systems and methods for initiating a power off mode for a surgical instrument

专利摘要:
Various systems and methods for controlling a surgical instrument are revealed. In one aspect, the surgical instrument includes an end actuator that is pivoting between an unarticulated position and an articulated position, with a movable cutting bar between an unstressed position and a triggered position. The surgical instrument is configured to determine a firing state according to whether the cutter bar is in motion between the non-firing position and the firing position, to determine a state of articulation according to whether the displacement member is in motion between the firing member and the triggered position. first position and second position, and then initiate a power shutdown mode according to the trigger state and articulation state.
公开号:BR112020006065A2
申请号:R112020006065-8
申请日:2018-09-21
公开日:2020-10-06
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 invention relates 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 may be useful to control the monitor and other components of the instrument to provide alerts to the physician using the instrument, turn the instrument off, and take other actions according to the operational status of the surgical instrument. The operating status of the surgical instrument (that is, whether the instrument is cutting, stapling, holding, articulating, or taking other such actions) can be detected by one or more sensors, which can be communicated to a configured control circuit 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 cutting and stapling operations. In still other situations, it may be useful to display the position of the knife during a firing stroke to allow a doctor to see the progress of the cut. SUMMARY
[0003] [0003] In one aspect, a surgical instrument comprising: an actuator with an articulating end between an un-articulated position and an articulated position; a displacement member coupled to the end actuator, the displacement member being movable between a first position and a second position to drive the end actuator between the non-hinged position and the hinged position; a movable cutter bar between a non-fired position and a fired position; a control system configured to: determine a firing state according to whether the knife bar is in motion between the non-triggered position and the triggered position; determining a state of articulation according to whether the displacement member is in motion between the first position and the second position; and initiate a power shutdown mode according to the trigger state and the articulation state.
[0004] [0004] In another aspect, a surgical instrument comprising: a pivoting end actuator from an initial articulation position; a movable cutting bar from an initial cutting position; and a control circuit configured to: determine whether the knife bar is in motion; determine if the end actuator is in motion; and initiate a power off mode on the knife bar and the end actuator that is not in motion.
[0005] [0005] In another aspect, a method for controlling a surgical instrument comprising an end actuator, a displacement member coupled to the end actuator, the displacement member being movable between a first position and a second position, and a bar movable knife between a non-fired position and a fired position, the method comprising: determining a firing state according to whether the knife bar is moving between the non-fired position and the fired position; determining a state of articulation according to whether the displacement member moves between the first position and the second position;
[0006] [0006] The innovative features of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[0007] [0007] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to one aspect of this 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, comprising 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 feeding assembly and the handle assembly and the interchangeable drive shaft assembly, according to with an aspect of the present revelation.
[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, according to a 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 control circuit board assembly and the relative alignment of the elements of the sensor array, according to one or more aspects of this revelation.
[0018] [0018] Figure 12 is a diagram of a position sensor comprising 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 tissue trapped within the end actuator in accordance with an aspect of the present disclosure.
[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 limb courses performed, according to one aspect of the present disclosure.
[0022] [0022] Figure 16 is a partial perspective view of a portion of a surgical instrument end actuator showing an elongated drive shaft assembly in a non-articulated orientation with portions omitted for clarity, according to an aspect of the present revelation.
[0023] [0023] Figure 17 is another perspective view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, in accordance with an 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, in accordance with 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, in accordance with 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, in accordance with 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, in accordance with 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 surgical clamp / clamp cartridges and radio frequency cartridges ( RF) 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 interchangeable surgical tool set of Figure 22 with its end actuator in an articulated position, in accordance with an aspect of this disclosure.
[0031] [0031] Figure 25 is a perspective view of an integrated circuit board layout and the RF generator plus the configuration, according to one aspect of this disclosure.
[0032] [0032] Figure 26 illustrates a logical flow chart of a process for determining when to initiate a low-energy shutdown of the surgical instrument according to one aspect of this disclosure.
[0033] [0033] Figure 27 illustrates a front view of a display monitor or portion thereof showing an image that indicates that the surgical instrument is in a low power shutdown mode in accordance with an aspect of the present disclosure. DESCRIPTION
[0034] [0034] The applicant for the present application holds the following patent applications that were filed simultaneously with the same and that are each incorporated in this document for reference in their respective totalities:
[0035] [0035] Attorney document number END8312USNP / 170177, entitled SYSTEMS AND METHODS FOR PROVIDING ALERTS
[0036] [0036] 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.
[0037] [0037] 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.
[0038] [0038] 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.
[0039] [0039] 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.
[0040] [0040] 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.
[0041] [0041] 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.
[0042] [0042] Attorney document number END8320USNP / 170176M, entitled SYSTEMS AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, by the inventors Richard L. Leimbach et al., Filed on September 29, 2017.
[0043] [0043] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the disclosed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this disclosure.
[0044] [0044] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, with the term "proximal" referring to the portion closest to the doctor and the term "distal" referring to the portion located farthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0045] [0045] 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 of the surgical instrument can be advanced.
[0046] [0046] In some respects, surgical instruments may include devices capable of performing cutting operations (as, for example, in Figures 1 and 22), stapling (as, for example, in Figure 1), electrosurgical (as, for example, example, in Figure 22), and / or ultrasonic, as described in more detail below. More details on ultrasonic surgical instruments can be found in US Patent No. 6,283,981, entitled METHOD OF BALANCING
[0047] [0047] Figures 1 to 4 illustrate a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a cable assembly 14 that is configured to be picked up, handled and operated by the physician. The compartment 12 is configured for operational attachment to an interchangeable drive shaft assembly 200 that has an end actuator 300 operably coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the sets of drive shaft. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. The interchangeable drive shaft assemblies disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in US Patent No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated into the present invention, hereby, as a reference, in its entirety.
[0048] [0048] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled thereto, in accordance with an aspect of this disclosure. The housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 therein. Housing 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of clamp cartridges, and that have different lengths, sizes and types of shaft drive. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to actuator arrangements tips adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0049] [0049] The cable assembly 14 can comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached thereto. A monitor can be provided under a cover 45.
[0050] [0050] 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 cable 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 supported by pivoting mode by frame 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a physician. When the physician holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 may pivot from an initial or "unacted" position to an "acted" position and, more particularly, to a fully compressed or completely actuated.
[0051] [0051] The cable assembly 14 and the structure 20 can operationally support a firing drive system 80 configured to apply firing movements to the corresponding portions of the interchangeable drive shaft assembly fixed thereto. The firing drive system 80 can employ an electric motor 82 located in the pistol grip portion 19 of the cable 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. The electric motor 82 can be powered by a power supply 90 which can comprise a removable power source 92. The removable power source 92 can comprise a portion of the proximal compartment 94 that is configured for attachment to a portion of the distal compartment 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to support operationally a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium ion battery ("LI") or other suitable battery . The distal compartment portion 96 is configured for removable operational attachment to a control circuit board 100 that is operationally coupled to the electric motor 82. Several batteries 98 connected in series can power the surgical instrument 10. The power supply 90 can be replaceable and / or rechargeable. A monitor 43, which is located below cover 45, is electrically coupled to control circuit board 100. Cover 45 can be removed to expose monitor 43.
[0052] [0052] The electric motor 82 can include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reduction assembly 84 mounted on coupling coupling with a set or rack, of drive teeth 122 in a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0053] [0053] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in the anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "DP". The cable assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The cable assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0054] [0054] The activation of the electric motor 82 can be controlled by a trigger trigger 130 which is pivotally supported on the cable assembly 14. The trigger trigger (130) can be pivoted between an unacted position and an acted position .
