systems and methods for providing alerts according to the operational status of a surgical instrumen

专利摘要:
The present invention relates to systems and methods for controlling a surgical instrument to provide alerts according to the operational state of the instrument and the speed of a displacement member. The surgical instrument includes a movable displacement member between a first position and a second position and a sensor configured to detect a position of the displacement member and provide an indicative signal thereof. The surgical instrument is configured to determine a speed of the displacement member, and, if the speed is equal to zero, provide an alert according to the operational status of the instrument and the relative position of the displacement member in its course. The alert can include an image that is displayed on the instrument's display.
公开号:BR112020005843A2
申请号:R112020005843-2
申请日:2018-09-21
公开日:2020-09-24
发明作者:Richard L. Leimbach；Raymond E. Parfett；Gregory J. Bakos
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present disclosure refers to surgical instruments and, in various circumstances, surgical stapling and cutting instruments that are designed to cut and staple tissue. BACKGROUND
[0002] [0002] In a stapling and cutting surgical instrument, it can be useful to control the display and other components of the instrument to provide alerts to the physician using the instrument, turn the instrument off and take other similar actions according to the operating status of the instrument. surgical instrument. The operating status of the surgical instrument (that is, whether the instrument is cutting, stapling, clamping, articulating or taking other actions) can be detected by one or more sensors, which can be communicably coupled to a control circuit configured to perform various processes according to the instrument states detected by the sensors. In some situations, it may be useful to provide alerts to the doctor in order to alert the doctor to errors experienced by the surgical instrument. In other situations, it may be useful to turn the instrument off when the instrument has completed its surgical stapling and cutting operations. In still other situations, it can be useful to display the position of the knife during the course of a firing stroke to allow a doctor to see the progress of the cut. SUMMARY
[0003] [0003] In one aspect, a surgical instrument comprises: a movable displacement member between a first position and a second position; a sensor configured to detect a position of the displacement member and provide a signal indicating it; and a control circuit coupled to the sensor, the control circuit being configured to: determine a speed of the displacement member; and if the speed is equal to zero: determine an operational state of the surgical instrument; determining a relative position of the displacement member according to the position of the displacement member in comparison with at least one of the first position or the second position; and provide an alert according to the operating state of the surgical instrument and the relative position of the displacement limb.
[0004] [0004] In another aspect, a surgical instrument comprises: a movable displacement member between a first position and a second position; a sensor configured to detect a position of the displacement member and provide a signal indicating it; and a control circuit coupled to the sensor, the control circuit being configured to: determine a speed of the displacement member; and if the displacement member does not move: determine an operational state of the surgical instrument; determining a zone between the first position and the second position in which the displacement member is positioned; and provide an alert according to the operating status of the surgical instrument and the zone in which the displacement limb is positioned.
[0005] [0005] In yet another aspect, a method of operating a surgical instrument comprises a movable displacement member between a first position and a second position, a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first position and the second position, and a sensor configured to detect a position of the displacement member and provide a signal indicating it, the method comprising: determining a velocity of the displacement member; and if the determination that the velocity of the
[0006] [0006] The innovative features of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in terms of organization and methods of operation, can be better understood by referring to the description below, taken in conjunction with the attached drawings.
[0007] [0007] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axes operatively coupled to it, according to one aspect of this disclosure.
[0008] [0008] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this disclosure.
[0009] [0009] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to an aspect of this disclosure.
[0010] [0010] Figure 4 is an exploded view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this disclosure.
[0011] [0011] Figures 5A and 5B are a block diagram of a control circuit for the surgical instrument of Figure 1 that comprises two drawing sheets, according to one aspect of this disclosure.
[0012] [0012] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the handle assembly, the supply assembly and the handle assembly and the drive shaft assembly interchangeable according to one aspect of the present disclosure.
[0013] [0013] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0014] [0014] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0015] [0015] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0016] [0016] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, in which the absolute positioning system comprises an arrangement of the motor-controlled drive circuit comprising an arrangement of the sensor, in accordance with with an aspect of the present revelation.
[0017] [0017] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor array, according to a or more aspects of the present disclosure.
[0018] [0018] Figure 12 is a diagram of a position sensor that comprises a magnetic rotating absolute positioning system, according to an aspect of the present disclosure.
[0019] [0019] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1 showing a course of the firing member in relation to the tissue trapped inside the end actuator, according to an aspect of the present revelation.
[0020] [0020] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to an aspect of the present disclosure.
[0021] [0021] Figure 15 illustrates a diagram that plots two displacement member courses executed, according to one aspect of the present disclosure.
[0022] [0022] Figure 16 is a partial perspective view of a portion of an end actuator of a surgical instrument showing an elongated drive shaft assembly in a non-articulated orientation with portions omitted for clarity , according to one aspect of the present disclosure.
[0023] [0023] Figure 17 is another perspective view of the end actuator in Figure 16 showing the elongated drive shaft assembly in an un-articulated orientation, according to one aspect of the present disclosure.
[0024] [0024] Figure 18 is an exploded perspective view of the end actuator of Figure 16 showing the aspect of the elongated drive shaft assembly, according to an aspect of the present disclosure.
[0025] [0025] Figure 19 is a top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, according to an aspect of the present disclosure.
[0026] [0026] Figure 20 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a first articulated orientation, according to an aspect of the present disclosure.
[0027] [0027] Figure 21 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a second articulated orientation, according to an aspect of the present disclosure.
[0028] [0028] Figure 22 is a perspective view of a surgical system that includes a handle set attached to an interchangeable surgical tool set that is configured to be used in conjunction with conventional staple / surgical clip cartridges and radio frequency (RF) cartridges, according to one aspect of this disclosure.
[0029] [0029] Figure 23 is an exploded perspective view of the surgical system of Figure 22, according to an aspect of this disclosure.
[0030] [0030] Figure 24 is a top cross-sectional view of a portion of the Figure 22 interchangeable surgical tool set with its end actuator in an articulated position, according to one aspect of this disclosure.
[0031] [0031] Figure 25 is a perspective view of an embedded circuit board arrangement and the RF generator plus the configuration, according to one aspect of this disclosure.
[0032] [0032] Figure 26 illustrates a logic flow diagram of a process for displaying the lack of articulation and firing movement of the surgical instrument, according to one aspect of this disclosure.
[0033] [0033] Figure 27 illustrates a front view of a display screen or portion thereof showing an image that indicates that the end actuator joint is blocked, in accordance with an aspect of the present disclosure.
[0034] [0034] Figure 28 illustrates a front view of a display screen or portion thereof showing an image indicating that the end actuator joint is blocked, in accordance with an aspect of the present disclosure.
[0035] [0035] Figure 29 illustrates a front view of a display screen or portion thereof showing an image that indicates that the end actuator is at the maximum articulation, in accordance with an aspect of the present disclosure.
[0036] [0036] Figure 30 illustrates a front view of a display screen or portion thereof showing an image that indicates that the end actuator is at maximum articulation, in accordance with an aspect of the present disclosure.
[0037] [0037] Figure 31 illustrates a front view of a display screen or portion thereof that shows an image that indicates that the surgical instrument is stopped, according to an aspect of the present disclosure.
[0038] [0038] Figure 32 illustrates a front view of a display screen or portion thereof that shows an image that indicates that there is no cartridge in the surgical instrument, according to an aspect of the present disclosure.
[0039] [0039] Figures 33A to 33C illustrate member line diagrams of various displacement member courses performed, in accordance with an aspect of the present disclosure. DESCRIPTION
[0040] [0040] The applicant for this application has the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0041] [0041] Attorney document number END8313USNP / 170178, entitled SYSTEMS AND METHODS OF DISPLAYING A KNIFE POSITION FOR A SURGICAL INSTRUMENT, by the inventors Richard L. Leimbach et al., Filed on September 29, 2017.
[0042] [0042] Attorney document number END8314USNP / 170179, entitled SYSTEMS AND METHODS OF INITIATING A POWER SHU-
[0043] [0043] Attorney document number END8315USNP / 170180, entitled SYSTEMS AND METHODS FOR LANGUAGE SELECTION OF A SURGICAL INSTRUMENT, by the inventors Richard L. Leimbach et al., Filed on September 29, 2017.
[0044] [0044] Attorney document number END8316USDP / 170181D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by inventors Tony C. Siebel, et al., Filed on September 29, 2017.
[0045] [0045] Attorney document number END8317USDP / 170182D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by inventors Tony C. Siebel, et al., Filed on September 29, 2017.
[0046] [0046] Attorney document number END8318USDP / 170183D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by inventors Tony C. Siebel, et al., Filed on September 29, 2017.
[0047] [0047] Attorney document number END8319USDP / 170184D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by inventors Tony C. Siebel, et al., Filed on September 29, 2017.
[0048] [0048] Attorney document number END8320USNP / 170176M, entitled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, by the inventors Richard L. Leimbach et al., Filed on September 29, 2017.
[0049] [0049] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the revealed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this disclosure.
[0050] [0050] The terms "proximal" and "distal" refer to a doctor who handles the handle of the surgical instrument, with the term "proximal" referring to the portion closest to the doctor and the term "distal" referring to the portion located furthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0051] [0051] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or one through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft can be advanced. surgical instrument.
[0052] [0052] In some respects, surgical instruments may include devices capable of performing the cut (as, for example, in Figures 1 and 22), stapling (as, for example, in Figure 1), electrosurgical operations (as , for example, in Figure 22) and / or ultrasonic, as described in more detail below. Additional details on ultrasonic surgical instruments can be found in US patent No. 6,283,981, entitled METHOD OF BALANCING ASYMMETRIC ULTRASONIC SURGICAL BLADES; US patent No. 6,309,400, entitled CURVED ULTRASONIC WAVEGUIDE HAVING A TRAPEZOIDAL CROSS SECTION; and US Patent No. US
[0053] [0053] Figures 1 to 4 illustrate a surgical instrument powered by motor 10 for cutting and fixation that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a handle assembly 14 that is configured to be picked up, manipulated and actuated by the physician. The housing 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotic-controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. Interchangeable drive shaft assemblies can be used with various robotic systems, instruments, components and methods disclosed in US patent No. 9,072,535, entitled SURGICAL STA-
[0054] [0054] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operationally coupled to it, according to an aspect of this disclosure. The compartment 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 in it. Housing 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of staple cartridges, and that have different lengths, drive shaft sizes and types. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or motion to dispositions end actuators adapted for use in various applications and surgical procedures. End actuators, driveshaft assemblies, handles, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to secure tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0055] [0055] The handle assembly 14 may comprise a pair of interconnectable segments of the handle compartment 16 and 18 interconnected by screws, snap-fit features, adhesive, etc. The handle compartment segments 16, 18 cooperate to form a gripping portion of the pistol 19 that can be held and manipulated by the physician. The handle assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the exchangeable drive shaft assembly that is operationally attached to it. A display can be provided below a cover 45.
[0056] [0056] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The handle assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by frame 20. The closing trigger 32 is pivotally coupled to the handle assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a physician. When the physician holds the pistol grip portion 19 of the handle assembly 14, the closing trigger 32 can pivot from an initial or "unacted" position to an "acted" position and, more particularly, to a completely compressed or fully actuated.
[0057] [0057] The handle assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly fixed to it. The firing drive system 80 can employ an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a maximum rotation of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. Electric motor 82 can be powered by a power supply 90 which can comprise a removable power source
[0058] [0058] The electric motor 82 can include a rotary drive shaft (not shown), which, in an operational way, interfaces with a gear reducer assembly 84 mounted in coupling coupling with a set or rack, in drive teeth 122 on a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a rack of drive teeth 122 formed thereon for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly gear 84.
