systems and methods for selecting the language of the surgical instrument

专利摘要:
The present invention relates to various display language selection systems and methods for a surgical instrument. The surgical instrument includes a handle assembly and a module, such as a drive shaft assembly, which is interchangeably connectable to the handle assembly. The handle set includes a first memory configured to store a language parameter and the control circuit, which is operationally coupled to the memory. The module includes a second memory configured to store a text phrase in a plurality of languages. When the module and the handle set are connected together, the control circuit is configured to retrieve, from the second memory, the textual phrase in a language corresponding to the language parameter.
公开号:BR112020006071A2
申请号:R112020006071-2
申请日:2018-09-21
公开日:2020-10-06
发明作者:Richard L. Leimbach；Raymond E. Parfett；Mark D. Overmyer
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present disclosure relates to surgical instruments and, in various circumstances, to surgical stapling and cutting instruments that are designed to staple and cut tissue. BACKGROUND
[0002] [0002] In a stapling and cutting surgical instrument, it can be useful to control the display and other components of the instrument to provide alerts to the physician using the instrument, turn off the instrument 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, jointing or doing other actions) can be detected by one or more sensors, which can be connected in a communicable way to a circuit. control configured to perform various processes according to the instrument states detected by the sensors. In some situations, it may be useful to provide alerts to the doctor in order to alert him to errors suffered by the surgical instrument. In other situations, it may be useful to turn the instrument off when the instrument has completed its surgical stapling and cutting operations. In still other situations, it may be useful to show the position of the knife during the course of a firing stroke to allow a doctor to see the cutting progress. SUMMARY
[0003] [0003] In one aspect, a surgical instrument comprising: a handle set comprising: a first memory configured to store a language parameter; a control circuit coupled to the first memory to recover the parameter
[0004] [0004] In another aspect, the handle set of a surgical instrument to which an interchangeable module is removably connectable, the interchangeable module comprising an auxiliary memory configured to store a textual phrase in a plurality of languages, the set of handle comprising: a memory configured to store a language parameter; and a control circuit coupled to the memory to recover the language parameter through it; the control circuit is configured to retrieve, from auxiliary memory, the textual phrase in a language corresponding to the language parameter.
[0005] [0005] In another aspect, a method for operating a surgical instrument that comprises a handle set to which an interchangeable component is removably connectable, the method comprising: recovering a language parameter from a first memory of the handle set; retrieving a textual sentence from a second memory of the interchangeable component in a language corresponding to the language parameter; and show the textual phrase in the language corresponding to the language parameter. FIGURES
[0006] [0006] The innovative features of the aspects described here are presented with particularity in the attached claims.
[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 covering two drawing sheets, according to one aspect of this disclosure.
[0012] [0012] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the handle assembly, the supply assembly and the handle assembly and the drive shaft assembly interchangeable according to one aspect of the present disclosure.
[0013] [0013] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0014] [0014] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0015] [0015] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0016] [0016] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, in which the absolute positioning system comprises an arrangement of the controlled motor drive circuit comprising an arrangement of the sensor, according to with an aspect of the present revelation.
[0017] [0017] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a control circuit board assembly and the relative alignment of the sensor array elements, according to a or more aspects of the present disclosure.
[0018] [0018] Figure 12 is a diagram of a position sensor that comprises a magnetic rotating absolute positioning system, according to an aspect of the present disclosure.
[0019] [0019] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to the tissue trapped within the end actuator according to 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 one 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 an end actuator of a surgical instrument shown
[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, according to 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, according to an aspect of the present disclosure.
[0025] [0025] Figure 19 is a top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, according to an aspect of the present disclosure.
[0026] [0026] Figure 20 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a first articulated orientation, according to an aspect of the present disclosure.
[0027] [0027] Figure 21 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a second articulated orientation, according to an aspect of the present disclosure.
[0028] [0028] Figure 22 is a perspective view of a surgical system that includes a handle set attached to a set of interchangeable surgical tools that is configured to be used in conjunction with surgical clip / clamp cartridges. conventional and radio frequency (RF) cartridges, according to one aspect of this disclosure.
[0029] [0029] Figure 23 is an overall perspective view explored
[0030] [0030] Figure 24 is a top cross-sectional view of a portion of the set of interchangeable surgical tools of Figures 22 with its end actuator in an articulated position, according to 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 block diagram of a surgical instrument including an interchangeable drive shaft assembly and a handle assembly, according to an aspect of this disclosure;
[0033] [0033] Figure 27 illustrates a logical flow chart of a process for adjusting the display language, according to an aspect of this disclosure.
[0034] [0034] Figure 28 illustrates a front view of a viewfinder screen or portion thereof showing an image without a text cover, according to one aspect of this disclosure.
[0035] [0035] Figure 29 illustrates a front view of a viewfinder screen or portion thereof showing an image with a text cover, according to an aspect of this disclosure. DESCRIPTION
[0036] [0036] 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:
[0037] [0037] Attorney document number END8312USNP / 170177, entitled SYSTEMS AND METHODS FOR PROVIDING ALERTS AC- CORDING TO THE OPERATIONAL STATE OF A SURGICAL INS-
[0038] [0038] 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.
[0039] [0039] Attorney document number END8314USNP / 170179, entitled SYSTEMS AND METHODS OF INITIATING A POWER SHUTDOWN MODE FOR A SURGICAL INSTRUMENT, by inventors Richard L Leimbach et al., Filed on September 29, 2017.
[0040] [0040] Attorney document number END8316USDP / 170181D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by the inventors Tony C. Seebel et al., Filed on September 29, 2017.
[0041] [0041] Attorney document number END8317USDP / 170182D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by the inventors Tony C. Seigel et al., Filed on September 29, 2017.
[0042] [0042] Attorney document number END8318USDP / 170183D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by the inventors Tony C. Seigel et al., Filed on September 29, 2017.
[0043] [0043] Attorney document number END8319USDP / 170184D, entitled DISPLAY SCREEN OR PORTION THEREOF WITH ANIMATED GRAPHICAL USER INTERFACE, by the inventors Tony C. Seigel et al., Filed on September 29, 2017.
[0044] [0044] Attorney document number END8320USNP / 170176M, entitled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, by the inventors Richard L. Leimbach et al., Filed on September 29, 2017.
[0045] [0045] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the revealed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this disclosure.
[0046] [0046] 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 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, as surgical instruments can be used in many guidelines and positions.
[0047] [0047] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft can be advanced. surgical instrument.
[0048] [0048] In some respects, surgical instruments can include devices capable of performing the cut (as, for example, in Figures 1 and 22), gtamping (as, for example, in Figure 1), electrosurgical (as , for example, in Figure 22) and / or ultrasound operations
[0049] [0049] Figures 1 to 4 illustrate a surgical instrument driven by motor 10 for cutting and fixation that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 comprising a cable assembly 14 that is configured to be picked up, handled and actuated by the physician. The compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" may include a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument.
[0050] [0050] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operatively coupled thereto, according to an aspect of this disclosure. Housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 in it. Enclosure 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to support different sizes and types of clamp cartridges, and that have different lengths, drive shaft sizes and types. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to end actuator arrangements 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 that comprises a plurality of fasteners stored therein removably can be inserted removably into and / or attached to the end actuator of a con-
