cloud interface for attached surgical devices

专利摘要:
The present invention relates to a surgical system that comprises a central surgical controller attachable to stock items of an institution. Inventory items include medical devices. The central surgical controller one comprises a processor, a memory and a cloud-based analysis system. The memory stores instructions executable by the processor to communicate with the stock items. The cloud-based analysis system is coupled to the central surgical controller and comprises a processor and memory attached to the processor. The memory stores instructions executable by the processor to receive data associated with inventory items, determine the availability of inventory items based on unique identifiers and system-defined restrictions, generate a cloud interface for the institution, and transmit an alert for each item determined as not available based on the restrictions defined by the system.
公开号:BR112020013102A2
申请号:R112020013102-4
申请日:2018-09-26
公开日:2020-12-01
发明作者:David C. Yates；Jason L. Harris；Frederick E. Shelton Iv；Gregory J. Bakos
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] This application claims the priority benefit set forth in title 35 of USC $ 119 (e) of US Provisional Patent Application serial number 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES, filed on March 28, 2018, whose description is hereby incorporated by reference in its entirety for reference.
[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 Serial No. 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28 2017, the description of each of which is incorporated herein by way of reference, in its entirety. BACKGROUND OF THE INVENTION
[0003] [0003] The present description refers to several surgical systems. In the digital and information age, the implementation of systems or procedures that use newer and improved technologies in medical systems and facilities is often slower due to patient safety and a general desire to maintain traditional practices. However, medical systems and facilities can often lack communication and knowledge shared with other neighboring or similarly located facilities as a result. To improve patient practices, it would be desirable to find ways to assist with better interconnection of medical systems and facilities. SUMMARY OF THE INVENTION
[0004] [0004] In one aspect, a surgical system is provided. The surgical system comprises a central surgical controller that can be attached to a plurality of stock items in an institution. The plurality of stock items includes medical devices. The central surgical controller one comprises a processor, a memory coupled to the processor and a cloud-based analysis system. The memory stores instructions executable by the processor to communicate with the plurality of stock items. The cloud-based analysis system is communicatively coupled to the central surgical controller and comprises a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to: receive, through the central surgical controller, data associated with the plurality of stock items; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions; generate a cloud interface for the institution; and transmit one that can be displayed for each inventory item determined to be unavailable based on the restrictions set by the system. The data received comprises a unique identifier for each inventory item. The restrictions defined by the system comprise at least one usage restriction. The institution's cloud interface comprises a plurality of user interface elements. At least one user interface element allows the selection of one or more of a surgical procedure to be performed. After selecting a surgical procedure, using at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface. For each inventory item determined to be unavailable based on the restrictions defined by the system, the alert transmitted can be displayed on at least one of the institution's cloud interface or the inventory item.
[0005] [0005] In another general aspect, another surgical system is provided. The surgical system comprises a central surgical controller and a cloud-based analysis system coupled communicatively to the central surgical controller. The central surgical controller can be attached to a plurality of stock items in an institution, where the plurality of stock items includes medical devices. The central surgical controller comprises a control circuit configured to communicate with the plurality of stock items. The cloud-based analysis system is communicatively coupled to the central surgical controller, and comprises a control circuit configured to: receive, through the central surgical controller, data associated with the plurality of stock items; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions; generate a cloud interface for the institution; and transmit an alert for each inventory item determined to be unavailable based on the restrictions set by the system. The data received comprises a unique identifier for each inventory item. The restrictions defined by the system comprise at least one usage restriction. The institution's cloud interface comprises a plurality of user interface elements. At least one user interface element allows the selection of one or more of a surgical procedure to be performed. After selecting a surgical procedure, using at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface. For each inventory item determined to be unavailable based on the restrictions defined by the system, the alert transmitted can be displayed on at least one of the institution's cloud interface or the inventory item.
[0006] [0006] In yet another general aspect, a computer-readable medium of the surgical system is provided. Computer-readable media is non-transitory and stores computer-readable instructions that, when executed, make a cloud-based analysis system: receive, through a central surgical controller, data associated with a plurality of stock items from a institution; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions; generate a cloud interface for the institution; and transmit an alert for each inventory item determined to be unavailable based on the restrictions set by the system. The plurality of stock items include medical devices. The data received comprises a unique identifier for each inventory item. Each unique identifier is received by the central surgical controller in communication with each stock item. The restrictions defined by the system comprise at least one usage restriction. The institution's cloud interface comprises a plurality of user interface elements. At least one user interface element allows the selection of one or more of a surgical procedure to be performed. After selecting a surgical procedure, using at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface. For each inventory item determined to be unavailable based on the restrictions defined by the system, the alert transmitted can be displayed on at least one of the institution's cloud interface or the inventory item. 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, according to at least one aspect of the present description.
[0009] [0009] Figure 2 is a surgical system that is used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present description.
[0010] [0010] Figure 3 is a central surgical controller paired with a visualization system, a robotic system, and an intelligent instrument, according to at least one aspect of the present description.
[0011] [0011] Figure 4 is a partial perspective view of a central surgical controller compartment, and of a combined generator module received slidingly in a drawer of the central surgical controller compartment, according to at least one aspect of the present description. .
[0012] [0012] Figure 5 is a perspective view of a generator module combined with bipolar, ultrasonic and monopoly contacts and a smoke evacuation component, in accordance with at least one aspect of the present description.
[0013] [0013] Figure 6 illustrates different power bus connectors for a plurality of side coupling ports of a side modular cabinet configured to receive a plurality of modules, in accordance with at least one aspect of the present description.
[0014] [0014] Figure 7 illustrates a vertical modular cabinet configured to receive a plurality of modules, in accordance with at least one aspect of the present description.
[0015] [0015] 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 healthcare facility. health specially equipped for surgical operations, to the cloud, in accordance with at least one aspect of the present description.
[0016] [0016] Figure 9 illustrates an interactive surgical system implemented by computer, in accordance with at least one aspect of the present description.
[0017] [0017] Figure 10 illustrates a central surgical controller that comprises a plurality of modules coupled to the modular control tower, according to at least one aspect of the present description.
[0018] [0018] Figure 11 illustrates an aspect of a universal serial bus (USB) central controller device, in accordance with at least one aspect of the present description.
[0019] [0019] Figure 12 illustrates a logical diagram of a control system for an instrument or surgical tool, according to at least one aspect of the present description.
[0020] [0020] Figure 13 illustrates a control circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present description.
[0021] [0021] Figure 14 illustrates a combinational logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present description.
[0022] [0022] Figure 15 illustrates a sequential logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present description.
[0023] [0023] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions, according to at least one aspect of the present description.
[0024] [0024] Figure 17 is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described therein, in accordance with at least one aspect of the present description.
[0025] [0025] Figure 18 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member, according to an aspect of the present description.
[0026] [0026] Figure 19 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present description.
[0027] [0027] Figure 20 is a simplified block diagram of a generator configured to provide adjustment without inductor, among other benefits, in accordance with at least one aspect of the present description.
[0028] [0028] Figure 21 illustrates an example of a generator, which is a form of the generator of Figure 20, according to at least one aspect of the present description.
[0029] [0029] Figure 22 is a block diagram of the interactive surgical system implemented by computer, according to at least one aspect of the present description.
[0030] [0030] Figure 23 is a block diagram that illustrates the functional architecture of the interactive surgical system implemented by computer, according to at least one aspect of the present description.
[0031] [0031] Figure 24 illustrates an example system to implement automated stock control, in accordance with at least one aspect of the present description.
[0032] [0032] Figure 25 illustrates an example of a cloud interface of the institution through which a proposed surgical procedure can be inserted, according to at least one aspect of the present description.
[0033] [0033] Figure 26 illustrates an example of an institution's cloud interface through which a cloud-based system provides knowledge about the availability and / or usability of stock items associated with an inserted surgical procedure based on the restrictions defined by the system , in accordance with at least one aspect of the present description.
[0034] [0034] Figure 27 illustrates a surgical tool that includes modular components, in which the condition of each modular component is evaluated based on the restrictions defined by the system, according to at least one aspect of the present description.
[0035] [0035] Figure 28 is a timeline showing the situational recognition of a central surgical controller, according to an aspect of the present description. DESCRIPTION
[0036] [0036] The applicant for this application holds the following provisional US patent applications, filed on March 28, 2018, each of which is incorporated herein by reference in its entirety: and US Provisional Patent Application serial number 62 /649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; and US Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;
[0037] [0037] 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 INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; power of attorney document END8499USNP / 170766; and US Patent Application Serial No., entitled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES; power of attorney document END8499USNP1 / 170766-1; and US Patent Application serial number, entitled Surgical hub coordination of control and communication of operating room devices; power of attorney document END8499USNP2 / 170766-2; and US Patent Application Serial No., entitled Spatial awareness of surgical hubs in operating rooms; power of attorney document END8499USNP3 / 170766-3; and US Patent Application serial number, entitled Cooperative utilization of data derived from secondary sources by intelligent surgical hubs; power of attorney document END8499USNP4 / 170766-4; and US Patent Application serial number, entitled Surgical hub control arrangements; power of attorney document END8499USNP5 / 170766-5; and US Patent Application Serial No., entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; power of attorney document END8500USNP / 170767; and US Patent Application serial number; titled COMMUNICATION HUB AND STORAGE DEVICE FOR
[0038] [0038] 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 ADAPTIVE CONTROL PROGRAM UPDATES FOR
[0039] [0039] 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:
[0040] [0040] 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.
[0041] [0041] With reference 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 device 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 each other and / or the central controller 106. In some respects, a surgical system 102 may include a number of central controllers
[0042] [0042] 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 a part of surgical system 102. Robotic system 110 includes a surgeon console 118, a patient car 120 (surgical robot), and a robotic central surgical controller
[0043] [0043] Other types of robotic systems can readily be adapted for use with the surgical system 102. Various examples of robotic systems and surgical instruments that are suitable for use with the present description are described in US Provisional Patent Application serial number 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28, 2017, whose description is hereby incorporated by reference in its entirety.
[0044] [0044] Several examples of cloud-based analysis that are performed by cloud 104, and are suitable for use with the present description, are described in US Provisional Patent Application Serial No. 62 / 611.340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, the description of which is incorporated herein by reference, in its entirety.
[0045] [0045] In several aspects, the imaging device 124 includes at least one Image sensor and one or more optical components. Suitable image sensors include, but are not limited to, load-coupled device (CCD) sensors and complementary metal oxide semiconductor (CMOS) sensors.