[0059] [0059] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable drive member 120 will be axially driven in the proximal direction "DP". The handle set 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The handle set 14 can include a sensor configured to detect the position of the member longitudinally movable drive 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0060] [0060] The actuation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported in the handle assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position.
[0061] [0061] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operatively support a surgical staple cartridge 304 therein. The end actuator 300 may include an anvil 306 that is pivotally supported in relation to the elongated channel 302. The interchangeable drive shaft assembly 200 may include a pivot joint
[0062] [0062] Returning to Figure 1, the closing tube 260 is transferred distally (direction "DD") to close the anvil 306, for example, in response to the action of the closing trigger 32 in the manner described in the reference previously mentioned in patent application publication No. 2014/0263541. Anvil 306 is opened by means of the proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0063] [0063] Figure 3 is another exploded view of portions of the interchangeable drive shaft assembly 200, according to an aspect of this disclosure. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a distal cutting portion or cutting bar 280. The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a tab 284 at the proximal end 282 of the cutting bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow relative movement between them and can comprise a sliding joint 286. Sliding joint 286 can allow the intermediate firing drive shaft 222 of the firing member
[0064] [0064] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple articulation actuator 230 to the firing member
[0065] [0065] The interchangeable 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 it and / or communicate signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the nozzle portions 202, 203. The proximal connector flange 604 may comprise a first The face and flange of the distal connector 601 can comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange of proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the circuit board of the drive shaft. The 606 electrical connector can extend proximally through a connector opening defined on the chassis mounting flange. Additional details regarding the slip ring assembly 600 can be found in US patent application publication No. 2014/0263541.
[0066] [0066] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the handle assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal swivel portion of the drive shaft. .
[0067] [0067] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The end actuator 300 can include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. Openings 199 can be defined in elongated channel 302 to receive pins 152 extending to from anvil 306 to allow anvil 306 to rotate from an open position to a closed position in relation to the elongated channel 302 and surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the actuator end 300. The firing bar 172 can be constructed from a solid section or can include a laminated material comprising, for example, a stack of steel plates. The firing bar 172 comprises an I-profile beam 178 and a cutting edge 182 at a distal end thereof. One end of the distally projected firing bar 172 can be attached to the I-profile beam 178 to assist in spacing the anvil 306 from a surgical staple cartridge 304 positioned in the elongated channel 302 when the anvil 306 is in closed position. The I 178 beam can include a sharp cutting edge 182, which can be used to separate the fabric, as the I 178 beam is distally advanced by the firing bar 172. In operation, the beam with profile at I 178 the surgical staple cartridge 304 may or may be triggered. The surgical staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 191 resting on the staple actuators 192 within the respective cavities. staples open upward 195. A wedge slide 190 is distally driven by the I-profile beam 178, sliding over a cartridge tray 196 of the surgical staple cartridge 304. The wedge slide 190 moves upward by cam means, the clip drivers 192 in order to expel the clips 191 in deformation contact with the anvil 306, while a cutting surface 182 of the I-profile beam 178 separates the clamped fabric.
[0068] [0068] The beam with I-profile 178 may include upper pins 180 that engage the anvil 306 during firing. The I-profile beam 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the profile beam in
[0069] [0069] Figures 5A and 5B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 which comprises two drawing sheets according to an aspect of this disclosure. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the triggering system of the surgical instrument 10. In various forms , motor 714 can be a direct current (DC) drive motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge actuator comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle set 14 to supply control energy to the surgical instrument 10. The supply set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the power source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack can be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0070] [0070] The drive shaft assembly 704 may include a drive shaft assembly controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the shaft assembly drive 704 and power supply 706 are coupled to handle assembly 702. For example, the interface may comprise a first portion of interface 725, which may include one or more electrical connectors for coupling coupling with the correct electrical connectors - corresponding to the drive shaft assembly, and a second portion of interface 727, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the power supply, to enable electrical communication between the controller of the power supply drive shaft 722 and power management controller 716 while drive shaft assembly 704 and set power supply 706 are coupled to the handle assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716. In response, the power management controller can modulate the battery power output of the power supply 706, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The connectors may comprise switches that can be activated after mechanically coupling the handle assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0071] [0071] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located on the handle assembly 702, for example. In other cases, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the drive assembly supply 706 are coupled to the handle assembly 702.
[0072] [0072] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory programmable and electrically erasable read-only (EEPROM) of 2 KB, one or more pulse width modulation (PWM) modules,
[0073] [0073] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0074] [0074] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit may be configured to modulate the battery power output based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and power supply 706 are coupled to the handle assembly 702. The con- power management controller 716 can be programmed to control the power modulator 738 from the power output of the power supply 706 and the current sensor circuit 736 can be employed to display the power output of the power supply 706 to provide feedback to the power management controller 716 on the battery power output so that the power management controller 716 can adjust the power output from the supply set 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0075] [0075] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD display, LED indicators), auditory feedback devices (for example, a speaker, a bell) or feedback devices tactile (for example, haptic actuators). In certain circumstances, the output device 742 may comprise a display 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via the output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to the output device 742. The output device 742 can instead be integrated with the power supply 706. In these circumstances, communication between the output device 742 and the drive shaft assembly controller 722 can be done via the interface, while the drive shaft assembly 704 is coupled to the handle assembly 702.
[0076] [0076] Control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a segment motor, and a power segment. Each circuit segment can be coupled to the safety controller and / or the main controller
[0077] [0077] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the surgical instrument energized, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0078] [0078] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the screen may be integrated with the screen and / or may be located separately from the screen. The display may comprise any suitable display, such as an organic light emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0079] [0079] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to surgical instrument 10 (Figures 1 to 4) and / or one or more controls for an end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a shaft PCBA EEPROM memory. drive. The drive shaft PCBA EE-PROM memory comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second EEPROM of the drive shaft comprises a plurality of algorithms, routines, parameters and / or other data that correspond to one or more sets of drive axes 200 and / or end actuators 300 that can interface with the powered surgical instrument 10.
[0080] [0080] The position encoder segment (segment 6) comprises one or more magnetic encoders of the rotation angle position. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0081] [0081] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to main controller 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The bridge actuator H is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0082] [0082] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of the motor 714 to the main controller 717. The main controller 717 provides a high pulse width modulation signal (PWM), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0083] [0083] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise up to a predetermined amount, such as, for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power supply conditions. energy.
[0084] [0084] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control operations of the surgical instrument 10 (Figures 1 to 4) of the segmented circuit and / or indicate a state of the surgical instrument 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot to the right side, a right pivot key to the right side and a central pivot key to the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left side and a reverse key on the right side are coupled to the main controller 717. Keys on the left side which comprise the key on the left side of the hinge, the key on the right side of the hinge for the the left side, the central articulation key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flex connector on the left. The keys on the right side which comprise the key on the left side of articulation for the right side, the key on the right side of articulation for the right side, the central key of articulation for the right side, and the reverse key of the right side are coupled to the main controller 717 by a right flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0085] [0085] Any suitable mechanical, electromechanical, or solid state keys can be used to implement the plurality of keys, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device consisting of a mechanically connected actuator
[0086] [0086] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the handle set 702 and the feed set 706 and between the handle set 702 and the interchangeable drive shaft assembly 704, in accordance with an aspect of the present disclosure. The handle assembly 702 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a power circuit. power management 734 which can comprise the power management controller 716, a power modulator 738, and a current sensing circuit 736. The connectors of the power pack 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the power needs of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the supply assembly 706 are coupled to the assembly of grip
[0087] [0087] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. These devices may comprise visual feedback devices (for example, an LCD display, LED indicators), hearing feedback devices (for example, a speaker, a bell) or tactile feedback devices.
[0088] [0088] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Control circuit 800 can be configured to implement various processes described herein. The control circuit 800 may comprise a controller that comprises one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one 804 memory circuit. The 804 memory circuit stores instructions executable on a machine that, when executed by the 802 processor, they cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of a number of single-core or multi-core (multi-core) processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The processor 802 may include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804.
[0089] [0089] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. The combinational logic circuit 810 can be configured to implement the various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0090] [0090] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement various processes described here. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock 829, for example. The at least one 820 memory circuit can store a current state of the finite state machine. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the surgical instrument 10, an input 826, process the data by the combinational logic circuit 822, and provide an output 828. In other aspects, the circuit may comprise a combination of the processes -
[0091] [0091] Aspects can be implemented in the form of an article of manufacture. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, a flash memory or firmware containing computer program instructions suitable for execution by a general-purpose processor or processor specific to the application.
[0092] [0092] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising an arrangement of the motor-controlled drive circuit that comprises a position of sensor 1102, according to one aspect of the present disclosure. The sensor arrangement 1102 of an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member 1111. Back briefly to Figures 2 to 4, in one aspect, the member displacement 1111 represents the longitudinally movable drive member 120 (Figure 2) which comprises a rack of drive teeth 122 for coupling engagement with a corresponding drive gear 86 of a gear reduction assembly 84. In other respects, the drive member offset 1111 represents the firing member 220 (Figure 3), which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member 1111 represents the firing bar 172 (Figure 4) or the I-profile beam 178 (Figure 4), each of which can be adapted and configured to include a rack of drive teeth. Consequently, as used in the present invention, the term displacement member is used generically to refer to any moving member of the surgical instrument 10, such as the driving member 120, the firing member 220, the firing bar 172, the beam with I 178 profile, or any element that can be moved. In one aspect, the longitudinally movable drive member 120 is coupled to the firing member 220, the firing bar 172 and the I-profile beam
[0093] [0093] An electric motor 1120 may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which is mounted in coupling coupling with a set, or rack, of drive teeth on the displacement member 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114, so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member 1111. An array of gears and sensors can be connected to the linear actuator by means of a rack and pinion arrangement, or to a rotary actuator by means of a gear wheel or other connection. An 1129 power supply supplies power to the 1100 absolute positioning system and an 1128 output indicator can show the output from the absolute positioning system
