control systems of a firing limb firing rate of a surgical instrument

专利摘要:
Various systems and methods for controlling a surgical instrument are revealed. The surgical instrument may include an engine and a control circuit attached to the engine. The motor can be coupled to a gripping member, which is configured to transition an end actuator between an open position and a closed position, cut the fabric and / or eject staples from a staple cartridge into the end actuator. The control circuit can be programmed to cause the motor to activate a grip member at a first rate in a first zone between the first position and the second position and to cause the engine to activate the grip member at a second rate in a second zone between the first position and the second position; where the first rate is less than the second rate.
公开号:BR112020011877A2
申请号:R112020011877-0
申请日:2018-12-12
公开日:2020-11-24
发明作者:Frederick E. Shelton Iv；Sarah A. Worthington；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various provisions, to surgical instruments for stapling and cutting, and staple cartridges for use with them, which are designed to staple and cut fabric.
[002] [002] Although several devices have been produced and used, it is believed that nobody before the inventors made or used the device described in the attached claims. SUMMARY OF THE INVENTION
[003] [003] In one aspect, a surgical instrument comprises: an engine; and a control circuit coupled to the motor, the control circuit being configured to: detect whether an end actuator connectable to the surgical instrument is in a closed position, the end actuator being configured to receive a cartridge that supports a plurality of Bobby pins; and detecting a position of a gripping member operable by the motor between a first position and a second position, where the gripping member is configured to: transition the end actuator to the closed position as the gripping member moves. moves from the first position to the second position; and deploying the plurality of clamps in the cartridge after the end actuator is in the closed position as the gripping member moves to the second position; wherein the control circuit is additionally configured to: cause the motor to activate the gripping member at a first rate in a first zone between the first position and the second position; and make the engine drive the gripping member at a second rate in a second zone between the first position and the second position.
[004] [004] In another aspect, a surgical instrument comprises: an engine; and a control circuit coupled to the motor, the control circuit being configured to: detect if an end actuator connectable to the surgical instrument is in a closed position, the end actuator being configured to receive a cartridge that supports a plurality of Bobby pins; and detecting a position of a motor-actionable gripping member between a first position, a second position and a third position, in which the gripping member is configured to: transition from the end actuator to the closed position according to the grip moves from the first position to the second position; and deploying the plurality of cartridge clips as the gripping member moves from the second position to the third position; wherein the control circuit is additionally configured to: cause the motor to activate the gripping member at a first rate in a first zone between the first position and the second position; and having the engine drive the gripping member at a second rate in a second zone between the second and third positions; where the first rate is less than the second rate.
[005] [005] In another aspect, a surgical instrument comprises: an engine; and a control circuit coupled to the motor, the control circuit being configured to: detect if an end actuator connectable to the surgical instrument is in a closed position, the end actuator being configured to receive a cartridge that supports a plurality of Bobby pins; and detecting a position of a motor-actionable gripping member between a first position, a second position and a third position, in which the gripping member is configured to: transition from the end actuator to the closed position according to the grip moves from the first position to the second position; and deploying the plurality of cartridge clips as the gripping member moves from the second position to the third position; where the control circuit is additionally configured to cause the motor to activate the gripping member at a variable rate corresponding to a location of the gripping member between the second position and the third position, the variable rate being the most closer to the second position. FIGURES
[006] [006] Several characteristics of the modalities described here, together with their advantages, can be understood according to the description presented below, considered together with the attached drawings, as shown below:
[007] [007] Figure 1 is a perspective view of an electromechanical surgical instrument;
[008] [008] Figure 2 is a perspective view of a distal end of a portion of the electromechanical surgical instrument in the surgical system of Figure 1;
[009] [009] Figure 3 is an exploded view of the set of a resource of the external envelope and the electromechanical surgical instrument of Figure 2;
[0010] [0010] Figure 4 is a rear perspective view of a portion of the electromechanical surgical instrument in Figure 2;
[0011] [0011] Figure 5 is a partial exploded view of the assembly of a portion of an adapter and the electromechanical surgical instrument of the surgical system of Figure 1;
[0012] [0012] Figure 6 is an exploded view of the assembly of a portion of the adapter of Figure 5;
[0013] [0013] Figure 7 is a perspective view in cross section of a portion of an adapter pivot assembly;
[0014] [0014] Figure 8 is a perspective view of the joint of Figure 7;
[0015] [0015] Figure 9 is another perspective view of the articulation assembly of Figure 8;
[0016] [0016] Figure 10 is an exploded view of the set of a load unit used in the system of the electro-mechanical surgical instrument of Figure 1;
[0017] [0017] Figure 11 is a perspective view of an alternative modality of the adapter;
[0018] [0018] Figure 12 is a side elevation view of a portion of a load unit for the adapter of Figure 11 with its claws in an open position;
[0019] [0019] Figure 13 is another side elevation view of a portion of the load unit of Figure 11 with its portions shown in cross section and its claws in a closed position;
[0020] [0020] Figure 14 is a bottom view of a portion of the loading unit of Figure 13 with its portions shown in cross section;
[0021] [0021] Figure 15 is a perspective view of a portion of the loading unit of Figure 11 with a portion of the outer tube shown in broken lines;
[0022] [0022] Figure 16 is a schematic diagram of a circuit to control an engine of a surgical instrument;
[0023] [0023] Figure 17 is a schematic diagram of a circuit to control an engine of a surgical instrument;
[0024] [0024] Figure 18 is a schematic diagram of a position sensor for a surgical instrument;
[0025] [0025] Figure 19 is a logic flow diagram of a process for monitoring a motor current of a surgical instrument;
[0026] [0026] Figure 20 is a pair of graphs of several hold member courses executed by the logic represented in Figure 19;
[0027] [0027] Figure 21 is a pair of graphs of several grip member courses executed by the logic represented in Figure 19;
[0028] [0028] Figure 22 is a diagram of an end actuator that includes a span sensor and a cartridge identity sensor;
[0029] [0029] Figure 23 is a schematic diagram of a Hall effect sensor;
[0030] [0030] Figure 24 is a sectional view of the end actuator partially attached to the distal end of the adapter;
[0031] [0031] Figure 25 is a section of the end actuator attached to the distal end of the adapter along its longitudinal geometric axis;
[0032] [0032] Figure 26 is a logic flow diagram of a process for selecting an initial speed at which to fire the gripping member; and
[0033] [0033] Figure 27 is a graph of several gripping member courses executed by the logic illustrated in Figure 26. DESCRIPTION
[0034] [0034] The applicant for this application holds the following US Patent Applications that were filed on December 15, 2017, and which are each incorporated herein by reference in their respective totalities:
[0035] [0035] - US Patent Application Serial No. 15 / 843,485, entitled SEALED ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[0036] [0036] - US Patent Application Serial No. 15 / 843,518, entitled END EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR USE WITH ADAPTERS FOR ELECTROMECHANICAL SURGICAL INSTRUMENTS;
[0037] [0037] - US Patent Application Serial No. 15 / 843,535, entitled SURGICAL END EFFECTORS WITH ICLAMPING ASSEMBLIES CONFIGURED TO INCREASE JAW APERTURE RANGES;
[0038] [0038] - US Patent Application Serial No. 15 / 843,558, entitled SURGICAL END EFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCH AT THEIR RESPECTIVE DISTAL ENDS WHEN FULLY CLOSED;
[0039] [0039] - US Patent Application Serial No. 15 / 843,528, entitled SURGICAL END EFFECTORS WITH JAW STIFFENER ARRANGE-MENTS CONFIGURED TO PERMIT MONITORING OF FIRING MEMBER;
[0040] [0040] - US Patent Application Serial No. 15 / 843,567, entitled ADAPTERS WITH END EFFECTOR POSITION SENSING AND CONTRACT ARRANGEMENTS FOR USE IN CONNECTION WITH ELEC- TROMECHANICAL SURGICAL INSTRUMENTS;
[0041] [0041] - US Patent Application Serial No. 15 / 843,556, entitled DYNAMIC CLAMPING ASSEMBLIES WITH IMPROVED WEAR CHA- RACTERISTICS FOR USE IN CONNECTION WITH ELECTROME-CHANICAL SURGICAL INSTRUMENTS;
[0042] [0042] - US Patent Application Serial No. 15 / 843,514, entitled ADAPTERS WITH FIRING STROKE SENSING ARRANGEMENTS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGI-CAL INSTRUMENTS;
[0043] [0043] - US Patent Application Serial No. 15 / 843,501, entitled ADAPTERS WITH CONTROL SYSTEMS FOR CONTROLLING MUL- TIPLE MOTORS OF AN ELECTRICAL MECHANICAL SURGICAL INSTRUMENT;
[0044] [0044] - US Patent Application Serial No. 15 / 843,508, entitled HANDHELD ELECTROMECHANICAL SURGICAL INSTRUMENTS WITH IMPROVED MOTOR CONTROL ARRANGEMENTS FOR PO-
[0045] [0045] - US Patent Application Serial No. 15 / 843,689, entitled SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER; and
[0046] [0046] - US Patent Application Serial No. 15 / 843,704, entitled METHODS OF OPERATING SURGICAL END EFFECTORS.
[0047] [0047] Numerous specific details are presented to provide a complete understanding of the structure, function, manufacture and general use of the modalities described in the specification and illustrated in the attached drawings. Well-known operations, components and elements have not been described in detail, so as not to obscure the modalities described in the specification. The reader will understand that the modalities described and illustrated in the present invention are non-limiting examples and, therefore, it can be understood that the specific structural and functional details disclosed in the present invention can be representative and illustrative. Variations and changes can be made to this, without deviating from the scope of the claims.
[0048] [0048] The terms "understands" (and any form of understanding, such as "understands" and "that understands"), "has" (and any form of has, such as "has" and "that has"), " includes "(and any form of includes, such as" includes "and" which includes ") and" contains "(and any form of contains, such as" contains "and" which contains ") are unrestricted linking verbs. As a result, a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more resources has those one or more resources, but is not limited to having only those one or more features.
[0049] [0049] 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.
[0050] [0050] Various devices and exemplary methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices disclosed in the present invention can be used in a number of surgical procedures and applications, including, for example, in relation to open surgical procedures. With the advancement of this Detailed Description, the reader will also understand that the various instruments disclosed here can be inserted into a body in any way, such as through a natural hole, through an incision or perforation formed in fabric, etc. . Functional portions or portions of the instrument's end actuator can be inserted directly into a patient's body or can be inserted via an access device that has a working channel through which the end actuator and the shaft elongated actuation of a surgical instrument can be advanced.
