drive arrangements for robot-assisted surgical platforms

专利摘要:
The present invention relates to several robotic surgical systems. A robotic surgical system comprises a first engine; a second engine; and a robotic surgical tool. The robotic surgical tool comprises: a first rotary driver configured to receive a first rotary movement from the first motor; a second rotary drive configured to receive a second rotary movement from the second motor; an output drive; and a displacer configured to selectively couple the first rotary driver and the second rotary driver to the output drive. The first rotary drive and the second rotary drive are configured to simultaneously supply torque to the output drive in a high torque operating state.
公开号:BR112020012966A2
申请号:R112020012966-6
申请日:2018-09-26
公开日:2020-12-01
发明作者:Frederick E. Shelton Iv；Jerome R. Morgan；Jason L. Harris；David C. Yates
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] This application claims the priority benefit set forth in item 35 of USC 8 119 (e) of US provisional patent application serial number 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT- ASSISTED SURGICAL PLATFORMS, filed on March 28, 2018, whose disclosure is hereby incorporated by reference in its entirety.
[0002] [0002] This application claims the priority benefit set forth in Title 35 of USC $ 119 (e) of US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, of the application for US Provisional Patent Serial No. 62 / 611,340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, and US Provisional Patent Application Serial No. 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28 2017, whose disclosure of each of which is incorporated herein by reference, in its entirety. BACKGROUND
[0003] [0003] The present invention relates to robotic surgical systems. Robotic surgical systems can include a central control unit, a surgeon's command console and a robot that has one or more robotic arms. Robotic surgical tools can be releasably mounted to the robotic arm (s). The number and type of robotic surgical instruments may depend on the type of surgical procedure. Robotic surgical systems can be used in connection with one or more screens and / or one or more portable surgical instruments during a surgical procedure. SUMMARY
[0004] [0004] In general, a robotic surgical system is provided. The robotic surgical system comprises a first engine; a second engine; and a robotic surgical tool. The robotic surgical tool comprises: a first rotary driver configured to receive a first rotary movement from the first motor; a second rotary drive configured to receive a second rotary movement from the second motor; an output drive; and a displacer configured to selectively couple the first rotary driver and the second rotary driver to the output drive. The first rotary drive and the second rotary drive are configured to simultaneously supply torque to the output drive in a high torque operating state.
[0005] [0005] In another general aspect, a robotic surgical tool is provided. The robotic surgical tool comprises a transmission comprising: a first layer comprising a first output drive and a plurality of first transmission gears; a second layer comprising a second output drive and a plurality of second transmission gears; a first drive axis that extends through the first layer and the second layer; a second drive axis that extends through the first layer and the second layer; and a displacement set. The displacement set is configured to couple the first drive shaft and the second drive shaft to the first output drive through the plurality of first transmission gears in a high torque state. In addition, the displacement set is configured to couple the first drive shaft to the second output drive through the plurality of second transmission gears in a low torque state.
[0006] [0006] In another aspect, a system is provided for driving a robotic surgical tool. The system comprises: a first layer comprising a first outlet gear; a second layer comprising a second outlet gear; a first drive axis that extends through the first layer and the second layer; a second drive axis that extends through the first layer and the second layer; and a displacement assembly configured to selectively couple the first drive shaft and the second drive shaft to the first output gear in a high torque operating state to simultaneously supply torque to the first output gear. BRIEF DESCRIPTION OF THE FIGURES
[0007] [0007] The appeals of various aspects are presented with particularity in the attached claims. The various aspects, however, with regard to both the organization and the methods of operation, together with additional objects and advantages of the same, can be better understood in reference to the description presented below, considered together with the attached drawings, as follows.
[0008] [0008] Figure 1 is a block diagram of an interactive surgical system implemented by computer, in accordance with at least one aspect of the present disclosure.
[0009] [0009] Figure 2 is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present disclosure.
[00010] [00010] Figure 3 is a central surgical controller paired with a visualization system, a robotic system, and an intelligent instrument, in accordance with at least one aspect of the present disclosure.
[00011] [00011] Figure 4 is a partial perspective view of a central surgical controller compartment, and of a generator module in combination received slidingly in a surgical controller compartment, in accordance with at least one aspect of the present disclosure.
[00012] [00012] Figure 5 is a perspective view of a generator module in combination with bipolar, ultrasonic and monopolar contacts and a smoke evacuation component, in accordance with at least one aspect of the present disclosure.
[00013] [00013] Figure 6 illustrates different power bus connectors for a plurality of side coupling ports in a “modular side compartment configured to receive a plurality of modules, according to at least one aspect of the present disclosure.
[00014] [00014] Figure 7 illustrates a vertical modular compartment configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure.
[00015] [00015] Figure 8 illustrates a surgical data network comprising a central modular communication controller configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a utility facility. specially equipped for surgical operations, to the cloud, in accordance with at least one aspect of this disclosure.
[00016] [00016] Figure 9 illustrates an interactive surgical system implemented by computer, in accordance with at least one aspect of the present disclosure.
[00017] [00017] Figure 10 illustrates a central surgical controller that comprises a plurality of modules coupled to the modular control tower, in accordance with at least one aspect of the present disclosure.
[00018] [00018] Figure 11 illustrates an aspect of a central controller device of a universal serial bus (USB) network, in accordance with at least one aspect of the present disclosure.
[00019] [00019] Figure 12 illustrates a logical diagram of a control system for an instrument or surgical tool, according to at least one aspect of the present disclosure.
[00020] [00020] Figure 13 illustrates a control circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.
[00021] [00021] Figure 14 illustrates a combinational logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.
[00022] [00022] Figure 15 illustrates a sequential logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.
[00023] [00023] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions, according to at least one aspect of the present disclosure.
[00024] [00024] Figure 17 is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described therein, in accordance with at least one aspect of the present disclosure.
[00025] [00025] —Figure 18 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member, according to one aspect of the present disclosure.
[00026] [00026] Figure 19 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure.
[00027] [00027] Figure 20 is a simplified block diagram of a generator configured to provide adjustment without inductor, among other benefits, in accordance with at least one aspect of the present disclosure.
[00028] [00028] Figure 21 illustrates an example of a generator, which is a form of the generator of Figure 20, in accordance with at least one aspect of the present disclosure.
[00029] [00029] Figure 22 is a schematic of a robotic surgical system, according to an aspect of the present disclosure;
[00030] [00030] Figure 23 is a plan view of a telecirurgically controlled and minimally invasive robotic surgical system that is used to perform surgery, according to one aspect of the present disclosure.
[00031] [00031] Figure 24 is a perspective view of a surgeon control console for the surgical system of Figure 23, in accordance with at least one aspect of the present disclosure.
[00032] [00032] Figure 25 is a perspective view of an electronic cart of the surgical system of Figure 23, according to an aspect of the present disclosure.
[00033] [00033] Figure 26 is a diagram of a surgically controlled surgical system, according to one aspect of the present disclosure.
[00034] [00034] Figure 27 is a partial view of a trolley for the patient of the surgical system of Figure 23, in accordance with an aspect of the present disclosure.
[00035] [00035] Figure 28 is a front view of a surgical tool operated telecirurgically for the surgical system of Figure 23, according to an aspect of the present disclosure.
[00036] [00036] Figure 29 is a schematic diagram of the control of a telecurgically controlled surgical system, according to one aspect of the present disclosure.
[00037] [00037] AFigura30 is an elevation view of a robotic surgical system and its various communication paths, according to one aspect of the present disclosure;
[00038] [00038] Figure 31 is an exploded perspective view of an interface between a robotic tool and a tool mounting portion of the robotic surgical system of Figure 30.
[00039] [00039] Figure 32 is a detailed view of the Figure 31 interface, in accordance with an aspect of the present disclosure.
[00040] [00040] Figure 33 is a perspective view of a bipolar radiofrequency (RF) robotic tool that has a smoke evacuation pump for use with a robotic surgical system, in accordance with an aspect of the present disclosure.
[00041] [00041] Figure 34 is a perspective view of the end actuator of the bipolar radiofrequency robotic tool of Figure 33 representing the end actuator holding and treating tissue, in accordance with an aspect of the present disclosure.
[00042] [00042] Figure 35 is a plan view of the driving interface of the bipolar radiofrequency robotic tool of Figure 33 with components removed for clarity, in accordance with an aspect of the present disclosure.
[00043] [00043] Figure 36 is a plan view of an ultrasonic robotic tool having cooling and insufflation capabilities for use with a robotic surgical system, in accordance with an aspect of the present disclosure.
[00044] [00044] Figure 37 is a flowchart of a control algorithm for a robotic tool for use with a robotic surgical system, in accordance with an aspect of the present disclosure.
[00045] [00045] Figure 38 is a perspective view of a drive system for a robotic surgical tool, in accordance with an aspect of the present disclosure.
[00046] [00046] Figure 39 is an exploded perspective view of the drive system of Figure 38, in accordance with at least one aspect of the present disclosure.
[00047] [00047] —Figure40 is a partial cross-sectional perspective view of a proximal compartment of the robotic surgical tool of Figure 38, representing a transmission arrangement within the proximal compartment, in accordance with at least one aspect of the present disclosure.
[00048] [00048] Figure 41 is an exploded perspective view of the transmission arrangement of Figure 40, in accordance with an aspect of the present disclosure;
[00049] [00049] Figure 42 is an exploded perspective view of the transmission arrangement of Figure 40 with several parts removed for the sake of clarity, representing the transmission arrangement in a first configuration in which a first cooperative drive is operably coupled to a the first output drive axis and a second cooperative drive are operably coupled to a second output drive axis, in accordance with an aspect of the present disclosure.
[00050] [00050] Figure 43 is an exploded perspective view of the transmission arrangement of Figure 40 with several parts removed for clarity, representing the transmission arrangement in a second configuration in which the first cooperative drive and the second cooperative drive are coupled. in an actionable manner to a third output drive axis, in accordance with an aspect of the present disclosure.
[00051] [00051] Figure 44 is an exploded perspective view of the transmission arrangement of Figure 40 with several parts removed for clarity, representing the transmission arrangement in a third configuration in which the first cooperative drive and the second cooperative drive are coupled. in an actionable manner to a fourth output drive axis, in accordance with an aspect of the present disclosure.
[00052] [00052] Figure 45 is an exploded cross-section elevation view of the transmission arrangement of Figure 40, in accordance with at least one aspect of the present disclosure.
[00053] [00053] Figure 46 is a graphical display of the output torque for different surgical functions of the robotic surgical tool of Figure 38, according to at least one aspect of the present disclosure.
[00054] [00054] Figure 47 is a perspective view of the robotic surgical tool in Figure 38, in a non-actuated configuration, according to an aspect of the present disclosure.
[00055] [00055] Figure 48 is a perspective view of the robotic surgical tool of Figure 38, in an articulated configuration, according to an aspect of the present disclosure.
[00056] [00056] Figure 49 is a perspective view of the robotic surgical tool of Figure 38, in a rotated configuration, in accordance with an aspect of the present disclosure.
[00057] [00057] Figure 50 is a perspective view of the robotic surgical tool of Figure 38, in a stuck and fired configuration, according to an aspect of the present disclosure.
[00058] [00058] Figure 51 is a view of robotically controlled end actuators in a surgical site, in accordance with an aspect of the present disclosure.
[00059] [00059] Figure 52 is a view of the robotically controlled end actuators of Figure 51, in accordance with an aspect of the present disclosure.
[00060] [00060] Figure 53 is a graphical display of force and displacement over time for one of the robotically controlled end actuators of Figure 51, in accordance with an aspect of the present disclosure.
[00061] [00061] Figure 54 is a flowchart of a control algorithm for a surgical tool for use with a robotic surgical system, in accordance with an aspect of the present disclosure.
[00062] [00062] Figure 55 is an elevation view of a surgical procedure that involves a robotic surgical system and a hand-held surgical instrument and representing multiple screens in the operating room, according to one aspect of the present disclosure.
[00063] [00063] Figure 56 is a timeline showing the situational recognition of a central surgical controller, in accordance with an aspect of the present disclosure. DETAILED DESCRIPTION
[00064] [00064] The applicant for this application holds the following provisional US patent applications, filed on March 28, 2018, each of which is incorporated herein by reference in its entirety: e US provisional patent application serial number 62 /649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; and US Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; and US Provisional Patent Application Serial No. 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS; and US Provisional Patent Application Serial No. 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;
[00065] [00065] The applicant for this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: and US Patent Application Serial No., entitled INTERACTIVE - SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; Attorney document number END8499USNP / 170766; and US patent application serial number, entitled
[00066] [00066] The applicant for this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: and US Patent Application Serial No., entitled
[00067] [00067] The applicant for this application holds the following US patent applications, filed on March 29, 2018, each of which is incorporated herein by reference in its entirety: and US patent application serial number, entitled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; Attorney document number END8511USNP1 / 170778-1; and US patent application serial number, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; Attorney document number END8511USNP2 / 170778-2; and US patent application serial number, entitled AUTOMATIC. TOOL ADJUSTMENTS FOR ROBOT-ASSISTED
[00068] [00068] Before explaining in detail the various aspects of surgical instruments and generators, it should be noted that the illustrative examples are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the drawings and description attached. Illustrative examples can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or performed in a variety of ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing illustrative examples for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[00069] [00069] “Referring to Figure 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (for example, cloud 104 which may include a remote server 113 coupled to a storage 105). Each surgical system 102 includes at least one central surgical controller 106 in communication with the cloud 104 which can include a remote server 113. In one example, as illustrated in Figure 1, surgical system 102 includes a visualization system 108, a robotic system 110, a smart handheld surgical instrument 112, which are configured to communicate with one another and / or the central controller 106. In some respects, a surgical system 102 may include a number of central controllers M 106, an N number of visualization systems 108, an O number of robotic systems 110, and a P number of smart, hand-held surgical instruments 112, where M, N, O, and P are whole numbers greater than or equal to one.
[00070] [00070] Figure 3 represents an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying on an operating table 114 in a surgical operating room 116. A robotic system 110 is used in the surgical procedure as part of surgical system 102. Robotic system 110 includes a surgeon console 118, patient trolley 120 (surgical robot), and a central surgical robotic controller 122. Patient trolley 120 can handle at least one tool removably attached surgical wound 117 through a minimally invasive incision in the patient's body while the surgeon views the surgical site through the surgeon's console 118. An image of the surgical site can be obtained by a medical imaging device 124, which can be manipulated patient cart 120 to guide imaging device 124. Central robotic controller 122 can be used to process images of the surgical site for subsequent display to the surgeon through the surgeon's console 118.
[00071] [00071] Other types of robotic systems can be readily adapted for use with the surgical system 102. Various examples of robotic systems and surgical instruments that are suitable for use with the present disclosure are described in provisional patent application serial number 62 / 611,339 , entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28, 2017, whose disclosure is hereby incorporated by reference in its entirety.
[00072] [00072] Several examples of cloud-based analysis that are performed by the cloud 104, and are suitable for use with the present disclosure, are described in US provisional patent application serial number 62 / 611.340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, the disclosure of which is incorporated herein by reference, in its entirety.
[00073] [00073] In several respects, the imaging device 124 includes at least one Image sensor and one or more optical components. Suitable image sensors include, but are not limited to, load-coupled device (CCD) sensors and complementary metal oxide semiconductor (CMOS) sensors.
[00074] [00074] The optical components of the imaging device 124 may include one or more light sources and / or one or more lenses. One or more light sources can be directed to illuminate portions of the surgical field. The one or more image sensors can receive reflected or refracted light from the surgical field, including reflected or refracted light from tissue and / or surgical instruments.
[00075] [00075] One or more light sources can be configured to radiate electromagnetic energy in the visible spectrum, as well as in the invisible spectrum. The visible spectrum, sometimes called the optical spectrum or light spectrum, is that portion of the electromagnetic spectrum that is visible to (that is, can be detected by) the human eye and can be called visible light or simply light. A typical human eye will respond to wavelengths in the air that are from about 380 nm to about 750 nm.
[00076] [00076] The invisible spectrum (that is, the non-luminous spectrum) is that portion of the electromagnetic spectrum located below and above the visible spectrum (that is, wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the visible red spectrum, and they become invisible infrared (IR), microwaves, radio and electromagnetic radiation. Wavelengths shorter than about 380 nm are shorter than the ultraviolet spectrum, and they become invisible ultraviolet, x-ray, and electromagnetic gamma-ray radiation.
[00077] [00077] In several respects, the imaging device 124 is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, an arthroscope, angioscope, bronchoscope, choledocoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagus-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngoscope, sigmoidoscope, thoracoscope, and ureteroscope.
[00078] [00078] In one aspect, the imaging device uses multi-spectrum monitoring to discriminate topography and underlying structures. A multi-spectral image is one that captures image data within wavelength bands across the electromagnetic spectrum. The wavelengths can be separated by filters or using instruments that are sensitive to specific wavelengths, including light from frequencies beyond the visible light range, for example, IR and ultraviolet light. Spectral images can allow the extraction of additional information that the human eye cannot capture with its receivers for the colors red, green, and blue. The use of multispectral imaging is described in greater detail under the heading "Advanced Imaging Acquisition Module" in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein as a reference in its entirety. Multispectral monitoring can be a useful tool for relocating a surgical field after a surgical task is completed to perform one or more of the tests previously described on the treated tissue.
[00079] [00079] It is axiomatic that strict sterilization of the operating room and surgical equipment is necessary during any surgery. The strict hygiene and sterilization conditions required in an "operating room", that is, an operating or treatment room, justify the highest possible sterilization of all medical devices and equipment. Part of this sterilization process is the need to sterilize anything that comes into contact with the patient or enters the sterile field, including imaging device 124 and its connectors and components. It will be understood that the sterile field can be considered a specified area, such as inside a tray or on a sterile towel, which is considered free of microorganisms, or the sterile field can be considered an area, immediately around a patient, who was prepared to perform a surgical procedure. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area.
[00080] [00080] In various aspects, the visualization system 108 includes one or more imaging sensors, one or more image processing units, one or more storage arrays and one or more screens that are strategically arranged in relation to the sterile field, as shown in Figure 2. In one aspect, the display system 108 includes an interface for HL7, PACS and EMR. Various components of the visualization system 108 are described under the heading "Advanced Imaging Acquisition Module" in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein reference title in its entirety.
[00081] [00081] “As shown in Figure 2, a primary screen 119 is positioned in the sterile field to be visible to the operator on the operating table 114. In addition, a viewing tower 111 is positioned outside the sterile field. The display tower 111 includes a first non-sterile screen 107 and a second non-sterile screen 109, which are opposite each other. The visualization system 108, guided by the central controller 106, is configured to use screens 107, 109, and 119 to coordinate the flow of information to operators inside and outside the sterile field. For example, the central controller 106 can have the visualization system 108 display a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile screen 107 or 109, while maintaining a live transmission of the surgical site on main screen 119. Snapshot on non-sterile screen 107 or 109 can allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
[00082] [00082] In one aspect, central controller 106 is also configured to route a diagnostic input or feedback by a non-sterile operator in the display tower 111 to the primary screen 119 within the sterile field, where it can be seen by a sterile operator on the operating table. In one example, the entry may be in the form of a modification of the snapshot displayed on the non-sterile screen 107 or 109, which can be routed to main screen 119 by central controller 106.
[00083] [00083] “With reference to Figure 2, a 112 surgical instrument is being used in the surgical procedure as part of the surgical system
[00084] [00084] Now with reference to Figure 3, a central controller 106 is shown in communication with a visualization system 108, a robotic system 110 and a smart handheld surgical instrument 112. Central controller 106 includes a central controller screen 135, an imaging module 138, a generator module 140, a communication module 130, a processor module 132 and a storage matrix 134. In certain respects, as shown in Figure 3, central controller 106 additionally includes a smoke evacuation module 126 and / or a suction / irrigation module 128.
[00085] [00085] “During a surgical procedure, the application of energy to the tissue, for sealing and / or cutting, is generally associated with the evacuation of smoke, suction of excess fluid and / or irrigation of the tissue. Fluid, power, and / or data lines from different sources are often intertwined during the surgical procedure. Valuable time can be wasted in addressing this issue during a surgical procedure. To untangle the lines, it may be necessary to disconnect the lines from their respective modules, which may require a restart of the modules. The central compartment of the central controller 136 offers a unified environment for managing power, data and fluid lines, which reduces the frequency of entanglement between such lines.
[00086] [00086] Aspects of the present disclosure feature a central surgical controller for use in a surgical procedure that involves applying energy to tissue at a surgical site. The central surgical controller includes a central controller compartment and a combination generator module received slidingly at a central controller compartment docking station. The docking station includes data and power contacts. The combined generator module includes two or more of an ultrasonic energy generating component, a bipolar RF energy generating component, and a monopolar RF energy generating component which are housed in a single unit. In one aspect, the combined generator module also includes a smoke evacuation component, at least one power application cable to connect the combined generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid , and / or particulates generated by applying therapeutic energy to the tissue, and a fluid line that extends from the remote surgical site to the smoke evacuation component.
[00087] [00087] In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module received slidingly in the central controller compartment. In one aspect, the central controller compartment comprises a fluid interface.
[00088] [00088] Certain surgical procedures may require the application of more than one type of energy to the tissue. One type of energy may be more beneficial for cutting the fabric, while another type of energy may be more beneficial for sealing the fabric. For example, a bipolar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution in which a modular compartment of central controller 136 is configured to accommodate different generators and facilitate interactive communication between them. One of the advantages of the modular central controller compartment 136 is that it allows quick removal and / or replacement of several modules.
[00089] [00089] Aspects of the present disclosure present a modular surgical compartment for use in a surgical procedure that involves applying energy to the tissue. The modular surgical compartment includes a first energy generator module, configured to generate a first energy for application to the tissue, and a first docking station that comprises a first docking port that includes first data contacts and energy contacts, the the first power generator module is slidably movable in an electric coupling with the power and data contacts and the first power generator module is slidably movable out of the electric coupling with the first power and data contacts.
[00090] [00090] In addition to the above, the modular surgical compartment also includes a second energy generator module configured to generate a second energy, different from the first energy, for application to the tissue, and a second docking station comprising a second docking port which includes second data and power contacts, the second power generating module being slidably movable in an electrical coupling with the power and data contacts, and the second power generating module being slidingly movable outwards electrical coupling with the second power and data contacts.
[00091] [00091] In addition, the modular surgical compartment also includes a communication bus between the first coupling port and the second coupling port, configured to facilitate communication between the first power generator module and the second power generator module.
[00092] [00092] With reference to Figures 3 to 7, aspects of the present disclosure are presented for a modular compartment of the central controller 136 that allows the modular integration of a generator module 140, a smoke evacuation module 126, and a suction / irrigation 128. The central controller 136 modular compartment further facilitates interactive communication between modules 140, 126, 128. As illustrated in Figure 5, generator module 140 can be a generator module with integrated, supported monopoly, bipolar and ultrasonic components in a single unit of compartment 139 slidably insertable in the modular compartment of central controller 136. As shown in Figure 5, generator module 140 can be configured to connect to a monopolar device 146, a bipolar device 147 and an ultrasonic device 148 Alternatively, generator module 140 may comprise a series of monopolar, bipolar and / or ultras generator modules sonics that interact through the central compartment of the central controller 136. The modular compartment of the central controller 136 can be configured to facilitate the insertion of multiple generators and interactive communication between the generators anchored in the modular compartment of the central controller 136 so that the generators would act as a single generator.
[00093] [00093] In one aspect, the modular compartment of the central controller 136 comprises a modular power and a back communication board 149 with external and wireless communication heads to allow the removable fixing of modules 140, 126, 128 and interactive communication between the themselves.
[00094] [00094] In one aspect, the modular compartment of central controller 136 includes docking stations, or drawers, 151, here also called drawers, which are configured to slide modules 140, 126, 128 in a sliding manner. Figure 4 illustrates a partial perspective view of a surgical central controller compartment 136, and a combined generator module 145 received slidingly in a docking station 151 of the central surgical controller compartment 136. A docking port 152 with power and data contacts in a rear side of the combined generator module 145 is configured to engage a corresponding docking port 150 with the power and data contacts of a corresponding docking station 151 from the central controller modular compartment 136 as the combined generator module 145 is slid into position at the corresponding docking station 151 of the central controller 136 modular bay. In one aspect, the combined generator module 145 includes a bipolar, ultrasonic and monopolar module and a smoke evacuation module integrated into a single 139 compartment unit, as shown in Figure 5.
[00095] [00095] In several respects, the smoke evacuation module 126 includes a fluid line 154 that carries captured / collected fluid smoke away from a surgical site and to, for example, the smoke evacuation module 126. Suction a vacuum that originates from the smoke evacuation module 126 can pull the smoke into an opening of a utility conduit at the surgical site. The utility conduit, coupled to the fluid line, can be in the form of a flexible tube that ends in the smoke evacuation module 126. The utility conduit and the fluid line define a fluid path that extends towards the smoke evacuation module 126 which is received in the central controller compartment
[00096] [00096] In various aspects, the suction / irrigation module 128 is coupled to a surgical tool comprising a fluid suction line and a fluid suction line. In one example, the suction and suction fluid lines are in the form of flexible tubes that extend from the surgical site towards the suction / irrigation module 128. One or more drive systems can be configured to cause irrigation and aspiration of fluids to and from the surgical site.
[00097] [00097] In one aspect, the surgical tool includes a drive shaft that has an end actuator at a distal end thereof and at least an energy treatment associated with the end actuator, a suction tube, and a suction tube. irrigation. The suction tube can have an inlet port at a distal end of it and the suction tube extends through the drive shaft. Similarly, an irrigation pipe can extend through the drive shaft and may have an entrance port close to the power application implement. The power application implement is configured to deliver ultrasonic and / or RF energy to the surgical site and is coupled to the generator module 140 by a cable that initially extends through the drive shaft.
[00098] [00098] The irrigation tube can be in fluid communication with a fluid source, and the suction tube can be in fluid communication with a vacuum source. The fluid source and / or the vacuum source can be housed in the suction / irrigation module 128. In one example, the fluid source and / or the vacuum source can be housed in the central controller compartment 136 separately from the control module. suction / irrigation 128. In such an example, a fluid interface can be configured to connect the suction / irrigation module 128 to the fluid source and / or the vacuum source.
[00099] [00099] In one aspect, modules 140, 126, 128 and / or their corresponding docking stations in the modular compartment of central controller 136 may include alignment features that are configured to align the docking ports of the modules in engagement with their counterparts at the docking stations of the central compartment of the central controller 136. For example, as shown in Figure 4, the combined generator module 145 includes side brackets 155 which are configured to slide the corresponding brackets 156 of the corresponding docking station 151 of the compartment. modular central controller 136. The brackets cooperate to guide the coupling port contacts of the combined generator module 145 in an electrical engagement with the coupling port contacts of the central controller 136 modular compartment.
[000100] [000100] In some respects, the drawers 151 of the modular compartment of the central controller 136 are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers 151. For example, the side brackets 155 and / or 156 can be larger or smaller depending on the size of the module. In other respects, drawers 151 are different in size and are each designed to accommodate a specific module.
[000101] [000101] In addition, the contacts of a specific module can be switched to engage with the contacts of a specific drawer to avoid the insertion of a module in a drawer with unpaired contacts.
[000102] [000102] As shown in Figure 4, the docking port 150 of one drawer 151 can be coupled to the docking port 150 of another drawer 151 via a communication link 157 to facilitate interactive communication between the modules housed in the modular compartment of the central controller 136. The coupling ports 150 of the modular compartment of the central controller 136 can, alternatively or additionally, facilitate interactive wireless communication between the modules housed in the modular compartment of the central controller 136. Any suitable wireless communication can be used, such as Air Titan Bluetooth.
[000103] [000103] Figure 6 illustrates individual power bus connectors for a plurality of side coupling ports of a side modular compartment 160 configured to receive a plurality of modules from a central surgical controller 206. Side modular compartment 160 is configured to receive and laterally interconnect modules 161. Modules 161 are slidably inserted into docking stations 162 of side modular compartment 160, which includes a back plate for interconnecting modules 161. As shown in Figure 6, modules 161 are arranged laterally in the side modular compartment 160. Alternatively, modules 161 can be arranged vertically in a side modular compartment.
[000104] [000104] Figure 7 illustrates a vertical modular compartment 164 configured to receive a plurality of modules 165 from the central surgical controller 106. The modules 165 are slidably inserted into docking stations, or drawers, 167 of the vertical modular cabinet 164, the which includes a rear panel for interconnecting modules 165. Although the drawers 167 of the vertical modular cabinet 164 are arranged vertically, in certain cases, a vertical modular cabinet 164 may include drawers that are arranged laterally. In addition, modules 165 can interact with each other through the coupling ports of the vertical modular cabinet
[000105] [000105] In several respects, the imaging module 138 comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular compartment that can be mounted with a light source module and a camera module. The compartment can be a disposable compartment. In at least one example, the disposable compartment is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and / or the camera module can be selected selectively depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for imaging the scanned beam. Similarly, the light source module can be configured to provide a white light or a different light, depending on the surgical procedure.
[000106] [000106] During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a different camera or other light source may be inefficient. Temporarily losing sight of the surgical field can lead to undesirable consequences. The imaging device module of the present disclosure is configured to allow the replacement of a light source module or a "midstream" camera module during a surgical procedure, without the need to remove the imaging device from the surgical field.