[0094] [0094] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 is the longitudinal linear distance through which the displacement member 1111 moves. from point "a" to point "b" after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction resulting in the completion of one or more revolutions of the complete travel of the travel member 1111 by the position sensor 1112. The position sensor 1112 can complete multiple revolutions of the complete travel of the travel member 1111.
[0095] [0095] A series of keys 1122a through 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The status of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the displacement member 1111. The sensor output 1124 position 1112 is supplied to controller 1104. Position sensor 1112 in the 1102 sensor arrangement may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or an array of analog Hall effect elements, which emit a unique combination of position of signs or values.
[0096] [0096] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the power of the instrument without having to retract or advance the driving member 1111 to the reset position (zero or initial), as can be the case with conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0097] [0097] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, controller 1104 includes a processor 1108 and memory 1106. Electric motor 1120 may be a brushed DC motor with a gearbox and mechanical connections to a hinge or cut system. In one aspect, an 1110 motor driver can be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system it is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, the disclosure of which is incorporated herein in its entirety for reference.
[0098] [0098] Controller 1104 can be programmed to provide precise control of the speed and position of displacement member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for real decisions based on feedback. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0099] [0099] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, status feedback and adaptive controller. An 1129 power source converts the signal from the feedback controller to a physical input to the system, in this case, the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to measure the physical parameters of the physical system, in addition to the position measured by the 1112 position sensor. In some respects, the other 1118 sensors may include sensor arrangements such as those described in US Patent No. 9,345,481, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which is hereby incorporated by reference in its entirety; US patent application publication No. 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, is hereby incorporated by reference in its entirety; and US patent application No. 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, which is hereby incorporated by reference in its entirety. In a digital signal processing system, an absolute positioning system 1100 is coupled to a digital data capture system in which the output of the absolute positioning system 1100 will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response that uses algorithms, such as a weighted average and a theoretical control loop, which triggers the calculated response in towards the measured response. The computed response of the physical system considers properties, such as mass, inertia, viscous friction, resistance to inductance, etc., to predict what will be the states and exits of the physical system, knowing the input. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[0100] [0100] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 driver is an entire bridge controller for use with metal oxide semiconductor (MOSFET) field effect transistors. external N-channel power specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator that provides full (> 10 V) door
[0101] [0101] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor array 1102, the disclosure now turns to Figures 11 to 12 for a description of an aspect of a sensor array 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the sensor arrangement 1102, according to with an aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates with each complete stroke of the displacement member 1111, and a gear set 1206 to provide a gear reduction. With brief reference to Figure 2, the displacement member
[0102] [0102] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresis, giant resistor, magnetic tunnel junctions, giant magnetimpedance, magnetostrictive / piesoelectric compounds cos, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0103] [0103] A gear set comprises a first gear 1208 and a second gear 1210 in coupling engagement to provide a connection with a 3: 1 gear ratio. A third gear 1212 rotates around a drive shaft 1214. The third gear 1212 is in engagement with gear member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive member drive 1111 moves in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive shaft 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the actuation member 1111. Thus, a complete stroke of the actuation member 1111, either in the distal or proximal direction, D, P , corresponds to three rotations of the second gear 1210 and a single rotation of the first gear 1208. As the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes one rotation with each c complete bear of drive member 1111.
[0104] [0104] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for holding the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory is attached to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with the magnet holder
[0105] [0105] Figure 12 is a diagram of a position sensor 1200 of an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, according to an aspect of this disclosure. The position sensor 1200 can be implemented as a rotary, magnetic, single-circuit AS5055EQFT position sensor, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C .1228D in an area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A 1232 high-resolution A-D converter and a 1238 intelligent power management controller are also featured on the integrated circuit. A 1236 CORDIC (Coordinate Rotation Digital Computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition operations, subtraction, bit offset and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface, to the controller
[0106] [0106] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described here in detail, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to a current conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of the magnet 1202. This angle value, which is a single position signal, is calculated by the CORDIC 1236 processor and stored embedded in the AS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of the magnet 1202 during a revolution is supplied to controller 1104 in a variety of techniques, for example, by energizing or upon demand from controller 1104.
[0107] [0107] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[0108] [0108] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented in the integrated circuit, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. The angle variation can be reduced by averaging several angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[0109] [0109] Figure 13 is a sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the beam with I-shaped profile 2514 in relation to the fabric 2526 trapped inside the end actuator 2502, in accordance with an aspect of the present disclosure. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516, an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503 A firing bar 2520 is translatable distally and proximally along a longitudinal axis 2515 of end actuator 2502. When end actuator 2502 is not articulated, end actuator 2502 is in line with the drive shaft of the instrument. An I-beam beam 2514 comprising a cutting edge 2509 is shown on a distal portion of the firing bar 2520. A wedge slide 2513 is positioned on the staple cartridge 2518. As the I-beam beam 2514 is moved distally , the cutting edge 2509 comes into contact and can cut the fabric 2526 positioned between the anvil 2516 and the staple cartridge 2518. In addition, the I-beam beam 2514 comes into contact with the wedge slider 2513 and the - pushes distally, causing the wedge slide 2513 to contact the 2511 staple actuators. The 2511 staple actuators can be guided into the 2505 staples, causing the 2505 staples to advance through the fabric and into pockets 2507 defined on the anvil 2516, which formats the clamps 2505.
[0110] [0110] A firing stroke of the beam with an I-profile 2514 example is illustrated by a graphic 2529 aligned with the end actuator 2502. The example fabric 2526 is also shown aligned with the end actuator 2502. The stroke of the firing member can comprise an initial position of the stroke 2527 and an end position of the stroke 2528. During a firing stroke of the I-2514 beam, the I-2514 beam can be advanced distally from the initial position of the stroke 2527 to the final position of the stroke
[0111] [0111] In the second stroke region of firing member 2519, cutting edge 2509 can begin to come in contact and cut the fabric
[0112] [0112] As discussed above and with reference now to Figures 10 to 13, electric motor 1122 positioned inside the surgical instrument handle 10 (Figures 1 to 4 can be used to advance and / or retract the system of the drive shaft assembly firing, including the I-profile beam 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the ex actuator - shaking 2502. The I-beam beam 2514 can be advanced or retracted at a desired speed, or within a desired speed range Controller 1104 can be configured to control the speed of the I-beam beam 2514. Controller 1104 can be configured to predict the speed of the I-beam profile 2514 based on various parameters of the energy supplied to the electric motor 1122, such as voltage and / or current, for example, and / or other operational parameters the engine and 1122 or external influences. Controller 1104 can also be configured to predict the current speed of the beam with I-2514 profile based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the I-profile beam 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the I-profile beam 2514 and the detected speed of the I-beam profile
[0113] [0113] The force acting on the beam with I 2514 profile can be determined using various techniques. The force on the I-beam beam 2514 can be determined by measuring the motor current 2504, where the motor current 2504 is based on the load on the I-beam beam 2514 as it advances distally. The strength of the beam with I-2514 profile can be determined by placing a stress meter on the drive member 120 (Figure 2), on the firing member 220 (Figure 2), on the beam with I-2514 profile (beam with I-profile 178, Figure 20), on the firing bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The I-profile beam 2514 can be determined by displaying the actual position of the profile beam in I 2514 moving at an expected speed based on the current set speed of the motor 2504 after a predetermined period of time T1 has elapsed and by comparing the actual position of the I-beam beam 2514 with the expected position of the I-beam beam 2514 based on the current set speed of the 2504 engine at the end of the T1 period. Thus, if the actual position of the I-2514 beam is less than the expected position of the I-2514 beam, the force on the I-2514 beam is greater than a nominal force. On the other hand,
[0114] [0114] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present disclosure. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111 such as the I-profile beam 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a beam with I-profile 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, I-profile beam 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[0115] [0115] The position, movement, displacement, and / or translation of a displacement member 1111, such as the beam with I-profile 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. As the beam with I-profile 2514 is coupled to a longitudinally movable drive member 120, the position of the beam with profile in I 2514 can be determined by measuring the position of the longitudinally movable drive member 120 that employs the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the beam with profile in I 2514 can be obtained by the position sensor 2534, as described in the present invention. A control circuit 2510, like control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the beam with I-profile 2514, as described together with Figures 10 to 12. The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example example, the beam with I 2514 profile, in the manner described. In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate beam position with I-profile 2514 as determined by position sensor 2534 with the output of the timer / counter circuit 2531 so that the control circuit 2510 can determine the position of the beam with I-profile 2514 at a specific moment (t) in relation to an initial position. The 2531 timer / counter circuit can be configured to measure elapsed time, count external events or time external events.
[0116] [0116] Control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a direct current (DC) electric motor with brushes, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the 2524 motor drive signal. In some instances, the 2504 motor may be a brushless direct current (DC) electric motor, and the 2524 motor drive signal may comprise a pulse width modulation (PWM) signal ) supplied to one or more motor stator windings 2504. In addition, in some instances, motor controller 2508 can be omitted, and control circuit 2510 can generate the motor 2524 drive signal directly.
[0117] [0117] The 2504 motor can receive power from a power source
[0118] [0118] The control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 to measure the various parameters derived, such as span distance in relation to time, compression of the tissue in relation to time and mechanical tension of the anvil in relation to time. The 2538 sensors can comprise a magnetic sensor, a magnetic field sensor, an effort meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the 2502 end actuator. The 2538 sensors may include one or more sensors.
[0119] [0119] The one or more 2538 sensors may comprise a strain gauge, such as a microstrain gauge, configured to measure the magnitude of stress on the 2516 anvil during a tight condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[0120] [0120] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 may be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the cartridge clamps 2518. The one or more 2538 sensors can be positioned at various points of interaction along the closing actuation system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the actuation system. closing 30. The one or more 2538 sensors can be sampled in real time during a gripping operation by a processor as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[0121] [0121] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the beam with I-2514 profile corresponds to the current drained by the 2504 motor. The force is converted into a digital signal and supplied to the control circuit 2510.
[0122] [0122] Using the physical properties of the instruments shown here in conjunction with Figures 1 to 13, and with reference to Figure 14, the 2510 control circuit can be configured to simulate the actual system response of the instrument in the controller software . A displacement member can be actuated to move a beam with I-profile 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which may be one or any of the feedback feedback controllers, including, but not limited to, a