[0051] [0051] The surgical stapling system can comprise a drive shaft and an end actuator that extends from the drive shaft. The end actuator comprises
[0052] [0052] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform that extends between the proximal end and the distal end. In use, the staple cartridge is positioned on the first side of the fabric to be stapled and the anvil is positioned on the second side of the fabric. The anvil is moved towards the staple cartridge to compress and secure the fabric against the platform. After that, the staples removably stored in the cartridge body can be implanted in the fabric. The cartridge body includes staple cavities defined therein, in which the staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on the first side of a longitudinal slot and three rows of staple cavities
[0053] [0053] The clamps are supported by clamp actuators on the cartridge body. The actuators are movable between a first position, or a non-triggered position, and a second position, or a triggered position, to eject the clamps from the clamp cavities. The drivers are retained on the cartridge body by a retainer that extends around the bottom of the cartridge body and includes resilient members configured to secure the cartridge body and retain the seal on the cartridge body. The actuators are mobile between their non-triggered positions and their positions triggered by a slide. The slider is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider comprises a plurality of inclined surfaces configured to slide under the actuators and lift the actuators, and the clamps supported on it, towards the anvil.
[0054] [0054] In addition to the above, the slider is moved distally by a firing member. The firing member is configured to contact the slide and push the slide towards the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member also comprises a first cam that engages with the first claw and a second cam that engages with the second claw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or fabric gap, between the staple cartridge platform and the anvil. The firing member also comprises a knife configured to make an incision in the tissue captured between the anvil and the staple cartridge. It is desirable for the knife to be positioned at least partially proximal to the inclined surfaces, so that the clamps are ejected in front of the knife.
[0055] [0055] Figure 1 shows a motor-driven surgical system (electromechanical) 1 that can be used to perform a variety of different surgical procedures. As can be seen in that figure, an example of surgical system 1 includes a hand-held electromechanical surgical instrument with a motor 100 that is configured for selective fixation to it of a plurality of different surgical instrument implements (here called "adapters") that are each configured for actuation and manipulation by the handheld electromechanical surgical instrument equipped with a motor. As illustrated in Figure 1, the hand-held surgical instrument 100 is configured for selective connection with an adapter 200 and, in turn, adapter 200 is configured for selective connection with end actuators that comprise a load unit of single use (from the English "single use loading unit (" SULU ")) or a disposable load unit (from the English" disposable loading unit ("DLU")) or a multiple use load unit (from the English "multiple use loading unit ("MU-LU"). In another embodiment of the surgical system, various forms of the adapter 200 can also be effectively employed with a tool drive set from a robotic or automated controlled surgical system. Surgical instrument sets disclosed herein can be employed with various robotic systems, instruments, components and methods such as those disclosed in US Patent No. 9,072,535, but not limited to them, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTA- TABLE STAPLE DEPLOYMENT ARRANGEMENTS ", which is incorporated herein by reference, in its entirety.
[0056] [0056] As shown in Figures 1 and 2, the surgical instrument
[0057] [0057] As shown in Figure 3, an outer wrap case 10 includes a half distal section 10a and a half proximal section 10b which is pivotally connected to the half distal section 10a by a hinge 16 located along the top edge the distal half section 10a and the proximal half section 10b. When joined together, the half distal and proximal sections 10a, 10b define a casing cavity 10c within which battery 101 is selectively located. Each of the distal and proximal half sections 10a, 10b includes a respective upper wrap portion 12a, 12b and a respective lower wrap portion 14a, 14b. The lower wrap portions 14a, 14b define a snap-fit closure feature 18 to selectively secure the lower wrap portions 14a, 14b to each other and to keep the wrap enclosure 10 in a closed condition. The distal half section 10a of the enclosure cabinet 10 defines a detection portion 20 that is configured to receive a corresponding drive coupling assembly 210 from adapter 200 (see Figure 5). Specifically, the
[0058] [0058] The connecting portion 20 of the half distal section 10a defines a pair of guide rails that extend axially 21a, 21b and that project radially inward from their inner side surfaces, as shown in Figure 5. Guide rails 21a, 21b assist in rotating the adapter 200 relative to the surgical instrument 100 when the adapter 200 is coupled to the surgical instrument 100. The connecting portion 20 of the distal half section 10a defines three openings 22a, 22b, 22c that are formed on a surface of it facing the distal position and that are arranged on a common plane or line in relation to each other. The connecting portion of the distal half-section 10a also defines an elongated slit 24 also formed on the surface thereof facing the distal position. The connection portion 20 of the distal half section 10a additionally defines a female connection feature 26 (see Figure 2) formed on a surface of it. The female connection feature 26 selectively engages a male connection feature of adapter 200.
[0059] [0059] The half distal section 10a of the enclosure enclosure 10 supports a toggle control button facing the distal side 30. The toggle control button 30 is capable of being operated in a left, right, direction. up and down by applying a corresponding force or a depressive force to it. The distal half section 10a of the enclosure cabinet 10 supports a right side pair of control buttons 32a, 32b (see Figure 3); and a right side pair of control buttons 34a, 34b (see Figure 2). The control buttons on the right side 32a, 32b and the control buttons on the left side 34a, 34b are capable of being activated by applying a corresponding force or a depressive force to them. The proximal half section 10b of the enclosure 10 encloses a control button on the right side 36a (see Figure 3) and a control button on the left side 36b (see Figure 2). The control button on the right side 36a and the control button on the left side 36b are capable of being activated by applying a corresponding force or a depressive force to them.
[0060] [0060] The enclosure 10 enclosure includes a set of sterile barrier plate 60 selectively supported on the distal half section 10a. Specifically, the sterile barrier plate assembly 60 is arranged behind the connection portion 20 of the distal half section 10a and within the cavity of the envelope 10c of the envelope cabinet 10. The plate assembly 60 includes a plate 62 which rotatably supports three coupling drive axes 64a, 64b, 64c (see Figures 3 and 5). Each coupling drive shaft 64a, 64b, 64c extends from opposite sides of plate 62 and has a trilobed cross section profile. Each coupling drive shaft 64a, 64b, 64c extends through the respective openings 22a, 22b, 22c of the connecting portion 20 of the distal half section 10a when the sterile barrier plate assembly 60 is disposed in the housing cavity 10c from the enclosure cabinet 10. The plate set 60 additionally includes an electrical pass connector 66 supported on the plate
[0061] [0061] With reference to Figures 3 and 4, the battery or handle assembly 101 includes an internal handle cabinet 110 that has a lower cabinet portion 104 and an upper cabinet portion 108 that extends from and / or which is supported on the lower cabinet portion 104. The lower cabinet portion 104 and the upper cabinet portion 108 are separated into a half distal section 110a and a half proximal section 110b connectable to the half distal section 110a by a plurality of fasteners. When joined together, the distal and proximal half sections 110a, 110b define the inner case of the handle 110 which has an inner case cavity 110c within which a battery core assembly 106 is located. The battery core assembly 106 is configured to control the various operations of the surgical instrument 100.
[0062] [0062] The half distal section 110a of the inner grip handle 110 supports a distal toggle control interface 130 that is in operational alignment with the distal handle control button 30 of the wrapper case 10. In use, when battery 101 is disposed within the enclosure enclosure 10, the actuation of the toggle control button 30 exerts a force on the toggle control interface 130. The half distal section 110a of the inner grip handle 110 also supports a right side pair of control interfaces (not shown) and a left side pair of control interfaces 132a, 132b. In use, when battery 101 is disposed within the enclosure 10 enclosure, the actuation of one of the right side pair of control buttons or the left lateral pair of the control button of the distal half section 10a of the enclosure enclosure 10 exerts a force on a respective pair from the right side pair of control interfaces 132a, 132b or the left side pair of control interfaces 132a, 132b from the half distal section 110a of the inner grip handle.
[0063] [0063] With reference to Figures 1 to 5, the internal locking cabinet 110 provides a cabinet in which a battery core assembly 106 is located. The battery core assembly 106 includes a battery circuit 140, a plate controller circuit 142 and a rechargeable battery 144 configured to supply power to any of the electrical components of the surgical instrument 100. Controller circuit board 142 includes a motor controller circuit board 142a, a primary controller circuit board main 142b and a first ribbon cable 142c interconnecting the motor controller circuit board 142a and the main controller circuit board 142b. The battery core assembly 106 additionally includes a display screen 146 supported on the main controller circuit board 142b. The display screen 146 is visible through a clear or transparent window 110d (see Figure 3) provided in the half proximal section 110b of the internal grip handle
[0064] [0064] The battery core assembly 106 additionally includes a first motor 152, a second motor 154 and a third motor 156 which are supported by a motor support 148 and are each electrically connected to the controller circuit board 142 and battery 144. Motors 152, 154, 156 are disposed between the motor controller circuit board 142a and the main controller circuit board 142b. Each motor 152, 154, 156 includes a respective motor drive shaft 152a, 154a, 156a that extends from it. Each motor drive shaft 152a, 154a, 156a has a trilobed cross section profile to transmit rotating forces or torque. Each motor 152, 154, 156 is controlled by a respective motor controller. The rotation of the motor drive shafts 152a, 154a, 156a by the respective motors 152, 154, 156 works to drive the drive shafts and / or gear components of the adapter 200 to perform the various operations of the surgical instrument 100. In particular, motors 152, 154, 156 of battery core assembly 106 are configured to drive the drive shafts and / or gear components of the adapter
[0065] [0065] As shown in Figures 1 and 5, surgical instrument 100 is configured to perform selective connection with adapter 200 and, in turn, adapter 200 is configured to perform selective connection with an end actuator 500 Adapter 200 includes an external button 202 enclosure and an external tube 206 that extends from a distal end of the button 202 enclosure. The button 202 enclosure and external tube 206 are configured and sized to accommodate the adapter assembly components
[0066] [0066] Adapter 200 is configured to convert a rotation of the first or second coupling drive axes 64a, 64b of surgical instrument 100 into axial translation useful for operating a drive assembly 540 and a pivot link 560 of the actuator endpoint 500, as shown in Figure 10, and as will be described in more detail below. As shown in Figure 6, adapter 200 includes the proximal inner cabinet assembly 204 that pivotally supports a first rotary proximal drive axis 212, a second rotary proximal drive axis 214 and a third rotary proximal drive axis 216 in its entirety. rior. Each proximal drive shaft 212, 214, 216 functions as a rotation receiving member to receive rotational forces from the respective coupling drive axes 64a, 64b and 64c of the surgical instrument 100. In addition, the drive coupling assembly 210 of the adapter 200 is also configured to rotatorily support the first, second and third sleeves of connector 218, 220 and 222, respectively, arranged in a plane or common line with respect to each other. Each connector sleeve 218, 220, 222 is configured to pair with the respective first, second and third coupling drive axes 64a, 64b, 64c of surgical instrument 100, as described above. Each sleeve of the connector 218, 222, 220 is additionally configured to pair with a proximal end of the respective first, second and third proximal drive axes 212, 214, 216 of the adapter 200.
[0067] [0067] The drive coupling set 210 of adapter 200 also includes a first, a second and a third member of propensity 224, 226, 228 disposed distally from the respective first, second and third sleeves of connector 218 , 220 and 222. Each propensity member 224, 226 and 228 is arranged around the respective first, second and third rotating proximal drive axes 212, 214 and 216. Propensity members 224, 226 and 228 act on the respective gloves connector 218, 222 and 220 to help keep the connector gloves 218, 222 and 220 attached to the distal end of the respective coupling drive axes 64a, 64b and 64c of the surgical instrument 100 when adapter 200 is connected to the instrument surgical 100.