[000107] [000107] In one aspect, the imaging device comprises a tubular compartment that includes a plurality of channels. A first channel is configured to receive the Camera module in a sliding way, which can be configured for a snap-fit fit (pressure fit) with the first channel. A second channel is configured to slide the camera module, which can be configured for a snap-fit fit (pressure fit) with the first channel. In another example, the camera module and / or the light source module can be rotated to an end position within their respective channels. A threaded coupling can be used instead of a pressure fitting.
[000108] [000108] In several examples, multiple imaging devices are placed in different positions in the surgical field to provide multiple views. Imaging module 138 can be configured to switch between imaging devices to provide an ideal view. In several respects, imaging module 138 can be configured to integrate images from different imaging devices.
[000109] [000109] Several image processors and imaging devices suitable for use with the present disclosure are described in US patent No. 7,995,045 entitled COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, granted on August 9, 2011 which is incorporated herein by reference in its entirety. In addition, US patent No. 7,982,776, entitled SBIl MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, issued on July 19, 2011, which is incorporated herein by reference in its entirety, describes various systems for removing motion artifacts from the data of image. Such systems can be integrated with imaging module 138. In addition to these, the publication of US patent application No. 2011/0306840, entitled CONTROLLABLE MAGNETIC. SOURCE TO FIXTURE INTRACORPOREAL APPARATUS, published on December 15, 2011, and the publication of US patent application No. 2014/0243597, entitled SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, published on August 28, 2014, which are each of which are incorporated herein by reference in their entirety.
[000110] [000110] Figure 8 illustrates a surgical data network 201 comprising a central modular communication controller 203 configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a healthcare facility. audiences specially equipped for surgical operations, to a cloud-based system (for example, cloud 204 which may include a remote server 213 coupled to a storage device 205). In one aspect, the modular communication central controller 203 comprises a central network controller 207 and / or a network key 209 in communication with a network router. The central modular communication controller 203 can also be coupled to a local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 can be configured as a passive, intelligent, or switching network. A passive surgical data network serves as a conduit for the data, allowing the data to be transmitted from one device (or segment) to another and to cloud computing resources. An intelligent surgical data network includes features to allow traffic to pass through the surgical data network to be monitored and to configure each port on the central network controller 207 or network key 209. An intelligent surgical data network can be called a a central controller or controllable key. A central switching controller reads the destination address of each packet and then forwards the packet to the correct port.
[000111] [000111] Modular devices 1a to 1n located in the operating room can be coupled to the central controller for modular communication 203. The central network controller 207 and / or the network switch 209 can be coupled to a network router 211 to connect devices 1a through 1n to the 204 cloud or the local computer system
[000112] [000112] It will be understood that the surgical data network 201 can be expanded by interconnecting multiple central network controllers 207 and / or multiple network switches 209 with multiple network routers 211. The central communication controller 203 may be contained in a modular control roaster configured to receive multiple devices 1a to 1n / 2a to 2m. The local computer system 210 can also be contained in a modular control tower. The modular communication central controller 203 is connected to a screen 212 to display the images obtained by some of the devices 1a to 1n / 2a to 2m, for example, during surgical procedures. In several respects, devices 1a to 1n / 2a to 2m can include, for example, several modules such as an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, an evacuation module smoke 126, a suction / irrigation module 128, a communication module 130, a processor module 132, a storage matrix 134, a surgical device attached to a screen, and / or a non-contact sensor module, among others modular devices that can be connected to the modular communication central controller 203 of the surgical data network 201.
[000113] [000113] In one aspect, the surgical data network 201 may comprise a combination of central network controllers, network switches, and network routers that connect devices 1a to 1n / 2a to 2m to the cloud.
[000114] [000114] The application of cloud computer data processing techniques to the data collected by devices 1a to 1n / 2a to 2m, the surgical data network provides better surgical results, reduced costs, and better patient satisfaction.
[000115] [000115] In one implementation, devices in the operating room 1a to 1n can be connected to the central modular communication controller 203 via a wired channel or a wireless channel depending on the configuration of devices 1a to 1h on a central network controller . The central network controller 207 can be implemented, in one aspect, as a local network transmission device that acts on the physical layer of the OSI model ("open system interconnection"). The central network controller provides connectivity to devices 1a to 1n located on the same network as the operating room. The central network controller 207 collects data in the form of packets and sends it to the router in half - duplex mode. The central network controller 207 does not store any media / Internet protocol (MAC / IP) access control for transferring data from the device. Only one of the devices 1a to 1n at a time can send data through the central network controller 207. The central network controller 207 has no routing tables or intelligence about where to send information and transmits all network data through each connection and to a remote server 213 (Figure 9) in cloud 204. The central network controller 207 can detect basic network errors, such as collisions, but having all (admit that) the information transmitted to multiple input ports can be a security risk and cause bottlenecks.
[000116] [000116] In another implementation, operating room devices 2a to 2m can be connected to a network switch 209 through a wired or wireless channel. The network key 209 works in the data connection layer of the OSI model. The network switch 209 is a multicast device for connecting devices 2a to 2m located in the same operation center to the network. The network key 209 sends data in frame form to the network router 211 and works in full duplex mode. Multiple devices 2a to 2m can send data at the same time via network key 209. Network key 209 stores and uses MAC addresses of devices 2a to 2m to transfer data.
[000117] [000117] The central network controller 207 and / or the network key 209 are coupled to the network router 211 for a connection to the cloud
[000118] [000118] In one example, the central network controller 207 can be implemented as a central USB controller, which allows multiple USB devices to be connected to a host computer. The central USB controller can expand a single USB port on several levels so that more ports are available to connect the devices to the system's host computer. The central network controller 207 can include wired or wireless capabilities to receive information about a wired channel or a wireless channel. In one aspect, a wireless wireless, broadband, short-range wireless USB communication protocol can be used for communication between devices 1a to 1h and devices 2a to 2m located in the operating room.
[000119] [000119] In other examples, devices in the operating room 1a to 1n / 2a to 2m can communicate with the central modular communication controller 203 via standard Bluetooth wireless technology for exchanging data over short distances (with the use of short-wavelength UHF radio waves in the 2.4 to 2.485 GHz ISM band) from fixed and mobile devices and build personal area networks (PANs). In other respects, operating room devices 1a to 1n / 2a to 2m can communicate with the central modular communication controller 203 via a number of wireless and wired communication standards or protocols, including, but not limited to a, Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE, "long-term evolution"), and Ev-DO, HSPA +, HSDPA +, HSUPA +, EDGE, GSM , GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS, CDMA , WiMAX, LTE, Ev-DO, and others.
[000120] [000120] The modular communication central controller 203 can serve as a central connection for one or all operating room devices 1a to 1n / 2a to 2m and handles a data type known as frames. The tables carry the data generated by the devices 1a to 1n / 2a to 2m. When a frame is received by the modular central communication controller 203, it is amplified and transmitted to the network router 211, which transfers data to cloud computing resources using a series of wireless communication standards or protocols or wired, as described in the present invention.
[000121] [000121] The modular communication central controller 203 can be used as a standalone device or be connected to compatible central network controllers and network switches to form a larger network. The 203 modular communication central controller is, in general, easy to install, configure and maintain, making it a good option for the network of devices 1a to 1n / 2a to 2m from the operating room.
[000122] [000122] Figure 9 illustrates an interactive surgical system, implemented by computer 200. The interactive surgical system implemented by computer 200 is similar in many ways to the interactive surgical system, implemented by computer 100. For example, the interactive, implemented, surgical system per computer 200 includes one or more surgical systems 202, which are similar in many respects to surgical systems 102. Each surgical system 202 includes at least one central surgical controller 206 in communication with a cloud 204 which may include a remote server
[000123] [000123] Figure 10 illustrates a central surgical controller 206 that comprises a plurality of modules coupled to the modular control tower 236. The modular control tower 236 comprises a central controller for modular communication 203, for example, a network connectivity device , and a computer system 210 for providing local processing, visualization, and imaging, for example. As shown in Figure 10, the 203 modular communication central controller can be connected in a layered configuration to expand the number of modules (for example,
[000124] [000124] The central surgical controller 206 uses a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the operating room using non-contact measuring devices such as laser or ultrasonic. An ultrasound-based non-contact sensor module scans the operating room by transmitting an ultrasound explosion and receiving the echo when it bounces outside the perimeter of the operating room walls, as described under the heading Surgical Hub Spatial Awareness Within an Operating Room "in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, whose disclosure is hereby incorporated by reference in its entirety, in which the sensor module is configured to determine the size of the operating room and adjust the Bluetooth pairing distance limits. A laser-based non-contact sensor module scans the operating room by transmitting pulses of laser light, receiving pulses of laser light that bounce off the perimeter walls. operating room, and comparing the phase of the transmitted pulse to the received pulse to determine the size of the operating room and to adjust r Bluetooth pairing distance limits, for example.
[000125] [000125] Computer system 210 comprises a processor 244 and a network interface 245. Processor 244 is coupled to a communication module 247, storage 248, memory 249, non-volatile memory 250, and input / output interface 251 through of a system bus. The system bus can be any of several types of bus structures, including the memory bus or memory controller, a peripheral bus or external bus, and / or a local bus that uses any variety of available bus architectures including, but not limited to, not limited to, 9-bit bus, industry standard architecture (ISA), Micro-Charmel Architecture (MSA), extended ISA (EISA), smart drive electronics (IDE), VESA local bus (VLB), component interconnection peripherals (PCI), USB, accelerated graphics port (AGP), PCMCIA bus (International Personal Computer Memory Card Association, "Personal Computer Memory Card International Association"), Small Computer Systems Interface (SCSI), or any another proprietary bus.
[000126] [000126] Processor 244 can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one respect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz , a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareO program, read-only memory programmable and electrically erasable (EEPROM) of 2 KB, one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters (ADC) of 12 bits with 12 analog input channels, details of which are available for the product data sheet.
[000127] [000127] In one aspect, processor 244 may comprise a safety controller comprising two controller-based families, such as TMS570 and RM4x, known under the tradename Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[000128] [000128] System memory includes volatile and non-volatile memory. The basic input / output system (BIOS), containing the basic routines for transferring information between elements within the computer system, such as during startup, is stored in non-volatile memory. For example, non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM or flash memory. Volatile memory includes random access memory (RAM), which acts as an external cache memory. In addition, RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct RAM Rambus RAM (DRRAM).
[000129] [000129] Computer system 210 also includes removable / non-removable, volatile / non-volatile computer storage media, such as disk storage Disk storage includes, but is not limited to, devices such as a drive magnetic disk, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card or memory stick (pen-drive). In addition, the storage disc may include storage media separately or in combination with other storage media including, but not limited to, an optical disc drive such as a compact disc ROM (CD-ROM) device recordable (CD-R Drive), rewritable compact disc drive (CD-RW drive), or a versatile digital ROM drive (DVD-ROM). To facilitate the connection of disk storage devices to the system bus, a removable or non-removable interface can be used.
[000130] [000130] It is to be understood that computer system 210 includes software that acts as an intermediary between users and basic computer resources described in an appropriate operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, acts to control and allocate computer system resources. System applications benefit from the management capabilities of the operating system through program modules and “program data stored in system memory or on the storage disk. It is to be understood that the various components described in the present invention can be implemented with various operating systems or combinations of operating systems.
[000131] [000131] A user enters commands or information into computer system 210 via the input device (s) coupled to the 1I / O 251. interface. Input devices include, but are not limited to, a device pointer such as a mouse, trackball, stylus, touchpad, keyboard, microphone, joystick, game pad, satellite card, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processor via the system bus via the interface port (s). The interface ports include, for example, a serial port, a parallel port, a game port and a USB. Output devices use some of the same types of ports as input devices. In this way, for example, a USB port can be used to provide input to the computer system and to provide information from the computer system to an output device. An output adapter is provided to illustrate that there are some output devices such as monitors, screens, speakers, and printers, among other output devices, that need special adapters. Output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and / or device systems, such as remote computers, provide input and output capabilities.
[000132] [000132] Computer system 210 can operate in a networked environment using logical connections to one or more remote computers, such as cloud computers, or local computers. Remote cloud computers can be a personal computer, server, router, personal network computer, workstation, microprocessor-based device, peer device, or other common network node, and the like, and typically include many or all elements described in relation to the computer system. For the sake of brevity, only one memory storage device is illustrated with the remote computer. Remote computers are logically connected to the computer system via a network interface and then physically connected via a communication connection. The network interface covers communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include fiber distributed data interface (FDDI), copper distributed data interface (CDDI), Ethernet / IEEE 802.3, Token / IEEE 802.5 ring and the like. WAN technologies include, but are not limited to, point-to-point links, circuit switching networks such as digital integrated service networks (ISDN) and variations in them, packet switching networks and digital subscriber lines (DSL).
[000133] [000133] In several respects, computer system 210 of Figure 10, imaging module 238 and / or display system 208, and / or processor module 232 of Figures 9 to 10, may comprise an image processor, image processing engine, media processor, or any specialized digital signal processor (DSP) used for processing digital images. The image processor can use parallel computing with multi-data single instruction (SIMD) or multiple data multi-instruction (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a number of tasks. The image processor can be an integrated circuit system with a multi-core processor architecture.
[000134] [000134] Communication connections refer to the hardware / software used to connect the network interface to the bus. Although the communication connection is shown for illustrative clarity within the computer system, it can also be external to computer system 210. The hardware / software required for connection to the network interface includes, for illustrative purposes only, internal and external technologies such as modems, including regular telephone serial modems, cable modems and DSL modems, ISDN adapters, and Ethernet cards.
[000135] [000135] Figure 11 illustrates a functional block diagram of an aspect of a central USB network controller device 300, in accordance with an aspect of the present disclosure. In the illustrated aspect, the USB 300 network central controller device uses a TUSB2036 integrated circuit central controller available from Texas Instruments. The central USB network controller 300 is a CMOS device that provides one USB transceiver port 302 and up to three USB transceiver ports downstream 304, 306, 308 in accordance with the USB 2.0 specification. Upstream USB transceiver port 302 is a differential data root port comprising a "minus" differential data input (DMO) paired with a "plus" differential data input (DPO0). The three ports of the downstream USB transceiver 304, 306, 308 are differential data ports, with each port including "more" differential data outputs (DP1-DP3) paired with "less" differential data outputs (DM1-DM3) .
[000136] [000136] The USB 300 central network controller device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compatible USB transceivers are integrated into the circuit for the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both full speed as low speed automatically configuring the scan rate according to the speed of the device attached to the doors. The USB 300 central network controller device can be configured in bus-powered or self-powered mode and includes 312 central power logic to manage power.
[000137] [000137] The USB 300 central network controller device includes a 310 series interface engine (from the English "Serial Interface Engine", SIE). The SIE 310 is the front end of the USB 300 central network controller hardware and handles most of the protocol described in chapter 8 of the USB specification. SIE 310 typically comprises signaling down to the transaction level. The functions it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME signal detection / generation, clock / data separation, data encoding / decoding non-inverted zero (NRZI) , generation and verification of CRC (token and data), generation and verification / decoding of packet ID (PID), and / or series-parallel / parallel-series conversion. The 310 receives a clock input 314 and is coupled to a frame timer and suspend / resume logic 316 and a central controller repeat circuit 318 to control communication between the upstream USB transceiver port 302 and the transceiver ports Downstream USB 304, 306, 308 through the logic circuits of ports 320, 322,
[000138] [000138] In several aspects, the USB 300 central network controller can connect 127 functions configured in up to six logical layers (levels) to a single computer. In addition, the USB 300 central network controller can connect all peripherals using a standardized four-wire cable that provides both communication and power distribution. The power settings are bus-powered and self-powered modes. The USB 300 central network controller can be configured to support four power management modes: a bus-powered central controller with individual port power management or grouped port power management, and the self-powered central controller with power management. individual port power or grouped port power management. In one aspect, using a USB cable, the USB 300 central network controller, the USB upstream transceiver port 302 is plugged into a USB host controller, and the downstream USB transceiver ports 304, 306, 308 are exposed to connect compatible USB devices, and so on.
[000139] [000139] Figure 12 illustrates a logic diagram of a module of a 470 control system of a surgical instrument or tool, according to one or more aspects of the present disclosure. The 470 system comprises a control circuit. The control circuit includes a microcontroller 461 comprising a processor 462 and a memory 468. One or more of the sensors 472, 474, 476, for example, provide real-time feedback to processor 462. A motor 482, driven by a driver motor 492, operationally couples a longitudinally movable displacement member to drive the beam cutting element with | A tracking system 480 is configured to determine the position of the longitudinally movable displacement member. Position information is provided to processor 462, which can be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of a firing member, firing bar and a beam cutting element with a profile in | . Additional motors can be provided at the instrument driver interface to control the firing of the beam with an | profile, the displacement of the closing tube, the rotation of the drive shaft and the articulation. A 473 screen displays a variety of instrument operating conditions and can include touchscreen functionality for data entry. The information displayed on screen 473 can be overlaid with images captured using endoscopic imaging modules.
[000140] [000140] In one aspect, the 461 microcontroller can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one respect, the main microcontroller 461 can be an LM4F230H5QR ARM Cortex-M4F processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareO program, programmable memory and electrically erasable read-only (EEPROM) of 2 KB, one or more pulse width modulation (PWM) modules, one or more analogs of quadrature encoder (QEI) inputs, and / or one or more analog converters for 12-bit digital (ADC) with 12 channels of analog input, details of which are available for the product data sheet.
[000141] [000141] In one aspect, the 461 microcontroller can comprise a safety controller that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also available from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[000142] [000142] The 461 microcontroller can be programmed to perform various functions, such as precise control of the speed and position of the joint and knife systems. In one aspect, the microcontroller 461 includes a processor 462 and a memory 468. The electric motor 482 can be a brushed direct current (DC) motor with a gearbox and mechanical connections with an articulation or scalpel system. In one aspect, a motor drive 492 can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in tracking system 480 which comprises an absolute positioning system. A detailed description of an absolute positioning system is given in US patent application publication 2017/0296213, entitled SYSTEMS AND METHODS FOR
[000143] [000143] The 461 microcontroller can be programmed to provide precise control of the speed and position of the displacement members and articulation systems. The 461 microcontroller can be configured to compute a response in the 461 microcontroller software. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[000144] [000144] In one aspect, motor 482 can be controlled by motor driver 492 and can be used by the instrument's trigger system or surgical tool. In many ways, the 482 motor can be a brushed direct current (DC) drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 482 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 492 may comprise an H bridge starter comprising field effect transistors (FETs), for example. The 482 motor can be powered by a feed assembly releasably mounted on the handle assembly or tool compartment to provide control power for the instrument or surgical tool. The power pack may comprise a battery that may include several battery cells connected in series, which can be used as the power source to power the instrument or surgical tool. In certain circumstances, the battery cells in the power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium-ion batteries that can be coupled and separable from the power pack.
[000145] [000145] The 492 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 492 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide field (MOSFET) transistors. , of N channel, specifically designed for inductive loads, such as brushed DC motors. The 492 actuator comprises a single charge pump regulator that provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor input control can be used to supply the voltage surpassing that supplied by the battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The energy FETs are protected from the shoot-through effect through programmable dead-time resistors. Integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor drives can be readily replaced for use in the tracking system 480 comprising an absolute positioning system.
[000146] [000146] The tracking system 480 comprises a controlled motor drive circuit arrangement comprising a position sensor 472 in accordance with an aspect of the present disclosure. The position sensor 472 for an absolute positioning system provides a unique position signal that corresponds to the location of a displacement member. In one aspect, the displacement member represents a drive member * longitudinally = movable which comprises a rack of drive teeth for engagement with a corresponding drive gear of a gear reduction assembly. In other respects, the displacement member represents the firing member, which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a firing bar or the beam with a | profile, each of which can be adapted and configured to include a rack of driving teeth. Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the surgical instrument or tool, such as the driving member, the firing member, the firing bar, the beam with profile in | 178, or any element that can be moved. In one aspect, the longitudinally movable drive member is coupled to the firing member, the firing bar and the beam with an | profile. Consequently, the absolute positioning system can, in effect, track the linear displacement of the beam with | by tracking the linear displacement of the longitudinally movable drive member. In several other respects, the displacement member can be coupled to any position sensor 472 suitable for measuring linear displacement. In this way, the longitudinally movable drive member, the firing member, the firing bar or the beam with a | profile, or combinations thereof, can be coupled to any suitable linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors can comprise Variable Differential Linear Transformers (LVDT), Variable Reluctance Differential Transducers (DVRT), a potentiometer, a magnetic detection system comprising a moving magnet and a series linearly arranged in Hall Effect Sensors, a magnetic detection comprising a fixed magnet and a series of movable lines, arranged linearly in Hall Effect Sensors, a mobile optical detection system comprising a mobile light source and a series of linearly arranged photodiodes or photodetectors, an optical detection system which comprises a fixed light source and a mobile series of linearly arranged photodiodes or photodetectors, or any combination thereof.
[000147] [000147] The electric motor 482 may include a rotary drive shaft, which interfaces operationally with a gear set, which is mounted on a coupling coupling with a set or rack of drive teeth on the drive member. A sensor element can be operationally coupled to a gear assembly so that a single revolution of the position sensor element 472 corresponds to some linear longitudinal translation of the displacement member. An array of gears and sensors can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power supply provides power to the absolute positioning system and an output indicator can display the output from the absolute positioning system. The drive member represents the longitudinally movable drive member comprising a rack of drive teeth formed thereon for engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member, the firing bar, the beam with | profile, or combinations thereof.
[000148] [000148] A single revolution of the sensor element associated with the position sensor 472 is equivalent to a longitudinal linear displacement di of the displacement member, where di represents the longitudinal linear distance by which the displacement member moves from point "a" to point "b" after a single revolution of the sensor element coupled to the displacement member. The sensor arrangement can be connected by means of a gear reduction which results in the position sensor 472 completing one or more revolutions for the complete travel of the displacement member. The 472 position sensor can complete multiple revolutions for the full travel of the displacement member.
[000149] [000149] A series of keys, where n is an integer greater than one, can be used alone or in combination with a gear reduction to provide a single position signal for more than one revolution of the 472 position sensor. of the switches is transmitted back to microcontroller 461 which applies logic to determine a single position signal corresponding to the longitudinal linear displacement d1 + d2 + ... of the displacement member. The output of the position sensor 472 is supplied to the microcontroller 461. In several embodiments, the position sensor 472 of the sensor arrangement may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or a series of analog Hall effect elements. , which emit a unique combination of position of signs or values.
[000150] [000150] The position sensor 472 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Halli effect anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magneto impedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, optical fiber , magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[000151] [000151] In one aspect, the position sensor 472 for the tracking system 480 which comprises an absolute positioning system comprises a magnetic rotating absolute positioning system. The 472 position sensor can be implemented as a rotary, magnetic, single-circuit position sensor,
[000152] [000152] The tracking system 480 comprising an absolute positioning system can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include a voltage, current and force PWM. Other sensors can be provided to measure the parameters of the physical system in addition to the position measured by the position sensor 472. In some respects, the other sensors may include sensor arrangements as described in US patent No. 9,345,481 entitled STAPLE CARTRIDGE TISSUE
[000153] [000153] The absolute positioning system provides an absolute positioning of the displaced member on the activation of the instrument without having to retract or advance the longitudinally movable driving member to the restart position (zero or initial), as may be required by the encoders conventional rotating machines that merely count the number of progressive or regressive steps that the 482 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[000154] [000154] A 474 sensor, such as a strain gauge or a micro strain gauge, is configured to measure one or more parameters of the end actuator, such as the amplitude of the strain exerted on the anvil during a gripping operation, which may be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor. Alternatively, or in addition to the 474 sensor, a 476 sensor, such as a load sensor, can measure the closing force applied by the drive system. anvil closure. The 476 sensor, such as a load sensor, can measure the firing force applied to a beam with a | in a course of triggering the system or surgical tool. The beam with profile in | it is configured to engage a wedge slide, which is configured to move the clamp drivers upward to force the clamps to deform in contact with an anvil. Beam with profile in | includes a sharp cutting edge that can be used to separate fabric as the beam with a profile | it is advanced distally by the firing bar. Alternatively, a current sensor 478 can be used to measure the current drawn by the 482 motor. The force required to advance the trigger member may correspond to the current drawn by the 482 motor, for example. The measured force is converted into a digital signal and supplied to the 462 processor.
[000155] [000155] In one form, a 474 strain gauge sensor can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. A system for measuring forces applied to the tissue attached by the end actuator comprises a 474 strain gauge sensor, such as, for example, a microstrain meter, which is configured to measure one or more parameters of the end actuator, for example. In one aspect, the 474 strain gauge sensor can measure the amplitude or magnitude of the mechanical stress exerted on a claw member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor of a microcontroller
[000156] [000156] Measurements of tissue compression, tissue thickness and / or force required to close the end actuator on the tissue, as measured by sensors 474, 476 respectively, can be used by microcontroller 461 to characterize the selected position of the trigger member and / or the corresponding trigger member speed value. In one case, a 468 memory can store a technique, an equation and / or a look-up table that can be used by the 461 microcontroller in the evaluation.
[000157] [000157] The control system 470 of the instrument or surgical tool can also comprise wired or wireless communication circuits for communication with the central modular communication controller shown in Figures 8 to 11.
[000158] [000158] Figure 13 illustrates a control circuit 500 configured to control aspects of the instrument or surgical tool according to an aspect of the present disclosure. The control circuit 500 can be configured to implement various processes described herein. The control circuit 500 may comprise a microcontroller comprising one or more processors 502 (for example, microprocessor, microcontroller) coupled to at least one memory circuit 504. The memory circuit 504 stores instructions executable on a machine that, when executed by the processor 502, cause the 502 processor to execute machine instructions to implement several of the processes described here. The 502 processor can be any one of a number of single-core or multi-core processors known in the art. The memory circuit 504 can comprise volatile and non-volatile storage media The processor 502 can include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit can be configured to receive instructions from the memory circuit 504 of this disclosure.
[000159] [000159] Figure 14 illustrates a combinational logic circuit 510 configured to control aspects of the instrument or surgical tool according to an aspect of the present disclosure. The combinational logic circuit 510 can be configured to implement various processes described herein. The combinational logic circuit 510 can comprise a finite state machine comprising a combinational logic 512 configured to receive data associated with the surgical instrument or tool at an input 514, process the data by combinational logic 512 and provide an output 516.
[000160] [000160] Figure 15 illustrates a sequential logic circuit 520 configured to control aspects of the surgical instrument or tool according to an aspect of the present disclosure. Sequential logic circuit 520 or combinational logic 522 can be configured to implement the process described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuit 520 may comprise combinational logic 522, at least one memory circuit 524, a clock 529 and, for example. The at least one memory circuit 524 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 520 may be synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data by combinational logic 522, and provide an output 528. In other respects, the circuit may comprise a combination of a processor (for example , processor 502, Figure 13) and a finite state machine for implementing various processes of the present invention. In other respects, the finite state machine may comprise a combination of a combinational logic circuit (for example, a combinational logic circuit 510, Figure 14) and the sequential logic circuit 520.
[000161] [000161] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions. In certain cases, a first engine can be activated to perform a first function, a second engine can be activated to perform a second function, a third engine can be activated to perform a third function, a fourth engine can be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 600 can be individually activated to cause firing, closing, and / or articulation movements in the end actuator. The firing, closing and / or articulation movements can be transmitted to the end actuator through a drive shaft assembly, for example.
