11802, isolates control section 11802 from large fluctuations in battery voltage to ensure proper operation even during heavy engine loads, and / or allows the system real-time operating system (RTOS) is used by the 11800 segmented circuit. In some instances, the 11808 rechargeable battery provides a reduced voltage to the primary processor, such as 3.3 V. The modes, however, are not limited to the particular voltage range (s) described
[00490] [00490] Figure 85 illustrates a modality of a process for the sequential initialization of a segmented circuit, such as, for example, segmented circuit 11100 illustrated in Figures 73A and 74B. The 11820 sequential initialization process begins when one or more sensors initiate the transition from suspended mode to operational mode. When one or more sensors stop detecting 11822 status changes, a stopwatch starts 11824. The stopwatch counts the time since the last movement / interaction with the surgical instrument 2000 was detected by one or more sensors . The stopwatch count is compared to a 11826 standby stage table, for example, by the safety processor
[00491] [00491] Referring again to Figures 73A and 73B, in some embodiments, the 11100 segmented circuit comprises one or more environmental sensors to detect the storage and / or improper treatment of a surgical instrument. For example, in a mode, the 11100 segmented circuit comprises a temperature sensor. The temperature sensor is configured to detect the maximum and / or minimum temperature to which the 11100 segmented circuit is exposed. The 2000 surgical instrument and the 11100 segmented circuit comprise a design limit exposure for maximum and / or minimum temperatures. When the 2000 surgical instrument is exposed to temperatures above the limits, for example, a temperature higher than the maximum limit during a sterilization technique, the temperature sensor detects overexposure and prevents the device from functioning. The temperature sensor can comprise, for example, a bimetallic strip configured to disarm the surgical instrument 2000 when exposed to a temperature above a predetermined limit, a solid state temperature sensor configured to store temperature data and supply data from - temperature data to the 11104 safety processor, and / or any other suitable temperature sensor.
[00492] [00492] In some modalities, the 11122 accelerometer is configured as an environmental safety sensor. The accelerometer 11122 records the acceleration experienced by the surgical instrument 2000. An acceleration above a predetermined limit can indicate, for example, that the surgical instrument has fallen. The surgical instrument comprises a maximum acceleration tolerance. When the 11122 accelerometer detects acceleration above the maximum acceleration tolerance, the 11104 safety processor prevents the operation of the 2000 surgical instrument.
[00493] [00493] In some modalities, the 11100 segmented circuit comprises a humidity sensor. The humidity sensor is configured to indicate when the 11100 segmented circuit has been exposed to moisture. The humidity sensor can comprise, for example, an immersion sensor configured to indicate when the surgical instrument 2000 has been completely immersed in a cleaning fluid, a humidity sensor configured to indicate when the humidity is in contact with the segmented circuit 11100 when the 11100 segmented circuit is energized, and / or any other suitable humidity sensor.
[00494] [00494] In some modalities, the 11100 segmented circuit comprises a chemical exposure sensor. The chemical exposure sensor is configured to indicate when the 2000 surgical instrument has come in contact with harmful and / or dangerous chemicals. For example, during a sterilization procedure, an inappropriate chemical can be used, leading to the degradation of the surgical instrument 2000. The chemical exposure sensor can indicate inappropriate exposure to chemical products to the 11104 safety processor , which can prevent the operation of the 2000 surgical instrument.
[00495] [00495] The 11100 segmented circuit is configured to monitor various usage cycles. For example, in one mode, battery 11108 comprises a circuit configured to monitor a cycle count. In some embodiments, the 11104 security processor is configured to monitor the cycle count. The use cycles may include surgical events initiated by a surgical instrument, such as, for example, the number of drive axles 2004 used with the surgical instrument 2000, the number of cartridges inserted and / or implanted by the surgical instrument 2000 , and / or the number of shots of the surgical instrument 2000. In some modalities, a cycle of use may comprise an environmental event, such as, for example, an impact event, exposure to inadequate storage conditions and / or products inappropriate chemicals, a sterilization process, a cleaning process, and / or a reconditioning process. In some modes, a cycle of use may comprise a change of the power supply (for example, battery) and / or a charge cycle.
[00496] [00496] The 11100 segmented circuit can maintain a total use cycle count for all defined use cycles and / or can maintain the individual use cycle counts for one or more cycles
[00497] [00497] Figure 86 illustrates a modality of a 11950 method for controlling a surgical instrument comprising a segmented circuit, such as, for example, the 11602 segmented control circuit illustrated in Figure 80. In 11952, an 11608 supply set is coupled to the surgical instrument. The 11608 power pack may comprise any suitable battery, such as, for example, the 2006 power pack illustrated in Figures 69 to 71B. The 11608 power supply is configured to supply a source voltage to the 11602 segmented control circuit. The source voltage can comprise any suitable voltage, such as, for example, 12 V. In 11954, the 11608 power supply powers a 11618 voltage amplifier converter. The 11618 voltage amplifier converter is configured to supply an established voltage. The established voltage comprises a voltage higher than the source voltage supplied by the 11608 power supply. For example, in some embodiments, the established voltage comprises
[00498] [00498] In some embodiments, the 11618 amplification converter is coupled to a first 11616 voltage regulator configured to provide a first operating voltage. The first operating voltage supplied by the first 11616 voltage regulator is less than the established voltage supplied by the voltage amplification converter. For example, in some embodiments, the first operating voltage comprises a voltage of 5 V. In some modes, the amplification converter is coupled to a second 11614 voltage regulator. The second 11614 voltage regulator is configured to provide a second operating voltage. The second operating voltage comprises a voltage less than the established voltage and the first operating voltage. For example, in some embodiments, the second operating voltage comprises a voltage of 3.3 V. In some embodiments, the battery 11608, the voltage amplifier converter 11618, the first voltage regulator 11616, and the second voltage regulator 11614 are configured in series. The 11608 battery supplies the source voltage to the 11618 voltage amplification converter. The 11618 voltage amplification converter amplifies the source voltage to the established voltage. The voltage amplifier converter 11618 supplies the established voltage to the first voltage regulator 11616. The first voltage regulator 11616 generates a first operating voltage and supplies the first operating voltage to the second voltage regulator 11614. The second 11614 voltage regulator generates the second operating voltage.
[00499] [00499] In some modalities, one or more components of the circuit are energized directly by the 11618 voltage amplification converter. For example, in some modalities, an OLED screen 11688 is coupled directly to the 11618 voltage amplification converter. 11618 voltage amplification supplies the established voltage to the 11688 OLED screen, eliminating the need for the OLED to have an integrated power generator. In some embodiments, a processor, such as the 11604 safety processor illustrated in Figures 73A and 73B, checks the voltage supplied by the 11618 voltage amplification converter and / or the one or more 11616 voltage regulators , 11614. The 11604 safety processor is configured to check a voltage supplied by each of the 11618 voltage amplification converter and 11616, 11614 voltage regulators. In some embodiments, the 11604 safety processor checks the established voltage. When the established voltage is equal to or greater than a first predetermined value, the 11604 safety processor powers the first 11616 voltage regulator. The 11604 safety processor checks the first operating voltage supplied by the first 11616 voltage regulator. first operating voltage is equal to or greater than a second predetermined value, the 11604 safety processor powers the second 11614 voltage regulator. The 11604 safety processor then checks the second operating voltage. When the second operating voltage is equal to or greater than a third predetermined value, the security processor 11604 energizes each of the remaining circuit components of the 11600 segmented circuit.
[00500] [00500] Several aspects of the matter described here relate to methods for controlling the energy management of a surgical instrument through a segmented circuit and protection from variable voltage. In one embodiment, a method for controlling energy management in a surgical instrument comprising a primary processor, a safety processor, and a segmented circuit comprising a plurality of circuit segments in signal communication with the primary processor , the plurality of circuit segments comprising a supply segment, the method comprising providing, by the supply segment, control of the variable voltage of each segment. In one embodiment, the method comprises providing, through the supply segment comprising an amplification converter, stabilization of the supply for at least one of the voltages in the segment. The method also includes providing, through the amplification converter, stabilization of the supply to the primary processor and to the safety processor. The method also comprises supplying, through the amplification converter, a constant voltage to the primary processor and to the safety processor above a predetermined limit regardless of the energy consumption of the plurality of circuit segments. The method also comprises detecting, through an identification and overvoltage mitigation circuit, a monopolar return current in the surgical instrument and interrupting the supply of the supply segment when the monopolar return current is detected. The method also includes identifying, through the identification circuit and overvoltage mitigation, ground fluctuation in the supply system.
[00501] [00501] In another mode, the method also comprises energizing, through the supply segment, each one of the plurality of circuit segments sequentially and checking errors in each circuit segment before energizing a sequential circuit segment. The method also comprises energizing the safety processor by a power supply coupled to the power segment, performing an error check by the safety processor, when the safety processor is energized, and running, and energizing the safety processor, the primary processor when no error is detected during error checking. The method also comprises performing an error check by the primary processor, when the primary processor is powered up, and when no error is detected during the error check, energize sequentially, by the primary processor, each one of the plurality of circuit segments. The method also comprises checking for errors, by the primary processor, in each of the plurality of circuit segments.
[00502] [00502] In another mode, the method comprises energizing, through the amplification converter, the safety processor when a power supply is connected to the power segment, executing, by the safety processor, an error check, and energize the primary processor, through the safety processor, when no error is detected during the error check. The method also comprises performing an error check, by the primary processor, and energizing sequentially, by the primary processor, each one of the plurality of circuit segments when no error is detected during the error check. The method also comprises checking errors, by the primary processor, in each of the plurality of circuit segments.
[00503] [00503] In another modality, the method also comprises, supplying, by a power segment, a voltage of the segment to the primary processor, providing protection of variable voltage of each segment, providing, by an amplification converter, stabilization of the power for at least one of the segment voltages, an overvoltage identification and a mitigation circuit, energize by the power segment, each one of the plurality of segments
[00504] [00504] Several aspects of the matter described here refer to methods for controlling a control circuit of a surgical instrument that has a safety processor. In one embodiment, a method for controlling a surgical instrument that comprises a control circuit that comprises a primary processor, a safety processor in signal communication with the primary processor, and a segmented circuit that comprises a plurality of circuit segments in signal communication with the primary processor, the method comprising monitoring, by the safety processor, one or more parameters of the plurality of circuit segments. The method also comprises checking, by the safety processor, of one or more parameters of the plurality of circuit segments and checking one or more parameters independently of one or more control signals generated by the primary processor. The method additionally comprises the verification, by the safety processor, of the speed of a cutting element. The method also includes the monitoring, by a first sensor, of a first property of the surgical instrument, the monitoring, by a second sensor of a second property of the surgical instrument, with the first property and the second property comprising a predetermined ratio, and the first sensor and the second sensor are in signal communication with the safety processor. The method also includes the prevention, by the safety processor, of the operation of at least one of the plurality of circuit segments when the fault is detected, with a fault comprising the first property and the second property having values incompatible with the predetermined relationship. The method also includes, the monitoring
[00505] [00505] In another modality, the method comprises disabling, by the safety processor, at least one of the plurality of circuit segments when a disparity is detected between the verification of one or more parameters and the one or more control signals generated by the primary processor. The method also includes preventing the safety processor from operating a motor segment and interrupting the supply flow to the motor segment from the supply segment. The method also includes the prevention, by the safety processor, of the forward operation of a motor segment and when the fault is detected, the permission, by the safety processor, of the reverse operation of the motor segment.
[00506] [00506] In another modality, the segmented circuit comprises a motor segment and a supply segment, the method comprising the control, by the motor segment, of one or more mechanical operations of the surgical instrument and the monitoring by the safety processor of one or more parameters of the plurality of circuit segments. The method also comprises the verification, by the safety processor, of one or more parameters of the plurality of circuit segments and the verification, independently, by the safety processor, of one or more parameters independently of one or more signals of control generated by the primary processor.
[00507] [00507] In another mode, the method also includes the independent verification, by the safety processor, of the speed of a cutting element. The method also includes the monitoring, by a first sensor, of a first property of the
[00508] [00508] In another embodiment, the method comprises disabling, by the safety processor, at least one of the plurality of circuit segments when a disparity is detected between the verification of one or more parameters and the one or more control signals generated by the primary processor. The method also includes preventing, by the safety processor, the operation of the motor segment and interrupting the flow of power to the motor segment from the power segment. The method also includes the prevention, by the safety processor, of the forward operation of the motor segment and the allowance, by the safety processor, of the reverse operation of the motor segment when the fault is detected.
[00509] [00509] In another embodiment, the method comprises the monitoring, by the safety processor, of one or more parameters of the plurality of circuit segments, the verification, by the safety processor, of the one or more parameters of the plurality of circuit segments, the verification, by the safety processor, of one or more parameters independently of one or more control signals generated by the primary processor, and the disabling, by the safety processor, of at least one among the plurality of circuit segments when a disparity is detected between checking one or more parameters and the one or more control signals generated by the primary processor. The method also includes the monitoring, by a first sensor, of a first property of the surgical instrument, the monitoring, by a second sensor, of a second property of the surgical instrument, the first property and the second property comprising a predetermined relationship, and the first sensor and the second sensor are in signal communication with the safety processor, with a failure comprising the first property and the second property having values incompatible with the predetermined relationship, and being that the fault is detected, preventing, by the safety processor, the functioning of at least one of the plurality of circuit segments. The method also includes preventing the safety processor from operating a motor segment and interrupting the flow of power to the motor segment from the power segment when a fault is detected.
[00510] [00510] Several aspects of the matter described here refer to the methods to control the energy management of a surgical instrument through options of suspension of the segmented circuit and wake control, the surgical instrument comprising a control circuit comprising a processor primary, a safety processor in signal communication with the primary processor, and a segmented circuit comprising a plurality of circuit segments in signal communication with the primary processor, the plurality of circuit segments comprising
[00511] [00511] In another mode, the method also comprises the transition to the suspended mode in a plurality of stages The method also comprises making the transition from the segmented circuit to a first stage after a first predetermined period, lighting a backlight of the display segment , make the transition from the segmented circuit to a second stage after a second predetermined period and turn off the backlight, make the transition from the segmented circuit to a third stage after a third predetermined period and reduce an acceleration polling rate - meter, and make the transition from the segmented circuit to a fourth stage after a fourth predetermined period and turn off the screen and make the transition from the surgical instrument to the suspended mode.
[00512] [00512] Another modality comprises detecting, by a touch sensor, the user's contact with a surgical instrument and making the transition, by the safety processor, of the primary processor and the plurality of circuit segments of a suspended mode to an active mode when the touch sensor detects a user in contact with the surgical instrument. The method also includes the monitoring, by the safety processor, of at least one cable control and making the transition, by the safety processor, of the primary processor and the plurality of circuit segments from the suspended mode to the active mode. when at least one cable control is actuated.
[00513] [00513] In another mode, the method comprises the transition, by the safety processor, of the surgical device to the active mode when the accelerometer detects movement of the surgical instrument above a predetermined limit. The method also includes the monitoring, by the safety processor, of the accelerometer for movement in at least a first direction and a second direction and the transition, by the safety processor, of the surgical instrument from the suspended mode to the operational mode when the movement above a predetermined limit is detected at least in the first and second directions. The method also includes the monitoring, by the safety processor, of the accelerometer for oscillating movement above the predetermined limit in the first direction, in the second direction, and in the third direction, and the transition, by the safety processor, of the surgical instrument from suspended mode to operating mode when oscillating motion is detected above a predetermined limit in the first direction, in the second direction and in the third direction. The method also includes increasing the predetermined time as the time since the previous movement increases.
[00514] [00514] In another embodiment, the method comprises making the transition, by the safety processor, of the primary processor and at least one of the plurality of circuit segments from an active mode to a standby mode and from a standby mode for active mode, when a time since the last user started the event exceeds a predetermined limit, the tracking, by a chronometer, of a time since the last movement detected by the acceleration segment, and the transition, by safety processor, from the surgical device to the active mode when the acceleration segment detects movement of the surgical instrument above a predetermined limit.
[00515] [00515] In another modality, a method for controlling a surgical instrument comprises tracking the time since a last user started the event and disabling, by the security processor, a screen backlight when the time since the last user who initiated the event exceeds a predetermined limit. The method also includes flashing, through the security processor, the screen backlight to indicate to the user to look at the screen.
[00516] [00516] Several aspects of the matter described here refer to methods of verifying the sterilization of a surgical instrument through a sterilization verification circuit, the surgical instrument comprising a control circuit comprising a primary processor, a processor of safety in signal communication with the primary processor and a segmented circuit comprising a plurality of circuit segments in signal communication with the primary processor, the plurality of circuit segments comprising a storage verification segment , the method comprising indicating when a surgical instrument was properly stored and sterilized. The method also includes the detection, by at least one sensor, of one or more inadequate storage or sterilization parameters. The method also includes the detection, by a fall protection sensor, of when the instrument was dropped and prevent, by the safety processor, the operation of at least one among the plurality of circuit segments when the sensor fall protection device detects that the surgical instrument has been dropped. The method also comprises preventing, by the safety processor, the operation of at least one of the plurality of circuit segments when a temperature above a predetermined limit is detected by a temperature sensor. The method also comprises preventing, by the safety processor, the operation of at least one of the plurality of circuit segments when the temperature sensor detects a temperature above a predetermined limit.
[00517] [00517] In another mode, the method comprises controlling, by the safety processor, the operation of at least one within the plurality of circuit segments when a humidity detection sensor detects humidity. The method also comprises the detection, by a humidity detection sensor, of an autoclaving cycle and the prevention, by the safety processor, of the operation of the surgical instrument unless the autoclaving cycle has been detected. The method also includes preventing, by the safety processor, the operation of at least one of the plurality of circuit segments when moisture is detected during a staged start-up.
[00518] [00518] In another mode, the method comprises indicating, by the plurality of circuit segments that comprise a sterilization verification segment, when a surgical instrument has been properly sterilized. The method also comprises detecting at least one sensor from the
[00519] [00519] Figure 87 generally represents a surgical instrument powered by a 12200 engine. In certain circumstances, the surgical instrument 12200 may include a handle set 12202, a set of drive shaft 12204, and a set of 12206 power supply (or "power supply" or "battery pack"). The drive shaft assembly 12204 can include an end actuator 12208 which, in certain circumstances, can be configured to act as an end cutter to secure, cut, and / or staple the fabric, although in other circumstances, different types of end actuators can be used, such as end actuators for other types of surgical devices, clamps, cutters, staplers, clip applicators, access devices, gene therapy / drug devices, ultrasound, RF and / or laser, etc. Various RF devices can be found in US patent No. 5,403,312 entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which was granted on April 4, 1995 and in US patent application serial number 12 / 031,573, entitled SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRONES, filed February 14, 2008. The full disclosures of US patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which was granted on April 4, 1995, and of the US patent application Serial No. 12 / 031.573, entitled SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES, filed on February 14, 2008, are hereby incorporated by reference in their entirety.
[00520] [00520] Referring further to Figure 87, the handle assembly 12202 can comprise a compartment 12210 that includes a handle 12212 that can be configured to be held, handled and / or activated by a physician. However, it will be understood that the various exclusive and innovative arrangements in the 12210 compartment can also be used effectively in conjunction with robotically controlled surgical systems. Thus, the term "compartment" may also cover a compartment or similar portion of a robotic system that houses or, otherwise, operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the 12204 drive shaft assemblies disclosed in the present invention and their equivalents. For example, compartment 12210 disclosed herein can be used with various robotic systems, instruments, components and methods reviewed in U.S. patent application serial number 13 / 118,241, entitled
[00521] [00521] In certain cases, the surgical instrument 12200 may include several operable systems that extend, at least partially, through the drive shaft 12204 and are in operable engagement with the end actuator 12208. For example, the surgical instrument 12200 may include a closing assembly that can transition the end actuator 12208 between an open configuration and a closed configuration, a pivot assembly that can pivot the end actuator 12208 with respect to the drive shaft 12204, and / or a firing assembly that can hold and / or cut the tissue captured by the end actuator 12208. In addition, compartment 12210 can be separably attached to the 12204 drive shaft and can include closing, pivoting and closing drive systems / or complementary firing to operate the closing, articulation and firing sets, respectively.