[0046] [0046] 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.
[0047] [0047] The 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.
[0048] [0048] 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.
[0049] [0049] In several respects, the imaging device 124 is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present description include, but are not limited to, an arthroscope, angioscope, bronchoscope, choledocoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagus-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngoscope neproscope, sigmoidoscope, thoracoscope, and ureteroscope.
[0050] [0050] In one aspect, the imaging device employs multiple spectrum monitoring to discriminate topography and underlying structures. A multispectral image is one that captures image data within wavelength bands across the electromagnetic spectrum. 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 more detail under the heading "Advanced Imaging Acquisition Module" in US Provisional Patent Application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the description 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.
[0051] [0051] 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.
[0052] [0052] 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 108 display system are described under the heading "Advanced Imaging Acquisition Module" in US Provisional Patent Application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the description of which is incorporated herein reference title in its entirety.
[0053] [0053] 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, central controller 106 can cause the display system 108 to show 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 broadcast of the site surgical on primary screen 119. Snapshot on non-sterile screen 107 or 109 may allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
[0054] [0054] In one aspect, the 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.
[0055] [0055] With reference to Figure 2, a 112 surgical instrument is being used in the surgical procedure as part of the surgical system
[0056] [0056] 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.
[0057] [0057] 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.
[0058] [0058] Aspects of the present description feature a central surgical controller for use in a surgical procedure that involves applying energy to the tissue at a surgical site. The central surgical controller includes a central controller compartment and a combination generator module received slidably 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.
[0059] [0059] 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.
[0060] [0060] 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 description present a solution in which a modular compartment of the 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.
[0061] [0061] Aspects of the present description feature 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, in which the the first power generator module is slidably movable in an electrical 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.
[0062] [0062] 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 in which the second power generator module is slidably movable in an electrical coupling with the power and data contacts, and in which the second power generator module is slidably movable outwards electrical coupling with the second power and data contacts.
[0063] [0063] 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 energy generating module and the second energy generating module.
[0064] [0064] With reference to Figures 3 to 7, aspects of the present description 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 modular central controller compartment 136 further facilitates interactive communication between modules 140, 126, 128. As illustrated in Figure 5, generator module 140 can be a generator module with supported monopoly, bipolar and ultrasonic components in a single enclosure unit 139 slidably insertable into the central controller modular compartment 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
[0065] [0065] In one aspect, the modular central controller compartment 136 comprises modular power and a rear communication panel 149 with external and wireless communication heads to allow removable fixing of modules 140, 126, 128 and interactive communication between the themselves.
[0066] [0066] In one aspect, the modular central controller compartment 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 central surgical controller compartment 136, and a combined generator module 145 slidably received at a docking station 151 of the central surgical controller compartment 136. A docking port 152 with power and data contacts on a rear side of the combined generator module 145 it is configured to engage a corresponding docking port 150 with power and data contacts from a corresponding docking station 151 of the central controller modular compartment 136 as the combined generator module 145 is slid into position in the corresponding docking station 151 of the central controller 136 modular compartment. In one aspect, the combined generator module 145 includes a bipolar, ultrasonic and monopolar module and a smoke evacuation module integrated into a single cabinet unit 139, as shown in Figure 5.
[0067] [0067] 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
[0068] [0068] In several 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.
[0069] [0069] In one aspect, the surgical tool includes a drive shaft that has an end actuator at a distal end of the same 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.
[0070] [0070] 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.
[0071] [0071] In one aspect, modules 140, 126, 128 and / or their corresponding docking stations in the central controller modular bay 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 controller modular compartment 136. For example, as shown in Figure 4, the combined generator module 145 includes side brackets 155 that are configured to slide the corresponding brackets 156 of the corresponding docking station 151 in a sliding way 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 modular compartment 136.
[0072] [0072] In some respects, the drawers 151 of the central controller modular compartment 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.
[0073] [0073] 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.
[0074] [0074] As shown in Figure 4, the coupling port 150 of a drawer 151 can be coupled to the coupling port 150 of another drawer 151 via a communication link 157 to facilitate interactive communication between the modules housed in the modular compartment central controller 136. The coupling ports 150 of the central controller modular bay 136 can, alternatively or additionally, facilitate interactive wireless communication between modules housed in the central controller modular bay 136. Any suitable wireless communication can be used, such as Air Titan Bluetooth.
[0075] [0075] Figure 6 illustrates individual power bus connectors for a plurality of side coupling ports of a side modular cabinet 160 configured to receive a plurality of modules from a central surgical controller 206. Side modular cabinet 160 is configured to receive and laterally interconnect modules 161. Modules 161 are slidably inserted into docking stations 162 of side modular cabinet 160, which includes a rear panel for interconnecting modules 161. As shown in Figure 6, modules 161 are arranged - laterally in the side modular cabinet 160. Alternatively, modules 161 can be arranged vertically in a side modular cabinet.
[0076] [0076] Figure 7 illustrates a vertical modular cabinet 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
[0077] [0077] 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 cabinet that can be mounted with a light source module and a camera module. The case can be a disposable case. In at least one example, the disposable case 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.
[0078] [0078] During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a different camera or other light source may be inefficient. Temporarily losing sight of the surgical field can lead to undesirable consequences. The imaging device module of the present description is configured to allow the replacement of a light source module or a "midstream" camera module during a surgical procedure, without the need to remove the imaging device from the surgical field.
[0079] [0079] In one aspect, the imaging device comprises a tubular cabinet that includes a plurality of channels. A first channel is configured to slide the camera module, 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.
[0080] [0080] 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.
[0081] [0081] Various image processors and imaging devices suitable for use with the present description are described in US patent No. 7,995,045 entitled COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, granted on August 9, 2011 which is incorporated herein 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 the imaging module 138. In addition to these, the Publication of the
[0082] [0082] 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. of health 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.
[0083] [0083] The modular devices 1a to 1n located in the operating room can be coupled to the central controller of 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 to 1h to the 204 cloud or the local computer system
[0084] [0084] 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 may include, for example, various 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 other devices modular modules that can be connected to the central communication controller 203 of the surgical data network 201.
[0085] [0085] 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. Any or all of the devices 1a to 1n / 2a to 2m coupled to the central network controller or network key can collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be understood that cloud computing depends on sharing computing resources instead of having local servers or personal devices to handle software applications. The word "cloud" can be used as a metaphor for "the Internet, although the term is not limited as such. Consequently, the term" cloud computing "can be used here to refer to" a type of Internet-based computing ", in which different services - such as servers, storage, and applications - are applied to the modular central communication controller 203 and / or computer system 210 located in the operating room (for example, a fixed, mobile, temporary, or fixed room or space, or field of operation) and devices connected to the central modular communication controller 203 and / or computer system 210 over the Internet. The cloud infrastructure can be maintained by a cloud service provider. In this context, the service provider cloud computing can be the entity that coordinates the use and control of devices 1a to 1n / 2a to 2m located in one or more operating rooms. Cloud computing services can perform a large number of calculations those based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. The central controller hardware allows multiple devices or connections to be connected to a computer that communicates with cloud computing and storage resources.
[0086] [0086] The application of cloud computer data processing techniques in the data collected by devices 1a to 1n / 2a to 2m, the surgical data network provides better surgical results, reduced costs, and better patient satisfaction. At least some of the devices 1a to 1n / 2a to 2m can be used to view tissue status to assess leakage or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices 1a to 1n / 2a to 2m can be used to identify the pathology, such as the effects of disease, with the use of cloud-based computing to examine data including images of body tissue samples for diagnostic purposes. This includes confirmation of the location and margin of the tissue and phenotypes. At least some of the devices 1a to 1n / 2a to 2m can be used to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. The data collected by devices 1a to 1n / 2a to 2m, including the image data, can be transferred to the cloud 204 or the local computer system 210 or both for data processing and manipulation including image processing and manipulation. The data can be analyzed to improve the results of the surgical procedure by determining whether additional treatment, such as application of endoscopic intervention, emerging technologies, targeted radiation, targeted intervention, accurate robotics at specific tissue sites and conditions, can be followed. This data analysis can additionally use analytical processing of the results, and with the use of standardized approaches they can provide beneficial standardized feedback both to confirm surgical treatments and the surgeon's behavior or to suggest changes to surgical treatments and the surgeon's behavior.
[0087] [0087] In an implementation, operating room devices 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 controller network. 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 access control / Internet protocol (MACY / IP) to transfer 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.
[0088] [0088] 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. The network key 209 stores and uses MAC addresses of devices 2a to 2m to transfer data.
[0089] [0089] The central network controller 207 and / or the network key 209 are coupled to the network router 211 for a connection to the cloud
[0090] [0090] 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 and short-range wireless USB communication protocol can be used for communication between devices 1a to 1n and devices 2a to 2m located in the operating room.
[0091] [0091] 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.
[0092] [0092] 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.
[0093] [0093] 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.
[0094] [0094] 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 by computer
[0095] [0095] 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 modular communication central controller 203 can be connected in a layered configuration to expand the number of modules (for example, devices) that can be connected to the modular communication central controller 203 and transfer data associated with the modules computer system 210, cloud computing resources, or both. As shown in Figure 10, each of the central controllers / network switches in the modular communication central controller 203 includes three downstream ports and one upstream port. The central controller / network switch upstream is connected to a processor to provide a communication connection to the cloud computing resources and a local display 217. Communication with the cloud 204 can be done via a wired communication channel or wireless.
[0096] [0096] The central surgical controller 206 employs a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the operating room using non-contact measuring devices of the laser or ultrasonic type. An ultrasound-based non-contact sensor module scans the operating room by transmitting an ultrasound explosion and receiving the echo when it bounces outside the perimeter of the operating room walls, as described under the 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, which is incorporated herein 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 of the operating room, and comparing the phase of the transmitted pulse to the received pulse to determine the size of the operating room and to adjust the Bluetooth pairing distance limits, for example.
[0097] [0097] 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.
[0098] [0098] Processor 244 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex 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 channels of analog input, details of which are available for the product data sheet.
[0099] [0099] 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.
[0100] [0100] 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).
[0101] [0101] 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 storage unit 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.
[0102] [0102] It is to be understood that computer system 210 includes software that acts as an intermediary between users and the basic computer resources described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage,
[0103] [0103] A user enters commands or information into computer system 210 through 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.
[0104] [0104] 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 ring / IEEE 802.5 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).