[000162] [000162] In certain cases, the instrument or surgical tool system may include a 602 firing motor. The 602 firing motor can be operationally coupled to a 604 firing motor drive assembly, which can be configured to transmit movements trigger points, generated by the motor 602 to the end actuator, particularly to move the beam element with | In certain cases, the firing movements generated by the firing motor 602 can cause the staples to be positioned from the staple cartridge in the fabric captured by the end actuator and / or by the cutting edge of the beam element with profile in | to be advanced in order to cut the captured tissue, for example. The beam element with profile in | can be retracted by reversing the direction of motor 602.
[000163] [000163] In certain cases, the surgical instrument or tool may include a closing motor 603. The closing motor 603 can be operationally coupled to a drive assembly of the closing motor 605 that can be configured to transmit closing movements generated by the motor 603 to the end actuator, particularly to move a closing tube to close the anvil and compress the fabric between the anvil and the staple cartridge. Closing movements can cause the end actuator to transition from an open configuration to an approximate configuration to capture tissue, for example. The end actuator can be moved to an open position by reversing the direction of the 603 motor.
[000164] [000164] In certain cases, the surgical instrument or tool may include one or more articulation motors 606a, 606b, for example. The motors 606a, 606b can be operationally coupled to the drive assemblies of the articulation motor 608a, 608b, which can be configured to transmit articulation movements generated by the motors 606a, 606b to the end actuator. In certain cases, the articulation movements can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.
[000165] [000165] As described above, the surgical instrument or tool can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the instrument or surgical tool can be activated individually or separately to perform one or more functions, while other motors remain inactive. For example, the articulation motors 606a, 606b can be activated to cause the end actuator to be articulated, while the firing motor 602 remains inactive. Alternatively, the firing motor 602 can be activated to fire the plurality of clamps, and / or advance the cutting edge, while the hinge motor 606 remains inactive. In addition, the closing motor 603 can be activated simultaneously with the firing motor 602 to make the closing tube and the beam element with profile in | advance distally, as described in more detail later in this document.
[000166] [000166] In certain cases, the surgical instrument or tool may include a common 610 control module that can be used with a plurality of the instrument's instruments or surgical tool. In certain cases, the common control module 610 can accommodate one of the plurality of motors at a time. For example, the common control module 610 can be coupled to and separable from the plurality of motors of the robotic surgical instrument individually. In certain cases, a plurality of surgical instrument or tool motors may share one or more common control modules, such as the common control module 610. In certain cases, a plurality of surgical instrument or tool motors may be individually and selectively engaged to the common control module 610. In certain cases, the common control module 610 can be selectively switched between interfacing with one of a plurality of instrument motors or surgical tool to interface with another among the plurality of instrument motors or surgical tool.
[000167] [000167] In at least one example, the common control module 610 can be selectively switched between the operational coupling with the 606a, 606b articulation motors, and the operational coupling with the 602 firing motor or the closing motor 603. In at least one example, as shown in Figure 16, a key 614 can be moved or transitioned between a plurality of positions and / or states. In the first position 616, the switch 614 can electrically couple the common control module 610 to the trip motor 602; in a second position 617, the switch 614 can electrically couple the control module 610 to the closing motor 603; in a third position 618a, the switch 614 can electrically couple the common control module 610 to the first articulation motor 606a; and in a fourth position 618b, the switch 614 can electrically couple the common control module 610 to the second articulation motor 606b, for example. In certain cases, separate common control modules 610 can be electrically coupled to the firing motor 602, closing motor 603, and hinge motors 606a, 606b at the same time. In certain cases, key 614 can be a mechanical key, an electromechanical key, a solid state key, or any suitable switching mechanism.
[000168] [000168] Each of the 602, 603, 606a, 606b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a motor torque sensor that drives the jaws.
[000169] [000169] In several cases, as shown in Figure 16, the common control module 610 may comprise a motor starter 626 which may comprise one or more H-Bridge FETs. The motor driver 626 can modulate the energy transmitted from a power source 628 to a motor coupled to the common control module 610, based on an input from a microcontroller 620 (the "controller"), for example. In certain cases, the microcontroller 620 can be used to determine the current drawn by the motor, for example, while the motor is coupled to the common control module 610, as described above.
[000170] [000170] In certain examples, the microcontroller 620 may include a microprocessor 622 (the "processor") and one or more non-transitory computer-readable media or 624 memory units (the "memory"). In certain cases, memory 624 can store various program instructions which, when executed, can cause processor 622 to perform a plurality of functions and / or calculations described herein. In certain cases, one or more of the memory units 624 can be coupled to the processor 622, for example.
[000171] [000171] In certain cases, the power supply 628 can be used to supply power to the microcontroller 620, for example. In certain cases, the 628 power source may comprise a battery (or "battery pack" or "power source"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted to the handle to supply power to the surgical instrument 600. Several battery cells connected in series can be used as the 628 power source. In certain cases, the power source 628 power supply can be replaceable and / or rechargeable, for example.
[000172] [000172] In several cases, the 622 processor can control the motor driver 626 to control the position, direction of rotation and / or speed of a motor that is coupled to the common control module 610. In certain cases, the processor 622 can signal the motor driver 626 to stop and / or disable a motor that is coupled to the common control module 610. It should be understood that the term "processor", as used here, includes any microprocessor, microcontroller or other control device. adequate basic computing that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or, at most, some integrated circuits. The processor is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system.
[000173] [000173] In one example, the 622 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 620 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, an early seek buffer for optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWareOG software, 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, one or more ADCs of 12 bits with 12 channels of analog input, among other features that are readily available for the product data sheet. Other microcontrollers can be readily replaced for use with the 4410 module. Consequently, the present disclosure should not be limited in this context.
[000174] [000174] In certain cases, memory 624 may include program instructions for controlling each of the motors of the surgical instrument 600 that are attachable to common control module 610. For example, memory 624 may include program instructions for controlling the motor trigger 602, closing motor 603 and hinge motors 606a, 606b. Such program instructions can cause the 622 processor to control the trigger, close, and link functions according to inputs from the instrument or surgical tool control algorithms or programs.
[000175] [000175] In certain cases, one or more mechanisms and / or sensors, such as 630 sensors, can be used to alert the 622 processor about the program instructions that must be used in a specific configuration. For example, sensors 630 can alert the 622 processor to use the program instructions associated with triggering, closing, and pivoting the end actuator. In certain cases, sensors 630 may comprise position sensors that can be used to detect the position of switch 614, for example. Consequently, the 622 processor can use the program instructions associated with firing the beam with | the end actuator by detecting, through sensors 630, for example, that key 614 is in first position 616; the processor 622 can use the program instructions associated with closing the anvil upon detection through sensors 630, for example, that switch 614 is in second position 617; and processor 622 can use the program instructions associated with the articulation of the end actuator upon detection through sensors 630, for example, that switch 614 is in the third or fourth position 618a, 618b.
[000176] [000176] Figure 17 is a schematic diagram of a robotic surgical instrument 700 configured to operate a surgical tool described in this document, in accordance with an aspect of that disclosure. The robotic surgical instrument 700 can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of a closing tube, the rotation of the drive shaft, and articulation, either with a single type or multiple articulation drive connections. In one aspect, the surgical instrument 700 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 700 comprises a control circuit 710 configured to control motor-driven firing members, closing members, driving shaft members and / or one or more hinge members.
[000177] [000177] In one aspect, the robotic surgical instrument 700 comprises a control circuit 710 configured to control an anvil 716 and a beam portion with profile in | 714 (including a sharp cutting edge) of an end actuator 702, a removable clamp cartridge 718, a drive shaft 740 and one or more hinge members 742a, 742b through a plurality of motors 704a to 704e. A 734 position sensor can be configured to provide feedback on the beam with a profile | 714 to control circuit 710. Other sensors 738 can be configured to provide feedback to control circuit 710. A timer / counter 731 provides timing and counting information to control circuit 710. A power source 712 can be provided to operate the motors 704a to 704e and a current sensor 736 provide motor current feedback to control circuit 710. Motors 704a to 704e can be operated individually by control circuit 710 in an open loop or closed loop feedback control.
[000178] [000178] In one aspect, the control circuit 710 may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer / counter 731 provides an output signal, such as elapsed time or a digital count, to control circuit 710 to correlate the position of the beam with | 714, as determined by the position sensor 734, with the timer / counter output 731 so that the control circuit 710 can determine the position of the beam with profile in | 714 at a specific time (t) in relation to an initial position or time (t) when the beam with profile in | 714 is in a specific position in relation to an initial position. The timer / counter 731 can be configured to measure elapsed time, count external events, or measure timeless events.
[000179] [000179] In one aspect, control circuit 710 can be programmed to control functions of end actuator 702 based on one or more tissue conditions. Control circuit 710 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 710 can be programmed to select a trigger control program or closing control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when thicker tissue is present, control circuit 710 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, the control circuit 710 can be programmed to move the displacement member at a higher speed and / or with greater power. A closing control program can control the closing force applied to the tissue by the anvil 716. Other control programs control the rotation of the drive shaft 740 and the hinge members 742a, 742b.
[000180] [000180] In one aspect, the 710 motor control circuit can generate motor setpoint signals. Motor setpoint signals can be provided for various motor controllers 708a through 708e. Motor controllers 708a to 708e can comprise one or more circuits configured to provide motor drive signals for motors 704a to 704e in order to drive motors 704a to 704e, as described here. In some instances, motors 704a to 704e may be brushed DC motors. For example, the speed of motors 704a to 704e can be proportional to the respective motor start signals. In some examples, motors 704a to 704e may be brushless DC electric motors, and the respective motor drive signals may comprise a PWM signal provided for one or more stator windings of motors 704a to 704e. In addition, in some instances, motor controllers 708a through 708e can be omitted and control circuit 710 can directly generate motor drive signals.
[000181] [000181] In one aspect, the control circuit 710 can initially operate each of the motors 704a to 704e in an open circuit configuration for a first open circuit portion of the travel of the displacement member. Based on the response of the robotic surgical instrument 700 during the open circuit portion of the stroke, control circuit 710 can select a trigger control program in a closed circuit configuration. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the energy supplied to one of the motors 704a to 704e during the open circuit portion, a sum pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 710 can implement the selected trigger control program for a second portion of the travel member travel. For example, during a portion of the closed loop course, control circuit 710 can modulate one of the motors 704a to 704e based on the translation of data describing a position of the closed displacement member to translate the displacement member to a constant speed.
[000182] [000182] In one aspect, motors 704a to 704e can receive power from a 712 power source. Power source 712 can be a DC power source powered by an alternating main power supply, a battery, a super capacitor, or any other suitable power source. Motors 704a to 704e can be mechanically coupled to individual mobile mechanical elements such as the beam with profile in | 714, the anvil 716, the drive shaft 740, the hinge 742a and the hinge 742b, through the respective transmissions 706a to 706e. Transmissions 706a through 706e may include one or more gears or other connecting components for coupling motors 704a to 704e to moving mechanical elements. A 734 position sensor can detect a beam position with a | 714. The position sensor 734 can be or can include any type of sensor that is capable of generating position data indicating a beam position with a profile in 1714. In some examples, the position sensor 734 may include an encoder configured for supply a series of pulses to the control circuit 710 according to the beam with profile in | 714 transferred distally and proximally. The control circuit 710 can track the pulses to determine the position of the beam with profile in | 714. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with 1 714 profile. In addition, in some examples, the position sensor 734 can be omitted. When any of the 704a to 704e motors is a stepper motor, the control circuit 710 can track the beam position with | 714 by adding the number and direction of the steps that the 704 engine was instructed to perform. Position sensor 734 can be located on end actuator 702 or any other portion of the instrument. The outputs of each of the engines 704a to 704e include a torque sensor / 744a to 744e to detect force and have an encoder to detect the rotation of the drive shaft.
[000183] [000183] In one aspect, the control circuit 710 is configured to drive a firing member as the beam portion with profile in | 714 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708a, which provides a drive signal for motor 704a. The output shaft of the motor 704a is coupled to a torque sensor 744a. The torque sensor 744a is coupled to a transmission 706a which is coupled to the beam with profile in | 714. The transmission 706a comprises moving mechanical elements, such as rotating elements, and a firing member for distally and proximally controlling the movement of the beam with profile in | 714 along a longitudinal geometric axis of the end actuator 702. In one aspect, the motor 704a can be coupled to the knife gear assembly, which includes a knife gear reduction assembly that includes a first knife drive gear and a second knife drive gear. A torque sensor 744a provides a feedback signal from the firing force to the control circuit 710. The firing force signal represents the force required to fire or move the beam in profile | 714. A position sensor 734 can be configured to provide the position of the beam with 1 714 profile along the firing stroke or firing member position as a feedback signal to the 710 control circuit. The end actuator 702 can include additional sensors 738 configured to provide feedback signals to control circuit 710. When ready for use, control circuit 710 can provide a trip signal to the 708a motor control. In response to the trigger signal, motor 704a can drive the trigger member distally along the longitudinal geometry axis of end actuator 702 from an initial proximal position of the stroke to an end distal position of the stroke relative to the initial position of course. As the displacement member moves distally, a beam with a | 714 with a cutting element positioned at a distal end, advances distally to cut the fabric between the staple cartridge 718 and the anvil 716.
[000184] [000184] In one aspect, control circuit 710 is configured to drive a closing member, such as anvil portion 716 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708b, which provides a drive signal for motor 704b. The output shaft of the 704b motor is coupled to a 744b torque sensor. The torque sensor 744b is coupled to a transmission 706b which is coupled to the anvil 716. The transmission 706b comprises moving mechanical elements, such as rotating elements and a closing member, to control the movement of the anvil 716 between the open and closed positions. In one aspect, the 704b motor is coupled to a closing gear assembly, which includes a closing reduction gear assembly that is supported in gear engaged with the closing sprocket. The torque sensor 744b provides a closing force feedback signal for control circuit 710. The closing force feedback signal represents the closing force applied to the anvil 716. The position sensor 734 can be configured to provide the position of the closing member as a feedback signal for control circuit 710. Additional sensors 738 on end actuator 702 can provide the feedback signal for closing force to control circuit 710. A pivoting anvil 716 is positioned opposite the staple cartridge 718. When ready for use, control circuit 710 can provide a closing signal to motor control 708b. In response to the closing signal, motor 704b advances a closing member to secure the fabric between the anvil 716 and the staple cartridge 718.
[000185] [000185] In one aspect, control circuit 710 is configured to rotate a drive shaft member, such as drive shaft 740, to rotate end actuator 702. Control circuit 710 provides a motor setpoint for a 708c engine control, which provides a drive signal for the 704c engine. The output shaft of the motor 704c is coupled to a torque sensor 744c. The torque sensor 744c is coupled to a transmission 706c which is coupled to the axis 740. The transmission 706c comprises moving mechanical elements, such as rotary elements, to control the rotation of the drive shaft 740 clockwise or counterclockwise.
[000186] [000186] In one aspect, control circuit 710 is configured to articulate end actuator 702. Control circuit 710 provides a motor setpoint for a 708d motor control, which provides a drive signal for the motor 704d. The output shaft of the 704d motor is coupled to a 744d torque sensor. The torque sensor 744d is coupled to a transmission 706d which is coupled to a pivot member 742a. The 706d transmission comprises moving mechanical elements, such as articulation elements, to control the articulation of the 702 + 65º end actuator. In one aspect, the 704d motor is coupled to a pivot nut, which is rotatably seated on the proximal end portion of the distal column portion and is pivotally driven thereon by a pivot gear assembly. The torque sensor 744d provides a hinge force feedback signal to control circuit 710. The hinge force feedback signal represents the hinge force applied to the end actuator 702. The 738 sensors, as a hinge encoder , can provide the pivoting position of end actuator 702 for control circuit 710.
[000187] [000187] In another aspect, the articulation function of the robotic surgical system 700 can comprise two articulation members, or connections, 742a, 742b. These hinge members 742a, 742b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 708d, 708e. When the separate firing motor 704a is provided, each hinge link 742a, 742b can be antagonistically driven with respect to the other link to provide a resistive holding movement and a load to the head when it is not moving and to provide a movement of articulation when the head is articulated. The hinge members 742a, 742b attach to the head in a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull connection changes when the head is turned. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.
[000188] [000188] In one aspect, the one or more motors 704a to 704e may comprise a brushed DC motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example includes electric motors 704a to 704e that operate the moving mechanical elements such as the displacement member, the articulation connections, the closing tube and the drive shaft. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to one of the electric motors 704a to 704e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[000189] [000189] In one aspect, the position sensor 734 can be implemented as an absolute positioning system. In one aspect, the position sensor 734 can comprise an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The position sensor 734 can interface with the control circuit 710 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions which only require addition, subtraction, bit shift and lookup table operations.
[000190] [000190] In one aspect, the control circuit 710 can be in communication with one or more sensors 738. The sensors 738 can be positioned on the end actuator 702 and adapted to work with the robotic surgical instrument 700 to measure various derived parameters such as span distance in relation to time, compression of the tissue in relation to time, and deformation of the anvil in relation to time. The 738 sensors can comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensor suitable for measuring one or more parameters of end actuator 702. Sensors 738 may include one or more sensors. Sensors 738 may be located on the staple cartridge platform 718 to determine the location of the tissue using segmented electrodes. The torque sensors 744a to 744e can be configured to detect force such as firing force, closing force, and / or articulation force, among others. Consequently, control circuit 710 can detect (1) the closing load experienced by the distal closing tube and its position, (2) the trigger member on the rack and its position, (3) which portion of the staple cartridge 718 has tissue in it, and (4) the load and position on both articulation rods.
[000191] [000191] In one aspect, the one or more sensors 738 may comprise a stress meter such as, for example, a microstrain meter, configured to measure the magnitude of the stress on the anvil 716 during a clamped condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. Sensors 738 can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 716 and the staple cartridge 718. Sensors 738 can be configured to detect the impedance of a section of tissue located between the anvil 716 and the staple cartridge 718 which is indicative of the thickness and / or completeness of the fabric located between them.
[000192] [000192] In one aspect, the 738 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magneto-resistive devices (MR) giant magneto-resistive devices (GMR), magnetometers, among others. In other implementations, the 738 sensors can be implemented as solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the 738 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors and, among others.
[000193] [000193] In one aspect, sensors 738 can be configured to measure the forces exerted on the anvil 716 by the closing drive system. For example, one or more sensors 738 may be at a point of interaction between the closing tube and the anvil 716 to detect the closing forces applied by the closing tube on the anvil 716. The forces exerted on the anvil 716 may be representative of the tissue compression experienced by the tissue section captured between the anvil 716 and the staple cartridge 718. The one or more sensors 738 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied to the anvil 716 by the closing drive system. The one or more sensors 738 can be sampled in real time during a gripping operation by the processor of the control circuit 710. The control circuit 710 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time the closing forces applied to the anvil 716.
[000194] [000194] In one aspect, a current sensor 736 can be used to measure the current drawn by each of the 704a to 704e motors. The force required to advance any of the moving mechanical elements such as the beam with a profile | 714 corresponds to the current drained by one of the motors 704a to 704e. The force is converted into a digital signal and supplied to control circuit 710. Control circuit 710 can be configured to simulate the response of the instrument's actual system in the controller software. A displacement member can be actuated to move a beam with a profile | 714 on end actuator 702 at or near a target speed. The robotic surgical instrument 700 may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, linear quadratic (LQR) and / or an adaptive controller , for example. The robotic surgical instrument 700 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque and / or force, for example. Additional details are disclosed in US patent application serial number 15 / 636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed on June 29, 2017, which is hereby incorporated by reference in its entirety.
[000195] [000195] Figure 18 illustrates a block diagram of a surgical instrument 750 programmed to control the distal translation of a displacement member in accordance with an aspect of the present disclosure. In one aspect, the 750 surgical instrument is programmed to control the distal translation of a displacement member, such as the beam with a | 764. The surgical instrument 750 comprises an end actuator 752 which may comprise an anvil 766, a beam with a profile in | 764 (including a sharp cutting edge), and a removable staple cartridge 768.
[000196] [000196] The position, movement, displacement, and / or translation of a member of linear displacement, such as the beam with profile in | 764, can be measured by an absolute positioning system, sensor arrangement and position sensor 784. Due to the fact that the beam with | 764 is coupled to a longitudinally movable drive member, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member using the 784 position sensor.
[000197] [000197] Control circuit 760 can generate a setpoint signal for motor 772. The setpoint signal for motor 772 can be supplied to a motor controller 758. Motor controller 758 can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the motor drive signal 774 can comprise a PWM signal provided for a or more motor stator windings 754. In addition, in some examples, motor controller 758 may be omitted, and control circuit 760 can generate motor drive signal 774 directly.
[000198] [000198] The 754 motor can receive power from a power source
[000199] [000199] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 752 and adapted to work with the surgical instrument 750 to measure the various derived parameters, such as span distance in relation to time, compression of the tissue in relation to time and tension of the anvil in relation to time. The 788 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical and / or any other sensors suitable for measuring one or more parameters of the 752 end actuator. The 788 sensors may include one or more sensors.
[000200] [000200] The one or more sensors 788 may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the strain on the anvil 766 during a grip condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of tissue located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.
[000201] [000201] The sensors 788 can be configured to measure the forces exerted on the anvil 766 by a closing drive system. For example, one or more sensors 788 can be at a point of interaction between a closing tube and anvil 766 to detect the closing forces applied by a closing tube to anvil 766. The forces exerted on anvil 766 can be representative of the tissue compression experienced by the tissue section captured between the anvil 766 and the staple cartridge 768. The one or more sensors 788 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied anvil 766 by the closing drive system. The one or more 788 sensors can be sampled in real time during a gripping operation by a processor of the control circuit 760. The control circuit 760 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time, the closing forces applied to the anvil 766.
[000202] [000202] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with profile in | 764 corresponds to the current drained by the motor
[000203] [000203] The control circuit 760 can be configured to simulate the response of the real system of the instrument in the controller software. A displacement member can be actuated to move a beam with a profile | 764 on end actuator 752 at or near a target speed. The surgical instrument 750 can include a feedback controller, which can be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, LOR, and / or an adaptive controller, for example. The surgical instrument 750 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque and / or force, for example.
[000204] [000204] The actual drive system of the surgical instrument 750 is configured to drive the displacement member, the cutting member or the beam with profile in | 764, by a brushed DC motor with gearbox and mechanical connections to an articulation system and / or scalpel. Another example is the 754 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 754 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[000205] [000205] Several exemplifying aspects are directed to a 750 surgical instrument that comprises a 752 end actuator with motor-driven surgical stapling and cutting implements. For example, a motor 754 can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 752. End actuator 752 may comprise an articulating anvil 766 and, when configured for use, an ultrasonic blade 768 positioned on the opposite side of the anvil 766. A doctor can hold the tissue between the anvil 766 and the staple cartridge 768, as described in the present invention. When ready to use the 750 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 750 instrument. In response to the trigger signal, motor 754 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 752 from a proximal start position to a distal end position from the start position. As the displacement member moves distally, the beam with | 764 with a cutting element positioned at a distal end, you can cut the fabric between the staple cartridge 768 and the anvil 766.
[000206] [000206] In several examples, the surgical instrument 750 may comprise a control circuit 760 programmed to control the distal translation of the displacement member, such as the beam with profile in | 764, for example, based on one or more tissue conditions. The control circuit 760 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 760 can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, control circuit 760 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, the control circuit 760 can be programmed to move the displacement member at a higher speed and / or with greater power.
[000207] [000207] In some examples, control circuit 760 may initially operate motor 754 in an open circuit configuration for a first open circuit portion of a travel of the displacement member. Based on an instrument response 750 during the open circuit portion of the course, control circuit 760 can select a trip control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 754 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 760 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 760 can modulate motor 754 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into a constant speed. Additional details are disclosed in US Patent Application Serial No. 15 / 720,852, entitled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, filed on September 29, 2017, which is hereby incorporated by reference in its entirety.
[000208] [000208] Figure 19 is a schematic diagram of a 790 surgical instrument configured to control various functions in accordance with an aspect of the present disclosure. In one aspect, the 790 surgical instrument is programmed to control the distal translation of a displacement member, such as the beam with a | 764. The surgical instrument 790 comprises an end actuator 792 which may comprise an anvil 766, a beam with a profile | 764 and a removable staple cartridge 768 that can be interchanged with an RF cartridge 796 (shown in dashed line).
[000209] [000209] In one aspect, the 788 sensors can be implemented as a limit switch, electromechanical device, solid state switches, Hall effect devices, MRI devices, GMR devices, magnetometers, among others. In other implementations, 638 sensors can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the sensors
[000210] [000210] In one aspect, the position sensor 784 can be implemented as an absolute positioning system, which comprises a rotating magnetic absolute positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The position sensor 784 can interface with the control circuit 760 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions which only require addition, subtraction, bit shift and lookup table operations.
[000211] [000211] In one aspect, the beam with profile in | 764 can be implemented as a knife member comprising a knife body which operationally supports a tissue cutting blade therein and can additionally include anvil engagement tabs or features and channel engagement or a base. In one aspect, the staple cartridge 768 can be implemented as a standard surgical (mechanical) fastener cartridge. In one aspect, the RF cartridge 796 can be implemented as an RF cartridge. These and other sensor provisions are described in Commonly Owned US Patent Application Serial No. 15 / 628,175, entitled TECHNIQUES
[000212] [000212] The position, movement, displacement and / or translation of a member of linear displacement, such as the beam with profile in | 764, can be measured by an absolute positioning system, sensor arrangement and position sensor represented as the position sensor 784. Due to the fact that the beam with profile in | 764 is coupled to a longitudinally movable drive member 120, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member using the position sensor 784. Consequently, in the following description, the position, displacement and / or translation of the beam with profile in | 764 can be obtained by the position sensor 784, as described in the present invention. A control circuit 760 can be programmed to control the translation of the displacement member, such as the beam with | 764, as described in this document. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the beam with profile in | 764, in the manner described In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate the beam position with | 764 as determined by position sensor 784 with timer / counter output 781 so that control circuit 760 can determine the position of the beam with profile in | 764 at a specific time (t) in relation to an initial position. The 781 timer / counter can be configured to measure elapsed time, count external events, or measure timeless events.
[000213] [000213] Control circuit 760 can generate a setpoint signal for motor 772. The setpoint signal for motor 772 can be supplied to a motor controller 758. Motor controller 758 can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the motor drive signal 774 can comprise a PWM signal provided for a or more motor stator windings 754. In addition, in some examples, motor controller 758 may be omitted, and control circuit 760 can generate motor drive signal 774 directly.
[000214] [000214] The 754 motor can receive power from a power source
[000215] [000215] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 792 and adapted to work with the surgical instrument 790 to measure the various derived parameters, such as span distance in relation to time, compression of the tissue in relation to time and tension of the anvil in relation to time. The 788 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical and / or any other sensors suitable for measuring one or more parameters of the end actuator 792. The 788 sensors may include one or more sensors.
[000216] [000216] The one or more sensors 788 may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 766 during a grip condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of tissue located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.
[000217] [000217] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by the closing drive system. For example, one or more sensors 788 can be at a point of interaction between a closing tube and anvil 766 to detect the closing forces applied by a closing tube to anvil 766. The forces exerted on anvil 766 can be representative of the tissue compression experienced by the tissue section captured between the anvil 766 and the staple cartridge 768. The one or more sensors 788 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied anvil 766 by the closing drive system. The one or more sensors 788 can be sampled in real time during a gripping operation by a processor portion of the control circuit 760. The control circuit 760 receives sample measurements in real time to provide and analyze information based on time and evaluate , in real time, the closing forces applied to the anvil
[000218] [000218] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with profile in | 764 corresponds to the current drained by the motor
[000219] [000219] An RF power source 794 is coupled to the end actuator 792 and is applied to the RF 796 cartridge when the RF 796 cartridge is loaded on the end actuator 792 in place of the staple cartridge 768. The control circuit 760 controls the supply of RF energy to the 796 RF cartridge.
[000220] [000220] Additional details are disclosed in US patent application serial number 15 / 636,096, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed on June 28, 2017, which is hereby incorporated into reference title in its entirety. Generator hardware