[00522] [00522] In use, an operator of the 12200 surgical instrument may wish to readjust the 12200 surgical instrument and return one or more of the 12200 surgical instrument sets to a standard position. For example, the operator can insert the end actuator 12208 into a surgical site on a patient through an access door and can then pivot and / or close the end actuator 12208 to capture tissue within the cavity. The operator can then choose to undo some or all of the previous actions and remove the 12200 surgical instrument from the cavity, for example. The 12200 surgical instrument can include one or more systems configured to facilitate a reliable return of one or more of the sets described above to an initial state with minimal operator input thus allowing the operator to remove the surgical instrument from of the cavity.
[00523] [00523] With reference to Figures 87 and 89, the surgical instrument 12200 may include a control system 13000. A surgical operator can use the control system 13000 to articulate the end actuator 12208 with respect to the drive shaft 12204 between an articulation position in an initial state and an articulated position, for example. In certain cases, the surgical operator can use the 13000 control system to readjust or return the 12208 hinged end actuator to the hinged position.
[00524] [00524] In addition to the above, the end actuator 12208 can be positioned in sufficient alignment with the drive shaft 12204 in the articulation position in its initial state, also called in the present invention an un-articulated position, so that the end actuator 12208 and at least a portion of the drive shaft 12204 can be inserted into or retracted from an internal patient cavity through an access door such as a trocar positioned on a wall of the internal cavity without damaging the access door. In certain cases, the end actuator 12208 can be aligned, or at least substantially aligned, with a longitudinal axis "LL" that passes through the drive axis 12204 when the end actuator 12208 is in the pivot position in initial state, as shown in Figure 87. In at least one mode, the articulation position in initial state can be at any angle up to and including 5 °, for example, with the longitudinal geometric axis "LL" in either side of the longitudinal geometric axis "LL". In another embodiment, the articulation position in its initial state can be at any angle up to and including 3 °, for example, with the longitudinal geometric axis "LL" on either side of the longitudinal geometric axis "LL". In another mode, the articulation position in its initial state can be at any angle up to and including 7 °, for example, with the longitudinal geometric axis "LL" on either side of the geometric axis.
[00525] [00525] The control system 13000 can be operated to articulate the end actuator 12208 in relation to the drive axis 12204 in a plane that extends along the longitudinal geometric axis "LL" in a first direction as, for example, a clockwise direction and / or a second direction, such as an anti-clockwise direction. In at least one example, the 13000 control system can be operated to pivot the end actuator 12208 in a clockwise direction from the pivot position in the initial state to a pivot position at an angle of 10 degrees to the right of the axis longitudinal geometric "LL", for example. In another example, the 13000 control system can be operated to articulate the end actuator 12208 counterclockwise from the position articulated at an angle of 10 ° to the right of the longitudinal geometric axis "LL" to the position articulation in initial state. In yet another example, the 13000 control system can be operated to link the end actuator 12208 in relation to the drive shaft 12204 in the counterclockwise direction of the pivoting position. initial state to a position articulated at an angle of 10 degrees to the left of the longitudinal geometric axis "LL", for example. The reader will understand that the end actuator can be articulated at different angles in the clockwise direction and / or in the counterclockwise direction.
[00526] [00526] Referring to Figures 87 and 88, compartment 12210 of surgical instrument 12200 may comprise a 13001 interface which may include a plurality of controls that can be used by the operator to operate the surgical instrument 12200. In certain embodiments, the 13001 interface it can comprise a plurality of switches that can be coupled to the 13002 controller by means of electrical circuits, for example. In certain embodiments, as illustrated in Figure 89, interface 13001 comprises three switches 13004A-C, each of which switches 13004A-C is coupled to controller 13002 by means of electrical circuits, such as, for example, electrical circuits 13006A- C, respectively. The reader will understand that other combinations of switches and circuits can be used with the 13001 interface.
[00527] [00527] With reference to Figure 89, controller 13002 can generally comprise a 13008 microprocessor ("processor") and one or more 13010 memory units operationally coupled to the processor. When executing the instruction code stored in memory 13010, processor 13008 can control various components of surgical instrument 12200, such as motor 12216, various drive systems, and / or a user screen, for example. The 13002 controller can be implemented using integrated and / or distinct hardware elements, software elements and / or a combination of both. Examples of integrated hardware elements can include processors, microprocessors, microcontrollers, integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD, or "programmable logic devices") ), digital signal processors (DSP), field programmable gate arrays (FPGA, or field programmable gate arrays), logic gates, registers, semiconductor devices, chips, microcirculates, chipsets , microcontrollers, systems on a chip (SoC, or "system-on-chip") and / or packaged systems (SiP, or "system-in-package"). Examples of different hardware elements may include circuits and / or circuit elements, such as logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors and / or relays. In certain embodiments, the 13002 controller can
[00528] [00528] In certain cases, the 13002 microcontroller can be an LM 4F230H5QR, available from Texas Instruments, for example. In certain cases, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising a 256 KB single-cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), read-only memory (ROM) or "internal read-only memory" ) internal loaded with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM, or "pulse width modulation"), one or more analogs of quadrature encoder inputs (QEI, or "quadrature encoder inputs"), one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, among other features that are readily available behold. Other microcontrollers can be readily replaced for use with the present disclosure. Consequently, the present disclosure should not be limited in this context.
[00529] [00529] In several forms, the 12216 motor can be a direct current motor with brushes, with a maximum rotation of approximately 25,000 RPM, for example. In other arrangements, the 12216 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. A 12218 battery (or "power supply" or "battery pack"), such as an Ion battery
[00530] [00530] Again with reference to Figure 89, the surgical instrument 12200 can include a motor controller 13005 in operable communication with the controller 13002. The motor controller 13005 can be configured to control a direction of rotation of the motor 12216 In certain embodiments, the 13005 motor controller can be configured to determine the polarity of the voltage applied to the 12216 motor by the 12218 battery and, in turn, the 12216 motor rotation direction, based on the 13002 controller input. For example, the 12216 motor can reverse the direction of its rotation from a clockwise direction to an anti-clockwise direction when the polarity of the voltage applied to the 12216 motor by the 12218 battery is reversed by the 13005 motor controller based on the input of controller 13002. In addition, the 12216 motor can be operationally coupled to a pivoting actuator that can be driven by the 12216 motor in a distal or proximal position, depending of the direction in which the 12216 motor turns, for example. In addition, the articulation actuator can be operationally coupled to the end actuator 12208, so that, for example, the axial translation of the articulation actuator in a proximal position can cause the end actuator 12208 to be articulated in the counterclockwise direction, for example, and / or the axial translation of the articulation drive in the distal position can cause the end actuator 12208 to be articulated in the clockwise direction, for example.
[00531] [00531] In various circumstances, with reference to Figures 87 to 89, interface 13001 can be configured so that switch 13004A can be dedicated to the clockwise articulation of end actuator 12208, for example, and switch 13004B can be dedicated to counterclockwise articulation of end actuator 12208, for example. In such circumstances, the operator can pivot end actuator 12208 clockwise, closing switch 13004A, and can pivot end actuator 12208 counterclockwise, closing key 13004B. In various embodiments, 13004A-C switches can comprise dome switches moved to the open position, as shown in Figure 93. Other types of switches can also be used, for example, capacitive switches.
[00532] [00532] With reference to Figure 93, dome switches 13004A and 13004B can be controlled by an oscillator 13012. Other means for controlling keys 13004A and 13004B are also contemplated in the scope of the present description. In the neutral position, shown in Figure 93, both switches 13004A and 13004B are moved to the open position. The operator, for example, can pivot the end actuator 12208 in a clockwise direction by tilting the oscillator forward, thus pressing the dome switch 13004A, as shown in Figure 94. As a result, circuit 13006A (Fig. ra 89) can be closed, signaling controller 13002 to activate motor 12216 to articulate end actuator 12208 clockwise, as described above. Motor 12216 can continue to pivot end actuator 12208 until the operator releases oscillator 13012 thus allowing dome switch 13004A to return to the open position and oscillator 13012 to neutral. In some circumstances, controller 13002 may be able to identify when end actuator 12208 has reached a predetermined maximum degree of articulation and, at that point, interrupts power to motor 12216 regardless of whether the dome switch 13004A is pressed . In one way, the 13002 controller can be configured to ignore operator input and stop
[00533] [00533] As described in more detail above, an operator may wish to return the end actuator 12208 to the pivot position in the initial state to align, or at least substantially align, the end actuator 12208 with the drive shaft. 12204 to retract the surgical instrument 12200 from an internal patient cavity, for example. In various modalities, the 13000 control system may include a virtual detent capable of alerting the operator when the end actuator 12208 has reached the initial state position of the joint. In certain cases, the 13000 control system can be configured to interrupt the articulation of the end actuator 12208 when reaching the articulation position in its initial state, for example. In certain embodiments, the 13000 control system can be configured to provide feedback to the operator when the 12208 end actuator reaches the articulation position in its initial state, for example.
[00534] [00534] In certain modalities, the 13000 control system can comprise several executable modules, such as software, programs, data, triggers and / or application program interfaces (API, of "application program interfaces"), for example. Figure 90 represents an exemplary virtual holding module 10000 that can be stored in memory 13010, for example. The 10000 module can include program instructions, which, when executed, can cause the 13008 processor, for example, to alert the operator of the surgical instrument 12200 when the end actuator 12208 reaches the articulation position in its initial state during articulation of end actuator 12208 from an articulated position, for example.
[00535] [00535] As described above, referring mainly to Figures 89, 93 and 94, the operator can use oscillator 13012 to articulate end actuator 12208, for example. In certain cases, the operator can press the dome switch 13004A on oscillator 13012 to articulate end actuator 12208 in a first direction, such as clockwise direction to the right, for example, and can press the dome wrench 13004B to articulate end actuator 12208 in a second direction, such as counterclockwise to the left, for example. In various modalities, as illustrated in Figure 90, the 10000 module can modulate the 13008 processor's response to input signals from the 13004A and / or 13004B dome keys. For example, processor 13008 can be configured to activate motor 12216 to pivot end actuator 12208 to the right, for example, while the dome switch 13004A is pressed; and processor 13008 can be configured to activate motor 12216 to pivot end actuator 12208 to the left, for example, while the dome switch 13004B is pressed. In addition, processor 13008 can be configured to block the articulation of end actuator 12208 causing motor 12216 to stop, for example, when input signals from dome switches 13004A and / or 13004B are blocked, such as when operator releases dome keys 13004A and / or 13004B, respectively.
[00536] [00536] In several modalities, as described above, the articulation position in its initial state can comprise a range of positions. In certain cases, the 13008 processor can be configured to detect when the end actuator 12208 enters the position range that defines the articulation position in the initial state. In certain cases, the 12200 surgical instrument may comprise one or more positioning systems (not shown) to detect and record the articulation position of the 12208 end actuator. The 13008 processor can be configured to employ the one or more positioning systems to detect when the 12208 end actuator enters the pivot position in its initial state.
[00537] [00537] As shown in Figure 90, in certain cases, when reaching the pivot position in the initial state, the 13008 processor can block the pivot of the end actuator 12208 to alert the operator that the pivot position is in the initial state has been achieved; the 13008 processor, in certain cases, can lock the joint in the articulation position in the initial state even if the operator continues to press the oscillator 13012. In certain cases, to continue the articulation beyond the position of the initial articulation state, the operator can release oscillator 13012 and then tilt it again to restart the joint. In at least one of these cases, the operator can push oscillator 13012 to press dome switch 13004A, for example, to rotate end actuator 12208 toward its initial position until end actuator 12208 reaches its initial position and the 13008 processor suspend the end actuator 12208 hinge, where the operator can then release oscillator 13012 and then push oscillator 13012 to press the 13004A dome switch further once to continue pivoting the end actuator 12208 in the same direction.
[00538] [00538] In certain cases, as illustrated in Figure 91, the 10000 module can comprise a feedback mechanism to alert the operator when the articulation position in the initial state is reached. Various 12248 feedback devices (Figure 89) can be used by the 13008 processor to provide sensory feedback to the user. In certain cases, devices 12248 may comprise, for example, visual feedback devices, such as display screens and / or LED indicators, for example. In certain cases, 12248 devices may comprise audio feedback devices, such as speakers and / or bells, for example. In certain cases, devices 12248 may comprise tactile feedback devices, such as a mechanical detent, for example, which can provide haptic feedback, for example. In some modes, haptic feedback can be provided by a vibrating motor, for example, which can provide a pulse of vibrations to the handle of the surgical instrument, for example. In certain cases, the 12248 devices may comprise combinations of visual feedback devices, audio feedback devices, and / or tactile feedback devices, for example.
[00539] [00539] In certain cases, the 13008 processor can be configured to interrupt the articulation of the end actuator 12208 and provide feedback to the operator when the articulation position in initial state is reached, for example. In certain cases, the 13008 processor may provide feedback to the operator, but may not interrupt the articulation of the 12208 end actuator when the articulation position in the initial state is reached. In at least one embodiment, the end actuator 12208 can be moved from a position on a first side of the position in the initial state towards the position in the initial state, pass through the position in the initial state and continue moving in the same direction. on the other side of the position in the initial state. During this movement, the operator can receive some form of feedback when the end actuator 12208 passes through the initial position. In certain cases, the 13008 processor may interrupt the articulation of the end actuator 12208, but may not provide feedback to the operator when the articulation position in the initial state is reached, for example. In certain cases, the 13008 processor can pause the 12208 end actuator as it passes through its central position and then continue beyond its central position. In at least one embodiment, the end actuator 12208 can temporarily remain in its central position for about 2 seconds, for example, and then continue to pivot as long as pivot key 13012 remains pressed.
[00540] [00540] In certain cases, an operator of the 12200 surgical instrument may attempt to articulate the end actuator 12208 back to its non-articulated position using the oscillator wrench
[00541] [00541] In several cases, referring mainly to Figures 89, 92 and 95, the module 10000 can comprise a mechanism of adjustment or centralization of articulation. In certain circumstances, the 13000 control system may include a return input, which can readjust or return the 12208 end actuator to the pivot position in the initial state if the 12208 end actuator is in an articulated position. For example, when receiving a return input signal, processor 13008 can determine the pivot position of end actuator 12208 and, if end actuator 12208 is in the pivot position in its initial state, processor 13008 will not take any action to change the articulation position of the end actuator 12208. However, if the end actuator 12208 is in an articulated position when the 13008 processor receives a return input signal, the 13008 processor can activate the 12216 motor to return the end actuator 12208 to the pivoting position in the initial state. As shown in Figure 95, the operator can press oscillator 13012 downwards to close the dome switches 13004A and 13004B simultaneously, or at least with a short time between them, which can transmit the input signal from return to processor 13008 to readjust or return end actuator 12208 to the pivot position in its initial state. The operator can then release oscillator 13012, thus allowing oscillator 13012 to return to neutral and switches 13004A and 13004B to return to open positions. Alternatively, the 13001 interface of the 13000 control system may include a separate return switch, such as another dome switch that can be closed independently by the operator to transmit the return input signal to the 13008 processor.
[00542] [00542] Again with reference to Figure 87, the end actuator 12208 of the surgical instrument 12200 can include a first jaw comprising an anvil 10002 and a second jaw comprising a groove 10004 configured to receive a staple cartridge 10006 which can include a plurality of clips. In certain circumstances, end actuator 12208 can switch between an open configuration and a closed configuration to capture tissue between the anvil 10002 and the staple cartridge 10006, for example. In addition, surgical instrument 12200 may include a firing member that can be moved axially between a firing position in the initial state and a firing position to deploy staples from staple cartridge 10006 and / or cut captured tissue between the 10002 anvil and the
[00543] [00543] As discussed above, the end actuator 12208 can be switched between an open configuration and a closed configuration to staple fabric inside. In at least one mode, the anvil 10002 can be moved between an open position and a closed position to compress the fabric against the staple cartridge 10006. In many cases, the pressure or force that the anvil 10002 can apply to the fabric can depend on the thickness of the fabric. For a given span distance between the anvil 10002 and the staple cartridge 10006, the anvil 10002 can apply greater pressure or compression force to the thicker fabric than to the thinner fabric. The surgical instrument can include a sensor, such as a load cell, for example, that can detect the pressure or force being applied to the tissue. In certain circumstances, the thickness and / or composition of the fabric may change while pressure or force is being applied to it. For example, fluid, such as blood, contained in compressed tissue, for example, can flow out and into adjacent tissue. Under these circumstances, the fabric may become thicker and / or the pressure or compression force applied to the fabric may be reduced. The sensor configured to detect the force pressure applied to the tissue can detect this change. The sensor can be in signal communication with the 13008 processor, and the 13008 processor can monitor the pressure or force being applied to the tissue and / or the change in force pressure being applied to the tissue. In at least one example, the 13008 processor can evaluate the change in pressure or strength and notify the operator of the surgical instrument when the pressure or strength has reached a steady state condition and is no longer changing. The 13008 processor can also determine when the change
[00544] [00544] In certain cases, the operator of the surgical instrument may choose to position only some of the clamps stored within the 12208 end actuator. After the firing member has been sufficiently advanced, in such circumstances, the firing member may be collected. In several other cases, the operator of the surgical instrument can choose to position all the clamps stored in the 12208 end actuator. In either case, the operator of the surgical instrument can press the trigger actuator that extends from the 12210 handle assembly to activate the 12216 engine and advance the firing member distally. The 12216 motor can be activated after the trigger actuator has been sufficiently pressed. In at least one operating mode, the additional compression of the trigger actuator may not affect the operation of the 12216 motor. The 12216 motor can be operated in the manner imposed by the 13008 processor until the trigger actuator is released . In at least one other mode of operation, the degree or quantity in which the trigger actuator is pressed can affect the way the 12216 motor is operated. For example, an initial compression of the trigger actuator can be detected by the 13008 processor and, in response, the 13008 processor can operate the 12216 motor at a first speed, with the additional compression of the trigger actuator being detected by the 13008 processor and, in response, the 13008 processor can operate the 12216 engine at a second speed, such as a higher speed, for example. In certain cases, the change in compression of the trigger actuator may be proportional to the change in motor speed. In at least one case, the change in compression of the trigger actuator can be linearly proportional to the change in motor speed. In various circumstances, the more the trigger actuator is pulled, the faster the 12216 motor is operated. In certain cases, the amount of pressure or force applied to the trigger actuator can affect the way the 12216 engine is operated. For example, an initial compression of the trigger actuator can be detected by the processor 13008 and, in response, the 13008 processor can operate the motor 12216 at a first speed, with the additional compression of the trigger actuator being able to be detected by processor 13008, and in response to this, processor 13008 can operate engine 12216 at a second speed, such as a higher speed, for example. In certain cases, the change in pressure or force applied to the trigger actuator can be proportional to the change in motor speed. In at least one mode, the change in pressure or force applied to the trigger actuator can be linearly proportional to the change in motor speed. U.S. Patent No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, which was granted on December 7, 2010, is hereby incorporated by reference in its entirety.
[00545] [00545] As discussed above, the operator of the surgical instrument can choose to position all the clamps stored on the 12208 end actuator. In such circumstances, the operator can press the trigger actuator and then release the actuator when he believes that all clips were positioned during a firing stroke of the firing member. In some embodiments, the surgical instrument may include an indicator that can be illuminated by the 13008 processor when the firing stroke has been completed. A suitable indicator can comprise a light-emitting diode (LED), for example. In certain cases, the operator may believe that a firing course has been fully completed, even though it may have been almost completed. The surgical instrument can comprise at least one sensor configured to detect the position of the firing member in its firing stroke, in which the sensor can be in signal communication with the 13008 processor. If the firing stroke is finished in a position almost complete, processor 13008 can drive motor 12216 to end the firing stroke of the firing member. For example, if the firing member has completed the entire firing stroke, with the exception of the last 5 mm, for example, the 13008 processor can assume that the operator intended to complete the firing stroke and can automatically complete the firing stroke .
