interactive surgical systems implemented by computer

专利摘要:
The invention relates to a central surgical controller that is for use with a surgical instrument configured to apply therapeutic energy to tissue at a surgical site in a surgical procedure. The central surgical controller comprises: a central controller housing, comprising an anchoring station that includes an anchoring port comprising data and power contacts; and a combined generator module can be removably retained in the docking station. The combined generator module comprises: an ultrasonic energy generating component; a radio frequency energy (RF) generator component; a smoke evacuation component; and a connection port. At least one of the ultrasonic energy generating component and the radio frequency generating (RF) component are coupled to the surgical instrument through the connection port. The combined generator module additionally comprises at least one smoke evacuation component, configured to evacuate the smoke generated by an application of therapeutic energy to the tissue by the surgical instrument.
公开号:BR112020011230A2
申请号:R112020011230-5
申请日:2018-07-31
公开日:2020-11-17
发明作者:Eitan T. Wiener；Frederick E. Shelton Iv；Jason L. Harris；Daniel W. Price；David C. Yates
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] This application claims priority under 35 US $ 119 (e) to Provisional Patent Application Serial No. 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYS-TEMS, filed on March 28, 2018, the description of which it is hereby incorporated by reference, in its entirety.
[0002] [0002] The present application also claims priority under 35 U.S.C. $ 119 (e) to US Provisional Patent Application serial number 62 /
[0003] [0003] The present description refers to several surgical systems. Surgical procedures are typically performed in surgical operating rooms or surgical centers in a health care facility, such as a hospital. A sterile area is typically created around the patient. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area. Various surgical devices and systems are used to perform a surgical procedure. SUMMARY OF THE INVENTION
[0004] [0004] In one aspect, a central surgical controller is provided
[0005] [0005] In another general aspect, another central surgical controller, which is modular, is provided. The modular central surgical controller is for use with a surgical instrument configured to apply therapeutic energy to the tissue at a surgical site in a surgical procedure. The modular surgical enclosure comprises: a first energy generating module configured to generate a first therapeutic energy for application to the tissue; a first anchorage station comprising a first docking port that includes the first data and power contacts; and a second energy generator module configured to generate a second therapeutic energy, different from the first therapeutic energy, for application to the tissue. The first power generator module is slidingly movable in an electrical coupling with the first data and power contacts, and is also slidingly movable out of the electric coupling with the first data and power contacts. The second docking station comprises a second docking port which includes the second data and power contacts. The second power generator module is slidingly movable in an electrical coupling with the second power and data contacts, and is also slidingly movable out of the electric coupling with the second data and power contacts. The modular surgical enclosure also includes a communication bus between the first docking port and the second docking port, configured to facilitate communication between the first power generating module and the second power generating module.
[0006] [0006] In yet another aspect, another central surgical controller is described. The central surgical controller is for use with a surgical instrument configured to apply therapeutic energy to tissue at a surgical site in a surgical procedure. The central surgical controller comprises: a central controller housing, which comprises docking stations that include docking ports that comprise data and power contacts; and a combined generator module that can be received in a sliding manner at one of the docking stations. The combined generator module comprises: an ultrasonic energy generating component; a radio frequency energy (RF) generator component; and a connection port. At least one of the ultrasonic energy generating component and the radiofrequency generating (RF) component are coupled to the surgical instrument through the connection port. The central surgical controller additionally comprises: a smoke evacuation module that can be received slidingly in a second of the docking stations, in which the smoke evacuation module is configured to evacuate the smoke generated by an application of therapeutic energy to the tissue by the surgical instrument; a processing module that can be received slidingly at a third of the docking stations; a memory module that can be received in a sliding way in a fourth of the docking stations; and an operating room mapping module that can be received in a sliding manner in a fifth of the docking stations. FIGURES
[0007] [0007] The appeals of several aspects are presented with particularity in the attached claims. The various aspects, however, with regard to both the organization and the methods of operation, together with additional objects and advantages of the same, can be better understood in reference to the description presented below, considered together with the attached drawings as follows.
[0008] [0008] Figure 1 is a block diagram of an interactive surgical system implemented by computer, according to at least one aspect of the present description.
[0009] [0009] Figure 2 is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present description.
[0010] [0010] Figure 3 is a central device or surgical "hub" paired with a visualization system, a robotic system, and an intelligent instrument, according to at least one aspect of the present description.
[0011] [0011] Figure 4 is a partial perspective view of a central surgical controller casing, and of a generator module in combination received slidingly in a central surgical controller casing, according to at least one aspect of this description.
[0012] [0012] Figure 5 is a perspective view of a generator module in combination with bipolar, ultrasonic and monopolar contacts and a smoke evacuation component, in accordance with at least one aspect of the present description.
[0013] [0013] Figure 6 illustrates different power bus connectors for a plurality of side anchoring ports of a lateral modular housing configured to receive a plurality of modules, in accordance with at least one aspect of the present description.
[0014] [0014] Figure 7 illustrates a vertical modular housing configured to receive a plurality of modules, according to at least one aspect of the present description.
[0015] [0015] Figure 8 illustrates a surgical data network that comprises a modular communication hub configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a healthcare facility. public specially equipped for surgical operations, to the cloud, in accordance with at least one aspect of this description.
[0016] [0016] Figure 9 illustrates an interactive surgical system implemented by computer, according to at least one aspect of this description.
[0017] [0017] Figure 10 illustrates a central surgical controller that comprises a plurality of modules coupled to the modular control tower, in accordance with at least one aspect of the present description.
[0018] [0018] Figure 11 illustrates an aspect of a universal serial bus (USB) network hub device, in accordance with at least one aspect of the present description.
[0019] [0019] Figure 12 illustrates a logical diagram of a control system for an instrument or surgical tool, according to at least one aspect of the present description.
[0020] [0020] Figure 13 illustrates a control circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present description.
[0021] [0021] Figure 14 illustrates a combinational logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present description.
[0022] [0022] Figure 15 illustrates a sequential logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present description.
[0023] [0023] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions, according to at least one aspect of the present description.
[0024] [0024] Figure 17 is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described therein, in accordance with at least one aspect of the present description.
[0025] [0025] Figure 18 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member, according to an aspect of the present description.
[0026] [0026] Figure 19 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present description.
[0027] [0027] Figure 20 is a simplified block diagram of a generator configured to provide adjustment without inductor, among other benefits, according to at least one aspect of the present description.
[0028] [0028] Figure 21 illustrates an example of a generator, which is one of the generator of Figure 20, according to at least one aspect of the present description. DESCRIPTION
[0029] [0029] The applicant for this application holds the following provisional US patent applications, filed on March 28, 2018, each of which is incorporated herein by reference in its entirety: and US Provisional Patent Application serial number 62 / 649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH encrypted COMMUNICATION CAPABILITIES; and US Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; and US Provisional Patent Application Serial No. 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS; and US Provisional Patent Application Serial No. 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; and US Provisional Patent Application Serial No. 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; and US Provisional Patent Application Serial No. 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORED TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; and US Provisional Patent Application Serial No. 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGI-CAL DEVICES; and US Provisional Patent Application Serial No. 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;
[0030] [0030] The applicant for this application holds the following provisional US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: and US Patent Application serial number, entitled INTERACTIVE SURGICAL SYSTEMS WITH encrypted COMMUNICATION CAPABILITIES; power of attorney document END8499USNP / 170766; and US Patent Application Serial No., entitled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANGING OF DEVICES AND DATA CAPABILITIES; power of attorney document END8499USNP1 / 170766-1; and US Patent Application serial number,
[0031] [0031] The applicant for this application holds the following provisional US patent applications, filed on March 29, 2018, each of which is hereby incorporated by reference in its entirety: and US Patent Application serial number, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; power of attorney document END8506USNP / 170773; and US Patent Application Serial No., entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; power of attorney document END8506USNP1 / 170773-1 and US Patent Application serial number, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; power of attorney document END8507USNP / 170774; and US Patent Application Serial No., entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHA- VIORS OF LARGER DATA SET; power of attorney document END8507USNP1 / 170774-1; and US Patent Application serial number, entitled Cloud-based medical analytics for medical facility segmented individualization of instrument function; proxy document number END8507USNP2 / 170774-2; and US Patent Application serial number, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; power of attorney document END8508USNP / 170775; and US Patent Application serial number,
[0032] [0032] The applicant for the present application holds the following provisional US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: and US Patent Application serial number, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; power of attorney document END8511USNP / 170778; and US Patent Application Serial No., entitled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; power of attorney document number END8511 USNP1 / 170778-1; and US Patent Application Serial No., entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; power of attorney document END8511USNP2 / 170778-2; and US Patent Application Serial No., entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; power of attorney document END8512 USNP / 170779; and US Patent Application Serial No., entitled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLAT-FORMS; power of attorney document END8512USNP1 / 170779-1; and US Patent Application Serial No., entitled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED
[0033] [0033] Before explaining in detail the various aspects of surgical instruments and generators, it should be noted that the illustrative examples are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the descriptions in the attached description. Illustrative examples can be implemented or incorporated in 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 have been chosen for the purpose of describing illustrative examples 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 among the other aspects, expressions of aspects and / or examples described a follow.
[0034] [0034] Referring to Figure 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (for example, cloud 104 which may include a remote server 113 coupled to a device storage 105). Each surgical system 102 includes at least one central surgical controller 106 in communication with the cloud 104 which can include a remote server 113. In one example, as illustrated in Figure 1, surgical system 102 includes a display system 108, a robotic system 110, a smart handheld surgical instrument 112, which are configured to communicate with each other and / or hub 106. In some respects, a surgical system 102 may include a number of M 106 hubs, an N number of visualization systems 108, an O number of robotic systems 110, and a P number of smart, hand-held surgical instruments 112, where M, N, O, and P are whole numbers greater than or equal to one.
[0035] [0035] Figure 3 represents an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying on an operating table 114 in a surgical operating room 116. A robotic system 110 is used in surgical procedure as a part of the surgical system 102. The robotic system 110 includes a surgeon console 118, a patient car 120 (surgical robot), and a surgical robotic hub 122. The patient car 120 can manipulate at least one removable-coupled surgical tool 117 through a minimally invasive incision in the patient's body while the surgeon views the surgical site through the surgeon's console 118. An image of the surgical site can be obtained by an imaging device doctor 124, which can be manipulated by patient's car 120 to orient imaging device 124. Robotic hub 122 can be used to process images of the surgical site for display subsequent to the surgeon via the surgeon's console 118.
[0036] [0036] Other types of robotic systems can be readily adapted for use with the surgical system 102. Various examples of robotic systems and surgical instruments that are suitable for use with the present description are described in Provisional Patent Application serial number 62 / 611.339 , entitled ROBOT ASSISTED SUR-
[0037] [0037] Several examples of cloud-based analysis that are performed by the cloud 104, and are suitable for use with the present description, are described in US Provisional Patent Application Serial No. 62 / 611,340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, the description of which is incorporated here for reference, in its entirety.
[0038] [0038] In several aspects, the imaging device 124 includes at least one Image sensor and one or more optical components. Suitable image sensors include, but are not limited to, load-coupled device (CCD) sensors and complementary metal oxide semiconductor (CMOS) sensors.
[0039] [0039] The optical components of the imaging device 124 may include one or more light sources and / or one or more lenses. One or more light sources can be directed to illuminate portions of the surgical field. The one or more image sensors can receive reflected or refracted light from the surgical field, including reflected or refracted light from the tissue and / or surgical instruments.
[0040] [0040] One or more light sources can be configured to radiate electromagnetic energy in the visible spectrum, as well as in the invisible spectrum. The visible spectrum, sometimes called the optical spectrum or light spectrum, is that portion of the electromagnetic spectrum that is visible to (that is, can be detected by) the human eye and can be called visible light or simply light. A typical human eye will respond to wavelengths in the air that are from about 380 nm to about 750 nm.
[0041] [0041] The invisible spectrum (that is, the non-luminous spectrum) is that portion of the electromagnetic spectrum located below and above the visible spectrum (that is, wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the visible red spectrum, and they become invisible infrared (IR), microwaves, radio and electromagnetic radiation. Wavelengths shorter than about 380 nm are shorter than the ultraviolet spectrum, and they become invisible ultraviolet, x-ray, and gamma-ray electromagnetic radiation.
[0042] [0042] In several respects, the imaging device 124 is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present description include, but are not limited to, an arthroscope, angioscope, bronchoscope, choledocoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagus-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngeal-neproscope, sigmoidoscope, thoracoscope, and ureteroscope.
[0043] [0043] In one aspect, the imaging device employs multiple spectrum monitoring to discriminate topography and underlying structures. A multispectral image is one that captures image data within wavelength bands across the electromagnetic spectrum. The wavelengths can be separated by filters or by using instruments that are sensitive to specific wavelengths, including light from frequencies beyond the visible light range, for example, IR and ultraviolet light. Spectral images can allow the extraction of additional information that the human eye cannot capture with its receivers for the colors red, green, and blue. The use of multi-spectral imaging is described in more detail under the heading "Advanced Imaging Acquisition Module" in US Provisional Patent Application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, whose The description is incorporated here as a reference in its entirety. Multispectral monitoring can be a useful tool for relocating a surgical field after a surgical task is completed to perform one or more of the tests previously described on the treated tissue.
[0044] [0044] It is axiomatic that strict sterilization of the operating room and surgical equipment is necessary during any surgery. The strict hygiene and sterilization conditions required in an "operating room", that is, an operating or treatment room, justify the highest possible sterilization of all medical devices and equipment. Part of this sterilization process is the need to sterilize anything that comes into contact with the patient or enters the sterile field, including the imaging device 124 and its connectors and components. It will be understood that the sterile field can be considered a specified area, such as inside a tray or on a sterile towel, which is considered free of microorganisms, or the sterile field can be considered an area, immediately around a patient, who was prepared to perform a surgical procedure. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area.
[0045] [0045] In various aspects, the visualization system 108 includes one or more imaging sensors, one or more image processing units, one or more storage arrays and one or more screens that are strategically arranged in relation to the area sterile, as shown in Figure 2. In one aspect, the display system 108 includes an interface for HL7, PACS and EMR. Various components of the visualization system 108 are described under the heading "Advanced Imaging Acquisition Module" in the Patent Application
[0046] [0046] As shown in Figure 2, a primary screen 119 is positioned in the sterile field to be visible to the operator on the operating table 114. In addition, a viewing tower 111 is positioned outside the sterile field. The display tower 111 includes a first non-sterile screen 107 and a second non-sterile screen 109, which are opposite each other. Visualization system 108, guided by hub 106, is configured to use screens 107, 109, and 119 to coordinate the flow of information to operators inside and outside the sterile field. For example, the central controller 106 can have the visualization system 108 display a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile screen 107 or 109, while maintaining a transmission over the live from the surgical site on the main screen 119. The snapshot on the non-sterile screen 107 or 109 can allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
[0047] [0047] In one aspect, hub 106 is also configured to rotate a diagnostic input or feedback by a non-sterile operator in the viewing tower 111 to primary screen 119 within the sterile field, where it can be seen by an operator sterile on the operating table. In one example, the entry may be in the form of a modification of the snapshot displayed on the non-sterile screen 107 or 109, which can be routed to main screen 119 by the central controller
[0048] [0048] With reference to Figure 2, a surgical instrument 112 is being used in the surgical procedure as part of the surgical system 102. Hub 106 is also configured to coordinate the flow of information to a screen of the surgical instrument 112. For example , in US Provisional Patent Application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the description of which is incorporated herein by reference in its entirety for reference. An entry or diagnostic feedback inserted by a non-sterile operator in the viewing tower 111 can be routed through hub 106 to the screen of the surgical instrument 115 in the sterile field, where it can be seen by the operator of the surgical instrument 112. Surgical instruments exemplifiers that are suitable for use with surgical system 102 are described under the title "Surgical Instrument Hardware" and in Provisional Patent Application No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, whose description is incorporated here for reference in its entirety, for example.
[0049] [0049] Now with reference to Figure 3, a hub 106 is shown in communication with a visualization system 108, a robotic system 110 and a smart handheld surgical instrument 112. Hub 106 includes a screen from hub 135, a module from imaging 138, a generator module 140, a communication module 130, a processor module 132 and a storage matrix 134. In certain aspects, as shown in Figure 3, hub 106 additionally includes a smoke evacuation module 126 and / or a suction / irrigation module 128.
[0050] [0050] During a surgical procedure, the application of energy to the tissue, for sealing and / or cutting, is generally associated with the evacuation of smoke, suction of excess fluid and / or irrigation of the tissue. Fluid, power, and / or data lines from different sources are often intertwined during the surgical procedure.
[0051] [0051] The aspects of the present description present a central surgical controller for use in a surgical procedure that involves the application of energy to the tissue at a surgical site. The central surgical controller includes a hub casing and a combined generator module received slidingly at a hub casing docking station. The docking station includes data and power contacts. The combined generator module includes two or more of an ultrasonic energy generating component, a bipolar RF energy generating component, and a monopolar RF energy generating component which are housed in a single unit. In one aspect, the combined generator module also includes a smoke evacuation component, at least one power application cable to connect the combined generator module to a surgical instrument, at least one smoke evacuation component configured for evacuate smoke, fluid, and / or particulates generated by applying therapeutic energy to the tissue, and a fluid line extending from the remote surgical site to the smoke evacuation component.
[0052] [0052] In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module slidably received in the hub housing. In one aspect, the hub housing comprises a fluid interface.
[0053] [0053] Certain surgical procedures may require the application of more than one type of energy to the tissue. One type of energy may be more beneficial for cutting tissue, while a different type of energy may be more beneficial for sealing tissue. For example, a bipolar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present description present a solution in which a modular hub hub 136 is configured to accommodate different generators and facilitate interactive communication between them. One of the advantages of the central modular housing 136 is that it allows quick removal and / or replacement of several modules.
[0054] [0054] Aspects of the present description present a modular surgical wrap for use in a surgical procedure that involves applying energy to the tissue. The modular surgical enclosure includes a first energy generating module, configured to generate a first energy for application to the tissue, and a first anchorage station comprising a first anchoring port that includes first data contacts and energy contacts , the first power generator module being slidably movable in an electrical coupling with the power and data contacts, and the first power generator module is slidingly movable out of the electrical coupling with the first power and data contacts.
[0055] [0055] In addition to the above, the modular surgical enclosure also includes a second energy generator module configured to generate a second energy, different from the first energy, for application to the tissue, and a second anchoring station comprising of a second anchor port that includes second data and power contacts, the second power generator module being slidably movable in an electrical coupling with the power and data contacts, and the second power generator module being sliding way out of the electric coupling with the second power and data contacts.