[0105] [0105] 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 (PSD, or digital signal processor) used for processing digital images. The image processor can employ parallel computing with single multi-data instruction (SIMD) technologies or multiple multi-data instructions
[0106] [0106] 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.
[0107] [0107] Figure 11 illustrates a functional block diagram of an aspect of a USB 300 central network controller device, in accordance with an aspect of the present description. In the illustrated aspect, the USB 300 network central controller device uses a TUSB2036 integrated circuit central controller available from Texas Instruments. The central network controller USB 300 is a CMOS device that provides a 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 (DPO). The three ports of the downstream USB transceiver 304, 306, 308 are differential data ports, where each port includes "more" differential data outputs (DP1-DP3) paired with "less" differential data outputs (DM1-DM3) .
[0108] [0108] 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 network central controller device can be configured in bus powered or self powered mode and includes 312 central power logic to manage power.
[0109] [0109] The USB 300 network central controller device includes a 310 series 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 with a suspend / resume logic circuit and frame timer 316 and a central controller repeat circuit 318 to control communication between the upstream USB transceiver port 302 and the USB transceiver ports downstream 304, 306, 308 through the logic circuits of ports 320, 322, 324. The SIE 310 is coupled to a command decoder 326 through the logic interface to control the commands of a serial EEPROM via an EEPROM interface in 330 series.
[0110] [0110] 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. Surgical instrument hardware
[0111] [0111] Figure 12 illustrates a logic diagram of a module of a 470 control system of a surgical instrument or tool, according to one or more aspects of the present description. The 470 system comprises a control circuit. The control circuit includes a microcontroller 461 comprising a processor 462 and a memory 468. One or more of the sensors 472, 474, 476, for example, provide real-time feedback to processor 462. A motor 482, driven by a driver motor 492, operationally couples a longitudinally movable displacement member to drive the beam knife 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.
[0112] [0112] 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 series random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare6 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.
[0113] [0113] In one aspect, the 461 microcontroller may comprise a safety controller that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name 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.
[0114] [0114] 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
[0115] [0115] 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.
[0116] [0116] 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 set releasably mounted on the handle assembly or tool cabinet 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.
[0117] [0117] 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 unique 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 operation in direct current (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The energy FETs are protected from the shoot-through effect through programmable dead-time resistors. Integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor drives can be readily replaced for use in the tracking system 480 comprising an absolute positioning system.
[0118] [0118] The tracking system 480 comprises a controlled motor drive circuit arrangement comprising a position sensor 472 in accordance with an aspect of the present description. 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 longitudinally movable drive member comprising a rack of drive teeth for engagement with a corresponding drive gear of a gear reduction assembly.
[0119] [0119] The 482 electric motor 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 | or combinations thereof.
[0120] [0120] 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 d1i is the longitudinal linear distance that 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.
[0121] [0121] 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 fed back to the 461 microcontroller which applies logic to determine an exclusive position signal corresponding to the longitudinal linear displacement di + 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.
[0122] [0122] The position sensor 472 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. The technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Halli effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magneto impedance, magnetostrictive / piesoelectric compounds, magnetodiode, transistor magnetic, optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0123] [0123] In one aspect, the position sensor 472 for the tracking system 480 comprising an absolute positioning system comprises a magnetic rotating absolute positioning system. The 472 position sensor can be implemented as an ASSOSSEQFT single integrated rotating magnetic position sensor, available from Austria Microsystems, AG. The position sensor 472 interfaces with the 461 microcontroller to provide an absolute positioning system. The 472 position sensor is a low voltage, low power component and includes four effect elements in an area of the 472 position sensor located above a magnet. A high-resolution ADC and an intelligent power management controller are also provided on the integrated circuit. A CORDIC (digital computer for coordinate rotation) processor, also known as the digit-for-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and lookup table. The angle position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as a serial peripheral interface (SPI), to the 461 microcontroller. The 472 position sensor provides 12 or 14 bits of resolution. The position sensor
[0124] [0124] 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 THICKNESS SENSOR SYSTEM, granted on May 24, 2016, which is incorporated by reference in its entirety into this document; US Patent Application Serial No. 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, published on September 18, 2014, is incorporated by reference in its entirety into this document; and US Patent Application Serial No. 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE
[0125] [0125] 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 reset 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.
[0126] [0126] 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 closing drive system to the anvil. The 476 sensor, such as a load sensor, can measure the firing force applied to a beam with a | on a firing stroke of the surgical instrument or surgical tool. 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. The 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 drained by the 482 motor. The force required to advance the trigger member can correspond to the current drained by the 482 motor, for example. The measured force is converted into a digital signal and supplied to the 462 processor.
[0127] [0127] 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 strain gauge sensor 474 can measure the amplitude or magnitude of the strain 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
[0128] [0128] Measurements of tissue compression, tissue thickness and / or the force required to close the end actuator on the tissue, as measured by sensors 474, 476 respectively, can be used by microcontroller 461 to characterize the 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.
[0129] [0129] The control system 470 of the instrument or surgical tool can also comprise wired or wireless communication circuits for communication with the modular central communication controller shown in Figures 8 to 11.
[0130] [0130] Figure 13 illustrates a control circuit 500 configured to control aspects of the instrument or surgical tool according to an aspect of the present description. The control circuit 500 can be configured to implement various processes described herein. The control circuit 500 may comprise a microcontroller comprising one or more processors 502 (for example, microprocessor, microcontroller) coupled to at least one memory circuit 504. The memory circuit 504 stores instructions executable on 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 description.
[0131] [0131] Figure 14 illustrates a combinational logic circuit 510 configured to control aspects of the surgical instrument or tool according to an aspect of the present description. 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.
[0132] [0132] Figure 15 illustrates a sequential logic circuit 520 configured to control aspects of the instrument or surgical tool according to an aspect of the present description. Sequential logic circuit 520 or combinational logic 522 can be configured to implement the process described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuit 520 may comprise combinational logic 522, at least one memory circuit 524, a clock 529 and, for example. The at least one memory circuit 524 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 520 may be synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data 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.
[0133] [0133] 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.
[0134] [0134] 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 602 motor can cause the clamps 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.
[0135] [0135] 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.
[0136] [0136] 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, for example.
[0137] [0137] 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 or the beam element with profile in | proceed distally, as described in more detail later in this document.
[0138] [0138] In certain cases, the surgical instrument or tool may include a common control module 610 that can be used with a plurality of the instrument's instruments or surgical tool. In certain cases, the common control module 610 can accommodate one of the plurality of motors at a time. For example, the common control module 610 can be coupled to and separable from the plurality of motors of the robotic surgical instrument individually. In certain cases, a plurality of 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.
[0139] [0139] In at least one example, the common control module 610 can be selectively switched between the operating coupling with the 606a, 606b articulation motors, and the operating coupling with the 602 firing motor or the 603 closing motor. at least one example, as shown in Figure 16, a key 614 can be moved or transitioned between a plurality of positions and / or states. In the first position 616, the switch 614 can electrically couple the common control module 610 to the trip motor 602; in a second position 617, the switch 614 can electrically couple the control module 610 to the closing motor 603; in a third position 618a, the switch 614 can electrically couple the common control module 610 to the first articulation motor 606a; and in a fourth position 618b, the switch 614 can electrically couple the common control module 610 to the second articulation motor 606b, for example. In certain cases, separate common control modules 610 can be electrically coupled to the firing motor 602, closing motor 603, and hinge motors 606a, 606b at the same time. In certain cases, key 614 can be a mechanical key, an electromechanical key, a solid state key, or any suitable switching mechanism.
[0140] [0140] 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.
[0141] [0141] In several cases, as illustrated in Figure 16, the common control module 610 may comprise a motor starter 626 that may comprise one or more H-Bridge FETs. The motor driver 626 can modulate the energy transmitted from a power source 628 to a motor coupled to the common control module 610, based on an input from a microcontroller 620 (the "controller"), for example. In certain cases, 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.
[0142] [0142] 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.
[0143] [0143] 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.
[0144] [0144] 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.
[0145] [0145] In one example, the 622 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 620 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, an early seek buffer for optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWareG software, 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, one or more 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 description should not be limited in this context.
[0146] [0146] 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.
[0147] [0147] In certain cases, one or more mechanisms and / or sensors, such as 630 sensors, can be used to alert the 622 processor to 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.
[0148] [0148] 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 description. The robotic surgical instrument 700 can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of a closing tube, the rotation of the drive shaft, and articulation, either with a single type or multiple articulation drive links. In one aspect, the surgical instrument 700 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 700 comprises a control circuit 710 configured to control motor-driven firing members, closing members, driving shaft members and / or one or more hinge members.
[0149] [0149] 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.
[0150] [0150] 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 the 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.
[0151] [0151] 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.
[0152] [0152] 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.
[0153] [0153] 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 a 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 instrument response 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.
[0154] [0154] 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 source, a battery, a supercapacitor , or any other suitable energy source.
[0155] [0155] In one aspect, the control circuit 710 is configured to drive a firing member as the portion of the beam with profile in | 714 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708a, which provides a drive signal for motor 704a. The output shaft of the motor 704a is coupled to a torque sensor 744a. The torque sensor 744a is coupled to a transmission 706a which is coupled to the beam with profile in | 714. The 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 the position of the firing member 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 firing 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.
[0156] [0156] 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 motor 704b is coupled to a torque sensor 744b. 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 744b torque sensor provides a closing force feedback signal to the control circuit
[0157] [0157] 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 drive shaft 740. The transmission 706c comprises moving mechanical elements, such as rotary elements, to control the rotation of the drive shaft 740 clockwise or counterclockwise. up and over 360º. In one aspect, the 704c engine is coupled to the rotary drive assembly, which includes a pipe gear segment that is formed over (or attached to) the proximal end of the proximal closing tube for operable engagement by a rotational gear assembly that is supported operationally on the tool mounting plate. The torque sensor 744c provides a rotation force feedback signal to control circuit 710. The rotation force feedback signal represents the rotation force applied to the drive shaft
[0158] [0158] In one aspect, control circuit 710 is configured to pivot end actuator 702. Control circuit 710 provides a motor setpoint for 708d motor control,
[0159] [0159] In another aspect, the articulation function of the robotic surgical system 700 may 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.
[0160] [0160] 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.
[0161] [0161] In one aspect, the position sensor 734 can be implemented as an absolute positioning system. In one aspect, the 734 position sensor may 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.
[0162] [0162] In one aspect, control circuit 710 can be in communication with one or more sensors 738. Sensors 738 can be positioned on 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.