[00546] [00546] Again with reference to Figure 87, interface 13001 of surgical instrument 12200 can include an initial state input 13014. The operator can use the initial state input to transmit an initial state input signal to the 13008 processor to return the surgical instrument 12200 to the initial state, which may include returning the end actuator 12208 to the pivot position in the initial state and / or the trigger member to the initial trigger state position. As shown in Figures 89 and 93, initial state input 13014 can include a cover or lid, which can be pressed by the operator to close switch 13004C and transmit the initial state input signal through circuit 13006C to the processor 13008. In certain cases, the initial state input 13014 can be configured to return the end actuator 12208 to the pivot position in the initial state, and a separate input can be used to return the firing member to the position in initial state. In certain cases, initial state input 13014 can be configured to return the firing member to the firing position in the initial state, and a separate input can be used to return end actuator 12208 to the pivot position in initial state, such as oscillator 13012.
[00547] [00547] In several modalities, processor 13008 can be configured to return the firing member to the firing position in the initial state and the end actuator 12208 to the articulation position in the initial state when receiving the initial state input from initial state input 13014. In certain cases, the response of the 13008 processor to the initial state input signal may depend on whether the surgical instrument 12200 is in a trigger mode or in a hinge mode ; if processor 13008 determines that surgical instrument 12200 is in pivot mode, processor 13008 can return end actuator 12208 to the pivot position in initial state in response to the initial state input signal, for example; and if processor 13008 determines that surgical instrument 12200 is in trigger mode, processor 13008 can return the trigger member to the trigger position in its initial state, for example. In certain cases, the firing member can be advanced axially to fire the clamps from the staple cartridge 10006 only when the end actuator 12208 is in the closed configuration. In such circumstances
[00548] [00548] With reference now to Figures 87 and 96, the surgical instrument 12200 may comprise a monitor 12251, which may be included in the handle assembly 12202, for example. The 12251 monitor can be used by one or more microcontrollers described in the present invention, to alert, guide and / or provide feedback to the operator of the 12200 surgical instrument, for example. The 12251 monitor can produce a 12250 output screen. In use, the operator can tilt, flip and / or rotate the 12202 handle assembly, for example, and in response, the microcontroller can change the orientation of the 12250 output screen to improve, align and / or adjust the orientation of the exit screen 12250 in relation to the visualization, by the operator, of the surgical instrument 12200 and / or any suitable reference structure, such as an inertial reference structure, or at least substantially inertial, for example example. A fixed reference structure can be defined, at least in part, by gravity.
[00549] [00549] In certain cases, as illustrated in Figure 96, the monitor 12251 can be placed on a top surface 10008 of the handle assembly 12202. In various embodiments, the surface 10008 can extend in a foreground defined by coordinates X1 and Y1 of a first set of cartesium coordinates, representing the handle set 12202. In several modalities, the 12251 monitor can be positioned in a foreground. In some embodiments, the 12251 monitor can be positioned on a plane that extends parallel to the foreground and / or any suitable plane in a fixed relation to the foreground. For the purpose of convenience in the present invention, it is assumed that the first set of Cartesian coordinates, representing the handle set, is aligned with the 12251 monitor and is therefore called the Cartesian coordinate monitor set. The output screen 12250 can reside in a background defined by the X2 and Y2 coordinates of a second set, or screen, of Cartesian coordinates. In certain cases, as shown in Figure 96, the first plane can be coplanar with the second plane, for example. In addition, the first set, or monitor, of Cartesian coordinates, can be aligned with the second set of Cartesian coordinates, or canvas, in at least some modalities. For example, + X1 can be aligned with or parallel to + X2,
[00550] [00550] With reference to Figures 97 to 98D, a module 10010 can be configured to change or change the orientation of the output screen 12250 among a plurality of orientations in response to changes in position of the handle assembly 12202, which can be monitored by placing one or more accelerometers (not shown) that can be housed in the 12202 handle set, for example. As discussed above, and as illustrated in Figure 98A, the output screen 12250 can adopt a first orientation in which the + X2 and + Y2 vectors of the Cartesian coordinate screen set are aligned, or at least substantially aligned with the vectors. + X1 and + Y1, respectively, from the Cartesian coordinate screen set, when the surgical instrument is in its neutral position.
[00551] [00551] With reference to Figures 97 to 98D, processor 13008 can be configured to change the orientation of the output screen 12250 between a plurality of orientations, which include the first orientation, the second orientation, the third orientation and / or the fourth orientation, for example, to accommodate changes in the position of the 12202 handle set, for example. In certain cases, module 10010 may include a hysteresis control algorithm to avoid hesitation in the orientation when switching between the first, second, third and / or fourth orientations, for example. A hysteresis control algorithm can produce a delay between an initial detection of an event that could result in a change in the screen orientation and the processor command when changing the screen orientation. Thus, the hysteresis control algorithm can ignore events that would result in a potentially temporary orientation and wait, optimally, to reorient the screen until an equilibrium state, or sufficient equilibrium state, has been reached. . In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the first orientation, when an angle between the vector + Z1 of the Z1 axis and the vector -g of the gravity axis g is less than or equal to a maximum angle, for example. In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the second orientation, when an angle between the vector X1 on the X1 axis and the vector + g on the gravity axis g is less than or equal to an angle maximum, for example. In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the third orientation, when an angle between the vector Y1 of the axis Y1 and the vector + g of the axis of gravity g is less than or equal to a maximum angle, for example. In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the fourth orientation, when an angle between the vector + X1 of the X1 axis and the vector -g of the gravity axis g is me - nor that or equal to a maximum angle, for example. In certain cases, the maximum angle can be any angle selected from a range of about 0 degrees, for example, to about 10 degrees, for example. In certain cases, the maximum angle can be any angle selected from a range of about 0 degrees, for example, around 5 degrees, for example. In certain cases, the maximum angle can be about 5 degrees, for example. The maximum angles described above are exemplary and are not intended to limit the scope of the present disclosure.
[00552] [00552] With reference to Figures 97 to 98D, in certain cases, the 13008 processor can be configured to orient the output screen 12250 in the first orientation, when the vector + Z1 of the axis Z1 and the vector -g of the axis of gravity g are aligned, or at least substantially aligned, with each other, for example. In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the second orientation, when the vector + X1 of the X1 axis and the vector + g of the gravity axis g are aligned, or at least substantially aligned with each other, for example. In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the third orientation, when the vector + Y1 of the axis Y1 and the vector + g of the axis of gravity g are aligned, or at least substantially aligned, each other, for example. In certain cases, the 13008 processor can be configured to orient the output screen 12250 in the fourth orientation, when the vector + X1 of the X1 axis and the vector - g of the gravity axis g are aligned, or at least substantially aligned, each other, for example.
[00553] [00553] With reference to Figures 97 to 98D, in certain cases, the 13008 processor can be configured to rotate the output screen 12250 from the first orientation to the second orientation, if the cable 12212 is rotated clockwise around the longitudinal geometric axis LL (Figure 87) at an angle selected from a range of about 80 degrees, for example, about 100 degrees, for example. If cable 12212 is rotated clockwise around the longitudinal LL geometry axis by less than 80 degrees, the 13008 processor may not reorient the 12250 output screen in this example. In certain cases, the 13008 processor can be configured to rotate the screen 12250 from the first orientation to the fourth orientation, if the cable 12212 is rotated counterclockwise around the longitudinal geometric axis LL at an angle selected from a range of about 80 degrees, for example, about 100 degrees, for example. If the 12212 cable is rotated counterclockwise around the LL longitudinal geometric axis by less than 80 degrees, the 13008 processor may not reorient the 12250 output screen in this example.
[00554] [00554] As described above, the operator can use oscillator 13012 to articulate end actuator 12208, for example. In certain cases, the operator can move his finger in a first direction to tilt oscillator 13012 and press the dome wrench 13004A to pivot end actuator 12208 in a clockwise direction to the right, for example; and the operator can move his finger in a second direction, opposite the first direction, to press the dome wrench 13004A to articulate end actuator 12208 in a counterclockwise direction to the left, for example example.
[00555] [00555] Depending on the position and / or orientation of the oscillator 13012 in relation to the interface in relation to the interface 13001 and / or the handle set 12202, in certain cases, in a first position or neutral position of the handle set 12202, the first - the first direction can be an ascending direction, for example, and the second direction can be a descending direction, for example, as shown in Figures 87 and 100A. In such cases, the operator of the surgical instrument 12200 can get used to moving the finger upwards, for example, to articulate the end actuator 12208 to the right, for example; and the operator can get used to moving the finger down, for example, to articulate the end actuator 12208 to the left, for example. In certain cases, however, the operator can change the position of the handle assembly 12202 to a second position, such as an inverted position, for example, as illustrated in Figure 100B. In such cases, if the operator does not remember to reverse the direction of movement of his finger, he may accidentally articulate the end actuator 12208 in a direction opposite to the direction he intended.
[00556] [00556] Referring to Figure 99, surgical instrument 12200 may comprise a module 10012, which may allow the operator to maintain the directions of movement that a surgeon may have become accustomed to in operating the surgical instrument 12200. As discussed above, the 13008 processor can be configured to switch between a plurality of configurations in response to changes in position and / or orientation of the 12202 handle set, for example. In certain cases, as illustrated in Figure 99, the 13008 processor can be configured to switch between a first configuration of the 13001 interface, associated with a first position and / or orientation of the 12202 handle assembly, and a second configuration of the 13001 interface. , associated with a second position and / or orientation of the 12202 handle set.
[00557] [00557] In certain cases, in the first configuration, the 13008 processor can be configured to drive an articulation motor to pivot the end actuator 12208 to the right when the dome switch 13004A is pressed, for example, and the 13008 processor can be configured to drive a link motor to link the end actuator 12208 to the left when the dome switch 13004B is pressed, for example. In the second configuration, processor 3008 can drive an articulation motor to pivot end actuator 12208 to the left when the dome switch 13004A is pressed, for example, and processor 13008 can drive a articulation motor to articulate the end actuator 12208 to the right when the dome switch 13004B is pressed, for example. In various modalities, a surgical instrument may comprise a motor to articulate the end actuator 12208 in both directions, while, in other modalities, the surgical instrument may comprise a first motor configured to articulate the ex actuator. - 12208 tremor in a first direction and a second engine configured
[00558] [00558] With reference to Figures 99 to 100B, the 13008 processor can be configured to adopt the first configuration while the handle set 12202 is in the first position and / or orientation, for example, and to adopt the second configuration, while the handle assembly 12202 is in the second position and / or orientation, for example. In certain cases, the 13008 processor can be configured to detect the orientation and / or position of the 12202 grip set by entering one or more accelerometers (not shown) that can be housed in the 12202 grip set, for example. These accelerometers, in several cases, can detect the orientation of the 12202 handle set in relation to gravity, that is, ascending and / or descending.
[00559] [00559] In certain cases, the 13008 processor can be configured to adopt the first configuration as an angle between a vector D (Figure 87), which extends through the handle set 12202 and the gravity vector g, is any angle in the range of about 0 degrees, for example, to about 100 degrees, for example. In certain cases, the 13008 processor can be configured to adopt the first configuration as long as an angle between the vector D and the gravity vector g is any angle in the range of about 0 degrees, for example, about 90 degrees, for example . In certain cases, processor 13008 can be configured to adopt the first configuration as long as the angle between vector D and the gravity vector g, is less than or equal to about 80 degrees, for example.
[00560] [00560] In certain cases, the 13008 processor can be configured to adopt the second configuration as long as the angle between the vector D and the gravity vector g, is greater than or equal to about 80 degrees, for example. In certain cases, the 13008 processor can be configured to adopt the second configuration as long as the angle between the vector D and the gravity vector g, is greater than or equal to about 90 degrees, for example. In certain cases, the 13008 processor can be configured to adopt the second configuration as long as the angle between the vector D and the gravity vector g is greater than or equal to about 100 degrees, for example.
[00561] [00561] The reader will note that the guidelines and / or positions described in the 12202 handle set and their corresponding configurations, which are adopted by the 13008 processor, are exemplary and are not intended to limit the scope of the present disclosure . The 13008 processor can be configured to adopt various other configurations in connection with various other orientations and / or positions of the 12202 handle set.
[00562] [00562] With reference to Figure 101, in certain cases, the surgical instrument 12200 can be controlled and / or operated, or at least partially controlled and / or operated, by the entry of an operator received through a screen, as per example, screen 12250; the screen 12250 may comprise a touchscreen adapted to receive operator input which may be in the form of one or more touch gestures. In several cases, the screen 12250 can be attached to the processor, as, for example, the processor 13008 can be configured to make the surgical instrument 12200 perform various functions in response to the touch gestures provided by the operator. In certain cases, the screen 12250 may comprise a capacitive touchscreen, a resistive touchscreen or any other touchscreen, for example.
[00563] [00563] Again with reference to Figure 101, screen 12250 can comprise a plurality of icons that can be associated with a plurality of functions that can be performed by surgical instrument 12200. In certain cases, processor 13008 can be configured to cause the 12200 surgical instrument to perform a function when an icon, representing that function, is selected, touched and / or pressed by the 12200 surgical instrument operator. In certain cases, a memory, such as a 13010 memory, it can comprise one or more modules to associate the plurality of icons with the plurality of functions.
[00564] [00564] In certain cases, as shown in Figure 101, the screen 12250 may include a trigger icon 10014, for example. The 13008 processor can be configured to detect a trigger input signal when the operator touches and / or presses the trigger icon 10014. In response to the detection of the trigger input signal, the 13008 processor can be configured to activate the 12216 motor to induce a firing member of the surgical instrument 12200 to trigger the staples from the staple cartridge 10006, and / or to cut the tissue captured between the anvil 10002 and the staple cartridge 10006 , for example. In certain cases, as shown in Figure 101, screen 12250 may include a pivot icon 10016, for pivoting end actuator 12208 in a first direction, such as, for example, a clockwise direction, for example; screen 12250 may also include a pivot icon 10018, to pivot end actuator 12208 in a second direction, such as, for example, a counterclockwise direction. The reader will notice that the screen 12250 can comprise several other icons associated with several other functions that the 13008 processor can cause the surgical instrument 12200 to perform when such icons are selected, touched and / or pressed by the operator of the surgical instrument 12200, for example.
[00565] [00565] In certain cases, one or more icons on the 12250 screen may comprise words, symbols and / or images representing the function that can be performed by touching or pressing the icons, for example. In certain cases, pivot icon 10016 may show an image of end actuator 12208 pivoted clockwise. In certain cases, the pivot icon 10018 may show an image of the end actuator 12208 pivoted counterclockwise. In certain cases, link icon 10014 may show an image of staples being fired from staple cartridge 10006.
[00566] [00566] With reference to Figures 87 and 102, the interface 13001 of the surgical instrument 12200 can comprise a plurality of operational controls such as, for example, a closing trigger 10020, a rotary knob 10022, the articulation oscillator 13012, and / or a trigger input 13017 (Figure 103). In certain cases, various operational controls on the 13001 interface of the 12200 surgical instrument can serve as navigation controls in addition to their operational functions. In certain cases, the surgical instrument 12200 may comprise an operating mode and a navigation mode. In operational mode, some or all of the controls on the 12200 surgical instrument can be configured to perform operational functions; and in navigation mode, some or all of the controls on the 12200 surgical instrument can be configured to perform navigation functions. In several cases, the navigation functions performed by some or all of the controls on the 12200 surgical instrument may be related, associated and / or connected with the operational functions performed by the controls. In other words, the operational functions conducted by the controls on the 12200 surgical instrument can define the navigation functions performed by these controls.
[00567] [00567] With reference to Figures 87 and 102, in certain cases, a processor, such as the 13008 processor, can be configured to switch between a primary interface configuration,
[00568] [00568] With reference to Figures 102, in certain cases, the operator of the surgical instrument 12200 can activate the navigation mode by opening or activating a navigation menu 10024 on screen 12250, for example. In certain cases, the 12200 surgical instrument may comprise a navigation mode button or key (not shown) to activate the navigation mode. In any case, the 13008 processor can switch the 13001 interface controls from the primary interface configuration to the secondary interface configuration when receiving a navigation mode input signal.
[00569] [00569] As illustrated in Figure 102, navigation menu 10024 can comprise several categories, selectable menus and / or folders and / or several subcategories, submenus and / or subfolders. In certain cases, the navigation menu 10024 can comprise an articulation category, a trigger category, a closing category, a battery category and / or a rotation category, for example.
[00570] [00570] In certain cases, the articulation oscillator 13012 can be used to articulate the end actuator 12208, in operational mode, as described above, and can be used to select the articulation category, and / or to open and / or to navigate an articulation menu in navigation mode, for example. In certain cases, trigger input 13017 (Figure 103) can be used to trigger clips, in operational mode, as described above, and can be used to select the trigger category, and / or to open and / or to navigate through a shooting menu in navigation mode, for example. In certain cases, the closing trigger 10020 can be used to switch the end actuator 12208 between an open configuration and an approximate configuration in operational mode, as described above, and can be used to select the closing category, and / or to open and / or to navigate in a closing menu in navigation mode, for example. In certain cases, the rotary knob 10022 can be used to rotate the end actuator 12208 with respect to the elongated drive shaft 12204 in operational mode, and can be used to select the rotation category, and / or to open and / or to navigate a rotation menu in the navigation mode, for example.
[00571] [00571] Referring mainly to Figures 87 and 103, the operation of the 12200 surgical instrument may involve a series or sequence of steps, actions, events and / or their combinations. In various circumstances, as illustrated in Figure 103, the surgical instrument 12200 may include a 10030 indicator system that can be configured to guide, alert and / or provide feedback to the operator of the surgical instrument 12200 in relation to the various steps , actions, and / or events.
[00572] [00572] In several cases, the indicator system 10030 may include a plurality of indicators 10032. In certain cases, indicators 10032 may comprise, for example, visual indicators such as display screens, backlights and / or LEDs, for example example. In certain cases, 10032 indicators may comprise audio indicators, such as speakers and / or bells, for example
[00573] [00573] With reference to Figure 103, the indicator system 10030 may include one or more microcontrollers, such as the microcontroller 13002, which may comprise one or more processors such as, for example, the 13008 processor and / or one or more memory units, such as 13010 memory. In several cases, the 13008 processor can be coupled to several 10035 sensors and / or feedback systems that can be configured to provide feedback to the 13008 processor related to the condition of the surgical instrument 12200 and / or the progress of the steps, actions and / or events related to the operation of the surgical instrument 12200, for example.
[00574] [00574] In several cases, the operation of the 12200 surgical instrument may include several steps that include a joint stage, a closing stage, a trigger stage, a closing adjustment stage, a joint adjustment stage, and / or a combination of them, for example. In several cases, the pivoting step may involve pivoting the end actuator 12208 with respect to the elongated drive shaft 12204 to an articulated position, for example; and the articulation readjustment step may involve returning the end actuator 12208 to a joint position in its initial state, for example. In several cases, the closing step may involve the transition from end actuator 12208 to a closed configuration, for example; and the closing readjustment step can involve the transition from the end actuator 12208 to an open configuration, for example. In several cases, the firing step may involve advancing a firing member to implant staples from a 10006 staple cartridge and / or cutting the tissue captured by end actuator 12208, for example. In several cases, the trigger reset step may involve retracting the trigger member to a trigger position in the initial state, for example.
[00575] [00575] With reference to Figure 103, one or more of the indicators 10032 of the indicator system 10030 can be associated with one or more of the several steps performed in relation to the operation of the surgical instrument 12200. In several cases, as illustrated in Figure 103 , indicators 10032 may include a retraction indicator 10033, associated with retraction set 12228, an articulation indicator 10034, associated with the articulation stage, a closing indicator 10036, associated with the closing stage, an indicates - trip pain 10038, associated with the trip step, a joint readjustment indicator 10040, associated with the joint readjustment step, a close readjustment indicator 10042, associated with the close readjustment step, and / or a trigger reset indicator 10044, associated with the trigger reset step, for example. The reader will note that the steps and / or indicators described above are exemplary and are not intended to limit the scope of the present disclosure. Several other steps and / or indicators are provided for in the present disclosure.