[0056] [0056] In addition, the modular surgical enclosure also includes a communication bus between the first docking port and the second docking port, configured to facilitate communication between the first power generating module and the second power generating module .
[0057] [0057] With reference to Figures 3 to 7, aspects of the present description are presented for a modular housing of hub 136 that allows the modular integration of a generator module 140, a smoke evacuation module 126, and a suction / irrigation module 128. The central modular housing 136 further facilitates interactive communication between modules 140, 126, 128. As shown in Figure 5, generator module 140 can be a generator module with integrated monopolar, bipolar and ultrasonic components, supported in a single housing unit 139 slidably insertable into the central modular housing 136. As shown in Figure 5, generator module 140 can be configured to connect to a monopolar device 146, a bipolar device 147 and a ultrasonic device 148. Alternatively, generator module 140 may comprise a series of monopolar, bipolar and / or ultrasonic generator modules that interact through the modular housing central 136. The central modular enclosure 136 can be configured to facilitate the insertion of multiple generators and interactive communication between the generators anchored in the central modular enclosure 136 so that the generators would act as a single generator.
[0058] [0058] In one aspect, the central modular housing 136 comprises a modular power and a back communication board 149 with external and wireless communication heads to allow removable fixing of modules 140, 126, 128 and interactive communication between the themselves.
[0059] [0059] In one aspect, the central modular housing 136 includes docking stations, or drawers, 151, here also called dowels, which are configured to receive sliding modules 140, 126, 128. Figure 4 illustrates a partial perspective view of a surgical casing from hub 136, and a combined generator module 145 received slidably at a docking station 151 of the casing of central surgical controller 136. An anchoring port 152 with power and data contacts on a rear side of the combined generator module 145 it is configured to engage a corresponding docking port 150 with the power and data contacts of a corresponding docking station 151 of the modular housing of hub 136 as the combined generator module 145 is slid into position in the corresponding docking station 151 of the modular housing of hub 136. In one aspect, the combined generator module 145 includes a bipolar, ultrasonic and monopolar module i m smoke evacuation module integrated in a single compartment unit 139, as shown in Figure 5.
[0060] [0060] In several respects, the smoke evacuation module 126 includes a fluid line 154 that transports fluid captured / collected smoke away from a surgical site and to, for example, the smoke evacuation module 126. The vacuum suction that originates from the smoke evacuation module 126 can pull the smoke into an opening of a utility conduit at the surgical site. The utility conduit, coupled to the fluid line, can be in the form of a flexible tube that ends in the smoke evacuation module 126. The utility conduit and the fluid line define a fluid path that extends towards the smoke evacuation module 126 which is received in the hub housing 136.
[0061] [0061] In various aspects, the suction / irrigation module 128 is coupled to a surgical tool comprising a fluid suction line and a fluid suction line. In one example, the suction and suction fluid lines are in the form of flexible tubes that extend from the surgical site towards the suction / irrigation module 128. One or more drive systems can be configured to cause irrigation and aspiration of fluids to and from the surgical site.
[0062] [0062] In one aspect, the surgical tool includes a drive shaft that has an end actuator at a distal end thereof and at least an energy treatment associated with the end actuator, a suction tube, and a irrigation pipe. The suction tube can have an inlet port at a distal end of it and the suction tube extends through the drive shaft. Similarly, an irrigation pipe can extend through the drive shaft and may have an inlet port close to the power application implement. The energy application implement is configured to supply ultrasonic and / or RF energy to the surgical site and is coupled to the generator module 140 by a cable that initially extends through the drive shaft.
[0063] [0063] The irrigation tube can be in fluid communication with a fluid source, and the suction tube can be in fluid communication with a vacuum source. The fluid source and / or the vacuum source can be housed in the suction / irrigation module 128. In one example, the fluid source and / or the vacuum source can be housed in the hub housing 136 separately of the suction / irrigation module 128. In such an example, a fluid interface can be configured to connect the suction / irrigation module 128 to the fluid source and / or the vacuum source.
[0064] [0064] In one aspect, modules 140, 126, 128 and / or their corresponding docking stations in the central modular housing 136 may include alignment features that are configured to align the docking ports of the modules in engagement with their counterparts in the docking stations of the central modular housing
[0065] [0065] In some respects, the drawers 151 of the central modular housing 136 are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers 151. For example, the side supports 155 and / or 156 can be larger or smaller depending on the size of the module. In other respects, drawers 151 are different in size and are each designed to accommodate a specific module.
[0066] [0066] In addition, the contacts of a specific module can be switched to engage with the contacts of a specific drawer to avoid the insertion of a module in a drawer with unpaired contacts.
[0067] [0067] As shown in Figure 4, the anchor door 150 of a drawer 151 can be coupled to the anchor door 150 of another drawer 151 through a communication link 157 to facilitate interactive communication between the modules housed in the central modular housing 136. The anchoring ports 150 of the central modular housing 136 can, alternatively or additionally, facilitate interactive wireless communication between modules housed in the central modular housing 136. Any suitable wireless communication can be used, such as, for example, Air Titan Bluetooth.
[0068] [0068] Figure 6 illustrates individual power bus connectors for a plurality of side anchoring ports of a lateral modular compartment 160 configured to receive a plurality of modules from a central surgical controller 206. The modular compartment side 160 is configured to receive and interconnect modules 161 laterally. Modules 161 are slidably inserted into the docking stations 162 of side modular bay 160, which includes a back plate for interconnecting modules 161. As illustrated in Figure 6, modules 161 are arranged laterally in the side modular enclosure 160. Alternatively, modules 161 can be arranged vertically in a modular side enclosure.
[0069] [0069] Figure 7 illustrates a vertical modular enclosure 164 configured to receive a plurality of modules 165 from the central surgical controller 106. Modules 165 are slidably inserted into docking stations, or drawers, 167 of vertical modular housing 164, which includes a rear panel for interconnection of modules 165. Although the vertical modular housing 164 drawers 167 are arranged vertically, in some cases, a vertical modular housing 164 may include drawers that are arranged laterally . In addition, modules 165 can interact with each other through the docking ports of the vertical modular enclosure 164. In the example in Figure 7, a screen 177 is provided to show data relevant to the operation of modules 165. In addition , the vertical modular compartment 164 includes a master module 178 that houses a plurality of submodules that are received slidingly in the master module 178.
[0070] [0070] In several respects, the imaging module 138 comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular compartment that can be mounted with a light source module and a camera module. The compartment can be a disposable compartment. In at least one example, the disposable compartment is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and / or the camera module can be chosen selectively depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for imaging the scanned beam. Similarly, the light source module can be configured to provide a white light or a different light, depending on the surgical procedure.
[0071] [0071] During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a different camera or other light source may be inefficient. Temporarily losing sight of the surgical field can lead to undesirable consequences. The imaging device module of the present description is configured to allow the replacement of a light source module or "midstream" camera module during a surgical procedure, without the need to remove the imaging device from the cyclic field. surgical.
[0072] [0072] In one aspect, the imaging device comprises a tubular compartment that includes a plurality of channels. A first channel is configured to receive the Camera module in a sliding way, which can be configured for a snap-fit fit (pressure fit) with the first channel. A second channel is configured to receive the camera module in a sliding way, which can be configured for a snap-fit fit (pressure fit) with the first channel. In another example, the camera module and / or the light source module can be rotated to an end position within their respective channels. A threaded coupling can be used instead of the pressure fitting.
[0073] [0073] In several examples, multiple imaging devices are placed in different positions in the surgical field to provide multiple views. Imaging module 138 can be configured to switch between imaging devices to provide an ideal view. In several respects, imaging module 138 can be configured to integrate images from different imaging devices.
[0074] [0074] Various image processors and imaging devices suitable for use with the present description are described in US patent No. 7,995,045 entitled COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, granted on August 9, 2011 which is incorporated herein as a reference in its entirety. In addition, US patent No. 7,982,776, entitled SBIl MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, issued on July 19, 2011, which is incorporated herein by reference in its entirety, describes various systems for removing motion artifacts from the data of image. Such systems can be integrated with imaging module 138. In addition to these, the publication of US Patent Application No. 2011/0306840, entitled CONTROLLA-BLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPA- RATUS, published on December 15, 2011, and the publication of US Patent Application No. 2014/0243597, entitled SYSTEM FOR
[0075] [0075] Figure 8 illustrates a surgical data network 201 comprising a modular communication hub 203 configured to connect modular devices located in one or more operating rooms of a health care facility, or any environment in a healthcare facility. utilities specially equipped for surgical operations, to a cloud-based system (for example, cloud 204 which may include a remote server 213 coupled to a storage device 205). In one aspect, the modular communication hub 203 comprises a network hub 207 and / or a network key 209 in communication with a network router. The modular communication hub 203 can also be coupled to a local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 can be configured as a passive, intelligent, or switching network. A passive surgical data network serves as a conduit for the data, allowing the data to be transmitted from one device (or segment) to another and to cloud computing resources. An intelligent surgical data network includes features to allow traffic to pass through the surgical data network to be monitored and to configure each port on the network hub 207 or network key 209. An intelligent surgical data network can be called a controllable hub or key. A switching hub reads the destination address of each packet and then forwards the packet to the correct port.
[0076] [0076] Modular devices 1a to 1n located in the operating room can be coupled to the modular communication hub 203. The network hub 207 and / or the network switch 209 can be coupled to a network router 211 to connect the devices 1a to 1h to cloud 204 or to the local computer system 210. Data associated with devices 1a to 1n can be transferred to cloud-based computers via the router for remote data processing and manipulation. The data associated with devices 1a to 1h can also be transferred to the local computer system 210 for processing and manipulation of the local data. Modular devices 2a to 2m located in the same operating room can also be attached to a network switch 209. Network switch 209 can be attached to network hub 207 and / or to network router 211 to connect devices 2a to 2m to cloud 204. Data associated with devices 2a to 2n can be transferred to cloud 204 via network router 211 for data processing and manipulation. The data associated with devices 2a to 2m can also be transferred to the local computer system 210 for processing and manipulation of local data.
[0077] [0077] It will be understood that the surgical data network 201 can be expanded by interconnecting multiple network hubs 207 and / or multiple network keys 209 with multiple network routers
[0078] [0078] In one aspect, the surgical data network 201 may comprise a combination of network hubs, network switches, and network routers that connect devices 1a to 1n / 2a to 2m to the cloud. Any or all of the 1a to 1n / 2a to 2m devices attached to the network hub or network key can collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be understood that cloud computing depends on sharing computing resources instead of having local servers or personal devices to handle software applications. The word "cloud" can be used as a metaphor for "the Internet", although the term is not limited as such. Consequently, the term "cloud computing" can be used here to refer to "a type of Internet-based computing", in which different services - such as servers, storage, and applications - are applied to the modular communication hub 203 and / or computer system 210 located in the operating room (for example, a fixed, mobile, temporary, or operating room or operating space) and devices connected to the modular communication hub 203 and / or computer system 210 through from Internet. The cloud infrastructure can be maintained by a cloud service provider. In this context, the cloud service provider may be the entity that coordinates the use and control of devices 1a to 1n / 2a to 2m located in one or more operating rooms. Cloud computing services can perform a large number of calculations based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. The hub's hardware allows multiple devices or connections to be connected to a computer that communicates with cloud computing and storage resources.
[0079] [0079] The application of cloud computer data processing techniques to the data collected by devices 1a to 1n / 2a to 2m, the surgical data network provides better surgical results, reduced costs, and better patient satisfaction. At least some of the devices 1a to 1n / 2a to 2m can be used to view tissue status to assess leakage or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices 1a to 1n / 2a to 2m can be used to identify pathology, such as the effects of disease, with the use of cloud-based computing to examine data including images of body tissue samples for diagnostic purposes. . This includes confirmation of the location and margin of the tissue and phenotypes. At least some of the devices 1a to 1n / 2a to 2m can be used to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. Data collected by devices 1a to 1n / 2a to 2m, including image data, can be transferred to the cloud 204 or the local computer system 210 or both for data processing and manipulation including data processing and manipulation. Image. The data can be analyzed to improve the results of the surgical procedure by determining whether additional treatment, such as the application of endoscopic intervention, emerging technologies, targeted radiation, targeted intervention, precise robotics at specific sites and conditions of fabric, can be followed. This data analysis can additionally use analytical processing of the results, and with the use of standardized approaches they can provide beneficial standardized feedback both to confirm surgical treatments and the behavior of the surgeon or to suggest modifications to the surgical treatments and the behavior of the surgeon. surgeon.
[0080] [0080] In an implementation, operating room devices 1a to 1n can be connected to the modular communication hub 203 via a wired channel or a wireless channel depending on the configuration of devices 1a to 1h on a network hub. network. The network hub 207 can be implemented, in one aspect, as a local network transmission device that acts on the physical layer of the OSI model ("open system interconnection"). The network hub provides connectivity to devices 1a to 1n located on the same network as the operating room. Network hub 207 collects data in the form of packets and sends it to the router in half - duplex mode. The central network controller 207 does not store any media access control / internet protocol (MAC / IP) to transfer data from the device. Only one of the devices 1a to 1n at a time can send data through network hub 207. Network hub 207 has no routing tables or intelligence about where to send information and transmits all network data through each connection and to a remote server 213 (Figure 9) in cloud 204. Network hub 207 can detect basic network errors, such as collisions, but having all (admit that) the information transmitted to multiple input ports can be a security risk and cause bottlenecks.
[0081] [0081] In another implementation, operating room devices 2a to 2m can be connected to a network switch 209 via a wired or wireless channel. The network key 209 works in the data connection layer of the OSI model. Network switch 209 is a multicast device for connecting devices 2a to 2m located in the same operation center to the network. The network key 209 sends data in frames to the network router 211 and works in full duplex mode. Multiple devices 2a to 2m can send data at the same time via network key 209. Network key 209 stores and uses MAC addresses of devices 2a to 2m to transfer data.
[0082] [0082] Network hub 207 and / or network key 209 are coupled to network router 211 for connection to cloud 204. Network router 211 works on the network layer of the OSI model. Network router 211 creates a route to transmit data packets received from network hub 207 and / or network key 211 to a computer with cloud resources for future processing and manipulation of collected data by any of all or all devices 1a to 1n / 2a to 2m. The network router 211 can be used to connect two or more different networks located in different locations, such as different operating rooms in the same healthcare facility or different networks located in different operating rooms of the different health service facilities. Network router 211 sends data in packet form to cloud 204 and works in full duplex mode. Multiple devices can send data at the same time. Network router 211 uses | P addresses to transfer data.
[0083] [0083] In one example, the network hub 207 can be implemented as a USB hub, which allows multiple USB devices to be connected to a host computer. The USB hub can expand a single USB port on multiple levels so that more ports are available to connect the devices to the system's host computer. The 207 network hub can include wired or wireless capabilities to receive information about a wired channel or a wireless channel. In one aspect, a wireless wireless, broadband and short-range wireless USB communication protocol can be used for communication between devices 1a to 1n and devices 2a to 2m located in the operating room.
[0084] [0084] In other examples, devices in the operating room 1a to 1n / 2a to 2m can communicate with the modular communication hub 203 via standard Bluetooth wireless technology for exchanging data over short distances (with the use of short wavelength UHF radio waves in the ISM band of 2.4 to 2.485 GHz) from fixed and mobile devices and to build personal area networks (PANs). In other respects, operating room devices 1a to 1n / 2a to 2m can communicate with the modular communication hub 203 through a number of wireless and wired communication standards or protocols, including, but not limited to , Wi-Fi (IEXE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE, "long-term evolution"), and Ev-DO, HSPA +, HSDPA +, HSUPA +, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS, CDMA , WiMAX, LTE, Ev-DO, and others.
[0085] [0085] The modular communication hub 203 can serve as a central connection for one or all devices in the operating room 1a to 1n / 2a to 2m and handles a data type known as frames. The tables carry the data generated by the devices 1a to 1n / 2a to 2m. When a frame is received by the modular communication hub 203, it is amplified and transmitted to the network router 211, which transfers the data to the cloud computing resources using a series of communication standards or protocols. wireless or wired communication as described in the present invention.
[0086] [0086] The modular communication hub 203 can be used as a standalone device or be connected to compatible network hubs and network switches to form a larger network. The modular communication hub 203 is, in general, easy to install, configure and maintain, making it a good choice for the network of devices 1a to 1n / 2a to 2m from the operating room.
[0087] [0087] Figure 9 illustrates an interactive surgical system, implemented by computer 200. The interactive surgical system implemented by computer 200 is similar in many ways to the interactive surgical system, implemented by computer 100. For example, the surgical system, interactive , implemented by computer 200 includes one or more surgical systems 202, which are similar in many respects to surgical systems 102. Each surgical system 202 includes at least one central surgical controller 206 communicating with a cloud 204 which may include a remote server 213. In one aspect, the computer-implemented interactive surgical system 200 comprises a modular control tower 236 connected to multiple operating room devices, for example, smart surgical instruments, robots and other localized computerized devices - used in the operating room. As shown in Figure 10, the modular control tower 236 comprises a modular communication hub 203 coupled to a computer system 210. As illustrated in the example in Figure 9, the modular control tower 236 is coupled to an imaging module 238 which is coupled to an endoscope 239, a generator module 240 which is coupled to a power device 241, a smoke evacuation module 226, a suction / irrigation module 228, a communication module 230, a processor module 232 , a storage array 234, a smart device / instrument 235 optionally attached to a screen 237, and a non-contact sensor module 242. Operating room devices are coupled with cloud computing and data storage capabilities through the modular control tower
[0088] [0088] Figure 10 illustrates a central surgical controller 206 comprising a plurality of modules coupled to the modular control tower 236. The modular control tower 236 comprises a modular communication hub 203, for example, a connection device network functionality, and a computer system 210 to provide local processing, visualization, and imaging, for example. As shown in Figure 10, modular communication hub 203 can be connected in a layered configuration to expand the number of modules (for example, devices) that can be connected to modular communication hub 203 and transfer associated data. with modules to computer system 210, cloud computing resources, or both. As shown in Figure 10, each of the network hubs / switches on the modular communication hub 203 includes three downstream ports and one upstream port. The upstream hub / network switch is connected to a processor to provide a communication connection to the cloud computing resources and a local display 217. Communication with the cloud 204 can be done via a wired communication channel or wireless.
[0089] [0089] The central surgical controller 206 employs a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the operating room with the use of non-contact measuring devices of the laser or ultrasonic type. An ultrasound-based non-contact sensor module scans the operating room by transmitting an ultrasound explosion and receiving the echo when it bounces outside the perimeter of the operating room walls, as described under the title Surgical Hub Spatial Hardware Within an Operating Room "in US Provisional Patent Application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLAT-FORM, filed on December 28, 2017, which is hereby incorporated by reference in its entirety, in the which sensor module is configured to determine the size of the operating room and adjust the pairing distance limits with Bluetooth A laser-based non-contact sensor module scans the operating room by transmitting pulses of laser light, receiving pulses of laser light that jump from the perimeter walls of the operating room, and comparing the phase of the transmitted pulse to the received pulse to determine the size of the operating room and to adjust Bluetooth pairing distance limits, for example.
[0090] [0090] Computer system 210 comprises a processor 244 and a network interface 245. Processor 244 is coupled to a communication module 247, storage 248, memory 249,
[0091] [0091] Processor 244 can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one respect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz , a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareGO program, read-only memory 2 KB electrically programmable and erasable (EEPROM), one or more pulse width modulation (PWM) modules, one or more analogs of quadrature encoder (QEI) inputs, one or more analog to digital converters (converter 12 bit AD with 12 input channels
[0092] [0092] In one aspect, processor 244 may comprise a safety controller comprising two controller-based families, such as TMS570 and RM4x, known under the tradename 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.