[0068] [0068] Also in the illustrated arrangement, adapter 200 includes the first, second and third drive conversion assemblies 240, 250, 260, respectively, which are each arranged in the internal cabinet assembly 204 and tube external 206. Each drive conversion set 240, 250, 260 is configured and adapted to transmit or convert a rotation of a first, second and third coupling drive axes 64a, 64b and 64c of the surgical instrument 100 in axial translation an actuator or pivot bar 258 of the adapter 200, to articulate the end actuator 500; rotating an annular gear 266 of adapter 200 to rotate adapter 200; or the axial translation of a distal drive member 248 of adapter 200 to effect the closing, opening and firing of end actuator 500.
[0069] [0069] Still with reference to Figure 6, the first transmission / force conversion / rotation set 240 includes the first rotary proximal drive shaft 212 which, as described above, is pivotally supported within the internal cabinet assembly 204. The first rotating proximal drive shaft 212 includes a non-circular or shaped end portion configured to connect to the first connector sleeve 218 that is connected to the respective first coupling drive shaft 64a of the surgical instrument 100. The first axis proximal rotary drive 212 includes a threaded distal end portion 212b. The first transmission / force conversion / rotation assembly 240 additionally includes a drive coupling nut 244 that threadably engages the threaded distal end portion 212b of the first rotating proximal drive shaft 212 and that is slidably arranged within of the outer tube
[0070] [0070] The first force / rotation transmission / conversion set 240 additionally includes a distal drive member 248 that is mechanically engaged with the drive coupling nut 244, so that the axial movement of the coupling nut drive 244 results in a corresponding amount of axial movement of the distal drive member 248. The distal end portion of the distal drive member 248 supports a connecting member 247 configured and sized for selective engagement with an engaging member 546 of a drive assembly 540 of the end actuator 500 (Figure 10). Coupling nut 244 and / or distal drive member 248 functions as a force transmission member for end-actuator components 500. In operation, as the first rotating proximal drive shaft 212 is rotated as a result of the rotation of the first coupling drive shaft 64a of the surgical instrument 100, the drive coupling nut 244 is axially transferred along the first rotating proximal drive shaft 212. As the drive coupling nut 244 is moved axially along the first rotating proximal drive axis 212, the distal drive member 248 is moved axially with respect to the outer tube 206. As the distal drive member 248 is moved axially, with the connecting member 247 connected to it and engaged with a hollow drive member 548 attached to drive assembly 540 of end actuator 500 (Figure 10), the drive member distal linkage 248 causes concomitant axial translation of drive set 540 of end actuator 500 to effect a closure of a portion of tool set 600 of end actuator 500 and a trigger of various components within the tool set.
[0071] [0071] Still referring to Figure 6, the second drive conversion set 250 of adapter 200 includes a second proximal drive shaft 214 that is rotatably supported within the inner cabinet assembly 204. The second rotating proximal drive axis 214 includes a non-circular or shaped end portion configured to connect to the second coupling drive shaft 64c of the surgical instrument
[0072] [0072] In operation, as the second proximal drive shaft 214 is rotated, the hinge bearing assembly 252 is axially translated along the threaded distal end portion 214a of the second proximal drive shaft 214, which by in turn, causes the articulation bar 258 to be axially translated in relation to the external tube 206. As the articulation bar 258 is axially translated, the articulation bar 258, being coupled to the articulation link 258 of the actuator end 500, causes the axial translation of the articulation link 560 of the end actuator 500 to articulate the tool set
[0073] [0073] As shown in Figure 6, the adapter includes a third drive conversion set 260 that is supported on the internal cabinet assembly 204. The third drive conversion set 260 includes a rotary ring gear 266 that is supported fixedly in the external cabinet of button 202 and connected to it. Annular gear 266 defines an internal set of gear teeth 266a and includes a pair of diametrically opposed protrusions extending radially 266b. The projections 266b are configured to be arranged within the recesses defined in the external housing of the button 202, so that the rotation of the annular gear 266 results in the rotation of the external housing of the button 202, and vice versa. The third drive conversion assembly 260 additionally includes a third rotary proximal drive shaft 216 which, as described above, is pivotally supported within the inner cabinet assembly 204. The third rotary proximal drive shaft 216 includes an end portion non-circular or shaped that is configured to connect to the third connector 220. The third rotary proximal drive shaft 216 includes a gear wheel 216 keyed to a distal end of it. A reversing sprocket 264 interengages the sprocket 216a of the third rotary proximal drive shaft 216 with the gear teeth 266a of the annular gear 266. In operation, as the third rotary proximal drive shaft 216 is rotated due to a rotation from the third coupling drive shaft 64b of the surgical instrument 100, the sprocket 216a from the third rotating proximal drive shaft 216 engages the reversing gear 264 causing the reversing gear 264 to rotate. As the reverse gear 264 rotates, the gear
[0074] [0074] Adapter 200 additionally includes a fixing / separating button 272 (Figure 5) that is supported on a stem 273 (Figure 6) that protrudes from the drive coupling assembly 210 of adapter 200. The fixing / separating button 272 is provided by a bias member (not shown), which is arranged in or around the stem 273, for an unactivated condition. The button 272 includes a lip or protrusion that is configured to fit by pressing behind a corresponding lip or protrusion 20 of the surgical instrument 100. As also discussed in WO 2016/057225 A1, adapter 200 can additionally include a locking mechanism 280 for securing the axial position of the distal drive member 248. As can be seen in Figure 21, for example, locking mechanism 280 includes a button 282 that is slidably supported on the outer button cabinet 202. The lock button 282 is connected to an actuation bar (not shown) that extends longitudinally through the outer tube 206. The actuation bar moves with a movement of the lock button 282. In operation, to lock the position and / or orientation of the distal actuating member 248, a user moves the lock button 282 from a distal position to a proximal position, thereby causing the lock (not shown) to move to the proximal position so that a distal face of the lock comes out of contact with the cam actuation member 288, which causes the cam actuation member 288 to rotate into the recess 249 of the distal actuation member 248. the distal drive member 248 is prevented from performing distal and / or proximal movement. When the lock button 282 is moved from the proximal position to the distal position, the distal end of the actuation bar moves distally into the lock (not shown), against the propensity of a bending member (not shown), to force the cam actuation member 288 out of the recess 249, thus enabling unimpeded axial translation and radial movement of the distal drive member 248.
[0075] [0075] Again with reference to Figure 6, adapter 200 includes an electrical assembly 290 supported on and in the external cabinet of button 202 and in the internal cabinet assembly 204. Electrical assembly 290 includes a plurality of electrical contact sheets 292 , supported on a 294 circuit board, for electrical connection with the passage connector of the enclosure plate assembly of the surgical instrument 100. The electrical assembly 290 enables the calibration and communication information (ie , life cycle information, system information, power information) are transmitted to the surgical instrument 100 circuit board via an electrical receptacle portion of the battery core assembly 106 of the surgical instrument 100. The assembly electrical 290 additionally includes a strain gauge 296 which is electrically connected to circuit board 294. strain gauge 296 is mounted inside the gas assembly inner sleeve 204 to restrict the rotation of the effort meter 296 with respect to it. The rotating proximal drive shaft 212 extends through the effort meter 296 to enable the effort meter 296 to provide closed loop feedback for a trigger / hold load shown by the first rotating proximal drive axis 212. The con-
[0076] [0076] Still with reference to Figure 6, the internal cabinet assembly 204 includes a central controller 205 that has a distally oriented annular wall 207 that substantially defines an external profile. The central controller 205 includes a substantially teardrop-shaped recess or orifice which is shaped and shaped to receive the hinge bearing assembly 252 slidingly within it. The inner cabinet assembly 204 additionally includes an annular plate 254 which is attached to a distal face of the distally oriented annular wall 207 of central controller 204a. The annular plate 254 defines an aperture 254a along it which is dimensioned and formed therein so as to be aligned with the second proximal drive axis 214 and to pivotably receive a distal tip therefrom. In this way, the distal tip of the second proximal drive axis 214 is supported and prevented from moving radially away from a longitudinal rotating geometry axis of the second proximal drive axis 214 as the second proximal drive axis 214 is rotated. to move the hinge bearing assembly 252 axially.
[0077] [0077] Going back to Figure 10, in one example, the end actuator 500 can be configured for a single use ("disposable charge unit - DLU") and be similar to those DLUs revealed in the Order Publication Patent Application No. 2010/0301097, entitled LOADING UNIT HAVING DRIVE ASSEMBLY LOCKING MECHANISM, US Patent Application Publication No. 2012/0217284, entitled LOCKING MECHANISM FOR USE WITH LOADING UNITS and US Patent Application Publication No. 2015 / 0374371, entitled ADAPTER ASSEM-
[0078] [0078] The surgical instrument 100 fires clips, but can be adapted to trigger any other fastener such as clips and two-part fasteners. In the illustrated arrangement, end actuator 500 comprises a loading unit 510. The loading unit 510 comprises a proximal structural part 520 and a tool set 600. Tool set 600 includes a pair of claw members including a first claw member 610 comprising an anvil set 612 and a second claw member 700 comprising a cartridge set 701. One claw member is pivoted relative to the other to enable the fabric to be gripped between the claw members. Cartridge set 701 is movable relative to anvil set 612 and is movable between an open or non-clamped position and a closed or close position. However, the anvil set 612, or both the cartridge set 701 and the anvil set 612, can be movable.
[0079] [0079] The cartridge assembly 701 has a cartridge body 702 and, in some cases, a backing plate 710 which are fixed to a channel 720 by a snap connection, a stop, a lock, or by another type of connection. The cartridge assembly 701 includes fasteners or clips 704 that are mobilely supported in a plurality of laterally spaced staple retaining slots 706, which are configured as openings in a fabric contact surface 708. Each 706 slot is configured to receive a fastener or clamp inside it. The cartridge body 702 also defines a plurality of cam wedge slots that accommodate staple pusher 709 and which are open at the bottom (i.e., in the direction opposite to the fabric contact surface) to enable a actuation 712 passes longitudinally through them. The cartridge assembly 701 is removable from channel 720 after the clips have been released from the cartridge body 702. Another removable cartridge assembly is capable of being loaded into channel 720, so that surgical instrument 100 can be actuated more once to fire additional fasteners or clips. More details on the cartridge assembly can be found, for example, in US Patent Application Publication No. 2017/0095250, as well as in several other references that have been incorporated into the present invention for reference.