[000221] [000221] Figure 20 is a simplified block diagram of a generator 800 configured to provide adjustment without inductor, among other benefits. Additional details of generator 800 are described in US patent 9,060,775, entitled SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, granted on June 23, 2015, which is hereby incorporated by reference in its entirety. The generator 800 can comprise a patient isolated stage 802 in communication with a non-isolated stage 804 via a power transformer 806. A secondary winding 808 of the power transformer 806 is contained in the isolated stage 802 and can comprise a bypass configuration. (for example, a central bypass or non-central bypass configuration) to define the trigger signal outputs 810a, 810b, 810c in order to deliver trigger signals to different surgical instruments, such as an ultrasonic surgical device and an electrosurgical RF instrument, and a multifunctional surgical instrument that includes ultrasonic and RF energy modes that can be released alone or simultaneously. In particular, the drive signal outputs 810a and 810c can provide an ultrasonic trigger signal (for example, a 420 V root-mean-square (RMS) drive signal) to an ultrasonic surgical instrument, and the trigger signal emissions 810b and 810c can provide an RF electrosurgical trigger signal (for example, a 100 V RMS trigger signal) to an RF electrosurgical instrument,
[000222] [000222] In certain forms, ultrasonic and electrosurgical trigger signals can be supplied simultaneously to different surgical instruments and / or to a single surgical instrument, such as a multifunctional surgical instrument, with the ability to supply both ultrasonic and electrosurgical energy to the tissue. It will be noted that the electrosurgical signal provided by both the electrosurgical instrument - dedicated - and by the “combined electrosurgical / ultrasonic multifunctional instrument can be both a therapeutic and subtherapeutic level signal, where the subtherapeutic signal can be used, for example, to monitor tissue or instrument conditions and provide feedback to the generator. For example, RF and ultrasonic signals can be provided separately or simultaneously from a generator with a single output port in order to provide the desired output signal to the surgical instrument, as - "will be discussed in more detail below. Consequently , the generator can combine the RF and ultrasonic electrosurgical energies and supply the combined energies to the multifunctional electrosurgical / ultrasonic instrument. Bipolar electrodes can be placed in one or both claws of the end actuator. A claw can be driven by ultrasonic energy in addition to RF electrosurgical energy, working simultaneously, ultrasonic energy can be used to perform tissue dissection while RF electrosurgical energy can be used to cauterize vessels.
[000223] [000223] The non-isolated stage 804 may comprise a power amplifier 812 that has an output connected to a primary winding 814 of the power transformer 806. In certain forms the power amplifier 812 may comprise a push-pull amplifier. For example, the non-isolated stage 804 may additionally contain a logic device 816 to provide a digital output to a digital-to-analog converter (DAC) circuit 818 which, in turn, provides a analog signal corresponding to a power amplifier 812 input. In certain ways, logic device 816 may comprise a programmable gate array (PGA), an FPGA (field programmable gate FPGA) array "), a programmable logic device (PLD, from the English" programmable logic device "), among other logic circuits, for example. The logic device 816, by controlling the input of the power amplifier 812 through the DAC 818, can therefore control any of several parameters (for example, frequency, waveform, amplitude of the waveform) of drive signals appearing at the trigger signal outputs 810a, 810b and 810c. In certain ways, and as discussed below, logic device 816, in conjunction with a processor (for example, a DSP discussed below), can implement various DSP-based control algorithms and / or other control algorithms to control the parameters of the trigger signals provided by generator 800.
[000224] [000224] Power can be supplied to a power rail of the power amplifier 812 by a switching mode regulator 820, such as a power converter. In certain forms, the switching mode regulator 820 may comprise an adjustable antagonistic regulator, for example. The non-isolated stage 804 may further comprise a first processor 822 which, in one form, may comprise a DSP processor as an ADSP-21469 SHARC DSP analog device, available from Analog Devices, Norwood, MA, USA,
[000225] [000225] In certain forms, the logic device 816, in conjunction with the DSP processor 822, can implement a digital synthesis circuit as a control scheme with direct digital synthesizer to control the waveform, frequency and / or amplitude of the trigger signals emitted by the generator 800. In one way, for example, the logic device 816 can implement a DDS control algorithm by retrieving waveform samples stored in a lookup table (LUT, "look-up table") updated dynamically, like a RAM LUT that can be integrated into an FPGA. This control algorithm is particularly useful for ultrasonic applications in which an ultrasonic transducer, such as an ultrasonic transducer, can be driven by a clean sinusoidal current at its resonant frequency. as other frequencies can excite parasitic resonances, minimizing or reducing the total distortion of the current of the motion branch can correspondingly minimize or reduce the undesirable effects of the resonance. As the waveform of a drive signal output by generator 800 is impacted by various sources of distortion present in the output drive circuit (for example, power transformer 806, power amplifier 812), feedback data voltage and current based on the trigger signal can be provided to an algorithm, such as an error control algorithm implemented by the DSP 822 processor, which compensates for the distortion by adequate pre-distortion or modification of the stored waveform samples in the LUT in a dynamic and continuous way (for example, in real time). In one way, the amount or degree of pre-distortion applied to the LUT samples can be based on the error between a current from the computerized motion branch and a desired current waveform, the error being determined on a basis of sample by sample. In this way, pre-distorted LUT samples, when processed through the drive circuit, can result in a motion branch drive signal that has the desired waveform (for example, sinusoidal) to optimally drive the transducer ultrasonic. In such forms, the LUT waveform samples will therefore not represent the desired waveform of the trigger signal, but rather the waveform that is needed to ultimately produce the desired waveform of the trigger signal of the movement branch, when the distortion effects are taken into account.
[000226] [000226] The non-isolated stage 804 may additionally comprise a first ADC 826 circuit and a second ADC 828 circuit coupled to the output of the power transformer 806 by means of the respective isolation transformers, 830 and 832, to respectively sample the voltage and current of trigger signals emitted by generator 800. In certain forms, ADC circuits 826 and 828 can be configured for high speed sampling (eg, 80 mega samples per second (MSPS)) to allow over-sampling of the trigger signals.
[000227] [000227] In certain forms, feedback data about voltage and current can be used to control the frequency and / or amplitude (for example, current amplitude) of the trigger signals. In one way, for example, feedback data about voltage and current can be used to determine the impedance phase. The frequency of the trigger signal can then be controlled to minimize or reduce the difference between the determined impedance phase and an impedance phase setpoint (eg 0º), thereby minimizing or reducing the effects of harmonic distortion and , correspondingly, accentuating the accuracy of the impedance phase measurement. The determination of phase impedance and a frequency control signal can be implemented in the DSP processor 822, for example, with the frequency control signal being supplied as input to a DDS control algorithm implemented by the programmable logic device 816.
[000228] [000228] In another form, for example, the current feedback data can be monitored in order to maintain the current amplitude of the drive signal at a current amplitude setpoint. The current amplitude set point can be specified directly or indirectly determined based on the specified set points for voltage and power amplitude. In certain ways, current amplitude control can be implemented by the control algorithm, such as a proportional-integral-derivative control algorithm (PID), on the DSP 822 processor. The variables controlled by the control algorithm to adequately control the amplitude of current of the drive signal may include, for example, the scaling of the LUT waveform samples stored in logic device 816 and / or the full-scale output voltage of the DAC 818 circuit (which provides input to the power 812) through a DAC circuit
[000229] [000229] The non-isolated stage 804 may additionally comprise a second processor 836 to provide, among other things, user interface (UI) functionality. In one form, the 836 processor can comprise an Atmel AT91SAM9263 processor with an ARM 926EJ-S core, available from Atmel Corporation, of San Jose, California, USA, for example. Examples of UI functionality supported by the 836 processor may include audible and visual feedback from the user, communication with peripheral devices (for example, via a USB interface), communication with the foot switch, communication with an input device (for example, a touchscreen) and communication with an output device (for example, a speaker). The UI processor 836 can communicate with the DSP processor 822 and logic device 816 (for example, via SPI buses). Although the UI 836 processor can primarily support UI functionality, it can also coordinate with the DSP 822 processor to implement risk mitigation in certain ways. For example, the UIl 836 processor can be programmed to monitor various aspects of inputs by the user and / or other inputs (for example, touchscreen inputs, foot switch inputs, temperature sensor inputs) and can disable the drive output of generator 800 when an error condition is detected.
[000230] [000230] In certain ways, both the DSP 822 processor and the UI 836 processor can, for example, determine and monitor the operational state of generator 800. For the DSP 822 processor, the operational state of generator 800 can determine, for example, which control and / or diagnostic processes are implemented by the DSP 822 processor. For the UI 836 processor, the operational state of generator 800 can determine, for example, which elements of a user interface (for example, display, sounds) are presented to a user. The respective UIL and DSP processors 822 and 836 can independently maintain the current operational state of generator 800, as well as recognize and evaluate possible transitions out of the current operational state. The DSP 822 processor can act as the master in this relationship, and can determine when transitions between operational states should occur. The UI 836 processor can be aware of valid transitions between operational states, and can confirm that a particular transition is adequate. For example, when the DSP 822 processor instructs the UI 836 processor to transition to a specific state, the UIL 836 processor can verify that the requested transition is valid. If a requested transition between states is determined to be invalid by the UI 836 processor, the UI 836 processor can cause generator 800 to enter a fault mode.
[000231] [000231] The non-isolated stage 804 can also contain a controller 838 for monitoring input devices (for example, a capacitive touch sensor used to turn the generator 800 on and off, a capacitive touch screen). In certain forms, controller 838 may comprise at least one processor and / or other controller device in communication with the UI processor
[000232] [000232] In certain ways, when generator 800 is in an "off" state, controller 838 can continue to receive operational power (for example, through a line from a generator 800 power supply, such as the power supply 854 discussed below). In this way, controller 838 can continue to monitor an input device (for example, a capacitive touch sensor located on a front panel of generator 800) to turn generator 800 on and off. When generator 800 is in the off state, the controller 838 can wake up the power supply (for example, enable one or more DC / DC voltage converters 856 of the power supply 854 to operate), if the activation of the "on / off" input device is detected by a user . Controller 838 can therefore initiate a sequence to transition the generator 800 to an "on" state. On the other hand, controller 838 can initiate a sequence to transition the generator 800 to the off state if activation of the "on / off" input device is detected, when the generator 800 is in the on state. In certain ways, for example, controller 838 may report the activation of the "on / off" input device to processor 836 which, in turn, implements the process sequence necessary to transition generator 800 to the off state. In such forms, controller 838 may not have any independent capacity to cause the removal of power from generator 800 after its on state has been established.
[000233] [000233] In certain forms, controller 838 may cause generator 800 to provide audible feedback or other sensory feedback to alert the user that an on or off sequence has been initiated. This type of alert can be provided at the beginning of an on or off sequence, and before the start of other processes associated with the sequence.
[000234] [000234] In certain forms, the isolated stage 802 may comprise an instrument interface circuit 840 to, for example, provide a communication interface between a control circuit of a surgical instrument (for example, a control circuit comprising switches handle) and non-isolated stage 804 components, such as logic device 816, DSP processor 822 and / or UI processor 836. Instrument interface circuit 840 can exchange information with non-isolated stage 804 components via a communication connection that maintains an adequate degree of electrical isolation between the isolated and non-isolated stages 802 and 804, such as an infrared-based communication connection. Power can be supplied to the instrument interface circuit 840 using, for example, a low-drop voltage regulator powered by an isolation transformer driven from the non-isolated stage 804.
[000235] [000235] In one form, the instrument interface circuit 840 may comprise a logic circuit 842 (for example, a logic circuit, a programmable logic circuit, PGA, FPGA, PLD) in communication with a signal conditioning circuit 844. The signal conditioning circuit 844 can be configured to receive a periodic signal from logic circuit 842 (e.g., a 2 kHz square wave) to generate a bipolar interrogation signal that has an identical frequency. The question mark can be generated, for example, using a bipolar current source powered by a differential amplifier. The question mark can be communicated to a surgical instrument control circuit (for example, using a conductive pair on a cable that connects the generator 800 to the surgical instrument) and monitored to determine a state or configuration of the control circuit . The control circuit can comprise numerous switches, resistors and / or diodes to modify one or more characteristics (for example, amplitude, rectification) of the question mark so that a state or configuration of the control circuit is unambiguously discernible, based on that one or more characteristics. In one form, for example, the signal conditioning circuit 844 may comprise an ADC circuit for generating samples of a voltage signal appearing between inputs of the control circuit, resulting from the passage of the interrogation signal through it. The logic instrument 842 (or a non-isolated stage component 804) can then determine the status or configuration of the control circuit based on the samples of ADC circuits.
[000236] [000236] In one form, the instrument interface circuit 840 may comprise a first data circuit interface 846 to enable the exchange of information between logic circuit 842 (or another element of the instrument interface circuit 840) and a first data circuit disposed in a surgical instrument or otherwise associated with it. In certain forms, for example, a first data circuit may be arranged on a cable integrally attached to a handle of the surgical instrument, or on an adapter to interface between a specific type or model of surgical instrument and the 800 generator. The first data circuit can be deployed in any suitable manner and can communicate with the generator according to any suitable protocol, including, for example, as described here in relation to the first data circuit. In certain forms, the first data circuit may comprise a non-volatile storage device, such as an EEPROM device. In certain ways, the first data circuit interface 846 can be implemented separately from logic circuit 842 and comprises a suitable circuitry (for example, separate logic devices, a processor) to allow communication between logic circuit 842 and the first data circuit. In other forms, the first data circuit interface 846 can be integral with logic circuit 842.
[000237] [000237] In certain forms, the first data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument was used, and / or any other types of information. This information can be read by the interface circuit of the instrument 840 (for example, the logic circuit 842), transferred to a component of the non-isolated stage 804 (for example, to the logic device 816, DSP processor 822 and / or processor UI 836) for presentation to a user by means of an output device and / or to control a function or operation of the generator 800. In addition, any type of information can be transmitted to the first data circuit for storage through the first interface of data circuit 846 (for example, using logic circuit 842). This information may include, for example, an updated number of operations in which the surgical instrument was used and / or the dates and / or times of its use.
[000238] [000238] As discussed earlier, a surgical instrument can be removable from a handle (for example, the multifunctional surgical instrument can be removable from the handle) to promote interchangeability and / or disposability of the instrument. In such cases, conventional generators may be limited in their ability to recognize specific instrument configurations being used, as well as to optimize the control and diagnostic processes as needed. The addition of readable data circuits to surgical instruments to address this issue is problematic from a compatibility point of view, however. For example, design a surgical instrument so that it remains backwards compatible! with generators lacking the indispensable data reading functionality, it can be impractical due, for example, to different signaling schemes, design complexity and cost. The forms of instruments discussed here address these concerns through the use of data circuits that can be implemented in existing surgical instruments, economically and with minimal design changes to preserve the compatibility of surgical instruments with current generator platforms.
[000239] [000239] Additionally, the shapes of the generator 800 may allow communication with instrument-based data circuits. For example, generator 800 can be configured to communicate with a second data circuit contained in an instrument (for example, the multifunctional surgical instrument). In some ways, the second data circuit can be implemented in a manner similar to that of the first data circuit described here. The instrument interface circuit 840 may comprise a second data circuit interface 848 to enable such communication. In one form, the second data circuit interface 848 can comprise a three-state digital interface, although other interfaces can also be used. In certain ways, the second data circuit can generally be any circuit for transmitting and / or receiving data. In one form, for example, the second data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument was used, and / or any other types of information.
[000240] [000240] In some ways, the second data circuit can store information about the ultrasonic and / or electrical properties of an associated ultrasonic transducer, end actuator or ultrasonic drive system. For example, the first data circuit can indicate an initialization frequency slope, as described here. In addition or alternatively, any type of information can be transmitted to the second data circuit for storage via the second data circuit interface 848 (for example, using logic circuit 842). This information may include, for example, an updated number of operations in which the surgical instrument was used and / or the dates and / or times of its use. In certain ways, the second data circuit can transmit data captured by one or more sensors (for example, an instrument-based temperature sensor). In certain ways, the second data circuit can receive data from generator 800 and provide an indication to a user (for example, a light-emitting indication or other visible indication) based on the received data.
[000241] [000241] In certain ways, the second data circuit and the second data circuit interface 848 can be configured so that communication between logic circuit 842 and the second data circuit can be carried out without the need to provide additional conductors for this purpose (for example, dedicated cable conductors connecting a handle to the 800 generator). In one way, for example, information can be transmitted to and from the second data circuit using a wire bus communication scheme, implemented in the existing wiring, as one of the conductors used transmitting interrogation signals from from signal conditioning circuit 844 to a control circuit on a handle. In this way, changes or modifications to the design of the surgical device that may otherwise be necessary are minimized or reduced. In addition, due to the fact that different types of communications implemented on a common physical channel can be separated based on frequency, the presence of a second data circuit can be "invisible" to generators that do not have the essential functionality of reading data, which, therefore, allows the backward compatibility of the surgical instrument.
[000242] [000242] In certain forms, the isolated stage 802 may comprise at least one blocking capacitor 850-1 connected to the output of the drive signal 810b to prevent the passage of direct current to a patient. A single blocking capacitor may be required to comply with medical regulations and standards, for example. Although failures in single-capacitor designs are relatively uncommon, such failures can still have negative consequences. In one form, a second blocking capacitor 850-2 can be placed in series with the blocking capacitor 850-1, with current dispersion of one point between the blocking capacitors 850-1 and 850-2 being monitored, for example , by an ADC 852 circuit for sampling a voltage induced by leakage current. Samples can be received, for example, via logic circuit 842. Based on changes in leakage current (as indicated by the voltage samples), generator 800 can determine when at least one of the blocking capacitors 850-1, 850- 2 has failed, thus offering a benefit over single capacitor designs that have a single point of failure.
[000243] [000243] In certain forms, the non-isolated stage 804 may comprise a power supply 854 for delivering DC power with adequate voltage and current. The power supply may comprise, for example, a 400 W power supply to deliver a system voltage of 48 VDC. The power supply 854 can additionally comprise one or more DC / DC voltage converters 856 to receive the output from the power supply to generate DC outputs at the voltages and currents required by the various components of generator 800. As discussed above in relation to the controller 838, one or more of the 856 DC / DC voltage converters can receive an input from the 838 controller when the activation of the "on / off" input device by a user is detected by the 838 controller, to enable the operation or awakening of the 856 DC / DC voltage converters.
[000244] [000244] Figure 21 illustrates an example of generator 900, which is a form of generator 800 (Figure 20). The 900 generator is configured to supply multiple types of energy to a surgical instrument. The 900 generator provides ultrasonic and RF signals to power a surgical instrument, independently or simultaneously. Ultrasonic and RF signals can be provided alone or in combination and can be provided simultaneously. As indicated above, at least one generator output can provide multiple types of energy (for example, ultrasonic, bipolar or monopolar RF, irreversible and / or reversible electroporation, and / or microwave energy, among others) through a single port, and these signals can be supplied separately or simultaneously to the end actuator to treat tissue.
[000245] [000245] Generator 900 comprises a processor 902 coupled to a waveform generator 904. Processor 902 and waveform generator 904 are configured to generate various signal waveforms based on information stored in a coupled memory to processor 902, not shown for clarity of disclosure. The digital information associated with a waveform is provided to the waveform generator 904 that includes one or more DAC circuits to convert the digital input to an analog output. The analog output is powered by an amplifier 1106 for signal conditioning and amplification. The conditioned and amplified output of amplifier 906 is coupled to a power transformer 908. The signals are coupled by the power transformer 908 to the secondary side, which is on the patient isolation side. A first signal of a first energy modality is supplied to the surgical instrument between the terminals identified as ENERGY1 and RETURN. A second signal from a second energy modality is coupled by a 910 capacitor and is supplied to the surgical instrument between the terminals identified as ENERGY and RETURN. It will be recognized that more than two types of energy can be issued and, therefore, the subscript "n" can be used to designate that up to n ENERGY terminals can be provided, where n is a positive integer greater than 1. acknowledged that up to "n" return paths, RETURN can be provided without departing from the scope of this disclosure.
[000246] [000246] A second 912 voltage detection circuit is coupled through the terminals identified as ENERGY and the RETURN path to measure the output voltage between them. A second voltage detection circuit 924 is connected via the terminals identified as ENERGY and the RETURN path to measure the output voltage between them. A current detection circuit 914 is arranged in series with the RETURN leg on the secondary side of the power transformer 908 as shown to measure the output current for any energy modality. If different return paths are provided for each energy modality, then a separate current detection circuit would be provided on each return leg. The outputs of the first and second voltage detection circuits 912, 924 are supplied to the respective isolation transformers 916, 922 and the output of the current detection circuit 914 is supplied to another isolation transformer 918. The outputs of the isolation transformers 916 , 928, 922 on the primary side of the power transformer 908 (non-isolated side of the patient) are supplied to one or more ADC 926 circuits. The digitized output from the ADC 926 circuit is provided to processor 902 for further processing and computation. The output voltages and the output current feedback information can be used to adjust the output voltage and the current supplied to the surgical instrument, and to compute the output impedance, among other parameters. Input / output communications between the 902 processor and the patient's isolated circuits are provided via a 920 interface circuit. The sensors may also be in electrical communication with the 902 processor via the 920 interface circuit.
[000247] [000247] In one aspect, impedance can be determined by processor 902 by dividing the output of the first voltage detection circuit 912 coupled over the terminals identified as ENERGY1 / RETURN or the second voltage detection circuit 924 coupled over the terminals identified as ENERGY2 / RETURN, by the output of the current detection circuit 914 arranged in series with the RETURN leg on the secondary side of the power transformer 908. The outputs of the first and second voltage detection circuits 912, 924 are provided to separate transformer isolations 916, 922 and current detection circuit 914 output is provided to another isolation transformer 916. Digitized current and voltage detection measurements from ADC circuit 926 are provided to processor 902 to compute impedance. As an example, the first ENERGIA1 energy modality can be ultrasonic energy and the second ENERGIA2 energy modality can be RF energy. However, in addition to the ultrasonic and bipolar or monopolar RF energy modalities, other energy modalities include irreversible and / or reversible electroporation and / or microwave energy, among others. In addition, although the example illustrated in Figure 21 shows a single RETURN return path that can be provided for two or more energy modes, in other respects, multiple RETURN return paths can be provided for each ENERGY energy mode. Thus, as described here, the impedance of the ultrasonic transducer can be measured by dividing the output of the first voltage detection circuit 912 by the current detection circuit 914 and the fabric impedance can be measured by dividing the output of the second voltage detection circuit 924 through current detection circuit 914.
[000248] [000248] As shown in Figure 21, the generator 900 comprising at least one output port may include a power transformer 908 with a single output and multiple taps to provide power in the form of one or more energy modalities, such as ultrasonic , Bipolar or monopolar RF, irreversible and / or reversible electroporation, and / or microwave energy, among others, for example to the end actuator depending on the type of tissue treatment being performed. For example, the 900 generator can supply higher voltage and lower current power to drive an ultrasonic transducer, lower voltage and higher current to drive RF electrodes to seal the tissue or with a coagulation waveform for point clotting using electrosurgical electrodes Monopolar or bipolar RF. The output waveform of generator 900 can be oriented, switched or filtered to provide frequency to the end actuator of the surgical instrument. The connection of an ultrasonic transducer to the output of generator 900 would preferably be located between the output identified as ENERGY1 and RETURN, as shown in Figure 21. In one example, a connection of bipolar RF electrodes to the output of generator 900 would preferably be located between the output identified as ENERGY and RETURN. In the case of a monopolar output, would the preferred connections be an active electrode (for example, a light beam or another probe) for the ENERGY output and a suitable return block connected to the RETURN output.
[000249] [000249] Additional details are disclosed in US patent application publication 2017/0086914 entitled TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING
[000250] [000250] As used throughout this description, the term "wireless" and its derivatives can be used to describe circuits, devices, systems, methods, techniques, communication channels etc., which can communicate data through the use of electromagnetic radiation modulated using a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some ways they may not. The communication module can implement any of a number of wireless and wired communication standards or protocols, including, but not limited to, Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, evolution long-term evolution (LTE), Ev-DO, HSPA +, HSDPA +, HSUPA +, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, Ethernet derivatives thereof, as well as any other protocols without wired and wired which are designated as 3G, 4G, 5G, and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS, CDMA , WiMAX, LTE, Ev-DO, and others.
[000251] [000251] As used in the present invention, a processor or processing unit is an electronic circuit that performs operations on some external data source, usually memory or some other data flow. The term is used in the present invention to refer to the central processor (central processing unit) in a computer system or systems (specifically systems on a chip (SoCs)) that combine several specialized "processors".
[000252] [000252] As used here, a system on a chip or system on the chip (SoC or SOC) is an integrated circuit (also known as an "IC" or "chip") that integrates all components of a computer or other electronic systems . It can contain digital, analog, mixed and often radio frequency functions - all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a graphics processing unit (GPU), i-Fi module, or coprocessor. An SoC may or may not contain internal memory.
[000253] [000253] As used here, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU for microcontroller unit) can be implemented as a small computer on a single integrated circuit. It can be similar to a SoC; a SoC can include a microcontroller as one of its components. A microcontroller can contain one or more core processing units (CPUs) along with memory and programmable input / output peripherals. Program memory in the form of ferroelectric RAM, NOR flash or OTP ROM is also often included on the chip, as well as a small amount of RAM. Microcontrollers can be used for integrated applications, in contrast to microprocessors used in personal computers or other general purpose applications that consist of several separate integrated circuits.
[000254] [000254] As used in the present invention, the term controller or microcontroller can be an independent chip or IC (integrated circuit) device that interfaces with a peripheral device. This can be a connection between two parts of a computer or a controller on an external device that manages the operation of (and connection to) that device.
[000255] [000255] Any of the processors or microcontrollers in the present invention can be any implemented by any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz , a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareO program, read-only memory programmable and electrically erasable (EEPROM) of 2 KB, one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters (ADC) of 12 bits with 12 analog input channels, details of which are available for the product data sheet.
[000256] [000256] In one aspect, the processor may comprise a safety controller that comprises two controller-based families, such as TMS570 and RM4x, known under the tradename Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[000257] [000257] The modular devices include the modules (as described in connection with Figures 3 and 9, for example) that are receivable within a central surgical controller and the devices or surgical instruments that can be connected to the various modules in order to connect or pair with the corresponding central surgical controller. Modular devices include, for example, smart surgical instruments, medical imaging devices, suction / irrigation devices, smoke evacuators, power generators, fans, insufflators and displays. The modular devices described here can be controlled by control algorithms. The control algorithms can be executed on the modular device itself, on the central surgical controller to which the specific modular device is paired, or on both the modular device and the central surgical controller (for example, surgical (for example, through a distributed computing.) In some examples, the control algorithms of the modular devices control the devices based on the data detected by the modular device itself (ie, by sensors on, over or connected to the modular device). These data can be related to the patient being operated (for example, tissue properties or inflation pressure) or the modular device itself (for example, the rate at which a knife is being advanced, the motor current, or energy levels). control algorithm for a surgical stapling and cutting instrument can control the rate at which the instrument's motor drives its knife until through the fabric according to the resistance encountered by the knife as it progresses. Situational recognition
[000258] [000258] Situational recognition is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and / or instruments. The information may include the type of procedure being performed, the type of tissue being operated on, or the body cavity that is the object of the procedure. With contextual information related to the surgical procedure, the surgical system can, for example, improve the way in which it controls the modular devices (for example a robotic arm and / or robotic surgical tool) that are connected to it and provide information or suggestions contextualized to the surgeon during the course of the surgical procedure.
[000259] [000259] Now with reference to Figure 56, a time line 5200 is shown that represents the situational recognition of a central controller, such as the central surgical controller 106 or 206, for example. Timeline 5200 is an illustrative surgical procedure and the contextual information that the central surgical controller 106, 206 can derive from data received from data sources at each stage in the surgical procedure. Timeline 5200 represents the typical steps that would be taken by nurses, surgeons, and other medical personnel during the course of a pulmonary segmentectomy procedure, starting with the setup of the operating room and ending with the transfer of the patient to an operating room. postoperative recovery.
[000260] [000260] Situational recognition of a central surgical controller 106, 206 receives data from data sources throughout the course of the surgical procedure, including data generated each time medical personnel use a modular device that is paired with the central surgical controller 106, 206. The central surgical controller 106, 206 can receive this data from the paired modular devices and other data sources and continuously derives inferences (that is, contextual information) about the ongoing procedure as new data is received, such as which step procedure is being performed at any given time. The situational recognition system of the central surgical controller 106, 206 is capable of, for example, recording data related to the procedure to generate reports, checking the steps being taken by medical personnel, providing data or warnings (for example, through a display) that may be relevant to the specific step of the procedure, adjust the modular devices based on the context (for example, activate monitors, adjust the field of view (FOV) of the medical imaging device, or change the energy level of a ultrasonic surgical instrument or RF electrosurgical instrument), and take any other action described above.
[000261] [000261] As the first step 5202, in this illustrative procedure,
[000262] [000262] In the second step 5204, the team members scan the incoming medical supplies for the procedure. Central surgical controller 106, 206 cross-references the scanned supplies with a list of supplies that are used in various types of procedures and confirms that the supply mix corresponds to a thoracic procedure. In addition, the central surgical controller 106, 206 is also able to determine that the procedure is not a wedge procedure (because the inlet supplies have an absence of certain supplies that are necessary for a thoracic wedge procedure or, otherwise, that inlet supplies do not correspond to a thoracic wedge procedure).
[000263] [000263] In the third step 5206, medical personnel scan the patient's band with a scanner that is communicably connected to the central surgical controller 106, 206. The central surgical controller 106, 206 can then confirm the patient's identity based on the scanned data.