[00576] [00576] With reference to Figure 87, in several cases, one or more of the controls of interface 13001 can be used in one or more operating steps of the surgical instrument 12200. In certain cases, the closing trigger 10020 can be used in the closing step, for example. In a given case, trigger input 13017 (Figure 103) can be used in the triggering step, for example. In certain cases, the articulation oscillator
[00577] [00577] With reference to Figure 103, in several cases, the indicators 10032, associated with one of the operating steps of the surgical instrument 10030, can also be associated with the controls employed in such steps. For example, articulation indicator 10034 can be associated with articulation oscillator 13012, closing indicator 10036 can be associated with closing trigger 10020, trigger indicator 10038 can be associated with trigger input 13017 and / or trip reset indicator 10044 may be associated with initial state input 13014. In certain cases, associating an indicator with a control of interface 13001 may include placing or positioning the indicator on, within, partially within , close and / or in close proximity to the control, for example, to assist the operator in associating the indicator with the control. The reader will note that the controls and / or indicators described above associated with such controls are exemplary and are not intended to limit the scope of the present disclosure. Various other controls and indicators associated with such controls are contemplated by the present disclosure.
[00578] [00578] In several cases, the 13008 processor can be configured to activate the 10032 indicators in one or more sequences defined in the order of the steps associated with the 10032 indicators. For example, the operator may need to operate the 12200 surgical instrument in a series of steps, starting with the articulation step, followed by the closing step, and additionally followed by the firing step. In this example, the 13008 processor can be configured to guide the operator through the sequence of steps, activating the
[00579] [00579] In several cases, the 13008 processor can be configured to switch indicators 10032 between a plurality of indicator settings to guide, alert and / or provide feedback to the operator of the 12200 surgical instrument. In several cases, the Processor 13008 can provide visual cues to the operator of surgical instrument 12200 by switching indicators 10032 between the plurality of indicator configurations that can include enabled and / or disabled settings, for example. In certain cases, one or more of the 10032 indicators may comprise a light source that can be activated in a first indicator configuration, for example, to alert the operator to perform a step associated with the 10032 indicators, for example; and the light source can be deactivated in a second indicator configuration, for example, to alert the operator when the step is completed, for example.
[00580] [00580] In certain cases, the light source can be a flashing light, which can be alternated by the 13008 processor between an intermittent configuration and a non-intermittent configuration. In certain cases, the flashing light, in the non-flashing configuration, can be switched to solid lighting or turned off, for example. In certain cases, the flashing light, in the flashing configuration, can represent a waiting period, while a stage is in progress, for example. In certain cases, the flashing frequency of the flashing light can be changed to provide various visual cues. For example, the flashing light flashing frequency that represents a waiting period can be increased or reduced as the waiting period approaches its completion. The reader will note that the waiting period can be a forced waiting period and / or a recommended waiting period, for example. In certain cases, the forced waiting periods can be represented by an intermittent configuration different from the recommended waiting periods. In certain cases, the flashing light may comprise a first color representing a forced waiting period and a second color representing a recommended second waiting period, the first color being different from the second color. In certain cases, the first color can be a red color, for example, and the second color, can be a yellow color, for example.
[00581] [00581] In several cases, one or more of the 10032 indicators can be switched by the 13008 processor between a first indicator configuration representing controls that are available for use in a standard next step of the 12200 surgical instrument operating steps, a second indicator configuration representing controls that are available for use in a non-standard next step of the operating steps of the 12200 surgical instrument, and / or a third indicator configuration representing controls that are available for use in a standard next step of the operating steps of the 12200 surgical instrument, for example. For example, when the end actuator 12208 of the surgical instrument 12000 is in an open configuration, the
[00582] [00582] In certain cases, the one or more 10032 indicators may include a light source that can be switched by the 13008 processor between a first color in the first indicator configuration, a second color in the second indicator configuration and / or a third third color in the third indicator configuration, for example. In some cases, indicators 10032 can be switched by processor 13008 between the first indicator setting, the second indicator setting and / or the third indicator setting by changing the light intensity of the light source or scanning through the color spectrum, for example. In certain cases, the first indicator configuration may comprise a first light intensity, for example, the second indicator configuration may comprise a second light intensity, for example, and / or the third indicator configuration may comprise a third indicator configuration, for example.
[00583] [00583] In several cases, in the operating firing step of the surgical instrument 12200, the firing member can be motivated to implant the plurality of staples from the staple cartridge 10006 in the tissue captured between the anvil 10002 and the staple cartridge
[00584] [00584] With reference to Figure 104, a module 10046 can be used by an indicator system such as, for example, the indicator system 10030 (Figure 103). In several cases, the 10046 module can comprise program instructions stored in one or more memory units, such as memory 13010 which, when executed, can cause the 13008 processor to use the 10032 indicators to alert, guide and / or providing feedback to the operator of the surgical instrument 12200 during the operating trip stage of the surgical instrument 12200, for example. In certain cases, one or more of indicators 10032, such as trip indicator 10038 and / or trip reset indicator 10044, for example, can be switched by processor 13008 between the first indicator setting, the second indicator and / or the third indicator configuration to alert, guide and / or provide feedback to the operator of the surgical instrument 12200 during the operating trigger stage of the surgical instrument 12200, for example.
[00585] [00585] Referring to Figures 103 and 104, the operator of surgical instrument 12200 can actuate trigger input 13017 to cause processor 13008 to activate motor 12216, for example, to motivate the trigger member to implant the plurality of gram-
[00586] [00586] In certain cases, as shown in Figures 103 and 104, if the 13008 processor detects that the locking mechanism is active, the 13008 processor can stop the cutting member advancing by stopping and / or deactivating the engine 12216, for example. In addition, the 13008 processor can be configured to switch trigger indicator 10038 from the first indicator setting to the third indicator setting to notify the operator if trigger input 13017 is not available for use. In certain cases, the 13008 processor can also be configured to illuminate the screen 12250 and present an image of the lack of a staple cartridge, for example. In certain cases, the 13008 processor may also set the trigger reset indicator 10044 to the first indicator setting, for example, to inform the operator that initial state entry 13014 is available for use to motivate the trigger to retract the cutting member to the initial trigger status position, for example. In certain cases, the 13008 processor can be configured to detect the installation of a new staple cartridge, using sensors 10035, for example, and in response, return the trigger indicator 10038 to the first indicator configuration, for example.
[00587] [00587] In certain cases, as shown in Figure 104, if the operator releases trigger input 13017 before the trigger step is complete, processor 13008 can be configured to stop engine 12216. In certain cases, the processor 13008 can also
[00588] [00588] In addition to the above, as shown in Figure 104, if trigger input 13017 is reactivated by the operator, processor 13008 can, in response, reactivate motor 12216 to continue advancing the cutting member to the cutting member be fully advanced. In certain cases, the 13008 processor can employ sensors 10035 to detect when the cutting member is fully advanced; processor 13008 can then reverse the direction of rotation of motor 12216, for example, to motivate the firing member to retract the cutting member to position the initial firing state, for example. In certain cases, processor 13008 can be configured to stop engine 12216, for example, and / or set the close reset indicator 10042 to the first indicator setting, for example, if the processor detects that the cutting member has reached the initial firing status position, for example.
[00589] [00589] As described in the present invention, a surgical instrument enters various states, modes and / or operational configurations. In certain cases, the instrument may enter a state, modifying
[00590] [00590] Referring to Figure 105, in several cases, a surgical set 10050 may include a surgical instrument such as, for example, surgical instrument 12200 and a remote operating unit
[00591] [00591] In several cases, a 12200 surgical instrument operator can manually operate the primary controls on the 13001 interface to perform a surgical procedure, for example. As described above, the operator can activate the articulation oscillator 13012 to activate the motor 12216 to articulate the end actuator 12208 between a non-articulated position and an articulated position, for example. In certain cases, the operator can actuate the closing trigger 10020 to switch the end actuator 12208 between an open configuration and a closed configuration, for example. In certain cases, the operator can activate the trigger input 13017 to activate the motor 12216 to induce the trigger member of the surgical instrument 12200 to trigger the clips from the staple cartridge 10006, and / or to cut the captured tissue between the anvil 10002 and the staple cartridge 10006, for example.
[00592] [00592] In several cases, the operator of the surgical instrument 12200 may not be close enough to the handle assembly 12202 to be able to manually operate interface 13001. For example, the operator can operate the surgical instrument 12200 together with a robotically controlled surgical system, which can be controlled from a remote location. In such cases, the operator may need to operate the 12200 surgical instrument from a remote location, where the operator operates the controlled surgical system.
[00593] [00593] Referring to Figures 105 and 106, the remote operating unit 10052 may include a secondary interface 13001 ', a screen 12250' and / or a power pack 12206 '(or "power supply" or "power pack" battery "), for example. In several cases, the secondary interface 13001 'may include a plurality of secondary controls that may correspond to the primary controls of the primary interface 13001'. In certain cases, the remote operating unit 10052 may include a remote pivot oscillator 13012 'corresponding to the pivot oscillator 13012, for example. In certain cases, the remote operating unit 10052 may include a remote trigger input 13017 'corresponding to the trigger input 13017 of surgical instrument 12200, for example. In certain cases, the remote operating unit 10052 may include a remote initial status input 13014 'corresponding to the initial status input 13014 of the surgical instrument 12200, for example.
[00594] [00594] In certain cases, as shown in Figure 105, the remote operation unit 10052, interface 13001 'and / or the plurality of secondary controls may comprise a different shape and / or design from the handle set 12202, from interface 13001 and / or the plurality of primary controls, respectively. In certain cases, as shown in Figure 106, the remote operating unit 10052, the interface 13001 'and / or the plurality of secondary controls
[00595] [00595] In several cases, as shown in Figures 105 and 106, the remote operating unit 10052 can be attached to the handle assembly 12202 of the surgical instrument 12200 through an elongated flexible cable 10054, for example, which can be configured to transmit various actuation signals for processor 13008 of surgical instrument 12200, for example; the various actuation signals can be generated by the actuation of the plurality of secondary controls of interface 13001 ', for example. In certain cases, as shown in Figure 107, the remote operation unit 10052 can comprise a 10056 transmitter that can be configured to wirelessly transmit the actuation signals generated by the secondary controls on the secondary interface 13001 'from the remote operating unit 10052 to the 13001 processor, for example, via a receiver 10058 which can be located in the handle assembly 12202, for example.
[00596] [00596] In several cases, the surgical instrument 12200 and / or the remote operation unit 10052 may include communication activation inputs (not shown). In certain cases, activating the communication activation inputs can be a precursor step to establish the communication between the surgical instrument 12200 and the remote operation unit 10052, for example; once the communication is established, the operator can use the remote operation unit 10052 to control the surgical instrument 12200 remotely, for example.
[00597] [00597] In several cases, memory 13010 may include program instructions for a puppet-like mode which, when executed
[00598] [00598] In certain cases, the actuation of the remote trigger input 13017 'may request the same response, or at least a similar response, from processor 13008 when the trigger input 13017 is activated; the requested response may include activating the 12216 motor to motivate the firing member to fire the staples from the staple cartridge 10006 and / or cut the captured tissue between the anvil 10002 and the staple cartridge 10006, for example. In certain cases, the actuation of the remote articulation oscillator 13012 'may prompt the same response, or at least a similar response, of the processor 13008 when the actuation of the articulation oscillator 13012; the requested response may include activating motor 12216 to link end actuator 12208 to elongated drive shaft 12204, for example.
[00599] [00599] In certain cases, the 13008 processor can be configured to request input actuation signals from the primary controls of the primary interface 13001 and the corresponding secondary controls of the secondary interface 13001 'to perform the function requested by such controls. In such cases, the remote operator of the remote operation unit 10052 may need the assistance of an additional operator who can be employed to manually actuate the primary controls on the 13001 primary interface at the same time as the remote operator actuates the secondary controls on the remote. secondary interface 13001 ', for example.
[00600] [00600] In several cases, as described above, an operator can operate the 12200 surgical instrument together with a robotically controlled surgical system, which can be controlled by a robotic control system from a remote location. In certain cases, the 10052 remote control unit can be configured to operate in parallel with the robotic control system. In certain cases, the robotic control system may include one or more control ports; and the remote operating unit 10052 may comprise connection means for engaging the control ports of the robotic control system by coupling. In such cases, the operator can operate the 12200 surgical instrument through an interface of the robotic control system, for example. In many cases, control doors may comprise unique mechanical and / or electrical configurations that may require the use of components from the original equipment manufacturer to ensure consistent product quality and performance, for example.
[00601] [00601] In several cases, the remote operation unit 10052 may include several indicators 10032 'which may be similar in many respects to the indicators 10032 of the handle set
[00602] [00602] In several cases, the remote operating unit 10052 may include several feedback devices 12248 'which can be similar in many respects to feedback devices
[00603] [00603] In several cases, as illustrated in figure 108, the remote operating unit 10052 can be included or integrated with the first surgical instrument 10060 and can be used to operate a second surgical instrument 10062, for example. In certain cases, the first surgical instrument 10060 can reside in a surgical field 10065 and can be manually operated by the operator from within the surgical field 10065, for example; and the second surgical instrument 10062 may reside outside of the surgical field 10065. In certain cases, to avoid leaving the surgical field 10065, the operator may use the remote operating unit 10052 to remotely operate the second surgical instrument 10062 from within the surgical field 10065, for example. In certain cases, the second surgical instrument 10062 may be a circular stapler, for example. The entire disclosure of U.S. Patent No. 8,360,297, entitled SURGICAL CUTTING AND STAPLING INSTRUMENT WITH SELF ADJUSTING ANVIL, which was granted on January 29, 2013, is hereby incorporated by reference in its entirety.
[00604] [00604] In several cases, the first 10060 surgical instrument and / or the second 10062 surgical instrument may include communication activation inputs (not shown). In certain cases, actuating the communication activation inputs can be a precursor step to establish the communication between the first surgical instrument 10060 and the second surgical instrument 10062, for example; as soon as communication is established, the operator can employ the remote operation unit 10052 to control the second surgical instrument 10062 remotely, for example.
[00605] [00605] In several cases, a surgical system can include modular components that can be fixed and / or combined to form a surgical instrument. In certain cases, modular components can be designed, manufactured, programmed and / or updated at different times and / or according to different revisions and updates of software and / or firmware. For example, with reference primarily to Figures 109 and 110, a surgical instrument 14100 may include a first modular component 14110, such as a cable, for example, and a second modular component 14120, such as a drive shaft 14122 and an end actuator 14124 , for example, which are described in more detail in the present invention. In various circumstances, the first modular component 14110 and the second modular component 14120 can be assembled together to form a surgical instrument 14100 or at least a portion thereof. Optionally, a different modular component can be coupled to the first 14110 modular component, such as a drive shaft having different dimensions and / or features than the second 14120 modular component, for example. In many cases, the surgical instrument may include additional modular components, such as a modular battery, for example. The components of the 14100 modular surgical instrument can include a control system that is designed and configured to control various members and / or functions of the 14100 surgical instrument. For example, the first 14110 modular component and the second modular component 14120 can each comprise a control system, and the control systems of each 14110 modular component, 14120 can communicate and cooperate with each other. In many cases, the first 14110 modular component can be designed, manufactured, programmed and / or updated at a different time and / or with different software and / or firmware than those of the second 14120 modular component, for example.
[00606] [00606] With reference now to Figure 111, the assembled surgical system can include a first control system 14150 'and a second control system 14150. Control systems 14150', 14150 can be in signal communication, for example . In several cases, the second modular component 14120 may comprise the control system 14150, for example, which may include a plurality of control modules 14152. Control modules 14152 can affect a surgical function with and / or by a 14100 surgical instrument limb or subsystem, for example. Control modules 14152 can affect a surgical function based on a pre-programmed routine, operator input and / or system feedback, for example. In several cases, the first modular component 14110 may also comprise a control system 14150 ', for example, which may include a plurality of control modules 14152'. The control system 14150 'and / or one of the control modules 14152' of the first modular component 14110 may be different from the control system 14150 and / or one of the control modules 14152 of the second modular component 14120. Although the control systems trolley 14150 and 14150 'can be different, control systems 14150 and 14150' can be configured to control corresponding functions. For example, control module 14152 (a) and control module 14152 (a) 'can both issue commands to firmware modules 14158 to implement a trigger course, for example. In several cases, one of the control systems 14150, 14150 'and / or a control module 14152, 14152' thereof may include updated software and / or firmware and / or may have a more recent effective date, as described in more detail in the present invention.
[00607] [00607] A control module 14152, 14152 'can comprise software, firmware, a program, a module and / or a routine, for example, and / or can include multiple software, firmware, programs, control modules and / or routines , for example. In various circumstances, control systems 14150, 14150 'may include multiple layers and / or levels of control. For example, the 14150 control system may include a first layer 14144 of control modules 14152, a second layer 14146 of control modules 14152 and / or a third layer 14148 of control modules 14152. Control modules 14152 from first layer 14144 can be configured to issue commands to control modules 14152 of the second layer 14146, for example, and control modules 14152 of the second layer 14146 can be configured to issue commands to control modules 14152 from third layer
[00608] [00608] Still with reference to Figure 111, the control module (s) 14152 in the first layer 14144 can comprise high-level software or a clinical algorithm 14154. The clinical algorithm 14154 can control the functions high-level surgical instrument 14100, for example. In certain cases, the module (s) 14152 on the second layer 14146 may comprise intermediate software or module (s) of structure 14156, which can control the intermediate level functions of the instrument surgical procedure 14100, for example. In certain cases, the clinical algorithm 14154 of the first layer 14144 can issue abstract commands to the structure module (s) 14156 of the second layer 14146 to control the surgical instrument 14100. In addition, the control modules 14152 in third layer 14148 can comprise 14158 firmware modules, for example, which can be specific to a specific 14160 hardware component, or components, of the 14100 surgical instrument. For example, 14158 firmware modules can correspond to one member cutting edge, trigger bar, trigger, sensor and / or motor of the surgical instrument 14100 and / or can correspond to a specific subsystem of the surgical instrument 14100, for example. In several cases, a structure module 14156 can issue commands to a firmware module 14158 to implement a surgical function with the corresponding hardware component 14160. Consequently, the various control modules 14152 of the surgical system 14100 can communicate. and / or cooperate with each other during a surgical procedure.
[00609] [00609] Still with reference to Figure 111, the control system 14150 of the second component 14120 can correspond to the control system 14150 'of the first component 14110, and the various control modules 14152 of the second component 14120 can correspond to the control modules 14152 'of the first component
[00610] [00610] In several cases, the first component 14110 of the surgical instrument 14100 may include a clinical algorithm 14154 'which is different from the clinical algorithm 14154 of the second component 14120. In addition and / or alternatively, the first component 14110 may include a module of structure 14156 'which is different from the corresponding structure module 14156 of the second component 14120, and / or the first component 14110 may include a firmware module 14158' which is different from the corresponding firmware module 14158 of the second component 14120.
[00611] [00611] In several cases, corresponding control modules 14152, 14152 'may comprise different effective dates. The person skilled in the art will understand that the effective date of a control module 14152, 14152 'can correspond to a date on which the control module 14152, 14152' was designated, created, programmed and / or updated, for example . The effective date of a control module can be recorded or stored in the control module's program code, for example. In certain cases, a control module for the surgical instrument 14100 may be out of date. In addition, an outdated or not recently updated control module may be incompatible with, removed from and / or disconnected from an updated and / or most recently updated control module. Consequently, in certain cases, it may be desirable to update out-of-date control modules to ensure the proper and effective operation of the 14100 surgical instrument.