[0080] [0080] The cartridge set 701 is pivoting in relation to the anvil set 612 and is movable between an open or non-clamped position and a closed or clamped position for insertion through the trocar cannula. The proximal structural part 520 includes at least one drive assembly 540 and a link link 560. In one arrangement, drive assembly 540 includes a flexible drive bar 542 that has a distal end 544 and a proximal engagement section 546. A proximal end of engagement section 546 includes diametrically opposed inwardly extending fingers 547 that engage a hollow drive member 548 to securely secure drive member 548 to the proximal end of bar 542. O drive member 548 defines a proximal hole that receives a connecting member 247 from drive tube 246 of the first drive conversion set 240 of adapter 200 when end actuator 500 is attached to the distal end of the adapter 200.
[0081] [0081] The end actuator 500 additionally includes an enclosure set 530 comprising an outer enclosure 532 and an inner enclosure 534 that is disposed within the outer enclosure
[0082] [0082] Referring to Figure 10, for example, anvil set 612 includes an anvil cover 630 and an anvil plate 620, which includes a plurality of staple-forming depressions. The anvil plate 620 is attached to an underside of the anvil cover 630. When the tool set 600 is in the approximate position, the staple-forming depressions are positioned in juxtaposed alignment with the staple receiving slots in the 701 cartridge assembly .
[0083] [0083] Tool set 600 includes a mounting set 800 comprising an upper mounting portion 810 and a lower mounting portion 812. A mounting tail 632 projects proximally from a proximal end 631 of the cover. anvil 630. A distally located pivot element 814 extends from each upper and lower mounting portion 810 and 812 through the openings 822 that are formed in the coupling members 820. In at least one arrangement, the pivot element 814 of the upper mounting portion 810 also extends through opening 634 in mounting tail 632. Coupling members 820 each include a proximal interlocking portion 824 that is configured to be received in corresponding grooves formed at distal ends the outer case 532 and the inner case 534. The proximal structural part 520 of the end actuator 500 includes a pivot link 560 that has a proximal end barely shaped hook 562. The hinge link 560 is dimensioned to be slidably positioned in a slot in the internal cabinet. A pair of H 830 block assemblies is located adjacent to the distal end of the outer case 532 and adjacent to the distal end 544 of the axial drive assembly 540 to prevent warping and swelling out of the flexible drive bar 542 during articulation and firing of the surgical stapling device 10. Each H-830 block assembly includes a flexible body 832 that includes a proximal end fixedly attached to the distal end of the outer case 532 and a distal end that is attached fixedly to the mounting set 800. In one arrangement, a distal end 564 of the pivot link is pivotally attached to the right H-block set 830. Axial movement of the pivot link 560 will cause the tool set articulate in relation to the structural part 520.
[0084] [0084] Figures 11 to 15 illustrate an adapter 200 'which is substantially identical to the adapter 200 described above, except for the differences shown below. As can be seen in Figure 11, adapter 200 'includes an outer tube 206 that has a portion of
[0085] [0085] In at least one arrangement, channel 720, which can be machined or made of sheet metal, includes a pair of proximal holes 722 (Figure 10) that are configured to align with a pair of corresponding holes 636 in the anvil cover 630 to receive pins or corresponding protrusions 638 (Figure 12) to facilitate a pivoting relationship between the anvil set 612 and the cartridge set 701. In the illustrated example, a dynamic gripping set 550 is fixed to or formed at the distal end 544 of the flexible actuation bar 542. The dynamic gripping assembly 550 includes a vertical structural part 552 that has a fabric cutting surface 554 formed on or attached to it. See Figure 10, for example. An anvil engaging feature 556 is formed on one end of structural part 552 and comprises an anvil engaging tab 557 projecting from each side of structural part 552. Similarly, an anvil engaging feature channel 558 is formed on the other end of structural part 552 and comprises a channel engaging tab 559 that projects from each side of structural part 552. See Figure 15.
[0086] [0086] As indicated above, the anvil set 612 includes an anvil plate 620. The anvil plate 620 includes an elongated slot 622 that is configured to accommodate structural part 552 of the dynamic grip set 550 as per the set of grip dynamic 550 is axially advanced during the firing process. The elongated slot 622 is defined between two protrusions of the anvil plate 624 that extend along each side of the elongated gap 622. See Figure 10. As the dynamic gripping set 550 is advanced distally, the anvil hitch tabs 557 slide into the anvils of the anvil plate 624 to keep the anvil set 612 attached to the fabric.
[0087] [0087] Returning to Figures 13 and 15, channel 720 defines a coupling area generically designated as 730 that is configured to accommodate the dynamic grip set 550 when it is in its most proximal position, called here a non triggered or initial. In particular, the coupling area 730 is partially defined by flat coupling surfaces 732 that provide a gap between the channel engagement flaps 559 in the dynamic gripping assembly 550 to enable the cartridge assembly 701 to rotate to a fully open position. An inclined or actuating surface of the cam 726 extends from a distal end of each of the coupling surfaces 732. The inclined surface 726 is engaged by the dynamic gripping assembly 550 to move the anvil assembly 612 and cartridge assembly 701 relative to each other. A working surface of the similar cam could be provided in the anvil set 612 in other ways. It is envisaged that the inclined surfaces 726 can also facilitate the alignment and / or engagement between the channel 720 and the support plate 620 and / or the cartridge body 702. As the drive assembly 540 is advanced distally (fired) , the channel filler tabs 559 in the dynamic gripping assembly 550 engage with the corresponding inclined surfaces 726 to apply a closing motion to the cartridge assembly 701 thereby closing the cartridge assembly 701 and the anvil assembly 612. The additional distal translation of the dynamic gripping set 550 causes the actuation slide 712 to move distally through the cartridge body 702, which causes the cam wedges 713 of the actuation slide 712 to engage sequentially with the pusher of staples 709 to move staple pusher 708 vertically into the staple retaining slots 709 and eject staples 704 into the staple-forming depressions of the 620 bib plate. Subs Equivalent to the ejection of the clamps 704 from the retaining slots 706 (and in the fabric), the cutting edge 554 of the dynamic gripping set 550 cuts the stapled fabric according to the cutting edge of the fabric 554 in the vertical structural part 552 of the set of dynamic gripper 550 moves distally through a central slot 703 of the cartridge body 702. After the clamps 704 have been ejected from the cartridge body 702 and a user wishes to use the same instrument 10 to fire additional clamps 704 (or another type of fastener or knife), the user can remove the load unit 510 from the adapter 200 'and replace it with another new or unused load unit. In an alternate arrangement, the user can simply remove the spent 702 cartridge body and replace it with a new, unfired or spent 702 cartridge body.
[0088] [0088] The surgical instrument 100 may include sets of sensors to detect various states and / or parameters associated with the operation of the surgical instrument 100. A control or processor circuit can monitor these states and / or parameters detected and then control the operation of the surgical instrument 100 accordingly. For example, surgical instrument 100 can monitor the current drained by the motor that drives the first transmission / force conversion / rotation set 240 (Figure 6) in order to control the speed at which the gripping member 550 ( Figure 10) is translated. As another example, surgical instrument 100 can monitor the gap or distance between the claw members or the anvil plate
[0089] [0089] Figures 16 and 17 illustrate schematic diagrams of a 2000 circuit to control a 2010 engine of a surgical instrument, according to various aspects of the present disclosure. In the aspects represented, circuit 2000 includes a switch 2002, a first limit switch 2004 (for example a normally open switch), a second limit switch 2006 (for example a normally closed switch), a source 2008 power and a 2010 engine (for example an engine that is configured to drive the first transmission / power conversion / rotation set 240). The 2002 circuit can additionally include a first relay 2012 (for example a single pole reversing relay), a second 2014 relay (for example a single pole single relay), a third 2016 relay (for example a pole reversing relay) double), a current sensor 2018 and a current detection module 2030. In one aspect, circuit 2000 can include a 2028 motor control circuit that is configured to detect electrical current through the 2010 motor and then control the current accordingly. In the aspect represented in Figure 16, the second relay 2014, the current sensor 2018, the position sensor 2020 and the current detection module 2030 collectively form the 2028 motor control circuit. In the aspect shown in Figure 17, the second relay 2014, the current sensor 2018, the position sensor 2020 and the controller 2034 collectively form the motor control circuit 2028. As described below, the motor control circuit 2028 controls the current for the motor 2010 by interrupting the current based on the detected current, thus deactivating the 2010 engine when certain conditions occur.
[0090] [0090] The 2002 key is activated when a surgical instrument operator 100 initiates firing of the gripping member 550 to secure the end actuator 500 and cut and / or staple the tissue. The first limit switch 2004 is configured to remain open when the cutting / stapling operation of the 500 end actuator is not yet complete. When the first limit switch 2004 is open, the 2022 coil of the first relay 2012 is de-energized, thus forming a conductive path between the 2008 power source and the second relay 2014 through a normally closed contact of the relay 2012 The coil 2026 of the second relay 2014 is controlled by the current detection module 2030 and the position sensor 2020 as described below. When coil 2026 of the second relay 2014 and coil 2022 of the first relay 2022 are de-energized, a conductive path between the 2008 power source and a normally closed contact of the third relay 2016 is formed. The third relay 2016 controls the rotational direction of the 2010 engine based on the key states 2004, 2006. When the first limit switch 2004 is open and the second limit switch 2006 is closed (indicating that the holding member 550 is still not fully deployed distally), coil 2024 of the third relay 2016 is de-energized. Consequently, when coils 2022, 2024, 2026 are collectively de-energized, the current from the 2008 power source flows through the 2010 motor through the normally closed contacts of the third relay 2016 and causes the 2010 motor to rotate forward, which, in turn, it causes the gripping member 550 to be distally driven by the 2010 engine to secure the end actuator 500 and cut and / or staple the fabric.
[0091] [0091] When the gripping member 550 has been completely
[0092] [0092] The magnitude of the current through the 2010 engine during its forward rotation is indicative of forces exerted on the grip member 550 as it is distally driven by the 2010 engine. If a staple cartridge 702 is not loaded in the end actuator 500, an incorrect staple cartridge 702 is loaded into end actuator 500, or if the gripping member 550 experiences unexpectedly high resistance of the fabric as it cuts and / or staples the fabric, the resistance force exerted against the gripping member 550 causes an increase in the motor torque, which in this way causes the motor current to increase. If the motor current exceeds a limit, the 2028 motor control circuit can cut the electrical current to the 2010 motor, deactivating the motor and thus pausing the advance of the gripping member 550. Consequently, upon detection of the current through the 2010 engine, the 2028 engine control circuit can differentiate between normal operating limits for the deployment of the gripping member 550 and potential error conditions.
[0093] [0093] The current sensor 2018 can be coupled to a path of the 2000 circuit that conducts current to the 2010 engine during its forward rotation. Current sensor 2018 can be any current detection device (for example a branch resistor, Hall effect current transducer, etc.) suitable for generating a signal (for example a voltage signal) representative of the detected motor current. The generated signal can be inserted in the current detection module 2030 for processing therein. According to the aspect shown in Figure 16, the current detection module 2030 can be configured to compare the signal generated by the current sensor 2018 with a limit signal (for example a limit voltage signal) using of a comparator circuit 2032 to receive the limit signals and the current sensor 2018 and generate a distinct output based on a comparison of the received signals. In some respects, a limit signal value can be determined empirically a priori by measuring the peak signal generated by the current sensor 2018 when the gripping member 550 is initially implanted (for example, over a period or initial length of its distal movement) during a cutting and stapling operation. In other respects, the value of the limit signal can be a predetermined value that can, in one example, be retrieved from a memory.