[0093] [0093] System memory includes volatile and non-volatile memory. The basic input / output system (BIOS), containing the basic routines for transferring information between elements within the computer system, such as during startup, is stored in non-volatile memory. For example, non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EE-PROM or flash memory. Volatile memory includes random access memory (RAM), which acts as an external cache memory. In addition, RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct RAM Rambus RAM (DRRAM).
[0094] [0094] Computer system 210 also includes removable / non-removable, volatile / non-volatile computer storage media, such as disk storage. Disk storage includes, but is not limited to, devices such as a magnetic disk drive, floppy disk drive, tape drive, Jaz driver, Zip driver, LS-60 driver, flash memory card or memory stick ( pen drive). In addition, the storage disk can
[0095] [0095] It is to be understood that computer system 210 includes software that acts as an intermediary between users and the basic computer resources described in an adequate operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, acts to control and allocate computer system resources. System applications benefit from management capabilities by the operating system through program modules and “program data stored in the system's memory or storage disk. It is to be understood that the various components described in the present invention can be implemented with various operating systems or combinations of operating systems.
[0096] [0096] A user enters commands or information into the computer system 210 through the input device (s) coupled to the 1 / O interface 251. Input devices include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touchpad, keyboard, microphone, joystick, game pad, satellite card, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processor via the system bus via the interface port (s). The interface ports include, for example, a serial port, a parallel port, a game port and a USB. Output devices use some of the same types of ports as input devices. In this way, for example, a USB port can be used to provide input to the computer system and to provide computer system information to an output device. An output adapter is provided to illustrate that there are some output devices such as monitors, screens, speakers, and printers, among other output devices, that need special adapters. Output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and / or device systems, such as remote computers, provide input and output capabilities.
[0097] [0097] Computer system 210 can operate in a networked environment using logical connections with one or more remote computers, such as cloud computers, or local computers. Remote cloud computers can be a personal computer, server, router, personal network computer, workstation, microprocessor-based device, peer device, or other common network node, and the like, and typically include - in many or all of the elements described in relation to the computer system. For the sake of brevity, only one memory storage device is illustrated with the remote computer. Remote computers are logically connected to the computer system via a network interface and then physically connected via a communication connection. The network interface covers communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include fiber-distributed data interface (FDDI), copper-distributed data interface (CDDI), Ethernet / IEEE 802.3, Token / IEEE 802.5 ring and the like. WAN technologies include, but are not limited to, point-to-point links, circuit switching networks such as digital integrated service networks (ISDN) and variations in them, packet switching networks and digital subscriber lines (DSL ).
[0098] [0098] In several respects, the computer system 210 of Figure 10, the imaging module 238 and / or display system 208, and / or the processor module 232 of Figures 9 to 10, may comprise an image processor. image processing engine, media processor or any specialized digital signal processor (DSP) used for processing digital images. The image processor can employ parallel computing with multi-data instruction (SIMD) or multi-data instruction (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a number of tasks. The image processor can be an integrated circuit system with a multi-core processor architecture.
[0099] [0099] Communication connections refer to the hardware / software used to connect the network interface to the bus. Although the communication connection is shown for illustrative clarity within the computer system, it can also be external to computer system 210. The hardware / software required for connection to the network interface includes, for illustrative purposes only, internal and external technologies such as modems, including regular telephone serial modems, cable modems and DSL modems, ISDN adapters and Ethernet cards.
[0100] [0100] Figure 11 illustrates a functional block diagram of an aspect of a USB 300 central network controller, in accordance with an aspect of the present description. In the illustrated aspect, the USB 300 network hub device uses a TUSB2036 integrated circuit hub available from Texas Instruments. The USB network hub 300 is a CMOS device that provides a USB transceiver port upstream 302 and up to three USB transceiver ports downstream 304, 306, 308 in accordance with the USB 2.0 specification. The upstream USB transceiver port 302 is a differential data root port comprising a "less" differential data input (DMO) paired with a "more" differential data input (DPO). The three ports of the downstream USB transceiver 304, 306, 308 are differential data ports, with each port including "more" differential data outputs (DP1-DP3) paired with different "less data outputs. "(DM1-DM3).
[0101] [0101] The USB 300 network hub device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compatible USB transceivers are integrated into the circuit for the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both full speed as low speed automatically configuring the scan rate according to the speed of the device attached to the doors. The USB 300 network hub device can be configured in bus-powered or self-powered mode and includes 312 central power logic to manage power.
[0102] [0102] The USB 300 network hub device includes a 310 series interface engine (SIE). The SIE 310 is the front end of the USB 300 network hub hardware and handles most of the protocol described in chapter 8 of the USB specification. The SIE 310 typically comprises signaling down to the transaction level. The functions it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME detection /
[0103] [0103] In several aspects, the USB 300 network hub can connect 127 functions configured in up to six logical layers (levels) to a single computer. In addition, the USB 300 network hub can connect all peripherals using a standardized four-wire cable that provides both communication and power distribution. The power settings are bus-powered and self-powered modes. The USB 300 network hub can be configured to support four power management modes: a bus powered hub, with individual port power management or grouped port power management, and the self powered hub, with managed port power management or grouped port power management. In one aspect, using a USB cable, the USB network hub 300, the USB transceiver port 302 is plugged into a USB host controller, and the USB transceiver ports downstream 304, 306, 308 are exposed to connect compatible USB devices, and so on. Surgical instrument hardware
[0104] [0104] Figure 12 illustrates a logic diagram of a module of a 470 control system of a surgical instrument or tool, according to one or more aspects of the present description. The 470 system comprises a control circuit. The control circuit includes a microcontroller 461 comprising a processor 462 and a memory 468. One or more of the sensors 472, 474, 476, for example, provide real-time feedback to the processor
[0105] [0105] In one aspect, the 461 microcontroller can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one aspect, the 461 main microcontroller may be an LM4F230H5QR ARM Cortex-M4F processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or-
[0106] [0106] In one aspect, the 461 microcontroller may comprise a safety controller that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also available from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0107] [0107] The 461 microcontroller 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, the 461 microcontroller includes a 462 processor and a 468 memory. Electric motor 482 can be a brushed direct current (DC) motor with a gearbox and mechanical connections with a linkage system. or scalpel. In one aspect, a motor drive 492 can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in tracking system 480 which comprises an absolute positioning system. A detailed description of a power system
[0108] [0108] The 461 microcontroller can be programmed to provide precise control of the speed and position of the displacement members and articulation systems. The 461 microcontroller can be configured to compute a response in the 461 microcontroller software. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0109] [0109] In one aspect, the 482 motor can be controlled by the 492 motor actuator and can be used by the instrument trigger system or surgical tool. In many ways, the 482 motor can be a brushed direct current (DC) drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 482 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The motor starter 492 can comprise an H bridge drive that comprises field effect transistors (FETs), for example. The 482 motor can be powered by a feed set mounted releasably in the handle assembly or tool compartment to provide control power for the instrument or surgical tool. The power pack may comprise a battery that may include several battery cells connected in series, which can be used as the power source to power the instrument or surgical tool. In certain circumstances, the battery cells in the power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be coupled and separable from the power supply.
[0110] [0110] The 492 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 492 A3941 driver is an entire bridge controller for use with semiconductor metal oxide field effect transistors (MOSFET). external power, N channel, specifically designed for inductive loads, such as brushed DC motors. The 492 actuator comprises a single charge pump regulator that provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the AS941 to operate with a reduced door drive, up to 5.5 V. A capacitor input control can be used to supply the voltage surpassing that supplied by the battery required for N channel MOSFETs. An internal charge pump for the drive on the upper side allows operation in direct current (100% duty cycle ). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The energy FETs are protected from the shoot-through effect through programmable dead-time resistors. Integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor drives can be readily replaced for use in the 480 tracking system comprising an absolute positioning system.
[0111] [0111] The tracking system 480 comprises a controlled motor drive circuit arrangement comprising a position sensor 472 in accordance with an aspect of the present description.
[0112] [0112] The 482 electric motor can include a rotary drive shaft, which interfaces operationally with a gear set, which is mounted on an anchor coupling with a set or rack of driving teeth on the drive member. A sensor element can be operationally coupled to a gear assembly so that a single revolution of the position sensor element 472 corresponds to some linear longitudinal translation of the displacement member. An array of gears and sensors can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power source supplies power to the absolute positioning system and an output indicator can display the output from the absolute positioning system. The drive member represents the longitudinally movable drive member which comprises a drive tooth rack formed thereon for engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member, the firing bar, the beam with a profile | or combinations thereof.
[0113] [0113] A single revolution of the sensor element associated with the position sensor 472 is equivalent to a linear longitudinal displacement d1 of the displacement member, where d1 represents the longitudinal linear distance by which the displacement member moves from the point " a "to point" b "after a single revolution of the sensor element coupled to the displacement member. The sensor arrangement can be connected by means of a gear reduction which results in the position sensor 472 completing one or more revolutions for the complete travel of the displacement member. The 472 position sensor can complete multiple revolutions for the full travel of the displacement member.
[0114] [0114] A series of switches, where n is an integer greater than one, can be used alone or in combination with a gear reduction to provide a single position signal for more than one revolution of the 472 position sensor. the keys are transmitted back to the 461 microcontroller which applies logic to determine a single position signal corresponding to the longitudinal linear displacement d1 + d2 + ... dn of the displacement member. The output of the position sensor 472 is supplied to the microcontroller 461. In several embodiments, the position sensor 472 of the sensor array may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or a series of analog Hall effect elements, which emit a unique combination of position of signals or values.
[0115] [0115] The position sensor 472 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to whether they 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. The technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistors, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0116] [0116] In one aspect, the position sensor 472 for the tracking system 480 which comprises an absolute positioning system comprises a magnetic rotating absolute positioning system. The 472 position sensor can be implemented as a rotary, magnetic, single-circuit, ASSOSSEQFT position sensor, available from Austria Microsystems, AG. The position sensor 472 interfaces with the 461 microcontroller to provide an absolute positioning system. The 472 position sensor is a low voltage, low power component and includes four effect elements in an area of the 472 position sensor located above a magnet. A high-resolution A-D converter and an intelligent power management controller are also provided on the integrated circuit. A CORDIC (digital computer for coordinate rotation) processor, also known as the digit-by-digit method and Volder's algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition operations , subtraction,
[0117] [0117] The tracking system 480 which comprises an absolute positioning system can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power source converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include a voltage, current and force PWM. Other sensors can be provided in order to measure the parameters of the physical system in addition to the position measured by the position sensor 472. In some respects, other sensors may include sensor arrangements as described in US patent No. 9,345 .481 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, granted on May 24, 2016, which is incorporated by reference in its entirety into this document; US Patent Application Serial No. 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, published on September 18, 2014, is incorporated by reference in its entirety into this document; and US Patent Application Serial No. 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE CONTRROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CU-TTING INSTRUMENT, submitted on June 20, 2017, is incorporated by reference in its entirety in this document. In a digital signal processing system, a positioning system
[0118] [0118] The absolute positioning system provides an absolute positioning of the displaced member on the activation of the instrument without having to retract or advance the longitudinally movable drive member to the reset position (zero or initial), as may be required by conventional rotary encoders that merely count the number of progressive or regressive steps that the 482 motor has traversed to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0119] [0119] A 474 sensor, such as a strain gauge or a micro strain gauge, is configured to measure one or more parameters of the end actuator, such as the amplitude of the strain exerted on the anvil during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor. Alternatively, or in addition to the 474 sensor, a 476 sensor, such as a load sensor, can measure the closing force applied by the drive system. anvil closure. The 476 sensor, such as a load sensor, can measure the firing force applied to a beam with a | on a firing stroke of the surgical instrument or tool. The i-profile beam is configured to engage a wedge slider, which is configured to move the clamp actuators upward to force the clamps to deform in contact with an anvil. The i-profile beam includes a sharp cutting edge that can be used to separate fabric, as the i-profile beam is advanced distally by the firing bar. Alternatively, a current sensor 478 can be used to measure the current drained by the 482 motor. The force required to advance the trigger member can correspond to the current drained by the 482 motor, for example. The measured force is converted into a digital signal and supplied to the 462 processor.
[0120] [0120] In one form, a 474 strain gauge sensor can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. A system for measuring forces applied to the tissue attached by the end actuator comprises a 474 strain gauge sensor, such as, for example, a microstrain meter, which is configured to measure one or more parameters of the end actuator, for example. In one aspect, the 474 strain gauge sensor can measure the amplitude or magnitude of the mechanical stress exerted on a clamp member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor of a 461 microcontroller. A 476 load sensor can measure the force used to operate the knife element, for example, to cut the captured tissue between the anvil and staple cartridge. A magnetic field sensor can be used to measure the thickness of the captured tissue. The measurement of the magnetic field sensor can also be converted into a digital signal and supplied to the 462 processor.
[0121] [0121] Measurements of tissue compression, tissue thickness and / or the force required to close the end actuator on the tissue, as measured by sensors 474, 476 respectively, can be used by microcontroller 461 to characterize the position trigger member and / or the corresponding trigger member speed value. In one case, a 468 memory can store a technique, an equation and / or a query table that can be used by the 461 microcontroller in the evaluation.
[0122] [0122] The control system 470 of the instrument or surgical tool can also comprise wired or wireless communication circuits for communication with the modular communication hub shown in Figures 8 to 11.
[0123] [0123] Figure 13 illustrates a control circuit 500 configured to control aspects of the instrument or surgical tool according to an aspect of the present description. The control circuit 500 can be configured to implement various processes described herein. The control circuit 500 may comprise a microcontroller comprising one or more processors 502 (for example, microprocessor, microcontroller) coupled to at least one memory circuit 504. The memory circuit 504 stores instructions executable on the machine which, when executed by processor 502, cause processor 502 to execute machine instructions to implement several of the processes described here. Processor 502 can be any one of a number of single-core or multi-core processors known in the art. The memory circuit 504 may comprise volatile and non-volatile storage media. The processor 502 can include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit can be configured to receive instructions from the memory circuit 504 of the present description.
[0124] [0124] Figure 14 illustrates a combinational logic circuit 510 configured to control aspects of the instrument or surgical tool according to an aspect of the present description. The combinational logic circuit 510 can be configured to implement the various processes described here. The combinational logic circuit 510 can comprise a finite state machine that comprises a combinational logic 512 configured to receive data associated with the instrument or surgical tool at an input 514, process the data by the combinational logic 512 and provide an output 516.
[0125] [0125] Figure 15 illustrates a sequential logic circuit 520 configured to control aspects of the instrument or surgical tool according to an aspect of the present description. Sequential logic circuit 520 or combinational logic 522 can be configured to implement the process described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuit 520 may comprise combinational logic 522, at least one memory circuit 524, a clock 529 and, for example. The at least one memory circuit 524 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 520 may be synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data using combinational logic 522, and provide an output 528. In other respects, the circuit may comprise a combination of a processor ( for example, processor 502, Figure 13) and a finite state machine to implement various processes of the present invention. In other respects, the finite state machine can understand a combination of a combinational logic circuit
[0126] [0126] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions. In certain cases, a first engine may be activated to perform a first function, a second engine may be activated to perform a second function, a third engine may be activated to perform a third function, a fourth engine may be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 600 can be individually activated to cause triggering, closing, and / or articulation movements in the end actuator. The triggering, closing and / or articulation movements can be transmitted to the end actuator through a set of drive axes, for example.
[0127] [0127] In certain cases, the instrument or surgical tool system may include a 602 firing motor. The 602 firing motor can be operationally coupled to a 604 firing motor drive assembly, which can be configured to transmitting firing movements, generated by the motor 602 to the end actuator, particularly to move the beam element with profile in | In certain cases, the firing movements generated by the 602 motor can cause the staples to be positioned from the staple cartridge in the fabric captured by the end actuator and / or by the cutting edge of the beam element with profile in | to be advanced in order to cut the captured tissue, for example. The beam element with profile in | can be retracted by reversing the direction of the 602 motor.
[0128] [0128] In certain cases, the surgical instrument or tool may include a closing motor 603. The closing motor 603 can be operationally coupled to a drive assembly of the closing motor 605 that can be configured to transmit closing movements , generated by the motor 603 to the end actuator, particularly to move a closing tube to close the anvil and compress the fabric between the anvil and the staple cartridge. Closing movements can cause the end actuator to transition from an open configuration to an approximate configuration to capture tissue, for example. The end actuator can be moved to an open position by reversing the direction of the 603 motor.
[0129] [0129] In certain cases, the surgical instrument or tool may include one or more articulation motors 606a, 606b, for example. The motors 606a, 606b can be operationally coupled to the drive assemblies of the articulation motor 608a, 608b, which can be configured to transmit articulation movements generated by the motors 606a, 606b to the end actuator. In some cases, articulation movements can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.
[0130] [0130] As described above, the instrument or surgical tool can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the instrument or surgical tool can be activated individually or separately to perform one or more functions, while other motors remain inactive. For example, the hinge motors 606a, 606b can be activated to cause the end actuator to be pivoted, while the firing motor 602 remains inactive. Alternatively, the firing motor 602 can be activated to fire the plurality of clamps, and / or advance the cutting edge, while the articulation motor
[0131] [0131] In certain cases, the surgical instrument or tool may include a common control module 610 that can be used with a plurality of the instrument's instruments or surgical tool. In certain cases, the common control module 610 can accommodate one of the plurality of motors at a time. For example, the common control module 610 can be coupled to and separable from the plurality of motors of the robotic surgical instrument individually. In certain cases, a plurality of instrument or surgical tool motors may share one or more common control modules, such as the common control module 610. In certain cases, a plurality of instrument or surgical tool motors may be individually and selectively engaged with the common control module 610. In certain cases, the common control module 610 can be selectively switched between interfacing with one of a plurality of instrument motors or surgical tool to interface with another among the plurality of motors of the instrument or surgical tool.
[0132] [0132] In at least one example, the common control module 610 can be selectively switched between the operating coupling with the 606a, 606B articulation motors, and the operating coupling with the 602 firing motor or the 603 closing motor. at least one example, as shown in Figure 16, a key 614 can be moved or transitioned between a plurality of positions and / or states. In the first position 616, the switch 614 can electrically couple the common control module 610 to the trip motor 602; in a second position 617, the switch 614 can electrically couple the control module 610 to the closing motor 603; in a third position 618a, the switch 614 can electrically couple the common control module 610 to the first articulation motor 606a; and in a fourth position 618b, the switch 614 can electrically couple the common control module 610 to the second articulation motor 606b, for example. In certain cases, separate common control modules 610 can be electrically coupled to the firing motor 602, closing motor 603, and hinge motors 606a, 606b at the same time. In certain cases, key 614 can be a mechanical key, an electromechanical key, a solid state key, or any suitable switching mechanism.