[00612] [00612] In several cases, a modular component of the surgical system may include a standard or predetermined master control system. In such cases, if the control systems of the assembled modular components are different, the standard control system can update, overwrite, overhaul and / or replace non-standard control systems. In other words, if the corresponding control modules are different, incompatible or inconsistent, for example, the non-standard control module can be updated and the standard control module can be preserved. For example, if cable 14110 comprises the control system 14150 ', which is the non-standard control system, and the drive shaft 14120 comprises the control system 14150, which is the master control system. , the 14150 'control system of the 14110 cable can be upgraded based on the 14150 drive shaft control system
[00613] [00613] It may be desirable to program a 14120 drive shaft component of the surgical instrument to include the standard control system in circumstances where the drive shaft components are updated and / or modified more frequently than the cable components. For example, if new generations and / or iterations of 14120 drive shaft components are introduced more frequently than new generations and / or iterations of 14110 cable components, it may be advantageous to include a default system, or master, control on the drive shaft component 14120 of the modular surgical instrument 14100. Various circumstances described throughout the present disclosure refer to updating control modules of a cable component based on control modules of the axis component drive;
[00614] [00614] In several cases, the surgical instrument 14100 (Figures 109 and 110) can compare the control module (s) 14152 'in each layer or level in the control system 14150' to the module (s) control system 14152 on each layer or corresponding level in the 14150 control system. If control modules 14152 and 14152 'in the corresponding layers are different, a control system 14150, 14150' can update the module (s) non-standard control, for example. With reference to Figure 112, in step 14201, the control system 14150 and / or the control system 14150 'can compare the module (s) 14152' of the first layer 14144 'of the first component 14110 to the (s) ) control module (s) 14152 of the first layer 14144 of the second component 14120. When the first layers 14144, 14144 'comprise high-level clinical algorithms 14154, 14154', respectively, the control system 14150 and / or the control system 14150 'can compare clinical algorithms 14154 and 14154', for example. In addition, in step 14203, if the control modules 14152, 14152 'in the first layers 14144, 14144' are different, the control system 14150 and / or the control system 14150 'can update the module (s) 14152 'from first layer 14144' with standard module (s) 14152 from first layer 14144, for example. In several cases, the 14150 control system can compare and / or update a control system and / or control modules and, in other circumstances, the 14150 'control system can compare and update a control system and / or control modules, for example. In several cases, the 14150, 14150 'control systems
[00615] [00615] In step 14205, the control system 14150 and / or the control system 14150 'can compare the control modules 14152' of the second layer 14146 'of the first component 14110 to the control modules 14152 of the second layer 14146 of the second component 14120. For example, when the second layers 14146, 14146 'comprise medium level structure algorithms 14156, 14156', the control systems 14150, 14150 'can compare the structure algorithms 14156 and 14156', for example. In step 14207, if the modules 14152, 14152 'in the second layers 14146, 14146' are different, the control systems 14150, 14150 'can update the modules 14152' of the second layer 14146 'with the standard control modules 14152 from second layer 14146. In several cases, although one or more of the control modules 14152 'in the second layer 14146' may be the same as a corresponding module 14152 in the second layer 14146, all control modules 14152 'in the second layer 14146' can be updated if any corresponding modules of the second layer 14152, 14152 'are different. In other cases, as described in more detail in the present invention, only the control module (s) 14152 'which is (are) different from the corresponding module (s) 14152 it can be updated.
[00616] [00616] In step 14209, control systems 14150 and / or control system 14150 'can compare control modules 14152' of third layer 14148 'of first component 14110 to control modules 14152 of third layer 14148 of second component 14120. For example, when the third layers
[00617] [00617] As described above, the control system 14150 and / or the control system 14150 'can compare the control system 14150, 14150' and / or the control modules 14152, 14152 'of the same
[00618] [00618] In several cases, control modules 14152, 14152 'can be compared and updated layer by layer and, in other cases, control systems 14150, 14150' can be compared and updated system by system. In still other cases, the control modules 14152, 14152 'can be updated module by module. For example, now with reference to Figure 113, in step 14221, a third layer module 14158 'of the first control system 14150' can be compared to a corresponding third layer module 14158 of the second control system 14150. In several cases the effective date of the third layer module 14158 'can be compared to the effective date of the corresponding third layer module 14158. In addition, the control system 14150 and / or the control system 14150' can determine whether the date effective of the third layer module 14158 'is after the effective date of the third layer module 14158. If the third layer module 14158' is newer than the third layer module 14158, for example, the third layer 14158 'can be preserved in step 14225. On the other hand, if the third layer module 14158' is not newer than the third layer module 14158, that is, if the third layer module 14158 precedes the third module cor-resp layer wave 14158 or if the third layer module 14158 and the corresponding third layer module 14158 'have the same effective date, the third layer module 14158' can be updated, replaced, revised and / or overwritten by the third layer module corresponding 14158, for example. In addition, in several cases, steps 14221 and both 14223 and 14225 can be repeated for each module 14158, 14158 'in the third layer of control systems 14150, 14150'. Consequently, modules 14158 'in the third layer 14148' can be updated module by module and in several cases, only outdated modules 14158 'can be updated and / or overwritten, for example.
[00619] [00619] Still with reference to Figure 113, after all the modules of the third layer 14158, 14158 'have been compared and possibly updated, the control systems 14150, 14150' can proceed to step 14227. In step 14227, control system 14150 and / or control system 14150 'can confirm that a third layer module 14158' of the first control system 14150 'is connected and / or in proper communication with a second layer module 14156' of the system control unit 14150 '. For example, in circumstances where the third layer module 14158 'was updated in step 14223, the second layer module 14156' may be disconnected from the updated third layer module 14158 '. If the third layer module 14158 'is disconnected from the second layer module 14156', for example, the second layer module 14156 'can be updated, replaced, revised and / or overwritten in step 14229. O second layer module 14156 'can be replaced by the corresponding second layer module 14156 of the second control system, 14150, for example. On the other hand, if the third layer module 14158 'is properly
[00620] [00620] After updating any outdated third layer 14158 modules (steps 14221 and 14223) and ensuring that all updated third layer 14158 modules, if any, are connected to the appropriate second layer module 14156 'in the first component modular 14110 (steps 14227, 14229 and 14231), control systems 14150, 14150 'can proceed to step 14233, where the module of the first layer 14154' of the first control system 14150 'can be compared to a module of the corresponding first layer 14154 of the second control system
[00621] [00621] As described here, the software and / or firmware modules of modular components 14110, 14120 can be updated, revised and / or replaced module by module, layer by layer and / or system by system. In certain cases, the update and / or revision process can be automatic when the components are modified.
[00622] [00622] In several cases, a modular surgical instrument, such as the modular surgical instrument 14100 (Figures 109 and 110), for example, can include a microcontroller in signal communication with a coupling sensor and a screen. In many cases, the coupling sensor can detect the relative positioning of the modular components of the surgical system. Again with reference to Figures 109 and 110, when the first modular component 14110 comprises a cable and the second modular component 14120 comprises a drive shaft, for example, an engagement sensor can detect whether the drive shaft 14120 is engaged with and / or operationally coupled to the 14110 cable. In several cases, the drive shaft 14120 can be movable between the engagement with the 14110 cable (Figure 109) and the disengagement of the 14110 cable (Figure 110).
[00623] [00623] With reference mainly to Figures 114A and 114B, a coupling sensor, such as a coupling sensor 14602, for example, can be in signal communication with a microcontroller, such as the microcontroller 14604, for example, of a surgical system. In several cases, the coupling sensor 14602 can detect whether the modular components 14110, 14120 are engaged or disengaged, for example, and can communicate the coupling or lack thereof to the 14604 microcontroller, for example. When the coupling sensor 14602 indicates that the drive shaft 14120 is attached to the cable 14110, for example, the microcontroller 14604 can allow a surgical function by the modular surgical instrument 14100 (Figure 109). If the modular components 14110, 14120 are operationally coupled, for example, an actuation of the trigger trigger 14112 (Figure 109) on cable 14110 can affect, or at least try to affect, a trigger movement on the drive shaft 14120, for example example. On the other hand, if the coupling sensor 14602 indicates that the drive shaft 14120 is disengaged from the cable 14110, the microcontroller 14604 can prevent a surgical function. For example, if the modular components 14110, 14120 are disconnected, a trigger trigger action 14612 may not affect, or attempt to affect, a trigger movement on the drive shaft
[00624] [00624] In several cases, the modular surgical instrument 14100 may include a screen, such as screen 14606 (Figure 114 (B)), for example. The screen 14606 can be integrated into one of the modular components 14110, 14120 of the surgical instrument 14100 and / or it can be external to the modular components 14110, 14120 and be in signal communication with the microcontroller 14604 of the surgical instrument
[00625] [00625] Under certain circumstances, the 14604 coupling sensor can detect the degree of engagement between the modular components of a surgical instrument. In cases where the first component comprises
[00626] [00626] In certain cases, with reference mainly to Figures 29A and 29B, surgical system 14100 may include multiple sensors in signal communication with a microcontroller, such as microcontroller 14614, for example. The multiple sensors can include a first sensor 14612 (Figure 115A), which can detect the presence of the first component 14120 and can communicate the presence of the first component 14120 to the 14614 microcontroller, for example. In many cases, the first sensor 14612 may not detect and / or communicate the degree of engagement between the first component 14110 and the second component 14120, for example. In several cases, a second sensor 14613 (Figure 115A) can also be in signal communication with microcontroller 14614. The second sensor 14613 can detect the degree of engagement between modular components 14110, 14120, for example.
[00627] [00627] Similar to the control system demonstrated in Figures 114A and 114B, the microcontroller 14614 can issue commands based on the feedback received from sensors 14612 and 14613 and / or can be in signal communication with a screen to display the feedback and / or otherwise communicate with an operator of the surgical system. For example, microcontroller 14614 can prevent a surgical function until modular components 14110, 14120 are in engaged position and can prevent a surgical function when modular components 14110, 14120 are partially engaged, for example. In addition, the 14614 microcontroller can communicate the information detected by the coupling sensor to a screen. For example, the display may demonstrate the engagement, partial engagement and / or non-engagement of modular components 14110, 14120. In addition, in many cases, the display may provide instructions and / or guidance regarding how to fix, attach and / or properly engage disengaged and / or partially disengaged components 14110, 14120 of the surgical instrument, for example.
[00628] [00628] In several cases, a surgical instrument may include a microprocessor such as microprocessor 14604 (Figures 114A and 114B) or 14614 (Figures 115A and 115B) for example, which may be in signal communication with an integrated memory or unit circuit from memory. The microprocessor can communicate data and / or feedback detected and / or calculated by various sensors, programs and / or circuits of the surgical instrument to the integrated memory circuit, for example. In several cases, the recorded data may relate to the time and / or duration of the surgical procedure, as well as the time and / or duration of various functions and / or portions of the surgical procedure, for example. Additionally or alternatively, the recorded data may relate to the conditions at the site and / or the treatment conditions within the surgical instrument, for example. In certain cases, data recording may be automatic and, in other cases, the microprocessor may not record data unless and / or until instructed. For example, it may be preferable to record data during a surgical procedure, maintain or store the data recorded on the integrated memory circuit and / or transfer the recorded data to a secure website. In other circumstances, it may be preferable to record data during a surgical procedure and delete data recorded after that, for example.
[00629] [00629] A surgical instrument and / or the microcontroller of the same can comprise a data storage protocol. The data storage protocol can provide rules for registering, processing, storing, transferring and / or deleting data, for example. In several cases, the data storage protocol can be pre-programmed and / or updated during the life cycle of the surgical instrument. In several cases, the data storage protocol may stipulate the exclusion of registered data after the completion of a surgical function and / or surgery, and in other cases, the data storage protocol may stipulate the exclusion of data from - those registered after the passage of a predefined period of time. For example, the recorded data can be deleted, according to the data storage protocol, one minute, one hour, one day, one week, one month or one year after the surgical function. The predefined time period can be any suitable and appropriate period allowed by the circumstances.
[00630] [00630] In certain circumstances, the data storage protocol may stipulate the deletion of the recorded data after a predefined number of surgical functions, such as firing courses, for example. In still other cases, the data storage protocol may stipulate the exclusion of registered data when the surgical instrument is turned off. For example, with reference to Figure
[00631] [00631] In still other cases, the data storage protocol may stipulate the exclusion of the registered data after a predefined period of inactivity or immobility of the surgical instrument. For example, if the surgical instrument is seated and / or placed in storage, the data storage protocol may stipulate the deletion of data registered after the surgical instrument has been stopped or inactive for a predefined period of time. The required period of immobility can be a minute, an hour, a day, a week, a month or a year, for example. The predefined immobility period can be any appropriate and appropriate period permitted by the circumstances. In several cases, the surgical instrument can include an accelerometer, for example, which can detect the movement and immobility of the surgical instrument. Referring again to Figure 117, when the surgical instrument was not turned off in step 14701, the accelerometer can be adjusted to detect the movement of the surgical instrument. If the movement is detected in step 14703, before the lapse of the period of inactivity
[00632] [00632] As described here, the data storage protocol may include one or more standard rules for deleting the registered data. In certain cases, however, it may be desirable to override the standard rule or procedure. For example, for research and / or development purposes, it may be desirable to store recorded data for a longer period of time. In addition or alternatively, it may be desirable to store the data recorded for teaching and / or investigative purposes. In addition, in several cases, the data storage protocol may not include an error checking step and, in such cases, it may be desirable to override the data storage protocol and ensure data storage. when the operator detects or suspects an error and / or anomaly during a surgical procedure, for example. The recovered data can facilitate the review of the procedure and / or a determination of the cause of the error, for example. In many cases, a key or entry may be required to overcome or override the standard data storage protocol. In several cases, the key can be entered into the surgical instrument and / or a remote storage device and can be entered by an operator and / or user of the surgical instrument, for example.
[00633] [00633] In several cases, a surgical system may ask the user or the operator of the instrument to select data exclusion or data storage for each procedure or surgical function. For example, the data storage protocol can tailor the request for user instructions and can command the subsequent action according to the user's instructions. The surgical system can request instructions from the user upon the occurrence of a specific trigger event, such as turning off the instrument, lapse of a predefined period of time or the completion of a specific surgical function, for example.
[00634] [00634] In certain cases, the surgical system may require user input when the surgical instrument is turned off, for example. Referring to Figure 116, when a user initiates the shutdown of a surgical instrument at step 14801, for example, the surgical system may require data storage instructions from the user. For example, in step 14803, a screen of the surgical system may ask "KEEP DATA Y / N " In several cases, the microcontroller of the surgical system can read the user's input in step 14805. If the user requests the data to be stored, the microcontroller can proceed to step 14809, where the data is stored in a memory unit or memory integrated circuit of the surgical system. If the user requests to delete the data, the microcontroller can proceed to step 14811, where the data is erased. In many cases, the user may not enter entries. In such cases, the data storage protocol may stipulate a particular process at the stage
[00635] [00635] If the data is stored in the memory of the surgical instrument, the data can be stored safely. For example, a code or key may be required to access the stored data. In certain cases, the passkey may comprise an identification code. For example, the identification code may be specific to the operator, user or owner of the surgical instrument. In such cases, only an authorized person can obtain a licensed identification code and thus only authorized personnel can access the stored data. In addition or alternatively, the passkey can be specific to the instrument and / or it can be a manufacturer code, for example. In certain cases, the passkey can comprise a secure server and data can be transferred and / or accessed by an approved Bluetooth and / or radio frequency (RF) transmission, for example. In still other circumstances, the access key may comprise a physical key, such as a memory key and / or a data exchange port connector, which can be physically coupled to a data exchange port on the surgical instrument. In such cases, the passkey can be pre-programmed to gain access to secure data and to store securely and / or transfer data, for example. In many circumstances, an access key can correspond to a specific surgical instrument, for example.
[00636] [00636] In several cases, the extraction of data from the memory device of a surgical instrument can be restricted by several security measures. In certain cases, the device's memory device
[00637] [00637] In several cases, the data exchange port may comprise at least one connection pin, which can be tilted and / or maintained in a first position. When a physical key is inserted and / or engaged in the data exchange port, the physical key can tilt the connecting pin from the first position to a second position, for example. In several cases, the first color can comprise a retracted position, for example, and the second position can comprise an extended position, for example. In addition, when the connecting pin is moved to the second position, the connecting pin can interface operationally with a data connection port on the physical key, for example. Consequently, the data exchange port of the memory device can move in signal communication with the data exchange port of the physical key via the connecting pin, for example, so that data can be exchanged and / or transferred between them. In several cases, the physical key may comprise a modular component, for example, which may be configured to be removably attached to the modular surgical instrument. In certain cases, the physical key can replace or imitate a modular component 14110, 14120 of a surgical instrument 14100 (Figures 109 and 110). For example, the physical key can be attached to a fixing portion of the 14110 cable instead of a 14120 drive shaft fixation, for example, for transferring data from a memory device to the 14120 cable.
[00638] [00638] In addition or alternatively, the key or extraction device may comprise a security token. In several cases, the data exchange port can be encrypted, for example, and / or the key can provide information or codes to the data port to verify that the key is authorized and / or approved to extract data from the data port. data exchange. In certain circumstances, the key may comprise a specialized data reader, for example, and the data may be transferred via an optical data transmission arrangement, for example.
[00639] [00639] Referring now to Figures 118A to 118C, before data access is granted to a proposed data reader, the data reader may need to be verified and / or confirmed by the surgical instrument. For example, the proposed data reader may require and read a checksum value from the surgical instrument in step 14821. As described in the flow chart of the surgical instrument shown in Figure 118C, the surgical instrument can first receive the request from the data reader proposed in step 14841 and can then send the checksum value to the data reader proposed in step 14843. With reference again to Figure 118A, in step 14823, the proposed data reader can calculate or determine an appropriate return code based on the checksum value provided by the surgical instrument. The proposed data bed can have access to a code table, for example
[00640] [00640] With reference mainly to Figure 118B, an alternative data extraction security method may be similar to the method represented in Figure 118A, for example, and may also require the consideration of a specific code for the reader. Although the reader can read the checksum of the device at step 14831, and the return code can be based on the checksum, in various circumstances, the proposed data reader may have a reader-specific code, and the appropriate return code from the code table can be based on the specific code for the reader. For example, the proposed data reader can consider the reader-specific code in step 14832 and can determine the appropriate return code in step 14833 based on the reader-specific code and the code table, for example. The proposed data reader can provide the reader specific code and the return code for the surgical instrument in step 14835, for example. In such cases, with reference again to Figure 118C, the surgical instrument's microcontroller can check the return code and the specific code for the reader in step 14845. In addition, if these codes are correct, the surgical instrument can provide access to the proposed data reader. Thereafter, in step 14827, the proposed data reader can read the data from the surgical instrument, for example. If one or both of the codes are incorrect, the surgical instrument can prevent the reader from reading the data. For example, the surgical instrument may shut down or otherwise restrict the transfer of data to the reader.
[00641] [00641] With reference now to Figure 119, in several cases, a surgical system can comprise a surgical instrument 21600, which can be formed by a plurality of modular components. As described in more detail in this document, a cable component can be compatible with a plurality of different drive shaft components, for example, and the cable component and / or the drive shaft components can be be reusable, for example. In addition, a microcontroller of the 21600 surgical instrument can include a locking circuit, for example. In several cases, the locking circuit can prevent the operation of the surgical instrument until the locking circuit has been unlocked, for example. In various circumstances, the operator can enter a temporary access code into the surgical system to unlock the microcontroller locking circuit, for example.
[00642] [00642] In various circumstances, the operator can purchase or otherwise obtain the temporary access code to enter the surgical system. For example, the instrument manufacturer or distributor may offer access codes for sale, and such access codes may be required to unlock and, this time, use the 21660 surgical instrument. In many cases, the access code may unlocking the locking circuit for a predefined period of time, the manufacturer or distributor of the instrument may offer different durations of purchase and the user can select and purchase or acquire a desired or preferable duration of use. For example, the user can purchase ten minutes of use, an hour of use or a day of use. In other cases, appropriate additional and / or different periods of use may be offered for sale or authorization. In several cases, after the acquired period of use has expired, the locking circuit can be locked again. In other cases, the access code can unlock the locking circuit for a predetermined number of surgical functions. For example, a user can purchase or otherwise obtain a single shot of the instrument or multiple shots, for example. In addition, after the user has triggered the instrument purchased or authorized number of times, the locking circuit can be locked again. In still other cases, an access code can permanently unlock the locking circuit, for example.