[0123] [0123] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or beam with I 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a joint and / or a knife. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence of things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0124] [0124] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the description attached. The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention have been chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[0125] [0125] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, a motor 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise an articulating anvil 2516 and, when configured for use, a ultrasonic blade 2518 positioned on the opposite side of anvil 2516. A doctor can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, the 2504 motor can drive the displacement member distally along the geo- axis. metric longitudinal end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the I-beam 2514 with a cutting element positioned at a distal end, can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[0126] [0126] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the I-profile beam 2514, for example, based on one or more more tissue conditions. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select
[0127] [0127] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel member travel. Based on a response from the 2500 instrument during the open circuit portion of the stroke, the 2510 control circuit can select a trip control program. The instrument response may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into one constant speed.
[0128] [0128] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to one aspect of the present disclosure. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the I-beam beam 2514 between an initial position of the stroke 2586 and an end position of the stroke 2588. On the horizontal axis 2584, the control circuit 2510 can receive the trigger signal and begin provide the initial motor configuration at t 0. The open circuit portion of the travel member travel is an initial period of time that can elapse between t0 and t1.
[0129] [0129] A first example 2592 shows a response from the surgical instrument 2500 when the thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example , the initial time period between t 0 and t1, the I-beam beam 2514 can traverse from the initial position of the 2586 course to the 2594 position. The control circuit 2510 can determine that the 2594 position corresponds to a firing control that advances the beam with I-profile 2514 at a selected constant speed (Vlenta), indicated by the slope of example 2592 after t 1 (for example, in the portion of the closed circuit). The 2510 control circuit can drive the beam with I-profile 2514 to Vlenta speed by displaying the position of the beam with I-profile 2514 and modulating the signal of the motor setpoint 2522 and / or the motor 2524 to keep V slow.
[0130] [0130] A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the initial time period (for example, the open circuit period ) between t0 and t1, the beam with I-shaped profile 2514 can traverse from the initial position of the stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trip control program that advances the displacement member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile beam 2514. As a result, the I-profile beam 2514 can travel a larger portion of the course during the initial time period. In addition, in some instances, thinner tissue (for example, a larger portion of the displacement limb travel during the initial time period) may correspond to greater velocities of the displacement limb after the initial time period.
[0131] [0131] Figures 16 to 21 illustrate a 2300 end actuator of a 2010 surgical instrument showing how the 2300 end actuator can be pivoted in relation to the elongated drive shaft assembly 2200 around a 2270 pivot joint , according to one aspect of the present disclosure. Figure 16 is a partial perspective view of a portion of end actuator 2300 showing an elongated drive shaft assembly 2200 in a non-articulated orientation, with some of its portions omitted for clarity. Figure 17 is a perspective view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a non-articulated orientation. Figure 18 is an exploded perspective view of the 2300 end actuator of Figure 16 showing the elongated drive shaft assembly 2200. Figure 19 is a top view of the 2300 end actuator of Figure 16 showing the elongated drive shaft assembly 2200 in a non-articulated orientation. Figure 20 is a top view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a first orientation.
[0132] [0132] With reference now to Figures 16 to 21, end actuator 2300 is adapted to cut and staple the fabric and includes a first claw in the form of an elongated channel 2302 that is configured to support operationally in its a staple cartridge 2304 inside. The end actuator 2300 additionally includes a second claw in the form of an anvil 2310 which is supported in the elongated channel 2302 for movement in relation to it. The elongated drive shaft assembly 2200 includes a hinge system 2800 that uses a hinge lock 2810. The hinge lock 2810 can be configured and operated to selectively lock the surgical end actuator 2300 in various articulated positions. This arrangement allows the surgical end actuator 2300 to be rotated, or articulated, in relation to the closing tube 260 of the drive shaft when the articulation lock 2810 is in its unlocked state. Specifically with reference to Figure 18, the elongated drive shaft assembly 2200 includes a central column 210 that is configured to (1) slide a firing member 220 slidingly inside it and (2) to slide the pipe closure 260 (Figure 16) that extends around the central column 210. The closing shaft of the drive shaft 260 is fixed to a closing sleeve of the end actuator 272 which is pivotally fixed to the closing pipe 260 by a double-jointed closing sleeve assembly 271.
[0133] [0133] The central column 210 also slidably supports a proximal articulation actuator 230. The proximal articulation actuator 230 has a distal end 231 which is configured to operationally engage the articulation lock 2810. The articulation lock 2810 additionally comprises a drive shaft structure 2812 which is attached to the central column 210 in the various ways disclosed here. The drive shaft structure 2812 is configured to movably support a proximal portion 2821 of a distal hinge driver 2820 therein. The distal hinge driver 2820 is movably supported within the shaft assembly. elongated actuation 2200 for selective longitudinal displacement in a distal DD direction and in a proximal DP direction along a geometric axis of articulation AAA which is laterally displaced and parallel to the geometric axis of the SA-SA drive axis, in response to joint control movements applied to it.
[0134] [0134] In Figures 17 and 18, the drive shaft structure 2812 includes a distal end portion 2814 that has a pivot pin 2818 formed thereon. Pivot pin 2818 is adapted to be pivotally received within a pivot hole 2397 formed in the pivot base portion 2395 of an end actuator mounting set 2390. The end actuator mounting set 2390 it is fixed to the proximal end 2303 of the elongated channel 2302 by means of a spring pin 2393 or equivalent. The pivot pin 2818 defines a pivot geometric axis BB transverse to the geometric axis of the SA-SA drive axis to facilitate the pivoting displacement (that is, the pivot) of the end actuator 2300 around the pivot geometric axis BB in relation to to the 2812 drive shaft structure.
[0135] [0135] As shown in Figure 18, a link pin 2825 is formed at a distal end 2823 of the distal articulation driver 2820 and is configured to be received inside a hole 2904 at a proximal end 2902 of a cross link 2900. The cross link 2900 extends transversely across the geometric axis of the SA-SA drive shaft and includes a distal end portion 2906. A distal link hole 2908 is provided through the distal end portion 2906 of the cross link 2900 and is configured to pivotally receive a 2398 base pin that extends from the bottom of the 2395 pivot base portion of the 2390 end actuator assembly set. The 2398 base pin defines an axis of the LA link that is parallel to the BB articulation axis.
[0136] [0136] Figure 19 shows the articulated joint 2270 in a straight position, that is, at an angle zero θ 0 in relation to the longitudinal direction shown as drive shaft SA, according to one aspect. Figure 20 shows the articulated joint 2270 of Figure 19 articulated in a direction of at a first angle θ 1 defined between the geometry axis SA of the drive axis and the geometry axis EA of the end actuator, according to one aspect. Figure 21 illustrates the articulated joint 2270 of Figure 19 articulated in another direction at a second angle θ2 defined between the geometric axis SA of the drive axis and the geometric axis EA of the end actuator.
[0137] [0137] The surgical end actuator 2300 in Figures 16 to 21 comprises a surgical cutting and stapling device that uses a trigger member 220 among the various types and configurations described here. However, the surgical end actuator 2300 may comprise other forms of surgical end actuators that do not cut and / or staple tissue. An intermediate support member 2950 is supported pivoting and sliding in relation to the back
[0138] [0138] The surgical instrument can additionally be configured to determine the angle at which the 2300 end actuator is oriented. In various embodiments, the position sensor 1112 of the 1102 sensor array can comprise one or more magnetic sensors, analog rotary sensors (such as a potentiometer), analog Hall sensor arrays, which emit a combination single nation of signs or values, among others, for example. In one aspect, the pivot joint 2270 of the aspect shown in Figures 16 to 21 may additionally comprise an arrangement of the pivot sensor that is configured to determine the angular position, i.e. pivot angle, of the end actuator 2300 and provide provide a unique position signal corresponding to it.
[0139] [0139] The arrangement of the joint sensor can be similar to the arrangement of sensor 1102 described above and illustrated in Figures 10 to 12. In this respect, the arrangement of the joint sensor can comprise a position sensor and a magnet which is operationally coupled to the articulated joint 2270 so that it rotates in a manner consistent with the rotation of the articulated joint 2270. The magnet can, for example, be coupled to the pivot pin 2818. The position sensor comprises one or more sensing elements magnetic, like Hall effect sensors and is placed close to the magnet, inside or adjacent to the 2270 articulated joint. Consequently, as the magnet rotates, the magnetic sensing elements of the position sensor determine the ab- solute of the magnet. As the magnet is coupled to the 2270 articulated joint, the angular position of the magnet in relation to the position sensor corresponds to the angular position of the 2300 end actuator.
[0140] [0140] In another aspect, the surgical instrument is configured to determine the angle at which the 2300 end actuator is indirectly positioned by displaying the absolute position of the articulation actuator 230 (Figure 3). As the position of the hinge actuator 230 corresponds to the angle at which the end actuator 2300 is oriented in a known manner, the absolute position of the hinge actuator 230 can be tracked and then shifted to the angular position of the 2300 end actuator. In this respect, the surgical instrument comprises an articulation sensor arrangement that is configured to determine the absolute linear position of the articulation actuator 230 and provide a unique position signal corresponding to it. In some aspects, the articulation sensor arrangement or the controller operationally coupled to the disposition articulation sensor arrangement is additionally configured to translate or calculate the angular position of the 2300 end actuator from a single position signal.
[0141] [0141] The arrangement of the joint sensor in this aspect may similarly be similar to the arrangement of sensor 1102 described above and illustrated in Figures 10 to 12. In a similar aspect to the aspect illustrated in Figure 10 in relation to the limb displacement 1111, the articulation sensor arrangement comprises a position sensor and a magnet that rotates once for each complete stroke of the longitudinally movable articulation actuator 230. The position sensor comprises one or more magnetic sensing elements, as Hall effect sensors, and is positioned close to the magnet. Consequently, as the magnet rotates, the detection elements
[0142] [0142] In one aspect, a single revolution of the sensor element associated with the position sensor is equivalent to a longitudinal linear displacement d1 of the longitudinally movable articulation driver 230. In other words, d1 is the longitudinal linear distance by which the longitudinally movable articulation drive 230 moves from point "a" to point "b" after a single revolution of a sensor element coupled to the longitudinally movable articulation driver 230. The arrangement of the articulation sensor can be connected by means of a gear reduction which results in the position sensor completing only a single revolution of the complete stroke of the longitudinally movable articulation driver 230. In other words, d1 can be equal to the complete stroke of the articulation driver 230. The The position sensor is then configured to transmit a single position signal corresponding to the absolute position of the articulation actuator 230 to controller 1104, with o in those aspects represented in Figure 10 upon receipt of a single position signal, and controller 1104 is then configured to execute logic to determine the angular position of the end actuator corresponding to the linear position of the articulation actuator 230, for example example, referring to a lookup table that returns the value of the pre-calculated angular position of the end actuator 2300, calculating by means of an algorithm the angular position of the end actuator 2300 using the linear position of the articulation actuator 230 as input, or performing any other method as is known in the art.
[0143] [0143] In several respects, any number of magnetic detection elements can be used in the arrangement of the articulation sensor, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the components. - vector tests of the magnetic field. The number of magnetic detection elements used corresponds to the desired resolution to be detected by the arrangement of the articulation sensor. In other words, the greater the number of magnetic detection elements used, the greater the degree of articulation that can be detected by the arrangement of the joint sensor. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. The 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, magnostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0144] [0144] In one aspect, the position sensor of the various aspects of the joint sensor arrangement can be implemented in a similar way to the positioning system illustrated in Figure 12 to track the position of the 1111 displacement member. In one aspect, the articulation sensor arrangement can be implemented as a single integrated circuit magnetic rotary position sensor AS5055EQFT, available from Austria Microsystems, AG. The position sensor interfaces with the controller to provide an absolute positioning system for determining the absolute angular position of the 2300 end actuator, either directly or indirectly. The position sensor is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of the position sensor 1200 located above magnet 1202 (Figure 11). A 1232 high-resolution A-D converter and 1238 intelligent power management controller are also featured on the integrated circuit. A 1236 CORDIC (Coordinate Rotation Digital Computer) processor, also known as digit by digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition operations, subtraction, bit offset and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface, to controller 1104. Position sensor 1200 provides 12 or 14 bits resolution. The position sensor 1200 can be an AS5055 circuit supplied in a small 16-pin QFN package measuring 4 x 4 x 0.85 mm.