[0055] [0055] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge
[0056] [0056] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the actuation of the closing trigger 32 in the manner described in the previously mentioned reference of the publication Patent Application No. 2014/0263541. Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0057] [0057] Figure 3 is another exploded view of portions of the exchangeable 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 portion distal cutter or cutter 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 cutter 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 intermediate firing drive shaft 222 of firing member 220 to pivot end actuator 300 around the joint pivot 270 without moving, or at least without substantially moving, the cutter bar 280. When the extender actuator remedy 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the cutter bar 280 and fire the staple cartridge positioned on the interior of the elongated channel 302. The back 210 has an elongated opening or window 213 inside it to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 inside the back 210. When the intermediate trigger drive shaft 222 has been inserted in it, an upper segment of the structure 215 can be engaged in the structure of the drive shaft 212 to enclose the intermediate drive shaft 222 and the cutter bar 280 itself. The operation of the trigger member 220 can be seen in US patent application publication No. 2014/0263541. The central column 210 can be configured to slidably support a firing member 220 and the closing tube 260 which extends around the central column 210. The central column 210 can slidably support a pivoting actuator 230.
[0058] [0058] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a locking ring or sleeve 402 positioned around the firing member 220, the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the articulation actuator 230 to the firing member 220, and a disengaged position, where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 distally and, correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The mouthpiece 201 can be employed to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in US Patent Application Publication No. 2014/0263541.
[0059] [0059] 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 flange of the proximal connector 604 may comprise a first face and the flange the distal connector 601 can comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate in relation to the proximal connector flange 604 around the SA-SA geometry axis of the drive axis (Figure 1). The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange of proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the circuit board of the drive shaft. The electrical connector 606 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.
[0060] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the cable assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated with respect to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal swivel portion of the drive shaft.
[0061] [0061] 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. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. The openings 199 can be defined in the elongated channel 302 to receive pins 152 extending from the anvil 306 to allow anvil 306 to rotate from an open position to a closed position in relation to the elongated groove 302 and surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator
[0062] [0062] The rod with I 178 profile may include upper pins 180 that engage the anvil 306 during firing. The I-shaped rod 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the I-shaped rod 178 can slide through the aligned longitudinal slits 193, 197 and 189, and, as shown in Figure 4, the base 186 of the I-shaped rod 178 can engage a groove positioned along the lower surface of the elongated channel 302 along the length of the slot 189, the middle pins 184 can engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage the anvil 306. The rod with I-shaped profile 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, as the firing bar 172 is distally advanced in order to fire the staples from the surgical staple cartridge 304 and / or make a incision in the tissue captured between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the I-shaped rod 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and cut tissue portions .
[0063] [0063] 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 an engine 714, which can be controlled by an engine driver 715 and can be employed by the trigger system of the surgical instrument 10. In several ways, the engine 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 can comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle assembly 14 to supply control power 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 energy source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0064] [0064] The drive shaft assembly 704 may include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first interface portion 725, which may include one or more electrical connectors for coupling engagement with the corresponding electrical connectors of the shaft assembly drive, and a second interface portion 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 drive shaft assembly 722 and the power management controller 716 while drive shaft assembly 704 and power supply action 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 fixed 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 706 power pack, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The connectors can comprise switches that can be activated after mechanically coupling the cable assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0065] [0065] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft controller 722 by routing these communication signals through a main controller 717 located in the assembly cable 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 706 are coupled to the handle assembly 702.
[0066] [0066] 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 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0067] [0067] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0068] [0068] 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 the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power set 706 and the current sensor circuit 736 can be employed to monitor the power output of the power set 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output and power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0069] [0069] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 742 may comprise a monitor 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0070] [0070] The control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor segment , and a feed segment. Each circuit segment can be coupled to the safety controller and / or the main controller
[0071] [0071] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0072] [0072] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0073] [0073] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for a end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM memory comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument
[0074] [0074] 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
[0075] [0075] 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 that comprises one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0076] [0076] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation (PWM) signal ), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0077] [0077] The power segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0078] [0078] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a surgical instrument status 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot for the right side, one for the right pivot for the right side, and a central pivot key for the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side ,
[0079] [0079] Any suitable mechanical, electromechanical, or solid state switches can be used to implement the plurality of switches, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0080] [0080] 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 set of interchangeable drive shaft 704, in accordance with an aspect of the present disclosure. Cable assembly 702 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. Power assembly 706 may include a power assembly connector 732, a power management circuit power 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The power pack connectors 730, 732 form an interface
[0081] [0081] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly
[0082] [0082] 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. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor 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 802 processor can include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804.
[0083] [0083] 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 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.
[0084] [0084] 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 herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock 829, for example. The at least one memory circuit 820 can store a 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 through the combinational logic circuit 822, and provide an output 828. In other aspects, the circuit may comprise a combination of the processor 802 and a finite state machine for implementing various processes in the present invention. In other respects, the finite state machine may comprise a combination of the combinational logic circuit 810 and the sequential logic circuit 820.
[0085] [0085] 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 carrying out 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 application specific processor.
[0086] [0086] Figure 10 is a diagram of an absolute positioning system 1100 of surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising an arrangement of the motor controlled drive circuit comprising an arrangement of the sensor 1102, in accordance with 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
[0087] [0087] An electric motor 1120 may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which is mounted on a coupling hitch with a set, or rack, of drive teeth on the 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
[0088] [0088] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 represents the longitudinal linear distance by which the displacement member 1111 moves from the point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the completion of one or more revolutions by the position sensor 1112 of the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions of the full travel of the travel member 1111.
[0089] [0089] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The state of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the displacement member 1111. The position sensor output 1124 1112 is provided to controller 1104. Position sensor 1112 of sensor arrangement 1102 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.
[0090] [0090] The absolute positioning system 1100 provides absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the driving member 1111 to the reset position (zero or initial), as can be case of conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0091] [0091] 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 with 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 is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR
[0092] [0092] Controller 1104 can be programmed to provide precise control of the speed and position of displacement member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0093] [0093] 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 supply converts the signal from the feedback controller to a physical input to the system, in this case, the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensor (s) can be provided to measure the physical parameters of the physical system, in addition to the position measured by the 1112 position sensor. In some respects, the other sensor (s) (s) may include sensor arrangements as described in US Patent No.
[0094] [0094] The 1110 motor drive can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 drive is an entire bridge controller for use with external power metal oxide semiconductor (MOSFET) field effect transistors. N-channel, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, which provides complete door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. Input command capacitor can be used to supply the voltage supplied by the above battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% duty cycle).
[0095] [0095] 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 one aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the displacement member 1111, and a set of gears 1206 to provide a gear reduction. With brief reference to Figure 2, the displacement member 1111 can represent the longitudinally movable drive member 120 comprising a drive tooth rack 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Back In Figure 11, a structural element, such as a bracket 1216, is provided to support gear set 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises one or more magnetic sensing elements, such as Hall effect, and is positioned close to magnet 1202. As magnet 1202 rotates, the magnetic sensing elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[0096] [0096] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0097] [0097] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is engaged in coupling with the drive member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive 1111 moves in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive shaft 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the drive member 1111. Thus, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P, corresponds to three rotations of the second gear 1210 and a single rotation of first gear 1208. As the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes a rotation with each stroke the complete of drive member 1111.
[0098] [0098] 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 it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder 1204. A hub 1222 is provided that attaches to first gear 1208 and magnetic support 1204. Second gear 1210 and third gear 1212 coupled to axis 1214 are also shown.