[0163] [0163] In one aspect, the one or more sensors 738 may comprise an effort meter such as, for example, a microstrain meter, configured to measure the magnitude of the stress on the anvil 716 during a stuck 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.
[0164] [0164] 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.
[0165] [0165] 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.
[0166] [0166] 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 (LOR) 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 No. 15 / 636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed June 29, 2017, which is hereby incorporated by reference in its entirety.
[0167] [0167] Figure 18 illustrates a block diagram of a surgical instrument 750 programmed to control the distal translation of a displacement member according to an aspect of the present description. In one aspect, the 750 surgical instrument is programmed to control the distal translation of a displacement member, such as the beam with a | 764. The surgical instrument 750 comprises an end actuator 752 which may comprise an anvil 766, a beam with a profile in | 764 (including a sharp cutting edge) and a removable staple cartridge 768.
[0168] [0168] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with a profile in 1764, can be measured by an absolute positioning system, a sensor arrangement and a position sensor 784. How the beam with profile in | 764 is coupled to a longitudinally movable drive member, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member that employs the position sensor 784. Consequently, in the description below, 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. 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, as described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to the control circuit 760 to correlate the position of the beam with | 764, as determined by the position sensor 784, with the timer / counter output 781 so that the control circuit 760 can determine the position of the beam with profile in | 764 at a specific time (t) in relation to a starting position. The 781 timer / counter can be configured to measure elapsed time, count external events, or measure timeless events.
[0169] [0169] Control circuit 760 can generate a 772 motor setpoint signal. The 772 motor setpoint signal can be supplied to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the 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.
[0170] [0170] The 754 motor can receive power from a power source
[0171] [0171] 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.
[0172] [0172] 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.
[0173] [0173] The sensors 788 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 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.
[0174] [0174] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with a profile in | 764 corresponds to the current drained by the motor
[0175] [0175] Control circuit 760 can be configured to simulate the actual system response of the instrument in the controller software.
[0176] [0176] 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 a knife and / or joint system. 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.
[0177] [0177] Several exemplifying aspects are addressed 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 axis of the end actuator 752. The end actuator
[0178] [0178] 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.
[0179] [0179] In some examples, control circuit 760 may initially operate motor 754 in an open circuit configuration by 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.
[0180] [0180] Figure 19 is a schematic diagram of a 790 surgical instrument configured to control various functions in accordance with an aspect of the present description. In one aspect, the 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).
[0181] [0181] In one aspect, the 788 sensors can be implemented as a limit switch, electromechanical device, solid state switches, Hall effect devices, MRI devices, GMR devices, magnetometers, among others. In other implementations, 638 sensors can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar, and the like). In other implementations, 788 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors, and more.
[0182] [0182] In one aspect, the position sensor 784 can be implemented as an absolute positioning system, which comprises 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 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.
[0183] [0183] 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 No. 15 / 628,175, entitled TECHNIQUES FOR
[0184] [0184] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with profile in | 764, can be measured by an absolute positioning system, a position sensor and position sensor represented as the position sensor 784. As the beam with profile in | 764 is coupled to the longitudinally movable drive member, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member that employs the position sensor 784. Consequently, in the description below, 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 the present invention. 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, as described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to the control circuit 760 to correlate the position of the beam with | 764, as determined by the position sensor 784, with the timer / counter output 781 so that the 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.
[0185] [0185] Control circuit 760 can generate a 772 motor setpoint signal. The 772 motor setpoint signal can be supplied to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the 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.
[0186] [0186] The 754 motor can receive power from a power source
[0187] [0187] 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.
[0188] [0188] 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.
[0189] [0189] 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
[0190] [0190] 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
[0191] [0191] 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.
[0192] [0192] Additional details are disclosed in US Patent Application Serial No. 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
[0193] [0193] 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 No. 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 provide trigger signals to different surgical instruments, such as an ultrasonic surgical instrument , an RF electrosurgical instrument and a multifunctional surgical instrument that includes RF and ultrasonic energy modes that can be delivered alone or simultaneously. In particular, the trigger signal outputs 810a and 810c can provide an ultrasonic trigger signal (for example, a 420 V mean square value (RMS) trigger signal) to an ultrasonic surgical instrument, and the ultrasonic signal outputs drive 810b and 810c can provide an RF electrosurgical drive signal (for example, a 100 V RMS drive signal) to an RF electrosurgical instrument, where the drive signal output 810b corresponds to the central bypass of the transformer power 806.
[0194] [0194] 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 the 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 supplied 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.
[0195] [0195] The non-isolated stage 804 may comprise a power amplifier 812 having 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 signal analog 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 array FPGA) , a programmable logic device (PLD, from "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 circuit 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 PSD discussed below), can implement various PSD-based control algorithms and / or other control algorithms to control control parameters of trigger signals provided by generator 800.
[0196] [0196] Power can be supplied to a power rail of the power amplifier 812 by a key mode regulator 820, for example, a power converter. In certain ways, the key mode regulator 820 may comprise an adjustable antagon (buck) regulator, for example. The non-isolated stage 804 may further comprise a first processor 822 which, in one form, may comprise a PSD processor as an analog device ADSP-21469 SHARC DSP, available from Analog Devices, Norwood, MA, USA, for example , although in various forms, any suitable processor can be employed. In certain ways, the PSD processor 822 can control the operation of the key mode regulator 820 responsive to voltage feedback data received from the power amplifier 812 by the PSD processor 822 via an ADC 824 circuit. For example, the PSD 822 processor can receive the waveform envelope of a signal (for example, an RF signal) as input via the ADC 824 circuit, being amplified by the power amplifier 812. The PSD 822 processor can then control the key mode regulator 820 (for example, via a PWM output) so that the rail voltage supplied to the power amplifier 812 follows the waveform envelope of the amplified signal. By dynamically modulating the rail voltage of the power amplifier 812 based on the waveform envelope, the efficiency of the power amplifier 812 can be significantly improved over amplifier schemes with fixed rail voltage.
[0197] [0197] In certain forms, logic device 816, in conjunction with PSD 822 processor, can implement a digital synthesis circuit as a control scheme with direct digital synthesizer to control the waveform, frequency and / or 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) ") dynamically updated, such as a RAM LUT, which can be embedded in an FPGA.
[0198] [0198] 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 the generator 800. In certain ways, the ADC 826 and 828 circuits can be configured for sampling at high speeds (for example, 80 mega samples per second (MSPS)) to enable over-sampling of the trigger signals. In one way, for example, the sampling speed of the ADC 826 and 828 circuits can enable an oversampling of approximately 200x (depending on the frequency) of the drive signals. In certain ways, the sampling operations of the ADC 826 and 828 circuit can be performed by a single ADC circuit receiving voltage and current input signals through a bidirectional multiplexer. The use of high-speed sampling in the forms of the generator 800 can allow, among other things, the calculation of the complex current flowing through the branch of motion (which can be used in certain forms to implement waveform-based shape control in DDS described above), the accurate digital filtering of the sampled signals and the calculation of the actual energy consumption with a high degree of precision. The feedback data about voltage and current emitted by the ADC 826 and 828 circuits can be received and processed (for example first-in, first-out buffer (FIFO), multiplexer) by the logic device 816 and stored in data memory for subsequent recovery, for example, by the PSD 822 processor. As noted above, voltage and current feedback data can be used as an input to an algorithm for pre-distortion or modification of waveform samples in the LUT, dynamically and keeps going. In certain ways, this may require that each stored voltage and current feedback data pair be indexed based on, or otherwise associated with, a corresponding LUT sample that was provided by logic device 816 when the data pair of feedback on voltage and current was captured. The synchronization of the LUT samples with the feedback data about voltage and current in this way contributes to the correct timing and stability of the pre-distortion algorithm.
[0199] [0199] In certain forms, voltage and current feedback data can be used to control the frequency and / or amplitude (for example current amplitude) of the drive 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 (for example 0º), thus minimizing or reducing the effects of harmonic distortion and accentuating , correspondingly, the accuracy of the impedance phase measurement. The determination of the phase impedance and a frequency control signal can be implemented in the PSD 822 processor, for example, with the frequency control signal being supplied as input to a DDS control algorithm implemented by the programmable logic device 816.
[0200] [0200] 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
[0201] [0201] The non-isolated stage 804 can additionally comprise a second processor 836 to provide, among other things, the functionality of the user interface (UI - user interface). In one form, the UI 836 processor can comprise an Atmel AT91SAM9263 processor with an ARM 926EJ-S core, available from Atmel Corporation, of San Jose, California, USA, for example. Examples of UIL functionality supported by the UI 836 processor may include audible and visual feedback from the user, communication with peripheral devices (for example, via a USB interface), communication with a foot switch, communication with an input device ( eg a touch screen) and communication with an output device (eg a speaker). The UI processor 836 can communicate with the PSD processor 822 and the logical device 816 (for example, via SPI buses). Although the UI 836 processor can primarily support UI functionality, it can also coordinate with the PSD 822 processor to implement risk mitigation in certain ways. For example, the UI 836 processor can be programmed to monitor various aspects of user input and / or other inputs (eg touch screen inputs, foot switch inputs, temperature sensor inputs) and can disable the generator output 800 when an error condition is detected.
[0202] [0202] In certain ways, both the PSD 822 processor and the UI 836 processor can, for example, determine and monitor the operational state of generator 800. For the PSD 822 processor, the operational state of generator 800 can determine, for example, which control and / or diagnostic processes are implemented by the PSD 822 processor. For the UI 836 processor, the operational state of generator 800 can determine, for example, which elements of a UI (e.g. display screens, sounds) are presented to a user. The respective PSD and UI processors, 822 and 836, can independently maintain the current operational state of the generator 800, as well as recognize and evaluate possible transitions out of the current operational state. The PSD 822 processor can act as the master in this relationship, and can determine when transitions between operational states should occur. The UI 836 processor can be aware of valid transitions between operational states, and can confirm that a particular transition is adequate. For example, when the PSD 822 processor instructs the UI 836 processor to transition to a specific state, the UI 836 processor can verify that the requested transition is valid. If a requested transition between states is determined to be invalid by the UI 836 processor, the Ul 836 processor can cause generator 800 to enter a fault mode.
[0203] [0203] The non-isolated platform 804 may also contain an 838 controller 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 ways, controller 838 may comprise at least one processor and / or other controller device in communication with the UI processor
[0204] [0204] In certain forms, 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 activation of the "on / off" input device to the UI 836 processor which, in turn, implements the process sequence necessary to transition the 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.