[0145] [0145] With reference to Figures 1 to 4 and 10 to 12, the position of the articulation joint 2270 and the position of the beam with I-profile 178 (Figure 4) can be determined with the absolute position feedback signal / value of the absolute positioning system 1100. In one aspect, the articulation angle θ can be determined based on the driving member 120 of the surgical instrument 10. As described above, the movement of the longitudinally movable driving member 120 (Figure 2) can be tracked by the absolute positioning system 1100 and, when the articulation actuator is operationally coupled to the firing member 220 (Figure 3) by the clutch assembly 400 (Figure 3), for example, the absolute positioning system 1100 can, with In effect, track the movement of the articulation system through the drive member 120. As a result of tracking the movement of the articulation system, the controller of the surgical instrument can track the angle articulation θ of the end actuator
[0146] [0146] In another aspect, the articulation angle θ can be determined by the location sensors on the 2270 articulation joint. The sensors can be configured to detect the rotation of the 2270 articulation joint using the 1100 absolute positioning system. in a manner adapted to measure the absolute rotation of the joint 2270, instead of the longitudinal displacement of the actuating member 120, as described above. For example, the sensor arrangement 1102 comprises a position sensor 1200, a magnet 1202 and a magnet holder 1204 adapted to detect the rotation of the articulated joint 2270. The position sensor 1200 comprises one or more magnetic detection elements, as Hall elements, and is positioned next to magnet 1202. Position sensor 1200 described in Figure 12 can be adapted to measure the angle of rotation of articulated joint 2270. Consequently, as magnet 1202 rotates, the elements Magnetic detection sensors of the position sensor 1200 determine the absolute angular position of the magnet 1202 located on the hinge joint 2270. This information is provided to controller 1104 to calculate the hinge angle of the hinge joint 2270. Consequently, the The articulation of the end actuator 2300 can be determined by the absolute positioning system 1100 adapted to measure the absolute rotation of the articulated joint 2270.
[0147] [0147] In one aspect, the firing rate or speed of the I-profile beam 178 can be varied as a function of the articulation angle of the 2300 end actuator to decrease the force to fire in the firing drive system 80 and, in particular, the force to fire from the I-profile beam 178, among other components of the trigger drive system 80 discussed here. To adapt the variable firing force of the I-profile beam 178 as a function of the articulation angle of the end actuator 2300, a variable motor control voltage can be applied to motor 82 to control the speed of motor 82. A motor speed 82 can be controlled by comparing the firing force of the I-profile beam 178 with different maximum limits based on the articulation angle of the end actuator 2300. The speed of the electric motor 82 can be varied through the adjustment of voltage, current, pulse width modulation (PWM) or duty cycle (0 to 100%) applied to motor 82, for example.
[0148] [0148] Figures 22 and 23 depict a motor-driven surgical instrument 10 that can be used to perform a variety of different surgical procedures. The surgical instrument 10 may comprise an end actuator 3602, which may comprise one or more electrodes. The 3602 end actuator can be positioned against the tissue, so that electrical current can be introduced into the tissue. The surgical instrument 10 can be configured for monopolar or bipolar operation. During monopolar operation, the current can be introduced into the tissue by an electrode (or source) active in the 3602 end actuator and returned via a return electrode. The return electrode can be a grounding block located separately on a patient's body. During bipolar operation, the current can be introduced into the tissue and returned from it, respectively, through the active and return electrodes of the end actuator.
[0149] [0149] The end actuator 3602 may comprise a first 3604 jaw member and a second 3608 jaw member. At least one of the 3604 jaw members 3608 may have at least one electrode. At least of the 3604, 3608 jaw members can be movable from a spaced position of the opposite jaw to receive fabrics in a position in which the space between the 3604, 3608 jaw members is less than that of the first position. This movement of the movable claw can compress the tissue retained between it. The heat generated by the current flow through the tissue in combination with the compression obtained by the movement of the claw can form hemostatic seals within the tissue and / or between tissues and, therefore, can be particularly useful for sealing blood vessels, for example . The surgical instrument 10 can comprise a knife member 3628 which is extendable through the end actuator 3602. The claw member 3628 can be movable with respect to the tissue and the electrodes to transpose the tissue.
[0150] [0150] The surgical instrument 10 may include mechanisms for securing the tissue, such as a stapling device, and / or mechanisms for cutting the tissue, such as a tissue knife. An electrosurgical instrument 10 can include a drive shaft to place the end actuator 3602 in a position adjacent to the tissue being subjected to treatment. The drive shaft can be straight or curved, foldable or non-foldable. In an electrosurgical instrument 10 that includes a straight and foldable drive shaft, the drive shaft may have one or more hinge joints to allow controlled flexing of the drive shaft. Such joints may allow a user of the electrosurgical instrument 10 to place the end actuator in contact with the tissue at an angle to the drive axis when the tissue being treated is not readily accessible using an electrosurgical device that it has a straight, non-foldable drive shaft.
[0151] [0151] The electrical energy applied by the electrosurgical devices can be transmitted to the instrument by a 3400 generator in communication with the 3500 handle set. The electrical energy can be in the form of radio frequency energy ("RF"). RF energy is a form of electrical energy that can be in the frequency range of 200 kilo-hertz (kHz) to 1 mega-hertz (MHz). In application, an electrosurgical instrument can transmit RF energy at low frequency through the tissue, which causes friction, or ionic agitation, that is, resistive heating, which, therefore, increases the tissue temperature. Due to the fact that a precise boundary is created between the affected tissue and the surrounding tissue, surgeons can operate with a high level of precision and control, without sacrificing adjacent non-target tissue. The low operating temperatures of the RF energy are useful for removing, shrinking or sculpting soft tissues while simultaneously cauterizing blood vessels. RF energy works particularly well in connective tissue, which mainly comprises collagen and shrinks when it comes into contact with heat.
[0152] [0152] RF energy can be in a frequency range described in document EN 60601-2-2: 2009 + A11: 2011, Definition
[0153] [0153] In the illustrated arrangement, surgical instrument 10 comprises an interchangeable surgical tool set 3600 that is operatively coupled to a 3500 handle set. In another aspect of the surgical system, the interchangeable surgical tool set 3600 can be effectively employed with a tool drive set from a ropotically controlled or automated surgical system. For example, the surgical tool set 3600 disclosed here can be used with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in US Patent No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DE- PLOYMENT ARRANGEMENTS, which is hereby incorporated by reference in its entirety.
[0154] [0154] In the illustrated aspect, the handle assembly 3500 may comprise a handle compartment 3502 that includes a pistol grip portion that can be handled and manipulated by the physician. As briefly discussed below, the 3500 handle set operationally supports a plurality of drive systems that are configured to generate and apply various control movements to the corresponding portions of the 3600 interchangeable surgical tool set. As shown in Figure 22, the handle assembly 3500 may also include a handle structure 3506 that operationally supports the plurality of drive systems. For example, the 3506 handle structure can operationally support a "first" closing drive system or system, generically designated as 3510, which can be used to apply closing and opening movements to the 3600 interchangeable surgical tool set. at least one way, the closing drive system 3510 may include an actuator in the form of a closing trigger 3512 which is pivotally supported by the grip structure 3506. This arrangement allows the closing trigger 512 to be handled by a physician , so that when the physician holds the piston pressure portion 504 of the 3500 grip assembly, the closing trigger 3512 can be easily rotated from an initial or "not acted" position to an "acted" position and, more particularly, to a fully compressed or fully actuated position.
[0155] [0155] In at least one form, the 3500 handle assembly and the 3506 handle structure can operationally support another drive system called in the present invention a 3530 trigger drive system, which is configured to apply trigger movements corresponding portions of the interchangeable surgical tool set that is attached to it. As described in detail in US Patent Application Publication No. 2015/0272575, the 3530 firing drive system can employ an 3505 electric motor which is located in the pistol grip portion of the 3500 grip assembly. In many ways, the 3505 motor can be a brushless DC drive motor with a maximum speed of approximately 25,000 RPM, for example. In other provisions, the 3505 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The 3505 engine can be powered by a 3522 power source which, in one form, can comprise a removable battery. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones. Several batteries, which can be connected in series, can be used as the 3522 power source for the surgical instrument 10. In addition, the 3522 power source can be replaceable and / or rechargeable.
[0156] [0156] The 3505 electric motor is configured to axially drive a 3540 longitudinally movable driving member in the distal and proximal directions depending on the polarity of the motor. For example, when the 3505 electric motor is driven in a direction of rotation, the longitudinally movable drive member will be axially driven in a distal "DD" direction. When the 3505 engine is started in the opposite rotating direction, the drive member
[0157] [0157] In at least one shape, the 3540 longitudinally movable drive member may have a toothed rack formed in gear for engagement with a corresponding drive gear arrangement (not shown) that interfaces with the engine . Additional details regarding those resources can be found in US Patent Application Publication No. 2015/0272575. In at least one arrangement, however, the longitudinally movable drive member is insulated to protect it from inadvertent RF energy. At least one shape also includes a manually actuated "retraction" set that is configured to allow the physician to manually retract the longitudinally movable drive member if the 3505 engine stops running. The retract assembly can include a lever or retract handle assembly that is stored inside the 3500 handle assembly under a 3550 retractable door. The lever can be configured to be manually adjusted in ratchet hitch with teeth on the drive member. In this way, the physician can manually retract the 3540 drive member using the retract handle assembly to engage the drive member in the proximal "DP" direction. US Patent No.
[0158] [0158] As shown in Figure 22, in at least one arrangement, the interchangeable surgical tool set 3600 includes a tool frame set 3610 comprising a tool chassis that operationally supports a nozzle set 3612 therein. As further discussed in detail in patent application US 15 / 635,631, entitled SURGICAL INSTRUMENT WITH AXI-ALLY MOVABLE CLOSURE MEMBER, which is incorporated herein by reference in its entirety, the tool chassis and the 3612 nozzle assembly facilitate rotation of the 3602 surgical end actuator around a geometric axis of the SA drive axis in relation to the tool chassis. Such rotational displacement is represented by the arrow R in Figure 22. The interchangeable surgical tool set 3600 includes a central column set 3630 (see Figures 3 and 24) that operationally supports the proximal closing tube 3622 and is coupled to the end actuator surgical 3602. In various circumstances, for ease of assembly, the central column assembly 3630 can be manufactured from a upper central column segment and a lower central column segment that are interconnected together by plug-in features. pressure, adhesive, solder, etc. In assembled form, the center column assembly 3630 includes a proximal end that is pivotally supported on the tool frame. In one arrangement, for example, the proximal end of the center column assembly 3630 is attached to a center column bearing (not shown) that is configured to be supported within the tool frame. This arrangement facilitates the swiveling fastening of the central column assembly 3630 to the tool frame, so that the central column assembly can be selectively rotated around a geometric axis of the SA drive axis in relation to the tool frame.
[0159] [0159] In the illustrated aspect, the interchangeable surgical tool set 3600 includes a 3602 surgical end actuator comprising a first 3604 jaw and a second 3608 jaw. In one arrangement, the first jaw comprises an elongated channel 3614 that it is configured to operationally support a conventional staple cartridge / surgical clamps (mechanical) 304 (Figure 4) or a radio frequency cartridge (RF) 3606 (Figures 22 and 23) in it. The second claw 3608 comprises an anvil 3616 which is pivotally supported in relation to the elongated channel 3614. The anvil 3616 can be selectively moved towards a surgical cartridge supported in the elongated channel 3614, and in the opposite direction, between the positions open and closed by means of the 3510 closing drive system. In the illustrated arrangement, the anvil 3616 is pivotally supported on a proximal end portion of the elongated channel 3614 for selective pivoting displacement around an axis pivot geometry that is transversal to the geometric axis of the drive axis SA. The actuation of the 3510 closing drive system may result in the distal axial movement of a proximal closing member or proximal closing tube 3622 that is attached to a 3618 hinge connector. The proximal closing tube 3622 will result in the distal displacement of the segment of the distal closing tube 3620 to finally apply a closing movement to the anvil
[0160] [0160] In at least one arrangement, RF energy is supplied to the 3600 surgical tool set by a conventional 3400 RF generator via a supply lead 3402. In at least one arrangement, the supply lead 3402 includes a 3406 male plug assembly that is configured to be plugged into corresponding female 3410 connectors that are attached to a 3656 segmented RF circuit on a 3654 integrated circuit board. See Figure 25. This arrangement facilitates the rotational displacement of the end actuator - drive shaft 3602 around the geometric axis of the drive shaft SA in relation to the tool chassis by rotating