[0051] [0051] The cable assembly 14 may 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 to it. A monitor can be provided below a cover 45.
[0052] [0052] 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 as a closing trigger 32 pivotally supported 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 doctor holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 can pivot from an initial or "not acted" position to an "acted" position and, more particularly, to a position with - fully compressed or completely actuated.
[0053] [0053] 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 to it. The firing drive system 80 can employ an electric motor 82 located in the piston grip handle 19 of the cable assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a rotation maximum 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 operatively support a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a ("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
[0054] [0054] The electric motor 82 can include a rotary drive shaft (not shown), which, in an operational way, interfaces with a gear reducer assembly 84 mounted on coupling coupling with a set or rack, of teeth drive
[0055] [0055] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable drive member 120 will be 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 drive member longitudinally movable 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0056] [0056] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position .
[0057] [0057] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated groove 302 configured to operationally support a surgical staple cartridge
[0058] [0058] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the action of the closing trigger 32 in the manner described in the previously mentioned reference publication of patent application No. 2014/0263541. Anvil 306 is opened by means of the proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0059] [0059] Figure 3 is another exploded view of portions of the interchangeable drive shaft assembly 200, according to one aspect of this disclosure. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a distal cutting portion or cutting bar 280. The intermediate firing drive shaft 222 may include a longitudinal slot 223 in its ex-
[0060] [0060] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the hinge actuator 230 to the firing member 220. The clutch assembly 400 includes a ring or sleeve locking 402 positioned around firing member 220, locking sleeve 402 can be rotated between an engaged position, where locking sleeve 402 engages articulation actuator 230 to firing member 220, and a position disengaged, 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 in the distal direction, 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
[0061] [0061] 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 flange of distal connector 601 may comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geo-
[0062] [0062] 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 relative to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal swivel portion drive shaft.
[0063] [0063] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The end actuator
[0064] [0064] The beam with profile in | 178 may include upper pins 180 that engage anvil 306 during firing. The beam with profile in | 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 alon groove - 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the beam with profile in | 178 can slide through the aligned longitudinal cracks 193, 197 and 189, and, as shown in Figure 4, the base 186 of the beam with | 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 anvil 306. The beam with profile | 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, as the firing bar 172 is advanced distally in order to fire the staples from the surgical staple cartridge 304 and / or make an incision in the captured tissue between the beaker 306 and the surgical staple cartridge 304. The firing bar 172 and the beam with profile | 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and cut tissue portions.
[0065] [0065] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1 that comprises two drawing sheets, according to one aspect of this disclosure. Referring mainly to Figures 5A and 5B, a con-
[0066] [0066] The drive shaft assembly 704 may include a controller of the drive shaft assembly 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the - drive shaft 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725, which may include one or more electrical connectors for coupling coupling with the connectors corresponding electrical elements of the drive shaft assembly
[0067] [0067] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located on cable assembly 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the supply set 706 are coupled to the pusher set
[0068] [0068] 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 integrated memory or other memory non-volatile, 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 program StellarisWareO, 2 KB electronically programmable and erasable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder (QEI) input analogues, one or more 12-bit analog to digital converters (ADC) with 12 channels of analog input, details of which are available for the product data sheet.
[0069] [0069] 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.
[0070] [0070] 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 power modulator 738 from the power output of the power supply 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the battery power output so that the power management controller 716 can adjust the power output from the 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.
[0071] [0071] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), hearing feedback devices (for example, a speaker, a bell) or feedback devices. tactile (for example, haptic actuators). In certain circumstances, the output device 742 may comprise a display 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument via output device 742. The interface can be configured
[0072] [0072] 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 segment motor, and a power segment. Each circuit segment can be coupled to the safety controller and / or main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board (PCBA) set within the energized surgical instrument 10. It should be understood that the term processor, as used here, includes any microprocessor, processor, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The main controller 717 is a programmable multipurpose device that accepts digital data as input, processes it according to the instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described here.
[0073] [0073] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. The input from the accelerometer can be used to transition to and from a suspension mode, identify the orientation of the surgical instrument energized, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0074] [0074] 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 screen can comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal display (LCD), and / or any other suitable screen. In some examples, the screen segment is coupled to the safety controller.
[0075] [0075] 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
[0076] [0076] The position encoder segment (segment 6) comprises one or more magnetic encoders of the rotation angle position. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0077] [0077] 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 - wire-effect transistors) 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.
[0078] [0078] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of the motor 714 to the main controller 717. The main controller 717 provides a high pulse width modulation signal. (PWM), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0079] [0079] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some examples, the segmented circuit may comprise
[0080] [0080] 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 state of the surgical instrument 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left pivot side for the right side, a key on the right pivot side 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 side and a reverse key on the right side are coupled to the main controller 717. Keys on the left side comprising the key on the left pivot side for the left side, the key on the right pivot side for the left side. - dear, the central articulation key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flex connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0081] [0081] Any suitable mechanical, electromechanical, or solid state keys can be used to implement the plurality of keys, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device 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),
[0082] [0082] 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 assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the interchangeable drive shaft assembly 704, according to 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 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The connectors on the power pack 730 form an interface 727. The power management circuit energy 734 can be configured to modulate battery output energy 707 based on the power needs of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the power output of the power supply 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the battery power output 707 so that the power controller power management 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft controller 722 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 to electrically couple the drive shaft assembly 704 to the handle assembly 702. The connectors drive shaft assembly 726, 728 form an interface 725. Main controller 717, drive shaft assembly controller 722 and / or power management controller 716 can be configured to implement one or more of the processes described here.