[0099] [0099] 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
[0100] [0100] 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 an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. On the AS5055 position sensor
[0101] [0101] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[0102] [0102] 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%).
[0103] [0103] 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-profile 2514 in relation to the tissue 2526 trapped within the end actuator 2502, in accordance with one 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 groove 2503 with a staple cartridge 2518 positioned in the elongated groove 2503. An firing 2520 is translatable distally and proximally along a longitudinal geometric axis 2515 of end actuator 2502. When end actuator 2502 is not articulated, end actuator 2502 is in line with the instrument driving shaft. 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 beam with i-profile 2514 comes into contact with the wedge slide 2513 and pushes it away, causing the wedge slide 2513 to contact the clamp drivers 2511. Clamp drivers 2511 can be guided into clamps 2505, causing clamps 2505 to advance through the fabric and into pockets 2507 defined in anvil 2516, which forms the clamps 2505.
[0104] [0104] A firing stroke of the beam with 2514 exemplary i-profile is illustrated by a graphic 2529 aligned with the end actuator 2502. The 2526 exemplifying fabric is also shown aligned with the end actuator 2502. The firing member travel can comprise an initial position of the stroke 2527 and an end position of the stroke 2528. During a firing stroke of the beam with i-profile 2514, the beam with i-profile 2514 can be advanced distally from the initial position of the stroke 2527 to the end position of stroke 2528. The beam with i-profile 2514 is shown in an example location from an initial position of stroke 2527. The 2529 stroke profile of the beam member of the i-profile beam illustrates five stroke regions of the firing member 2517, 2519, 2521, 2523, 2525. In a first firing stroke region 2517, the beam with i-profile 2514 can begin to advance distally. In the first firing stroke region 2517, the i-profile beam 2514 can come into contact with the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. Once static friction is breathed in, the force needed to driving the beam with i-profile 2514 in the first region 2517 can be substantially constant.
[0105] [0105] In the second region of the stroke of the firing member 2519, cutting edge 2509 can start to come in contact and cut the fabric
[0106] [0106] As discussed above and with reference now to Figures 10 to 13, electric motor 1122 positioned inside the cable assembly of the surgical instrument 10 (Figures 1 to 4 can be used to advance and / or retract the firing system of the drive shaft assembly, including the I-shaped rod 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the end actuator 2502. The stem I-2514 profile 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-2514 beam. Controller 1104 can be configured to predict the speed of the I-profile beam 2514 based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operational parameters of the 1122 or i electric motor external influences. Controller 1104 can be configured to predict the current speed of the I-beam profile 2514 based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the I-profile beam 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the I-profile beam 2514 and the detected speed of the I-profile beam 2514 to determine whether the energy for the 1122 electric motor should be increased in order to increase the speed of the beam with I 2514 profile, and / or decreased, in order to decrease the speed of the I 2514 profile beam. Other considerations regarding surgical instruments 10 driven by an 1122 electric motor can be found in US Patent No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, which is incorporated in the present invention by reference, in its entirety. Further details relating to surgical instruments 10 including sensor arrangements can be found in US Patent No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, which is incorporated by reference in its entirety by reference.
[0107] [0107] The force acting on the beam with i 2514 profile can be determined using various techniques. The force on the i-profile beam 2514 can be determined by measuring the current of the motor 2504, where the current of the motor 2504 is based on the load on the i-profile beam 2514 as it advances distally. The strength of the rod with I 2514 profile can be determined by placing a tension meter on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the rod with I 2514 profile (rod with profile I 178, Figure 20), on the trigger bar 172 (Figure 2), and / or at a proximal end of the cutting edge
[0108] [0108] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member in accordance with 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-shaped rod 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a rod with I-profile 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, I-profile stem 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[0109] [0109] The position, movement, displacement, and / or translation of a displacement member 1111, such as the I-profile rod 2514, can be measured by the absolute positioning system
[0110] [0110] Control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor 2524 drive signal. In some instances, motor 2504 may be a brushless direct current (DC) electric motor, and motor 2524 drive signal may comprise a supplied pulse width modulation (PWM) signal to one or more stator windings of motor 2504. In addition, in some instances, motor controller 2508 may be omitted, and control circuit 2510 can generate the motor 2524 drive signal directly.
[0111] [0111] The 2504 motor can receive power from a power source
[0112] [0112] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters, such as span distance in relation to time, compression of the tissue in relation to time and deformation of the anvil in relation to time. The 2538 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a sensor capacitive, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[0113] [0113] The one or more 2538 sensors may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the 2516 anvil during a stuck 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
[0114] [0114] 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 may be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 may be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the closing drive system 30. The one or more 2538 sensors can be sampled in real time during a hold operation by a processor as described in Figures 5A 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.
[0115] [0115] 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-profile 2514 corresponds to the current drained by the motor
[0116] [0116] Using the physical properties of the instruments disclosed here, together with Figures 1 to 14, and with reference to Figure
[0117] [0117] 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 control system. 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 on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0118] [0118] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the attached description . The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention have been chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[0119] [0119] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise an articulating anvil 2516 and, when configured for use, an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the 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.
[0120] [0120] 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 tissue conditions . The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[0121] [0121] 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 of the travel member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a 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 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.
[0122] [0122] 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-shaped rod 2514 between an initial position of stroke 2586 and an end position of stroke 2588. On horizontal axis 2584, control circuit 2510 can receive the trigger signal and start provide the initial motor configuration at t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t0 and t1.
[0123] [0123] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is placed between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the beam with I-profile 2514 can traverse from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trigger control program that advances the beam with I-profile 2514 at a selected constant speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The control circuit 2510 can drive the beam with I-profile 2514 to Vlenta speed by monitoring the position of the beam with I-profile 2514 and modulation of the set point of the motor 2522 and / or the motor drive signal 2524 to keep Vlenta.
[0124] [0124] A second example 2590 shows a response from the surgical instrument 2500 when the 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 I-beam beam 2514 can traverse from the initial position of the 2586 stroke to the 2596 position. The control circuit can determine that position 2596 corresponds to a firing control program that advances the displacement member at a selected speed constant (Vrápida). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile rod 2514. As a result, the I-profile rod 2514 can move a larger portion of the course over the initial time period. In addition, in some instances, a thinner fabric (e.g., a larger portion of the displacement limb travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[0125] [0125] Figures 16 to 21 illustrate an end actuator 2300 of a 2010 surgical instrument showing how end actuator 2300 can be articulated in relation to the elongated drive shaft assembly 2200 around an articulated joint 2270, according to an aspect of the present revelation. 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 end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200. Figure 19 is a top view of the end actuator 2300 of Figure 16 showing the shaft assembly. elongated drive 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 articulated orientation. Figure 21 is a top view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a second articulated orientation.
[0126] [0126] With reference now to Figures 16 to 21, the end actuator 2300 is adapted to cut and staple fabric and includes a first claw in the form of an elongated channel 2302 which is configured to operationally support a staple cartridge surgical 2304. The end actuator 2300 additionally includes a second claw in the form of an anvil 2310 which is supported in the elongated channel 2302 to move with respect to it. The elongated drive shaft assembly 2200 includes a hinge system 2800 that uses a hinge lock 2810. Hinge lock 2810 can be configured and operated to selectively lock the surgical end actuator 2300 in various hinged positions. This arrangement allows the surgical end actuator 2300 to be rotated, or pivoted, in relation to the closing tube 260 of the drive shaft when hinge 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 271 double joint closure sleeve assembly.