[0161] [0161] In at least one arrangement, the elongated channel 3614 includes a channel circuit 3642 supported in a recess extending from the proximal end of the elongated channel 3614 to a distal location in the bottom portion of the elongated channel 3614. The channel circuit 3642 includes a proximal contact portion that contacts a distal contact portion 3644 of the flexible drive shaft circuit strip 3646 for electrical contact therewith. In at least one arrangement, the distal end of the channel circuit 3642 is received within a corresponding wall recess formed in one of the walls of the elongated channel 3614 and is folded and attached to an upper edge of the wall of the elongated channel 3614. A series corresponding exposed contacts are provided at the distal end of the 3642 channel circuit. Correspondingly, the 3606 cartridge may include a flexible cartridge circuit that is attached to a distal microcircuit and is affixed to the distal end portion of the body of the 3606 cartridge. One end of the flexible cartridge circuit can be folded over the edge of the 3606 cartridge platform surface and includes exposed contacts configured to make electrical contact with the exposed contacts of the 3642 channel circuit. when the RF 3606 cartridge is installed in the elongated channel 3614, the electrodes, as well as the distal microcircuit of the RF 3606 cartridge, are powered and communicate with the built-in circuit board 3654 through the contact between the flexible cartridge circuit, the flexible channel circuit 3642, the flexible drive shaft circuit 3646 and slip ring assembly 3652. More details on the 3606 RF cartridges and the provisions of the corresponding circuit and sensor of the surgical instrument 10 that communicate and / or interact with the RF 3606 cartridges can be found in US patent application No. 15 / 636.096, entitled SURGICAL SYSTEM COUPLABLE WITH STA- PLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, which is incorporated herein by reference in its entirety.
[0162] [0162] Figure 26 illustrates a logic flow diagram of a process 4000 for displaying the lack of articulation and firing movement of surgical instrument 10 (Figures 1, 22) as performed by controller 1104 (Figure 10), according to one aspect of this revelation. During use, the surgical instrument 10 can encounter several situations in which the movement of the surgical instrument 10 is interrupted. Such situations may include when the end actuator 2300 joint is blocked, the end actuator 2300 is at one end of its pivot band, the surgical instrument 10 has stopped, or a cartridge has not been inserted into the end actuator
[0163] [0163] In alternative aspects, the absolute positioning system 1100 represented in Figure 10 can be configured to independently track the movement of the firing system and the 2800 hinge system instead of, or in addition to, tracking the movement of the 3540 longitudinally movable drive member. In these respects, the absolute positioning system 1100 can be configured to determine the position of multiple displacement members instead of a single displacement member 1111, as shown in Figure 10. For example, the absolute positioning system 1100 can determine the position of a first displacement member representing the hinge driver 230, the distal hinge driver 2820 or any other component of the hinge system 2800 that is movable between a first position and a second position for articulate the 2300 end actuator. Additionally, the 1100 absolute positioning system can determine the position of a second displacement member representing the firing member 220, the firing bar 172 (Figure 4), the beam with I-profile 178 (Figure 4) or any other component of the firing system that is movable between a first position and a second position to perform gripping, cutting and / or stapling operations on the end actuator
[0164] [0164] Consequently, controller 1104 determines 4002 if the speed of the 3540 longitudinally movable drive member is equal (or almost equal) to zero (that is, if the 3540 longitudinally movable drive member is not in motion). Controller 1104 can calculate the speed of the 3540 longitudinally movable drive member through a combination of the position sensor 1111 output and the 2531 timer / counter circuit (Figure 14) to track the position of the 3540 longitudinally movable drive member along the time. In several respects, controller 1104 can track the speed of the 3540 longitudinally movable drive member, for example, a moving average, by sampling the position sensor 1112, sampling the timer / counter circuit output 2531 determining a distance that the 3540 longitudinally movable drive member has traveled between the current instance and a umpteenth previous instance, determining an elapsed time in relation to the n instances, and then determining a longitudinally driving member speed mobile 3540 according to the distance traveled and the elapsed time. In some respects, process 4000 determines 4002 that the speed of the 3540 longitudinally movable drive member is zero when the 3540 longitudinally movable drive member stops at any specific time. In other respects, process 4000 determines 4002 that the speed of the 3540 longitudinally movable drive member is zero when the moving average of the 3540 longitudinally movable drive member reaches zero.
[0165] [0165] If the speed of the 3540 longitudinally movable drive member is not equal to zero, then process 4000 continues along the NO branch and the display of the speed of the 3540 longitudinally movable drive member continues. In other respects , if process 4000 continues along the NO branch, process 4000 simply ends, and controller 1104 executes the next process or algorithm suitable for the procedure. If the speed of the 3540 longitudinally movable drive member is equal to zero, then process 4000 continues along the SIM ramification and determines 4004 the operating status of the surgical instrument 10. The operating status of the surgical instrument 10 is defined according to according to which operation is being performed by the surgical instrument 10, which includes articulating, securing, stapling, applying RF energy, applying ultrasonic energy and / or cutting. In one aspect, process 4000 determines 4004 if the end actuator 2300 is in a locked and firing operational state, as opposed to an articulated operating state. Knowing which operating state the surgical instrument 10 is in allows to determine whether the lack of movement of the 3540 longitudinally movable drive member is indicative of a problem with the firing system or with the 2800 articulation system. the surgical instrument 10 is in the operating state stuck and firing, so the 3540 longitudinally movable drive member is activating the triggering system and the lack of speed of the 3540 longitudinally movable driving member is thus indicative of a potential problem with the trigger system. On the other hand, if the surgical instrument 10 is not in the locked and firing operating state, then the 3540 longitudinally movable drive member is activating the 2800 hinge system and the 3540 longitudinally movable drive member is lacking in speed. , thus, indicative of a potential problem with the 2800 articulation system.
[0166] [0166] Process 4000 can determine 4004 if the end actuator 2300 is attached and firing through one or more sensors associated with the controls of the surgical instrument 10, the closing drive system 3510, the claws 3604, 3608 (or the anvil 3616 and the cartridge 3606) of the end actuator 2300, the firing drive system 3530, the firing member 220, the cutting bar 280, the articulation system 2800 and / or combinations thereof. For example, the other 1118 sensors may include a closing trigger sensor configured to determine when the 3512 closing trigger was triggered. When the closing trigger 3512 causes the closing trigger system 3510 to activate, detecting whether the closing trigger 3512 has been acted thus serves as a substitute for determining whether the end actuator 2300 is in a position. - stuck or not stuck. The closing trigger sensor may include, for example, a position sensor configured to detect the position of the closing trigger 3512 in relation to the handle assembly
[0167] [0167] The surgical instrument 10 can include various combinations of the sensors described above, so that the total sum of the outputs of the various sensors and the sensor arrangements can be received by controller 1104 and then used by controller 1104 to determine 4004 whether the instrument surgical 10 is in a trapped and firing state or in an articulated state. As a specific example, surgical instrument 10 can include a closing trigger sensor and a trigger button or sensor trigger to detect when the respective systems have been activated. As another specific example, the surgical instrument 10 can include a claw sensor configured to detect when claws 3604, 3608 are attached and a current sensor (Figure 14) to detect when motor 2504 is draining a current source of energy 2512. As yet another specific example, the surgical instrument 10 may include a sensor configured to measure the forces exerted on the anvil 3616 by the closing tube 3620, a trigger button or trigger sensor, and a sensor arrangement swivel set to measure the angular position of the end actuator
[0168] [0168] If surgical instrument 10 is not attached and firing, surgical instrument 10 is then in an operating state of articulation and process 4000 continues along the NO branch and determines whether end actuator 2300 is at the end of its articulation range. In one aspect, process 4000 determines the relative articulation position of end actuator 2300 by determining 4006 whether the 3540 longitudinally movable drive member is positioned in an area corresponding to its section (s) at or near a first position or proximal position and / or a second position or distal position. The proximal and distal positions can correspond, for example, to the furthest proximal position (ie, proximal limit) and to the furthest distal position (ie, distal limit) between which the 3540 longitudinally movable drive member is translated. . Due to the fact that the 2300 end actuator joint is driven by the 3540 longitudinally movable drive member, the travel range limits of the 3540 longitudinally movable drive member correspond to the limits of the end actuator articulation range. 2300. Thus, the proximal position of the 3540 longitudinally movable drive member corresponds to a first limit on the articulation range of the 2300 end actuator and, consequently, the distal position of the 3540 longitudinally mobile drive member corresponds to a second limit of the articulation range of the end actuator 2300. Therefore, the process 4000 executed by the controller 1104 can determine the position of the end actuator 2300 in relation to the limits of its articulation range by determining the member position 4006 3540 longitudinally movable drive in relation to the limits of its own travel range. The proximal and distal positions of the 3540 longitudinally movable drive member can, for example, be stored in memory 1106 and retrieved by controller 1104 to calculate the relative angular position of the end actuator 2300.
[0169] [0169] In another aspect, process 4000 determines the relative articulation position of end effector 2300 by determining the position of the articulation actuator 230 (or another moving component in the articulation system 2800) in relation to the proximal and distal limits between which the articulation driver 230 is translated, as described above with respect to the 3540 longitudinally movable driving member. In another aspect, process 4000 determines the relative articulation position of the end effector 2300 by means of direct detection of the angle at which the articulation joint 2270 and / or the end actuator 2300 is guided by, for example, an arrangement of the articulation sensor. The detected articulation angle of the end actuator 2300 can be compared with the limits of its articulation range, which can, for example, be stored in memory 1106 and retrieved by controller 1104, to calculate the relative position of the end actuator 2300.
[0170] [0170] In some respects, process 4000 determines 4006 that the 3540 longitudinally movable drive member is at a limit of its articulation range when the position of the 3540 longitudinally movable drive member coincides with one of its travel limits. In other respects, process 4000 determines 4006 that the longitudinally movable driving member 3540 is at a limit of its articulation range when the position of the longitudinally movable driving member 3540 is within a threshold of one of its travel limits.
[0171] [0171] If the 3540 longitudinally movable drive member is not stopped at one end of its travel, process 4000 continues along the NO branch and determines 4008, thus, that the articulation of the end actuator 2300 is blocked. The determination that the joint is blocked is based on the fact that the 2300 end actuator is not attached and firing and is also not articulating, despite not being positioned at or near the limits of its articulation range . The articulation of the end actuator 2300 can be blocked when the surgical instrument 10 is in use for a variety of reasons, such as when the end actuator 2300 is making contact with the side walls of the access device through which the surgical tool 3600 is inserted during surgical operations. When process 4000 determines that the end actuator joint 2300 is blocked, controller 1104 can initiate an alert to notify the physician about it. The alert can include, for example, audible feedback, tactile feedback or visual feedback. In one aspect shown in Figures 27 and 28, controller 1104 causes the 4050 display (or a portion of it) to display a 4052 image representing a 4054 end actuator in contact with a 4056 access device. Image 4052 it can additionally include animations or other icons to additionally indicate that an error is occurring. The position in which the 4054 end actuator image is represented in the 4052 image can correspond to the relative position of the 4054 end actuator as determined by the hinge sensor arrangement.
[0172] [0172] If the 3540 longitudinally movable drive member is stopped at one end of its stroke, process 4000 continues along the YES branch and determines 4010, thus that the end actuator 2300 is at the limit of its articulation range . When process 4000 determines that the extraction actuator
[0173] [0173] In some respects, after determining that the 2300 end actuator is blocked at its hinge limit, process 4000 includes an additional step of allowing the physician to attempt to re-articulate the 2300 end actuator before providing the alert. In other words, the alert is only triggered if process 4000 determines 4010 that end actuator 2300 is repeatedly blocked or repeatedly pivoted at its pivot limit. In other respects, process 4000 includes a time component to determine 4008 that end actuator 2300 is blocked and / or determine 4010 that end actuator 2300 is at its hinge limit, so that the process 4000 triggers the alert only if the 2300 end actuator is blocked or at its hinge limit for a period of time that exceeds a limit. These aspects limit the provision of the alert to situations in which the 2300 end actuator is repeatedly blocked or repeatedly hinged to the limit of articulation, or to cases where the 2300 end actuator is held in a position block or at the limit of the joint for a certain period of time, so that the surgical instrument 10 provides the alert to the doctor only when the doctor seems to be having difficulties with the use of the surgical instrument 10.
[0174] [0174] Returning to process step 4000 to determine 4004 of the operational status of the surgical instrument 10, if process 4000 determines 4004 that the surgical instrument 10 is attached and firing, then process 4000 continues along the YES branch and determines 4012 if the longitudinally movable drive member 3540 has advanced beyond a limit position in its firing stroke. Put another way, process 4000 determines 4012 whether the 3540 longitudinally movable drive member is positioned in an area that corresponds to the section (s) of its firing stroke that extends (m) beyond a specific limit position, which may or may not be located more proximally than distally. Process 4000 can determine 4012 the position of the 3540 longitudinally movable drive member using an absolute positioning system 1100, as discussed above. In some respects, the limit position against which the advance (or lack thereof) of the 3540 longitudinally movable drive member is compared is the initial position of the longitudinally movable drive member