[0205] [0205] 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.
[0206] [0206] 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 components 804, such as logic device 816, PSD processor 822 and / or UI processor 836. Instrument interface circuit 840 can exchange information with non-stage components isolated 804 by means of a communication link that maintains an adequate degree of electrical isolation between the isolated and non-isolated stages 802 and 804 such as, for example, an IR-based communication link. 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.
[0207] [0207] In one form, the instrument interface circuit 840 may comprise a logic circuit 842 (for example logic circuit, programmable logic circuit, PGA, FPGA, PLD) in communication with a signal conditioning circuit 844. The control circuit Signal conditioning 844 can be configured to receive a periodic signal from logic circuit 842 (for example a 2 kHz square wave) to generate a bipolar interrogation signal with 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 conductor pair on a cable connecting the generator 800 to the surgical instrument) and monitored to determine a state or configuration of the control circuit. control. The control circuit may comprise several 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 one or more characteristics. In one form, for example, signal conditioning circuit 844 may comprise an ADC circuit for generating samples of a voltage signal appearing between control circuit inputs, resulting from the interrogation signal passing through them. 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.
[0208] [0208] 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 ways, for example, a first data circuit may be arranged on a wire 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 generator 800. The first The data circuit can be deployed in any suitable manner and can communicate with the generator in accordance with any suitable protocol, including, for example, as described here with respect 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 comprise a suitable circuitry (for example, separate logic devices, a processor) to enable communication between logic circuit 842 and the first circuit of data. In other forms, the first data circuit interface 846 can be integral with logic circuit 842.
[0209] [0209] 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 instrument interface circuit 840 (for example, logic circuit 842), transferred to a non-isolated stage component 804 (for example, to logic device 816, PSD 822 processor and / or UI processor 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 communicated to the first data circuit for storage in the same through the first data interface. 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.
[0210] [0210] 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, designing a surgical instrument to remain compatible with previous versions with generators lacking the indispensable data reading functionality may be impractical, for example, due 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.
[0211] [0211] Additionally, the shapes of the generator 800 can allow communication with instrument-based data circuits. For example, generator 800 can be configured to communicate with a second data circuit contained in an instrument (for example, the multifunctional surgical instrument). In some ways, the second data circuit can be implemented in a manner similar to that of the first data circuit described here. The instrument interface circuit 840 may comprise a second data circuit interface 848 to enable such communication. In one form, the second data circuit interface 848 can comprise a three-state digital interface, although other interfaces can also be used. In certain ways, the second data circuit can generally be any circuit for transmitting and / or receiving data. In one form, for example, the second data circuit can store information related to the specific surgical instrument with which it is associated. This information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument was used, and / or any other types of information.
[0212] [0212] In some ways, the second data circuit can store information about the electrical and / or ultrasonic 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 communicated to the second data circuit for storage in it 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 forms, 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.
[0213] [0213] 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 form, for example, information can be communicated to and from the second data circuit using a wire bus communication scheme implemented in existing wiring, as one of the conductors used that transmit 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 compatibility with previous versions of the surgical instrument.
[0214] [0214] 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. Changes based on the scattering 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 providing a benefit over single capacitor designs with a single point of failure.
[0215] [0215] In certain embodiments, the non-isolated stage 804 may comprise a power supply 854 to provide 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 connection with 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 converters to function or wake up DC / DC voltage switch 856.
[0216] [0216] 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.
[0217] [0217] 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 description. 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. It will also be acknowledged that up to "n" return paths, RETURN can be provided without departing from the scope of this description.
[0218] [0218] A second voltage detection circuit 912 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 can also
[0219] [0219] 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 shown in Figure 21 shows that a single RETURN return path can be provided for two or more energy modes, in other respects, multiple RETORNOnN return paths can be provided for each ENERGY energy mode. Thus, as described here, the ultrasonic transducer impedance 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.
[0220] [0220] As shown in Figure 21, 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 ENERGY2 and the 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.
[0221] [0221] Additional details are revealed in US Patent Application Publication No. 2017/0086914 entitled TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING
[0222] [0222] 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.
[0223] [0223] 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".
[0224] [0224] 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.
[0225] [0225] 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.
[0226] [0226] 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.
[0227] [0227] 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 StellarisWare & O 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 channels of analog input, details of which are available for the product data sheet.
[0228] [0228] In one aspect, the processor may comprise a safety controller that comprises two controller-based families, such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0229] [0229] Modular devices include 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.
[0230] [0230] Figure 22 is a block diagram of the interactive surgical system implemented by computer, according to at least one aspect of the present description. In one aspect, the computer-implemented interactive surgical system is configured to monitor and analyze data related to the operation of various surgical systems that include central surgical controllers, surgical instruments, robotic devices, and operating rooms or healthcare facilities.
[0231] [0231] In addition, surgical instruments 7012 may comprise transceivers for transmitting data to and from their corresponding central surgical controllers 7006 (which may also comprise transceivers). Combinations of surgical instruments 7012 and corresponding central controllers 7006 can indicate specific locations, such as operating rooms in healthcare facilities (for example, hospitals), to provide medical operations. For example, the memory of a central surgical controller 7006 can store location data. As shown in Figure 22, cloud 7004 comprises central servers 7013 (can be the same or similar to remote server 7013), application servers for central controllers 7002, data analysis modules 7034, and an input / output interface ("I / O ") 7006. Central servers 7013 of the cloud 7004 collectively administer the cloud computing system, which includes monitoring orders by client 7006 central surgical controllers and managing the processing capacity of the 7004 cloud to execute orders. The central servers 7013 each comprise one or more processors 7008 coupled with suitable memory devices 7010 which may include volatile memory as random access memory (RAM) and non-volatile memory as magnetic storage devices. The 7010 memory devices can comprise machine executable instructions that, when executed, cause the 7008 processors to run the 7034 data analysis modules for analysis, operations, recommendations and other cloud-based data operations described below. In addition, processors 7008 can run data analysis modules 7034 independently or in conjunction with central controller applications independently run by central controllers 7006. Central servers 7013 also comprise aggregated medical databases 2212, which can reside in memory 2210 .
[0232] [0232] Based on connections with multiple central surgical controllers 7006 over the network 7001, the cloud 7004 can aggregate the specific data data generated by various surgical instruments 7012 and their corresponding central controllers 7006. Such aggregate data can be stored within aggregate medical databases 7012 of cloud 7004. In particular, cloud 7004 can advantageously perform data analysis and operations on aggregated data to produce information and / or perform individual functions that central controllers 7006 individuals could not achieve on their own. For this purpose, as shown in Figure 22, cloud 7004 and central surgical controllers 7006 are communicably coupled to transmit and receive information. The 1 / O 7006 interface is connected to the plurality of central surgical controllers 7006 over the network 7001. In this way, the I / O interface 7006 can be configured to transfer information between the central surgical controllers 7006 and the data databases aggregate doctors 7012. Consequently, the 7006 1 / O interface can facilitate read / write operations of the cloud-based data analysis system. Such read / write operations can be performed in response to requests from the central controllers 7006. These requests can be transmitted to the central controllers 7006 through the applications of the central controllers. The 7006 1I / O interface may include one or more high-speed data ports, which may include universal serial bus (USB) ports, IEEE 1394 ports, as well as 1 / O interfaces via WiFi and Bluetooth to connect to the cloud 7004 to 7006 central controllers. The 7004 cloud 7004 central controller application servers are configured to host and provide shared capabilities for software applications (for example, central controller applications) run by 7006 central surgical controllers. For example, servers of applications for central controllers 7002 can manage requests made by applications to central controllers through central controllers 7006, control access to aggregated medical databases 7012, and perform load balancing. The 7034 data analysis modules are described in more detail with reference to Figure 23.
[0233] [0233] The configuration of the specific cloud computing system described in this description is designed specifically to address various issues raised in the context of medical operations and procedures performed using medical devices, such as surgical instruments 7012, 112. In particular, surgical instruments 7012 can be digital surgical devices configured to interact with the 7004 cloud to implement techniques to improve the performance of surgical operations. Various surgical instruments 7012 and / or central surgical controllers 7006 can comprise touch-controlled user interfaces, so that doctors can control aspects of interaction between surgical instruments 7012 and the cloud 7004. Other user interfaces suitable for control such as audibly controlled users can also be used.
[0234] [0234] Figure 23 is a block diagram that illustrates the functional architecture of the interactive surgical system implemented by computer, according to at least one aspect of the present description. The cloud-based data analysis system includes a plurality of 7034 data analysis modules that can be run by the 7008 cloud 7004 processors to provide data analysis solutions for problems that arise specifically in the medical field. As shown in Figure 23, the functions of the 7034 cloud-based data analysis modules can be aided by central controller applications 7014 hosted by application servers for central controllers 7002 that can be accessed on central surgical controllers 7006. Processors from 7008 cloud computing and 7014 central controller applications can operate together to run 7034 data analysis modules. 7016 application programming interfaces (APIs) define the set of protocols and routines that correspond to 7014 central controller applications. In addition, APIs 7016 manage the storage and retrieval of data to and from aggregated medical databases 7012 for the operations of 7014 applications. 7018 caches also store data (for example, temporarily) and are coupled to APIs 7016 for more efficient recovery of data used by applications
[0235] [0235] For example, the 7022 data collection and aggregation module could be used to generate self-describing data (for example, metadata), including the identification of notable features or configuration (for example, trends), the management of data sets redundant data storage in paired data sets that can be grouped by surgery, but not necessarily switched to surgical dates and to actual surgeons. In particular, paired data sets generated from operations of the 7012 surgical instruments may comprise application of a binary classification, for example, a bleeding or non-bleeding event. More generally, the binary classification can be characterized either as a desirable event (for example, a successful surgical procedure) or as an undesirable event (for example, a surgical instrument used improperly or poorly triggered 7012). Aggregated self-describing data can correspond to individual data received from various groups or subgroups of central surgical controllers
[0236] [0236] The resource optimization module 7020 can be configured to analyze this aggregated data to determine an optimal use of resources for a specific health facility or group of healthcare facilities. For example, the 7020 resource optimization module can determine an ideal ordering point for 7012 surgical stapling instruments for a group of healthcare facilities based on the corresponding expected demand for such 7012 instruments. The 7020 resource optimization module it could also assess resource use or other operational configurations of various health care facilities to determine whether resource use could be improved. Similarly, the 7030 recommendation module can be configured to analyze aggregated organized data from the 7022 data collection and aggregation module to provide recommendations. For example, the 7030 recommendation module could recommend to healthcare facilities (for example, medical providers such as hospitals) that a specific 7012 surgical instrument should be upgraded to an improved version based on an error rate of more than expected, for example. In addition, the 7030 recommendation module and / or the 7020 resource optimization module could recommend better supply chain parameters such as product repurchase points and provide suggestions for different 7012 surgical instruments, their uses, or procedural steps to improve surgical results. Healthcare facilities can receive such recommendations through corresponding 7006 central surgical controllers. More specific recommendations related to the parameters or configurations of various 7012 surgical instruments can also be provided. Central controllers 7006 and / or surgical instruments 7012 may also have display screens that display data or recommendations provided by the 7004 cloud.