[0094] [0094] In some aspects, it may be desirable to limit the comparison of the detected motor current to the limit value for a specific position or range (s) of positions along the firing stroke of the gripping member 550. In these aspects, the motor control circuit 2028 additionally includes a position sensor 2020 which is configured to generate a signal indicative of the position of the gripping member 550 (or, alternatively, a component of the second or third transmission / force conversion / rotation set 250 , 260 for aspects in which the 2010 engine represented in Figures 16 and 17 drives the second or third set of transmission / conversion of force / rotation 250, 260). The position sensor 2020 can include, for example, the position detection set shown in Figure 18 and described in more detail below.
[0095] [0095] According to the aspect shown in Figure 17, the 2028 motor control circuit can include a 2034 processor-based microcontroller in place of the 2030 current detection module described above. Although not shown for clarity, the 2034 microcontroller can include components well known in the microcontroller art, such as a processor, a random access memory unit (RAM), a memory unit erasable programmable read- only memory (EPROM) only, an interrupt controller unit, timer units, analog-to-digital conversion (ADC) and analog units digital-to-analog conversion (DAC) and several general input / output (1 / O) ports for receiving and transmitting digital and analog signals. In the example, the 2034 microcontroller includes motor controllers that comprise A3930 / 31K motor starters available from Allegro Microsystems, Inc. The A3930 / 31K motor starters are designed to control a brushless DC motor (BLDC, " brushless DC ") three-phase with external N-channel power MOSFETs, such as motors 152, 154, 156 (Figure 4). Each of the motor controllers is coupled to a main controller arranged on the main controller circuit board 142b (Figure 4). The main controller is also coupled to the memory, which is also arranged on the main controller circuit board 142b (Figure 4). In one example, the main controller comprises an ARM Cortex M4 processor available from Freescale Semiconductor, Inc., which includes 1024 kilobytes of internal flash memory. The main controller communicates with the motor controllers via an FPGA, which provides logic control signals. The control logic of the motor controllers then emits energization signals corresponding to their respective motors 152, 154, 156 with the use of fixed frequency pulse width modulation (PWM).
[0096] [0096] Current sensor 2018 and position sensor 2020 can be connected to analog and digital inputs, respectively, of microcontroller 2034, and coil 2026 of the second relay 2014 can be connected to a digital output of microcontroller 2034. It will be understood that, in aspects where the position sensor 2020 output is an analog signal, the position sensor 2020 can be connected to an analog input instead. In addition, although circuit 2000 includes relays 2012, 2014, 2016, it will be understood that, in other aspects, the relay switching functionality can be replicated using solid state switching devices, software and combinations thereof. In certain respects, for example, instructions stored and executed on the 2034 microcontroller can be used to control solid state switched outputs from the 2034 microcontroller. In such aspects, the 2004, 2006 switches can be connected to the microcontroller digital inputs. 2034.
[0097] [0097] Figure 18 illustrates a schematic diagram of a 2102 position sensor of a surgical instrument 100, in accordance with an aspect of the present disclosure. The 2102 position sensor can be implemented as a rotary, magnetic, single-circuit, ASSOSSEQFT position sensor, available from Austria Microsystems, AG. The 2102 position sensor interfaces with the 2104 controller to provide an absolute positioning system
[0098] [0098] Hall effect elements 2106A, 2106B, 2106C, 2106D are located directly above the rotating magnet (not shown). The Hall effect is a well-known effect and for convenience it will not be described in detail in this document; however, generally
[0099] [0099] The ASS055 2102 position sensor requires only a few external components to operate when connected to the controller
[00100] [00100] Due to the measurement principle of the ASS055 2102 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as the angle measurement is completed, the AS5055 2102 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented in the integrated circuit, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. Angle variation can be reduced by averaging multiple angle samples in the controller
[00101] [00101] Figure 19 illustrates a logic flow diagram of a 2200 process for monitoring a motor current of a surgical instrument 100, in accordance with an aspect of the present disclosure. In the following description of process 2200, reference should also be made to Figures 16 to 18, which represent various sets of sensors used by the 2200 process, and to Figures 20 and 21, which represent various firing strokes of the gripping member 550 executed according to process 2200. Process 2200 described here can be performed by a controller, which includes the control circuit shown in Figures 16 and 17, the microcontroller 2104 in Figure 18 or another control circuit and / or processor that is executing logic and / or instructions stored in a memory of the surgical instrument 100. Process 2200 starts to be executed when the cutting / stapling and gripping operations of end actuator 500 are initiated 2202.
[00102] [00102] - “Consequently, process 2200 executed by the controller advances 2204 the gripping member 550 from a first position or proximal position by energizing the 2010 engine to which the gripping member 550 is operationally connected. nected. The advance of the gripping member 550 between a first position or a proximal position and a second position or a distal position can be called a stroke or firing stroke. During the course of a full stroke of the gripping member 550, the gripping member 550 will grip the end actuator 500 and then cut and / or staple the fabric held in this way. The course of the gripping member 550 can be represented, for example, as a graph where the geometric axis x corresponds to the distance or time along which the gripping member 550 advanced, as shown in Figures 20 and 21 The actions performed by gripping member 550 may correspond to positions or zones defined in the course of gripping member 550. For example, there may be a position on the course where gripping member 550 has closed end actuator 500 and after that, it is cutting and / or stapling the fabric. As another example, there may be a position in the course of the gripping member 550 where the gripping member 550 is no longer ejecting staples or cutting the fabric. The controller can also take various measures according to the position of the gripping member 550. For example, there may be a position where the speed at which the gripping member 550 is operated is controlled or changed by a controller. These positions or zones can refer to actual physical positions in which the gripping member is located or to relative positions in the course of the gripping member. The positions or zones can, alternatively, be represented as times in the course of the gripping member 550, as shown in Figure 20.
[00103] [00103] “As the gripping member 550 is advanced 2204, the controller detects 2206 the motor current through, for example, the current sensor 2018. The controller then determines 2208 whether the gripping member 550 is in the final position of closure. In one example, the controller can determine 2208 whether the gripping member is in the final closing position using position sensor 2102. The final closing position corresponds to the location in the firing stroke of the gripping member 550 after the gripping member 550 has closed the end actuator 500 and is thereafter cutting through the fabric and / or firing staples as the gripping member 550 continues to advance distally. In some respects, the controller can retrieve the final closed position of a memory and then compare the final closed position stored with the detected position of the gripping member 550 to determine whether the detected position matches or exceeds the final closing position. stored. In other respects, the controller can determine the final closing position, for example, by monitoring a peak in the motor current. If the gripping member 550 is not in the final closing position, process 2200 continues on the NO branch and the controller continues to move the 2010 engine forward by 2204 the gripping member 550. The process
[00104] [00104] If the controller determines 2208 that the gripping member 550 is located in the final closing position or beyond, the 2200 process continues on the YES branch and the controller selects 2210 the target firing speed at which the member grip 550 must be driven by the 2010 engine according to the motor current value in the final closing position. The level of motor current required to close end actuator 500 can be indicative of various properties of the trapped tissue. For example, the value of the motor current in the final closing position may correspond to the thickness of the trapped tissue because the force exerted by the gripping member 550 to secure the tissue is proportional to the thickness of the tissue. As the force exerted by the gripping member 550 or the torque exerted by the 2010 engine is proportional to the current drained by the 2010 engine, the level of the motor current in the final closing position thus corresponds to the thickness of the trapped tissue. It may be desirable to define the target firing speed at which the gripping member 550 is triggered according to the thickness of the trapped tissue because advancing the gripping member 550 too quickly through the thick tissue can cause improper staple formation and increase the effort in the engine 2010. As another example, the level of the motor current can also correspond to the anatomical type of the trapped tissue (eg lung tissue, gastrointestinal tissue or cardiac tissue) because the physical resistance exerted on the cutting surface 554 actuated by gripping member 550 may vary for different types of fabric. In some respects, the controller can compare the detected motor current value in the final closed position with a range of motor current values and then determine whether the detected motor current has exceeded one or more limits or is in one or more zones the track. The controller can then select 2210 the target trip speed for grip member 550 as a specific value or set a tolerance limit for the target trip speed including a range of values, which correspond to where the current of the detected engine is in the range.
[00105] [00105] After selecting the target firing speed 2210, the controller then causes the gripping member 550 to advance 2212 at an initial speed. The initial speed and the length of time or distance by which the gripping member 550 is advanced at the initial speed can be set values that are retrieved by the controller from a memory or calculated values that are determined by the controller as a function of thickness of the fabric. In some respects, the controller lacks this step in process 2200 and instead simply proceeds to advance hold member 550 at the given target speed. The initial speed can be a value that is less than the target firing speed. In other words, the controller can cause the 2010 engine to advance the gripping member 550 initially at a lower speed in a first zone or portion of the firing stroke in relation to a subsequent portion or zone of the firing stroke. In some respects, the initial speed value can be zero or almost zero. It may be desirable to advance the gripping member 550 at a lower speed 2212 initially to allow the fluid to drain from the tissue trapped in the end actuator 500. The fluid is drained from the trapped tissue due to the mechanical forces exerted on the tissue by the end actuator 500. In one aspect, the length of time or distance the gripping member 550 is advanced at initial speed can vary according to the thickness of the trapped tissue.
[00106] [00106] During the firing stroke portion of pressure member 550 directly after the final closing position, the controller determines 2214 additionally if the motor current exceeds a blocking limit or maximum. The controller can recover the blocking limit of a memory. The detected motor current that exceeds the blocking limit indicates that the gripping member 550 is not being advanced distally from the final closing position. The gripping member 550 can be prevented from advancing distally in the portion of its firing stroke immediately after the final closing position for a variety of reasons, as if the end actuator 500 lacked a clamp cartridge assembly 700. If the motor current exceeds the blocking limit, process 2200 continues on the YES branch and stops at 2216 in order to reduce stress on the motor 2010. The controller can then cause the surgical instrument 100 to display an alert to the operator or take other similar measures.
[00107] [00107] If the motor current does not exceed the blocking limit, process 2200 continues in the NO branch, the controller then causes the gripping member 550 to advance 2218 at an increasing speed rate until the speed reaches the value of target speed or be in the target speed range (which is a function of tissue thickness). In some respects, the rate at which the controller causes the 2010 engine to activate grip member 550 to increase the speed of grip member 550 is a predetermined or set rate. In other respects, the rate at which the speed of the gripping member 550 is increased is a function of one or more parameters, such as the thickness of the fabric. In other words, the controller could be configured to cause the speed of the gripping member 550 to increase more slowly for thicker tissue or to increase more rapidly for thinner tissue.