[000264] [000264] In the fourth step 5208, the medical staff turns on the auxiliary equipment. The auxiliary equipment being used may vary according to the type of surgical procedure and the techniques to be used by the surgeon, but in this illustrative case they include a smoke evacuator, an insufflator and a medical imaging device. When activated, auxiliary equipment that is modular devices can automatically pair with the central surgical controller 106, 206 which is located within a specific neighborhood of modular devices as part of their initialization process. The central surgical controller 106, 206 can then derive contextual information about the surgical procedure by detecting the types of modular devices that correspond with it during that preoperative or initialization phase. In this particular example, the central surgical controller 106, 206 determines that the surgical procedure is a VATS (video-assisted thoracic surgery) procedure based on this specific combination of paired modular devices. Based on the combination of data from the electronic patient record (PEP), the list of medical supplies to be used in the procedure, and the type of modular devices that connect to the central controller, the central surgical controller 106, 206 can, in general , infer the specific procedure that the surgical team will perform. After the central surgical controller 106, 206 recognizes which specific procedure is being performed, the central surgical controller 106, 206 can then retrieve the steps of that process from a memory or from the cloud and then cross the data it subsequently receives from the connected data sources (for example, modular devices and patient monitoring devices) to infer which stage of the surgical procedure the surgical team is performing.
[000265] [000265] In the fifth step 5210, the team members fix the electrocardiogram (ECG) electrodes and other patient monitoring devices on the patient. ECG electrodes and other patient monitoring devices are able to pair with central surgical controller 106, 206. As central surgical controller 106, 206 begins to receive data from patient monitoring devices, central surgical controller 106, 206 thus confirming that the patient is in the operating room.
[000266] [000266] In the sixth step 5212, medical personnel induce anesthesia in the patient. Central surgical controller 106, 206 can infer that the patient is under anesthesia based on data from modular devices and / or patient monitoring devices, including ECG data, blood pressure data, ventilator data, or combinations of themselves, for example. After the completion of the sixth step 5212, the preoperative portion of the lung segmentectomy procedure is completed and the operative portion begins.
[000267] [000267] In the seventh step 5214, the lung of the patient being operated on is retracted (while ventilation is switched to the contralateral lung). The central surgical controller 106, 206 can infer from the ventilator data that the patient's lung has been retracted, for example. Central surgical controller 106, 206 can infer that the operative portion of the procedure started when it can compare the detection of the patient's lung collapse at the expected stages of the procedure (which can be accessed or retrieved earlier) and thus determine that the retraction of the patient lung is the first operative step in this specific procedure.
[000268] [000268] In the eighth step 5216, the medical imaging device (for example, a display device) is inserted and the video from the medical imaging device is started. Central surgical controller 106, 206 receives data from the medical imaging device (i.e., video or image data) through its connection to the medical imaging device. Upon receipt of data from the medical imaging device, the central surgical controller 106, 206 can determine that the portion of the laparoscopic surgical procedure has started. In addition, the central surgical controller 106, 206 can determine that the specific procedure being performed is a segmentectomy, rather than a lobectomy (note that a wedge resection procedure has already been discarded by the central surgical controller 106, 206 based on the data received in the second step 5204 of the procedure). The medical imaging device data 124 (Figure 2) can be used to determine contextual information about the type of procedure being performed in a number of different ways, including by determining the angle at which the medical imaging device is oriented in regarding the visualization of the patient's anatomy, monitor the number or medical imaging devices being used (ie, that are activated and paired with the central surgical controller 106, 206), and monitor the types of visualization devices used.
[000269] [000269] In the ninth step 5218 of the procedure, the surgical team starts the dissection step. Central surgical controller 106, 206 can infer that the surgeon is in the process of dissection to mobilize the patient's lung because he receives data from the RF or ultrasonic generator that indicate that an energized instrument is being triggered. The central surgical controller 106, 206 can cross-check the received data with the steps retrieved from the surgical procedure to determine that an energized instrument being fired at that point in the process (that is, after completing the previously discussed steps of the procedure) corresponds to the dissection step . In certain cases, the energized instrument can be an energized tool mounted on a robotic arm of a robotic surgical system.
[000270] [000270] In the tenth step 5220 of the procedure, the surgical team proceeds to the connection step. Central surgical controller 106, 206 can infer that the surgeon is ligating the arteries and veins because he receives data from the surgical stapling and cutting instrument indicating that the instrument is being fired. Similar to the previous step, the central surgical controller 106, 206 can derive this inference by crossing the reception of data from the surgical stapling and cutting instrument with the steps recovered in the process. In certain cases, the surgical instrument can be a surgical tool mounted on a robotic arm of a robotic surgical system.
[000271] [000271] In the eleventh step 5222, the segmentectomy portion of the procedure is performed. Central surgical controller 106, 206 can infer that the surgeon is transecting the parenchyma based on data from the surgical stapling and cutting instrument, including data from its cartridge. The cartridge data can correspond to the size or type of clamp being triggered by the instrument, for example. As different types of staples are used for different types of fabrics, the cartridge data can thus indicate the type of fabric being stapled and / or transected. In this case, the type of clamp that is fired is used for the parenchyma (or other similar types of tissue), which allows the central surgical controller 106, 206 to infer which segmentectomy portion of the procedure is being performed.
[000272] [000272] In the twelfth step 5224, the node dissection step is then performed. The central surgical controller 106, 206 can infer that the surgical team is dissecting the node and performing a leak test based on the data received from the generator that indicates which ultrasonic or RF instrument is being fired. For this specific procedure, an RF or ultrasonic instrument being used after the parenchyma has been transected corresponds to the node dissection step, which allows the central surgical controller 106, 206 to make this inference. It should be noted that surgeons - regularly - alternate between surgical stapling / cutting instruments and surgical energy instruments (ie, RF or ultrasonic) depending on the specific step in the procedure because different instruments are better adapted for specific tasks. Therefore, the specific sequence in which the cutting / stapling instruments and surgical energy instruments are used can indicate which stage of the procedure the surgeon is performing. In addition, in certain cases, robotic tools can be used for one or more steps in a surgical procedure and / or Hand held surgical instruments can be used for one or more steps in the surgical procedure. The surgeon can switch between robotic tools and hand-held surgical instruments and / or can use the devices simultaneously, for example. After the completion of the twelfth stage 5224, the incisions are closed and the post-operative portion of the process begins.
[000273] [000273] In the thirteenth stage 5226, the patient's anesthesia is reversed. The central surgical controller 106, 206 can infer that the patient is exiting anesthesia based on ventilator data (i.e., the patient's respiratory rate begins to increase), for example.
[000274] [000274] Finally, in the fourteenth step 5228 is that medical personnel remove the various patient monitoring devices from the patient. Central surgical controller 106, 206 can thus infer that the patient is being transferred to a recovery room when the central controller loses ECG, blood pressure and other data from patient monitoring devices. As can be seen from the description of this illustrative procedure, the central surgical controller 106, 206 can determine or infer when each step of a given surgical procedure is taking place according to the data received from the various data sources that are communicably coupled to the controller central surgery 106, 206.
[000275] [000275] Situational recognition is further described in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein by reference, in its entirety. In certain cases, the operation of a robotic surgical system, including the various robotic surgical systems disclosed here, for example, can be controlled by the central controller 106, 206 based on its situational perception and / or feedback from the components of the same and / or based on information from cloud 104. Robotic systems
[000276] [000276] Robotic surgical systems can be used in minimally invasive - medical - procedures. During such medical procedures, a patient can be placed on a platform adjacent to a robotic surgical system, and a surgeon can be placed on a remote console to the platform and / or the robot. For example, the surgeon may be positioned outside the sterile field that surrounds the surgical site. The surgeon provides input to a user interface through an input device on the console to manipulate a surgical tool attached to an arm of the robotic system. The input device can be a mechanical input device such as control handles or joysticks, for example, or non-contact input devices such as optical gesture sensors, for example.
[000277] [000277] The robotic surgical system may include a robotic tower that supports one or more robotic arms. At least one surgical tool (for example an end actuator and / or endoscope) can be mounted on the robotic arm. The surgical tool (or tools) can be configured to articulate in relation to the respective robotic arm through a joint hinge assembly and / or to translate in relation to the robotic arm through a linear slide mechanism, for example. During the surgical procedure, the surgical tool can be inserted into a small incision in a patient through a cannula or trocar, for example, or into a patient's natural orifice to position the distal end of the surgical tool at the surgical site within the patient's body. patient. Additionally or alternatively, the robotic surgical system can be used in an open surgical procedure, in certain cases.
[000278] [000278] A schematic of a robotic surgical system 15000 is depicted in Figure 22. The robotic surgical system 15000 includes a central control unit 15002, a surgeon console 15012, a robot 15022 including one or more robotic arms 15024, and a screen main 15040 operationally coupled to the control unit 15002. The 15012 surgeon console includes a 15014 screen and at least one 15016 manual input device (eg keys, buttons, touch screens, joysticks, gimbals, etc.) which allow the surgeon to telemanipate the 15024 robotic arms of the 15022 robot. The reader will understand that additional and alternative input devices can be used.
[000279] [000279] The 15002 central control unit includes a 15004 processor operationally coupled to a 15006 memory. The 15004 processor includes a plurality of inputs and outputs to interface with the components of the robotic surgical system
[000280] [000280] The 15022 robot includes one or more 15024 robotic arms. Each 15024 robotic arm includes one or more 15026 motors and each 15026 motor is coupled to one or more 15028 motor drives. For example, 15026 motors, which can be assigned to different actuators and / or mechanisms, they can be housed in a transport set or compartment. In certain cases, an intermediate transmission between a 15026 motor and one or more 15028 actuators may allow the coupling and decoupling of the 15026 motor from one or more 15028 actuators. The 15028 actuators can be configured to implement one or more surgical functions. For example, one or more actuators 15028 may be responsible for moving a robotic arm 15024 by rotating the robotic arm 15024 and / or a link and / or joint thereof. Additionally, one or more 15028 actuators can be coupled to a 15030 surgical tool and can implement articulation, rotation, gripping, sealing, stapling, energizing, firing, cutting, and / or opening, for example. In certain cases, 15030 surgical tools can be interchangeable and / or replaceable. Examples of surgical systems and robotic surgical tools are further described here.
[000281] [000281] The reader will readily understand that the computer-implemented interactive surgical system 100 (Figure 1) and the computer-implemented interactive surgical system 200 (Figure 9) can incorporate the robotic surgical system 15000. Additionally or alternatively, the robotic surgical system 15000 may include various features and / or components of interactive surgical systems implemented by computer 100 and 200.
[000282] [000282] In one example, the robotic surgical system 15000 can encompass the robotic system 110 (Figure 2), which includes the surgeon's console 118, the surgical robot 120 and the robotic central controller
[000283] [000283] Another robotic surgical system is the Vinci & robotic surgical system available from Intuitive Surgical, Inc. of Sunnyvale, California. An example of a system is shown in Figures 23 to
[000284] [000284] The electronic cart 12024 can be used to process the images of the surgical site for subsequent display to the surgeon 12018 via the 12016 surgeon's console. The number of robotic tools 12026 used at once will generally depend on the diagnosis or surgical procedure and the space restrictions within the operating room among other factors. If it is necessary to change one or more of the 12026 robotic tools being used during a procedure, a 1 2020 assistant can remove the 12026 robotic tool from the 12022 surgical robot, and replace it with another 12026 tool from a 12030 tray in the operating room .
[000285] [000285] Referring primarily to Figure 24, the surgeon's console 12016 includes a screen on the left 12032 and a screen on the right 12034 to present the surgeon 12018 with a coordinated stereoscopic view of the surgical site that allows depth perception. Console 12016 additionally includes one or more input control devices 12036, which in turn causes the surgical robot 12022 (Figure 23) to handle one or more 12026 tools (Figure 23). 12036 entry control devices can provide the same degrees of freedom as their associated 12026 tools (Figure 23) to provide the surgeon with telepresence or the perception that 12036 entry control devices are integral parts of the 12026 robotic tools so that the surgeon has a strong sense of directly controlling 12026 robotic tools. For this purpose, the position, strength, and tactile feedback sensors can be used to transmit position, strength, and tactile sensations of the 12026 robotic tools back to the hands of the surgeon through the 12036 input control devices. The 12016 surgeon console is usually located in the same room as the 12012 patient so that surgeon 1 2018 can directly monitor the procedure, be physically present if necessary, and speak to an assistant 12020 directly, rather than over the phone or other means of communication. However, the 12018 surgeon may be located in a different room, a completely different building, or another remote location for the 12012 patient allowing remote surgical procedures. A sterile field can be defined around the surgical site. In several cases, the 12018 surgeon may be positioned outside the sterile field. A sterile adapter can define a portion of the sterile field outline. An example of a sterile adapter for a robotic arm is described in Patent Application Publication No. 2015/0257842, filed on March 17, 2015, entitled BACKUP LATCH RELEASE FOR SURGICAL INSTRUMENT, granted on December 12, 2017 as the US Patent No. 9,839,487, which is incorporated herein by reference in its entirety.
[000286] [000286] Now, referring mainly to Figure 25, the electronic cart 12024 can be attached to the 12028 endoscope and can include a processor to process captured images for subsequent display, such as a surgeon on the surgeon's console, or on another suitable screen located locally and / or remotely. For example, when the stereoscopic endoscope 12028 is used, the electronic cart 12024 can process the captured images to present the surgeon with stereoscopic coordinate images of the surgical site. Such coordination may include alignment between opposing images and may include adjusting the stereoscopic working distance of the stereoscopic endoscope. As another example, image processing may include using previously determined camera calibration parameters to compensate for image capture device imaging errors, such as optical aberrations, for example.
[000287] [000287] Figure 26 diagrammatically illustrates a robotic surgery system 12050, like the MIRS 12010 system in Figure 23. As discussed in this document, a 12052 surgeon console, like the 12016 surgeon console in Figure 23, can be used by a surgeon to control a 12054 surgical robot, such as surgical robot 12022 in Figure 23, during a minimally invasive procedure. The 12054 surgical robot can use an imaging device, such as a stereoscopic endoscope, to capture images from the procedure site and output the captured images to a 12056 electronic cart, such as the 12024 electronic cart in Figure 23. As discussed in this document, the cart Electronic 12056 can process captured images in a variety of ways before any subsequent display. For example, the 12056 electronic cart can overlay captured images with a virtual control interface before displaying the combined images to the surgeon via the 12052 surgeon console. The 12054 surgical robot can output the captured images for processing outside the 12056 electronic cart For example, the 12054 surgical robot can send the captured images to a 12058 processor, which can be used to process the captured images. The images can also be processed through a combination of the 12056 electronic cart and the 12058 processor, which can be coupled together to process the captured images together, sequentially and / or combinations thereof. One or more separate screens 12060 can also be attached to the 12058 processor and / or to the 12056 electronic cart for local and / or remote display of images, such as images from the procedure site, or other related images.
[000288] [000288] Figures 27 and 28 show the surgical robot 12022 and a robotic tool 12062, respectively. The robotic tool
[000289] [000289] Figure 29 is a schematic of a 12100 tele-surgical controlled surgical system. The 12100 surgical system includes a 12102 surgeon console, which can be, for example, the 12052 surgeon console (Figure 26). The 12102 surgeon console powers a 12104 surgical robot, which can be, for example, the 12022 surgical robot (Figure 23). The 12104 surgical robot includes a surgical manipulator
[000290] [000290] The robotic tool 12110 can be, for example, the robotic tool 12026 (Figure 23) described in the present invention. The robotic tool 12110 includes an elongated actuator unit 12122 that includes three separate units, each of which mechanically attaches to the stepper motor 12116, the yaw motor 12118 and the low grip force motor 12120, respectively, via the surgical manipulator 12106. The robotic tool 12110 also includes a 12124 transmission, which mechanically attaches to the 12112 power motor and the 12140 cam drive shaft motor. Examples of tools are further described in International Patent Application Publication No. WO 2015 / 153642, filed on March 31, 2015, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION, and in International Patent Application Publication No. WO 2015/153636, filed on March 31, 2015, entitled CONTROL INPUT ACCURACY FOR TELEOPERATED SURGICAL INSTRUMENT, each one of which is incorporated here as a reference in its entirety.
[000291] [000291] A 12126 surgical end actuator is located at the distal end of an 12122 actuator unit. The 12126 surgical end actuator and the 12122 actuator unit are connected by means of a movable pulse. An example of such a pulse is shown in Patent Application Publication No. 2011/0118708, filed on November 12, 2010, entitled DOUBLE UNIVERSAL JOINT, and in US Patent No. 9,216,062, filed on February 15, 2012, entitled SEALS AND SEALING METHODS FOR
[000292] [000292] The surgical end actuator 12126 may include a gripping and cutting mechanism, such as a surgical stapler. An example of such an instrument, including a staple cartridge for it, is further described in US Patent Application Publication No. 2013/0105552, filed October 26, 2012, entitled CARTRIDGE STATUS AND PRESENCE DETECTION, and in the Order Publication US Patent No. 2013/0105545, filed on October 26, 2012, entitled SURGICAL INSTRUMENT WITH INTEGRAL KNIFE BLADE, both of which are incorporated herein by reference in their respective totalities. A gripping mechanism can handle according to two modes and, consequently, include two DOFs. A low-strength DOF 12134 (for example, a cable-actuated mechanism) operates to switch the clamp with low strength to gently manipulate the fabric. The low strength DOF 12134 is useful for preparing the surgical end actuator for a cutting or stapling operation. A high strength DOF 12136 (for example, a mechanism actuated by a drive screw) operates to additionally open the jaw or close the jaw on the fabric with relatively high force, for example, for the tourniquet of the fabric in preparation for an operation cutting or stapling. Once attached, the surgical end actuator
[000293] [000293] As shown in Figure 29, stepper motor 12116, yaw motor 12118, and low grip force motor 12120 drive step DOF 12128, yaw DOF 12130 and low grip force DOF 12134, respectively. Consequently, each of the step DOF 12128, the yaw DOF 12130 and the low grip strength DOF 12134 is distinctly paired with an engine, and can operate independently and simultaneously with the other DOFs. However, the high strength grip DOF 12136, the roll DOF 12132 and the tool actuation DOF 12138 share a single input with the 12112 power engine, through the 12124 transmission. Consequently, only one of the high strength DOF gripping force a DOF 12136, the rolling DOF 12132 and the actuating tool DOF 12138 can operate at any given time, since the coupling with the 12112 power motor occurs distinctly. The 12140 cam drive shaft motor is actuated to move the output of the power motor
[000294] [000294] Additional features and operations of a robotic surgical system, such as the robotic surgical system of Figures 23 to 29, are additionally described in the following references, which are hereby incorporated by reference in their entirety: e Publication of patent application No. 2011/0118708, filed on November 12, 2010, entitled DOUBLE UNIVERSAL JOINT; and US Patent No. 9,095,362, filed on November 15, 2011, entitled METHOD FOR PASSIVELY DECOUPLING
[000295] [000295] The robotic surgical systems and features disclosed in the present invention can be used with the da Vinci & robotic surgical system mentioned here and / or the system of Figures 23 to 29. The reader will further understand that the various systems and / or features disclosed in The present invention can also be used with alternative surgical systems including the computer-implemented interactive surgical system 100, the computer-implemented interactive surgical system 200, the robotic surgical system 110, the central robotic controller 122, the central robotic controller 222 and / or the robotic surgical system 15000, for example.
[000296] [000296] In several cases, a robotic surgical system may include a robotic control tower, which can house the system's control unit. For example, the 12058 processor (Figure 26) can be housed inside a robotic control tower. The robotic control tower can comprise a central robotic controller such as central robotic controller 122 (Figure 2) or central robotic controller 222 (Figure 9), for example. Such a central robotic controller may include a modular interface for coupling to one or more generators, such as an ultrasonic generator and / or a radio frequency generator, and / or one or more modules, such as an imaging module, a suction module, a irrigation module, a smoke evacuation module and / or a communication module.
[000297] [000297] A central robotic controller can include a situational recognition module, which can be configured to synthesize data from multiple sources to determine an appropriate response to a surgical event. For example, a situational recognition module can determine the type of surgical procedure, step in the surgical procedure, type of tissue and / or characteristics of the tissue, as further described here. In addition, this module can recommend a specific course of action or possible choices based on the synthesized data. In several cases, a sensor system covering a plurality of sensors distributed throughout the robotic system can provide data, images and / or other information for the situational recognition module. Such a situational recognition module can be accessible to the processor
[000298] [000298] Surgical systems including a robot, a visualization system (such as visualization system 108 or visualization system 208), and one or more central controllers (such as, central controller 106, central robotic controller 122, the central controller 206 and / or central robotic controller 222) can benefit from robust communication systems for data collection and dissemination. For example, several parameters related to the surgical site, the surgical instrument (or instruments) and / or the surgical procedure can be important information for the robot, the visualization system and the central controller (or controllers). In addition, the robot may include one or more subsets, such as a control console, which may require information regarding the surgical site, the surgical instrument (or instruments) and / or the surgical procedure, for example. It can be useful to collect and disseminate information to the appropriate sets and / or subsets in real time or in near real time to inform the machine's learning and / or decision making process, for example. In certain cases, data collection and dissemination can inform situational recognition of a surgical system that includes one or more robotic systems.
[000299] [000299] In one aspect, a robotic surgical system may include additional communication paths. For example, a robotic surgical system may include primary wired communication and a secondary wireless communication path. In certain cases, the two communication paths can be independent so that a secondary path is redundant and / or parallel to a primary path. In several cases, a first type and / or amount of data can be transferred along the primary path and a second type and / or amount of data can be transferred along the secondary path. The multiple communication paths can improve the connectivity of the robot and / or robotic surgical tools to one or more screens inside the operating room, a control console and / or control unit. The communication paths can connect a surgical robot to a central control unit (for example a central controller) and / or a visualization system (for example, a screen), for example. In several cases, additional communication paths can provide additional data for the robot and / or a generator module and / or processor in communication with the generator module.
[000300] [000300] With reference mainly to Figure 30, a 12200 robotic surgical system is shown that includes a 12216 console and a robot
[000301] [000301] The robotic surgical system 12200 also includes a central controller 12224, which can be similar in many respects to the central robotic controller 122 (Figure 2) and / or central robotic controller 222 (Figure 9). Central controller 12224 includes a generator module 12230, which is similar in many ways to generator module 140 (Figure 3), and a wireless communication module 12238, which is similar in many ways to communication module 130 (Figure 3). The 12230 generator module is configured to supply power to the 12226 robotic tool through a first wired connection
[000302] [000302] In one case, the first wired connection 12244 can be a bidirectional communication path between the robotic tool 12226 and the central surgical controller 12224. The first wired connection 12244 can transmit advanced energy parameters or other data between the tool robotics 12226 and central surgical controller 12224. For example, central controller 12224 can provide surgical information for the robotic tool 12226 related to the power level (e.g., current for an RF device and amplitude and / or frequency for an ultrasonic device ) provided to it. Additionally, the robotic tool 12226 can provide information to the robot 12222 related to the conductivity and / or impedance detected at the tissue interface, corresponding to a tissue property and / or the efficiency of the energy device.
[000303] [000303] Additionally, a second wired connection 12240 between console 12216 and robot tool 12226 mounted on robot 12222 provides a communication path for control signals from robot console 12216 to robot tool 12226. In one case, the second wired connection 12240 can be a one-way communication path from robot 12222 to console 12216 in relation to control parameters or other mechanical data collected by robot 12222 and / or robot tool 12226. For example, robot 12222 can provide information for the console 12216 on a surgical action of the robotic tool, such as a closing movement and / or a firing movement. More specifically, the robot can transmit force parameters for gripping (for example, gripping pressure by the robotic tool 12226 on the fabric) and / or force parameters for firing from the robotic tool 12226 to the 12216 console, for example.
[000304] [000304] Still with reference to Figure 30, in the absence of wireless communication paths 12242 and 12246, the central robotic controller 12224 may be unable to communicate with the console 12216 and vice versa. Additionally, the robotic tool 12226 may be unable to communicate with the central controller 12224. In cases where communication paths between the central controller 12224 and the robot 12222 and / or the robotic tool 12226 are missing, the mechanical control parameters ( for example, grip strength) of the robotic tool 12226 may not be transmitted to the central robotic controller 12224 and to the generator module 12230 thereof. In addition, advanced electrical power parameters may not be transmitted from robot 12222 to central robotic controller 12224 and / or console 12216. In these cases, the 12200 system would comprise open circuit controls.
[000305] [000305] Different energy parameters and different gripping pressures may be more suitable for certain types of fabric and / or certain applications. For example, an ultrasonic weld is generally a function of amplitude and grip pressure over time. Similarly, an RF weld is usually a function of current pressure and grip over time. However, without the wireless communication paths 12242 and 12246 mentioned above, the generator module 12230 may not recognize the hold pressure. Similarly, the 12216 console may not recognize power parameters.
[000306] [000306] To optimize the control of the robotic tool 12226, the robotic tool 12226 can transmit one or more mechanical control parameters to the central robotic controller 12224. Additionally, the central controller 12224 can transmit one or more advanced energy parameters to the 12216 console Data transfer can provide closed-loop controls for the system
[000307] [000307] Still with reference to Figure 30, the robotic tool 12226 includes a wireless communication module 12228, as further described in the present invention. The wireless communication module 12228 is in signal communication with the wireless communication module 12238 of the central robotic controller 12224 via the wireless communication path 12242. For example, the wireless communication module 12238 can include a first receiver 12232 configured to receive wireless signals from the robotic tool 12226. The wireless communication module 12238 also includes a second receiver 12234, which can receive signals from the 12216 console via the second wireless communication path 12246. In these cases, the first and the second wireless communication paths 12242 and 12246, respectively, can complete a communication circuit back to console 12216 from the robotic tool 12226 via central surgical controller 12224, for example.
[000308] [000308] In other cases, the wireless communication module 12228 can be located on the robot 12222. For example, the wireless communication module 12228 can be positioned on a robot arm and / or a robot tool mounting portion 12222.
[000309] [000309] Additionally or alternatively, a wireless communication path can be provided between the robotic tool 12226 and the console 12216.
[000310] [000310] The wireless trajectories described here can provide data transfer without overloading the mobility of the 12226 robotic tool and / or create additional opportunities for interlacing or strands and / or wires. In other cases, one or more of the wireless communication paths described here can be replaced by a wired connection (or connections).
[000311] [000311] In one aspect, the robotic tool 12226 and / or central controller 12224 can share information related to the detected tissue parameters (e.g. conductivity or inductance corresponding to a tissue property) and / or control algorithms to energize the tissue ( eg power levels), which can be based on the detected tissue parameters. The robotic tool 12226 can provide information related to the situation, the activation state, identification information and / or intelligent data for the central controller 12224, for example. The data provided for the central controller 12224 can be stored, analyzed and / or further disseminated by the central device 12224 as for a display screen 12236 thereof. In these cases, the central controller 12224 is a post-retransmission conduit for transmitting data to additional locations via wired or wireless connections.
[000312] [000312] In certain cases, central controller 12224 includes a situational recognition module, “as further described in the present invention. The situational recognition module can be configured to determine and / or confirm a step in a surgical procedure and / or suggest a specific surgical action based on information received from several sources, including robot 12222 and console 12216. The trajectories wireless communication devices 12242 and 12246 that connect central controller 12224 to robot 12222 and console 12216, respectively, can be configured to inform the situational recognition module. For example, mechanical control parameters related to gripping and / or firing can be transmitted to the central controller 12224 and to its situational recognition module via the second wireless communication path 12246. Additionally or alternatively, the energy parameters referring to activation of the energized tool and / or detected tissue parameters can be communicated to the central controller 12224 and to its situational recognition module through the first wireless communication path 12242.
[000313] [000313] In certain cases, the data transmitted wirelessly to the central controller 12224 can inform the situational recognition module of the same. For example, based on the detected tissue parameters, detected by the robotic tool 12226 and transmitted along the first wireless communication path 12242, the situational recognition module can determine and / or confirm the type of tissue involved in the surgical procedure and, in certain cases, it may suggest a therapeutic response based on the type of tissue found.
[000314] [000314] Still referring to Figure 30, the second wired connection 12240 from robot 12222 to console 12216 provides a first communication path. In addition, the wired or wireless connection between robot 12222 and central controller 12224 in combination with wireless communication path 12246 between central controller 12224 and console 12216 forms a second parallel communication path from robot 12222 to the console 12212. Due to the fact that the second communication path communicates through the central controller 12224 and its wireless communication module 12238, the second communication path is different from the first communication path. However, this path provides a parallel and alternative path to the second wired connection 12240 between the robot 12222 and the console 12216. Similarly, parallel and / or redundant paths are also provided via the wireless path 12242 and the wired path 12244 between robot 12222 and central controller 12224. The alternative parallel communication path (or paths) can reinforce the integrity of the communication systems and allow robotic communication between the various components of the surgical system.
[000315] [000315] Additionally or alternatively, the information can be communicated directly to a device or system that has wireless capabilities such as a display system or screen such as the display system 108 or the display system 208, for example. A surgical system 12300 shown in Figure 55 includes console 12216 by an S surgeon, robot 12222 including robotic tool 12226 mounted on it, and the central surgical controller
[000316] [000316] The wireless communication module 12228 (Figure 30) in the robotic tool 12226 may be in signal communication with the monitor 12350 and / or the screen 12354. In such cases, the data and / or information obtained at the surgical site and / or by the robotic tool 12226 can be directly transmitted to a screen inside the operating room and immediately visible to several doctors in the operating room, including doctors inside or outside the sterile field. In these cases, data can be provided in real time, or near real time, to inform doctors' decisions during the surgical procedure. In addition, certain information can be transmitted to central controller 12224 for additional storage, analysis and / or dissemination, as further described herein.
[000317] [000317] Due to wireless communication paths, monitor 12350 and / or screen 12354 can also display information from the central controller, including power parameters, in certain cases. For example, central controller 12224 can obtain data indicative of an activation state or activation level from generator module 12230 (Figure 30) and / or can receive data indicative of tissue parameters detected from the 12226 robotic tool, as further described in the present invention. In these cases, activation information and / or tissue information can be displayed on monitor 12350 and / or on screen 12354 so that the information is readily available to operators both within the sterile and outside the sterile field.