[0127] [0127] 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 herein. The drive shaft structure 2812 is configured to mobilely support a proximal portion 2821 of a distal hinge driver 2820. The distal hinge driver 2820 is movably supported within the elongated drive shaft assembly 2200 for selective longitudinal displacement in a distal DD direction and a proximal PD direction, along a geometric axis of articulation AAA that is laterally displaced and parallel to the geometric axis SA-SA of the drive axis, in response to articulation control movements applied to it.
[0128] [0128] 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 a 2390 end actuator mounting assembly. The 2390 end actuator mounting assembly is attached to the proximal end 2303 of the elongated channel 2302 by means of a spring pin 2393 or equivalent. Pivot pin 2818 defines a hinge axis BB transverse to the SA-SA hinge axis of the drive shaft to facilitate pivoting displacement (ie hinge) of end actuator 2300 around the hinge axis BB relative to to the 2812 drive shaft structure.
[0129] [0129] As shown in Figure 18, a link pin 2825 is formed at a distal end 2823 of the distal hinge 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 SA-SA axis of the 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 base pin 2398 that extends from the bottom of the pivot base portion 2395 of the end actuator assembly set 2390. The base pin 2398 defines a geometric axis of the LA link which is parallel to the geometric axis of articulation BB. Figures 17 and 20 illustrate the surgical end actuator 2300 in a non-articulated position. The geometric axis EA of the end actuator, which is defined by the elongated channel 2302, is aligned with the geometric axis SA-SA of the drive axis. The term "aligned to" can mean "coaxially aligned" to the SA-SA axis of the drive axis or parallel to the SA-SA axis of the drive axis. The movement of the distal articulation actuator 2820 in the proximal direction DD will cause the cross link 2900 to move the surgical end actuator 2300 clockwise CW around the geometric axis of articulation BB, as shown in Figure 19. The movement of the actuator distal joint 2820 in the distal direction DD will cause the cross link 2900 to move the surgical end actuator 2300 counterclockwise CCW around the geometric axis of the BB joint, as shown in Figure 21. As can be seen in Figure 21, the cross link 2900 has a curved shape that allows the cross link 2900 to curve around the pivot pin 2818 when the surgical end actuator 2300 is pivoted in that direction. When the surgical end actuator 2300 is in a fully pivoted position on either side of the SA-SA axis of the drive shaft, the pivot angle 2700 between the axis EA of the end actuator and the axis SA-SA of the axis actuation is approximately sixty-five degrees (65 °). Thus, the articulation range on each side of the geometric axis of the drive axis is between one degree (1 °) and sixty-five degrees (65 °).
[0130] [0130] Figure 19 shows the articulation joint 2270 in a straight position, that is, at a zero angle θ0 in relation to the longitudinal direction shown as a geometric axis of the drive axis SA according to an aspect. Figure 20 shows the articulated joint 2270 of Figure 19 articulated in a direction of at a first angle θ1 defined between the axis SA of the drive axis and the axis EA of the end actuator, according to one aspect. Figure 21 illustrates the articulation joint 2270 of Figure 19 articulated in another direction at a second angle θ2 defined between the axis of the drive shaft SA and the axis EA of the end actuator.
[0131] [0131] 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 pivotally and slidably supported in relation to the back 210. In Figure 18, the intermediate support member 2950 includes a slot 2952 which is adapted to receive inside it a pin 2954 that protrudes from the back 210. This allows the intermediate support member 2950 to rotate and translate in relation to pin 2954, when the surgical end actuator 2300 is articulated. A pivot pin 2958 protrudes from the underside of the intermediate support member 2950 to be pivotally received within a corresponding pivot hole 2399 provided in the base portion 2395 of the end actuator assembly set 2390. The member intermediate support plate 2950 additionally includes a slot 2960 for receiving a firing member 220 therethrough. The intermediate support member 2950 serves to provide lateral support to the firing member 220 as it flexes to accommodate the articulation of the surgical end actuator 2300.
[0132] [0132] The surgical instrument can additionally be configured to determine the angle at which the 2300 end actuator is oriented. In several modalities, the position sensor 1112 of the sensor arrangement 1102 can comprise one or more magnetic sensors, analog rotary sensors (such as a potentiometer), analog hall sensor arrays, which emit a unique combination of signals or values, among others, for example. In one aspect, the pivot joint 2270 of the aspect shown in Figures 16 to 21 can 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 a unique position sign corresponding to it.
[0133] [0133] The articulation sensor arrangement can be similar to the 1102 sensor arrangement described above and illustrated in Figures 10 to 12. In this respect, the articulation sensor arrangement can comprise a position sensor and a magnet that 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 magnetic sensing elements, such as sensors Hall effect 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 absolute angular position of the magnet. As the magnet is coupled to the articulated joint 2270, the angular position of the magnet in relation to the position sensor corresponds to the angular position of the 2300 end actuator. Therefore, the arrangement of the articulation sensor is able to determine the angular position of the actuator end as the end actuator is pivoted.
[0134] [0134] In another aspect, the surgical instrument is configured to determine the angle at which the end actuator 2300 is positioned indirectly by monitoring 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 traced and then shifted to the angled position of the end actuator 2300. In this regard, 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.
[0135] [0135] 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 driver 230. The position sensor comprises one or more magnetic sensing elements, such as effect sensors Hall, and is positioned next to the magnet. Consequently, as the magnet rotates, the magnetic sensing elements of the position sensor determine the absolute angular position of the magnet during a revolution.
[0136] [0136] In one aspect, a single revolution of the sensor element associated with the position sensor is equivalent to a linear longitudinal displacement d1 of the longitudinally movable articulation driver
[0137] [0137] 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 vector components 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 articulation sensor. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0138] [0138] In one aspect, the position sensor of the various aspects of the articulation sensor arrangement can be implemented in a manner similar to the positioning system illustrated in Figure 12 to track the position of the 1111 displacement member. In one aspect, the arrangement of the articulation sensor can be implemented as an AS5055EQFT single integrated circuit magnetic rotary position sensor, available from Austria Microsystems, AG. The position sensor interfaces with the controller to provide an absolute positioning system to determine 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, subtraction, displacement operations bits and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface, to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an AS5055 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[0139] [0139] 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, 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 record the angle of pivot θ of end actuator 2300. In various circumstances, as a result, pivot angle θ can be determined as a function of longitudinal displacement DL of drive member 120. How longitudinal displacement DL of drive member 120 can be determined precisely based on the absolute position signal / value provided by the absolute positioning system 1100, the articulation angle θ can be determined as a function of longitudinal displacement.
[0140] [0140] In another aspect, the articulation angle θ can be determined by the location sensors on the articulated joint 2270. The sensors can be configured to detect the rotation of the articulated joint 2270 using the absolute positioning system 1100 in an adapted way to measure the absolute rotation of the articulated joint 2270, instead of the longitudinal displacement of the drive 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, such as elements Hall, and is positioned close to magnet 1202. Position sensor 1200 described in Figure 12 can be adapted to measure the angle of rotation of the articulated joint 2270. Consequently, as magnet 1202 rotates, the magnetic sensing elements of the position sensor 1200 determines the absolute angular position of magnet 1202 located on articulated joint 2270. This information is provided to controller 1104 to calculate the articulated angle of articulated joint 2270. Consequently, the articulated angle of end actuator 2300 can be determined by the absolute positioning system 1100 adapted to measure the absolute rotation of the articulated joint 2270.
[0141] [0141] 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 end actuator 2300 to decrease the force to fire in the firing drive system 80 and, in particular, the force for firing the beam with an i-profile 178, among other components of the firing 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. The speed of the motor 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 by adjusting the tension, current, pulse width modulation (PWM) or duty cycle (0 to 100%) applied to motor 82, for example.