[00643] [00643] In several cases, the operator can enter the temporary access code directly into the surgical system using a key pad or other suitable entry arrangement. In other cases, the locking circuit can be unlocked by coupling a non-volatile memory unit to the surgical instrument 21600, where the non-volatile memory unit comprises a pre-programmed access code. In many cases, the non-volatile memory unit can be charged on a 21650 battery of the 21660 surgical instrument, for example. In addition, the non-volatile memory unit can be recharged and / or replaced. For example, the user can purchase replacement non-volatile memory units. Additionally or alternatively, new codes can be purchased and loaded into the non-volatile memory unit, for example, after the previously obtained access codes expire or run out. In many cases, new codes can be loaded into the non-volatile memory unit when the 1650 battery is attached to a power source and / or external computer 21670, for example.
[00644] [00644] In other cases, the temporary access code can be entered at the entry of the external or remote access code, such as a display screen, computer and / or attention screen. For example, a temporary access code can be purchased via a 21660 computer and can be transmitted to a 21680 radio frequency (RF) device attached to the 21660 computer. In many cases, the 21600 surgical instrument may comprise a receiver or antenna which may be in signal communication with the 21680 radio frequency device, for example. In such cases, the radio frequency device 21680 can transmit the acquired temporary access code (s) to the receiver of the surgical instrument 21600, for example. Consequently, the locking circuit can be unlocked and the operator can use the 21600 surgical instrument for the purchased time period and / or the number of surgical functions, for example.
[00645] [00645] In several cases, a modular surgical instrument can be compatible with an external screen to represent the data and / or feedback from the surgical instrument. For example, the surgical instrument may comprise an instrument screen to display the re-information of the surgical procedure. In many cases, the instrument screen may be positioned on the instrument cable, for example. In certain cases, the instrument's screen may represent a video feed viewed from an endoscope, for example. Additionally or alternatively, the screen can detect detected, measured, approximate and / or calculated characteristics of the surgical instrument, surgical operation and / or surgical site, for example. In several cases, it may be desirable to transmit the feedback to an external screen. The external screen can provide an enlarged view of duplicated and / or reproduced feedback, for example, which can allow multiple operators and / or assistants to view the feedback simultaneously. In several cases, it may be desirable to select the surgical instrument for connection to the external screen, for example, and in other cases, the selection of a surgical instrument may be automatic.
[00646] [00646] With reference to Figure 120, an external screen 21700 can represent an end actuator 21720 of a surgical instrument and / or a surgical site, for example. The external screen 21700 can also represent the feedback and / or data detected and / or measured by the surgical instrument, for example. In many cases, the external screen 21700 can duplicate the feedback provided on the screen of the surgical instrument. In certain cases, the surgical instrument can automatically connect to the external screen 21700 and / or to a wireless receiver in signal communication with the external screen 21700, or operating room, for example. In such cases, an operator can be notified if multiple surgical instruments are attempting to connect to the external screen 21700. As described here, the operator can select the surgical instrument (s) from a menu in the external screen 21700, for example. In still other cases, the operator can select the desired surgical instrument by providing an input to the surgical instrument. For example, the operator can issue a command, control sequence or enter a code to select the surgical instrument. In several cases, the operator can complete a specific control sequence with the surgical instrument to select that surgical instrument. For example, the operator can switch on the surgical instrument and, within a predefined period of time, press the reverse button for a predefined period of time, for example, to select the surgical instrument. When an instrument is selected, the feedback on the screen of the selected instrument can be retransmitted or duplicated on the external screen 21700, for example.
[00647] [00647] In certain cases, the surgical instrument may include a proximity sensor. For example, the external display and / or the wireless receiver may comprise a proximity sensor that can detect when a surgical instrument is placed within a predetermined range of it. Referring mainly to Figures 121 and 122, when the screen 21700 and / or the wireless receiver detects a surgical instrument, the screen can notify the user. In certain circumstances, the screen and / or the wireless receiver can detect multiple surgical instruments. Referring to Figure 121, screen 21700 may include a discrete notification 21704, for example, which can inform the user that a surgical instrument or multiple surgical instruments have been detected in the vicinity of screen 21700. Consequently, using the 21700 screen controls, such as a computer, for example, the user can click on the 21704 notification to open the 21706 menu for instrument selections (Figure 122). The 21706 menu can represent the surgical instruments available, for example, and the user can select the preferred surgical instrument to transmit on screen 21700. For example, the 21706 menu can represent the serial numbers and / or names of the surgical instruments available.
[00648] [00648] In certain cases, the selected surgical instrument can provide feedback to the operator to confirm his selection. For example, the selected surgical instrument can provide auditory or haptic information, for example. In addition, the selected surgical instrument can transmit at least a portion of its feedback to the external screen 21700. In certain cases, the operator can select multiple surgical instruments and the screen 21700 can be shared by the selected surgical instruments. In addition or alternatively, the operating room can include multiple screens and at least one surgical instrument can be selected for each screen, for example. Various features and / or components of the surgical system are further described in US patent application serial number 13 / 974,166, filed on August 23, 2013, and entitled FIRING MEMBER RETRACTION DEVICES FOR POWE-RED SURGICAL INSTRUMENTS, now patent US No. 9,700,310, which is hereby incorporated by reference in its entirety.
[00649] [00649] With reference again to the drive shaft assembly 200 shown in Figures 8 to 12, the drive shaft assembly 200 comprises a slide ring assembly 600 that is configured to conduct electrical energy to and / or to from end actuator 300 and / or communicate signals to and / or from end actuator 300, for example. The slip ring assembly 600 comprises a proximal connector flange 604 mounted to a chassis flange 242 extending from the chassis 240 and, in addition, a distal connector flange 601 positioned within a slot defined in the compartments drive shaft 202, 203. The proximal connector flange 604 comprises a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 is mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange with a proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that places conductors 602 in signal communication with a drive shaft circuit board 610 mounted on the drive shaft chassis 240, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the drive shaft circuit board 610. Electrical connector 606 extends proximally through a defined connector opening 243 on the chassis mounting flange 242, although any suitable arrangement can be used.
[00650] [00650] Alternative modalities of the drive shaft assembly 200 are shown in Figures 123 to 136. These modalities include drive shaft assembly 25200 in Figures 123 and 124, the drive shaft assembly 26200 in Figures 126 to 129, the drive shaft assembly 27200 in Figures 131 to 133, and the drive shaft assembly 28200 in Figures 134 to 136. The drive shaft assemblies 25200, 26200, 27200, and 28200 are similar to the shaft assembly drive 200 in many respects, most of which are not discussed here for the sake of brevity. In addition, certain components have been removed from Figures 123 to 136 to more clearly illustrate the differences between drive shaft assemblies 25200, 26200, 27200, and 28200 and drive shaft assembly 200.
[00651] [00651] The drive shaft assembly 25200 comprises an articulation drive system, an end actuator closure system and a stapling trigger system.
[00652] [00652] As mentioned above, the drive shaft assembly 25200 shown in Figures 123 and 124 is similar in many ways to the drive shaft assembly 200 shown in Figures 8 to 12. Although not shown, the drive assembly drive shaft 25200 comprises the nozzle housing 203 shown in Figure 10. The drive shaft assembly 25200 additionally comprises a rotating switch cylinder 25500, a torsion spring 25420 and a chassis mounting flange 25242. The drive cylinder switch 25500 is rotatable between a first position and a second position in relation to the frame mounting flange 25242. As discussed in more detail below, the torsion spring 25420 is mounted on the switch cylinder 25500 and the nozzle housing 203. The torsion spring 25420 is configured to tilt the switch cylinder 25500 to its first position. When the switching cylinder 25500 is in its first position, the articulation drive system is operationally engaged with the trigger drive system. In this way, when the 25500 switching cylinder is in its first position, the firing drive system can drive the pivoting drive system to pivot the end actuator of the 25200 drive shaft assembly. When the cylinder switching position 25500 is in its second position, the articulation drive system is operationally disengaged from the trigger drive system. This way, when the 25500 switching cylinder is in its second position, the hinge drive system will not drive the hinge drive system.
[00653] [00653] The torsion spring 25420 comprises a first end 25421 and a second end 25423. The switching cylinder 25500 comprises a hollow drive shaft segment 25502 having a drive shaft protrusion 25504 formed thereon. The first end 25241 of the torsion spring 25420 is engaged with the nozzle housing 203 and the second end 25423 of the torsion spring 25420 is engaged with the projection 25504 on the switch cylinder 25500. As the switch cylinder 25500 is rotated from a first position for a second position to disengage the articulation drive system from the clamp firing system, the first end 25241 of the torsion template 25420 remains stationary with respect to the nozzle compartment 203 while the second end 25423 of the spring torque 25420 moves with switch cylinder 25550. The displacement of the second end 25423 with respect to the first end 25421 of the torsion spring 25420 causes the torsion spring 25420 to be extended, resulting in a decrease in the induction of the torsion spring 25420. Rotation of the switch cylinder 25500 back to the first position results in the elastic contraction of the torsion model 25420 and an a increase in torsion spring inductance 25420, as discussed below.
[00654] [00654] A first wire 25422 and a second wire 25424 are electrically connected to the first end 25241 and the second end 25423 of the torsion spring 25420, respectively. As discussed in greater detail below, the first wire 25422, the second wire 25424, and the torsion spring 25420 form an electrical circuit that is used to monitor a state or mode of operation of the drive shaft assembly 25200. The electrical circuit is in communication with a 25610 circuit board positioned on the 25200 drive shaft assembly. In several cases, the 25610 drive shaft circuit comprises an inductance to digital converter (LDC,
[00655] [00655] "inductance-to-digital converter") 25612 that is part of the electrical circuit is configured to monitor changes in the inductance of the torsion spring 25420.
[00656] [00656] An exemplary operational state that can be monitored through the electrical circuit is an articulation state. As discussed above, the pivot drive system is operationally engaged with the trigger drive system so that the end actuator can be pivoted when the 25500 switching cylinder is in its first position. Correspondingly, the articulation drive system is operationally disengaged from the trigger drive system when the 25500 switching cylinder is in its second position. Figure 123 represents the drive shaft assembly 25200 when the switch cylinder 25500 is in its first position. In the first position of the switching cylinder 25500, the torsion spring 25420 is either not drawn or only partially drawn. The representation of the drive shaft assembly 25200 in Figure 124 shows the switching cylinder 25500 in its second position, with the torsion spring 25420 being noticeably extended. The stretched 25420 torsion spring has a different inductance than an unstretched 25420 torsion spring. In addition, an extended torsion spring 25420 has a different inductance than a less drawn torsion spring 25420. The LCD 25612 detects changes in the inductance within the 25420 torsion model when and, in this way, can determine whether the articulation drive system is engaged or disengaged from the trigger drive system. In several cases, the LDC 25612 can perform the calculations when, in other modalities, a separate microprocessor in signal communication with the LDC 25612 can perform the calculations.
[00657] [00657] Figure 125 represents a graph 25900 that represents the relationship between the angular position of the switching cylinder 25500 and the torsion spring inductance 25420. When the articulation drive system is engaged with the disengagement drive system - stop, the torsion spring inductance 25420 is high and the angular position of the 25500 switching cylinder is low. As the switch cylinder 25500 is turned in the R direction (Figure 124), the torsion spring 25420 is extended, and the inductance of the torsion spring 25420 decreases. The inductance of the lower spring indicates to LDC 25612 that the articulation actuation system is disengaged from the trigger actuation system. Such an arrangement can verify that the transition between the articulation state and the trip state occurred without depending on a purely mechanical system.
[00658] [00658] Although the description above describes monitoring inductance through the rotation of the torsion spring, it is also predicted that the articulation state of the drive shaft assembly could be determined or verified by measuring the linear compression, extension of compression, and / or the tension of the torsion spring, for example. In addition, it is also envisaged that the induction monitoring system described above can be adapted to other forms of detection throughout the drive shaft and cable of the surgical instrument such as, for example, monitoring the status of the drive systems. for closing and / or firing staples.
[00659] [00659] Figures 126 to 129 represent a drive shaft assembly 26200 that is similar in many respects to the drive shaft assembly 200 shown in Figures 8 to 12. The drive shaft assembly 26200 comprises a drive system articulation system, an end actuator closure system and a stapling trigger system. Similar to the above, the articulation drive system is selectively interlockable with the clamp trigger system. When the articulation drive system is operationally engaged with the clamp trigger system, the clamp trigger system can be used to drive the articulation drive system and articulate the end actuator. When the joint is not operationally engaged with the clamp trigger system, the hinge trigger system is not operable by the clamp trigger system, and the clamp trigger system can be used to execute a stroke trigger stroke. Bobby pins.
[00660] [00660] The drive shaft assembly 26200 comprises a nozzle housing 26201 which is similar to the nozzle housing 203 shown in Figure 10. The drive shaft assembly 26200 additionally comprises a rotating switch cylinder 26500, a spring torsion 26420 and a frame mounting flange 26242. The switching cylinder 26500 rotates between a first position and a second position in relation to the chassis mounting flange 26242. As discussed in more detail below, the torsion spring 26420 it is mounted on the switching cylinder 26500 and the nozzle compartment 26201. The torsion spring 26420 is configured to tilt the switching cylinder 26500 to its first position. When the switching cylinder 26500 is in its first position, the articulation drive system is operationally coupled to the trigger drive system. Thus, when
[00661] [00661] The torsion spring 26420 comprises a first end 26421 and a second end 26423. The switching cylinder comprises a drive shaft segment 26502 that has a drive shaft protrusion 26504 formed thereon. The first end 26421 of the torsion spring 26420 is engaged with the nozzle housing 26201 and the second end 26423 of the torsion spring 26420 is engaged with the projection 26504 on the switching cylinder 26500. As the switching cylinder 26500 is rotated from a first position for a second position to disengage the hinge drive system from the clamp firing system, the first end 26421 of the torsion spring 26420 remains stationary with respect to the nozzle compartment 203 (Figure 10) while the second end 26423 of the spring the torsion spring 26420 moves with the switch cylinder 26550. The displacement of the second end 26423 in relation to the first end 26421 of the torsion spring 26420 causes the torsion spring 26420 to be elastically extended.
[00662] [00662] The switching cylinder 26500 additionally comprises a conductive leaf spring 26700 attached to an external surface of the switching cylinder 26500. As discussed in greater detail below, the conductive leaf spring 26700 forms a part of an electrical circuit that is used to monitor a state or mode of operation of the drive shaft assembly 26200. Referring mainly to Figure 129, the chassis mounting flange 26242 comprises a first annular step 26244 and a second annular step 26246. The first annular step 26244 it is positioned distal to the second annular stage 26246, and the first annular stage 26244 has a smaller diameter than the diameter of the second annular stage 26246; however, any suitable arrangement can be used. The first annular step 26244 comprises a first conductive line 26245 wrapped around, or defined over, an outer circumference of the first annular step 26244. The second annular step 26246 comprises a second conductive line 26247 wrapped around, or defined about, an outer circumference of the second annular stage
[00663] [00663] As shown in Figures 127 and 128, the nozzle 26201 comprises a plurality of projections that extend inward as a first internal projection 26210 and a second internal projection 26220. A first electrical contact 26215 is defined on the surface innermost of the first inner projection 26210 which is aligned with the first annular step 26244 of the chassis mounting flange 26242. A second electrical contact 26225 is defined on the innermost surface of the second inner projection 26220 which is aligned with the second annular step 26246 of the chassis mounting flange 26244. When the switch cylinder 26500 is in its first position, as shown in the representation of the drive shaft assembly 26200 in Figure 127, the conductive leaf spring 26700 of the switch cylinder 26500 is out of alignment with one or both of the first and second electrical contacts 26215 and 26225 in the first and second nozzle projections 26210 and
[00664] [00664] An exemplary operational state that can be monitored through the electrical circuit is an articulation state. As discussed above, when the 26500 switching cylinder is in its first position, the articulation drive system is operationally engaged with the triggering system, and when the 26500 switching cylinder is in its second position. the articulation drive system is operationally disengaged from the trigger drive system. Figure 127 represents the shaft assembly 26200 when the switch cylinder 26500 is in its first position. In the first position of the switching cylinder 26500, the conductive leaf spring 26700 is out of alignment with one or both of the first and second electrical contacts 26215 and 26225 in the first and second internal projections 26210 and 26220 of the nozzle 26201. In this state, the electrical circuit is open. The representation of the drive shaft assembly 25200 in Figure 128 shows the switching cylinder 25500 in its second position, with the conductive leaf spring 26700 in alignment and contact with the first and second electrical contacts 26215 and
[00665] [00665] Figure 130 represents a 26900 graph detailing the relationship between the state of the electrical circuit discussed above and whether the articulation drive system is engaged or disengaged from the trigger drive system. When the articulation drive system is engaged with the trigger drive system, the electrical circuit is open because the conductive leaf spring 26700 is out of alignment with one or both of the first and second electrical contacts 26215 and 26225 in the first and second internal projections 26210 and 26220 of the nozzle 26201. When the articulation drive system is disengaged from the trigger drive system, the electrical circuit is closed because the conductive leaf spring 26700 is in alignment and in contact with the first and second electrical contacts 26215 and 26225 in the first and second internal projections 26210 and 26220 of the nozzle 26201.
[00666] [00666] Although the system described above monitors the state of the
[00667] [00667] The drive shaft assembly 27200 shown in Figures 131 to 133 is similar in many respects to the drive shaft assembly 200 shown in Figures 8 to 12. The drive shaft assembly 27200 comprises a drive system of articulation, an end actuator closure system and a clamp release system. Similar to the above, the articulation drive system is selectively coupled with the clamp trigger system. When the articulation drive system is operationally engaged with the clamp trigger system, the clamp trigger system can be used to drive the articulation drive system and articulate the end actuator. When the joint is not operationally engaged with the clamp trigger system, the hinge trigger system is not operable by the clamp trigger system, and the clamp trigger system can be used to execute a clamp trigger course.
[00668] [00668] Although not shown, the drive shaft assembly 27200 comprises the nozzle housing shown in Figure 10. The drive shaft assembly 27200 additionally comprises a rotating switch cylinder 27500 and a chassis mounting flange 27242. The switching cylinder 27500 is rotatable between a first position and a second position in relation to the chassis mounting flange 27242. When the switching cylinder 27500 is in its first position, the articulation drive system is operationally engaged with the system trigger trigger. In this way, when the switch cylinder 27500 is in its first position, the trigger drive system can drive the link drive system to articulate the end actuator of the 27200 drive shaft assembly. When the switch cylinder 27500 is in its second position, the articulation drive system is operationally disengaged from the trigger drive system. Thus, when the switching cylinder 27500 is in its second position, the trigger drive system will not trigger the link drive system.
[00669] [00669] The drive shaft assembly 27200 additionally comprises a detection fork 27700 configured to be driven at a vibrational frequency. Referring mainly to Figures 132 and 133, the switching cylinder 27500 comprises a plurality of inward facing projections 27502. When the switching cylinder 27500 is in its first position, as shown in Figure 132, the inward facing projections 27502 are not in contact with the teeth of the detection fork 27700. In other words, a space separates the inward projections 27502 and the detection fork 27700. In such cases, the switch cylinder 27500 does not vibrationally dampen the detection fork 27700 When switching cylinder 27500 is rotated in a direction R to switching cylinder 27500 from the second position, as shown in Figure 133, inward projections 27502 come into contact with the teeth of the sensing fork
[00670] [00670] Referring mainly to Figure 131, the drive shaft assembly 27200 additionally comprises a drive shaft circuit board 27610 comprising an output actuator that is configured to emit vibrations. In many cases, the output actuator comprises a transducer that converts an electrical signal into mechanical acoustic waves and transmits the mechanical acoustic waves to the detection fork 27700. Such acoustic waves cause the detection fork 27700 to vibrate, and due to the characteristics mechanical characteristics of the sensing fork 27700, the signal emitted may change inside the sensing fork 27700. A distal end of the drive shaft circuit board 27610 comprises an input transducer 27602 configured to detect frequency vibrational frequency within the 27700 detection fork and monitor any changes within that frequency. As the 27602 input transducer detects the vibrational frequency of the detection fork 27700, the 27602 input transducer converts the detected frequency back into an electrical signal for communication with the 27610 drive shaft circuit board that is configured to compare the return signal to the emitted signal. In several cases, a slightly damped 27700 detection fork can cause a small change between the emitted signal and the return signal, if any, while a highly softened 27700 detection fork can cause a large change between the emitted signal and the return signal. A microprocessor on the 27610 drive shaft circuit board is configured to monitor the change in frequency and evaluate the state or mode of operation of the 27200 drive shaft assembly based on the detected frequency of the detection fork 27700.