[0133] [0133] Each of the 602, 603, 606a, 606b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a motor torque sensor that drives the jaws.
[0134] [0134] In several cases, as shown in Figure 16, the common control module 610 may comprise a motor starter 626 that may comprise one or more H-Bridge FETs. The motor driver 626 can modulate the energy transmitted from a power source 628 to a motor coupled to the common control module 610, based on an input from a microcontroller 620 (the "controller"), for example. In certain cases, microcontroller 620 can be used to determine the current drained by the motor, for example, while the motor is coupled to the common control module 610, as described above.
[0135] [0135] In certain examples, the microcontroller 620 may include a 622 microprocessor (the "processor") and one or more leading media
[0136] [0136] In certain cases, power source 628 can be used to supply power to microcontroller 620, for example. In certain cases, the 628 power source may comprise a battery (or "battery pack" or "power source"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted to the handle to supply power to the surgical instrument 600. Several battery cells connected in series can be used as the power source
[0137] [0137] In several cases, the 622 processor can control the motor drive 626 to control the position, direction of rotation and / or speed of a motor that is coupled to the common control module 610. In certain cases cases, the processor 622 can signal the motor driver 626 to stop and / or disable a motor that is coupled to the common control module 610. It should be understood that the term "processor", as used here, includes any microprocessor , microcontroller or other suitable 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 processor is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory,
[0138] [0138] In one example, the 622 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 620 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, an early seek buffer for optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWareG & software, 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, one or more 12-bit A-Ds converter with 12 analog input channels, among other features that are readily available for the product data sheet. Other microcontrollers can be readily replaced for use with the 4410 module. Consequently, the present description should not be limited in this context.
[0139] [0139] In certain cases, memory 624 may include program instructions for controlling each of the motors of the surgical instrument 600 that are attachable to common control module 610. For example, memory 624 may include program instructions for controlling the firing motor 602, the closing motor 603 and the hinge motors 606a, 606b. Such program instructions can cause the 622 processor to control the trigger, close, and link functions according to inputs from the instrument or surgical tool control algorithms or programs.
[0140] [0140] In certain cases, one or more mechanisms and / or sensors, such as the 630 sensors, can be used to alert the 622 processor about the program instructions that need to be used in a specific configuration. For example, sensors 630 can alert the processor 622 to use the program instructions associated with triggering, closing and pivoting the end actuator. In certain cases, sensors 630 may comprise position sensors that can be used to detect the position of switch 614, for example. Consequently, the 622 processor can use the program instructions associated with firing the beam with | the end actuator by detecting, through sensors 630, for example, that key 614 is in first position 616; the processor 622 can use the program instructions associated with closing the anvil upon detection through sensors 630, for example, that switch 614 is in second position 617; and processor 622 can use the program instructions associated with the articulation of the end actuator upon detection through sensors 630, for example, that switch 614 is in the third or fourth position 618a, 618b.
[0141] [0141] Figure 17 is a schematic diagram of a robotic surgical instrument 700 configured to operate a surgical tool described in this document, according to an aspect of that description. The robotic surgical instrument 700 can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of a closing tube, the rotation of the drive shaft, and articulation, either with a single type or multiple articulation drive links. In one aspect, the surgical instrument 700 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 700 comprises a control circuit 710 configured to control motor-driven firing members, closing members, drive shaft members and / or one or more articulation members.
[0142] [0142] In one aspect, the robotic surgical instrument 700 comprises a control circuit 710 configured to control an anvil 716 and a beam portion with profile in | 714 (including a sharp cutting edge) of an end actuator 702, a removable clamp cartridge 718, a drive shaft 740 and one or more hinge members 742a, 742b through a plurality of motors 704a to 704e. A 734 position sensor can be configured to provide position feedback on the beam with | 714 to control circuit 710. Other sensors 738 can be configured to provide feedback to control circuit 710. A timer / counter 731 provides timing and counting information to control circuit 710. A power source 712 can be provided to operate motors 704a to 704e and a current sensor 736 provides motor current feedback to control circuit 710. Motors 704a to 704e can be operated individually by control circuit 710 in an open circuit feedback control or closed circuit.
[0143] [0143] In one aspect, the control circuit 710 may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer / counter circuit 731 provides an output signal, such as elapsed time or a digital count, to control circuit 710 to correlate the beam position with | 714, as determined by the position sensor 734, with the timer / counter output 731 so that the control circuit
[0144] [0144] In one aspect, control circuit 710 can be programmed to control functions of end actuator 702 based on one or more tissue conditions. The control circuit 710 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 710 can be programmed to select a trigger control program or closing control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, control circuit 710 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, control circuit 710 can be programmed to translate the displacement member at a higher speed and / or with greater power. A closure control program can control the closing force applied to the tissue by the anvil
[0145] [0145] In one aspect, the control circuit 710 can generate setpoint signals from the motor. Motor setpoint signals can be provided for various motor controllers 708a through 708e. Motor controllers 708a through 708e can comprise one or more circuits configured to provide motor drive signals to motors / 704a to 704e in order to drive motors 704a to 704e, as described here. In some instances, motors 704a to 704e may be brushed DC motors. For example, the speed of motors 704a to 704e can be proportional to the respective motor start signals. In some examples, motors 704a to 704e can be brushless DC electric motors, and the respective motor drive signals can comprise a PWM signal provided for one or more stator windings of motors 704a to 704e. In addition, in some examples, motor controllers 708a to 708e can be omitted and control circuit 710 can directly generate motor drive signals.
[0146] [0146] In one aspect, the control circuit 710 can initially operate each of the motors 704a to 704e in an open circuit configuration for a first open circuit portion of the travel of the travel member. Based on the response of the robotic surgical instrument 700 during the open circuit portion of the stroke, control circuit 710 can select a trigger control program in a closed circuit configuration. The instrument response may include a translation of the distance from the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the energy supplied to one of the motors 704a to 704e during the open circuit portion, a sum of pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 710 can implement the selected trigger control program for a second portion of the travel member travel. For example, during a portion of the closed loop course, control circuit 710 can modulate one of the motors 704a to 704e based on the translation of data describing a position of the closed displacement member to translate the displacement member to a constant speed.
[0147] [0147] In one aspect, motors 704a to 704e can receive power from a 712 power source. Power source 712 can be a DC power source powered by an alternating main current power source, a battery, a super capacitor, or any other suitable power source. Motors 704a to 704e can be mechanically coupled to individual mobile mechanical elements such as the beam with profile in | 714, the anvil 716, the drive shaft 740, the hinge 742a and the hinge 742b, through the respective transmissions 706a to 706e. Transmissions 706a through 706e may include one or more gears or other connecting components for coupling motors 704a to 704e to moving mechanical elements. A 734 position sensor can detect a beam position with a | 714. The position sensor 734 can be or can include any type of sensor that is capable of generating position data that indicate a beam position with profile in | 714. In some examples, the position sensor 734 may include an encoder configured to supply a series of pulses to the control circuit 710 according to the beam with profile in | 714 transferred distally and proximally. The control circuit 710 can track the pulses to determine the position of the beam with profile in | 714. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with | 714. In addition, in some examples, the position sensor 734 can be omitted. When any of the 704a to 704e motors is a stepper motor, the control circuit 710 can track the beam position with | 714 by adding the number and direction of the steps that the
[0148] [0148] In one aspect, the control circuit 710 is configured to drive a firing member as the portion of the beam with profile in | 714 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708a, which provides a drive signal for motor 704a. The output shaft of the motor 704a is coupled to a torque sensor 744a. The torque sensor 744a is coupled to a transmission 706a which is coupled to the beam with profile in | 714. The 706a transmission comprises moving mechanical elements, such as rotating elements, and a firing member to control the movement of the beam with a profile in distal and proximally. 714 along a longitudinal geometric axis of the end actuator 702. In one aspect, the motor 704a can be coupled to the knife gear assembly, which includes a knife gear reduction assembly that includes a first drive gear and a second knife drive gear. A torque sensor 744a provides a feedback signal from the firing force to the control circuit 710. The firing force signal represents the force required to fire or move the beam in profile | 714. A 734 position sensor can be configured to provide the beam position with | 714 along the firing stroke or firing member position as a feedback signal to the control circuit
[0149] [0149] In one aspect, control circuit 710 is configured to drive a closing member, such as anvil portion 716 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708b, which provides a drive signal for motor 704b. The output shaft of the 704b motor is coupled to a 744b torque sensor. The torque sensor 744b is coupled to a transmission 706b which is coupled to the whisker 716. The transmission 706b comprises moving mechanical elements, such as rotating elements and a closing member, to control the movement of the anvil 716 between the open and closed positions. In one aspect, the 704b motor is coupled to a closing gear assembly, which includes a closing reduction gear assembly that is supported in gear engaged with the closing sprocket. The torque sensor 744b provides a closing force feedback signal to control circuit 710. The closing force feedback signal represents the closing force applied to the anvil 716. The position sensor 734 can be configured to provide the position of the closing member as a feedback signal to control circuit 710. Additional sensors 738 on end actuator 702 can provide the feedback signal for closing force to
[0150] [0150] In one aspect, control circuit 710 is configured to rotate a drive shaft member, such as drive shaft 740, to rotate end actuator 702. Control circuit 710 provides a set point motor for a 708c motor control, which provides a drive signal for the 704c motor. The output shaft of the motor 704c is coupled to a torque sensor 744c. The torque sensor 744c is coupled to a transmission 706c which is coupled to the axis 740. The transmission 706c comprises moving mechanical elements, such as rotary elements, to control the rotation of the drive shaft 740 clockwise or counterclockwise. -time up to and over 360º. In one aspect, the 704c engine is coupled to the rotary drive assembly, which includes a pipe gear segment that is formed over (or attached to) the proximal end of the proximal closing tube for operable engagement by a rotational gear assembly that is supported operationally on the tool mounting plate. The torque sensor 744c provides a rotation force feedback signal for control circuit 710. The rotation force feedback signal represents the rotation force applied to the drive shaft 740. The position sensor 734 can be configured to provide the position of the closing member as a feedback signal to control circuit 710. Additional sensors 738, such as a drive shaft co-complicator, can provide the rotational position of the drive shaft 740 to the control circuit 710.
[0151] [0151] In one aspect, control circuit 710 is configured to pivot end actuator 702. Control circuit 710 provides a motor setpoint for a 708d motor control, which provides a drive signal for the motor 704d. The output shaft of the 704d motor is coupled to a 744d torque sensor. Torque sensor 744d is coupled to a transmission 706d which is coupled to a pivot member 742a. The 706d transmission comprises moving mechanical elements, such as articulation elements, to control the articulation of the 702 + 65º end actuator. In one aspect, the 704d motor is coupled to a pivot nut, which is rotatably seated on the proximal end portion of the distal column portion and is pivotally driven thereon by a pivot gear assembly. The torque sensor 744d provides a feedback signal from the articulation force to the control circuit 710. The feedback signal from the articulation force represents the articulation force applied to the end actuator 702. The sensors 738, as an articulation encoder, can supply the articulation position of end actuator 702 to control circuit 710.
[0152] [0152] In another aspect, the hinge function of the robotic surgical system 700 may comprise two hinge members, or connections, 742a, 742b. These articulation members 742a, 742b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 708d, 708e. When the separate firing motor 704a is provided, each hinge link 742a, 742b can be antagonistically driven with respect to the other link to provide a resistive holding motion and a load to the head when it is not moving and to provide a articulation movement when the head is articulated. The hinge members 742a, 742b attach to the head in a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull link changes when the head is rotated. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.
[0153] [0153] In one aspect, the one or more motors 704a to 704e may comprise a brushed DC motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example includes electric motors 704a to 704e that operate the moving mechanical elements such as the displacement member, the articulation connections, the closing tube and the drive shaft. An external influence is an excessive and unpredictable influence of things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to one of the electric motors 704a to 704e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0154] [0154] In one aspect, the position sensor 734 can be implemented as an absolute positioning system. In one aspect, the 734 position sensor can comprise an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The position sensor 734 can interface with the control circuit 710 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder's algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic functions and trigonometry that require only addition, subtraction, bit shift and lookup table operations.
[0155] [0155] In one aspect, the control circuit 710 can be in communication with one or more sensors 738. The sensors 738 can be positioned on the end actuator 702 and adapted to work with the robotic surgical instrument 700 to measure various derived parameters such as span distance in relation to time, compression of the tissue in relation to time, and deformation of the anvil in relation to time. The 738 sensors can comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor as a sensor eddy current, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensor suitable for measuring one or more parameters of the end actuator 702. The 738 sensors may include one or more sensors. The sensors 738 can be located on the platform of the staple cartridge 718 to determine the location of the tissue using segmented electrodes. The torque sensors 744a to 744e can be configured to detect force such as firing force, closing force, and / or articulation force, among others. Consequently, the control circuit 710 can detect (1) the closing load experienced by the distal closing tube and its position, (2) the trigger member on the rack and its position, (3) which portion of the cartridge blade 718 has tissue in it and (4) the load and position on both articulation rods.
[0156] [0156] In one aspect, the one or more sensors 738 may comprise a strain gauge such as, for example, a micro strain gauge, configured to measure the magnitude of the strain on the burner 716 during a clamped condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 738 sensors can comprise a pressure sensor configured
[0157] [0157] In one aspect, the 738 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magneto-resistive devices (MR) giant magneto-resistive devices (GMR), magnetometers, among others. In other implementations, the 738 sensors can be implemented as solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the 738 sensors can include driverless electric switches, ultrasonic switches, accelerometers and inertia sensors, among others.
[0158] [0158] In one aspect, sensors 738 can be configured to measure the forces exerted on the anvil 716 by the closing drive system. For example, one or more sensors 738 may be at a point of interaction between the closing tube and the anvil 716 to detect the closing forces applied by the closing tube on the anvil 716. The forces exerted on the anvil 716 can be representative of the tissue compression experienced by the tissue section captured between the anvil 716 and the staple cartridge 718. The one or more sensors 738 can be positioned at various points of interaction throughout the drive system to detect the closing forces applied
[0159] [0159] In one aspect, a current sensor 736 can be used to measure the current drawn by each of the 704a to 704e motors. The force required to advance any of the moving mechanical elements such as the beam with a profile | 714 corresponds to the current drawn by one of the motors 704a to 704e. The force is converted into a digital signal and supplied to the control circuit 710. The control circuit 710 can be configured to simulate the response of the instrument's actual system in the controller software. A displacement member can be used to move a beam with a profile in | 714 on end actuator 702 at or near a target speed. The robotic surgical instrument 700 may include a re-information controller, which may be one or any of the re-information controllers, including, but not limited to, a PID controller, state feedback, linear quadratic (LOR) and / or an adaptable controller, for example. The robotic surgical instrument 700 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque and / or force, for example. Additional details are disclosed in US Patent Application Serial No. 15 / 636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed June 29, 2017, which is hereby incorporated by reference in its entirety.
[0160] [0160] Figure 18 illustrates a block diagram of a surgical instrument 750 programmed to control the distal translation of a displacement member according to an aspect of the present description. In one aspect, the 750 surgical instrument is programmed to control the distal translation of a displacement member, such as the beam with a | 764. The surgical instrument 750 comprises an end actuator 752 which can comprise a bib 766, a beam with a profile | 764 (including a sharp cutting edge 2509), and a removable staple cartridge 768.
[0161] [0161] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with profile in | 764, can be measured by an absolute positioning system, sensor arrangement and a position sensor 784. As the beam with profile in | 764 is coupled to a longitudinally movable drive member, the beam position with | 764 can be determined by measuring the position of the longitudinally movable drive member that employs the position sensor 784. Consequently, in the following description, the position, displacement and / or translation of the beam with | 764 can be obtained by the position sensor 784, as described in the present invention. A control circuit 760 can be programmed to control the translation of the displacement member, such as the beam with | 764. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the beam with profile on | 764, as described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate the position of the beam with | 764, as required
[0162] [0162] Control circuit 760 can generate a 772 motor setpoint signal. The 772 motor setpoint signal can be supplied to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the drive signal of motor 774 can comprise a supplied PWM signal for one or more motor stator windings 754. In addition, in some examples, motor controller 758 can be omitted, and control circuit 760 can generate motor drive signal 774 directly.
[0163] [0163] The 754 motor can receive power from a power source
[0164] [0164] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 752 and adapted to work with the surgical instrument 750 to measure the various derived parameters, such as distance span in relation to time, compression of the tissue in relation to time and tension of the anvil in relation to time. The 788 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 752 end actuator. The 788 sensors may include one or more sensors.
[0165] [0165] The one or more 788 sensors may comprise a
[0166] [0166] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by a closing drive system. For example, one or more sensors 788 may be at a point of interaction between the closing tube and the anvil 766 to detect the closing forces applied by a closing tube on the anvil 766. The forces exerted on the anvil 766 may be representative of the tissue compression experienced by the tissue section captured between the anvil 766 and the staple cartridge 768. The one or more sensors 788 can be positioned at various points of interaction throughout the closing drive system to detect the forces of closure applied to the anvil 766 by the closing drive system. The one or more sensors 788 can be sampled in real time during a hold operation by a processor from the control circuit 760. The control circuit 760 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time, the closing forces applied to the anvil 766.
[0167] [0167] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with profile in | 764 corresponds to the current drained by the motor
[0168] [0168] The control circuit 760 can be configured to simulate the response of the real system of the instrument in the controller software. A displacement member can be actuated to move a beam with a profile | 764 on end actuator 752 at or near a target speed. The surgical instrument 750 may include a feedback controller, which can be one or any of the feedback feedback controllers, including, but not limited to, a PID controller, status feedback, LOR, and / or an adaptive controller, for example. example. The surgical instrument 750 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, voltage modulated by frequency, current, torque and / or force, for example plo.
[0169] [0169] The actual drive system of the surgical instrument 750 is configured to drive the displacement member, the cutting member or the beam with profile in | 764, by a brushed DC motor with gearbox and mechanical connections to an articulation system and / or a knife. Another example is the 754 electric motor which 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 754 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0170] [0170] Several exemplifying aspects are directed to a 750 surgical instrument comprising an end actuator
[0171] [0171] In several examples, the surgical instrument 750 may comprise a control circuit 760 programmed to control the distal translation of the displacement member, such as the beam with profile in | 764, for example, based on one or more tissue conditions. The control circuit 760 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 760 can be programmed to select a control program based on tissue conditions. A trigger control program can describe the displacement member's distal movement. Different trigger control programs can be selected to better treat different tissue conditions. For example, when thicker tissue is present, control circuit 760 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When thinner tissue is present, the control loop 760 can be programmed to move the displacement member at a higher speed and / or with greater power.