[00108] [00108] As the gripping member 550 is advanced distally (that is, triggered), the controller detects the motor current 2220. The controller, therefore, determines 2222 if the detected motor current exceeds a limit value. In one example, the limit value can be retrieved by the controller from a memory for comparison with the detected motor current 2220. This limit can be the same or different in relation to the blocking limit described above. In addition, the limit may correspond to the thickness of the fabric, for example. In some respects, if the controller determines 2222 that the motor current has exceeded the determined limit, then process 2200 proceeds on the YES branch and the controller slows down 2224 trip speed of grip member 550. In other respects, if the controller determine 2222 that the motor current has exceeded the determined limit, then process 2200 proceeds in the YES branch and the controller pauses 2224 gripping member 550 in its current position in its firing stroke. Decreasing the firing speed or pausing 2224 of grip member 550 reduces the torque experienced by the 2010 engine (to zero, in the case of pause of grip member 550). After a specific length of time or after grip member 550 has advanced a specific distance (in the event that grip member 550 is slowed down, not paused), process 2200 returns and the controller again causes the limb gripping 550 advance 2218. The distance or elapsed time before the controller starts causing the gripping member 550 to increase in speed can be an adjustment value or can be a function of a fabric parameter (for example, example the thickness of the fabric).
[00109] [00109] If the controller determines 2222 that gripping member 550 has not exceeded a limit, process 2200 continues on branch NO and the controller then determines 2226 whether gripping member 550 is located in the final trigger position. The final firing position corresponds to the distal point reached by the gripping member 550 in its firing stroke to cut the tissue and / or to release clamps from the end actuator 500. If the gripping member 550 has not reached the position end of firing, process 2200 continues on branch NO and returns. The controller then continues to advance 2218 the gripping member 550 (and increase its speed, as appropriate) and 2220 detects the motor current during the course of the trip stroke to determine 2222 whether the motor current exceeds the limit. The controller continues this circuit until it determines 2226 that the gripping member 550 is located in the final trigger position. If the controller determines 2226 that the gripping member 550 is located in the final firing position, process 2200 continues on the YES branch and then to 2228.
[00110] [00110] To provide further explanation of the function (s) described above that the controller is configured to execute, process 2200 will be discussed in terms of several examples of trigger courses represented in Figures 20 and 21. Figure 20 illustrates a first graph 2300 and a second graph 2302, each of which represents a first firing stroke 2304 and a second firing stroke 2306 of grip member 550. The first graph 2300 represents motor current 2303 versus the time 2301 and the second graph 2302 represents the speed of the gripping member 2305 versus the time 2301 for the trigger stroke examples 2304, 2306 of the gripping member 550. The geometric axis of the time 2301 is delineated in a " CLOSING ", a" CUT / CLAMPING "zone and a" STOP "zone, which indicates the action (s) that the gripping member 550 is performing on each respective portion of its firing stroke. In combination, the first graph 2300 and the second graph 2302 illustrate the relationship between
[00111] [00111] As discussed above in connection with Figure 19, the controller that executes the 2200 process can be configured to select 2210 the firing speed at which the gripping member 550 should be activated according to the motor current in the final closing position 2308. In other words, the controller is configured to select 2210 a gripping member firing speed 550 that is suitable for the thickness of the attached tissue or that otherwise corresponds to it, as indicated by the motor current in the final closing position 2308. In one aspect, the controller selects the trigger speed of the hold member 550 according to where the motor current detected in the final closing position 2308 it is in a range of values. In some respects, this can be expressed as if the motor current in the final closing position 2308 has exceeded one or more limits in a range of motor current values. In other respects, this can be expressed as if the motor current in the final closing position 2308 is in a specific zone or zones in a range of motor current values.
[00112] [00112] In the represented aspect, there is a first limit T1, a second limit T2 and a third limit Ta, which can demarcate areas corresponding to fine tissue, medium tissue and thick tissue, respectively. In other words, if the motor current in the final closing position 2308 is below T1, then the fabric can be considered thin because relatively small torque was exerted by the 2010 motor to secure the end actuator 500 over the fabric. Consequently, if the motor chain in the final closed position
[00113] [00113] The first firing stroke 2304 and the second firing stroke 2306 are examples in which the controller determines 2222 that the motor current exceeds a limit during the stroke travel of the gripping member and then pause 2224 the gripping member 550. For example, in the first trip stroke 2304, the current of the closing motor 2312 in the final closing position 2308 has exceeded the second limit T2; therefore, the controller selects the slower speed zone S3 as the target speed at which gripping member 550 is to be activated during the cut / staple phase of the trigger stroke. In the second trip stroke 2306, the closing motor current 2319 in the closing position 2308 exceeded the first limit T1; therefore, the controller selects the average speed zone S> as the target speed at which the gripping member 550 is to be activated during the cut / staple phase of the firing stroke. The speed zones S :, S2, S3 define upper and lower tolerance limits for the speed at which the grip member 550 is driven by the 2010 engine. If the speed of the grip member 550 exceeds the upper and lower limits bottom of the speed zone S1, S2, S3 selected by the controller, then the controller can be configured to take various measures, such as controlling the engine 2010 to increase or decrease the speed at which the gripping member 550 is activated or adjust the electrical energy supplied to the 2010 engine. In other words, the speed zones S1, S2, S3 represent acceptable speed ranges in which the speed at which the gripping member 550 is actually translated can vary without causing the controller takes corrective action. It should be understood that, although the target speed zones S1, S2, S; shown as ranges in the second graph 2302, they can alternatively be different values. In general, it may be desirable to define tolerance ranges for the speed at which the grip member 550 is advancing because the speed will vary naturally during a firing stroke because the fabric is not uniform in thickness, the grip member 550 ten - slowing down as slider 712 ejects staples (which are spaced apart from each other) and the fabric cut surface 554 (Figure 10) may be advancing through different types of fabric with physical properties many different.
[00114] [00114] Continuing the description of the first firing stroke 2304, after the final closing position 2308, the controller causes the speed at which the gripping member 550 is advanced to drop from closing speed 2332 to an initial speed 2333, which it may be lower than the selected target speed (and in some cases it is zero). The initial speed 2333 corresponds to a low starting motor current 2313. The controller then gradually increases the speed at which the gripping member 550 is activated to a target speed 2334 that is in the target speed range S3 previously selected by the controller. As the speed of the gripping member increases, the motor current also increases 2314. If the gripping member 550 does not encounter any abnormal tissue resistance as the tissue cutting surface 554 is driven through it, the speed of the limb the hold speed will thus be maintained in the target speed range S; 3 through the trip path to stop position 2310. However, in this example, the speed, instead, starts to decrease after that. As the speed decreases, the motor current increases until it reaches
[00115] [00115] A series of similar events described above in relation to the first trip course 2304 occurs in relation to the second trip course 2306, except that the controller selects the target speed range as S> because the current of the closing motor 2319 only exceeded the first limit T1 in the closing position 2308. As with the first trip stroke 2304,
[00116] [00116] Figure 21 illustrates a third graph 2400 and a fourth graph 2402, each of which represents a third firing stroke 2404, a fourth firing stroke 2406 and a fifth firing stroke 2408 of the gripping member 550. The third graph 2400 represents the motor current 2403 versus the travel distance of the gripping member 2401 and the fourth graph 2402 represents the speed of the gripping member 2405 versus the travel distance 2401 for the examples of firing strokes 2404, 2406, 2408 of gripping member 550. The geometric axis of travel distance 2401 is delineated in a "CLOSING" zone, a "CUT / CLAMPING" zone and a "STOP" zone , which indicates the action (s) that the gripping member 550 is triggered in each respective portion of its firing stroke. In combination, the third graph 2400 and the fourth graph 2402 illustrate the relationship between the motor current 2403 and the speed of the holding member 2405 for different trip courses 2404, 2406, 2408 and the resulting measurements taken by a controller running the 2200 process represented in Figure 19.
[00117] [00117] As discussed above in connection with Figure 19, the controller that executes the 2200 process can be configured to select 2210 the firing speed at which the gripping member 550 should be activated according to the motor current in the final closing position 2410. In other words, the controller is configured to select 2210 a firing speed for the gripping member 550 that is suitable for the thickness of the stuck tissue or that otherwise corresponds to the same , as indicated by the motor current in the final closing position 2410. In one aspect, the controller selects the firing speed of the gripping member 550 according to where the motor current detected in the final closing position 2410 is in a range of values. In some respects, this can be expressed as if the motor current in the closed closing position 2410 has exceeded one or more limits in a range of motor current values. In other respects, this can be expressed as if the motor current in the final closing position 2410 was in a specific zone or zones in a range of motor current values. In the aspect shown, the motor current 2403 includes a first zone |, a second zone iz and a third zone iz. The zones may or may not be contiguous to each other. The representation of three zones is, i2, i3 along the geometric axis of the motor current 2403 is simply illustrative and the process 2200 can incorporate any number of limits, however.
[00118] [00118] As discussed above also in connection with Figure 19, the process 2200 performed by the controller can be configured to determine 2214 if the motor current exceeds a blocking limit 2415. The third trip course 2404 represents a example of trip stroke in which the controller determines 2214 that the blocking limit 2415 has been exceeded. In the third stripping course
[00119] [00119] The fourth trip stroke 2406 is an example in which the controller determines 2222 that the motor current exceeds a limit during the travel of the grip member and then decreases the speed of the grip member 550 by 2224. In the fourth stroke trip 2406, the closing motor current 2418 is in the iz zone; therefore, the controller selects S2 as the target speed range
[00120] [00120] The fifth firing stroke 2408 represents a firing stroke in which the gripping member 550 is actuated through the fastened fabric that lacks any significant variations in thickness. In the fifth trip stroke 2408, the current of the closing motor 2448 is in zone i1; therefore, the controller selects S; as the target speed range 2458. After the final closing position 2410, the controller causes the gripping member speed to decrease from the closing speed 2454 to an initial speed 2456. The controller then causes the travel member increase from initial speed 2456 to target speed 2458 in the selected speed range S3. In the present example, gripping member 550 maintains its speed at target speed 2458 throughout the length of the firing stroke. The motor current is also maintained at 2450 at the thresholds of current zone i1. In other words, the gripping member 550 does not find any portions of fabric that are considerably thicker or thinner in relation to the expected fabric thickness (that is, the fabric thickness indicated by the closure motor chain 2418 ) as the gripping member 550 advances from the final closing position 2410 to the final firing position 2412. When the gripping member 550 reaches the final firing position 2412, the controller cuts the motor current 2452, which causes with which the speed of the gripping member falls from 2460 to zero, according to the
[00121] [00121] Figure 22 illustrates a diagram of an end actuator 10000 that includes a span sensor 10006 and a cartridge identity sensor 10010, in accordance with an aspect of the present disclosure. The span sensor 10006 is configured to detect the span or distance between the first claw member 10004 (that is, the anvil set 610) and the second claw member 10006 (that is, the cartridge set 700) by detecting the relative position of a 10008 magnet. The 10006 position sensor can include a Hall effect sensor, among other sensors configured to detect the relative distance between components. In one aspect shown in Figure 23, the position sensor 10006 comprises a Hall element 10100, an amplifier 10102 and a power source 10104. The Hall element comprises a first input terminal 10108A and a second input terminal 10108B. The first and second input terminals 10108A, 10108B are configured to receive a constant input current from the power source 10104. When no magnetic field is present, the input current enters the first input terminal 10108A and exits of the second input terminal 10108B without any loss of voltage potential to either side of the Hall element 10100. As a magnetic field is applied to the element Hall 10100, as for example by the magnet 10008 , a voltage potential is formed on the sides of the Hall 10100 element due to the deflection of electrons flowing through the Hall 10100 element. A first 10108C output terminal and a second 10108D output terminal are located on opposite sides of the element Hall 10100. The first and second output terminals 10108C, 10108D provide the voltage potential caused by the magnetic field to the 10102 amplifier. The 10102 amplifier amplifies the voltage potential experienced by the eleme Hall 10100 and outputs the amplified voltage to an output terminal 10106. Therefore, the output of the position sensor 10006 corresponds to the relative distance of the magnet 10008 to the Hall element 10100. The detection of the distance between claw members 10006, 10008 can be beneficial because this distance corresponds to the thickness of the trapped tissue when the end actuator 10000 is attached. Therefore, detecting the distance between claw member 10006, 10008 can be used in place of, or in addition to, determining the thickness of the motor chain fabric to secure the end actuator 10000, as described above.