[000318] [000318] In one aspect, central controller 12224 can finally communicate with a cloud, such as cloud 104 or cloud 204, for example, to continue to inform machine learning and decision making processes related to the parameters of energy and / or advanced mechanical control parameters of the 12226 robotic tool. For example, a cloud can determine an appropriate surgical action and / or therapeutic response to a specific tissue parameter, surgical procedure and / or patient demographics based on aggregated data stored in it. To protect patient confidentiality, central controller 12224 can transmit an edited and / or confidential version of the data, for example.
[000319] [000319] As described in the present invention in relation to Figure 30, the robotic tool 12226 includes the wireless communication module 12228. The wireless communication module 12228 is also shown in Figure 31. Specifically, a proximal portion of the robotic tool 12226 which includes the wireless communication module 12228 is shown in Figure 31, as well as a tool mounting portion, or holding portion, 12250 of robot 12222 to releasably secure the proximal compartment of the robotic tool 12226. A detailed view of a mechanical and electrical interface between the robotic tool 12226 and the tool mounting portion 12250 is shown in Figure 32.
[000320] [000320] The robotic tool 12226 includes a first drive interface 12252 that is operably coupled to a second drive interface 12254 in the tool mounting portion
[000321] [000321] A plug 12260 to supply power to the motors is shown in Figure 31. Plug 12260 is also coupled to the wireless communication module 12228 In these cases, the wireless communication module 12228 can be powered by a current supplied by the plug 12260. Plug 12260 can finally be connected to generator module 12230 on central controller 12224 to complete the wired connection 12244 between robotic tool 12226 and central controller 12224 (see Figure 30).
[000322] [000322] Referring mainly now to Figure 31, the mounting portion of tool 12250 also includes electrical contacts 12262, and robotic tool 12226 includes electrical contacts 12264 positioned and structured to fit electrical contacts 12262 in the tool mounting portion 12250. The electrical signals can be transmitted between the robotic tool 12226 and the robot 12222 (Figure 30) through the electrical coupling contacts 12262,
[000323] [000323] As shown in Figure 32, when the robotic tool 12226 is mounted on the mounting portion of the tool 12250, a flexible circuit 12270 is positioned between the electrical coupling contacts 12264 of the robotic tool and the electrical contacts 12262 12226 of the mounting portion of the 12250 tool to facilitate data transmission. The flexible circuit 12270 is positioned to intercept the communication signals between the robotic tool 12262 and the tool mounting portion
[000324] [000324] In several cases, the flexible circuit 12270 may include a pigtail feedback connector. The pigtail connector can intercept the connection between the robotic tool 12226 and the tool mounting portion 12250.
[000325] [000325] In several cases, flexible circuit 12270 in Figure 31 may also include a wireless transmitter that is configured to communicate with central controller 12224 (Figure 30) via wireless communication path 12242. In other cases, the flexible circuit 12270 can be coupled to a wireless communication module similar to module 12228 in Figures 30 and 31, which can include a wireless transmitter and / or a wireless receiver.
[000326] [000326] The flexible circuit 12270 occupies a small projection area between the tool mounting portion 12250 and the robotic tool 12226. In one aspect, existing robotic systems can be adapted to such flexible circuits. In other words, the existing robotic tools and tool mounting portion can use the robust communication systems described here without modifying the current robotic tools and / or tool mounting portions.
[000327] [000327] In several cases, the flexible circuit 12270, or another intermediate pigtail connector, can be configured to capture one or more signals between an external controller (for example, a generator power from a module 140 generator in a central controller 106 ( Figure 3)) and the robotic tool 12226. In addition, such a circuit or connector can be used to provide signals to the robotic tool 12226 through the intercept connections.
[000328] [000328] In one aspect, the central robotic controller includes a processor and a memory communicatively coupled to the processor, as described in the present invention. The memory stores instructions executable by the processor to relay a wireless signal between a robot and a control console, as described in the present invention. In certain cases, the memory stores instructions executable by the processor to adjust a generator control parameter (for example, power level) based on the signals intercepted by a flexible circuit and / or transmitted along a wireless communication path. Additionally or alternatively, the memory stores instructions executable by the processor to adjust a control parameter of the energized tool (for example, gripping pressure) based on signals indicative of a fabric property intercepted by the flexible circuit and / or transmitted along the path wireless communication.
[000329] [000329] In several respects, the present disclosure provides a control circuit to relay a wireless signal between a robot and a control console, adjust a generator control parameter and / or adjust a control parameter of a powered tool, as described here. In several respects, the present disclosure provides a non-transitory, computer-readable media that stores computer-readable instructions that, when executed, cause a machine to relay a wireless signal between a robot and a control console, adjust a control parameter generator and / or adjust a control parameter of an energized tool, as described in the present invention.
[000330] [000330] In one aspect, one or more features and / or effects of a robotically controlled surgical tool and its end actuator can be controlled by a control algorithm. For example, the intensity of an end actuator effect can be controlled by a control algorithm stored in the robot's memory and executable by a processor. In one example, an effect of the end actuator may be evacuation, insufflation and / or cooling of smoke. In another example, an effect of the end actuator can be hinge and / or retraction. As an example, a robot can implement a load control retention algorithm for articulating a robotic tool that results in a predefined lateral load on the fabric and is limited by a displacement limit, as further described in the present invention.
[000331] [000331] In certain cases, it may be desirable to incorporate a pump into a robotically controlled surgical tool, such as an energized tool that includes an RF electrode and / or an ultrasonic blade, for example. A pump can deliver insufflation gases or air to a surgical site. In certain cases, a pump can supply refrigerant to a surgical site and / or it can extract smoke and / or steam from the surgical site.
[000332] [000332] Robotically controlled surgical tools include a drive system for releasably engaging a robot and transferring drive movements from the robot to the robotic tool. For example, a robotically controlled surgical tool may include an interface that includes a rotary driver (or drivers) configured to receive rotary motor inputs (or motors) in an engine compartment or tool mounting portion. The exemplary drive systems and interfaces for them are further described here.
[000333] [000333] The rotary actuators on robotic tools are configured to perform various surgical functions, such as rotating a drive shaft, closing the claws of the end actuator and the articulation of the end actuator, for example. Examples of interface configurations are further described in the present invention and in International Patent Application Publication No. WO 2015/153642, filed on March 31, 2015, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION, in the International Patent Application Publication WO 2015/153636, filed on March 31, 2015, entitled CONTROL INPUT ACCURACY FOR TELEOPERATED SURGICAL INSTRUMENT, and in US Patent No. 9,095,362, filed on November 15, 2011, entitled METHOD FOR PASSIVELY
[000334] [000334] In certain cases, the number of motors, the number of rotary drives, and / or the arrangement of motors and / or rotary drives can be limited or restricted by the projection area of the drive system and / or coupling between the tool robotics and the tool mounting portion. In one aspect, it may be desirable that new and / or improved robotically controlled surgical tools are compatible with existing robotic platforms. For example, and without increasing the engine compartment or tool mounting portion, it may be desirable to change functionality and / or add functionality to robotic tools for use with an existing engine compartment and tool mounting portion. In these cases, it can be challenging to incorporate certain features, such as a pump, for example, into a robotic tool compatible with an existing surgical robot. In addition, it may be desirable to include controls and / or control algorithms for such a pump within the existing architecture of the surgical robot.
[000335] [000335] In one aspect, a pump for a robotic tool can be powered by a rotary drive of the robotic tool interface. The rotary drive and thus the pump can be driven at a variable rate, which may depend on the needs of the robotic tool and / or the surgical procedure. For example, the speed of the rotary drive coupled to the pump may be related to the volume of smoke being evacuated from the surgical site and / or the application of energy to the tissue by the robotic tool. In one example, the robotic tool can be an Intelligent tool that includes a processor configured to determine the proper rate for the pump based on the sensors in the robotic tool and / or other inputs to it. In other cases, a processor in the robot's control unit can be configured to determine the appropriate rate for the pump based on the sensors in the robot and / or robot modules, such as a smoke evacuation module in a central robotic controller, for example example.
[000336] [000336] Energy devices use energy to affect tissue. In a power device, power is supplied by a generator. Energy devices include devices with tissue-contact electrodes, such as an electrosurgical device that has one or more radio frequency (RF) electrodes, and devices with vibrating surfaces, such as an ultrasonic device that has an ultrasonic blade. For an electrosurgical device, a generator is configured to generate oscillating electrical currents to energize the electrodes. For an ultrasonic device, a generator is configured to generate ultrasonic vibrations to energize the ultrasonic sheet.
[000337] [000337] As provided herein, energy devices provide mechanical or electrical energy to a target tissue in order to treat the tissue (for example, to cut the tissue and / or cauterize blood vessels within and / or close to the target tissue ). Cutting and / or cauterizing the tissue can result in fluids and / or particulates being released into the air. Such fluids and / or particles emitted during a surgical procedure may constitute smoke, for example, which may include carbon and / or other particles suspended in the air.
[000338] [000338] In several cases, a powered tool for use with a robotic system may include a suction port coupled to a pump that is powered by a motor in the tool driver. For example, a powered tool for the da Vinci & robotic surgical system may include a suction port coupled to a pump that is powered by a motor in the tool driver. The pump can be configured to extract smoke from a surgical site through the suction port. In these cases, the powered tool may include a smoke evacuation system. In one aspect, the robotic tool can include a pump. Alternatively, the robotic tool can be coupled to a pump.
[000339] [000339] The reader will understand that such an evacuation system can be called a "smoke evacuation system", although such an evacuation system can be configured to evacuate more than just smoke from a surgical site. Throughout this disclosure, "smoke" evacuated by an evacuation system is not limited to smoke only. Instead, the evacuation systems disclosed in the present invention can be used to evacuate a variety of fluids, including liquids, gases, vapors, smoke, steam or combinations thereof. The fluids can be of biological origin and / or can be introduced into the surgical site from an external source during a procedure. Fluids can include water, saline, lymph, blood, exudate and / or pyogenic discharge, for example. In addition, fluids can include particulates or other materials (for example, cellular matter or debris) that are evacuated by the evacuation system. For example, such particulates can be suspended in the fluid.
[000340] [000340] Referring mainly to Figures 33 to 35, a 12426 robotic tool for use with a robotic surgical system is shown. The 12426 robotic tool can be used with the 12010 robotic surgical system (Figure 23), for example. The 12426 robotic tool is a bipolar radiofrequency (RF) robotic tool. For example, the tool may be similar in many ways to the tool disclosed in US patent No. 8,771,270, filed on July 16, 2008, entitled BIPOLAR CAUTERY INSTRUMENT, which is incorporated herein by reference in its entirety.
[000341] [000341] In other cases, the 12426 robotic tool can be a monopolar RF tool, an ultrasonic tool or a combination of ultrasonic RF tools. For example, the robotic tool 12426 may be similar in many respects to the tool disclosed in US patent No. 9,314,308, filed on March 13, 2013, entitled ROBOTIC ULTRASONIC SURGICAL DEVICE WITH ARTICULATING END EFFECTOR, which is incorporated herein by reference in its entirety.
[000342] [000342] The robotic tool 12426 includes a proximal compartment 12437, a drive shaft 12438 that extends from the proximal compartment 12437, and an end actuator 12428 that extends from a distal end of the drive shaft 12438. With Referring primarily to Figure 34, end actuator 12428 includes opposite jaws 12430a, 12430b. Each 12430a, 12430b jaw includes a tissue contact surface that includes an electrode. For example, claw 12430a can include a feed electrode, and claw 12430b can include a return electrode or vice versa. The 12428 end actuator is shown in a stuck configuration and generating an RF weld in Figure 34. In such cases, the S smoke from the RF weld can accumulate around the 12428 end actuator. For example, the S smoke can accumulate in a patient's abdomen in certain cases.
[000343] [000343] The 12426 robotic tool also includes a 12436 evacuation system. For example, to improve the visibility and effectiveness of the 12426 robotic tool, smoke S at the surgical site can be evacuated along an evacuation channel, or conduit. suction, 12440 extending proximally from end actuator 12428. Evacuation channel 12440 can extend through drive shaft 12438 of robotic tool 12426 to proximal compartment 12437. Evacuation duct 12440 ends at a suction port 12442 adjacent to end actuator 12428. During operation of the 12436 evacuation system, does the smoke S at the surgical site drain into the suction port 12442 and through the 12440 evacuation duct.
[000344] [000344] In several cases, the robotic instrument 12426 may include insufflation, cooling and / or irrigation capabilities, as well. For example, the 12436 evacuation system can be configured to selectively pump a fluid, such as saline or CO> for example, towards the 12428 end actuator and at the surgical site.
[000345] [000345] In several cases, the evacuation channel 12440 can be coupled to a pump to remove smoke S along the evacuation channel 12440 within the drive shaft 12438 of the robotic tool 12426. Referring mainly to Figure 35, the system evacuation valve 12436 includes a 12446 pump; The 12446 pump is housed in the 12437 proximal compartment of the robotic tool
[000346] [000346] Lobe pumps can be low-volume and quiet or noiseless, and thus desirable in certain cases. For example, a lobe pump can ensure that the noise generated by the 12436 evacuation system does not distract doctors and / or allows communication between doctors in the operating room. The reader will readily understand that different pumps can be used by the 12436 evacuation system in other cases.
[000347] [000347] A channel 12452 ending in a socket 12454 extends from pump 12446 in Figures 33 and 35. The socket 12454 is a luer socket, however, the reader will readily understand that alternative fittings are provided. The luer fitting can be selectively coupled to a reservoir that is configured to receive smoke S from the surgical site, for example. Additionally or alternatively, the luer fitting can provide discharge from the 12446 pump to a filter.
[000348] [000348] Still with reference to Figure 35, internal components of the 12448 drive interface are represented, however,
[000349] [000349] In one aspect, the activation of pump 12446 of robotic tool 12426 can be coordinated with the application of energy by robotic tool 12426. In several cases, a control algorithm for rotary actuator 12450 for pump 12446 can be related to the rate at which smoke S is extracted from the surgical site. In these cases, the robot (for example, the 12022 robot in Figures 23 and 27)
[000350] [000350] In one case, the on / off control for pump 12446 is controlled based on inputs from a camera, such as the camera of the imaging device 124 (Figure 2) such as an endoscope, for example. Imaging device 124 can be configured to detect the presence of smoke in a visual field S at the surgical site. In another aspect, the on / off control for pump 12446 is controlled based on the inputs of a smoke sensor 12453 (Figure 34) in line with the fluid being pumped out of the patient. For example, pump 12446 can remain on as long as a limit amount of smoke S is detected by smoke sensor 12453 and can be turned off or paused when the volume of smoke S detected falls below the limit amount. In yet another aspect, the pump 12446 is turned on when the power is activated and, in certain cases, it can remain for a period of time after the power is interrupted. The length of time that the 12446 pump can remain on after the power has been interrupted can be fixed or can be proportional to the time interval in which the power was activated, for example.
[000351] [000351] Referring mainly to Figure 37, a flow chart is shown representing the logical steps to operate a pump, such as pump 12446. A processor for the robot (for example robot 12022) and / or a processor for a central controller (for example example, central controller 106, central controller 206, central robotic controller 122, and central robotic controller 222) that is in signal communication with the robot can determine or estimate the rate of smoke evacuation from the surgical site. The smoke evacuation rate can be determined in step 12510 by one or more factors or inputs including the activation of energy by the robotic tool (a first entry 12502), a smoke sensor in line with the smoke evacuation channel (a second entry 12504), and / or an imaging device configured to view the surgical site (a third entry 12506). The first input 12502 can correspond to the duration of energy application and / or the power level, for example. Based on one or more factors, the pump can be adjusted in step
[000352] [000352] Now with reference to Figure 36, a robotic tool 12526 is shown for use with a robotic surgical system. The robotic tool 12526 can be used with the robotic surgical system 12010 (Figure 23), for example. The robotic tool 12526 is an ultrasonic robotic tool that has cooling and insufflation capabilities. For example, the robotic tool 12526 may be similar in many ways to the robotic tool disclosed in US patent No. 9,314,308, filed on March 13, 2013, entitled
[000353] [000353] The robotic tool 12526 includes a proximal compartment 12537, a drive shaft 12538 that extends from the proximal compartment 12537, and an end actuator 12528 that extends from a distal end of the drive shaft 12538. O end actuator 12528 includes an ultrasonic blade 12530a and an opposite clamping arm 12530b. The robotic tool 12526 also includes an irrigation system 12536, which is configured to deliver a refrigerant, such as a saline or CO solution, cooled, for example, to the surgical site. Irrigation can be configured to cool the tissue and / or the ultrasonic blade 12530a, for example. The irrigation system 12536 includes an irrigation channel 12540, which extends through drive shaft 12538 to the proximal compartment 12537. Irrigation channel 12540 ends at an irrigation port adjacent to end actuator 12528.
[000354] [000354] In several cases, the irrigation channel 12540 can be coupled to a blower configured to direct the fluid along the irrigation channel 12540 within the drive shaft 12538 of the robotic tool 12526. The irrigation system 12536 includes a 12546 blower The 12546 blower is housed in the proximal compartment 12537 of the 12526 robotic tool. The 12546 blower is a regenerative blower, which has been incorporated into a 12548 drive interface of the 12526 robotic tool. The 12548 drive interface includes 12550 rotary drives, which are driven by rotating outlets of the motors in the mounting portion of the robot tool, as described in the present invention (see rotating outlets 12256 (Figure 31) and rotating outlets 12824a to 12824e (Figure 39), for example).
[000355] [000355] A channel 12552 ending in a socket 12554 extends from the blower 12546. The socket 12554 is a luer socket, however, the reader will readily understand that alternative fittings are provided. The luer fitting can be selectively coupled to a reservoir that is configured to supply the irrigation fluid to the 12546 blower. In operation, the refrigerant can enter the insufflation line through fitting 12554 and the 12546 blower can pull the refrigerant towards to the blower 12546 at the drive interface 12548 and then blow the coolant distally along the drive shaft 12538 of the robotic tool 12526 towards the end actuator 12528. The coolant can be expelled on or in a position adjacent to the end actuator 12528, which can cool the ultrasonic blade and / or maintain the inflation of the surgical site, such as the inflation of an abdomen, for example.
[000356] [000356] In Figure 36, internal components of the 12548 drive interface are represented, however, certain components are excluded for the sake of clarity. The irrigation channel 12540 extends through drive shaft 12538 to blower 12546 in proximal compartment 12537. Blower 12546 is driven by a rotary driver 12550 from drive interface 12548. Similar to interface 12448 (Figure 35), the interface 12548 includes four rotary actuators 12550. In one example, a first rotary actuator 12550 is configured to feed a pivoting motion, a second rotary actuator 12550 is configured to power a clamping motion of the grapple, a third rotary actuator 12550 is configured to feed a rotation of the drive shaft, and a fourth rotary actuator 12550 is configured to feed the irrigation system 12536. The reader will understand that alternative interface arrangements may include more or less than four rotary actuators 12550. In addition, the drive movements generated by 12550 rotary actuators may vary depending on function desired functionality of the robotic tool. In addition, in certain cases, the 12548 drive interface may include a transmission or displacer so that 12550 rotary drives can move between multiple surgical functions, as additionally described here
[000357] [000357] As described in the present invention in relation to pump 12446 in Figure 35, the operation of the blower 12546 in Figure 36 can be coordinated with the application of energy by the robotic tool 12526. For example, the blower 12546 can be turned on when the power is activated and, in certain cases, the 12546 blower may remain for a period of time after the power has stopped. The length of time that the 12546 blower can remain on after the power has been interrupted can be fixed or can be proportional to the time interval in which the power was activated, for example. Additionally or alternatively, the power level of the 12546 blower may be proportional or otherwise related to the activation level of the 12526 robotic tool. For example, a high power level may correspond to a first rate and a lower power level may correspond at a second rate. In one example, the second rate may be less than the first rate.
[000358] [000358] In one aspect, the robotic tool 12526 can also include an insufflation pump that is upstream of the regenerative blower 12546. The insufflation pump can direct a first volume of fluid to a trocar and a second volume of fluid to the blower regenerative 12546. The fluid supplied to the trocar can be configured to inflate the surgical site, for example, a patient's abdomen. The fluid supplied by the 12546 regenerative blower can be configured to cool the ultrasonic blade, for example.
[000359] [000359] Robotic surgical tools 12426 and 12526 can be used in connection with a central controller, such as the central robotic controller 122 or the central robotic controller 222, for example. In one aspect, central robotic controllers can include a situational recognition module, as described in the present invention. The situational recognition module can be configured to determine and / or confirm a step in a surgical procedure and / or suggest a specific surgical action based on information received from various sources, including one or more robotic surgical tools and / or a generator module . In one case, the actuation of a pump on a robotic surgical tool can inform the situational recognition module that evacuation and / or irrigation have been used, which can lead to a conclusion related to a specific surgical procedure or group of surgical procedures. Similarly, data from the situational recognition module can be provided to a processor. In certain cases, the processor can be communicatively coupled to a memory that stores instructions executable by the processor to adjust a pump pumping rate based on data from the situational recognition module that can indicate, for example, the type of surgical procedure and / or the step in the surgical procedure. For example, situational recognition may indicate that insufflation is necessary for at least a portion of a specific surgical procedure. In such cases, a pump, such as the 12546 blower (Figure 36) can be activated and / or maintained at a level to maintain sufficient inflation.
[000360] [000360] In one aspect, the robotic surgical system includes a processor and a memory communicatively coupled to the processor, as described in the present invention. The memory stores instructions executable by the processor to turn a trigger on a robotic tool at a variable rate to provide an adjustable power level to a pump on the robotic tool,
[000361] [000361] In several aspects, the present disclosure provides a control circuit for rotating a rotary actuator on a robotic tool at a variable rate, as described in the present invention. In many respects, the present disclosure provides a computer-readable, non-transitory medium that stores computer-readable instructions that, when executed, cause a machine to rotate a rotary driver on a robotic tool at a variable rate to provide an adjustable power level to a pump on the robotic tool, as described in the present invention.
[000362] [000362] With reference now to Figures 51 and 52, a surgical instrument is shown that uses two robotic tools. In Figure 51, robotic tools are attached to the tissue at a surgical site. The first tool in this example is a flexible robotic retractor 12902, which is applying a retracting force to a portion of the liver of a patient L. In Figure 52, the flexible robotic retractor 12902 can be moved along a longitudinal axis of the axis tool drive in an A direction and / or can be moved laterally (for example pivoted at a joint between two rigid connections on the robotic retractor) in a B direction.
[000363] [000363] The second tool in this example is a 12904 bipolar articulation tool, which is being attached to the tissue. For example, the 12904 bipolar articulation tool can be configured to mobilize attachments from liver A to the liver using bipolar RF currents. The 12904 bipolar articulation tool can be articulated laterally (for example, rotated in a joint joint proximal to the 12904 robotic tool's bipolar claws) in direction C. The directions of A, B and C are indicated with arrows in the Figure
[000364] [000364] In the example shown, the flexible robotic retractor 12902 seeks to retain an organ, the liver L, while the bipolar claws of the 12904 bipolar articulation tool seek to cut and / or seal attached tissue to mobilize the liver fixations A. In one aspect , the movement of the liver L by the flexible robotic retractor 12902 can be configured to maintain a constant retraction force as the bipolar tool 12904 mobilizes the attachments from liver A to the liver L. A load control algorithm can be configured to maintain the constant retraction force on the tissue. In certain cases, the load control algorithm may be a joint control algorithm that provides a defined or predetermined torque, at the joint joint (or joints) of the bipolar joint 12904 and / or the flexible robotic retractor 12902. The defined torque in an articulation joint it can be approximated based on the chain supplied to the articulation motor, for example.
[000365] [000365] In certain cases, the flexible robotic retractor 12902 may risk or otherwise threaten excessive retraction of the L liver. For example, if the displacement of the flexible robotic retractor 12902 approaches a defined travel limit, the retractor flexible robotic arm 12902 may risk tearing a portion of the tissue. To avoid such excessive retraction, as the displacement of the 12902 flexible robotic retractor approaches the displacement limit, the force generated by the 12902 flexible robotic retractor can be reduced by the load control algorithm. For example, the force can be reduced below a constant retraction force, or substantially constant, when a travel limit has been reached.
[000366] [000366] Now with reference to a graphical display 12910 in Figure 53, the retraction force F exerted on an organ and the displacement 3 of the robotic tool, and by the extension of the organ, is plotted over time. The reader will understand that robotic tools 12902 and 12904, as shown in the surgical procedure of Figures 51 and 52, can be used to generate the graphical display
[000367] [000367] During the surgical procedure, if the retraction force F falls below the limit of constant retraction force Y, or falls to a predefined percentage or quantity in relation to the threshold of constant retraction force Y, as in times ti, t2 and ta, the 12902 flexible robotic retractor can be additionally moved to move the organ and increase the retraction force F towards the Y threshold. Similarly, if displacement 3 approaches the X travel limit, as in time t, the retraction force can be reduced to further limit the displacement beyond the displacement limit X. For example, again with reference to Figure 51, the liver L is shown in a second position indicated as L '. The position of the liver L 'can correspond to the displacement limit X of the flexible robotic retractor
[000368] [000368] Now with reference to Figure 54, a flowchart is shown representing logical steps to operate a robotic tool, such as tool 12902 (Figures 51 and 52.) for example. A processor for the robot (for example robot 12022) and / or a processor for a central controller (for example, central controller 106, central controller 206, central robotic controller 122, and central robotic controller 222) that is in signal communication with the robot can set a travel limit in step 12920. Additionally, the processor can set a force limit in step
[000369] [000369] The robotic tool can initially operate in a constant force mode. In step 12924 in constant force mode, the force exerted by the robotic tool can be maintained at the force limit. The processor can monitor the force to ensure that the force remains below the Y force limit. If the force exceeds the Y force limit, the displacement value can be increased in step 12926 until the force reaches or approaches the limit sufficiently of force Y. A force can approach the force limit sufficiently when the force is within a range of values that correspond to the force limit. The processor can monitor the displacement to ensure that the displacement remains below the X displacement limit.
[000370] [000370] If the offset approaches the offset limit X (or falls within the range of values that correspond to the offset limit), the robotic tool can switch to a shift limit mode. In travel limit mode, the force value can be decreased in step 12928 to ensure that the robotic tool remains within the travel limit. A new force limit can be defined at step 12922 to ensure that the displacement remains within the displacement limit. In these cases, the robotic tool can return to constant force mode (with the new force limit reduced) and steps 12924, 12926, and 12928 can be repeated.
[000371] [000371] In certain cases, the rigidity of the drive shaft of one or more of the robotic tools can be added to the load control algorithm in order to obtain the desired amount of lateral force in an organ, such as the L liver. For example, the flexible robotic retractor 12902 can define a stiffness that affects the lateral load exerted on a fabric by the end actuator of the same.
[000372] [000372] In certain cases, a drive compartment for a robotic tool can include a plurality of rotary drives, which can be operationally driven by one or more motors. The motors can be positioned in a motor car, which can be located at the distal end of a robotic arm. In other cases, the motors can be incorporated into the robotic tool. In certain cases, a motor can operationally drive multiple rotary drives and a transmission can be configured to switch between multiple rotary drives.
[000373] [000373] In certain cases, it may be desirable to increase the torque provided for an output of the robotic tool. For example, gripping and / or firing a surgical stapler can benefit from additional torque in certain cases, such as when the fabric to be cut and / or stapled is particularly thick or hard. Especially for longer end actuators and / or longer firing strokes, additional torque may be required to complete the firing stroke. In certain cases, a beam firing structure with a | can be used, especially for longer end actuators and / or longer firing strokes. The beam with profile in | can limit the deflection at the distal end of the firing stroke, for example. Meanwhile, a beam with a profile in | may require increased torque.
[000374] [000374] Additionally, certain robotic tools may require additional flexibility related to the simultaneous operation of multiple DOFs or functions of the surgical end actuator. To increase the power, torque and flexibility of a robotic system, additional engines and / or larger engines can be incorporated into the engine car. However, adding engines and / or using larger engines can increase the size of the engine carriage and the drive compartment.
[000375] [000375] In certain cases, a robotic surgical tool may include a compact drive compartment. A compact drive compartment can enhance the robotic arm's access envelope. In addition, a compact drive compartment can minimize the risk of collisions and arm entanglements. Although the drive compartment is compact, it can still provide the robotic tool with sufficient power, torque and flexibility.
[000376] [000376] In certain cases, the displacement between the functions of the end actuator can be obtained with one of the drive axes. Displacement and locking of rotary drives can only occur when a robotic surgical system is in a rest mode, for example. In one aspect, it may be practical to have three rotary drives operate as many functions of the end actuator as necessary based on the cam structure of the displacement drive. In one aspect, using three cooperative rotary drives, a robotic surgical tool can move between four different possible functions instead of three different functions. For example, three rotary drives can perform the drive shaft rotation, independent head rotation, firing, closing a secondary closing means. In still other cases, a rotary drive can selectively energize a pump, such as surgical tools 12426 and 12526 in Figures 35 and 36, respectively, for example.
[000377] [000377] Additionally or alternatively, multiple rotary drives can cooperatively drive a single output drive shaft in certain cases. For example, to increase the torque released for a surgical tool, multiple motors can be configured to supply torque to the same output drive shaft at any given time. For example, in certain cases, two drive motors can drive a single output. A shifter drive can be configured to independently engage and disengage the two drive motors from the single outlet. In such cases, the increased torque can be released to the output by a compact drive compartment that is associated with multiple rotary drives and end actuator functions. As a result, the loading capacity of the surgical tool can be increased. In addition, the drive compartment can accommodate surgical tools that require different surgical functions, including the operation of multiple DOFs or surgical functions.
[000378] [000378] Now with reference to Figures 38 to 45, a drive system 12800 for a robotic surgical tool is shown
[000379] [000379] Each 12826 motor is coupled to a 12824 rotary output and each 12824 rotary output is coupled to a 12836 rotary input in the 12832 housing on a 12822 drive interface. The rotating movements of 12826 motors and corresponding rotary outputs 12824 are transferred to a respective rotating input 12836. Rotating inputs 12836 correspond to rotary actuators, or rotary drive shafts, in the 12832 compartment. In one example, a first 12826a motor can be a right / left link (or yaw) motor, a second 12826b motor it can be an up / down articulation (or step) motor, a third 12826c motor can be a displacement motor, a fourth 12826d motor can be a first cooperative motor, and a fifth 12826e motor can be a second cooperative motor. Similarly, a first swivel outlet 12824a may be a right / left hinge (or yaw) outlet, a second swivel outlet 12824b may be an up / down hinge outlet (or step), a third swivel outlet 12824c may be a displacement output, a fourth rotating output 12824d can be a first cooperative output, and a fifth rotating output 12824e can be a second cooperative output. In addition, a first rotating input 12836a can be a right / left pivoting drive (or yaw) axis, a second rotating input 12836b can be an up / down pivoting drive axis (or pitch), a third rotating input 12836c it can be a displacement drive axis, a fourth rotary input 12836d can be a first cooperative drive axis, and a fifth rotary input 12836e can be a second cooperative drive axis. In other cases, drive shafts 12836a to 12836e can be operationally positioned in different orientations to make different gear train configurations to transmit a desired rotary output.
[000380] [000380] The 12830 surgical tool is represented in a plurality of different configurations in Figures 47 to 50. For example, the 12830 surgical tool is in an unacted configuration in Figure 47. The drive shaft 12834 was articulated around the axes of pitch and yaw (in the directions of Arrows A and B) in Figure 48. The rotation of the first and second rotary inputs 12836a and 12836b is configured to articulate drive axis 12834 around the pitch and yaw axes, respectively. At