[0172] [0172] In some examples, control circuit 760 may initially operate motor 754 in an open circuit configuration for a first open circuit portion of a travel of the travel member. Based on an instrument response 750 during the open circuit portion of the stroke, control circuit 760 can select a trip control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 754 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 760 can implement the selected trip control program for a second portion of the travel member travel. For example, during the closed circuit portion of the stroke, control circuit 760 can modulate motor 754 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. Additional details are disclosed in US Patent Application Serial No. 15 / 720,852, entitled SYSTEM AND METHODS FOR CONTROL- LING A DISPLAY OF A SURGICAL INSTRUMENT, filed on September 29, 2017, which is hereby incorporated by reference in its entirety.
[0173] [0173] Figure 19 is a schematic diagram of a 790 surgical instrument configured to control various functions in accordance with an aspect of the present description. In one aspect, the surgical instrument 790 is programmed to control the distal translation of a displacement member, such as the beam with a | 764. Surgical instrument 790 comprises an end actuator 792 which may comprise an anvil 766, a beam with a profile in | 764 and a removable staple cartridge 768 that can be interchanged with an RF cartridge 796 (shown in dashed line).
[0174] [0174] In one aspect, the 788 sensors can be implemented as a limit switch, electromechanical device, solid state switches, Hall effect devices, MRI devices, GMR devices, magnetometers, among others. In other implementations, 638 sensors 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, MOSFET, bipolar, and the like). In other implementations, 788 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors and, among others.
[0175] [0175] In one aspect, the position sensor 784 can be implemented as an absolute positioning system, which comprises a rotating magnetic absolute positioning system implemented as a rotating magnetic position sensor, with circuit single integrated, ASSOSSEQFT, available from Austria Microsystems, AG. The position sensor 784 can interface with the control circuit 760 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for
[0176] [0176] In one aspect, the beam with | 764 can be implemented as a knife member comprising a knife body that operationally supports a tissue cutting blade in the same and can additionally include flaps or sling hitch features and channel hitch features or a base. In one aspect, the staple cartridge 768 can be implemented as a standard (mechanical) surgical clamp cartridge. In one aspect, the RF cartridge 796 can be implemented as an RF cartridge. These and other sensor provisions are described in Commonly Owned US Patent Application Serial No. 15 / 628,175, entitled
[0177] [0177] The position, movement, displacement and / or translation of a member of linear displacement, such as the beam with profile in | 764, can be measured by an absolute positioning system, sensor arrangement and position sensor represented as position sensor 784. As the beam with profile in | 764 is coupled to a longitudinally movable drive member, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member that employs the position sensor 784. Consequently, in the following description, the position, displacement and / or translation of the beam with | 764 can be obtained by the position sensor 784, as described in the present invention. A control circuit 760 can be programmed to control the translation of the displacement member,
[0178] [0178] Control circuit 760 can generate a 772 engine setpoint signal. The 772 engine setpoint signal can be supplied to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the drive signal of motor 774 can comprise a supplied PWM signal for one or more motor stator windings 754. In addition, in some examples, motor controller 758 can be omitted, and control circuit 760 can generate motor drive signal 774 directly.
[0179] [0179] The 754 motor can receive power from a power source
[0180] [0180] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 792 and adapted to work with the surgical instrument 790 to measure the various derived parameters, such as distance span in relation to time, compression of the tissue in relation to time and tension of the anvil in relation to time. The 788 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 792. The 788 sensors may include one or more sensors.
[0181] [0181] The one or more sensors 788 may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 766 during a hold condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of tissue located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.
[0182] [0182] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by the closing drive system. For example, one or more sensors 788 may be at a point of interaction between the closing tube and the anvil 766 to detect the closing forces applied by a closing tube on the anvil 766. The forces exerted on the anvil 766 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 766 and the staple cartridge
[0183] [0183] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with profile in | 764 corresponds to the current drained by the motor
[0184] [0184] An RF 794 power source is coupled to the end actuator 792 and is applied to the RF 796 cartridge when the RF 796 cartridge is loaded on the end actuator 792 in place of the staple cartridge 768. The circuit Control Panel 760 controls the supply of RF energy to the 796 RF cartridge.
[0185] [0185] Additional details are disclosed in US Patent Application Serial No. 15 / 636,096, entitled SURGICAL SYSTEM COUPLA- BLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed on 28 June 2017 , which is hereby incorporated as a reference in its entirety. Generator hardware
[0186] [0186] Figure 20 is a simplified block diagram of a generator 800 configured to provide tuning without an inductor, among other benefits. Additional details of generator 800 are described in US patent No. 9,060,775, entitled SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, granted on June 23, 2015 and which is incorporated herein by reference, in its entirety. The generator 800 can comprise an isolated stage
[0187] [0187] In certain forms, ultrasonic and electrosurgical trigger signals can be provided simultaneously to different surgical instruments and / or to a single surgical instrument with the ability to supply both ultrasonic and electrosurgical energy to the tissue. It will be noted that the electrosurgical signal provided by both the dedicated electrosurgical instrument and the electrosurgical / ultrasonic combined multifunctional instrument can be both a therapeutic and subtherapeutic level signal, where the subtherapeutic signal can be used, for example, to monitor tissue or the conditions of the instruments and provide feedback to the generator.
[0188] [0188] The non-isolated stage 804 may comprise a power amplifier 812 that has an output connected to a primary winding 814 of the power transformer 806. In certain forms the power amplifier 812 may comprise a push-type amplifier and pull. For example, the non-isolated stage 804 may additionally contain a logic device 816 to provide a digital output to a digital-to-analog converter (DAC) 818 which, in turn, , provides an analog signal corresponding to a power amplifier 812 input. In certain forms, logic device 816 may comprise a programmable gate array (PGA), an FPGA, a programmable logic device (PLD, "programmable logic device"), among other logic circuits, for example. The logic device 816, because it controls the input of the power amplifier 812 through the DAC circuit 818, can therefore control any of several parameters (for example, frequency, waveform, amplitude of the waveform) of drive appearing at drive signal outputs 810a, 810b and 810c. In certain aspects and as discussed below, logic device 816, in conjunction with a processor (for example, a PSD, discussed below), can implement a number of PSD-based algorithms and / or other control algorithms for control parameters of the drive signals provided by generator 800.
[0189] [0189] Power can be supplied to a power rail of the power amplifier 812 by a key mode regulator 820, such as a power converter. In certain forms, the key mode regulator 820 may comprise an adjustable antagonistic regulator, for example. The non-isolated stage 804 can also comprise a first processor 822 which, in a way, can comprise a PSD processor as an analog device ADSP-21469 SHARC PSD, available from Analog Devices, Norwood, MA, USA, for example, although in various forms, any suitable processor can be used. In certain ways, the PSD 822 processor can control the operation of the key mode regulator 820 responsive to voltage feedback data from the power amplifier 812 by the PSD 822 processor via an analog to digital converter circuit (converter AD) 824. In one form, for example, the PSD 822 processor can receive as input, through the AD 824 converter circuit, the waveform envelope of a signal (for example, an RF signal) is amplified by the power amplifier 812. The PSD processor 822 can then control the key mode regulator 820 (for example, via a pulse-width modulated (PWM) output so that the rail voltage provided to the power amplifier 812 follows the waveform envelope of the amplified signal. By dynamically modulating the rail voltage of the power amplifier 812 based on the waveform envelope, the efficiency of the power amplifier power 812 can be significantly improved over amplifier schemes with fixed rail voltage.
[0190] [0190] In certain ways, logic device 816, in conjunction with PSD 822 processor, can implement a digital synthesis circuit as a control scheme with direct digital synthesizer to control the waveform, frequency and / or the amplitude of the drive signals emitted by the generator 800. In one way, for example, the logic device 816 can implement a DDS control algorithm by retrieving waveform samples stored in a dynamic updated lookup table - LUT, as a RAM LUT that can be integrated into an FPGA. This control algorithm is particularly useful for ultrasonic applications in which an ultrasonic transducer, such as an ultrasonic transducer, can be driven by a clean sinusoidal current at its resonant frequency. Since other frequencies can excite parasitic resonances, minimizing or reducing the total distortion of the current of the movement branch can correspondingly minimize or reduce the undesirable effects of the resonance. As the waveform of a drive signal output by generator 800 is impacted by various sources of distortion present in the output drive circuit (for example, power transformer 806, power amplifier 812), data voltage and current feedback based on the trigger signal can be provided to an algorithm, such as an algorithm for error control implemented by the PSD 822 processor, which compensates for the distortion through the appropriate pre-distortion or modification of the samples. waveforms stored in the LUT dynamically and continuously (for example, in real time). In one way, the amount or degree of pre-distortion applied to the LUT samples can be based on the error between a current from the computerized motion branch and a desired current waveform, the error being determined in a sample by sample basis. In this way, pre-distorted LUT samples, when processed through the drive circuit, can result in a trigger signal from the motion branch that has the desired waveform (for example, sinusoidal) to drive optimally the ultrasonic transducer. In such forms, the LUT waveform samples will therefore not represent the desired waveform of the trigger signal, but rather the waveform that is needed to ultimately produce the desired waveform of the trigger signal of the movement branch, when the distortion effects are taken into account.
[0191] [0191] The non-isolated stage 804 may additionally comprise a first converter circuit AD 826 and a second converter circuit AD 828 coupled to the output of power transformer 806 by means of the respective isolation transformers 830 and 832, to respectively sample the voltage and the current of drive signals emitted by the generator 800. In certain ways, the AD 826 and 828 converter circuits can be configured for high-speed sampling (for example, 80 mega samples per second [MSPS]) to allow over-sampling of the signals drive. In one way, for example, the sampling speed of the converter circuits A-D 826 and 828 can allow an oversampling of approximately 200x (depending on the frequency) of the trigger signals. In certain ways, the sampling operations of the A-D converter circuit 826 and 828 can be performed by a single A-D converter circuit receiving voltage and current input signals via a bidirectional multiplexer. The use of high-speed sampling in the forms of the 800 generator can allow, among other things
[0192] [0192] In certain forms, feedback data about voltage and current can be used to control the frequency and / or amplitude (for example, current amplitude) of the drive signals. In one form, for example, feedback data on voltage and current can be used to determine the impedance phase. The frequency of the trigger signal can then be controlled to minimize or reduce the difference between the determined impedance phase and an impedance phase setpoint (eg 0º), thereby minimizing or reducing the effects of distortion harmonic and, correspondingly, accentuating the accuracy of the impedance phase measurement. The determination of the phase impedance and a frequency control signal can be implemented in the PSD 822 processor, for example, with the frequency control signal being supplied as input to a DDS control algorithm implemented by the device logical 816.
[0193] [0193] In another form, for example, the current feedback data can be monitored in order to maintain the current amplitude of the drive signal at a current amplitude setpoint. The current amplitude set point can be specified directly or indirectly determined based on the specified set points for voltage and power amplitude. In certain ways, the control of the current amplitude can be implemented by the control algorithm, such as a proportional-integral-derivative control algorithm (PID), in the PSD 822 processor. The variables controlled by the control algorithm to control the current - when the current amplitude of the drive signal may include, for example, the scaling of the LUT waveform samples stored in logic device 816 and / or the full-scale output voltage of the DAC 818 circuit (which provides input to the power amplifier 812) via a DAC 834 circuit.
[0194] [0194] The non-isolated stage 804 may additionally comprise a second processor 836 to provide, among other things, the functionality of the user interface (UI). In one form, the UI 836 processor can comprise an Atmel AT91SAM9263 processor with an ARM 926EJ-S core, available from Atmel Corporation, of San Jose, CA, USA, for example. Examples of UI functionality supported by the UI 836 processor may include audible and visual feedback from the user, communication with peripheral devices (eg via a USB interface), communication with the foot switch, communication with a input (eg, a touchscreen) and communication with an output device (eg, a speaker). The UI processor 836 can communicate with the PSD processor 822 and the logical device 816 (for example, via SPI buses). Although the UI 836 processor can primarily support UI functionality, it can also coordinate with the PSD 822 processor to implement risk mitigation in certain ways. For example, the UI 836 processor can be programmed to monitor various aspects of inputs by the user and / or other inputs (for example, touchscreen inputs, foot switch inputs, temperature sensor inputs) and it can disable the generator 800 output when an error condition is detected.
[0195] [0195] In certain ways, both the PSD 822 processor and the UI 836 processor can, for example, determine and monitor the operational state of generator 800. For the PSD 822 processor, the operational state of generator 800 can determine, for example, which control and / or diagnostic processes are implemented by the PSD 822 processor. For the UI 836 processor, the operational state of the generator 800 can determine, for example, which elements of a UI (for example, screens display, sounds) are presented to a user. The respective UI and PSD processors 836, 822 can independently maintain the current operational state of generator 800, as well as recognize and evaluate possible transitions out of the current operational state. The PSD 822 processor can act as the master in this relationship, and can determine when transitions between operational states should occur. The UI 836 processor can be aware of valid transitions between operational states, and can confirm that a particular transition is appropriate. For example, when the PSD 822 processor instructs the UI 836 processor to transition to a specific state, the UI 836 processor can verify that the requested transition is valid. If a requested transition between states is determined to be invalid by the UI 836 processor, the UI 836 processor can cause generator 800 to enter a fault mode.
[0196] [0196] The non-isolated platform 804 may additionally comprise an 838 controller for monitoring input devices (for example, a capacitive touch sensor used to turn generator 800 on and off, a capacitive touch screen). In certain ways, controller 838 may comprise at least one processor and / or other controller device in communication with the UI processor 836. In one form, for example, controller 838 may comprise a processor (for example, a Meg168 controller of 8 bits available from Atmel) configured to monitor user inputs via one or more capacitive touch sensors. In one form, the 838 controller can comprise a touchscreen controller (for example, a QT5480 touchscreen controller available from Atmel) to control and manage touch data capture from a capacitive touchscreen.
[0197] [0197] In certain ways, when generator 800 is in an "off" state, controller 838 can continue to receive operational power (for example, through a line from a generator 800 power source, as power source 854 discussed below). In this way, controller 838 can continue to monitor an input device (for example, a capacitive touch sensor located on a front panel of generator 800) to turn generator 800 on and off. When generator 800 is in the off state, the control
[0198] [0198] In certain forms, controller 838 may cause generator 800 to provide audible feedback or other sensory feedback to alert the user that an on or off sequence has been initiated. This type of alert can be provided at the beginning of a sequence on or off, and before the start of other processes associated with the sequence.
[0199] [0199] In certain forms, the isolated stage 802 may comprise an instrument interface circuit 840 to, for example, offer a communication interface between a control circuit of a surgical instrument (for example, a control circuit that comprises grip keys) and non-insulated stage 804 components, such as logic device 816, PSD processor 822 and / or UI processor 836. The instrument interface circuit 840 can exchange information with components of the non-isolated stage
[0200] [0200] In one form, the instrument interface circuit 840 can comprise a logic circuit 842 (for example, a logic circuit, a programmable logic circuit, PGA, FPGA, PLD) in communication with a signal conditioning circuit 844. Signal conditioning circuit 844 can be configured to receive a periodic signal from logic circuit 842 (for example, a 2 kHz square wave) to generate a bipolar interrogation signal that has an identical frequency. The question mark can be generated, for example, using a bipolar current source powered by a differential amplifier. The question mark can be communicated to a surgical instrument control circuit (for example, by using a conductor pair on a cable connecting the generator 800 to the surgical instrument) and monitored to determine a circuit state or configuration of control. The control circuit can comprise countless switches, resistors and / or diodes to modify one or more characteristics (for example, amplitude, rectification) of the question mark so that a state or configuration of the control circuit is discernible, so unambiguous, based on one or more characteristics. In one form, for example, the signal conditioning circuit 844 may comprise an A-D converter circuit for generating samples of a voltage signal appearing between inputs of the control circuit, resulting from the passage of the interrogation signal through it. The 842 logic circuit (or a
[0201] [0201] In one form, the instrument interface circuit 840 may comprise a first data circuit interface 846 to enable the exchange of information between logic circuit 842 (or another element of the instrument interface circuit 840) and a pri - first data circuit disposed in a surgical instrument or otherwise associated with it. In certain ways, for example, a first data circuit may be arranged on a wire integrally attached to a handle on the surgical instrument, or on an adapter to interface between a specific type or model of surgical instrument and the generator 800. The first data circuit can be deployed in any suitable manner and can communicate with the generator according to any suitable protocol, including, for example, as described here with respect to the first data circuit. In some ways, the first data circuit may comprise a non-volatile storage device, such as an EEPROM device. In some ways, the first data circuit interface 846 can be implemented separately from logic circuit 842 and comprises a suitable circuit set (for example, separate logic devices, a processor) to allow communication between the logic circuit 842 and the first data circuit. In other forms, the first data circuit interface 846 can be integral with logic circuit 842.
[0202] [0202] In certain ways, the first data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument was used, and / or any other types of information. This information can be read by the instrument interface circuit 840 (for example, logic circuit 842), transferred to a non-isolated stage component 804 (for example, to logic device 816, PSD processor 822 and / or UI 836 processor) for presentation to a user by means of an output device and / or to control a function or operation of the generator 800. Additionally, any type of information can be communicated to the first data circuit for storage in the same through the first interface of data circuit 846 (for example, using logic circuit 842). This information may include, for example, an updated number of operations in which the surgical instrument was used and / or the dates and / or times of its use.
[0203] [0203] As discussed earlier, a surgical instrument can be removable from a handle (for example, the multifunctional surgical instrument can be removable from the handle) to promote interchangeability and / or disposability of the instrument. In such cases, conventional generators may be limited in their ability to recognize specific instrument configurations being used, as well as to optimize the control and diagnostic processes as needed. The addition of readable data circuits to surgical instruments to resolve this issue is problematic from a compatibility point of view, however. For example, designing a surgical instrument so that it remains backward compatible with generators that lack the indispensable data reading functionality may be impractical due, for example, to different signaling schemes, design complexity and cost. The forms of instruments discussed here address these concerns through the use of data circuits that can be implemented in existing surgical instruments, economically and with minimal design changes to preserve the compatibility of surgical instruments with current generator platforms.
[0204] [0204] Additionally, the forms of the generator 800 can allow communication with instrument-based data circuits. For example, generator 800 can be configured to communicate with a second data circuit contained in an instrument (for example, the multifunctional surgical instrument). In some ways, the second data circuit can be implemented in a manner similar to that of the first data circuit described here. The instrument interface circuit 840 may comprise a second data circuit interface 848 to enable such communication. In one form, the second data circuit interface 848 can comprise a three-state digital interface, although other interfaces can also be used. In certain ways, the second data circuit can generally be any circuit for transmitting and / or receiving data. In one form, for example, the second data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument was used, and / or any other types of information.
[0205] [0205] In some ways, the second data circuit can store information about the ultrasonic and / or electronic properties of an associated ultrasonic transducer, end actuator or ultrasonic drive system. For example, the first data circuit can indicate an initialization frequency slope, as described here. Additionally or alternatively, any type of information can be communicated to the second data circuit for storage in it via the second data circuit interface 848 (for example, using the logic circuit
[0206] [0206] In certain ways, the second data circuit and the second data circuit interface 848 can be configured so that communication between logic circuit 842 and the second data circuit can be carried out without the need to provide additional conductors for this purpose (for example, dedicated cable conductors connecting a handle to the 800 generator). In one aspect, for example, information can be communicated to and from the second data circuit using a wire bus communication scheme, implemented in the existing wiring, as one of the conductors used to transmit signals. question marks from signal conditioning circuit 844 to a control circuit on a handle. In this way, changes or modifications to the design of the surgical device that may otherwise be necessary are minimized or reduced. In addition, due to the fact that different types of communications implemented on a common physical channel can be separated based on frequency, the presence of a second data circuit can be "invisible" to generators that do not have the essential functionality of reading of data, which, therefore, allows the backward compatibility of the surgical instrument.