[00671] [00671] An exemplary operational state that can be monitored through the electrical circuit is an articulation state. As discussed above, when switching cylinder 27500 is in its first position, the articulation drive system is operationally engaged with the triggering system, and when switching cylinder 27500 is in its second position. the articulation drive system is operationally disengaged from the trigger drive system. Figure 132 illustrates the drive shaft assembly 27200 when the switch cylinder 27500 is in its first position. When the 27500 switching cylinder is in its first position, the 27700 sensing fork vibrates at a higher frequency, as it is not experiencing vibrational damping from contact with the 27502 inward projections of the 27500 switching cylinder. the detection fork 27700 is being driven by the output actuator, the input transducer 27602 will detect the frequency of the detection fork 27700 and subsequently communicate with the drive shaft circuit 27610 to determine which articulation drive system is engaged with the trigger drive system. Figure 133 illustrates the drive shaft assembly 27200 when the switch cylinder 27500 is in its second position. When the 27500 switching cylinder is in its second position, the detection fork 27700 vibrates at a lower frequency, as it is experiencing vibrational damping due to contact with the 27502 inward projections of the 27500 switching cylinder. detection 27700 is being triggered by the output actuator, input transducer 27602 will detect the frequency of the detection fork 27700 and subsequently communicate with the drive shaft circuit 27610 to determine that the pivot drive system is disengaged from the trigger drive system.
[00672] [00672] Although the system described above monitors the state of the articulation drive system, it is also envisaged that the system described above can be adapted to other forms of detection through the drive shaft and the cable of the surgical instrument, such as example, monitoring the status of the closing drive and / or clamp trigger systems.
[00673] [00673] As mentioned above, the drive shaft assembly 28200 shown in Figures 134 to 136 is similar in many ways to the drive shaft assembly 200 shown in Figures 8 to 12. The drive shaft assembly 28200 it comprises an articulation drive system, an end actuator closure system and a clamp trigger system. Similar to the above, the articulation drive system is selectively coupled with the clamp trigger system. When the hinge drive system is operationally engaged with the clamp trigger system, the clamp trigger system can be used to drive the hinge drive system and articulate the end actuator. When the joint is not operationally engaged with the clamp trigger system, the hinge trigger system is not operable by the clamp trigger system, and the clamp trigger system can be used to execute a clamp trigger course.
[00674] [00674] Although not shown, the drive shaft assembly 28200 comprises a nozzle housing 28201 which is similar to the housing of the nozzle 203 shown in Figure 10. The drive shaft assembly 28200 additionally comprises a rotating switch cylinder 28500 and a chassis mounting flange
[00675] [00675] Referring mainly to Figure 134, the switching cylinder 28500 comprises a switching cylinder collar 28505 located at a proximal end thereof. The switch cylinder collar 28505 comprises one or more windows of the switch collar 28510. The windows of the switch collar 28510 are arranged in an annular pattern along the switch cylinder collar 28505. The windows of color de switching units 28510 are evenly spaced from each other, although any suitable arrangement can be used. The nozzle 28201 comprises an annular internal projection 28205 positioned distal to the collar of the switching cylinder
[00676] [00676] The drive shaft assembly 28200 additionally comprises a drive shaft circuit board 28610 comprising a barcode scanning element 28612 configured to detect the presence or absence of dark marks 28210 in the switch collar windows 28510 The barcode scanning member 28612 converts the number of dark marks 28210 inside the windows of the switch collar 28510 into an electrical signal. A microprocessor on the 28610 axis circuit board is configured to receive the electrical signal from the 28612 barcode scanning member and is configured to monitor a state or operating mode of the 28200 drive shaft assembly with based on the detected amount of dark marks 28210 in the switch collar windows 28510, as discussed below.
[00677] [00677] An exemplary operational state that can be monitored through the 28612 barcode scanning element is an articulation state. As discussed above, when the 28500 switching cylinder is in its first position, the articulation drive system is operationally engaged with the triggering system, and when the 28500 switching cylinder is in its second position, the drive system of articulation is operationally disengaged from the trigger drive system. Figure 135 illustrates the drive shaft assembly 28200 when switching cylinder 28500 is in its first position. When switching cylinder 28500 is in its first position, dark marks 28210 are not visible through the windows of switching collar 28510. In such cases, barcode scanning element 28612 will detect the absence of dark marks 28210 and subsequently communicate with the drive shaft circuit board 28610 which can determine that the articulation drive system is engaged with the trigger drive system. Figure 136 illustrates the drive shaft assembly 28200 when the switch cylinder 28500 is in its second position. When switching cylinder 28500 is in its second position, dark marks 28210 are visible through the switch collar windows 28510. In such cases, barcode scanning element 28612 will detect the presence of dark marks 28210 and subsequently communicate with the drive shaft circuit board 28610 which can determine that the pivot drive system is disengaged with the trigger drive system.
[00678] [00678] In addition to the above, the drive shaft circuit 28610 comprises a processor, such as a microprocessor, for example, that is configured to evaluate the state of the drive shaft assembly 28200. In some cases, the switch cylinder 28500 is not completely in its first position or in its second position. In such cases, only a portion of the dark marks 28210 will be visible in the windows of the switch collar 28510. The barcode scanning element 28612 is configured to detect this partial overlap and the microprocessor is configured to evaluate the output signal by the barcode scanning member 28612 to assess whether or not switching cylinder 28500 has been rotated sufficiently to disengage the articulation drive system from the clamp trigger system. In several cases, the microprocessor can use a threshold to make this decision. For example, when at least half of the windows on the switch collar 28510 have been darkened by dark marks 28210, for example, the microprocessor can evaluate and verify that the drive shaft assembly 28200 has been sufficiently switched and that the drive system has articulation is no longer engaged with the clamp firing system. If less than the threshold has been darkened, the microprocessor can determine that the hinge drive system has not been sufficiently decoupled from the clamp trigger system.
[00679] [00679] As discussed above, the processor, or controller, of a drive shaft assembly can be used to verify or confirm that the drive shaft assembly has been switched from an end actuator hinge state to a trigger state of staples. In cases where the processor or controller is unable to verify or confirm that the drive shaft assembly has been switched, although other sensors suggest that it has, the processor or controller can alert the user of the surgical system and / or avoid using the drive shaft assembly. In such cases, the user can solve the problem or replace the drive shaft assembly.
[00680] [00680] Although the system described above monitors the state of the articulation drive system, it is also foreseen that the system described above can be adapted to other forms of detection through the drive shaft and the cable of the surgical instrument, such as example, monitoring the status of the closing drive and / or clamp trigger systems.
[00681] [00681] Figures 137 to 141 represent a 29010 surgical cutting and clamping instrument that is similar in many respects to surgical instrument 10 shown in Figure 1. The 29010 instrument comprises a 29014 cable that is configured to be held, handled and / or acted by a doctor. The 29014 cable includes a 29020 frame and a 29012 housing, and is configured to be operationally attached to an interchangeable drive shaft assembly
[00682] [00682] In addition to the above, cable 29014 includes a structure 29020 that supports the plurality of drive systems. In at least one way, the 29020 frame supports a trigger drive system that is configured to transmit a trigger movement to the 29200 drive shaft assembly. The trigger drive system comprises an electric motor 82 (Figure 4), or any other suitable electric motor, configured to drive a 29120 longitudinal drive member axially in the proximal and / or distal directions. Alternatively, cable 29014 may comprise a trigger that is used to manually activate and / or retract drive member 29120. In any case, drive member 29120 comprises a fixing base 29126 defined at distal end 29125 of the even though it is configured to receive a portion of a drive shaft firing member 29220 from the drive shaft assembly 29200. Referring mainly to Figures 138 and 139, the driving shaft firing member 29220 comprises a fixation 29226 formed at its proximal end. When the shaft assembly 29200 is attached to the cable 29014, the fixing pin 29226 is received on the fixing base 29126. The fixing pin 29226 comprises a diameter larger than that of the longitudinal body 29222 of the axle firing member drive shaft 29220 to facilitate the engagement of the drive member of the drive shaft 29220 with the base of the drive shaft of the drive 29126.
[00683] [00683] The drive shaft assembly 29200 comprises a drive shaft structure 29240 which is fixedly mounted to a fastening flange 29700 defined at the distal end of the cable structure 29020. The drive shaft structure 29240 includes one or more tapered fastening portions 29244 formed therefrom that are adapted to be received within the corresponding slotting slots 29702 defined within the fixing flange 29700 of the cable structure 29020. Each sloting slot 29702 is tapered or shaped in V shape to receive the 29244 fixing portions in the same way. To couple the drive shaft assembly 29200 to the cable 29014, the physician can position the frame 29240 of the interchangeable drive shaft assembly 29200 above or adjacent to the fixing flange 29700 of the cable structure 29020 so that the portions tapered clamping screws 29244 defined in the drive shaft structure 29240 are aligned with the slot slots 29702 in the cable structure
[00684] [00684] The drive shaft assembly 29200 additionally includes a locking system 29710 configured to releasably couple the drive shaft assembly 29200 to cable 29014. Referring mainly to Figure 137, the locking system 29710 comprises a compartment lock 29712 configured to engage the 29012 cable compartment and prevent
[00685] [00685] As the shaft assembly 29200 is attached to the cable 29014, with reference mainly to Figures 139 and 141, the trigger lock 29720 contacts the cable drive member 29120 and rotates up and out of the recess 29221 defined in the trigger member of the drive shaft 29220. As a result, the end of the trigger lock 29720 is no longer positioned in front of the distal shield 29223 of pin 29226. In such cases, the trigger member of the drive shaft drive 29220 has become unlocked since trigger lock 29720 can no longer prevent the trigger member of drive shaft 29220 from being moved distally. In particular, the drive member of the drive shaft 29220 is operationally engaged with the drive member of the cable 29120 when the drive member of the drive shaft 29220 is unlocked, so that the drive member of the shaft drive 29220 can be moved longitudinally by the cable drive member 29210. In several cases, the drive member of the drive shaft 29220 is unlocked at the same time as the drive member of the drive shaft 29220 is operatively engaged with the cable drive member 29210; however, the drive shaft firing member 29220 could be unlocked shortly before the drive shaft firing member 29220 is operationally coupled with the cable drive member 29210. In any case, once unlocked and engaged with the cable drive member 29210, the drive member of the drive shaft 29220 can be used to pivot the end actuator 300 of the drive shaft assembly 29200 and / or execute a staple trigger stroke.
[00686] [00686] As discussed above, trigger lock 29720 is moved from an unlocked position to a locked position when trigger lock 29270 comes into contact with the cable drive member 29210. In several alternative modes, the cable structure 29020 may comprise a bulkhead, for example, which can rotate trigger lock 29720 to its unlocked position according to the drive shaft assembly 29200 being mounted on cable 29014.
[00687] [00687] When the drive shaft assembly 29200 is removed from the cable 29014, the lock 29720 is moved out of contact with the cable drive member 29210. In such cases, the tilt member 29730 tilts the firing 29720 back to its locked position and can keep the drive shaft firing member 29220 in position while the drive shaft assembly 29200 is being disassembled from the cable 29104 and / or after the drive shaft assembly 29200 has been completely separated - assuming the drive shaft firing member 29220 has been returned to its initial position (Figures 138 and 139). In several cases, in addition to the above, the drive shaft assembly 29200 and / or the cable 29014 are configured so that the drive shaft assembly 29200 cannot be separated from the cable 29014 unless the member drive shaft trigger 29220 has been returned to its initial position (Figures 138 and
[00688] [00688] Figures 142 to 147 represent a drive shaft assembly 30200 that is similar to the drive shaft assembly 29200 in many respects. Similarly to the above, the drive shaft assembly 30200 comprises a locking system 30710 configured to hold the drive member of the drive shaft 29220 in position while the drive shaft assembly 30200 is not attached to the cable 29014 and / or is being attached to cable 29014, but is configured to release the drive member of the drive shaft 29220 when the drive shaft assembly 30200 is mounted on cable 29014. Referring primarily to Figures 143 and 146, the trigger system 30710 includes a trigger lock 30720. The trigger lock 30720 comprises a central gripping portion 30721 and side mounting portions
[00689] [00689] In addition to the above, again with reference to Figures 143 and 146, the trigger lock 30720 is releasably latchable with the recess portion 29221 of the trigger member of the drive shaft 29220. In such cases , the central pressure portion 30721 is positioned between the distal shield 29223 of the pin 29226 and a distal end wall 29225 of the recess portion 29221 when the trigger lock 30720 is engaged with the trigger member of the drive shaft 29220. In addition, in such cases, trigger lock 30720 prevents the trigger member of drive shaft 29220 from moving proximally and / or distally before being mounted on cable 29014. The central grip portion 30721 of the lock trigger 30720 is dimensioned and configured so that it is narrowly received between the pin bulkhead 29223 and the distal end wall 29225. As a result, very little relative movement, if any, is possible between the stripping member firing drive shaft 29220 and firing lock 30720 when firing lock 30720 is engaged with the driving shaft firing member 29220. When the driving shaft assembly is mounted on cable 30200 29014, the trigger 30720 contacts the cable drive member 29120 and then deflects as shown in Figures 144 and 147. In such cases, the trigger lock 30720 becomes disengaged from the drive member of the drive shaft 29220.
[00690] [00690] In addition to the above, the trigger lock 30720 releases, or unlocks, the drive member of the drive shaft 29220 as the drive member of the drive shaft 29220 is operationally coupled with the cable drive member 29120 ; however, the drive shaft firing member 29220 could be unlocked shortly before the drive shaft firing member 29220 is operationally coupled with the cable drive member 29210. In any case, once unlocked and engaged with the cable drive member
[00691] [00691] As discussed above, it may be desirable to have the operating systems of a surgical instrument in its original state when a replaceable drive shaft assembly of the surgical instrument is attached and / or separated from the cable. In several cases, for example, it may be difficult for a physician to properly connect the clamp trigger subsystem of the drive shaft assembly with the cable clamp trigger subsystem unless they are in their initial states. In some of these cases, the drive shaft assembly can be attached to the cable even if the corresponding clip trigger subsystems are not properly connected - a condition that may not be readily apparent to the clinician. In several modalities, a surgical instrument can be configured to assess the state of a con-
[00692] [00692] Figure 148 represents an example software module 31100 for use with a controller of an interchangeable drive shaft assembly, such as, for example, any of the controllers disclosed here. In several cases, the interchangeable drive shaft assemblies 29200 and 30200, discussed above, comprise this type of controller. The controller can comprise one or more processors and / or memory units that can store several software modules, for example, the module
[00693] [00693] By coupling the 29200 interchangeable drive shaft assembly, for example, to cable 29014, an interface can facilitate communication between the controller and a memory to run the 31100 module. After coupling the interchangeable drive shaft 29200 to cable 29014, referring again to Figure 148, module 31100 is configured to detect the position of drive member 29120 on cable 29014. One or more sensor circuits including sensors, such as Hall effect sensors , for example, in signal communication with the controller they could be used to detect the position of the cable drive member 29120. If the cable drive member 29120 is not in its initial position, one or more functions of the surgical instrument are disabled. For example, the articulation of the end actuator, the closing of the end actuator, and / or the execution of a clamp firing stroke can be avoided. The deactivation, or blocking, of one or more of these systems can be done by decoupling the electrical energy for such systems, for example. The software module 31100 will regularly detect the position of the longitudinal drive member 29120 until it is determined that it is in its initial position, thereby providing the surgical instrument and / or a clinician with the opportunity to correct the blocked condition. If the drive member 29120 of the cable is detected as being in its initial position, the software module 31100 then detects the position of the trigger member of the drive shaft 29220, as discussed in more detail below.
[00694] [00694] As discussed above, the drive shaft firing member 29220 is operationally coupled to cable drive member 29120 when drive shaft assembly 29200 is mounted on cable 29014. Although any suitable coupling arrangement can be used, the cable drive member 29120 comprises a fixture base 29126 configured to receive a portion of the drive member of the drive shaft 29220. One or more sensor circuits including sensors, such as proximity sensors, for example , could be used to detect the presence of the trigger member of the drive shaft 29220 on the fixture base 29126. If module 31100 determines that the trigger member 29220 is not on the fixture base 29126, one or more functions of the surgical instrument are disabled people. For example, pivoting the end actuator, closing the end actuator, and / or executing a clamp firing stroke can be avoided. The deactivation, or blocking, of one or more of these systems can be done by decoupling the electrical energy for such systems, for example. Other systems for detecting the position and / or proper fixing of the 29220 drive shaft firing member can be used. The software module 31100 will routinely monitor the trigger member 29220 until it determines that the trigger member 29220 is properly attached to the drive member of the drive shaft 29120.
[00695] [00695] When the software module 31100 determines that the drive member of the drive shaft 29220 is properly coupled to the drive member of the cable 29120, the software module 31100 then determines whether an articulation switch has been activated. The hinge switch assesses whether or not the hinge system has been operationally coupled to, is currently coupled to, and / or has been triggered by the clamp trigger system. Such information can be stored on a memory device within the axis assembly and / or on the cable. To determine whether the articulation drive system has been engaged with the clamp trigger system, for example, the software module 31100 analyzes the memory device. If the articulation drive system has not been engaged with the clamp trigger system, and the articulation switch has not been activated, the software module 31100 is configured to disable one or more functions of the surgical instrument. For example, pivoting the end actuator, closing the end actuator, and / or executing a clamp firing stroke can be avoided. The deactivation, or blocking, of one or more of these systems can be done by decoupling the electrical energy for such systems, for example. If the articulation drive system was previously engaged, or detected as having been engaged, with the clamp triggering system, the software module 31100 allows the user to proceed with a desired operating function of the surgical instrument, for example , articulation of the end actuator, execution of a clamp firing course and / or closing of the end actuator.
[00696] [00696] In addition to the above, other software modules can be used. For example, the software module 31100 can perform two or more of the steps discussed above at the same time. In at least one of these cases, the software module 31100 can simultaneously evaluate the position of the cable drive member 29120, if the drive member of the drive shaft 29220 is properly coupled to the cable drive member 29120, and / or the end actuator articulation system was previously activated by the clamp firing system, for example.
[00697] [00697] The entire disclosures of: U.S. Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", which was granted on April 4, 1995; U.S. Patent No. 7,000,818, entitled "SURGICAL STA-
[00698] [00698] According to various modalities, the surgical instruments described here can comprise one or more processors (for example, microprocessor, microcontroller) coupled to several sensors. In addition to the processor (s), a storage (with operational logic) and a communication interface are coupled to each other.
[00699] [00699] The processor can be configured to execute the operational logic. The processor can be any one of a number of single-core or multi-core (multi-core) processors known in the art. Storage can comprise volatile and non-volatile storage media configured to store temporary and persistent (working) copies of operating logic.
[00700] [00700] In several modalities, the operational logic can be configured to process the collected biometric data associated with the user's movement data, as described above. In various modalities, the operating logic can be configured to perform the initial processing, and transmit the data to the computer that houses the application to determine and generate instructions. For these modalities, the operating logic can also be configured to receive information and provide feedback to a host computer. In alternative modalities, the operating logic can be configured to assume a greater role in receiving information and determining feedback. In both cases, if determined by itself or responsive to instructions from a host computer, the operating logic can be further configured to control and provide feedback to the user.