[0237] [0237] The 7028 patient outcome analysis module can analyze surgical results associated with currently used operating parameters of the 7012 surgical instruments. The 7028 patient outcome analysis module can also analyze and evaluate other potential operating parameters. In this context, the 7030 recommendations module could recommend the use of these other potential operating parameters based on producing better surgical results, such as better sealing or less bleeding.
[0238] [0238] The cloud-based data analysis system can include safety features implemented by the 7004 cloud. These safety features can be managed by the authorization and safety module 7024. Each central surgical controller 7006 can have unique credentials associated with it as username, password, and other appropriate security credentials. These credentials can be stored in memory 7010 and be associated with a permitted level of cloud access. For example, based on the provision of exact credentials, a central surgical controller 7006 can be granted access to communicate with the cloud to a predetermined degree (for example, it can only participate in the transmission or receipt of certain defined types of information) . For this purpose, the aggregated medical data databases 7012 from the cloud 7004 may comprise a database of authorized credentials to verify the accuracy of the credentials provided. Different credentials can be associated with different levels of permission to interact with the 7004 cloud, such as a predetermined access level to receive data analysis generated by the 7004 cloud. In addition, for security purposes, the cloud could maintain a database of central controllers 7006, instruments 7012 and other devices that may comprise a "black list" of prohibited devices. In particular, blacklisted central surgical controllers 7006 may not be allowed to interact with the cloud, while blacklisted 7012 surgical instruments may not have functional access to a corresponding central controller 7006 and / or may be prevented from fully functioning when paired with its corresponding central controller 7006. In addition or alternatively, the cloud 7004 can identify 7012 instruments based on incompatibility or other specified criteria. In this way, counterfeit medical devices and inappropriate reuse of such devices throughout the cloud-based data analysis system can be identified and addressed.
[0239] [0239] The 7012 surgical instruments can use wireless transceivers to transmit wireless signals that can represent, for example, credentials for authorizing access to the corresponding central controllers 7006 and the 7004 cloud. Wired transceivers can also be used to transmit signals. Such authorization credentials can be stored in the respective memory devices of the 7012 surgical instruments. The 7024 authorization and security module can determine whether the authorization credentials are accurate or falsified. The 7024 authorization and security module can also dynamically generate authorization credentials for increased security. Credentials could also be encrypted, such as using hash-based encryption. After transmitting the appropriate authorization, the surgical instruments 7012 can transmit a signal to the corresponding central controllers 7006 and finally to the cloud 7004, to indicate that the instruments 7012 are ready to obtain and transmit medical data. In response, the 7004 cloud can transition to a state enabled to receive medical data for storage in the aggregated medical data databases 7012. This data transmission availability could be indicated by a light indicator on the 7012 instruments, for example. The 7004 cloud can also transmit signals to the 7012 surgical instruments to update its associated control programs. The 7004 cloud can transmit signals that are directed to a specific class of 7012 surgical instruments
[0240] [0240] The cloud-based data analysis system can allow monitoring of multiple healthcare facilities (for example, medical posts such as hospitals) to determine improved practices and recommend changes (through the 2030 recommendations module, for example) properly. In this way, cloud 7004 processors 7008 can analyze the data associated with a healthcare facility to identify the facility and aggregate the data to other data associated with other healthcare facilities in a group. Groups could be defined based on similar operating practices or geographic location, for example. In this way, the 7004 cloud can provide analysis and recommendations regarding a health service facility that covers an entire group. The cloud-based data analysis system could also be used to improve situational recognition. For example, 7008 processors can predictively demonstrate the effects of recommendations on cost and effectiveness for a specific installation (in relation to operations and / or various general medical procedures). The cost and effectiveness associated with that specific facility can also be compared to a corresponding local region of other facilities or any other comparable facility.
[0241] [0241] The 7032 data classification and prioritization module can prioritize and classify data based on severity (for example, the severity of a medical event associated with the data, unpredictability, suspicion). This classification and prioritization can be used in conjunction with the functions of the other 7034 data analysis modules described above to improve the cloud-based data analysis and operations described here. For example, the 7032 data classification and prioritization module can assign a priority to data analysis performed by the 7022 data collection and aggregation module and 7028 patient outcome analysis modules. Different levels of prioritization can result in specific responses to from cloud 7004 (corresponding to a level of urgency) as progression to rapid response, special processing, deletion of the aggregated medical database 7012, or other appropriate responses. In addition, if necessary, the 7004 cloud can transmit a request (for example, a "push" message) through the application servers to central controllers requesting additional instrument data - corresponding 7012 surgical instruments. The automatic message may result in a notification displayed on the corresponding 7006 central controllers to request supporting or additional data. This automatic message may be necessary in situations where the cloud detects a significant irregularity or results outside the limits and the cloud cannot determine the cause of the irregularity. Central 7013 servers can be programmed to activate this automatic message in certain significant circumstances, such as when the data is determined to differ from an expected value beyond a predetermined threshold, or when it appears that security has been understood, for example.
[0242] [0242] Additional exemplary details for the various functions described are provided in the following descriptions. Each of the various descriptions can use the cloud architecture as described in Figures 22 and 23 as an example of implementing hardware and software. Cloud interface for customer service institutions
[0243] [0243] All customer service institutions require some level of control in a treatment setting. For example, an institution may wish to control the stock that is present in a surgical center. Stock items within a surgical center may include not only medical devices to be used during surgery (for example, scalpels, claws, surgical tools, etc.) but also medical supplies to be used during surgery in conjunction with such devices doctors (for example, gauze, sutures, staples, etc.). To date, inventory control for many institutions includes simple manual counting of inventory items periodically (for example, daily, weekly, monthly, etc.). Similarly, other institutions use a barcode scanner to count and / or document inventory items periodically.
[0244] [0244] Aspects of this description are presented for a cloud interface accessible by participating customer service institutions through a cloud-based analysis system. In order to monitor and / or control inventory items to be used or being used by an institution, each institution adopts its own practices for documenting the use of inventory items. For example, an institution may count and / or scan inventory items periodically. Additional exemplary details are revealed in US Patent Application Publication 2016/0249917 entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN
[0245] [0245] To help institutions control inventory items, it would be desirable for them to have access, through a cloud interface, to a cloud-based analysis system configured to automate inventory control by automatically receiving associated data to institutions' inventory items, derive information based on the data received, and transmit, through the cloud interface, real-time knowledge back to institutions about inventory items. Referring to Figure 24, according to one aspect of this description, a customer service institution 8000 system can transmit (for example, periodically, in real time, in batches, etc.) stock data to an analysis system cloud-based 8002 and the cloud-based analysis system 8002 can derive / extract information from that inventory data. In this respect, a cloud interface 8004 can be accessed / consulted by the customer service institution's system 8000 and the cloud-based analysis system 8002 can transmit its derived / extracted information to the cloud interface 8004. Additionally, in such an aspect , the cloud interface 8004 can transmit / package / structure the derived / extracted information to the customer service institution 8000 system to reveal knowledge about the customer service institution's inventory. In one aspect, the customer service institution's system can comprise a surgical system 102 (for example, Figure 1), the cloud-based analysis system can comprise the cloud-based system 105 (for example, Figure 1) and the The cloud interface may comprise at least one display system 108/208 (for example, Figures 1 and 2) or a screen 135/177 associated with the central surgical controller 106 (for example, Figures 1 to 3.7, etc.).
[0246] [0246] With reference to Figure 1, in some aspects of the present description, a cloud-based system 105 is communicatively coupled to one or more of an institution's central surgical controller (for example, one or more of a surgical controller central
[0247] [0247] In other aspects of the present description, a cloud-based system 105 is communicatively coupled to one or more of an institution's central surgical controller 106, where each central surgical controller 106 is in communication (for example, from wirelessly) with one or more stock items (for example, 112 smart instrument). The cloud-based system 105 can be configured to create a list of inventory items not authorized to perform surgical procedures due to one or more restrictions defined by the system. In one example, after an desired surgical procedure (s) have been entered by an institution on its cloud interface (for example, Figure 25), the cloud-based system 105 can determine that one or more items Institution's inventory records (for example, detected by and associated with and / or necessary to perform the entry surgical procedure (s) are not authorized to perform the surgical procedure (s) of entry based on system-defined restrictions. In such an example, it can be determined that an identifier (e.g., serial number, unique ID, etc.) associated with an inventory item is not authorized to perform the procedure (s) ( s) inbound surgical (s) (for example, the stock item exceeds its useful life, the stock item is counterfeit, the stock item is defective, etc.). In one example, the institution's cloud interface may display an inventory item in association with its unauthorized state 8114. In this regard, the inter cloud face can additionally display a warning or alert related to the unauthorized status (eg highlight, blackout, etc.). Such a warning or alert may indicate that the entry of the surgical procedure (s) into the cloud interface cannot be performed based on current stock items. In one aspect, an equal or similar warning or alert may be transmitted to the inventory item itself for display in a user interface of the inventory item itself (for example, a D handle user interface). Similar to the above, the cloud interface 8104 can display alternatives available for the unauthorized inventory item (for example, handle B).