[0175] [0175] In several respects, surgical instrument 10 may include mechanical or electronic trigger locking systems to prevent the cutter bar 280 from advancing if a 3606 cartridge is not present in the 2300 end actuator. If the cutter bar 280 is prevented from advancing, then the 3540 longitudinally movable drive member that drives the cutter bar 280 is also prevented from advancing beyond a specific limit position due to mechanical coupling between the components. The trigger locking systems prevent the cutting bar 280 from passing through the fabric if there is no corresponding seal of the fabric by means of the clips or the RF energy of the 3606 cartridge. The trigger locking system can initiate a state of locking by triggering a peak motor current if the cutter bar 280 or the longitudinally movable drive member 3540 is locked or otherwise cannot advance while in the locking zone. In one aspect, the surgical instrument 10 is configured with an electronic trigger locking system. In this regard, controller 1104 will initiate a locking state if channel circuit 3642 (Figure 24) has not made contact with the distal contact portion 3644 of the flexible shaft strip of drive shaft 3646 to establish electrical contact between the themselves. In another aspect, the surgical instrument 10 is configured with a mechanical trigger locking system (not shown) that includes openings on each side of the elongated channel 3614, which are configured to receive a feature or a channel hitch base 186 ( Figure 4) of the firing bar 172 (Figure 4) or cutting bar 280 when the cutting bar 280 is in an initial position. When the base 186 of the cutting bar 280 is engaged with the openings of the elongated channel 3614, the cutting bar 280 is held in a locked position and cannot be advanced. In these aspects, the cartridge 3606 additionally includes blocks that are received inside and occupy the openings of the elongated channel 3614 when the cartridge 3606 is properly installed, which prevents the base 186 of the cutter bar 280 from engaging the openings and thus allows , that the cutting bar 280 is advanced. An additional description regarding the locking mechanisms can be found in US patent application No. 15 / 636,096, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, which is incorporated herein by reference in its entirety.
[0176] [0176] If the 3540 longitudinally movable drive member is not located in its starting portion or has otherwise advanced to or beyond the limit position in its firing stroke, process 4000 continues along the YES branch and determines 4014 thus, that the surgical instrument 10 is stopped. The determination that the surgical instrument 10 is stationary is based on the fact that the 3540 longitudinally movable drive member has advanced beyond the limit position (meaning that the lack of a 3606 cartridge or other similar condition it is causing the locking state has not been triggered), but it is not currently advancing despite the gripping and triggering operations of the surgical instrument 10 having been initiated. The surgical instrument 10 may stop due to a number of different reasons, including the cutting bar 280 unexpectedly encountering thick or hard tissue, an engine error 1120 or a mechanical error in the triggering system 3530. When process 4000 stops - mine 4014 that surgical instrument 10 has stopped, controller 1104 can initiate an alert to notify the doctor about this. The alert can include, for example, audible feedback, tactile feedback or visual feedback. In one aspect represented in Figure 31, the controller
[0177] [0177] If the 3540 longitudinally movable drive member is located in its starting portion or has not otherwise advanced to or beyond a limit position in its firing stroke, process 4000 continues along the NO branch and determines 4016 thus, that a 3606 cartridge is not present in the 2300 end actuator (or has been incorrectly loaded in the 2300 end actuator). The determination that a 3606 cartridge is not present or has been incorrectly loaded is based on the fact that the 3540 longitudinally movable drive member is not advancing beyond its initial position, despite the gripping and firing operations of the surgical instrument 10 having been carried out. started. When process 4000 determines 4016 that no 3606 cartridge is present, controller 1104 can initiate an alert to notify the physician about this. The alert can include, for example, audible feedback, tactile feedback or visual feedback. In one aspect shown in Figure 32, controller 1104 causes screen 4050 (or a portion thereof) to display an image or icon 4070 that provides a visual indication that there is an error with end actuator 4072 (for example, example, an "X" covering the end actuator 4072).
[0178] [0178] In order to further illustrate the principles discussed here, the description will now turn to Figures 33A to 33C, which illustrate line diagrams 4100, 4200, 4300 of various courses of the exemplary displacement member according to an aspect of this present disclosure. In the following description of Figures 33A to 33C, reference should also be made to Figure 26. The displacement member of the exemplary strokes shown in Figures 33A to 33C may include, for example, the 3540 longitudinally movable drive member. line diagrams 4100, 4200, 4300 represent a representative format of the travel of the exemplary displacement member 4106 that includes a stop position in which the displacement member stops (that is, where its speed equals zero) between a first position or first end 4102 and a second position or second end 4104 of the stroke. The first end 4102 and the second end 4104 can correspond to the proximal end and the distal end, respectively, of the travel of the displacement member. The stop position 4106 of the displacement member, which varies in each of the line diagrams 4100, 4200, 4300, corresponds to the position of the displacement member determined by process 4000 described in connection with Figure 26 when the speed of the displacement member is equal to zero. In addition, the travel of the displacement member can be divided into multiple zones by one or more limits. The zone or zones in which the displacement member is located determine, in combination with the operating status of the surgical instrument 10 determined 4004 by process 4000, which actions process 4000 takes.
[0179] [0179] The stop position 4106 of the 3540 longitudinally movable drive member is shown in each of the 4100, 4200, 4300 line diagrams with respect to a first limit and a second limit 4108 4110. The stop position 4106 of the displacement limb is compared against the first and second limits 4108, 4110 when the surgical instrument is in an articulated operating state. The first and second limits 4108, 4110 can demarcate the positional limits in which the displacement member is considered to be "at" or "close" to the first end 4102 or the second end 4104, respectively. The first and second limits 4108, 4110 define a first zone and a second zone. The first zone corresponds to the aggregation of the travel limb sections between the first limit 4108 and the first end 4102 and between the second limit 4110 and the second end
[0180] [0180] The stop position 4106 of the 3540 longitudinally movable drive member is shown in each of the line diagrams 4100, 4200, 4300 in relation to a third limit
[0181] [0181] With reference now to each of the 4100, 4200, 4300 line diagrams individually, the first 4100 line diagram represents the stop position 4106 of the displacement member in the first zone and in the fourth zone. It should be noted that the different sets of zones demarcated by the different sets of limits can overlap with each other. The specific set of zones against which the stop position 4106 is compared depends on the operating status of the surgical instrument 10 because the different limits are associated with the different operating states. When the displacement member is in that position, process 4000 will determine 4010 that the end actuator 2300 is at its articulation limit or will determine 4014 that the surgical instrument 10 is stopped, depending on the operational state of the surgical instrument 10. The second line diagram 4200 represents the stop position 4106 of the displacement member in the second zone and the fourth zone. When the displacement member is in that position, process 4000 will determine 4008 that the end actuator joint 2300 is blocked or determine 4014 that the surgical instrument 10 is stopped, depending
[0182] [0182] The functions or processes for providing alerts according to the operational status of the surgical instrument described here can be performed by any of the processing circuits described here, such as control circuit 700 described in connection with Figures 5A to 6, circuits 800, 810, 820 described in Figures 7 to 9, controller 1104 described in connection with Figures 10 and 12 and / or control circuit 2510 described in Figure 14.
[0183] [0183] Aspects of the motorized surgical instrument can be practiced without the specific details revealed here. Some aspects were shown as block diagrams instead of details. Parts of this disclosure can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to a self-consistent sequence of steps that lead to the desired result, in which a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. These signals can be called bits, values, elements,
[0184] [0184] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of several types of "electrical circuits". Consequently, the term "electrical circuit" includes electrical circuits that have at least one isolated electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits that form a general-purpose computing device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially executes processes and / or devices described herein, electrical circuits that form a memory device (for example, forms of random access memory) and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment). be implemented in analogue or digital form, or combinations thereof.
[0185] [0185] The previously mentioned description presented aspects of devices and / or processes through the use of block diagrams, flowcharts and / or examples, which may contain one or more functions and / or operations. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, several portions of the subject described here can be implemented using application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and that designing the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this disclosure.
[0186] [0186] The mechanisms of the revealed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively execute the distribution. Examples of a signal transmission medium include, but are not limited to, the following: a recordable media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD) ), digital tape, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example example, transmitter, receiver, transmission logic, reception logic, etc.).
[0187] [0187] The previously mentioned description of one or more aspects was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described with the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[0188] [0188] Various aspects of the subject described in this document are defined in the following numbered examples:
[0189] [0189] Example 1. A surgical instrument comprising: a movable displacement member between a first position and a second position; a sensor configured to detect a position of the displacement member and provide a signal indicating it; and a control circuit coupled to the sensor, the control circuit being configured to: determine a speed of the displacement member; and if the speed is equal to zero: determine an operational state of the surgical instrument; determining a relative position of the displacement member according to the position of the displacement member in comparison with at least one of the first position or the second position; and provide an alert according to the operating state of the surgical instrument and the relative position of the displacement limb.
[0190] [0190] Example 2. The surgical instrument, according to Example 1, in which the alert comprises an image.
[0191] [0191] Example 3. The surgical instrument, according to Example 2, which additionally comprises a display, in which the control circuit is configured to make the display show the image.
[0192] [0192] Example 4. The surgical instrument, according to Example 2 or Example 3, in which the image indicates that the articulation of the surgical instrument is blocked or is at its limit according to the position of the displacement member .
[0193] [0193] Example 5. The surgical instrument, according to one or more of Example 2 or Example 3, in the image indicates that the surgical instrument is in a locked state according to the position of the displacement member.
[0194] [0194] Example 6. The surgical instrument, according to one or more of Example 2 or Example 3, in which the image indicates that the surgical instrument has stopped according to the position of the displacement limb.
[0195] [0195] Example 7. The surgical instrument, according to one or more from Example 1 to Example 6, which further comprises: an end actuator comprising movable claws between a clamped position and a non-clamped position ; and a cutting bar operable by the displacement member between a retracted position and an extended position through the end actuator; in which the operational state corresponds to the possibility that the claws are stuck and the cutter bar is activated to the extended position.
[0196] [0196] Example 8. A surgical instrument comprising: a movable displacement member between a first position and a second position; a sensor configured to detect a position of the displacement member and provide a signal indicating it; and a control circuit coupled to the sensor, the control circuit being configured to: determine a speed of the displacement member; and if the displacement member does not move: determine an operational state of the surgical instrument; determining a zone between the first position and the second position in which the displacement member is positioned; and provide an alert according to the operating status of the surgical instrument and the zone in which the displacement limb is positioned.
[0197] [0197] Example 9. The surgical instrument, according to Example 8, in which the alert comprises an image.
[0198] [0198] Example 10. The surgical instrument, according to Example 9, which additionally comprises a display, in which the control circuit is configured to make the display show the image.
[0199] [0199] Example 11. The surgical instrument, according to Example 9 or Example 10, in the image indicates that the articulation of the surgical instrument is blocked or is at its limit according to the position of the displacement member.
[0200] [0200] Example 12. The surgical instrument, according to one or more of Example 9 or Example 10, in the image indicates that the surgical instrument is in a locked state according to the position of the displacement member.
[0201] [0201] Example 13. The surgical instrument, according to one or more of Example 9 or Example 10, in which the image indicates that the surgical instrument has stopped according to the position of the displacement limb.
[0202] [0202] Example 14. The surgical instrument, according to one or more of Example 8 through Example 13, which further comprises: an end actuator comprising movable claws between a clamped position and a non-clamped position; and a cutting bar operable by the displacement member between a retracted position and an extended position through the end actuator; in which the operational state corresponds to the possibility that the claws are stuck and that the cutter bar is activated to the extended position.
[0203] [0203] Example 15. A method of operating a surgical instrument
[0204] [0204] Example 16. The method, according to Example 15, in which the alert comprises an image.
[0205] [0205] Example 17. The method, according to Example 15, in which the image indicates that the joint of the surgical instrument is blocked or is at its limit according to the position of the displacement member.
[0206] [0206] Example 18. The method, according to Example 15, in which the image indicates that the surgical instrument is in a locked state according to the position of the displacement member.
[0207] [0207] Example 19. The method, according to one or more from Example 15 to Example 18, in which the image indicates that the surgical instrument has stopped according to the position of the displacement limb.