[0142] [0142] Figures 22 and 23 depict a motor-driven surgical system 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 fabric, so that electric current can be introduced into the fabric. Surgical devices 10 can be configured for monopolar or bipolar operation. During monopolar operation, current can be introduced into the tissue by an active electrode (or source) on 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, current can be introduced into the tissue and returned from it, respectively, through the active and return electrodes of the end actuator.
[0143] [0143] The end actuator 3602 can comprise a first claw member 3604 and a second claw 3608. At least one of the claw members 3604, 3608 can have at least one electrode. At least one of the jaw members 3604, 3608 may be movable from a spaced position of the opposite jaw to receive fabrics in a position in which the space between the jaw members 3604, 3608 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 extensible through the end actuator 3602. The knife element 3628 can be movable with respect to the tissue and the electrodes to transect the tissue.
[0144] [0144] Surgical instrument 10 may include mechanisms for securing the tissue together, such as a stapling device, and / or mechanisms for cutting the tissue, such as a tissue knife. The electrosurgical instrument 10 can include a drive shaft for placing the end actuator 3602 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 articulated joints to allow controlled flexing of the drive shaft. Such joints may allow a user of the electrosurgical device 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 has a straight, non-folding drive shaft.
[0145] [0145] The electrical energy applied by 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 kilohertz (kHz) to 1 megahertz (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 in contact with heat.
[0146] [0146] RF energy can be in a frequency range described in document EN 60601-2-2: 2009 + A11: 2011, Definition
[0147] [0147] In the illustrated arrangement, surgical system 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 assembly of a robotically controlled or automated surgical system. For example, the surgical tool set 3600 disclosed herein 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 DEPLOYMENT ARRANGEMENTS ", which is incorporated herein by reference, in its entirety for reference.
[0148] [0148] In the illustrated aspect, the handle set 3500 may comprise a handle compartment 3502 that includes a pistol handle portion that can be handled and manipulated by the physician.
[0149] [0149] 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 firing movements to the portions corresponding to 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 electric motor 3505 which is located in the pistol grip portion 504 of the 3500 handle assembly. In various forms , the 3505 motor can be a brushed DC 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 motor can be powered by a 3522 power supply which, in one form, can comprise a removable power source. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones therein. Several batteries, which can be connected in series, can be used as the 3522 power source for the surgical system 10. In addition, the 3522 power source can be replaceable and / or rechargeable.
[0150] [0150] 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 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 motor is driven in the opposite rotating direction, the longitudinally movable driving member 3540 will be driven axially in the proximal direction "PD". The 3500 handle set may include a 3513 switch that can be configured to reverse the polarity applied to the 3505 electric motor by the 3522 power source or otherwise control the 3505 motor. The 3500 handle set may also include a sensor or sensors ( not shown) that are configured to detect the position of the drive member and / or the direction in which the drive member is being moved. The actuation of the 3505 engine can be controlled by a firing trigger (not shown) that is in a position adjacent to the 3512 closing trigger and pivotally supported on the 3500 handle assembly. and an acted position. The trigger can be moved to the unacted position by means of a spring or other propensity arrangement so that when the doctor releases the trigger, it can be rotated or otherwise returned to the untreated position. actuated by means of the spring or the propensity arrangement. In at least one way, the trigger can be positioned "away from the center" of the 3512 closing trigger. As discussed in US Patent Application Publication No. 2015/0272575, the 3500 handle assembly can be equipped with a button trigger trigger safety (not shown) to prevent inadvertent triggering. When the 3512 closing trigger is in the unacted position, the safety button is contained in the 3500 handle assembly, where the doctor cannot readily access it and move it between a safety position, which prevents the trigger from operating trigger, and a trigger position in which the trigger can be fired. As the doctor presses the closing trigger, the safety button and the trigger trigger pivot down to a position where they can then be manipulated by the doctor.
[0151] [0151] In at least one form, the 3540 longitudinally movable drive member may have a tooth rack 542 formed thereon for engagement with a corresponding drive gear arrangement (not shown) that interfaces with the motor. Additional details regarding those features can be found in US Patent Application Publication No. 2015/0272575. In at least one arrangement, however, the longitudinally movable drive element is insulated to protect it from inadvertent RF energy. At least one shape also includes a manually actuated retraction set, which is configured to allow the physician to manually retract the longitudinally movable drive member, in case the 3505 engine stops running. The retract assembly may include a retract lever or handle assembly that is stored inside the 3500 handle assembly under a removable 3550 door. The lever can be configured to be manually pivoted in ratchet engagement with the 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 "PD" direction. US Patent No.
[0152] [0152] 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 frame 1210 that operationally supports a nozzle set 3612 therein. As further discussed in detail in US Patent Application No. 15 / 635,631, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, which is incorporated herein by reference in its entirety, the 3612 chassis tool and the 3612 nozzle assembly facilitate rotation of the 3602 surgical end actuator around a SA axis of the drive shaft in relation to the chassis tool. 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, to facilitate assembly, the center column assembly 3630 can be manufactured from a segment of the upper central column and a segment of the lower central column that are interconnected together by snap-on, 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 central column assembly 3630 is attached to a dorsal bearing (not shown) that is configured to be supported within the tool frame. This arrangement facilitates the swiveling fastening of the center column assembly 3630 to the tool chassis, so that the center column assembly can be selectively rotated around an SA axis of the drive axis in relation to the tool chassis.
[0153] [0153] In the illustrated aspect, the interchangeable surgical tool set 3600 includes a surgical end actuator 3602 comprising a first jaw 3604 and a second jaw 3608. In one arrangement, the first jaw comprises an elongated channel 3614 that is configured to support operationally a staple cartridge / conventional 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 and in the opposite direction to a surgical cartridge supported in the elongated channel 3614, between the open and closed positions. through the actuation of the closing drive system 3510. 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 a geometric pivot axis that is transversal to the geometric axis SA of the drive axis. The actuation of the closing drive system 3510 can result in the distal axial movement of a proximal closing member or proximal closing tube 3622 which is attached to a hinge connector 3618. The actuation of 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 3616.
[0154] [0154] 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 set 3406 male plug connector that is configured to be plugged into the corresponding female 3410 connectors that are attached to a segmented RF circuit 3656 on a 3654 integrated circuit board. See Figure 25. This arrangement facilitates the rotational displacement of the shaft end actuator drive 3602 around the SA axis of the drive shaft in relation to the tool chassis by rotating the nozzle assembly 3612 without winding the supply conductor 3402 from the generator 3400. An integrated on / off switch 3420 is supported on the lock set 3624 and on the tool chassis 1210 to turn the RF generator on and off. When the 3600 tool set is operationally coupled to the 3500 handle set or robotic system, the integrated 3656 segmented RF circuit communicates with the 3560 microprocessor through the 3668 connectors and, in some arrangements, a compartment connector (not shown). As shown in Figure 22, the 3500 handle assembly can also include a 3430 display monitor for viewing information about sealing progress, stapling, cutting location, cartridge status, fabric, temperature, etc. As can also be seen in Figure 25, the slip ring assembly 3652 includes a proximal connector 3666 that interfaces with a distal connector 3658 that includes a drive shaft flexible circuit assembly or strip 3646 that can include a plurality of electrical conductors narrow 3662 for stapling-related activities and wider 3664 electrical conductors used for RF purposes. As shown in Figures 24 and 25, the drive shaft flexible circuit strip 3646 is centrally supported between the laminated plates or bars 3636 that form the cutter bar
[0155] [0155] In at least one arrangement, the elongated channel 3614 includes a channel circuit 3642 supported in a recess that extends from the proximal end of the elongated channel 3614 to a distal location in the lower portion of the elongated channel 3614. The channel circuit 3642 includes a proximal contact portion 3642 that contacts a distal contact portion 3644 of the flexible shaft strip of drive shaft 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 over and attached to an upper edge of the wall of the elongated channel 3614. One series of 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 3606 cartridge body. One end of the cartridge's flexible circuit can be bent 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. Thus, when the 3606 RF cartridge is installed in the elongated channel 3614, the electrodes, as well as the distal integrated chip of the RF 3606 cartridge are powered if they communicate with the integrated 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 corresponding circuit and sensor arrangements 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 STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, which is hereby incorporated by reference in its entirety.