[0083] [0083] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. These devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742 The output device 742 can be integrated with the supply set 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be done via interface 725 while the shaft assembly interchangeable drive 704 is attached to cable assembly 702. Having described a control circuit 700 (Figures 5A to 5B and 6) to control the operation of the surgical instrument 10 (Figures 1 to 4), the disclosure now turns to various configurations of the surgical instrument 10 (Figures 1 to 4) and the control circuit 700.
[0084] [0084] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Control circuit 800 can be configured to implement various processes described herein. The control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. The memory circuit 804 stores instructions executable on a machine that, when executed by the 802 processor, they cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of 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 the memory circuit
[0085] [0085] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. The combinational logic circuit 810 can be configured to implement the various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0086] [0086] Figure 9 illustrates an 820 sequential logic circuit configured
[0087] [0087] 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 performing 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.
[0088] [0088] Figure 10 is a diagram of an absolute positioning system 1100 of surgical instrument 10 (Figures 1 to 4), whereas the absolute positioning system 1100 comprises a motor controlled drive circuit arrangement that it comprises a sensor arrangement 1102, in accordance with an aspect of the present disclosure.
[0089] [0089] An electric motor 1120 can include a rotary drive shaft 1116, which, operationally, interfaces with a gear assembly 1114, which is mounted on coupling coupling with a set, or rack , of driving teeth in 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
[0090] [0090] 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, with d1 representing the longitudinal linear distance by which the displacement member 1111 lies. moves from point "a" to point "b" after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the completion of a 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.
[0091] [0091] A series of keys 1122a through 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The state of 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 + ... of that of the displacement member 1111. The sensor output 1124 position 1112 is supplied to controller 1104. Position sensor 1112 of sensor arrangement 1102 can comprise a magnetic sensor, an analog rotary sensor such as a potentiometer, an array of analog Hall effect elements, which emit a unique combination of signals or position values.
[0092] [0092] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the power of the instrument without having to retract or advance the driving member 1111 to the reset position (zero or initial), as it can be the case with conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0093] [0093] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and knife systems. In one aspect, controller 1104 includes a processor 1108 and memory 1106. Electric motor 1120 can be a brushed DC motor with a gearbox and mechanical connections with a hinge or knife system. In one aspect, an 1110 motor driver can be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system it is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUCTION, the disclosure of which is hereby incorporated by reference.
[0094] [0094] 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 controller software.
[0095] [0095] 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 sensors can be provided to measure the physical parameters of the physical system, in addition to the position measured by the 1112 position sensor. In some respects, the other 1118 sensors may include sensor arrangements as described in US Patent No. 9,345 .481 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which is incorporated by reference in its entirety into this document; US patent application publication No. 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which is hereby incorporated by reference in its entirety. and US patent application No. 15 / 628,175, entitled TECHNIQUES FOR
[0096] [0096] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 driver is an entire bridge controller for use with metal oxide semiconductor field effect transistors (MOSFETs - metal oxidize semiconductor field effect transistors) of external N-channel power, 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. An input command capacitor can be used to supply the voltage supplied by the above battery needed for N channel MOSFETs. An internal charge pump for the drive on the top side allows operation in direct current (100% cycle work). The entire bridge can be operated in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from above or from below. Power FETs are protected from the shoot-through effect through programmable dead-time resistors. The integrated diagnosis provides an indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect MOS-
[0097] [0097] 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 an array arrangement. sensor 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 with each full stroke of the travel member 1111, and a gear set 1206 to provide gear reduction. With brief reference to Figure 2, the displacement member 1111 can represent the longitudinally movable drive member 120 which comprises a drive tooth rack 122 for coupling with a corresponding drive gear 86 of the gear reducer assembly 84. Back to Figure 11, a structural element, such as a 1216 bracket, is provided to support gear set 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises one or more magnetic elements sensor, as Hall effect elements, and is positioned close to magnet 1202. As magnet 1202 rotates, the magnetic detection elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[0098] [0098] 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 magnetoresis, magnetic tunnel junctions, giant magneto impedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0099] [0099] 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 around 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 element 1111 advances 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 axis 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. In this way, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P , corresponds to three revolutions of the second gear 1210 and a single rotation of the first gear 1208. As the mag support
[0100] [0100] 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 the third gear 1212 coupled to the shaft 1214 are also shown.
[0101] [0101] 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 one aspect of this disclosure. The position sensor 1200 can be implemented as a rotary, magnetic, single-circuit, ASSOSSEQFT position sensor, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system
[0102] [0102] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described here in detail, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the ASS055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicating the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This angle value, which is a single position signal, is calculated by the CORDIC 1236 processor and is stored integrated in the ASS055 1200 position sensor in a register or memory. The angle value that is indicative of the position of magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, by energizing or upon demand from controller 1104.
[0103] [0103] The ASS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[0104] [0104] Due to the measurement principle of the AS5S055 1200 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as the measurement of an angle is completed, the
[0105] [0105] Figure 13 is a sectional view of a 2502 end actuator of surgical instrument 10 (Figures 1 to 4) showing a beam firing course with a profile in | 2514 with respect to fabric 2526 trapped within end actuator 2502, in accordance with an aspect of the present disclosure. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises a beaker 2516, an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503. One firing bar 2520 is translatable distally and proximally along a longitudinal geometrical axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the drive shaft the instrument. A beam with profile in | 2514 comprising a cutting edge 2509 is illustrated in a distal portion of the firing bar 2520. A wedge slide 2513 is positioned on the staple cartridge
[0106] [0106] A beam firing course with profile in | Example 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. Example 2526 fabric is also shown aligned with end actuator 2502. The stroke of the trigger member may comprise an initial stroke position 2527 and a final position of the 2528 stroke. During a firing stroke of the beam with profile in | 2514, the beam with profile in | 2514 can be advanced from the initial position of the stroke 2527 to the final position of the stroke 2528. The beam with profile | 2514 is shown in an example location from an initial position of the 2527 stroke. The 2529 graph of the beam firing member profile | 2514 illustrates five regions of course of the firing member 2517, 2519, 2521, 2523, 2525. In a first region of the firing course 2517, the beam with profile in | 2514 can begin to advance distally. In the first firing stroke region 2517, the beam with profile | 2514 can contact the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. Once static friction is breathed in, the force needed to activate the beam with profile in | 2514 in the first region 2517 can be substantially constant.
[0107] [0107] In the second stroke region of firing member 2519, cutting edge 2509 can start to come in contact and cut the fabric 2526. In addition, the wedge slide 2513 can start to come in contact with clamp actuators 2511 to drive clamps 2505. The force required to drive the beam with profile in | 2514 may start to increase gradually.