权利要求:
Claims (19)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a movable displacement member between a first position and a second position; a sensor configured to detect a position of the displacement member and provide a signal indicating it; and a control circuit coupled to the sensor, the control circuit being configured to: determine a speed of the displacement member; and if the speed is equal to zero: determine an operational state of the surgical instrument; determining a relative position of the displacement member according to the position of the displacement member compared to at least one of the first position or the second position; and provide an alert according to the operating status of the surgical instrument and the relative position of the displacement member.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the alert comprises an image.
[3]
3. Surgical instrument, according to claim 2, characterized by the fact that it additionally comprises a display, in which the control circuit is configured to make the display display the image.
[4]
4. Surgical instrument, according to claim 2, characterized by the fact that the image indicates that the articulation of the surgical instrument is blocked or is at its limit according to the position of the displacement limb.
[5]
5. Surgical instrument, according to claim 2, characterized by the fact that the image indicates that the surgical instrument is in a locked state according to the position of the displacement member.
[6]
6. Surgical instrument, according to claim 2, characterized by the fact that the image indicates that the surgical instrument stopped according to the position of the displacement limb.
[7]
7. Surgical instrument, according to claim 1, characterized in that it additionally comprises: an end actuator comprising: movable claws between a clamped position and a non-clamped position; and a cutting bar operable by the displacement member between a retracted position and an extended position through the end actuator; in which the operational state corresponds to the possibility that the claws are stuck and the cutter bar is activated to the extended position.
[8]
8. Surgical instrument, characterized by the fact that it comprises: a movable displacement member between a first position and a second position; a sensor configured to detect a position of the displacement member and provide a signal indicating it; and a control circuit coupled to the sensor, the control circuit being configured to: determine a speed of the displacement member; and if the displacement member does not move: determine an operational state of the surgical instrument; determining a zone between the first position and the second position in which the displacement member is positioned; and provide an alert according to the operational status of the surgical instrument and the zone in which the displacement limb is positioned.
[9]
9. Surgical instrument, according to claim 8, characterized by the fact that the alert comprises an image.
[10]
10. Surgical instrument, according to claim 9, characterized by the fact that it additionally comprises a display, in which the control circuit is configured to make the display display the image.
[11]
11. Surgical instrument, according to claim 9, characterized by the fact that the image indicates that the articulation of the surgical instrument is blocked or is at its limit according to the position of the displacement member.
[12]
12. Surgical instrument, according to claim 9, characterized by the fact that the image indicates that the surgical instrument is in a locked state according to the position of the displacement member.
[13]
13. Surgical instrument, according to claim 9, characterized by the fact that the image indicates that the surgical instrument stopped according to the position of the displacement limb.
[14]
14. Surgical instrument, according to claim 9, characterized by the fact that it additionally comprises: an end actuator comprising: movable jaws between a clamped position and a non-clamped position; and a cutting bar operable by the displacement member between a retracted position and an extended position through the end actuator; in which the operational state corresponds to the possibility that the claws are stuck and the cutter bar is activated to the extended position.
[15]
15. Method of operation of a surgical instrument comprising a movable displacement member between a first position and a second position, a motor coupled to the displacement member, the motor being configured to drive the displacement member between the first and second position position, and a sensor configured to detect a position of the displacement member and provide a signal indicating it, characterized by the fact that it comprises: determining the velocity of the displacement member; and by determining that the speed of the displacement member is equal to zero: determining an operational state of the surgical instrument; determining a zone in which the displacement member is positioned; and provide an alert according to the operational status of the surgical instrument and the zone in which the displacement limb is positioned.
[16]
16. Method, according to claim 15, characterized by the fact that the alert comprises an image.
[17]
17. Method, according to claim 16, characterized by the fact that the image indicates that the joint of the surgical instrument is blocked or is at its limit according to the position of the displacement member.
[18]
18. Method, according to claim 16, characterized by the fact that the image indicates that the surgical instrument is in a locked state according to the position of the displacement member.
[19]
19. Method, according to claim 16, characterized by the fact that the image indicates that the surgical instrument has stopped according to the position of the displacement limb.

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同族专利:

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公开号 | 公开日

---

EP3461426A1|2019-04-03|

---

US10765429B2|2020-09-08|

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CN111315304A|2020-06-19|

---

WO2019064152A1|2019-04-04|

---

JP2020534948A|2020-12-03|

---

US20190099178A1|2019-04-04|

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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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US15/720,800|2017-09-29|

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US15/720,800|US10765429B2|2017-09-29|2017-09-29|Systems and methods for providing alerts according to the operational state of a surgical instrument|

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PCT/IB2018/057319|WO2019064152A1|2017-09-29|2018-09-21|Systems and methods for providing alerts according to the operational state of a surgical instrument|

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