[0207] [0207] In certain forms, the isolated stage 802 may comprise at least one blocking capacitor 850-1 connected to the output of the drive signal 810b to prevent the passage of direct current to a patient. A single blocking capacitor may be required to comply with medical regulations and standards, for example. Although failures in designs with a single capacitor are relatively uncommon, this type of failure can still have negative consequences. In one form, a second blocking capacitor 850-2 can be placed in series with the blocking capacitor 850-1, with current dispersion of one point between the blocking capacitors 850-1 and 850-2 being monitored, for example, by an AD 852 converter circuit for sampling a voltage induced by current leakage. Samples can be received, for example, via logic circuit 842. Changes based on current leakage (as indicated by the voltage samples), generator 800 can determine when at least one of the blocking capacitors 850- 1, 850-2 failed, thus offering a benefit over single capacitor designs that have a single point of failure.
[0208] [0208] In certain embodiments, the non-isolated stage 804 may comprise a power source 854 to deliver DC power with adequate voltage and current. The power supply can comprise, for example, a 400 W power supply to deliver a system voltage of 48 VDC. The power source 854 can additionally comprise one or more DC / DC voltage converters 856 to receive the output from the power source to generate DC outputs at the voltages and currents required by the various components of generator 800. As discussed above in relation to the 838 controller, one or more of the 856 dc / dc voltage converters can receive an input from the 838 controller when the activation of the "on / off" input device by a user is detected by the 838 controller, to enable operation or the awakening of the 856 DC / DC voltage converters.
[0209] [0209] Figure 21 illustrates an example of generator 900, which is a form of generator 800 (Figure 20). The 900 generator is configured to supply multiple types of energy to a surgical instrument.
[0210] [0210] A first 912 voltage detection circuit is coupled through the terminals identified as ENERGY and the RETURN path to measure the output voltage between them. A second voltage detection circuit 924 is connected via the terminals identified as ENERGY and the RETURN path to measure the output voltage between them. A current detection circuit 914 is arranged in series with the RETURN leg on the secondary side of the power transformer 908 as shown to measure the output current for any energy modality. If different return paths are provided for each energy modality, then a separate current detection circuit would be provided on each return leg. The outputs of the first and second voltage detection circuits 912, 924 are supplied to the respective isolation transformers 916, 922 and the output of the current detection circuit 914 is supplied to another isolation transformer 918. The outputs of the voltage transformers isolation 916, 928, 922 on the primary side of the power transformer 908 (non-isolated side of the patient) are supplied to one or more AD 926 converter circuits. The digitized output of the AD 926 converter circuit is provided for the pro- terminator 902 for further processing and computing purposes. The output voltages and the output current feedback information can be used to adjust the output voltage and the current supplied to the surgical instrument, and to compute the impedance.
[0211] [0211] In one aspect, impedance can be determined by processor 902 by dividing the output of the first voltage detection circuit 912 coupled over the terminals identified as ENERGY1 / RETURN or the second voltage detection circuit 924 coupled over the terminals identified as ENERGY2 / RETURN, through the output of the current detection circuit 914 arranged in series with the RETURN leg on the secondary side of the power transformer
[0212] [0212] As shown in Figure 21, the generator 900 comprising at least one output port can include a power transformer 908 with a single output and multiple taps to provide power in the form of one or more types of energy gy, such as ultrasonic, bipolar or monopolar RF, irreversible and / or reversible electroporation and / or microwave energy, among others, for example to the end actuator depending on the type of tissue treatment being performed. For example, the 900 generator can supply energy with higher voltage and lower current to drive an ultrasonic transducer, with lower voltage and higher current to conduct RF electrodes to seal the tissue or with a coagulation waveform. for point coagulation using monopolar or bipolar RF electrosurgical electrodes. The output waveform of the 900 generator can be oriented, switched or filtered to supply the frequency to the end actuator of the surgical instrument. The connection of an ultrasonic transducer to the output of generator 900 would preferably be located between the output identified as ENERGY1 and RETURN, as shown in Figure 21. In one example, a connection of bipolar RF electrodes would the output of generator 900 be preferably located between the output identified as ENERGY and the RETURN. In the case of monopolar output, would the preferred connections be an active electrode (for example, a light beam or another probe) for the ENERGY output and a suitable return block connected to the RETURN output.
[0213] [0213] Additional details are revealed in US Patent Application publication No. 2017/0086914 entitled TECHNIQUES FOR OPE- RATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL
[0214] [0214] As used throughout this description, the term "wireless" and its derivatives can be used to describe circuits, devices, systems, methods, techniques, communication channels, etc., which can communicate data through the use of electromagnetic radiation modulated through a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some respects they may not. The communication module can implement any of a number of wireless and wired communication standards or protocols, including, but not limited to, Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20 , long-term evolution (LTE, "long-term evolution"), Ev-DO, HSPA +, HSDPA +, HSUPA +, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 56, and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS , CDMA, WiMAX, LTE, Ev-DO, and others.
[0215] [0215] As used in the present invention, a processor or processing unit is an electronic circuit that performs operations on some external data source, usually memory or some other data flow. The term is used in the present invention to refer to the central processor (central processing unit) in a computer system or systems (specifically systems on a chip (SoCs)) that combine several different "processors".
[0216] [0216] As used here, a system on a chip or system on the chip (SoC or SOC) is an integrated circuit (also known as an "IC" or "chip") that integrates all components of a computer or other electronic systems. It can contain digital, analog, mixed and often radio frequency functions - all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a graphics processing unit (GPU), i-Fi module, or coprocessor. An SoC may or may not contain internal memory.
[0217] [0217] As used here, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU for microcontroller unit) can be implemented as a small computer on a single integrated circuit. It can be similar to a SoC; a SoC can include a microcontroller as one of its components. A microcontroller can contain one or more core processing units (CPUs) along with memory and programmable input / output peripherals. Program memory in the form of ferroelectric RAM, NOR flash or OTP ROM is also often included on the chip, as well as a small amount of RAM. Microcontrollers can be used for integrated applications, in contrast to microprocessors used in personal computers or other general-purpose applications that consist of several separate integrated circuits.
[0218] [0218] As used in the present invention, the term controller or microcontroller can be an independent chip or IC (integrated circuit) device that interfaces with a peripheral device. This can be a connection between two parts of a computer or a controller on an external device that manages the operation of
[0219] [0219] Any of the processors or microcontrollers in the present invention can be any implemented by any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz , a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareGO program, read-only memory 2 KB electrically programmable and erasable (EEPROM), one or more pulse width modulation (PWM) modules, one or more analogs of quadrature encoder (QEI) inputs, one or more analog to digital converters (converter AD) 12 bits with 12 channels of analog input, details of which are available for the product data sheet.
[0220] [0220] In one aspect, the processor may comprise a safety controller comprising two controller-based families, such as TMS570 and RM4x, known under the trade name 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.
[0221] [0221] Modular devices include modules (as described in connection with Figures 3 and 9, for example) that are received
[0222] [0222] Various aspects of the subject described in this document are defined in the numbered examples below:
[0223] [0223] Example 1. A central surgical controller for use with a surgical instrument configured to apply therapeutic energy to tissue at a surgical site in a surgical procedure, the central surgical controller comprising: a central controller housing, comprising a docking station that includes an docking port comprising data and power contacts; and a combined generator module that can be retained in a removable way at the docking station, the combined generator module comprising: an ultrasonic energy generating component; a radio frequency energy (RF) generator component; a smoke evacuation component; a connection port, at least one of the ultrasonic energy generating component and the radio frequency generator (RF) component can be connected to the surgical instrument through the connecting port; and at least one smoke evacuation component, configured to evacuate the smoke generated by an application of therapeutic energy to the tissue by the surgical instrument.
[0224] [0224] Example 2. The central surgical controller of Example 1, where the docking station is a first docking station, the docking port being a first docking port, and the The central controller comprises a second docking station which comprises a second docking port which has data and power contacts.
[0225] [0225] Example 3. The central surgical controller of Example 2, additionally comprising a suction and irrigation module removably retained in the second docking station.
[0226] [0226] Example 4. The central surgical controller of Example 3, the combined generator module comprising a third docking port connectable to the first docking port of the first docking station.
[0227] [0227] Example 5. The central surgical controller of Example 4, the suction and irrigation module comprising a fourth anchorage port connectable to the second anchorage port of the
[0228] [0228] Example 6. The central surgical controller of Example 5, the housing of the central controller comprising a communication link between the second anchor port and the first anchor port.
[0229] [0229] Example 7. The central surgical controller of any of Examples 1 to 6, with the combined generator module comprising a fluid line extending to the remote surgical site to pass the evacuated smoke from the remote surgical site to the combined generator module.
[0230] [0230] Example 8. The central surgical controller of any of Examples 1 to 7, the docking station comprising supports configured to receive and slide the combined generator module in an operational connection with the power contacts. and docking port data.
[0231] [0231] Example 9. The central surgical controller of any of Examples 1 to 8, with the combined generator module comprising side supports configured to movably engage the supports of the docking station.
[0232] [0232] Example 10. A central surgical controller for use with a surgical instrument configured to deliver therapeutic energy to tissue at a surgical site in a surgical procedure, the modular surgical enclosure comprising: a first energy generator module configured to generate a first therapeutic energy for application to the tissue; a first docking station comprising a first docking port that includes first data contacts and energy contacts, the first power generator module being slidingly movable in an electrical entrance with the first data contacts and power, and the first power generator module is slidingly movable out of the electrical coupling with the first data and power contacts; a second energy generator module configured to generate a second therapeutic energy, different from the first therapeutic energy, for application to the tissue; a second docking station comprising a second docking port that includes second data contacts and power contacts, the first power generator module being slidingly movable in an electrical coupling with the second data and power contacts power, and the second power generator module is slidingly movable out of the electrical coupling with the second data and power contacts; and a communication bus between the first docking port and the second docking port, configured to facilitate communication between the first power generating module and the second power generating module.
[0233] [0233] Example 11. The modular central surgical controller, of Example 10, with the first docking station comprising supports configured to receive and slide the first power generator module in the electrical coupling with the first data contacts and power.
[0234] [0234] Example 12. The modular central surgical controller, from Example 11, the second anchoring station comprising supports configured to receive and slide the second power generator module in the electrical coupling with the second contacts data and power.
[0235] [0235] Example 13. The modular central surgical controller of any of Examples 10 to 12, the first therapeutic energy being an ultrasonic energy.
[0236] [0236] Example 14. The modular central surgical controller of any of Examples 10 to 12, the second therapeutic energy being radiofrequency (RF) energy.
[0237] [0237] Example 15. The modular central surgical controller of any of Examples 10 to 14, which additionally comprises a smoke evacuation module configured to evacuate the smoke generated at the remote surgical site through the application of the first energy tissue therapy.
[0238] [0238] Example 16. The modular central surgical controller of Example 15, which further comprises a third docking station which comprises a third docking port which includes third data and power contacts.
[0239] [0239] Example 17. The modular central surgical controller of Example 16, which additionally comprises a mobile suction and irrigation module slidably in an electrical coupling with the third data and power contacts, and the suction module and irrigation is movable in a sliding way out of the electric coupling with the third data and power contacts.
[0240] [0240] Example 18. A central surgical controller for use with a surgical instrument configured to apply therapeutic energy to tissue at a surgical site in a surgical procedure, the central surgical controller comprising: a central controller housing, comprising docking stations that include docking ports that comprise data and power contacts; a combined generator module received in a sliding manner in a first of the docking stations, the combined generator module comprising: an ultrasonic energy generating component; a radio frequency energy (RF) generator component; and a connection port, at least one of the ultrasonic energy generating component and the radiofrequency (RF) generating component can be attached to the surgical instrument through the connecting port; a smoke evacuation module that can be received slidingly in a second of the stations
[0241] [0241] Example 19. The central surgical controller of Example 18, with the anchoring stations comprising supports configured to slide the modules in electrical couplings with the power and data contacts of the anchoring ports in a sliding way. .
[0242] [0242] Example 20. The central surgical controller according to any of Examples 18-19, which comprises a screen.
[0243] [0243] Although several forms have been illustrated and described, it is not the applicant's intention to restrict or limit the scope of the claims attached to such detail. Numerous modifications, variations, alterations, substitutions, combinations and equivalents of these forms can be implemented and will occur to those skilled in the art without departing from the scope of the present description. In addition, the structure of each element associated with the shape can alternatively be described as a means to provide the function performed by the element. In addition, where materials are revealed for certain components, other materials can be used. It should be understood, therefore, that the preceding description and the appended claims are intended to cover all these modifications, combinations and variations that fall within the scope of the modalities presented. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications and equivalents
[0244] [0244] The previous detailed description presented various forms of devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts and / or examples can be implemented , individually and / or collectively, through a wide range of hardware, software, firmware or almost any combination thereof. Those skilled in the art will recognize, however, that some aspects of the aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example , such as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware, or virtually like any combination thereof, and that designing the set of circuits and / or writing the code for the software and firmware would be within the scope of practice of those skilled in the art, in light of this description. In addition, those skilled in the art will understand that the mechanisms of the subject described here can be distributed as one or more program products in a variety of ways and that an illustrative form of the subject described here is applicable regardless of the specific type of program. means of signal transmission used to effectively carry out the distribution.
[0245] [0245] The instructions used to program the logic to execute various revealed aspects can be stored in a memory in the system, such as dynamic random access memory.
[0246] [0246] As used in any aspect of the present invention, the term "control circuit" can refer to, for example, a set of wired circuits, programmable circuits (for example, a computer processor comprising one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic matrix (PLA), or arrangement field programmable ports (FPGA)), state machine circuits, firmware that stores instructions executed by the programmable circuit, and any combination thereof. The control circuit can collect
[0247] [0247] As used in any aspect of the present invention, the term "logic" can refer to an application, software, firmware and / or circuit configured to perform any of the aforementioned operations. The software can be incorporated as a software package, code, instructions, instruction sets and / or data recorded on the computer-readable non-transitory storage media. The firmware can be incorporated as code, installed
[0248] [0248] As used in any aspect of the present invention, the terms "component", "system", "module" and the like may refer to a computer-related entity, be it hardware, a combination of hardware and software, software or software running.
[0249] [0249] As used here in one aspect of the present invention, an "algorithm" refers to the self-consistent sequence of steps leading to the desired result, where a "step" refers to the manipulation of physical quantities and / or logical states that they may, although not necessarily need, take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. It is common use to call these signs bits, values, elements, symbols, characters, terms, numbers or the like. These terms and similar terms may be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities and / or states.
[0250] [0250] A network can include a packet switched network. Communication devices may be able to communicate with each other using a selected packet switched network communications protocol. An exemplary communications protocol may include an Ethernet communications protocol that may be able to allow communication using a transmission control protocol / Internet protocol (TCP / IP). The Ethernet protocol can conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) entitled "IEEE 802.3 Standard", published in December 2008 and / or later versions of this standard. Alternatively or in addition, communication devices may be able to communicate with each other using an X.25 communications protocol. The X.25 communications protocol can conform or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or in addition, communication devices may be able to communicate with each other using a frame-relay communications protocol. The frame-relay communications protocol can conform to or be compatible with a standard promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, transceivers may be able to communicate with each other using an ATM communication protocol ("asynchronous transfer mode"). The ATM communication protocol can conform or be compatible with an ATM standard published by the ATM forum entitled "ATM-MPLS Network Interworking 2.0" published in August 2001, and / or later versions of this standard. Obviously, different and / or post-developed connection-oriented network communication protocols are also contemplated in the present invention.
[0251] [0251] Unless otherwise stated, as is evident from the preceding description, it is understood that, throughout the preceding description, discussions using terms such as "processing", or "computation", or "calculation ", or" determination ", or" display ", or similar, refers to the action and processes of a computer, or similar electronic computing device, that manipulates and transforms the represented data in the form of physical quantities (electronic) records and computer memories in other data represented in a similar way in the form of physical quantities
[0252] [0252] One or more components can be called in the present invention "configured for", "configurable for", "operable / operational for", "adapted / adaptable for", "capable of", "according to movable / conformed to ", etc. Those skilled in the art will recognize that "configured for" can, in general, encompass components in an active state and / or components in an inactive state and / or components in a standby state, except when the context dictates otherwise.
[0253] [0253] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located opposite the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.
[0254] [0254] Persons skilled in the art will recognize that, in general, the terms used here, and especially in the appended claims (eg, bodies of the attached claims) are generally intended as "open" terms (eg, the term "including" should be interpreted as "including, but not limited to", the term "having" should be interpreted as "having, at least", the term "includes" should be interpreted as "includes, but is not limited to ", etc.). It will also be understood by those skilled in the art that when a specific number of a claim statement entered is pre-
[0255] [0255] Furthermore, even if a specific number of an introduced claim statement is explicitly mentioned, those skilled in the art will recognize that that statement needs to be typically interpreted as meaning at least the number mentioned (for example, the mere mention of "two mentions", without other modifiers, typically means at least two mentions, or two or more mentions). In addition, in cases where a convention analogous to "at least one of A, B and C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, For example, "a system that has at least one of A, B and C" would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). In cases where a convention analogous to "at least one of A, B or C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by
[0256] [0256] With respect to the appended claims, those skilled in the art will understand that the operations mentioned in the same can, in general, be performed in any order. In addition, although several operational flow diagrams are presented in one or more sequences, it must be understood that the various operations can be performed in other orders than those shown, or can be performed simultaneously. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, inverse or other variant orders, unless the context determines otherwise. Furthermore, terms such as "responsive to", "related to" or other adjectival principles are not generally intended to exclude these variants, except when the context determines otherwise.
[0257] [0257] It is worth noting that any reference to "one (1) aspect", "one aspect", "an exemplification" or "one (1) exemplification" ", and the like means that a particular feature, structure or characteristic described in connection with the aspect it is included in at least one aspect. Thus, the use of expressions such as "in one (1) aspect
[0258] [0258] Any patent application, patent, non-patent publication or other description material mentioned in this specification and / or mentioned in any order data sheet is hereby incorporated by reference, to the extent that the Embedded materials are not inconsistent with this. Thus, and as necessary, the description as explicitly presented here replaces any conflicting material incorporated into the present invention as a reference. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other description materials contained herein, will be incorporated here only to the extent that there is no conflict. between the incorporated material and the existing description material.
[0259] [0259] In summary, numerous benefits have been described that result from the use of the concepts described in this document. The previously mentioned description of one or more modalities has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. One or more modalities were chosen and described in order to illustrate the principles and practical application to, thus, allow those skilled in the art to use the various modalities and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.