[0248] [0248] In still other aspects of the present description, a cloud-based system 105 is communicatively coupled to one or more of an institution's central surgical controller 106, where each central surgical controller 106 is in communication (for example, wirelessly) with one or more stock items (for example, smart instrument 112). The cloud-based system 105 can be configured to create a list of inventory items no longer authorized to perform surgical procedures due to one or more restrictions defined by the system. In an example, after an desired surgical procedure (s) have been entered by an institution on its cloud interface (for example, Figure 25), the cloud-based system can determine that one or more items of institution stockpiles are no longer authorized to perform the entry surgical procedure (s) based on the restrictions defined by the system. In this example it can be determined that an identifier (for example, serial number, unique ID, etc.) associated with a stock item is unusable (for example, expired, no longer sterile, defective, etc.). In one example, the institution's cloud interface may display an inventory item in association with its 8116 unusable state. In this respect, the cloud interface may additionally display a warning or alert related to the unusable state (eg, highlight, blackout , etc.). Such a warning or alert may indicate that the entry of the surgical procedure (s) into the cloud interface cannot be performed based on current stock items. In one aspect, an equal or similar warning or alert may be transmitted to the stock item itself for display in a stock item's user interface itself (for example, an E handle user interface). Similar to the above, the cloud interface can display alternatives available for the unusable stock item (for example, grip B).
[0249] [0249] Thus, the cloud-based system 105 of the present description can provide updated knowledge, in real time and / or almost in real time, in relation to the availability of the stock items pertinent to the entries of the surgical procedure (s) (s) for the cloud interface of participating institutions. This system goes far beyond conventional processes of manual counting and / or digitization of stock items.
[0250] [0250] Figure 27 illustrates an example of a multi-component surgical tool (e.g., a 235 wireless surgical device / instrument) comprising a plurality of modular components 8204, 8206, 8208, 8210, with each modular component associated to an identifier 8214, 8216, 8218, 8220 respectively (for example, a serial number). In particular, the surgical tool 235 of Figure 27 includes a handle 8204, a modular adapter 8206 and an end actuator 8208 (for example, a disposable loading unit and / or a disposable rechargeable loading unit in various aspects), and a staple cartridge 8210. In this example, the handle 8204 is associated with the serial number "SN135b", the modular adapter 8206 is associated with a serial number "SN33b", the end actuator 8208 is associated with a serial number "SN1a "and the staple cartridge 8210 is associated with the serial number SN121b.
[0251] [0251] In several aspects of this description, the memory unit of each modular component can be configured to store more than its identifier. In one aspect of the present description, each modular component (for example, 8204, 8206, 8208, 8210, etc.) can additionally comprise a counter (not shown) configured to track a usage parameter of the modular component and its memory unit can be configured to store this usage parameter. In another aspect, the memory unit of each respective modular component can be additionally configured to store a lifetime metric. Such a service life metric can be stored during the manufacture of the modular component. For example, in view of Figure 27, the 8204 handle memory unit can store both the usage parameter (for example, 235) and the service life metric (for example, 400). In this regard, the 8204 handle has been used 235 times over the useful life of 400 uses. Similarly, in view of Figure 27, the modular adapter has been used 103 times over its 100 use life, and the end actuator has been used 5 times over its 12 use life. Here, similarly to the above, once a communication link with the central surgical controller 106 has been established, the identifier, the usage parameter and / or the service life metric stored in the memory unit of each modular component can be transmitted directly to from each modular component to the central surgical controller 106 or indirectly through another modular component. In addition, similarly to the above, the same or different formats of wireless / wired communication can be used. In one aspect, once the central surgical controller 106 has received all identifiers for all modular components, the central surgical controller 106 can transmit the identifiers to the cloud-based analysis system (for example, comprising the system based on cloud 105).
[0252] [0252] In an alternative aspect of the present description, the memory unit of each modular component may not store its usage parameters and / or life span metrics. In this respect, the usage parameter and / or the service life metric can be stored in a database or other memory (see Figure 10, for example, 248/249) in the central surgical controller 106/206. In such an aspect, the central surgical controller 106 may comprise a counter configured to track a usage parameter for each modular component in the stock. In addition, the central surgical controller 106 can be configured to download life metrics (for example, from a manufacturer's server) based on the identifier (for example, serial number) received from each modular component. In several respects, it may be preferable that storage in the central surgical controller 106 minimize the memory unit requirements in each modular component and / or avoid any concerns regarding the violation and / or alteration of the usage parameters and / or life metrics stored at the level of the modular component (for example, changing a memory unit from a modular component to reset a usage parameter and / or increase a lifetime metric, etc.).
[0253] [0253] In an example, in aspects where the memory unit of each modular component stores its usage parameter and / or lifetime metric, the central surgical controller 106 can also store / track the usage parameter and / or metric of life associated with each modular component in its stock. In such an example, if a usage parameter and / or a lifetime metric transmitted from a modular component differs from a usage parameter and / or a lifetime metric stored / tracked in the central surgical controller 106, the surgical controller central 106 can signal the discrepancy and modify the state of that modular component (for example, for unavailable, for unauthorized persons, for unusable, etc.).
[0254] [0254] In an alternative aspect, the memory unit of each modular component may not store its usage parameters and / or life span metrics. In such an aspect, the usage parameter and / or the service life metric can be stored in a database (for example, aggregated medical data database 7012 in Figure 22) in a cloud-based analysis system. In this respect, the cloud-based analysis system can comprise a counter configured to track a usage parameter for each modular component in the stock in each central surgical controller. In addition, the cloud-based analytics system can be configured to download lifetime metrics (for example, from a manufacturer's server) based on the identifier (for example, a serial number) received from each modular component (for example , through a central surgical controller). Alternatively, the cloud-based analysis system can download a file that comprises all identifiers for all modular components (for example, from a plurality of manufacturers) in which each identifier is associated with a lifetime metric. Here, the cloud-based analytics system can be configured to query a received identifier to determine each respective lifetime metric. In many respects, it may be preferred that storage in the cloud-based analysis system minimizes the memory requirements on each modular component and / or avoids any concerns regarding tampering and / or changing usage parameters and / or life metrics at the level of the modular component and / or at the level of the central surgical controller (for example, changing the memory unit of a modular component to reset a usage parameter and / or increase a lifetime metric, modifying the database / memory the central surgical controller to reset a usage parameter and / or increase the metric of life). This aspect gives the cloud-based analysis system of the present description more control over the use of the modular component in the interactive surgical system.
[0255] [0255] Looking again at Figure 27, the illustrated multi-component surgical tool 235 comprises four modular components (for example, the handle 8204, the modular adapter 8206, the end actuator 8208 and the staple cartridge 8210). These modular devices can comprise reusable and / or reprocessed components. In several respects, each modular component must satisfy the system-defined restrictions for the combined multi-component surgical tool 235 to be available / usable / authorized for use by the cloud-based analysis system. Notably, the restrictions defined by the system include restrictions other than and / or in addition to the metric of useful life discussed above. These system-defined restrictions can be set at the manufacturer, central surgical controller, and / or cloud-based analysis system. One aspect of the present description comprises a user interface on the central surgical controller and / or the cloud-based analysis system to create system-defined constraints.
[0256] [0256] In one aspect, the central surgical controller 106 can be configured to apply restrictions defined by the system (for example, locking at the level of the central surgical controller). In this regard, this may be preferred so that the central surgical controller 106 is a local communication port for accessing the cloud-based analysis system. In another aspect, the cloud-based analysis system (for example, comprising the cloud-based system 105) can be configured to apply system-defined constraints (for example, locking at the level of the cloud-based analysis system). In this respect, it may be preferable to maintain control over all central surgical controllers coupled communicatively to the cloud-based analysis system (for example, in one institution or in multiple institutions). The restrictions defined by the system, similar to the metric of useful life, can be associated with the identifier of each modular component. For example, a system-defined constraint associated with a modular component may include an expiration date, a requirement that an identifier (for example, serial number) be a system-recognizable identifier (for example, not counterfeit), and / or flexible system-defined constraints (for example, constraints considered non-critical until a limit is satisfied and the constraint is considered critical) a) In one aspect of this description, if a system-defined constraint is not satisfied, a modular component (e.g. 8204, 8206, 8208, 8210 etc.) can be considered unavailable / unusable / unauthorized despite being available / usable / authorized based on other restriction (s) defined by the system (for example example, having remaining life). In several respects, one or more predetermined system-defined constraints are non-critical constraints defined by the system. Such non-critical restrictions defined by the system can be canceled (see Figure 27, for example, 8274, manual override) to make the modular component available / usable / authorized and / or can produce in a warning indicator / message (see Figure 27, for example, 8244). Critical system-defined restrictions cannot be lifted.
[0257] [0257] In view of Figure 27, an example of non-critical restriction defined by the system is applied (for example, by the central surgical controller 106 and / or the cloud-based analysis system) to the 8204 handle. Here, although the 8204 handle has 165 remaining uses (the metric for life minus the given usage parameter, for example, 400 - 235) an expiration date associated with its identifier 8214 (for example, SN135b) indicates that the grip control program is out of date. In this regard, an 8200 interface can be displayed to show a current status of the 8204 handle (see Figure 27, for example, "Count 235/400" and / or "Out of date"). More specifically, the 8200 interface can comprise a grid that includes fields defined by columns and rows. In one example, the modular components of a proposed multi-component surgical tool 235 can be displayed (for example, in an exploded, disassembled view) along the columns of the grid in a first row 8201 and a current / updated state associated with each modular component can be displayed through the corresponding columns of the grid in a second row 8202. Thus, according to the example, the status field 8224 of interface 8200 corresponds to the handle 8204 and indicates its current state! like "COUNT: 235/400" and "OUT OF DATE". According to other aspects, the status field 8224 of the interface 8200 can also show the remaining usage, the remaining capacities and / or compatibility with other connected modular components, etc.