[00701] [00701] In several modalities, the operating logic can be implemented in instructions supported by the processor's instruction set architecture (ISA), or high-level languages and compiled in the supported ISA. The operating logic can comprise one or more units or logic modules. The operating logic can be implemented in an object-oriented manner. The operating logic can be configured to be executed in a multi-tasking (multi-tasking) and / or multi-thread (multi-chain) mode. In other modalities, the operating logic can be implemented in hardware, such as an array of ports.
[00702] [00702] In several modalities, the communication interface can be configured to facilitate communication between a peripheral device and the computing system. Communication may include the transmission of collected biometric data associated with the position, posture, and / or movement data of the user's body part (s) to a host computer, and the transmission of data associated with tactile feedback. from the host computer to the peripheral device. In many ways, the communication interface can be a wired or wireless communication interface. An example of a wired communication interface may include, but is not limited to, a USB (Universal Serial Bus) interface. An example of a wireless communication interface may include, but is not limited to, a Bluetooth interface.
[00703] [00703] For several modalities, the processor can be bundled together with the operating logic. In several modalities, the processor can be packaged together with the operating logic to form a System in Package (SIP). In several modes, the processor can be integrated into the same matrix with the operating logic. In several ways, the processor can be packaged together with the operating logic to form a system on chip (System on Chip - SoC).
[00704] [00704] Several modalities can be described here, in the general context of instructions executable by computer, such as software, program modules and / or motors being executed by a processor. Generally speaking, software, program modules and / or engines include any software element arranged to perform specific operations or implement specific abstract data types. Software, program modules and / or engines can include routines, programs, objects, components, data structures and the like, that perform specific tasks or implement specific abstract data types. An implementation of software components and techniques, program modules and / or engines can be stored in and / or transmitted by some form of computer-readable media. In this sense, computer-readable media can be any available media or media, which can be used to store information and which are accessible by a computing device. Some modalities can also be practiced in distributed computing environments, where operations are carried out by one or more remote processing devices, which are connected via a communications network. In a distributed computing environment, software, program modules and / or engines can be located on computer storage media, both local and remote, including memory storage devices. A memory such as a random access memory (RAM) or other dynamic storage device can be used to store information and instructions to be executed by the processor. The memory can also be used to store temporary variables or other intermediate information during the execution of instructions to be executed by the processor.
[00705] [00705] Although some modalities can be illustrated and described as comprising functional components, software,
[00706] [00706] Examples of software, engines and / or modules may include software components, programs, applications, computer programs, application programs, system programs, machine programs, operating system software, middleware, firmware, modules software, routines, subroutines, functions, methods, procedures, software interfaces, application program interfaces (API), instruction sets, computer code, computer code, code segments, code segments computer, words, values, symbols or any combination thereof.
[00707] [00707] One or more of the modules described here may comprise one or more embedded applications implemented as firmware, software, hardware, or any combination thereof. One or more of the modules described here can include several executable modules, such as software, programs, data, drivers, application programming interfaces (APIs), and so on. The firmware can be stored in a 2016 controller memory and / or 2022 controller memory that can comprise nonvolatile memory-NVM, such as a bit-masked read-only memory ) (ROM) or flash memory. In many implementations, storing firmware in ROM can preserve flash memory. Non-volatile memory (NVM) can comprise other types of memory including, for example, programmable ROM (PROM, "programmable ROM"), erasable programmable ROM (EPROM, "erasable programmable ROM"), electrically erasable programmable ROM (EEPROM, "electrically erasable programmable ROM"), or battery backed random-access memory (RAM) supported on battery as dynamic RAM (DRAM, "dynamic RAM"), Dual data rate DRAM (DDRAM, "Double-Data-Rate DRAM"), and / or synchronous DRAM (SDRAM, "synchronous DRAM").
[00708] [00708] In some cases, several modalities can be implemented in the form of an article of manufacture. The maintenance article
[00709] [00709] The functions of the various functional elements, logic blocks, modules and circuit elements described in connection with the modalities disclosed here can be implemented in the general context of instructions executable by computer, such as software, control modules, logic and / or logic modules executed by the processing unit. In general, software, control modules, logic and / or logic modules comprise any software element prepared to perform specific operations. Software, control modules, logic and / or logic modules can comprise routines, programs, objects, components, data structures and the like, which perform specific tasks or implement specific abstract data types. An implementation of the software, control modules, logic and / or logic modules and techniques can be stored on, and / or transmitted by, some form of computer-readable media. In this sense, computer-readable media can be any available media or media, which can be used to store information and which are accessible by a computing device. Some modalities can also be practiced in distributed computing environments, where operations are carried out by one or more remote processing devices, which are connected via a communications network. In a distributed computing environment, software, logic control modules and / or logic modules can be located on computer storage media both local and remote, including memory storage devices.
[00710] [00710] In addition, it should be appreciated that the modalities described here illustrate examples of implementations, and that functional elements, logic blocks, modules and circuit elements can be implemented in several other ways that are consistent with the modalities described. In addition, the operations performed by these functional elements, logic blocks, modules and circuit elements can be combined and / or separated by a given application and can be performed by a greater number or a smaller number of components or modules . As will be evident to those skilled in the art, after reading the present disclosure, each of the individual modalities described and illustrated here has components and characteristics that can be easily separated from, or in combination with, the characteristics of any of the other various aspects without departing from the scope of the present revelation. Any method mentioned can be carried out in the order of the events mentioned or in any other order that is logically possible.
[00711] [00711] It is important to note that any reference to "a modality" or "the modality" means that a specific feature, structure or characteristic described in relation to the modality is included in at least one modality. The appearance of the phrase "in a modality" or "in an aspect" in the specification does not necessarily refer to the same modality
[00712] [00712] Except where specifically stated otherwise, it should be understood that terms such as "processing", "computation", "calculation", "determination" or similar, refer to the action and / or processes of a computing system or computer, or similar electronic computing device, such as a general purpose processor, DSP, ASIC, FPGA, or other programmable logic device, distinct port or transistor logic, distinct hardware components, or any combination thereof, designed to perform the functions described here that manipulate and / or transform data represented as physical quantities (for example, electronics) into registers and / or memories into other data represented similarly as physical quantities inside the memories, registers or other such information storage, transmission or display devices.
[00713] [00713] It is important to note that some modalities can be described using the expression "coupled" and "connected" together with their derivatives. These terms are not intended to be synonymous with each other. For example, some modalities can be described using the terms "connected" and / or coupled to indicate that two or more elements are in direct physical contact or in electrical contact with each other. The term "coupled", however, can also mean that two or more elements are not in direct contact with each other, but still cooperate or interact with each other. With respect to software elements, for example, the term "coupled" can refer to interfaces, message interfaces, application program interface (API), message exchange, and so on.
[00714] [00714] It should be understood that any patent, publication or other disclosure material that, in whole or in part, is said to be incorporated herein by reference, is incorporated herein only to the extent that the incorporated material does not enter in conflict with the definitions, statements, or other disclosure materials presented in this disclosure. Thus, and as necessary, the disclosure as explicitly presented here replaces any
[00715] [00715] Revealed modalities have application in instrumentation for conventional open and endoscopic surgeries, as well as application in surgery aided by robotics.
[00716] [00716] The modalities of the devices disclosed here can also be designed to be discarded after a single use, or to be used multiple times. The modalities can, in either or both cases, be reconditioned for reuse after at least one use. Reconditioning can include any combination of steps to disassemble the device, followed by cleaning or changing specific parts and subsequent reassembly. In particular, the modalities of the device can be disassembled, in any number of specific parts or parts of the device, can be selectively replaced or removed in any combination. By cleaning and / or replacing specific parts, the device's features can be reassembled for subsequent use in a reconditioning facility, or by a surgical team immediately before a surgical procedure. Those skilled in the art will understand that the reconditioning of a device can use a variety of disassembly, cleaning / replacement and reassembly techniques. The use of these techniques, as well as the resulting reconditioned device, are all within the scope of this application.
[00717] [00717] Just as an example, the modalities described here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and the instrument can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays or high-energy electrons. Radiation can kill bacteria on the instrument and the container. The sterile instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened at the medical facility. The device can also be sterilized using any other known technique, including, but not limited to, beta or gamma radiation, ethylene oxide or water vapor.
[00718] [00718] Those skilled in the art will recognize that the components (for example, operations), devices and objectives described in the present invention, and the accompanying discussion, are used as examples with a view to conceptual clarity, and which are contemplated - the various configuration changes. Consequently, as used in the present invention, the specific examples presented and the accompanying discussion are intended to be representative of their more general classes. In general, the use of any specific specimen is intended to be representative of its class, and the non-inclusion of components (for example, operations), devices and specific objects should not be considered limiting.
[00719] [00719] With respect to the use of substantially any plural and / or singular terms in the present invention, those skilled in the art may change from the plural to the singular and / or from the singular to the plural as appropriate to the context and / or application. The various singular / plural permutations are not expressly presented here for the sake of clarity.
[00720] [00720] The subject described in the present invention sometimes illustrates distinct components contained in, or related to, other distinct components. It is necessary to understand that these represented architectures are merely examples, and that, in fact, many other architectures that achieve the same functionality can be implemented. In the conceptual sense, any disposition of components to achieve the same functionality is effectively "associated" if the desired functionality is achieved. Thus, any two components mentioned in the present invention that are combined to achieve a specific functionality can be seen as "associated" with each other if the desired functionality is achieved, regardless of the architectures or intermediate components. Similarly, any of these two components so associated can also be seen to be "operationally connected" or "operationally coupled" to each other to achieve the desired functionality, and any of these two components capable of being associated in this way can be seen as "operationally coupled" to each other to achieve the desired functionality. Specific examples of operably coupled components include, but are not limited to, physically interlocking and / or physically interacting components, and / or those that can interact wirelessly, and / or that interact by logic, and / or they can interact by logic.
[00721] [00721] Some aspects can be described using the expression "coupled" and "connected" together with their derivatives. It must be understood that these terms are not meant to be synonymous with each other. For example, some aspects can be described using the term "connected" to indicate that two or more elements are in direct physical contact or in electrical contact with each other. In another example, some aspects can be described using the term "coupled" to indicate that two or more elements are in direct physical contact or in electrical contact. The term "coupled", however, can also mean that two or more elements are not in direct contact with each other, but still cooperate or interact with each other.
[00722] [00722] In some cases, one or more components in the present invention may be called "configured for", "configurable for", "operable / operational for", "adapted / adaptable for", "capable of", "conformable / conformed to ", etc. Those skilled in the art will recognize that "configured for" can, in general, cover components in an active state, and / or components in an inactive state, and / or components in a standby state, except when the context determines otherwise.
[00723] [00723] Although specific aspects of the present subject described here have been shown and described, it will be evident to those skilled in the art that, based on the teachings of the present invention, changes and modifications can be made without departing from the subject. described here and its broader aspects and, therefore, the appended claims cover in scope all these changes and modifications in the same way that they are within the true scope of the subject described here. It will be understood by those skilled in the art that, in general, the terms used here, and especially in the appended claims (for example, bodies of the appended claims) are generally intended as "open" terms (for example, the term "including" should be interpreted as "including but not limited to", the term "having" should be interpreted as "having, at least", the term "includes" should be interpreted as "includes , but is not limited to ", etc.). It will also be understood by those skilled in the art that when a specific number of an introduced claim is intended, that intention will be expressly mentioned in the claim and, in the absence of such a claim, no intention will be present. For example, as an aid to understanding, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim statements. However, the use of such phrases should not be interpreted as implying that the introduction of a claim statement by the indefinite articles "one, ones" or "one, ones" limits any specific claim containing the mention of the claim entered to claims that contain only such a mention, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles, such as "one, ones" or "one, ones" (for example, "one, ones" and / or "one, ones" should typically be interpreted as meaning "at least one" or "one or more"); the same goes for the use of defined articles used to introduce claims.
[00724] [00724] Furthermore, even when a specific number of a claim statement entered is expressly mentioned, those skilled in the art will recognize that the mention must typically be interpreted as meaning at least the number mentioned (for example, the mere mention of "two mentions" without other modifiers, typically means at least two mentions, or two or more mentions). In addition, in cases where a convention analogous to "at least one of A, B and C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that has at least one of A, B and C" would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). In cases where a convention analogous to "at least one of A, B or C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that have at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). It will be further understood by those skilled in the art that typically a disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, in the claims or in the drawings, should be understood as contemplating the possibility of including one of the terms, any of the terms or both terms, except when the context dictates to indicate something different. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B".
[00725] [00725] With respect to the attached claims, those skilled in the art will understand that the operations mentioned in the same can, in general, be performed in any order. In addition, although several operational flows are presented in one or more sequences, it must be understood that the various operations can be performed in other orders than those shown, or can be performed simultaneously. Examples of these alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, inverse or other variant orders, unless the context determines otherwise. In addition, terms such as "responsive to", "related to" or other adjectival participles are not intended in general to exclude these variants, unless the context otherwise requires.
[00726] [00726] In summary, numerous benefits have been described that result from the use of the concepts described in this document. The previously mentioned description of one or more modalities 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
[00727] [00727] Various aspects of the subject described in this document are defined in the following numbered examples:
[00728] [00728] Example 1. A surgical instrument comprising a cable, a drive shaft and an end actuator comprising a clamp cartridge, the end actuator being articulated in relation to the drive shaft. The surgical instrument additionally comprises a first sensor configured to detect a condition of the surgical instrument and a second sensor configured to detect the condition, the condition including one of an articulation mode of the end actuator and an operating mode staple trigger. The surgical instrument can additionally comprise a processor, the first sensor and the second sensor being in signal communication with the processor, the processor receiving a first signal from the first sensor, the processor receiving a second signal from the second sensor, the processor being configured to use the first signal and the second signal to determine the condition, and the processor being configured to communicate instructions to the surgical instrument in view of the condition.
[00729] [00729] Example 2. The surgical instrument of Example 1, in which the first sensor comprises a Hall effect sensor.
[00730] [00730] Example 3. The surgical instrument of Example 1, in which the first sensor comprises a humidity sensor.
[00731] [00731] Example 4. The surgical instrument of Example 1, in which the first sensor comprises an accelerometer.
[00732] [00732] Example 5. The surgical instrument of Example 1, in which the first sensor comprises a chemical exposure sensor.
[00733] [00733] Example 6. The surgical instrument of Example 1, wherein the staple cartridge comprises staples removably stored therein.
[00734] [00734] Example 7. A surgical instrument configured for use in a surgical procedure, comprising a compartment, a first sensor configured to detect a condition of the surgical instrument, and a second sensor configured to detect the condition. The surgical instrument can additionally comprise a processor, the processor being located inside the compartment, where the first sensor and the second sensor are in signal communication with the processor, the processor receiving a first signal from the first sensor , with the processor receiving a second signal from the second sensor, the processor being configured to use the first signal and the second signal to determine the condition, and the processor being configured to communicate instructions to the instrument during the surgical procedure in view of the condition.
[00735] [00735] Example 8. The surgical instrument of Example 7, in which the first sensor comprises a Hall effect sensor.
[00736] [00736] Example 9. The surgical instrument of Example 7, in which the first sensor comprises a humidity sensor.
[00737] [00737] Example 10. The surgical instrument of Example 7, in which the first sensor comprises an accelerometer.
[00738] [00738] Example 11. The surgical instrument of Example 7, wherein the first sensor comprises a chemical exposure sensor.
[00739] [00739] Example 12. The surgical instrument of Example 7, the surgical instrument additionally comprising a staple cartridge.
[00740] [00740] Example 13. A surgical instrument, comprising a compartment comprising an internal compartment, a first sensor system, a second sensor system, and a controller located within the internal volume of the compartment. The first sensor system and the second sensor system are in signal communication with the controller, the controller being configured to receive a first signal from the first sensor system, the controller being configured to receive a second signal from the second system sensor, the controller being configured to use the first signal and the second signal to determine a condition of the surgical instrument, and the controller being configured to communicate instructions to the surgical instrument in response to the condition.
[00741] [00741] Example 14. The surgical instrument of Example 13, in which the first sensor system comprises a Hall effect sensor.
[00742] [00742] Example 15. The surgical instrument of Example 13, in which the first sensor system comprises a humidity sensor.
[00743] [00743] Example 16. The surgical instrument of Example 13, in which the first sensor system comprises an accelerometer.
[00744] [00744] Example 17. The surgical instrument of Example 13, wherein the first sensor system comprises a chemical exposure sensor.
[00745] [00745] Example 18. The surgical instrument of Example 13, the surgical instrument additionally comprising a staple cartridge.

权利要求:
Claims (18)
[1]
1. Surgical instrument characterized by comprising: a handle; a drive shaft; an end actuator comprising a staple cartridge, said end actuator being pivotable with respect to said drive shaft; a first sensor configured to detect a condition of said surgical instrument, said condition including one among a mode of operation of articulation of the end actuator and a mode of operation of firing of clamps; a second sensor configured to detect said condition; and a processor, said first sensor and said second sensor being in signal communication with said processor, said processor receiving a first signal from said first sensor, said processor receiving a second signal said second sensor, said processor being configured to use said first signal and said second signal to determine said condition, and said processor being configured to communicate instructions to said surgical instrument in view of said condition.
[2]
2. Surgical instrument according to claim 1, characterized in that the first sensor comprises a Hall effect sensor.
[3]
3. Surgical instrument according to claim 1, characterized in that said first sensor comprises a humidity sensor.
[4]
4. Surgical instrument, according to claim 1, characterized in that said first sensor comprises an accelerometer
tro.
[5]
5. Surgical instrument according to claim 1, characterized in that said first sensor comprises a chemical exposure sensor.
[6]
Surgical instrument according to claim 1, characterized in that said staple cartridge comprises staples removably stored therein.
[7]
7. Surgical instrument configured for use in a surgical procedure, characterized by comprising: a compartment; a first sensor configured to detect a condition of said surgical instrument; a second sensor configured to detect said condition; and a processor, said processor being located in said compartment, said first sensor and said second sensor being in signal communication with said processor, said processor receiving a first signal from said first sensor, said processor receiving a second signal from said second sensor, said processor being configured to use said first signal and said second signal to determine said condition, and the said processor is configured to communicate instructions to said surgical instrument during the surgical procedure in view of said condition.
[8]
Surgical instrument according to claim 7, characterized in that said first sensor comprises a Hall effect sensor.
[9]
Surgical instrument according to claim 7, characterized in that said first sensor comprises a humidity sensor.
[10]
10. Surgical instrument according to claim 7, characterized in that said first sensor comprises an accelerometer.
[11]
11. Surgical instrument according to claim 7, characterized in that said first sensor comprises a chemical exposure sensor.
[12]
12. Surgical instrument, according to claim 7, said surgical instrument being characterized by still comprising a staple cartridge.
[13]
13. Surgical instrument characterized by comprising: a compartment that comprises an internal volume; a first sensor system; a second sensor system; and a controller positioned in said internal volume of said compartment, said first sensor system and said second sensor system are in signal communication with said controller, said controller being configured to receive a first signal from said first sensor system, said controller being configured to receive a second signal from said second sensor system, said controller being configured to use said first signal and said second signal to determine a condition said surgical instrument, and said controller is configured to communicate instructions for said surgical instrument in response to said condition.
[14]
Surgical instrument according to claim 13, characterized in that said first sensor system comprises a Hall effect sensor.
[15]
15. Surgical instrument according to claim 13, characterized in that said first sensor system comprises a humidity sensor.
[16]
16. Surgical instrument according to claim 13, characterized in that said first sensor system comprises an accelerometer.
[17]
17. Surgical instrument according to claim 13, characterized in that said first sensor system comprises a chemical exposure sensor.
[18]
18. Surgical instrument, according to claim 13, said surgical instrument being characterized by still comprising a staple cartridge.

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同族专利:

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法律状态:
2021-11-23| 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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US15/798,855|2017-10-31|

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US15/798,855|US20180132850A1|2014-03-26|2017-10-31|Surgical instrument comprising a sensor system|

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PCT/US2018/057642|WO2019089361A1|2017-10-31|2018-10-26|Surgical instrument comprising a sensor system|

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