权利要求:
Claims (20)
[1]
1. Central surgical controller for use with a surgical instrument configured to apply therapeutic energy to tissue at a surgical site in a surgical procedure, characterized by the central surgical controller comprising: a central controller enclosure, comprising an anchoring station that includes an anchorage port that comprises data and power contacts; and a combined generator module that can be retained removably at the docking station, the combined generator module comprising: an ultrasonic energy generating component; a radio frequency energy (RF) generator component; a smoke evacuation component; a connection port, at least one of the ultrasonic energy generating component and the radiofrequency (RF) generating component can be attached to the surgical instrument through the connecting port; and at least one smoke evacuation component, configured to evacuate the smoke generated by an application of therapeutic energy to the tissue by the surgical instrument.
[2]
2. Central surgical controller, according to claim 1, characterized in that the docking station is a first docking station, the docking door being a first docking port, and the casing of the docking station. central controller comprises a second docking station comprising a second docking port which has data and power contacts.
[3]
3. Central surgical controller, according to claim 2, characterized in that it comprises a suction and irrigation module that is removably retained in the second docking station.
[4]
4. Central surgical controller according to claim 3, characterized in that the combined generator module comprises a third docking port connectable to the first docking port of the first docking station.
[5]
5. Central surgical controller, according to claim 4, characterized in that the suction and irrigation module comprises a fourth anchorage port connectable to the second anchorage port of the second docking station.
[6]
6. Central surgical controller according to claim 5, characterized in that the central controller housing comprises a communication link between the second anchorage port and the first anchorage port.
[7]
7. Central surgical controller according to claim 1, characterized in that the combined generator module comprises a fluid line that can be extended to the remote surgical site to pass the smoke evacuated from the remote surgical site to the combined generator module.
[8]
8. Central surgical controller, according to claim 1, characterized in that the docking station comprises supports configured to receive and slide the combined generator module in an operational connection with the power and data contacts of the door. anchoring.
[9]
9. Central surgical controller, according to claim 1, characterized in that the combined generator module comprises lateral supports configured to engage mobilely with supports of the docking station.
[10]
10. Modular central surgical controller for use with a surgical instrument configured to apply therapeutic energy to the tissue in a surgical site of a surgical procedure, characterized by the modular surgical envelope comprising:
a first energy generating module configured to generate a first therapeutic energy for application to the tissue; a first docking station comprising a first docking port that includes first data and power contacts, the first power generator module being slidably movable in an electrical coupling with the first data and power contacts , and the first power generator module is movable in a sliding way out of the electrical coupling with the first data and power contacts; a second energy generator module configured to generate a second therapeutic energy, different from the first therapeutic energy, for application to the tissue; a second docking station comprising a second docking port which includes second data contacts and power contacts, the first power generator module being slidably movable in an electrical coupling with the second data and power contacts. power, and the second power generator module is slidingly movable out of the electrical coupling with the second data and power contacts; and a communication bus between the first docking port and the second docking port, configured to facilitate communication between the first power generator module and the second power generator module.
[11]
11. Modular central surgical controller, according to claim 10, characterized in that the first docking station comprises supports configured to receive and slide the first power generator module in the electrical coupling with the first data and power contacts.
[12]
Modular central surgical controller, according to claim 11, characterized in that the second anchoring station comprises supports configured to receive and slide the second power generator module in the electrical coupling with the second data and power contacts.
[13]
13. Modular central surgical controller, according to claim 10, characterized in that the first therapeutic energy is an ultrasonic energy.
[14]
14. Modular central surgical controller, according to claim 13, characterized in that the second therapeutic energy is a radio frequency (RF) energy.
[15]
15. Modular central surgical controller, according to claim 10, characterized in that it additionally comprises a smoke evacuation module configured to evacuate the smoke generated at the remote surgical site by applying the first therapeutic energy to the tissue.
[16]
16. Modular central surgical controller according to claim 15, characterized in that it additionally comprises a third docking station comprising a third docking port that includes third data and power contacts.
[17]
17. Modular central surgical controller, according to claim 16, characterized in that it additionally comprises a mobile suction and irrigation module in a sliding way in an electrical coupling with the third data and power contacts, and the control module suction and irrigation is movable in a sliding way out of the electric coupling with the third data and power contacts.
[18]
18. Central surgical controller for use with a surgical instrument configured to apply therapeutic energy to tissue in a surgical site of a surgical procedure, characterized by the central surgical controller comprising: a central controller enclosure, comprising anchoring stations including anchoring ports comprising data and power contacts; a combined generator module received slidingly in a first of the docking stations, the combined generator module comprising: an ultrasonic energy generating component; a radio frequency energy (RF) generator component; and a connection port, at least one of the ultrasonic energy generating component and the radiofrequency (RF) generating component can be attached to the surgical instrument through the connecting port; a smoke evacuation module that can be received in a sliding manner at a second docking station, where the smoke evacuation module is configured to evacuate the smoke generated by an application of therapeutic energy to the tissue by the instrument surgical; a processing module that can be slidably received at a third of the docking stations; a memory module that can be received in a sliding way in a fourth of the docking stations; and an operating room mapping module that can be received in a sliding manner in a fifth of the docking stations.
[19]
19. Central surgical controller, according to claim 18, characterized by the anchoring stations comprise supports configured to guide, in a sliding way, the modules in electrical couplings with the power and data contacts of the anchoring doors.
[20]
20. Central surgical controller, according to claim 18, characterized in that it comprises a screen.
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ES FOOT - 8th O is e and wu 2 o as' ace Ss == 53 = 2 Ps
KR DZ and S NE.
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BR112020013138A2|2020-12-01|data pairing to interconnect a measured parameter from a device with a result