[0108] [0108] As discussed above and with reference now to Figures 13, electric motor 1122 positioned inside the surgical instrument cable set 10 (Figures 1 to 4 can be used to advance and / or retract the triggering of the drive shaft assembly, including the beam with profile at | 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. A profile beam at | 2514 can be advanced or retracted at a desired speed, or within a range of desired speeds. Controller 1104 can be configured to control the speed of the profile beam at | 2514. Controller 1104 can be configured to predict the speed of the profile beam at | 2514 based on various parameters of the energy supplied to the electric motor 1122, such as voltage and / or current, for example, and / or other operating parameters of the electric motor 1122 or in external fluences. Controller 1104 can be configured to predict the current speed of the beam with | 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 profile beam | 2514 with the use of the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the beam with | 2514 and the detected speed of the beam with profile in | 2514 to determine if the energy for the 1122 electric motor should be increased, in order to increase the speed of the beam with profile in | 2514 and / or decreased, in order to decrease the speed of the beam with profile in |
[0109] [0109] The force acting on the beam with profile in | 2514 can be determined using several techniques. The force on the beam with profile in | 2514 can be determined by measuring the motor current 2504, where the motor current 2504 is based on the load on the beam with profile in | 2514 as it advances distally. The strength of the beam with profile in | 2514 can be determined by positioning a tension meter on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the beam with profile | 2514 (beam with profile at | 178, Figure 20), on the firing bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The strength of the beam with profile in | 2514 can be determined by monitoring the actual position of the beam with | 2514 moving at an expected speed based on the current set speed of engine 2504 after a predetermined period of time T1 has elapsed and by comparing the actual beam position with | 2514 in relation to the expected position of the beam with profile in | 2514 based on the current set speed of the 2504 engine at the end of the T1 period. Thus, if the real position of the beam with a profile in | 2514 is less than the expected position of the beam with | 2514, the strength in the beam with profile | 2514 is greater than a nominal force. On the other hand, if the actual position of the beam with | 2514 is greater than the expected position of the beam with | 2514, the strength in the beam with profile | 2514 is less than the nominal force. The difference between
[0110] [0110] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present disclosure. In one aspect, the 2500 surgical instrument is programmed to control the distal translation of a displacement member 1111 such as the beam with a | 2514. The surgical instrument 2500 comprises an end actuator 2502 which may comprise an anvil 2516, a beam with a profile in | 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, beam with profile | 2514 and staple cartridge 2518 can be configured as described here, for example, with reference to Figures 1 to 13.
[0111] [0111] The position, movement, displacement, and / or translation of a displacement member 1111, such as the beam with profile in | 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. As the beam with profile in | 2514 is coupled to a longitudinally movable drive member 120, the beam position with | 2514 can be determined by measuring the position of the longitudinally movable drive member 120 that employs the position sensor 2534. Consequently, in the description below, the position, displacement and / or translation of the beam with | 2514 can be obtained by the 2534 position sensor, as described in the present invention. A control circuit 2510, like the control circuit 700 described in Figures SA and 5B, can be programmed to control the translation of the displacement member 1111, such as the beam with profile | 2514, as described together with Figures 10 to 12. The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute the instructions that cause the processor or process - sadores control the displacement member, for example, the beam with profile in | 2514, as described. In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate the beam position with | 2514, as determined by the position sensor 2534, with the output of the timer / counter circuit 2531 so that the control circuit 2510 can determine the position of the beam with profile in | 2514 at a specific time (t) in relation to an initial position. The 2531 timer / counter circuit can be configured to measure elapsed time, count external events or measure external events.
[0112] [0112] The 2510 control circuit 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 pulse width modulation (PWM) signal ) supplied to one or more stator windings of motor 2504. In addition, in some examples, motor controller 2508 can be omitted, and control circuit 2510 can generate the motor 2524 drive signal directly.
[0113] [0113] The 2504 motor can receive power from a 2512 power source. The 2512 power source can be or can include a battery, a supercapacitor or any other suitable power source.
[0114] [0114] The control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 to measure the various parameters derived, as gap distance in relation to time, compression of the tissue in relation to time and tension 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 a eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical 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.
[0115] [0115] The one or more 2538 sensors may comprise a stress meter, such as a microstrain meter, configured to measure the magnitude of the stress on the 2516 anvil during a hold condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[0116] [0116] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Fig. 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 can 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 along the closing drive system 30 (Figure 2) to detect the closing forces applied to the 2516 anvil by the drive system. closing 30. The one or more 2538 sensors can be sampled in real time during a gripping operation by a processor as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[0117] [0117] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force necessary to advance the beam with profile in | 2514 corresponds to the current drained by the 2504 motor. The force is converted into a digital signal and supplied to the control circuit 2510.
[0118] [0118] Using the physical properties of the instruments shown here, together with Figures 1 to 13, and with reference to Figure 14, a 2510 control circuit can be configured to simulate the actual system response of the instrument in the controller software . A displacement member can be actuated to move a beam with a profile | 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which can be any or any feedback controller, including, but not limited to, a PID, state feedback, LOR, and / or an adaptive controller
[0119] [0119] The actual drive system for the 2500 surgical instrument is configured to drive the displacement member, cutting member or beam with | 2514, by a brushed DC motor with gearbox and mechanical connections to an articulation system 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. .
[0120] [0120] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the description attached. The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. In addition, except where otherwise indicated, the terms and expressions used in the present invention were 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.
[0121] [0121] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, a 2504 motor can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 2502. End actuator 2502 can comprise an articulating anvil 2516 and, when configured for use , an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A doctor can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, the 2504 motor can drive the displacement member distally along from 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 beam with | 2514 with a cutting element positioned at a distal end, you can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[0122] [0122] 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 beam with profile in | 2514, for example, based on one or more tissue conditions. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness,
[0123] [0123] In some examples, the control circuit 2510 may initially operate the 2504 motor in an open circuit configuration for a first open circuit portion of a travel member path. 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 energy supplied to the motor 2504 during the open circuit portion, a sum pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during 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 at a constant speed.
[0124] [0124] 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 beam with profile in | 2514 between a start position of the stroke 2586 and an end position of the stroke 2588. On the horizontal geometry axis 2584, the control circuit 2510 can receive the trip signal and begin to provide the initial motor configuration in to. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between to and t1.
[0125] [0125] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open loop portion of the displacement limb course, for example , the initial period of time between to and T1, the beam with a profile | 2514 can traverse from the initial position of course 2586 to position 2594. Control circuit 2510 can determine that that position 2594 corresponds to a firing control program that advances the beam with profile in | 2514 at a constant selected speed (Venta), indicated by the slope of example 2592 after T1 (for example, in the portion of the closed circuit). The 2510 control circuit can drive the beam with a profile | 2514 for Vienta speed by monitoring the position of the beam with profile in | 2514 and modulation of the motor setpoint signal 2522 and / or the motor start signal 2524 to maintain Venta.