[000381] [000381] Referring mainly to Figures 40 to 45, compartment 12832 includes multiple layers of gear train sets. Specifically, compartment 12832 includes a first set of gear trains 12838a layered under a second set of gear trains 12838b, which is layered under a third set of gear trains 12838c, which is layered under a train set 12838d gearbox. The first set of gear trains 12838a corresponds to a first DOF, such as the rotation of the drive shaft 12834, for example. The second set of 12838b gear trains corresponds to a second DOF, as closing (i.e. quick closing) of the 12835 end actuator with a low closing force, for example. The third set of 12838c gear trains corresponds to a third DOF, as a fixture (i.e., slow closing) of the 12835 end actuator with a high closing force, for example. The fourth set of 12838d gear trains corresponds to a fourth DOF, such as the triggering of a trigger element on the 12835 end actuator, for example. The five swiveling entrances 12836a to 12836e extend through the four layers of gear train sets 12838a to 12838d.
[000382] [000382] The first motor 12826a is coupled in an actionable way to the first rotary input 12836a. In such cases, the first motor 12826a is uniquely configured to drive the first rotary input 12836a, which affects the first DOF. For example, with reference mainly to Figure 41, the articulation wires 12842 can extend from the first rotary input 12836a through the drive shaft 12834 of the robotic tool 12830 towards the end actuator 12835. The rotation of the first rotary input 12836a is configured to actuate the articulation wires 12842 to affect the left / right articulation of the end actuator 12835. Similarly, the second motor 12826b is coupled in an actionable way to the second rotary input 12836b. In these cases, the second motor 12826b is uniquely configured to drive the second rotary input 12836b, which affects the second DOF. Also with reference to Figure 41, the hinge wires 12844 can extend from the second rotary input 12836b through the drive shaft 12834 of the robotic tool 12830 towards the end actuator
[000383] [000383] The 12832 housing also includes a 12840 transmission assembly. For example, the third rotary input 12836c is a displacement drive shaft of the 12840 transmission assembly. As shown in Figures 40 to 45, the third rotary input 12836c can be a cam drive shaft, including a plurality of cam shoulders. An array of cam lugs 12839 can correspond to each set of gear trains 12838a to 12838d in layers in the 12832 compartment. In addition, each set of gear trains 12838a to 12838d includes a respective shuttle 12846a to 12846d operably engaged by the third swivel inlet 12836c. For example, the third swivel entry 12836c can extend through an opening in each shuttle 12846a to 12846d and selectively engage at least one protrusion 12848 on the shuttle 12846a to 12846d to affect the displacement of the respective shuttle 12846a to 12846d relative to the third swivel entry 12836c. In other words, the rotation of the third rotary input 12836c is configured to affect the travel of the 12846a to 12846d shuttle. As shuttle 12846a to 12846d travel within each set of gear trains 12838a to 12838d, respectively, cooperative drive axes 12836d and 12836e are selectively coupled in an actionable manner to one or more drive axes of the robotic tool 12830, as further described in the present invention.
[000384] [000384] In other cases, a drive system for a robotic tool may include a vertical displacement gear selector, which can be configured to move 12846a to 12846d shuttles or otherwise engage an engine output drive to one or more input drives on the 12830 robotic tool.
[000385] [000385] Still with reference to Figures 38 to 45, the fourth and fifth output drives, or the first and second cooperative drive axes 12836d and 12836e, respectively, can operate independently or in a coordinated synchronized manner. For example, in certain cases, each 12836d and 12836e cooperative drive shaft can be paired with a single output gear or output drive shaft. In other cases, both 12836d and 12836e cooperative drives can be paired with a single output gear or output drive shaft.
[000386] [000386] Referring mainly to Figure 42, in a first configuration of the transmission arrangement 12840, the first cooperative drive shaft 12836d is operably engaged with a first output gear 12852 of the first set of gear trains 12838a. For example, the first set of 12838a gear trains includes one or more first 12850a transmission gears. In Figure 42, the first set of 12838a gear trains includes two first 12850a transmission gears. The first 12850a transmission gears are positioned on the first 12846a shuttle in the first set of 12838a gear trains. In the first configuration (Figure 42), the first shuttle 12846a was moved towards the first output gear 12852 by the cam drive shaft 12836c so that one of the first transmission gears 12850a in the first shuttle 12846a is moved in gear engaged with the first output gear 12852 and one of the first transmission gears 12850a is moved in gear engaged with the first cooperative drive shaft 12836d. In other words, the first cooperative drive shaft 12836d is operably engaged with the first output gear 12852.
[000387] [000387] The rotation of the first output gear 12852 corresponds to a specific DOF. For example, the rotation of the first output gear 12852 is configured to rotate the driving shaft 12834 of the robotic tool 12830. In other words, in the first configuration of the transmission arrangement 12840 (Figure 42), a rotation of the fourth motor 12826d and the fourth rotary output 12824d is configured to rotate the first cooperative drive shaft 12836d, which is coupled to the first output gear 12852 through the first transmission gears 12850a and rotates (or rolls) the drive shaft 12834.
[000388] [000388] The first set of 12838a gear trains also includes a first 12860a locking arm. The first locking arm 12860a extends from the first shuttle 12846a. The movement of the first 12846a shuttle is configured to move the first 12860a locking arm. For example, in the first configuration of Figure 42, the first locking arm 12860a is disengaged from the first set of gear trains 12838a so that the first output gear 12852 can rotate. The movement of the first 12846a shuttle can move the first 12860a locking arm in engagement with the first output gear
[000389] [000389] Still referring to Figure 42, in the first configuration of the transmission arrangement 12840, the second cooperative drive shaft 12836e is operably engaged with a second output gear 12854 of the second set of gear trains 12838b. For example, the second set of gear trains 12838b includes one or more second transmission gears 12850b and a planetary gear 12853 which is engaged in gear with the second output gear
[000390] [000390] The rotation of the second output gear 12854 corresponds to a specific DOF. For example, a rotation of the second output gear 12854 is configured to close the end actuator 12835 of the robotic tool 12830 with a low closing force. In other words, in the first configuration of the transmission arrangement 12840, a rotation of the fifth motor 12826e and the fifth rotary output 12824e is configured to rotate along the cooperative drive shaft 12836e, which is coupled to the second output gear 12854, through the second ones. transmission gears 12850b and planetary gear 12853, and closes the end actuator 12835 of the robotic tool 12830 with a low closing force.
[000391] [000391] The second set of 12838b gear trains also includes a second 12860b locking arm. The second locking arm 12860b extends from the second shuttle 12846b. The movement of the second 12846b shuttle is configured to move the second 12860b locking arm. For example, in the first configuration of Figure 42, the second locking arm 12860b is disengaged from the planetary gear 12853. The movement of the second shuttle 12846b can move the second locking arm 12860b in engagement with the second planetary gear
[000392] [000392] In the first configuration, the rotary drive movements can be simultaneously applied to the first and second cooperative drive axes 12836d and 12836e, respectively, to simultaneously affect multiple degrees of freedom. For example, the transmission arrangement 12840 may allow simultaneous rotation of the drive shaft 12834 and the closing of the end actuator claws. In other cases, one of the output gears 12852, 12854 can be locked by the respective locking arm when the other output gear 12852, 12854 is operably coupled to the respective cooperative drive shaft 12836d, 12836e.
[000393] [000393] Still referring to Figure 42, in the first configuration of the transmission arrangement 12840, a third output gear 12856 in the third set of gear trains 12838c and a fourth output gear 12858 in the fourth set of gear trains 12838d are locked through the locking arms 12860c and 12860d, respectively. As a result, rotation of the third output gear 12856, which corresponds to the high-strength gripping or closing of the end actuator jaws, is prevented by the first configuration. In addition, the rotation of the fourth output gear 12858, which corresponds to the firing of the firing member on the end actuator 12835, is also prevented. In other words, when the 12840 transmission arrangement is configured to apply rotary motions to affect a low rotating force DOF or drive shaft DOF, high force gripping and firing is prevented. In such cases, the gripping function and the high force firing function can be selectively locked by the 12840 transmission arrangement.
[000394] [000394] Now with reference to Figure 43, a second configuration of the 12840 transmission arrangement is shown. In the second configuration, the first and the second cooperative drive axes 12836d and 12836e are operably engaged with a third output gear 12856 of the third set of 12838c gear trains. The third output gear 12856 is configured to drive a third output drive shaft 12866 (Figures 43 to 45), which transfers a drive motion to the end actuator 12835. For example, the third set of gear trains 12838c includes a or more third transmission gears 12850c and a planetary gear 12855 which is engaged in gear with the third output gear
[000395] [000395] The rotation of the third output gear 12856 corresponds to a specific DOF. For example, a rotation of the third output gear 12856 is configured to secure the 12835 end actuator of the 12830 robotic tool with a high clamping force. In other words, in the second configuration of the transmission arrangement 12840, a rotation of the fourth motor 12826d and the fifth motor 12826e and the corresponding rotation of the fourth rotary output 12824d and the fifth rotary output 12824e are configured to rotate the cooperative drive shafts 12836d and 12836e, respectively. In these cases, a torque provided by both cooperative drive shafts 12836d and 12836e is coupled to the third output gear 12856 through the third transmission gears 12850c to secure the end actuator 12835 of the robotic tool 12830 with a high clamping force.
[000396] [000396] Still referring to Figure 43, in the second configuration of the transmission arrangement 12840, the third output gear 12856 is unlocked. More specifically, the third locking arm 12860c is disengaged from the third set of gear trains 12838c so that the third output gear 12856 can rotate. Additionally, the cam drive shaft 12836c moved the first locking arm 12860a in engagement with the first set of gear trains 12838a, the second locking arm 12860b in engagement with the second set of gear trains 12838b, and the fourth arm locking mechanism 12860d in engagement with the fourth set of gear trains 12838d to prevent rotation of the first output gear 12852, the second output gear 12854 and the fourth output gear 12858, respectively. As a result, the rotation of the drive shaft 12834, the low-force closing of the claws of the end actuator and the triggering of the end actuator 12835 are prevented by the transmission arrangement 12840 in the second configuration. In such cases, the drive shaft rotation function, the low force closing function, and the firing function can be selectively locked by the 12840 transmission arrangement.
[000397] [000397] Now with reference to Figure 44, a third configuration of the transmission arrangement 12840 is shown. In the third configuration, the first and the second cooperative drive axes 12836d and 12836e are operably engaged with a fourth output gear 12858 of the fourth set of 12838d gear trains. For example, the fourth set of 12838d gear trains includes one or more fourth transmission gears 12850d and a planetary gear 12857 that is engaged in engagement with the fourth output gear
[000398] [000398] The rotation of the fourth output gear 12858 corresponds to a specific DOF. For example, a rotation of the fourth output gear 12858 is configured to fire a firing member on the end actuator 12835 of the robotic tool
[000399] [000399] Still with reference to Figure 44, in the third configuration of the transmission arrangement 12840, the fourth output gear 12858 is unlocked. More specifically, the fourth locking arm 12860d is disengaged from the fourth set of gear trains 12838d so that the fourth output gear 12858 can rotate. Additionally, the cam drive shaft 12836c moved the first locking arm 12860a in engagement with the first set of gear trains 12838a, the second locking arm 12860b in engagement with the second set of gear trains 12838b, and the third arm locking device 12860c in engagement with the third set of gear trains 12838c to prevent rotation of the first output gear 12852, the second output gear 12854 and the third output gear 12856, respectively. As a result, rotation of the drive shaft 12852, low force closing of the end actuator jaws, and high grip force of the end actuator jaws are prevented by the 12840 transmission arrangement in the third configuration. In such cases, the drive shaft rotation function, the low force closing function, and the high force gripping function can be selectively locked by the 12840 transmission arrangement.
[000400] [000400] In one aspect, the dual drive motors 12826d and 12826e can coordinate with the displacement motor 12826c to provide a compact drive compartment 12832 that allows multiple end-actuator functions. In addition, higher torque can be provided for one or more of the end actuator functions via cooperative drive shafts 12836d and 12836e.
[000401] [000401] In one aspect, when the cooperative drive axes 12836d and 12836e are operated together, the two drive axes 12836d and 12836e are synchronized. For example, the drive shafts 12836d and 12836e can either drive a common output drive shaft or the output drive axes 12866 and / or 12868. Torque can be supplied to the common output drive axes 12866 and / or 12868 via of both drive shafts 12836d and 12836e.
[000402] [000402] Now with reference to Figure 46, a graphical display 12890 of output torque is shown for different surgical functions of a robotic tool, such as the robotic tool 12830 (Figures 38 to 45), for example. The torque output for rotating the tool drive shaft (for example, drive shaft 12834) via a first cooperative drive shaft and for low-force clamping of the end actuator grips via a second drive shaft cooperative is less than t1, the maximum output torque from a single drive shaft. The lower output torques for rotating the drive shaft and closing the low-force jaw can be within the load range obtainable from a cable in a spindle, for example. In certain cases, other lower-load functionalities of the surgical tool can be affected by the output from a single drive shaft.
[000403] [000403] To affect high grip force, the torque approaches t2, the maximum output torque of the cooperative drive axes (for example, cooperative drive axes 12836d and 12836e). For example, t2 can be twice the value of t1. The "a" and "b" values in the
[000404] [000404] In one case, the synchronization of multiple drive axes (for example, cooperative drive axes 12836d and 12836e) may be dependent on one drive axis for the next on the other drive axis. For example, a different maximum torque threshold can be set on the subordinate drive shaft so that it can push up to the limit of the first drive shaft, but not over it. In one aspect, the speed of the output drive shaft can be monitored for increases and / or decreases in the speed of rotation. For example, a sensor can be positioned to detect the rotation speed of the output drive shaft. In addition, the cooperative drive axes can be coordinated to balance the torque when one of the cooperative drive axes starts to decelerate or brake the output drive shaft instead of both cooperative drive axles accelerating it.
[000405] [000405] The motors described here are housed in a tool crimp on a robotic arm. In other cases, one or more of the motors can be housed in the robotic tool.
[000406] [000406] In one aspect, the input drivers on a robotic tool interface are configured to be mechanically and electrically coupled to the output drivers on a tool crimp. As described in the present invention, the motors in the tool crimp can be configured to apply rotary drive movements to the drivers in the robotic tool. In other cases, the actuators on the robotic tool can be configured to receive linear actuating movements from output actuators on the tool crimp. For example, one or more linear drive movements can be transferred through the interface between the tool crimp and the robotic tool.
[000407] [000407] When a single motor is coupled to an output drive shaft, the transmission set is in a low torque operating state compared to a high torque operating state in which more than one motor is coupled in mode driven to the output drive shaft. The maximum release torque for the output drive shaft in the high torque operating state is greater than the maximum release torque for the output drive shaft in the low torque operating state. In one case, the maximum torque in the high torque operating state may be twice the maximum torque in the low torque operating state. The maximum torques that can be applied to the output drive shaft can be based on the size and torque capacities of the motors.
[000408] [000408] In one aspect, the robotic surgical system includes a processor and a memory communicatively coupled to the processor, as described in the present invention. The memory stores instructions executable by the processor to selectively operationally couple a first rotary driver and a second rotary driver to the output drive axes of a tool compartment, one of the first rotary driver and the second rotary driver being configured to provide torque to an output drive shaft in a low torque operating state, and where the first rotary drive and the second rotary drive are configured to simultaneously supply torque to an output drive shaft in the high torque operating state, as described in present invention.
[000409] [000409] In several aspects, the present disclosure provides a control circuit for selectively operationally coupling a first rotary driver and / or a second rotary driver to an output drive shaft as described in the present invention. In many respects, the present disclosure provides a non-transitory, computer-readable media that stores computer-readable instructions that, when executed, cause a machine to selectively operationally engage a first rotary driver and / or a second rotary driver to an axis output drive, as described in the present invention.
[000410] [000410] The full disclosures of: and US Patent No. 9,072,535, filed on May 27, 2011, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMERNTS, issued July 7, 2015; and US Patent No. 9,072,536, filed on June 28, 2012, entitled DIFFERENTIAL LOCKING ARRANGEMENTS FOR ROTARY POWERED SURGICAL INSTRUMENTS, granted on July 7, 2015; and US Patent No. 9,204,879, filed on June 28,
[000411] [000411] Various aspects of the subject described in this document are defined in the following numbered examples.
[000412] [000412] Example 1. A robotic surgical system comprising: a first engine; a second engine; and a robotic surgical tool, comprising: a first rotary driver configured to receive a first rotary movement from said first motor; a second rotary drive configured to receive a second rotary movement from said second motor; an output drive; and a displacer configured to selectively couple said first rotary driver and said second rotary driver to said output drive, said first rotary driver and said second rotary driver being configured to simultaneously supply torque to said output drive in a high torque operating state.
[000413] [000413] Example 2. The robotic surgical system of Example 1, one of said first rotary drive and said second rotary drive is configured to provide torque for a second output drive in a low torque operating state, and being that a maximum torque is higher in the high torque operating state than in the low torque operating state.
[000414] [000414] Example 3. The robotic surgical system of any of Examples 1 and 2, said surgical tool additionally comprising: a second displacer configured to selectively couple said first rotary driver to said second output drive; a third output drive; and a third displacer configured to selectively couple said second rotary driver and said third outlet.
[000415] [000415] Example 4. The robotic surgical system of Example 3, which further comprises a fourth output drive and a fourth displacer configured to selectively couple said first rotary driver and said second rotary driver to said fourth output drive.
[000416] [000416] Example 5. The robotic surgical system of Example 4, said robotic surgical tool comprising: a compartment comprising said first rotary driver and said second rotary driver; an end actuator comprising a firing member; and a drive shaft extending between said compartment and said end actuator, said output drive being configured to hold said end actuator, said second output drive being configured to rotate said drive axis, said third output drive being configured to close said end actuator, and the fourth output drive being configured to fire said trigger member.
[000417] [000417] Example 6. The robotic surgical system of any of Examples 4 and 5, which further comprises a third rotary driver configured to operationally engage said displacer, said second displacer, said third displacer and said fourth displacer.
[000418] [000418] Example 7. The robotic surgical system of Example 6, said third rotary driver comprising a cam drive shaft.
[000419] [000419] Example 8.The robotic surgical system of any one of Examples 1 to 7, which further comprises: a fourth rotary actuator configured to articulate said end actuator in relation to said drive axis around a first geometric axis; and a fifth rotary driver configured to articulate said end actuator with respect to said drive axis about a second geometric axis.
[000420] [000420] Example 9. The robotic surgical system of any of Examples 4 to 8, which further comprises: a first locking arm extending from said displacer and configured to selectively lock said outgoing drive; a second locking arm extending from said second displacer and configured to selectively lock said second output drive; a third locking arm extending from said third displacer and configured to selectively lock said third exit drive; and a fourth locking arm extending from said fourth displacer and configured to selectively lock said fourth output drive.
[000421] [000421] Example 10. A robotic surgical tool comprising: a transmission comprising: a first layer comprising a first output drive and a plurality of first transmission gears; a second layer comprising a second output drive and a plurality of second transmission gears; a first drive axis extending through said first layer and said second layer; a second drive axis extending through said first layer and said second layer; and a displacement set, said displacement set being configured to couple said first drive axis and said second drive axis to said first output drive by means of said plurality of first transmission gears in a state of high torque, and said displacement set being configured to couple said first drive shaft to said second output drive by means of said plurality of second transmission gears in a low torque state.
[000422] [000422] Example 11. The robotic surgical tool of Example 10, which further comprises: a first motor operably coupled to said first drive axis; and a second motor operably coupled to said second drive shaft.
[000423] [000423] Example 12. The robotic surgical tool of any of Examples 10 and 11, said displacement set additionally comprising: a cam drive shaft; a first displacement plate in an intermediate position to said cam drive axis of said first transmission gears in said first layer; and a second displacement plate in an intermediate position to said cam drive axis and said plurality of second transmission gears in said second layer.
[000424] [000424] Example 13. The robotic surgical tool of any of Examples 12, said displacement set additionally comprising: a first lock operatively engaged with said first displacement plate and said first output drive; and a second lock operably engaged with said second displacement plate and said second output drive.
[000425] [000425] Example 14. The robotic surgical tool of any of Examples 10 to 13, said first output drive being configured to affect a first surgical function, and said second output drive being configured to affect a second surgical function.
[000426] [000426] Example 15. A system for driving a robotic surgical tool, the system comprising: a first layer comprising a first outlet gear; a second layer comprising a second outlet gear; a first drive axis extending through said first layer and said second layer; a second drive axis extending through said first layer and said second layer; and a displacement assembly configured to selectively couple said first drive shaft and said second drive shaft to said first output gear in a high torque operating state to simultaneously supply said first output gear.
[000427] [000427] Example 16. The system of Example 15, which further comprises: a first motor operably coupled to said first drive axis; and a second motor operably coupled to said second drive shaft.
[000428] [000428] Example 17. The system of any of Examples 15 and 16, said displacement set being configured to couple said first drive shaft and said second output gear in a low torque state, and being that a maximum torque is higher in the high torque operating state than in the low torque operating state.
[000429] [000429] Example 18. The system of example 17, with the low torque operating state being used for a low force closing movement, and the high force operating state being used for a high holding force movement. .
[000430] [000430] Example 19. The system of any of Examples 15 to 18, said displacement set additionally comprising: a cam drive shaft; a plurality of first transmission gears and a first displacement plate in an intermediate position to said cam drive axis and said plurality of first transmission gears; a plurality of second transmission gears and a second displacement plate in an intermediate position to said cam drive axis and said plurality of second transmission gears; a first lock operatively engaged with said first displacement plate and said first output gear; and a second lock operatively engaged with said second displacement plate and said second outlet gear.
[000431] [000431] Example 20. The system of any of Examples 15 to 19, with said first output gear being configured to affect a first surgical function, and said second output gear being configured to affect a second function surgical.
[000432] [000432] Although several forms have been illustrated and described, it is not the applicant's intention to restrict or limit the scope of the claims attached to such detail. Numerous modifications, variations, alterations, substitutions, combinations and equivalents of these forms can be implemented and will occur to those skilled in the art without departing from the scope of this disclosure. In addition, the structure of each element associated with the shape can alternatively be described as a means of providing the function performed by the element. In addition, where materials for certain components are disclosed, other materials can be used. It should be understood, therefore, that the preceding description and the appended claims are intended to cover all these modifications, combinations and variations that fall within the scope of the modalities presented. The attached claims are intended to cover all such modifications, variations, alterations, substitutions, modifications and equivalents.
[000433] [000433] The previous detailed description presented various forms of the devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts and / or examples can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or virtually any combination thereof. Those skilled in the art will recognize, however, that some aspects of the aspects disclosed herein, in whole or in part, may be implemented in an equivalent manner in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware, or virtually as any combination of them, and that designing the circuitry and / or writing the code for the software and firmware would be within the scope of practice of those skilled in the art, in light of this disclosure. In addition, those skilled in the art will understand that the mechanisms of the subject described herein can be distributed as one or more program products in a variety of ways and that an illustrative form of the subject described here is applicable regardless of the specific type of transmission medium. signals used to effectively carry out the distribution.
[000434] [000434] The instructions used to program the logic to execute various disclosed aspects can be stored in a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory or other storage. In addition, instructions can be distributed over a network or through other computer-readable media. Thus, machine-readable media can include any mechanism to store or transmit information in a machine-readable form (for example, a computer), but is not limited to, floppy disks, optical discs, read-only compact disc ( CD-ROMs), and optical-dynamos discs, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory
[000435] [000435] As used in any aspect of the present invention, the term "control circuit" can refer to, for example, a set of wired circuits, programmable circuits (for example, a computer processor comprising one or more cores individual instruction processing units, processing unit, processor, - microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic matrix (PLA), or field programmable port arrangement (FPGA)), state machine circuits, firmware that stores instructions executed by the programmable circuit, and any combination thereof. The control circuit can, collectively or individually, be incorporated as an electrical circuit that is part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), an on-chip system (SoC ) desktop computers, laptop computers, tablet computers, servers, smart headsets, etc. Consequently, as used in the present invention, "control circuit" includes, but is not limited to, electrical circuits that have at least one discrete electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one circuit integrated for specific application,
[000436] [000436] As used in any aspect of the present invention, the term "logical" can refer to an application, software, firmware and / or circuit - configured to perform any of the aforementioned operations. The software may be incorporated as a software package, code, instructions, instruction sets and / or data recorded on the computer-readable non-transitory storage media. The firmware can be embedded as code, instructions or instruction sets and / or data that are hard-coded (for example, non-volatile) in memory devices.
[000437] [000437] As used in any aspect of the present invention, the terms "component", "system", "module" and the like may refer to a computer-related entity, be it hardware, a combination of hardware and software, software or software running.
[000438] [000438] As used here in one aspect of the present invention, an "algorithm" refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities and / or logical states that can, although they do not necessarily need to, take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. It is common use to call these signs bits, values, elements, symbols, characters, terms, numbers or the like. These terms and similar terms may be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities and / or states.
[000439] [000439] A network may include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet switched network communications protocol. An exemplary communications protocol may include an Ethernet communications protocol that may be able to allow communication using a transmission control protocol / Internet protocol (TCP / IP). The Ethernet protocol can conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) entitled "EEE 802.3 Standard", published in December 2008 and / or later versions of this standard. Alternatively or in addition, communication devices may be able to communicate with each other using an X.25 communications protocol. The X.25 communications protocol can conform or be compatible! with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or in addition, communication devices may be able to communicate with each other using a frame-relay communications protocol. The frame-relay communications protocol can conform to or be compatible with a standard promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, transceivers may be able to communicate with each other using an ATM communication protocol ("asynchronous transfer mode"). The ATM communication protocol can conform to or be compatible with an ATM standard published by the ATM forum entitled "ATM-MPLS Network Interworking 2.0" published in August 2001, and / or later versions of that standard. Obviously, different and / or post-developed connection-oriented network communication protocols are also contemplated in the present invention.
[000440] [000440] Unless otherwise stated, as is evident from the preceding disclosure, it is understood that, throughout the preceding disclosure, discussions that use terms such as "processing", or "computation", or "calculation", or " determination ", or" display ", or similar, refer to the action and processes of a computer, or similar electronic computing device, that manipulates and transforms the data represented in the form of physical (electronic) quantities in records and memories of the computer in other data represented in a similar way in the form of physical quantities in the memories or records of the computer, or in other similar devices for storing, transmitting or displaying information.
[000441] [000441] One or more components in the present invention may be called "configured for", "configurable for", "operable / operational for", "adapted / adaptable for", "capable of", "conformable / conformed for", etc. Those skilled in the art will recognize that "configured for" may, in general, cover components in an active state and / or components in an inactive state and / or components in a standby state, except when the context dictates otherwise.
[000442] [000442] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of the 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.
[000443] [000443] Persons skilled in the art will recognize that, in general, the terms used here, and especially in the appended claims (for example, bodies of the appended claims) are generally intended as "open" terms (for example, the term "including" should be interpreted as "including, but not limited to", the term "having" should be interpreted as "having, at least", the term "includes" should be interpreted as "includes, but is not limited to ", etc.). It will also be understood by those skilled in the art that, when a specific number of a claim statement entered is intended, that intention will be expressly mentioned in the claim and, in the absence of such mention, no intention will be present. For example, as an aid to understanding, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim statements. However, the use of such phrases should not be interpreted as implying that the introduction of a claim statement by the indefinite articles "one, ones" or "one, ones" limits any specific claim containing the mention of the claim entered to claims that contain only such a mention, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles, such as "one, ones" or "one, ones" (for example, "one, ones" and / or "one, ones" should typically be interpreted as meaning "not one" or "one or more"); the same goes for the use of defined articles used to introduce claims.
[000444] [000444] Furthermore, even if a specific number of an introduced claim statement is explicitly mentioned, those skilled in the art will recognize that that statement must typically be interpreted as meaning at least the number mentioned (for example, the mere mention of "two mentions ", without other modifiers, typically means at least two mentions, or two or more mentions). In addition, in cases where a convention analogous to "at least one of A, B and C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that has at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). In cases where a convention analogous to "at least one of A, B or C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that have at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A , B and C together, etc.). It will be further understood by those skilled in the art that typically a disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, in the claims or in the drawings, should be understood as contemplating the possibility of including one of the terms, any of the terms or both terms,
[000445] [000445] With respect to the attached claims, those skilled in the art will understand that the operations mentioned in them can, in general, be performed in any order. In addition, although several operational flow diagrams are presented in one or more sequences, it must be understood that the various operations can be performed in other orders than those shown, or can be performed simultaneously. Examples of such alternative orderings may include overlapping, merged, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, inverse or other variant orders, unless the context otherwise requires. In addition, terms such as "responsive to", "related to" or other adjectival participles are not intended in general to exclude these variants, unless the context otherwise requires.
[000446] [000446] It is worth noting that any reference to "one (1) aspect", "one aspect", "an exemplification" or "one (1) exemplification", and the like means that a particular feature, structure or feature described in connection with the aspect is included in at least one aspect. Thus, the use of expressions such as "in one (1) aspect", "in one aspect", "in an exemplification", "in one (1) exemplification", in several places throughout this specification does not necessarily refer the same aspect. In addition, specific resources, structures or characteristics can be combined in any appropriate way in one or more aspects.
[000447] [000447] Any patent application, patent, non-patent publication or other description material mentioned in this specification and / or mentioned in any order data sheet is hereby incorporated by reference, to the extent that the materials incorporated are not inconsistent with that. Accordingly, and to the extent necessary, 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 existing advertising material.
[000448] [000448] In summary, numerous benefits have been described that result from the use of the concepts described in this document. The previously mentioned description of one or more modalities has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. One or more modalities were chosen and described in order to illustrate the principles and practical application to, thus, allow those skilled in the art to use the various modalities and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.