[0156] [0156] Figure 26 illustrates a logical flow chart of a 6000 process to determine when to initiate a low-energy shutdown of the surgical instrument 10 (Figures 1, 22), as performed by controller 1104 (Figure 10), according to one aspect of this revelation. In several respects, the surgical instrument 10 can be configured to perform processes, such as the 6000 process, which are configured to monitor the various operating states of the surgical instrument 10 and then initiate a low-power or power-off mode. according to the determined operational states. This functionality can be useful, for example, to reduce the energy extracted from the power source 2512 (Figure 14) when process 6000 determines that the operating states of the surgical instrument 10 have been completed, which allows the surgical instrument 10 to generally save energy . In the following description of process 4000, reference should also be made to the Figures
[0157] [0157] Consequently, controller 1104 verifies 6002 the state of the blade of the surgical instrument 10. The state of the blade or firing is an operational state of the surgical instrument 10 in which the cutting bar 280 is being translated to cut the tissue captured in the actuator endpoint 2300. Controller 1104 can determine whether cutter bar 280 is being fired, for example, by detecting the position of a component of the cutter system using a position sensor 1112, detecting whether a voltage is being applied to the engine 1120, detecting the position of the trigger trigger, detecting whether the closing drive system 3510 has been activated, detecting the relative positions of the claws 3604, 3608 (or the anvil 3616 and the cartridge 3606) of the end actuator 2300, or by combinations of the same. In general, if controller 1104 detects that the blade trigger system has been activated and end actuator 2300 is attached, then process 5000 determines that surgical instrument 10 is in the trigger state.
[0158] [0158] Controller 1104 can detect that the trigger system for the blade has been activated in a variety of different ways. In one aspect, controller 1104 is configured to directly detect the translation of knife bar 280. In this aspect, displacement member 1111 tracked by position sensor 1112 represents knife bar 280. In other aspects, controller 1104 is configured to indirectly detect the translation of the knife bar 280 instead of detecting the translation of a component that is coupled to the knife bar 280. In these aspects, the displacement member 1111 tracked by the position sensor 1112 represents the longitudinally movable driving member 120 (Figure 2), the I-profile beam 178 (Figure 4) or another component of the knife system or the trigger drive system 80. In any of these aspects, when the position sensor 1112 detects that the displacement member 1111 is advancing from a first position (ie, proximal or initial) to a second position (ie, distal), controller 1104 can thus determine that knife bar 280 is being fired. In another aspect, controller 1104 can be communicably coupled to a current sensor 2536 (Figure 14) that is configured to detect when motor 2504 is drawing power from power source 2512. When current sensor 2536 detects that motor 2504 is draining power (that is, a voltage is being applied to motor 2504), controller 1104 can therefore determine that knife bar 280 is being fired because motor 2504 drives knife bar 280 when a voltage is applied to it. In yet another aspect, the other 1118 sensor (s) may include a trigger trigger sensor configured to determine when the trigger trigger (not shown) was triggered. As the trigger triggers the cutting system to fire, detecting whether the trigger has been triggered serves as a substitute for determining the trigger status of the surgical instrument 10. The trigger trigger sensor can include, for example , a position sensor configured to detect the position of the trigger trigger in relation to the 3500 handle assembly. Several other aspects include combinations of said sensor arrangements and / or several additional sensors configured to detect when the knife system or the system trigger trigger 80 is activated.
[0159] [0159] Controller 1104 can detect that end actuator 2300 is attached in a variety of different ways.
[0160] [0160] Process 6000 executed by controller 1104 determines 6004 thus, if the cutting bar 280 is firing according to whether process 6000 has determined that the state of the blade is active or inactive. In a specific example, the surgical instrument 10 includes a trigger trigger sensor, as described above, and a claw sensor, as described above. If controller 1104 detects that the trigger trigger has been triggered and that the claws 3604, 3608 of the end actuator 2300 are attached via the aforementioned sensors, then process 6000 determines 6004 that the surgical instrument 10 is in a trigger state. that is, the cutting bar 280 is being advanced to cut the fabric. Various other aspects can include the sensor arrangements described above either in isolation or in other combinations to determine whether the surgical instrument 10 is in the trigger state. Additional information regarding various sensor arrangements can be found in US Patent Application No. 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL
[0161] [0161] If the cutting bar 280 is firing, process 6000 will continue along the YES branch and proceed to determine 6006 if the cutting bar 280 is in the starting position. The position of the cutting bar 280 can be detected directly or indirectly, as described above. Regardless of whether the displacement member 1111 represents the cutting bar 280, the longitudinally movable drive member 120 (Figure 2), or another longitudinally movable component of the cutting system or the trigger drive system 80, process 6000 can determine 6004 if the cutting bar 280 is in the initial position by detecting the position of the displacement member 1111 in relation to its initial position. Even though the displacement member 1111 does not directly represent the cutting bar 280, the position of the displacement member 1111 corresponds to the position of the cutting bar 280 because they are operationally coupled together. In other words, the translation of, for example, the longitudinally movable drive member 120 causes a corresponding translation in the cutter bar 280, as described above. Therefore, when offset 1111 is located in its first position or in the non-triggered position, the cutting bar 280 is likewise located in its non-triggered position. Controller 1104 can be configured to retrieve the starting position of displacement member 1111, for example, memory 1106, and then compare the current position of displacement member 1111 with the initial position retrieved from displacement member 1111 to determine whether the member offset 1111 is in the home position.
[0162] [0162] If the cutting bar 280 is not in its initial position, then process 6000 continues along the NO branch and proceeds to allow the cutting bar 280 to continue the 6008 transection (ie cutting or firing fabric ). After allowing cutter 280 to continue 6008 the transection, process 6000 then returns and redetermines 6006 if cutter 280 is in the home position. In several respects, process 6000 can continue its circuit continuously until it determines 6006 that the cutter bar 280 is in the starting position. The step of letting the cutter bar 280 continue 6008 the transection may include, for example, a delay before redetermination 6006 of whether the cutter bar 280 is situated in the starting position.
[0163] [0163] Once process 6000 determines 6006 that the cutting bar 280 is in the starting position, process 6000 proceeds along the YES branch and then verifies 6010 the articulation status of the surgical instrument 10. In one aspect , process 6000 also proceeds to check 6010 the articulation status of the surgical instrument 10 if process 6000 proceeds along the NO branch of the 6004 determination step and whether the cutter bar 280 is firing. In another aspect, process 6000 determines 6006 whether the cutter bar 280 is in the initial position regardless of whether the cutter bar 280 is firing or not, as determined 6004 by process 6000. In this respect, process 6000 only proceeds to check 6010 the articulation state since process 6000 determines 6006 that the cutter bar 280 is in the initial position. In other words, in this respect the process 6000 only continues when the cutting bar 280 is in the starting position.