[0126] [0126] A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the initial time period (for example, the open circuit period) between to and T1, the beam with profile | 2514 can traverse from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the travel member at a constant selected speed (Vapid). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the beam with profile | 2514. As a result, the beam with profile | 2514 can move a larger portion of the course during the initial time period. In addition, in some instances, thinner fabric (for example, a larger portion of the displacement limb travel during the initial time period) may correspond to higher displacement limb speeds after the initial time period .
[0127] [0127] Figures 16 to 21 illustrate a 2300 end actuator of a 2010 surgical instrument showing how the 2300 end actuator 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 the end actuator 2300 showing an elongated drive shaft assembly 2200 in a non-articulated orientation, with some of its portions omitted for the sake of 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 2300 end actuator of Figure 16 showing the elongated drive shaft assembly 2200 in a first articulated orientation. Figure 21 is a top view of the 2300 end actuator of Figure 16 showing the elongated drive shaft assembly 2200 in a second hinged orientation.
[0128] [0128] Referring now to Figures 16 to 21, end actuator 2300 is adapted to cut and staple fabric and includes a first claw in the form of an elongated channel 2302 that is configured to support an operational card inside - floor of surgical clamps 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 for movement in relation to it. The elongated drive shaft assembly 2200 includes an articulation system 2800 that uses an articulation lock 2810. The articulation lock 2810 can be configured and operated to selectively lock the surgical end actuator 2300 in various articulated positions. This arrangement allows the surgical end actuator 2300 to be rotated, or articulated, in relation to the closing tube 260 of the drive shaft when the joint 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 in its interior and (2) to support the closing tube 260 (Figure 16) that extends around the central column 210 is sliding. The closing tube of the drive shaft 260 is attached to a closing sleeve of the end actuator 272 which is pivotally fixed to the tube closing 260 by a set of closing sleeve with double articulation 271.
[0129] [0129] The central column 210 also slidably supports a proximal articulation actuator 230. The proximal articulation actuator 230 has a distal end 231 which is configured to operationally engage the articulation lock 2810. The articulation lock 2810 additionally comprises a drive shaft structure 2812 which is attached to the central column 210 in the various ways disclosed here. The drive shaft structure 2812 is configured to 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 DP direction, along a geometry axis of articulation AAA that is laterally displaced and parallel to the geometry axis SA-SA of the drive axis, in response articulation control movements applied to it.
[0130] [0130] In Figures 17 and 18, the drive shaft structure 2812 includes a distal end portion 2814 that has a pivot pin 2818 formed thereon. Pivot pin 2818 is adapted to be pivotally received within a pivot hole 2397 formed in the pivot base portion 2395 of an end actuator mounting assembly 2390. The end actuator mounting set 2390 it is fixed to the proximal end 2303 of the elongated channel 2302 by means of a spring pin 2393 or equivalent. 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.
[0131] [0131] 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 geometry 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 pivotally configured to receive a 2398 base pin that extends from the bottom of the 2395 pivot base portion of the 2390 end actuator mounting assembly. The 2398 base pin defines an axis of the LA link that is parallel to the BB articulation axis.
[0132] [0132] Figure 19 shows the articulated joint 2270 in a straight position, that is, at a zero angle 8º in relation to the longitudinal direction shown as drive shaft SA, according to one aspect. Figure 20 shows the articulated joint 2270 of Figure 19 articulated in a direction of at a first angle 81 defined between the geometry axis SA of the drive axis and the geometry axis EA of the end actuator, according to one aspect. Figure 21 illustrates the articulated joint 2270 of Figure 19 articulated in another direction at a second angle 82 defined between the axis SA of the drive axis and the axis EA of the end actuator.
[0133] [0133] 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 2952 slot that is adapted to receive a 2954 pin inside it. it projects from the back 210. This allows the intermediate support member 2950 to rotate and translate in relation to the pin 2954, when the surgical end actuator 2300 is articulated. A 2958 pivot pin protrudes from the inside side
[0134] [0134] The surgical instrument can additionally be configured to determine the angle at which the 2300 end actuator is oriented. In various embodiments, the position sensor 1112 of the 1102 sensor array can comprise one or more magnetic sensors, analog rotary sensors (such as a potentiometer), analog Hall sensor arrays, which emit a 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 may additionally comprise an arrangement of the pivot sensor that is configured to determine the angular position, i.e. pivot angle, of the end actuator 2300 and provide provide a unique position signal corresponding to it.
[0135] [0135] The arrangement of the articulation sensor can be similar to the arrangement of sensor 1102 described above and illustrated in Figures a to 12. In this respect, the arrangement of the articulation sensor 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 Hall effect sensors and is placed close to the magnet, inside
[0136] [0136] 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 moved to the angular position of the actuator endpoint 2300. In this respect, the surgical instrument comprises an articulation sensor arrangement that is configured to determine the absolute linear position of the articulation actuator 230 and provide a unique position signal corresponding thereto. In some respects, the articulation sensor arrangement or the controller operationally coupled with the disposition articulation sensor is additionally configured to translate or calculate the angular position of the 2300 end actuator from a single position signal.
[0137] [0137] The arrangement of the articulation 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 detection elements, such as sensors Hall effect, and is positioned close 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.
[0138] [0138] In one aspect, a single revolution of the sensor element associated with the position sensor is equivalent to a longitudinal displacement | i1 of the longitudinally movable articulation trigger 230. In other words, d1i is the longitudinal linear distance by which the longitudinally movable articulation drive 230 moves from point "a" to point "b" after a single revolution of a sensor element coupled to the longitudinally movable articulation driver 230. The articulation sensor arrangement can be connected by means of a gear reduction that results in the position sensor completing only a single revolution of the full stroke of the longitudinally movable articulation driver 230. In other words, d1 can be equal to the full stroke of the articulation driver 230. The position sensor is then configured to transmit a single position signal corresponding to the absolute position of the hinge actuator 230 to controller 1104, as n those aspects represented in Figure 10 upon receipt of a single position signal, controller 1104 is then configured to execute logic to determine the angular position of the end actuator corresponding to the linear position of the articulation actuator 230 , for example, by consulting a look-up table that returns the value of the pre-calculated angular position of the end actuator 2300, calculating by means of an algorithm the angular position of the end actuator 2300 using the linear position of the actuator.
[0139] [0139] 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 magneto-impedance, magnetostrictive compounds / piesoelectrics, magnetodiode, magnetic transistor, optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0140] [0140] In one aspect, the position sensor of the various aspects of the articulation sensor arrangement can be implemented in a similar way to the positioning system illustrated in Figure 12 to track the position of the 1111 displacement member. In one aspect, the arrangement of the articulation sensor can be implemented as an ASSOSSEQFT 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 for determining the angle position.
[0141] [0141] 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 profile in | 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 8 can be determined based on the driving member 120 of the surgical instrument 10 As described above, the movement of the longitudinally movable drive member 120 (Figure 2) can be tracked by the absolute positioning system 1100 and, when the articulation drive is operationally coupled to the trigger member 220 ( Fi-