[00122] [00122] Again with reference to Figure 22, the cartridge identity sensor 10010 is configured to detect the type or identity of a cartridge 702 present in the end actuator 10000. In an aspect where the end actuator 10000 is a MULU with replaceable cartridges 702, the cartridge identity sensor 10010 includes a receiver that is configured to receive a signal (for example an RF signal) transmitted from cartridge 702. In another aspect where the end actuator 10000 is a MULU, the cartridge identity sensor 10010 includes an electrical contact that is configured to contact an electrical contact corresponding to cartridge 702 when cartridge 702 is inserted into end actuator 10000. After cartridge 702 When inserted, cartridge 702 transmits a signal through the electrically connected electrical contacts, which is received by a controller of the surgical instrument 100 to identify cartridge 702.
[00123] [00123] In another aspect where the end actuator 10000 is a SULU, the cartridge identity sensor 10010 is configured to detect when the end actuator 10000 is coupled to adapter 200. In this aspect shown in Figures 24 and 25 , the terminal end 10206 of the adapter 200 includes one or more electrical contacts 10200, each including a curved portion 10202.
[00124] [00124] Figure 26 illustrates a logic flow diagram of a 10300 process for selecting an initial speed at which to fire the gripping member 550, according to an aspect of the present disclosure. In the following description of the 10300 process, reference should also be made to Figures 22 to 25, which represent various sets of sensors used by the 10300 process, and to Figure 27, which represents various firing strokes of the gripping member 550 executed in according to the 10300 process. The 10300 process described here can be performed by a controller, which includes the control circuit represented in the
[00125] [00125] Consequently, process 10300 executed by the controller first advances 10304 the gripping member 550 by energizing the motor 2010 to which the gripping member 550 is operationally connected. The controller then determines 10306 whether the gripping member 550 is in the final closed position. In one example, the controller can determine 10306 if the gripping member 550 is in the final closing position using position sensor 2102 (Figure 18). The final closing position corresponds to the location in the firing stroke of the gripping member 550 after the gripping member 550 has closed the end actuator 500 and is, after that, cutting the fabric and / or firing staples . In some respects, the controller can retrieve the final closing position of a memory and then compare the known final closing position with the detected position of the holding member 550. In other aspects, the controller can determine the final closing position by monitoring a peak in the motor current. If the gripping member 550 is not in the final closing position, process 10300 proceeds in the NO branch and the controller continues to move the 2010 engine 10304 to gripping member 550. Process 2200 continues this circuit until the gripping member grip 550 is located in the closing position or beyond.
[00126] [00126] If the controller determines 10306 that pressure member 550 is located in the final closing position or beyond in its firing stroke, process 10300 proceeds in the SIM ramification and then determines 10308 the span distance between anvil set 610 and cartridge set 700. In one example, the controller determines 10308 the span distance using span sensor 10006. The controller then determines 10310 the type or identity of cartridge 702 and / or of end actuator 500. In one example, the controller determines 10310 the type or identity of cartridge 702 by means of cartridge identity sensor 10100. The cartridge then determines 10312 whether the gap distance is acceptable for the type of cartridge detected . Different types of 702 cartridges have different acceptable tolerance ranges; therefore, a gap distance between the anvil assembly 610 and the cartridge assembly 700 that is suitable (i.e., within operating tolerances) for one type of cartridge 702 may not be suitable for another type of cartridge 702. If the controller determines that the gap distance is not suitable for the given type of cartridge, process 10300 continues on branch NO and to 10314. In that case, process 10300 may show a warning to the operator and / or block the instrument surgical 100 of firing the gripping member 550.
[00127] [00127] If the controller determines that the span distance is suitable for the given type of cartridge, process 10300 continues on the YES branch and then determines 10316 the target firing speed for the gripping member 550 of according to the gap distance detected and the type of cartridge detected. In one aspect, the controller can select a target firing speed according to whether the detected span distance exceeds one or more limits or is in one or more zones in a range of span distances that are specific to a given type cartridge. In other words, different cartridge types may have different tolerance ranges for the speeds at which the gripping member 550 can be advanced.
[00128] [00128] To provide further explanation of the function (s) described above that the controller is configured to execute, process 10300 will be discussed in terms of the various examples of trigger courses represented in Figure 27. Figure 27 illustrates a graph 10400 depicting several firing strokes 10406, 10408, 10410, 10412, 10414, 10416, 10418 of the gripping member 550 corresponding to different types of cartridge. In graph 10400, the first firing stroke 10406, the second firing stroke 10408, the fifth firing stroke 10414 and the seventh firing stroke 10418 correspond to a first type of cartridge; the third firing stroke 10410 and the sixth firing stroke 10416 correspond to a second type of cartridge; and the fourth firing stroke 10412 corresponds to a third type of cartridge. Graph 10400 represents the span distance 10404 of the end actuator 500 versus the travel distance 10402 of the gripping member 550. The resulting measurements taken by a controller that executes the 10300 process (that is, determines 10316 the speed trigger distance) depend on the span distance 10404 at the closing closing position 10420 for the type of cartridge for each trigger stroke. Graph 10400 also represents a variety of limits x1 ... xs along the geometric axis of span 10404 that delineates zones between them. The sequentially increasing limits x1 ... xs can correspond to ever greater values of the span distance 10404. Each type of cartridge does not necessarily use all the limits represented x1 ... x6 and different types of cartridge can use the same or different limits x1 ... X6 and / or zones, as will be discussed below. In addition, although six limits x1 ... xs are shown, the 10300 process performed by the controller can use any number of limits and / or zones in practice.
[00129] [00129] For the first type of cartridge, the limits x6, x5 and x3 define the zones that determine the firing speed selected by the controller. For example, in the final closing position 10420, the first firing stroke 10406 is located in a position 10407 that exceeds xs. Exceeding the xs limit corresponds to the stuck tissue being too thick to cut and staple for the given type of cartridge or to have been incorrectly stapled. In this case, the controller can show a warning to the operator and / or block the surgical instrument 100 from firing the gripping member 550. The second firing stroke 10408 is located at a position 10409 in an area between x: and xs at final closing position 10420, which corresponds to a large gap or thick fabric for the particular type of cartridge. Therefore, the controller can select a slower firing speed for gripping member 550. The fifth firing stroke 10414 is located at a position 10415 in an area between x5 and x3 at the final closing position 10420, which corresponds to a medium span or medium, normal or expected tissue thickness for the particular type of cartridge. Therefore, the controller can select a medium or normal firing speed for gripping member 550. The seventh firing stroke 10418 is located at position 10419 in an area below x3 in the final closing position 10420, the which corresponds to a small gap or thin fabric for the particular type of cartridge. Therefore, the controller can select a rapid firing speed for grip member 550.
[00130] [00130] The relevant limits may vary for different types of cartridge. For the second type of cartridge, the limit x4 outlines zones that define a fast firing speed and a normal firing speed. For example, the third firing stroke 10410 is located in a position 10411 in an area above xa in the final closing position 10420, which corresponds to a medium span or average, normal or expected tissue thickness for the given cartridge type. Therefore, the controller can select a medium or normal trigger speed for the gripping member
[00131] [00131] The relevant limits can also be shared between different types of cartridge. For the third type of cartridge, limit x4 outlines zones that define a fast firing speed and a normal firing speed (as with the second type of cartridge in the third firing stroke 10410 and the sixth firing stroke 10416). For example, the fourth firing stroke 10412 is located in a position 10413 in an area below x in the final closing position 10420, which corresponds to a small gap or thin fabric for the particular type of cartridge. Therefore, the controller will select a fast firing speed for the gripping member
[00132] [00132] In short, process 10300 performed by the controller can select the appropriate firing speed for the gripping member 550 during the cutting / stapling portion of its firing stroke according to where the gap distance detected between the set of anvil 610 and cartridge assembly 700 is in relation
[00133] [00133] Although several aspects have been described in this document, many modifications and variations of those aspects can be implemented. For example, different types of end actuators can be employed. In addition, where materials are revealed for certain components, other materials can be used. The aforementioned description and the following claims are intended to cover all such modifications and variations.
[00134] [00134] Any patent, publication or other disclosure material, in whole or in part, that is considered to be incorporated by reference to the present invention, is incorporated into the present invention only to the extent that the incorporated materials do not enter in conflict with existing definitions, statements or other disclosure materials presented in this disclosure. Accordingly, and to the extent necessary, the disclosure as explicitly presented herein replaces any conflicting material incorporated by reference to the present invention. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other disclosure materials contained herein, will be incorporated here only to the extent that there is no conflict. between the embedded material and the existing developer material.
[00135] [00135] Various aspects of the subject described in this document are defined in the following numbered examples:
[00136] [00136] Example 1 - A surgical instrument comprising an engine that includes a control circuit coupled to it and configured to detect whether an end actuator that is connectable to the surgical instrument is in a closed position. In at least one example, the end actuator is configured to receive a cartridge that supports a plurality of clamps. The control circuit is also configured to detect a position of a pressure member operable by the motor between a first position and a second position. The gripping member is configured to transition the end actuator to the closed position as the gripping member moves from the first position to the second position and to deploy the plurality of cartridge clamps after the end actuator is in position closed as the gripping member moves to the second position. The control circuit is additionally configured to cause the motor to activate the gripping member at a first rate in a first zone between the first position and the second position and to cause the motor to activate the gripping member a a second rate in a second zone between the first position and the second position. In at least one example, the first rate is less than the second rate.