权利要求:
Claims (20)
[1]
1. Robotic surgical system, characterized by comprising: a first engine; a second engine; and a robotic surgical tool comprising: a first rotary driver configured to receive a first rotary movement from said first motor; a second rotary drive configured to receive a second rotary movement from said second motor; an output drive; and a displacer configured to selectively couple said first rotary driver and said second rotary driver to said output drive, said first rotary driver and said second rotary driver being configured to simultaneously supply torque to said output drive in a high torque operating state.
[2]
2. Robotic surgical system according to claim 1, characterized in that one of said first rotary drive and said second rotary drive is configured to provide torque for a second output drive in a low torque operating state, and a maximum torque is higher in the high torque operating state than in the low torque operating state.
[3]
3. Robotic surgical system, according to claim 2, characterized in that said robotic surgical tool further comprises: a second displacer configured to selectively couple said first rotary driver to said second output drive; and a third output drive and a third displacer configured to selectively couple said second rotary driver and said third output.
[4]
4. Robotic surgical system, according to claim 3, characterized in that it additionally comprises a fourth output drive and a fourth displacer configured to selectively couple said first rotary driver and said second rotary driver to said fourth output drive.
[5]
5. Robotic surgical system, according to claim 4, characterized in that said robotic surgical tool comprises: a compartment comprising said first rotary driver and said second rotary driver; an end actuator comprising a firing member; and a drive shaft extending intermediate to said compartment and said end actuator, said output drive being configured to hold said end actuator, said second output drive being configured to rotate said drive axis, said third output drive being configured to close said end actuator, and the fourth output drive being configured to fire said trigger member.
[6]
Robotic surgical system according to claim 5, characterized in that it further comprises a third rotary driver configured to operationally engage said displacer, said second displacer, said third displacer and said fourth displacer.
[7]
7. Robotic surgical system according to claim 6, characterized in that said third rotary driver comprises a cam drive shaft.
[8]
8. Robotic surgical system, according to claim 6, characterized by additionally comprising: a fourth rotary driver configured to articulate said end actuator in relation to said drive axis around a first geometric axis; and a fifth, the rotary actuator configured to articulate said end actuator with respect to said drive axis about a second geometric axis.
[9]
Robotic surgical system, according to claim 6, characterized in that it further comprises: a first locking arm extending from said displacer and configured to selectively lock said exit drive; a second locking arm extending from said second displacer and configured to selectively lock said second output drive; a third locking arm extending from said third displacer and configured to selectively lock said third exit drive; and a fourth locking arm extending from said fourth displacer and configured to selectively lock said fourth output drive.
[10]
10. Robotic surgical tool, characterized by comprising: a transmission, comprising: a first layer comprising a first output drive and a plurality of first transmission gears; a second layer comprising a second output drive and a plurality of second transmission gears; a first drive axis extending through said first layer and said second layer; a second drive axis extending through said first layer and said second layer; and a displacement set, said displacement set being configured to couple said first drive axis and said second drive axis to said first output drive by means of said plurality of first transmission gears in a state of high torque, and said displacement set being configured to couple said first drive shaft to said second output drive by means of said plurality of second transmission gears in a low torque state.
[11]
11. Robotic surgical tool, according to claim 10, characterized by additionally comprising: a first motor operably coupled to said first drive shaft; and a second motor operably coupled to said second drive shaft.
[12]
Robotic surgical tool according to claim 10, characterized in that said displacement set additionally comprises: a cam drive shaft; a first displacement plate in an intermediate position to said cam drive axis of said first transmission gears in said first layer; and a second displacement plate in an intermediate position to said cam drive axis and said plurality of second transmission gears in said second layer.
[13]
13. Robotic surgical tool according to claim 12, characterized in that the handle assembly additionally comprises: a first lock operatively engaged with said first displacement plate and said first output drive; and and a second lock operably engaged with said second displacement plate and said second output drive.
[14]
14. Robotic surgical tool, according to claim 10, characterized in that said first output drive is configured to perform a first surgical function, and said second output drive is configured to perform a second surgical function.
[15]
15. System for driving a robotic surgical tool, characterized by comprising: a first layer comprising a first exit gear; a second layer comprising a second outlet gear; a first drive axis extending through said first layer and said second layer; a second drive axis extending through said first layer and said second layer; and a displacement set configured to selectively couple said first drive shaft and said second drive shaft to said first output gear in a high torque operating state to simultaneously supply said first output gear.
[16]
16. System according to claim 15,
characterized in that it further comprises: a first motor that is operably coupled to said first drive axis; and a second motor operably coupled to said second drive shaft.
[17]
17. The system according to claim 15, characterized in that said displacement set is configured to couple said first drive shaft to said second output gear in a low torque state, and that a maximum torque is greater in the high torque operating state than low torque operating state.
[18]
18. The system according to claim 17, characterized in that the low torque operating state is used for a low force closing movement, and the high force operating state is used for a high force holding movement.
[19]
19. System according to claim 15, characterized in that said displacement assembly further comprises: a cam drive shaft; a plurality of first transmission gears and a first displacement plate in an intermediate position to said cam drive axis and said plurality of first transmission gears; a plurality of second transmission gears and a second displacement plate in an intermediate position to said cam drive axis and said plurality of second transmission gears; a first lock operatively engaged with said first displacement plate and said first output gear;
and a second lock operatively engaged with said second displacement plate and said second output gear.
[20]
20. System according to claim 15, characterized in that said first output gear is configured to perform a first surgical function, and said second output gear is configured to perform a second surgical function.

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同族专利:

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EP3635738A1|2020-04-15|

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WO2019130095A1|2019-07-04|

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CN111566751A|2020-08-21|

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US20190201113A1|2019-07-04|

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CN111542895A|2020-08-14|

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EP3635740A1|2020-04-15|

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EP3635741A1|2020-04-15|

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US20190201139A1|2019-07-04|

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US20210205028A1|2021-07-08|

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CN111527562A|2020-08-11|

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WO2019130096A1|2019-07-04|

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JP2021509027A|2021-03-18|

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BR112020012935A2|2020-12-01|

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US20190201111A1|2019-07-04|

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WO2019130097A1|2019-07-04|

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US11013563B2|2021-05-25|

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BR112020012908A2|2020-12-08|

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JP2021509030A|2021-03-18|

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

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

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

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

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

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

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US201862649320P| true| 2018-03-28|2018-03-28|

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US62/649,320|2018-03-28|

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US15/940,627|US11013563B2|2017-12-28|2018-03-29|Drive arrangements for robot-assisted surgical platforms|

---

US15/940,627|2018-03-29|

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PCT/IB2018/057443|WO2019130095A1|2017-12-28|2018-09-26|Drive arrangements for robot-assisted surgical platforms|

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