[0142] [0142] In another aspect, the articulation angle 6 can be determined by the location sensors on the articulation joint 2270. The sensors can be configured to detect the rotation of the articulation joint 2270 using the absolute positioning system 1100 in a manner adapted to measure the absolute rotation of the articulation joint 2270, instead of the longitudinal displacement of the drive member 120, as described above. For example, the sensor array 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 detection elements magnetic, like Hall elements, and is positioned close to magnet 1202. The position sensor 1200 described in Figure 12 can be adapted to measure the angle of rotation of the articulated joint 2270. Consequently, as the magnet 1202 rotates, the magnetic sensing elements of the position sensor 1200 determine the absolute angular position of the magnet 1202 located on the hinge joint 2270. This information is provided to controller 1104 to calculate the hinge angle of the hinge joint 2270. Consequently, the angle of the articulation of the end actuator 2300 can be determined by the absolute positioning system 1100 adapted to measure the absolute rotation of the articulated joint 2270.
[0143] [0143] In one aspect, the firing rate or velocity of the beam with profile in | 178 can be varied as a function of the articulation angle of the end actuator 2300 to decrease the force to fire in the trigger drive system 80 and, in particular, the force to fire from the beam with profile in | 178, among other components of the trigger drive system 80 discussed here. To adapt the variable firing force of the beam with profile | 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. Motor speed 82 can be controlled by comparing the beam beam with profile in | 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 voltage, current, pulse width modulation (PWM) or the duty cycle (0 to 100%) applied to engine 82, for example.
[0144] [0144] Figures 22 and 23 show a motor-driven surgical instrument 10 that can be used to perform a variety of different surgical procedures. The surgical instrument 10 may comprise a 3602 end actuator, 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. The surgical instrument 10 can be configured for monopolar or bipolar operation. During monopolar operation, the current can be introduced into the tissue by an active electrode (or
[0145] [0145] The end actuator 3602 may comprise a first 3604 jaw and a second 3608 jaw member. At least one of the 3604 jaw members, 3608 may have at least one electrode. At least one of the members of the 3604, 3608 jaw can be movable from a spaced position of the opposite jaw to receive fabrics in a position in which the space between the 3604, 3608 jaw members is less than that of the first position. This movement of the movable claw can compress the tissue retained between it. The heat generated by the current flow through the tissue in combination with the compression obtained by the movement of the claw can form hemostatic seals within the tissue and / or between tissues and, therefore, can be particularly useful for sealing blood vessels, for example . The surgical instrument 10 may comprise a knife member 3628 which is extensible through the end actuator
[0146] [0146] Surgical instrument 10 may include mechanisms for securing the tissue, such as a stapling device and / or mechanisms for cutting the tissue, such as a tissue knife. An electrosurgical instrument 10 may include a drive shaft for placing the end actuator 3602 in a position adjacent to the tissue being subjected to treatment. The drive shaft can be straight or curved, foldable or non-foldable. In an electrosurgical instrument that includes a straight and foldable drive shaft, the drive shaft
[0147] [0147] 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.
[0148] [0148] RF energy can be in a frequency range described in document EN 60601-2-2: 2009 + A11: 2011, Definition
[0149] [0149] In the illustrated arrangement, surgical instrument 10 comprises a set of interchangeable surgical tools 3600 that is operationally coupled to a set of 3500 handle. In another aspect of the surgical system, the set of interchangeable surgical tools 3600 can also be effectively employed with a tool drive set from a robotic or automated controlled surgical system. For example, the 3600 surgical tool set 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 ARRANGEMERNTS, which is hereby incorporated by reference in its entirety.
[0150] [0150] In the illustrated aspect, the 3500 handle assembly may comprise a 3502 handle compartment that includes a pistol handle portion that can be handled and handled by the physician. As briefly discussed below, the 3500 handle set operationally supports a plurality of drive systems, which are configured to generate and apply various control movements to the corresponding portions of the 3600 interchangeable surgical tool set. As shown in Figure 22, the handle set 3500 can also include a handle structure 3506 that operationally supports the plurality of drive systems.
[0151] [0151] 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 for apply firing movements to the corresponding portions of the set of interchangeable surgical tools that are attached to it. As described in detail in US patent application publication No. 2015/0272575, the 3530 firing drive system can employ an 3505 electric motor which is located in the pistol grip portion of the 3500 grip assembly. In various forms , the 3505 motor can be a brushed DC motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 3505 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The 3505 engine can be powered by a 3522 power supply which, in one form, can comprise a removable battery. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones therein. Several batteries can be connected in series, they can be used as the 3522 power source for the surgical instrument 10. In addition, the 3522 power source can be replaceable and / or rechargeable.
[0152] [0152] The 3505 electric motor is configured to axially drive a 3540 longitudinally movable drive 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 3540 longitudinally movable drive member will be axially driven in the proximal "DP" direction. The 3500 handle set may include a 3513 key 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 is 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) which is in a position adjacent to the 3512 closing trigger and pivotally supported on the 3500 handle set. The firing trigger can be pivoted between an unacted position and an acted position. The trigger can be moved to the non-actuated 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 unactivated position by means of the spring or the bias arrangement. In at least one shape, the trigger can be positioned "away from the center" of the 3512 closing trigger. As discussed in the publication
[0153] [0153] In at least one shape, the 3540 longitudinally movable drive member may have a toothed rack formed in gear for engagement with a corresponding drive gear arrangement (not shown) that interfaces with the motor. Additional details regarding those resources can be found in the publication of US patent application 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 form 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 handle or lever assembly that is stored inside the 3500 grip 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 "DP" direction. US patent No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLING APPA- RATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, the description of which is hereby incorporated by reference in the present invention, discloses rescue provisions and other components, provisions and systems that can also be used with any of the various sets of interchangeable surgical tools disclosed in the present invention.
[0154] [0154] As shown in Figure 22, in at least one arrangement, the interchangeable surgical tool set 3600 includes a set of tool frames 3610 comprising a tool chassis that operationally supports a nozzle set 3612 therein. As discussed in detail in US patent application No. 15 / 635,631, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, which is incorporated here as a reference in its entirety, the tool chassis and nozzle assembly 3612 facilitate rotation of the 3602 surgical end actuator around an SA axis of the drive axis in relation to the tool frame. Such rotational displacement is represented by the arrow R in Figure 22. The set of interchangeable surgical tools 3600 includes a set of central column 3630 (see Figures 3 and 24) that operationally supports the proximal closing tube 3622 and is coupled to the 3602 surgical end actuator. In various circumstances, to facilitate assembly, the 3630 center column assembly can be manufactured from an upper center column segment and a lower center column segment that are interconnected together by resources press-fit, adhesive, solder, etc. In assembled form, the center column assembly 3630 includes a proximal end that is swiveled on the tool frame 1210. In one arrangement, for example, the proximal end of the center column assembly 3630 is attached to a bearing center column (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 a drive shaft SA axis relative to the tool chassis.
[0155] [0155] 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 cartridge of staples / conventional surgical clamps (mechanical) 304 (Figure 4) or a cartridge of radiofrequency (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
[0156] [0156] In at least one arrangement, RF energy is supplied to the 3600 surgical tool set by a conventional 3400 RF generator via a 3402 supply lead. In at least one arrangement, the 3402 supply lead includes a set plug male 3406 that is configured to plug into corresponding female 3410 connectors that are attached to a segmented RF circuit 3656 on an integrated circuit board
[0157] [0157] 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 that contacts a distal contact portion 3644 of the flexible drive shaft circuit strip 3646 for electrical contact therewith. In at least one arrangement, the distal end of the channel circuit 3642 is received into a recess in the corresponding wall formed in one of the walls of the elongated channel 3614 and is folded and fixed to an upper edge of the wall of the channel. elongated channel