[0164] [0164] The articulation state corresponds to whether the 2300 end actuator is articulated or is in a static position. When the end actuator 2300 is articulated, it can be said to be in an active operating state. When the end actuator 2300 is articulated, it can be said to be in an inactive operational state. Controller 1104 can determine the articulation state, for example, by detecting a position of a component in the articulation system 2800 by means of a position sensor 1112, detecting an angular position of the end actuator 2300, or combinations thereof . In one aspect, the displacement member 1111 tracked by the position sensor 1112 represents the hinge driver 230 or another component of the hinge system 2800 or the trigger drive system
[0165] [0165] After checking the 6010 articulation status of the surgical instrument 10, process 6000 then determines 6012 if the end actuator 2300 is in the initial position. In one aspect, process 6000 determines whether end actuator 2300 is in the starting position by determining the position of displacement member 1111 (which can correspond to longitudinally movable actuating member 3540, pivot actuator 230, or other moving component in the system articulation 2800) in relation to the proximal and distal limits between which the displacement member 1111 is transferred. As the articulation of the end actuator 2300 is driven by the displacement member 1111, the limits of the travel range of the displacement member 1111 correspond to the limits of the articulation range of the end actuator 2300. Thus, the proximal position of the displacement member 1111 corresponds to a first limit of the articulation range of the end actuator 2300 and, consequently, the distal position of the displacement member 1111 corresponds to a second limit of the articulation range of the end actuator 2300. Therefore, process 6000 performed by controller 1104 it can determine 6012 whether the end actuator 2300 is in its initial position according to the position of the displacement member 1111 with respect to the limits of the travel range 1111 of the displacement member. The starting position of the 2300 end actuator can correspond to one of the limits of its articulation range, a midpoint between the limits of its articulation range, or in any other position between them. In one aspect, the initial position of the 2300 end actuator corresponds to the position in its pivot range where the 2300 end actuator is aligned with the longitudinal geometric axis of the operating axis of the surgical instrument 10. The proximal and distal positions of the limb of offset 1111 can be, for example, stored in memory 1106 and retrieved by controller 1104 to calculate the relative angular position of end actuator 2300. In another aspect, process 4000 determines the relative pivot position of end actuator 2300 by directly detecting the angle at which the hinge joint 2270 and / or the end actuator 2300 is oriented, for example, by a hinge sensor arrangement. 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 end actuator 2300.
[0166] [0166] If the 2300 end actuator is not located in its initial position, then process 6000 continues along the NO branch and proceeds to allow the 2300 end actuator to continue the 6014 link. After allowing the 2300 end actuator continue the joint 6014, the process 6000 then returns and resets 6012 if the end actuator 2300 is in the initial position. In several respects, the 6000 process can continue this circuit continuously until it determines 6012 that the angular position of the end actuator 2300 is the starting position. The step of allowing the end actuator 2300 to continue 6014 the joint may include, for example, a delay before redetermining 6012 whether the end actuator 2300 is located in the starting position.
[0167] [0167] If process 6000 determines 6012 that the end actuator 2300 is located in the home position, then process 6000 continues along the SIM branch and initiates a 6016 power off mode. The power off mode causes controller 1104 to disable one or more processes that are being executed by this means, and / or to disable various components of the surgical instrument 10 that are draining energy from energy sources (for example, source 2512), such as position sensor 1112, other sensor (s) 1118, display monitor 3430 (Figure 23), and motor 2504 (Figure 14). In one aspect depicted in Figure 27, controller 1104 causes display monitor 6030 to display an image 6032 to visually indicate to the physician that surgical instrument 10 has entered power off mode. The 6032 image can be shown indefinitely or only for a certain period of time. In short, process 6000 as performed by controller 1104 causes surgical instrument 10 to enter a low-power mode or power-off mode when process 6000 detects cutter 280 and end actuator 2300 they are both in their respective positions. In one aspect, the 6000 process includes an additional step of waiting for a predetermined variable or time period before starting the power shutdown mode
[0168] [0168] In several respects, the surgical instrument 10 is configured to reactivate the full power mode from the power off mode when a physician enters a command through a capacitive monitor (for example, display monitor 3430) or when a sensor of motion detects that the surgical instrument 10 is agitated or otherwise manipulated.
[0169] [0169] The functions or processes for controlling a surgical instrument to initiate a power shutdown mode according to the operating state of the surgical instrument described here can be performed by any of the processing circuits described here, such as the 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 the control circuit 2510 described in Figure 14.
[0170] [0170] 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, where 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 handled in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[0171] [0171] 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 of them, 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 configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs 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) .These aspects can be implemented in analog or digital form, or combinations thereof .
[0172] [0172] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts and / or examples, which may contain one or more functions and / or 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 through application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in light of this disclosure.
[0173] [0173] The mechanisms of the disclosed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[0174] [0174] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application for,
[0175] [0175] Various aspects of the subject described in this document are defined in the following numbered examples:
[0176] [0176] Example 1. A surgical instrument comprising: an actuator with a pivotable end between a non-articulated position and an articulated position; a displacement member coupled to the end actuator, the displacement member being movable between a first position and a second position to drive the end actuator between the non-hinged position and the hinged position; a movable cutter bar between a non-fired position and a fired position; a control system configured to: determine a firing state according to whether the knife bar is in motion between the non-triggered position and the triggered position; determining a state of articulation according to whether the displacement member is in motion between the first position and the second position; and initiate a power shutdown mode according to the trigger state and the articulation state.
[0177] [0177] Example 2. The surgical instrument, according to Example 1, the control circuit being configured not to initiate the power off mode unless the cutter bar is in the non-triggered position.
[0178] [0178] Example 3. The surgical instrument, according to Example 2, the control circuit being configured not to initiate the power shutdown mode unless the displacement member is in the first position.
[0179] [0179] Example 4. The surgical instrument according to at least one of Example 1 to Example 3, which further comprises:
[0180] [0180] Example 5. The surgical instrument according to at least one of Example 1 to Example 4, which additionally comprises: a motor coupled to the cutting bar, the motor being configured to drive the cutting bar between the non-triggered position and the triggered position; the control circuit is configured to determine if the cutter bar is moving according to the electrical voltage of the motor.
[0181] [0181] Example 6. The surgical instrument from at least one of Example 1 to Example 6, which further comprises: a sensor configured to detect a knife bar position and provide a signal indicating it; the control circuit is configured to determine if the cutter bar is moving according to the signal.
[0182] [0182] Example 7. The surgical instrument according to at least one of Example 1 to Example 6, which further comprises: a sensor configured to detect a position of the displacement member and provide an indicative signal thereof; the control circuit being configured to determine whether the displacement member is moving according to the signal.
[0183] [0183] Example 8. A surgical instrument comprising: an end actuator articulated from an initial articulation position; a movable cutting bar from an initial cutting position; and a control circuit configured to: determine whether the knife bar is in motion; determine if the end actuator is in motion; and initiate a power off mode on the knife bar and the end actuator that is not in motion.
[0184] [0184] Example 9. The surgical instrument, according to Example 8, the control circuit being configured not to initiate the power off mode unless the cutter bar is in the initial cut position.
[0185] [0185] Example 10. The surgical instrument, according to Example 9, the control circuit being configured not to initiate the power shutdown mode unless the end actuator is in the initial articulation position.
[0186] [0186] Example 11. The surgical instrument according to at least one of Example 8 to Example 10, which further comprises: a trigger trigger coupled to the cutter bar, the trigger trigger configured to activate the cutter bar from the initial position of the blade; the control circuit is configured to determine whether the cutter bar is moving according to a position of the trigger trigger.
[0187] [0187] Example 12. The surgical instrument according to at least one of Example 8 to Example 11, which further comprises: a motor coupled to the cutting bar, the motor configured to drive the cutting bar from the starting position; the control circuit is configured to determine if the cutter bar is moving according to the electrical voltage of the motor.