[00137] [00137] Example 2 -The surgical instrument of Example 1, in which the first zone is located proximally to the second zone.
[00138] [00138] Example 3-0 The surgical instrument of Example 1, in which the first zone is located before the second zone.
[00139] [00139] Example 4 -The surgical instrument of Example 1, 2 or 3, in which a length of the first zone corresponds to a thickness of tissue attached to the end actuator.
[00140] [00140] Example 5 -o0The surgical instrument of Example 3, in which the surgical instrument comprises a sensor that is configured to detect a gap between the claw members of the end actuator-
[00141] [00141] Example 6 -o0The surgical instrument of Examples 4 or 5, in which the control circuit is configured to detect a motor current as the end actuator makes the transition to the closed position, the motor current corresponding to the species - sura of the tissue.
[00142] [00142] “Example 7 - A surgical instrument that comprises an engine that includes a control circuit coupled to it, in which the control circuit is configured to detect whether an end actuator that is connectable to the surgical instrument is in a closed position. In at least one example, the end actuator is configured to receive a cartridge that supports a plurality of clips. The control circuit is additionally configured to detect a position of a gripping member operable by the motor between a first position, a second position and a third position. The gripping member is configured to transition the end actuator to the closed position as the gripping member moves from the first position to the second position. The gripping member is further configured to deploy the plurality of clips on the cartridge as the gripping member moves from the second position to the third position. The control circuit is additionally configured to cause the motor to activate the gripping member at a first rate in a first zone between the first position and the second position and to cause the motor to activate the gripping member a a second rate in a second zone between the second position and the third position. In at least one example, the first rate is less than the second rate.
[00143] [00143] Example 38 -o The surgical instrument of Example 7, in which the first zone is located proximally to the second zone.
[00144] [00144] Example 9-o0 The surgical instrument of Example 7, in which the first zone is located before the second zone.
[00145] [00145] Example 10-The surgical instrument of Examples 7, 8 or 9, in which a length of the first zone corresponds to a thickness of tissue attached to the end actuator.
[00146] [00146] Example 11- The surgical instrument of Example 10, in which the surgical instrument comprises a sensor configured to detect a gap between claw members of the end actuator, the gap corresponding to the thickness of the tissue.
[00147] [00147] Example 12-0The surgical instrument of Examples 10 or 11, in which the control circuit is configured to detect a motor current as the end actuator makes the transition to the closed position, the current being motor corresponding to the fabric thickness.
[00148] [00148] Example 13- A surgical instrument that comprises an engine that includes a control circuit coupled to it that is configured to detect whether an end actuator that is connectable to the surgical instrument is in a closed position. In at least one example, the end actuator is configured to receive a cartridge that supports a plurality of clamps. The control circuit is additionally configured to detect a position of a gripping member operable by the motor between a first position, a second position and a third position. The gripping member is configured to transition from the end actuator to the closed position as the gripping member moves from the first position to the second position and to implant the plurality of cartridge clamps according to the gripping member. grip moves from the second position to the third position. The control circuit is additionally configured to cause the motor to activate the gripping member at a variable rate corresponding to a location.
[00149] [00149] Example 14 - The surgical instrument of Example 13, in which the control circuit is configured to cause the motor to activate the gripping member at a slower rate for a period of time corresponding to a thickness of one tissue stuck to the end actuator.
[00150] [00150] Example 15 - The surgical instrument of Examples 13 or 14, in which the surgical instrument comprises a sensor configured to detect a gap between claw members of the end actuator, the gap corresponding to the thickness of the tissue.
[00151] [00151] Example 16 -The surgical instrument of Examples 13, 14 or 15, in which the control circuit is configured to detect a motor current as the end actuator makes the transition to the closed position, with the corresponding motor current the thickness of the fabric.
[00152] [00152] Many of the surgical instrument systems described here are driven by an electric motor; however, the surgical instrument systems described here can be induced in any suitable way. In several examples, the surgical instrument systems described herein can be induced, for example, by a manually operated trigger. In certain cases, the motors disclosed in this document may comprise a portion or portions of a robotically controlled system. In addition, any of the end actuators and / or tool sets shown in the present invention can be used with a robotic surgical instrument system. US Patent Application Serial No. 13 / 118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now Pa-
[00153] [00153] The surgical instrument systems described here have been described in connection with the implantation and deformation of the staples; however, the embodiments described in the present invention are not so limited. Several modalities are foreseen, which implant fasteners in addition to staples, such as claws or tacks, for example. In addition, several modalities are contemplated, which use any suitable means to seal the fabric. For example, an end actuator, according to various modalities, may comprise electrodes configured to heat and seal the tissue. Likewise, for example, an end actuator according to certain modalities, can apply vibrational energy to seal the tissue.
[00154] [00154] Although several devices have been described here in connection with certain modalities, modifications and variations of these modalities can be implemented. The specific resources, structures or characteristics can be combined in any appropriate way in one or more modalities. Therefore, the specific resources, structures or characteristics illustrated or described in connection with a modality may be combined, in whole or in part, with the resources, structures or characteristics of one or more other modalities, without limitation. In addition, where materials are revealed for certain components, other materials can be used. In addition, according to several modalities, a single component can be replaced by multiple components and multiple components can be replaced by a single component, to perform one or more specific functions. The aforementioned description and the following claims are intended to cover all such modifications and variations.
[00155] [00155] The devices disclosed herein can be designed to be discarded after a single use, or can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning may include any combination of the steps including, but not limited to, disassembling the device followed by cleaning or replacing specific parts of the device and subsequent reassembly of the device. In particular, a reconditioning facility and / or surgical team can disassemble a device and, after cleaning and / or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will understand that reconditioning a device can use a variety of techniques to disassemble, clean / replace and reassemble. The use of these techniques, as well as the resulting reconditioned device, are all within the scope of this application.
[00156] [00156] The devices revealed here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and the instrument can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays and / or high-energy electrons. Radiation can kill bacteria on the instrument and the container. The sterile instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. A device can also be sterilized using any other known technique, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide and / or water vapor.
[00157] [00157] Although this invention has been described as having exemplary designs, the present invention can be further modified within the spirit and scope of the disclosure. It is intended, therefore, that this application covers any variations, uses or adaptations of the invention with the use of its general principles.

权利要求:
Claims (16)
[1]
1. Surgical instrument characterized by comprising: an engine; and a control circuit coupled to the motor, the control circuit being configured to: detect if an end actuator connectable to the surgical instrument is in a closed position, the end actuator being configured to receive a cartridge that supports a plurality of staples; and detecting a position of a motor-operated gripping member between a first and a second position, where the gripping member is configured to: transition the end actuator to the closed position as the gripping member moves moves from the first position to the second position; and deploying the plurality of cartridge clips after the end actuator is in the closed position as the grip member moves to the second position; wherein the control circuit is configured to: cause the motor to activate the gripping member at a first rate in a first zone between the first position and the second position; and causing the engine to drive the gripping member at a second rate in a second zone between the first position and the second position; where the first rate is less than the second rate.
[2]
2. Surgical instrument, according to claim 1, characterized in that the first zone is located proximally in relation to the second zone.
[3]
3. Surgical instrument, according to claim 1,
characterized in that the first zone is located before the second position.
[4]
Surgical instrument according to claim 1, characterized in that the length of the first zone corresponds to the thickness of a tissue attached to the end actuator.
[5]
5. Surgical instrument, according to claim 4, characterized in that the surgical instrument comprises a sensor configured to detect a gap between claw members of the end actuator, the gap corresponding to the thickness of the tissue.
[6]
6. Surgical instrument, according to claim 4, characterized in that the control circuit is configured to detect a motor current as the end actuator transitions to the closed position, the motor current corresponding to the thickness of the motor. fabric.
[7]
7. Surgical instrument characterized by comprising: an engine; and a control circuit coupled to the motor, the control circuit being configured to: detect if an end actuator connectable to the surgical instrument is in a closed position, the end actuator being configured to receive a cartridge that supports a plu- staple ratios; and detecting a position of a motor-operated gripping member between a first position, a second position and a third position, in which the gripping member is configured to: transition the end actuator to the closed position according to the gripping member moves from the first position to the second position; and deploying the plurality of clips on the cartridge as the gripping member moves from the second position to the third position; wherein the control circuit is configured to: cause the motor to activate the gripping member at a first rate in a first zone between the first position and the second position; and causing the engine to drive the gripping member at a second rate in a second zone between the second and third positions; where the first rate is less than the second rate.
[8]
8. Surgical instrument according to claim 7, characterized in that the first zone is located proximally to the second zone.
[9]
9. Surgical instrument according to claim 7, characterized in that the first zone is located before the second zone.
[10]
10. Surgical instrument according to claim 7, characterized in that the length of the first zone corresponds to the thickness of a tissue attached to the end actuator.
[11]
11. Surgical instrument, according to claim 10, characterized in that the surgical instrument comprises a sensor configured to detect a gap between the claw members of the end actuator, the gap corresponding to the thickness of the tissue.
[12]
12. Surgical instrument, according to claim 10, characterized in that the control circuit is configured to detect a motor current as the end actuator transitions to the closed position, the motor current corresponding to the thickness of the fabric.
[13]
13. Surgical instrument characterized by comprising:
an engine; and a control circuit coupled to the motor, the control circuit being configured to: detect if an end actuator connectable to the surgical instrument is in a closed position, the end actuator being configured to receive a cartridge that supports a plurality of staples; and detecting a position of a motor-operated gripping member between a first position, a second position and a third position, in which the gripping member is configured to: transition the end actuator to the closed position according to the gripping member moves from the first position to the second position; and deploying the plurality of clips on the cartridge as the gripping member moves from the second position to the third position; where the control circuit is additionally configured to cause the motor to drive the gripping member at a variable rate corresponding to a location of the gripping member between the second and third positions, the variable rate being more slow when closest to the second position.
[14]
14. Surgical instrument according to claim 13, characterized in that the control circuit is configured to cause the motor to activate the gripping member at a slower rate over a period of time corresponding to the thickness of a tissue stuck in the end actuator.
[15]
15. Surgical instrument according to claim 14, characterized in that the surgical instrument comprises a sensor configured to detect a gap between claw members of the end actuator, the gap corresponding to the thickness of the tissue.
[16]
16. Surgical instrument, according to claim 14, characterized in that the control circuit is configured to detect a motor current as the end actuator transitions to the closed position, the motor current corresponding to the thickness of the fabric.

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同族专利:

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公开号 | 公开日

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WO2019116273A1|2019-06-20|

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

优先权:

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申请号 | 申请日 | 专利标题

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US15/843,682|US11033267B2|2017-12-15|2017-12-15|Systems and methods of controlling a clamping member firing rate of a surgical instrument|

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US15/843,682|2017-12-15|

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PCT/IB2018/059965|WO2019116273A1|2017-12-15|2018-12-12|Systems of controlling a clamping member firing rate of a surgical instrument|

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