[0158] [0158] Figure 26 illustrates a block diagram of a surgical instrument 7000 including an exchangeable drive shaft set 7002 and a handle set 7004, according to the disclosure; In many respects, the 7000 surgical instrument includes an interchangeable component or module that is removably or interchangeably connected to the handle assembly
[0159] [0159] Language parameter 7014 is a signal or other variable that has a value corresponding to a specific language stored in the drive shaft assembly 7006 memory. In several respects, language parameter 7014 can be adjusted by doctors via a user interface or preprogrammed together with the surgical instrument 10. The text phrases 7008 can be stored in the memory of the drive shaft assembly 7006, for example, a consultation table arranged according to a type of image and a language for each of the textual phrases 7008. The type of image is a signal or other variable that has a value corresponding to a specific image or set of images that can be shown on the display 7030 of the surgical instrument 7000. The memory of the drive shaft set 7006 can, therefore, be represented as an array of entries, where Textmn is the textual phrase corresponding to a parameter of li nth language and a nth image type. Therefore, individual phrases can be retrieved from the textual phrase matrix 7008 given the value of the language parameter 7014 and the value of an image type. Textual phrases 7008 can be stored as text strings, images showing the text or in any other format.
[0160] [0160] Figure 27 illustrates a logical flow chart of a 7100 process performed by the 7010 controller to adjust the display language, according to one aspect of this disclosure. In the following description of Figure 27, reference is also made to Figure 26. The process
[0161] [0161] If process 7100 detects 7102 that a module has been connected to handle set 7004, process 7100 continues along the YES branch and then determines 7104 whether an image should be shown. A process that causes an image to be shown can be initiated by the surgical instrument 7000 for a wide variety of reasons. As used here, an "image" refers to both collectively, a still image and an animated image. For example, the 7000 surgical instrument can cause the images to be shown on the 7030 screen to provide, for example, instructions on how to use the 7000 surgical instrument, warnings associated with errors or alerts detected by the 7000 surgical instrument or updates on the operational status of the surgical instrument 7000. Images can have text associated with them, which can be retrieved from the memory of the drive shaft assembly
[0162] [0162] If process 7100 determines 7104 that an image should be displayed, process 7100 continues along the YES branch and the next queries 7106 and the drive shaft assembly memory 7006 with language parameter 7014 and a type of image to be displayed to retrieve the image and text in the appropriate language for the image. The language parameter 7014 can, for example, be retrieved by controller 7010 from the handle set memory 7012. In several respects, the type of image to be displayed can, for example, be retrieved by the set controller 7010 with handle 7012 or received by controller 7010 in parallel with a signal indicating that the image must be shown. If process 7100 determines 7108 that there is no text phrase corresponding to language parameter 7014 and the type of image, then process 7100 continues along the NO branch and returns 7110 an error. In response to the error, controller 7010 can cause an alert indicating that there was an error to be displayed or it can cause base image 7032 to be shown without corresponding text, as shown in Figure 28. If process 7100 determines 7108 that there is a textual phrase corresponding to language parameter 7014 and the type of image in the memory of the drive shaft assembly 7006 then process 7100 continues along the YES branch and 7112 returns the specific textual phrase in the language corresponding to the parameter of language 7014. The controller 7010 can then cause the display 7030 to show a composite image 7034 including the base image 7032 and a cover 7036 that bears the recovered text phrase. Although Figure 29 shows the textual phrase in coverage 7036 in English, the textual phrase can be stored in any number of languages.
[0163] [0163] The functions or processes for controlling a language selection of a surgical instrument described here can be performed by any of the processing circuits described here, such as control circuit 700 described in connection with Figures 5A and 6 , circuits 800, 810, 820 described in Figures 7 to 9, controller 1104 described in connection with Figures 10 and 12 and / or control circuit 2510 described in Figure 14.
[0164] [0164] Aspects of the motorized surgical instrument can be practiced without the specific details revealed here. Some aspects were shown as block diagrams instead of details. Parts of this disclosure can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to a self-consistent sequence of steps that lead to the desired result, in which a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. These 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.
[0165] [0165] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of
[0166] [0166] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination of them. In one aspect, several portions of the subject described here can be implemented by means of specific application integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects revealed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computers). computer systems), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this disclosure.
[0167] [0167] The mechanisms of the revealed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used for effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example example, transmitter, receiver, transmission logic, reception logic, etc.).
[0168] [0168] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described with the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[0169] [0169] Various aspects of the subject described in this document are defined in the following numbered examples:
[0170] [0170] Example 1. A surgical instrument comprising: a handle set comprising: a first memory configured to store a language parameter; and a control circuit coupled to the first memory to retrieve the language parameter through it; and; an interchangeable component that is removably connectable to the handle set, the interchangeable component comprising a second memory configured to store a textual phrase in a plurality of languages; the control circuit is configured to retrieve, from the second memory, the textual phrase in a language corresponding to the language parameter.
[0171] [0171] Example 2. The surgical instrument of Example 1 additionally includes a display, the control circuit being configured to make the display show the textual phrase recovered from the second memory.
[0172] [0172] Example 3. The surgical instrument in Example 2, the control circuit being configured to make the display show the textual phrase as a cover over an image presented on it.
[0173] [0173] Example 4. The surgical instrument in Example 2, the textual phrase corresponding to a type of image determined by the control circuit to be shown on the display.
[0174] [0174] Example 5. The surgical instrument from at least one of Example 1 to Example 4, the interchangeable component comprising a set of drive axes.
[0175] [0175] Example 6. The surgical instrument from at least one of Example 1 to Example 5, and the control circuit is coupled in a way communicable to the second memory when the interchangeable component is connected to the handle assembly.
[0176] [0176] Example 7. A handle set of a surgical instrument to which an interchangeable module is removably connectable, the interchangeable module comprising an auxiliary memory configured to store a textual phrase in a plurality of languages, the set being handle comprises: a memory configured to store a language parameter; and a control circuit coupled to the memory to recover the language parameter through it; the control circuit is configured to retrieve, from the auxiliary memory, the textual phrase in a language corresponding to the language parameter.
[0177] [0177] Example 8. The handle set of Example 7, additionally comprising a display, the control circuit being configured to cause the display to show the text phrase retrieved from the auxiliary memory.
[0178] [0178] Example 9. The handle set of Example 8, the control circuit being configured to make the display show the textual phrase as a cover over an image presented on it.
[0179] [0179] Example 10. The handle set of Example 8, the textual phrase corresponding to a type of image determined by the control circuit to be shown on the display.
[0180] [0180] Example 11. The handle set of at least one of Example 7 to Example 10, the interchangeable module comprising a set of drive axes.
[0181] [0181] Example 12. The surgical instrument of at least one of Example 7, the control circuit being coupled in a communicable way to the auxiliary memory when the interchangeable module is connected to the handle assembly.
[0182] [0182] Example 13. A method for operating a surgical instrument comprising a handle set to which an interchangeable component is removably connectable, the method comprising: retrieving a language parameter from a first set memory handle; retrieve a textual sentence from a second memory of the interchangeable component in a language corresponding to the language parameter; and show the textual phrase in the language corresponding to the language parameter.
[0183] [0183] Example 14. The method of Example 13, the textual phrase being shown as a cover over an image associated with the textual phrase.
[0184] [0184] Example 15. The method of Example 13, with the interchangeable component comprising a drive shaft assembly.
[0185] [0185] Example 16. The method of at least one of Example 13 to Example 15, further comprising determining that an image should be shown, with the textual phrase retrieved from the second memory corresponding to both the language parameter and the image.