[0188] [0188] Example 13. The surgical instrument according to at least one of Example 8 to Example 12, which further comprises: a sensor configured to detect a position of the cutter bar and provide a signal indicating it; the control circuit is configured to determine if the cutter bar is moving according to the signal.
[0189] [0189] Example 14. The surgical instrument according to at least one of Example 8 to Example 13, which further comprises: a sensor configured to detect a position of the end actuator and provide an indicative signal thereof; the control circuit being configured to determine whether the end actuator is moving according to the signal.
[0190] [0190] Example 15. A method for controlling a surgical instrument comprising an end actuator, a displacement member coupled to the end actuator, the displacement member being movable between a first position and a second position, and a cutter bar moving between a non-triggered position and a triggered position, the method comprising: determining a triggering state according to whether the cutter bar is moving between the non-triggered position and the triggered position; determining a state of articulation according to whether the displacement member moves between the first position and the second position; start a power shutdown mode according to the trigger state and the articulation state.
[0191] [0191] Example 16. The method, according to Example 15, the power off mode is not initiated unless the cutter bar is in the non-triggered position.
[0192] [0192] Example 17. The method, according to Example 15 or Example 16, the power off mode is not initiated unless the displacement member is in the first position.
[0193] [0193] Example 18. The method, according to at least one between Example 15 to Example 17, further comprising determining whether the cutter bar is in motion according to a position of a trigger trigger coupled to the cut.
[0194] [0194] Example 19. The method, according to at least one of Example 15 to Example 18, further comprising determining whether the cutter bar is in motion according to an electrical voltage of the motor coupled to the cutter bar.
[0195] [0195] Example 20. The method, according to at least one of Example 15 to Example 19, further comprising determining whether the cutter bar is in motion according to a sensor configured to detect a position of the cutter bar .
[0196] [0196] Example 21. The method, according to at least one of Example 15 to Example 20, further comprising determining whether the displacement member moves according to a sensor configured to detect a position of the displacement member.

权利要求:
Claims (21)
[1]
1. Surgical instrument characterized by comprising: a pivoting end actuator between a non-articulated position and an articulated position; a displacement member coupled to the end actuator, the displacement member being movable between a first position and a second position to drive the end actuator between the non-hinged position and the hinged position; a movable cutter bar between a non-fired position and a fired position; a control circuit configured to: determine a triggering state according to whether the cutter bar is in motion between the non-triggered position and the triggered position; determining a state of articulation according to whether the displacement member is in motion between the first position and the second position; and initiate a power shutdown mode according to the trigger state and the articulation state.
[2]
2. Surgical instrument, according to claim 1, characterized in that the control circuit is configured not to initiate the power off mode unless the cutter bar is in the non-triggered position.
[3]
3. Surgical instrument according to claim 1, characterized in that the control circuit is configured not to initiate the power off mode unless the displacement member is in the first position.
[4]
4. Surgical instrument, according to claim 1, characterized by further comprising: a trigger trigger coupled to the cutter bar, the trigger being configured to activate the cutter bar between the non-triggered position and the triggered position; the control circuit is configured to determine whether the cutter bar is moving according to a position of the trigger trigger.
[5]
5. Surgical instrument, according to claim 1, characterized in that it further comprises: a motor coupled to the cutter bar, the motor being configured to drive the cutter bar between the non-triggered position and the triggered position; the control circuit is configured to determine if the cutter bar is moving according to the electrical voltage of the motor.
[6]
6. Surgical instrument, according to claim 1, characterized by further comprising: a sensor configured to detect a position of the cutter bar and provide a signal indicating it; the control circuit is configured to determine if the cutter bar is moving according to the signal.
[7]
7. Surgical instrument, according to claim 1, characterized in that it further comprises: a sensor configured to detect a position of the displacement member and provide a signal indicating it; the control circuit being configured to determine whether the displacement member is moving according to the signal.
[8]
8. Surgical instrument characterized by comprising: a pivoting end actuator from an initial articulation position;
a movable cutting bar from an initial cutting position; and a control circuit configured to: determine if the cutter bar is in motion; determine if the end actuator is in motion; and initiate a power shutdown mode on the cutter bar and the end actuator that is not in motion.
[9]
9. Surgical instrument according to claim 8, characterized in that the control circuit is configured not to initiate the power off mode unless the cutter bar is in the initial cut position.
[10]
10. Surgical instrument, according to claim 8, characterized in that the control circuit is configured not to initiate the power off mode unless the end actuator is in the initial articulation position.
[11]
11. Surgical instrument, according to claim 8, characterized by further comprising: a trigger trigger coupled to the cutting bar, the trigger being configured to activate the cutting bar from the initial cutting position; the control circuit is configured to determine whether the cutter bar is moving according to a position of the trigger trigger.
[12]
12. Surgical instrument, according to claim 8, characterized by further comprising: a motor coupled to the cutting bar, the motor being configured to drive the cutting bar from the initial cutting position; the control circuit is configured to determine if the cutter bar is moving according to the electrical voltage of the motor.
[13]
13. Surgical instrument according to claim 8, further comprising: a sensor configured to detect a position of the cutter bar and provide a signal indicating it; the control circuit is configured to determine if the cutter bar is moving according to the signal.
[14]
14. Surgical instrument according to claim 8, further comprising: a sensor configured to detect a position of the end actuator and provide a signal indicating it; the control circuit being configured to determine whether the end actuator is moving according to the signal.
[15]
15. Method for controlling a surgical instrument comprising an end actuator, a displacement member coupled to the end actuator, the displacement member being movable between a first position and a second position, and a movable cutting bar between a non-position triggered and a triggered position, the method being characterized by comprising: determining a triggering state according to whether the cutter bar is in motion between the non-triggered position and the triggered position; determining a state of articulation according to whether the displacement member moves between the first position and the second position; and initiate a power shutdown mode according to the trigger state and the articulation state.
[16]
16. Method according to claim 15, characterized in that the power off mode is not initiated unless the cutter bar is in the non-triggered position.
[17]
17. Method according to claim 15, characterized in that the power shutdown mode is not initiated unless the displacement member is in the first position.
[18]
Method according to claim 15, characterized in that it further comprises determining whether the cutter bar is in motion according to a position of a trigger trigger coupled to the cutter bar.
[19]
19. Method according to claim 15, characterized in that it further comprises determining whether the cutter bar is in motion according to an electrical voltage of the motor coupled to the cutter bar.
[20]
20. Method according to claim 15, characterized in that it further comprises determining whether the cutter bar is in motion according to a sensor configured to detect a position of the cutter bar.
[21]
21. The method of claim 15, further comprising determining whether the displacement member moves according to a sensor configured to detect a position of the displacement member.

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BR112019026373A2|2020-07-21|closed-loop feedback control of a motor speed of a surgical cutting and stapling instrument based on a magnitude of speed error measurements

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BR112019027452A2|2020-07-07|closed circuit speed control techniques for robotic surgical instrument

同族专利:

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公开号 | 公开日

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EP3461447A1|2019-04-03|

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US20190099179A1|2019-04-04|

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JP2020534949A|2020-12-03|

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CN111278379A|2020-06-12|

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WO2019064148A1|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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US15/720,829|2017-09-29|

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US15/720,829|US20190099179A1|2017-09-29|2017-09-29|Systems and methods of initiating a power shutdown mode for a surgical instrument|

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PCT/IB2018/057313|WO2019064148A1|2017-09-29|2018-09-21|Systems and methods of initiating a power shutdown mode for a surgical instrument|

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