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BR112020012965A2|2020-12-01|updates of adaptive control programs for surgical devices

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BR112020012808A2|2020-11-24|distributed surgical system processing

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US20200405404A1|2020-12-31|Cooperative robotic surgical systems

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US20200405425A1|2020-12-31|Surgical systems with interchangeable motor packs

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BR112020012556A2|2020-11-24|surgical instrument that has a flexible electrode

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JP2021509038A|2021-03-18|Capacitively coupled return passpad with separable array elements

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JP2021509325A|2021-03-25|Increased radio frequency to generate padless unipolar loops

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BR112020012718A2|2020-12-01|surgical instrument that has a flexible circuit

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BR112020012520A2|2020-11-24|power interruption due to inadvertent capacitive coupling

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BR112020012783A2|2020-12-01|situational perception of surgical controller centers

同族专利:

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公开号 | 公开日

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WO2019133072A1|2019-07-04|

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CN111511307A|2020-08-07|

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EP3505117A1|2019-07-03|

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US20190201112A1|2019-07-04|

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US20210205029A1|2021-07-08|

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JP2021509600A|2021-04-01|

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法律状态:
2021-11-23| B08F| Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]|Free format text: REFERENTE A 3A ANUIDADE. |

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2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|

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2022-02-08| B08G| Application fees: restoration [chapter 8.7 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US201762611339P| true| 2017-12-28|2017-12-28|

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US201762611341P| true| 2017-12-28|2017-12-28|

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US201762611340P| true| 2017-12-28|2017-12-28|

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US62/611,340|2017-12-28|

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US62/611,339|2017-12-28|

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US62/611,341|2017-12-28|

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US201862649310P| true| 2018-03-28|2018-03-28|

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US62/649,310|2018-03-28|

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US15/940,629|2018-03-29|

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US15/940,629|US20190201112A1|2017-12-28|2018-03-29|Computer implemented interactive surgical systems|

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PCT/US2018/044488|WO2019133072A1|2017-12-28|2018-07-31|Computer implemented interactive surgical systems|

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