权利要求:
Claims (16)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a handle set comprising: a first memory configured to store a language parameter; and a control circuit coupled to the first memory to retrieve the language parameter through it; and an interchangeable component that is removably connectable to the handle assembly, in which the interchangeable component comprises a second memory configured to store a textual phrase in a plurality of languages; in which the control circuit is configured to retrieve, from the second memory, the textual phrase in a language corresponding to the language parameter.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that it also includes a display, in which the control circuit is configured to make the display show the textual phrase retrieved from the second memory.
[3]
3. Surgical instrument, according to claim 2, characterized by the fact that the control circuit is configured to make the display show the textual phrase as a cover over an image presented on it.
[4]
4. Surgical instrument, according to claim 2, characterized by the fact that the textual phrase corresponds to a type of image determined by the control circuit to be shown on the display.
[5]
5. Surgical instrument, according to claim 1, characterized by the fact that the interchangeable component comprises a set of drive axes.
[6]
6. Surgical instrument, according to claim 1,
characterized by the fact that the control circuit is coupled in a communicable way to the second memory when the interchangeable component is connected to the handle assembly.
[7]
7. Handle set of a surgical instrument to which an interchangeable module is removably connectable, the interchangeable module comprising an auxiliary memory configured to store a textual phrase in a plurality of languages, characterized by the fact that the set of grip comprise: a memory configured to store a language parameter; and a control circuit coupled to the memory to retrieve the language parameter through it; in which the control circuit is configured to retrieve, from auxiliary memory, the textual phrase in a language corresponding to the language parameter.
[8]
8. Handgrip set, according to claim 7, characterized by the fact that it also includes a display, in which the control circuit is configured to make the display show the textual phrase retrieved from the auxiliary memory.
[9]
9. Handle set, according to claim 8, characterized by the fact that the control circuit is configured to make the display show the textual phrase as a cover over an image presented on it.
[10]
10. Handle set, according to claim 8, characterized by the fact that the phrase corresponds to a type of image determined by the control circuit to be shown on the display.
[11]
11. Handgrip set, according to claim 7, characterized by the fact that the interchangeable module comprises a set of drive axes.
[12]
12. Surgical instrument, according to claim 7, characterized by the fact that the control circuit is coupled in a communicable way to the auxiliary memory when the interchangeable module is connected to the handle assembly.
[13]
13. Operating method of a surgical instrument that comprises a handle set to which an interchangeable component is removably connectable, characterized by the fact that the method comprises: recovering a language parameter from a first memory of the set of grip; retrieving a textual sentence from a second memory of the interchangeable component in a language corresponding to the language parameter; and show the textual phrase in the language corresponding to the language parameter.
[14]
14. Method, according to claim 13, characterized by the fact that the textual phrase is shown as a cover over an image associated with the textual phrase.
[15]
15. Method, according to claim 13, characterized by the fact that the interchangeable component comprises a set of drive shaft.
[16]
16. Method, according to claim 13, characterized by the fact that it also comprises determining that an image must be shown, in which the textual sentence retrieved from the second memory corresponds to both the language parameter and the image.

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同族专利:

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公开号 | 公开日

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US10729501B2|2020-08-04|

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EP3462458B1|2020-06-24|

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JP2020534951A|2020-12-03|

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CN111295717A|2020-06-16|

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WO2019064149A1|2019-04-04|

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US20190099224A1|2019-04-04|

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EP3462458A1|2019-04-03|

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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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US15/720,838|US10729501B2|2017-09-29|2017-09-29|Systems and methods for language selection of a surgical instrument|

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US15/720,838|2017-09-29|

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PCT/IB2018/057314|WO2019064149A1|2017-09-29|2018-09-21|Systems and methods for language selection of a surgical instrument|

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