[0258] [0258] According to one aspect, the 8200 interface can comprise a cloud-based interface (see Figure 26, for example, 8104) accessible on a central surgical controller cloud access terminal (through at least one of a visualization system 108/208 (for example, Figures 1 and 2) or a screen 135/177 associated with the central surgical controller 106 (for example, Figures 1 to 3, 7, etc.). interface 8200 can comprise only a portion of the grid (for example, state field 8224, modular component field 8234, etc.) accessible on the physical handle 8204 itself through a user interface positioned on the handle 8204. In addition, in the context of a non-critical constraint defined by the system, the 8200 interface can visually indicate a warning associated with a modular component (for example, warning indicator 8244, for example, a box associated with the highlighted and / or circled 8214 identifier and / or comprises a link 8254 (for example, "A") in association with the 8234 modular component field of interface 8200). In one respect, link 8254 (for example, "A") may be the key to a corresponding "Problem description" section of the 8200 interface (for example, "A" "handle serial number indicates OUT OF STOCK control program" ). In another aspect, link 8254 (for example, "A") can be a hyperlink to present the corresponding description (for example, "A" "handle serial number indicates OUT OF DATE control program") on the 8200 interface. According to these aspects, a portion of the descriptive text (for example, "OUT OF DATE"), switched / hyperlinked via link 8254, can be a hyperlink / button 8264. Upon / after selecting the hyperlink / button 8264, an interface bypass 8274 can be displayed on interface 8200. According to another aspect, a portion of the descriptive text (for example, OUT OF DATE) in status field 8224 can be a hyperlink / button 8284 to, after / after selection, display the 8274 bypass interface directly on the 8200 interface. This aspect can be beneficial / more efficient if the 8200 interface is being presented through a user interface (for example, smaller) of a modular component (for example, handle 8204). In addition, in accordance with such aspects, the 8200 interface can be configured to receive data entered by the user to cancel (for example, manually bypass) a non-critical constraint defined by the predetermined system (for example, the expiration date constraint). In the context of a non-critical constraint defined by the system, bypass interface 8274 can instruct "DATA INSERT BY USER REQUIRED" and present a first user interface element (for example, "Y" button) selectable to bypass the constraint system-defined non-critical (for example, to allow the use of the 8204 handle) and a second user interface element (for example, "N" button) selectable to not bypass the system-defined non-critical constraint (for example, to inhibit the use of the 8204 handle). Here, a selection on the bypass interface 8274 can be transmitted to update the central surgical controller 206 and / or the cloud-based system 205.
[0259] [0259] Then, in the view of Figure 27, a flexible constraint defined by the example system is applied (for example, by the central surgical controller 106 and / or the cloud-based analysis system) to the modular adapter 8206. Here, the adapter modular 8206 associated with the 8216 identifier (for example, SN33b) has a usage parameter of 103 (for example, already 3 times over its suggested 100-use lifetime metric). In this example, overuse is considered non-critical until a threshold of 10% excess is satisfied (for example, 110% of the 100 suggested uses, or 110 uses) and the overuse is considered critical. In this regard, an 8200 interface can be displayed to show a current state of the 8206 modular adapter (see in Figure 27, for example, "COUNT: 103/100" "ULTRAPASSA"). More specifically, in accordance with the example described above, status field 8226 corresponds to modular adapter 8206 and indicates its current status as "COUNT: 103/100" and "EXCEED". According to other aspects, the status field 8226 of the interface 8200 can also show the remaining excess, the remaining capacities and / or compatibility with other connected modular components.
[0260] [0260] Again, according to one aspect, the 8200 interface may comprise a cloud-based interface (see Figure 26, for example, 8104) accessible on a cloud access terminal of the central surgical controller (via at least one among a visualization system 108/208 (for example, Figures 1 to 2) or a screen 135/177 associated with the central surgical controller 106 (for example, Figures 1 to 3, 7, etc.). , the 8200 interface can comprise only a portion of the grid (for example, the state field 8226, the field of the modular component 8236, etc.) directly accessible on the physical modular adapter 8206 itself through a user interface positioned on the modular adapter 8206 and / or indirectly on the physical handle 8204 itself via a user interface positioned on the handle 8204. Additionally, in the context of a flexible system-defined constraint, the 8200 interface can visually indicate an associated warning connected to a modular component (for example, warning indicator 8246, for example, description of the current surrounded state and / or comprises a link 8256 (for example, "B") in association with status field 8226 of interface 8200). In one respect, the 8256 link (for example, "B") may be the key to a corresponding "Problem description" section of the 8200 interface (for example, "B" "Modular adapter EXCEEDs suggested lifetime limit") . In another aspect, link 8256 (for example, "B") can be a hyperlink to present the corresponding description (for example, "B" "Modular adapter EXCEEDS the suggested lifetime limit") on the interface
[0261] [0261] Next, in view of Figure 27, a constraint defined by the example system is applied (for example, by the central surgical controller 106 and / or the cloud-based analysis system) to the 8208 end actuator. Here, the actuator endpoint 8208 associated with the identifier (for example, SN1a) 8218 has a usage parameter of 5 (for example, 7 uses under its suggested lifetime metric of 12 remaining uses). Thus, according to this example, the constraint defined by the system is considered satisfied and the 8208 end actuator is made available / usable / authorized. In this regard, an 8200 interface can be displayed to show a current state of the 8208 end actuator (see Figure 27, for example, "COUNT: 5/12"). More specifically, according to the example described above, the status field 8228 corresponds to the modular adapter 8208 and indicates its current status as "COUNT: 5/12". According to other aspects, the status field 8228 of the interface 8200 can also show the remaining usage, the remaining capacities and / or the compatibility with other connected modular components.
[0262] [0262] Again, according to one aspect, the 8200 interface can comprise a cloud-based interface (see Figure 26, for example, 8104) accessible at a central surgical controller cloud access terminal (via at least one among a visualization system 108/208 (for example, Figures 1 to 2) or a screen 135/177 associated with the central surgical controller 106 (for example, Figures 1 to 3, 7, etc.). , interface 8200 can comprise only a portion of the grid (for example, state field 8228, field of modular component 8238, etc.) directly accessible over the physical end actuator
[0263] [0263] Finally, in view of Figure 27, a critical constraint defined by the example system is applied (for example, by the central surgical controller 106 and / or the cloud-based analysis system) to the 8210 staple cartridge. Here, the identifier 8220 (for example, SN121b), associated with the 8210 staple cartridge, is not an identifiable identifier by the system. According to one aspect, this can occur when the central surgical controller 206 and / or the cloud-based analysis system (for example, comprising the cloud-based system 205) is unable to match an identifier (for example, number serial number) received from a modular component with identifiers (eg serial numbers) downloaded from the manufacturer's modular component (s). Thus, continuing the example, the constraint defined by the system is critical, the constraint defined by the system is considered unfulfilled and the 8210 staple cartridge is made unavailable / unusable / unauthorized. - Additionally, as a result, since the critical constraint defined by the system cannot be canceled, any combined multi-component tool comprising the 8210 staple cartridge can similarly be made unavailable / unusable / unauthorized. In this regard, an 8200 interface can be displayed to show a current status of the 8210 staple cartridge (see Figure 27, for example, "LOADED" "FAKE"). More specifically, according to the example described above, status field 8230 corresponds to staple cartridge 8210 and indicates its current state as "LOADED" and "FAKE".
[0264] [0264] Again, according to one aspect, the 8200 interface may comprise a cloud-based interface (see Figure 26, for example, 8104) accessible on a central surgical controller cloud access terminal (via at least one among a visualization system 108/208 (for example, Figures 1 to 2) or a screen 135/177 associated with the central surgical controller 106 (for example, Figures 1 to 3, 7, etc.). , the 8200 interface can comprise only a portion of the grid (for example, the 8230 status field, the 8240 modular component field, etc.) directly accessible on the 8210 staple cartridge itself via a user interface positioned on the staple cartridge 8210 and / or indirectly on the physical handle 8204 itself through a user interface positioned on the handle 8204. In addition, in the context of a critical constraint defined by the system, the interface 8200 can visually indicate a warning associated with au m modular component (for example, warning indicator 8250, for example, a box associated with the identifier 8220 detached and / or surrounded and / or comprises an 8260 link (for example, "C") in association with the field of modular components 8240 interface 8200). In one aspect, link 8260 (for example, "C") can be switched to a corresponding "Description of problem" section of the 8200 interface (for example, "C" "Cartridge serial number indicates FAILED cartridge"). In another aspect, link 8260 (for example, "C") can be a hyperlink to display the corresponding description (for example, "C" "cartridge serial number indicates FAKE cartridge") on interface 8200. According to such aspects, a portion of the descriptive text (for example, "FALSIFIED"), switched / linked by hyperlink through the link
[0265] [0265] Similarly, a list (for example, blacklist devices) of surgical tools (for example, 235 wireless surgical devices / instruments) and / or modular components (for example, grips, modular adapters, end actuators , staple cartridges, etc.) can be declared unavailable / unusable / unauthorized to communicate with and / or access the central surgical controller 206 and / or the cloud-based analysis system (for example, comprising a cloud-based system 205 ). In one aspect of the present description, such blacklisted devices may comprise stock items that are known and / or established to be counterfeit, defective, damaged, in addition to their useful life, expired, non-sterile, etc. In this respect, blacklisted devices can be used as critical system-defined restrictions (for example, if the device is "blacklisted", it cannot communicate with and / or access the central surgical controller and / or the system cloud-based analytics). According to the above, the critical restrictions defined by the system cannot be canceled / diverted. Creating and / or maintaining a "blacklist" of devices at the level of the central surgical controller and / or at the level of the cloud-based analysis system, can improve safety and reliability in the operating room. In one aspect, the database (for example, aggregated medical database 7012 in Figure 22) in the cloud-based analysis system can be updated whenever a counterfeit device is detected through a central surgical controller 206 (for example, example, similar to the staple cartridge in Figure 27). Since a plurality of central surgical controllers associated with a plurality of institutions can communicate with the cloud-based analysis system, such a database, and associated "blacklist", it builds up very quickly. Such a database in the cloud-based analysis system would prevent a blacklisted device from being used on a different central surgical controller (for example, a central surgical controller different from the central surgical controller in which the counterfeit was initially detected) communicatively coupled to the cloud-based analysis system.
[0266] [0266] In another aspect of the present description, blacklisted devices may include surgical tools (for example, surgical devices / cordless instruments 235) and / or modular components (for example, grips, modular adapters, end actuators, staple cartridges, etc.) developed by third parties who wish to take advantage of the benefits provided by the central surgical controller and / or the cloud-based analysis system (for example, various aspects of stock control discussed here). In this aspect of the present description, blacklisted devices can be used as non-critical system-defined restrictions and / or flexible system-defined restrictions (for example, if the device is on the "blacklist", it cannot communicate and / or access the central surgical controller and / or the cloud-based analysis system). However, contrary to the previously revealed aspect, such non-critical restrictions defined by the system and / or flexible restrictions defined by the system can be canceled / diverted.
[0267] [0267] In yet another aspect of the present description, a central surgical controller database (see Figure 10, for example, 248/249) and / or a database (for example, aggregated medical database 7012 in Figure 22) the cloud-based analysis system can register each modular component and / or surgical tool identifier (eg, serial number) in a "used identifier list" when first used in the system. Thus, each time a new modular component and / or a new surgical tool is connected and / or requests communication with the central surgical controller and / or cloud-based analysis system, an identifier for the new modular component and / or the tool surgical is crossed with the "used identifier list". In this respect, if the identifier of the new modular component and / or the new surgical tool corresponds to an identifier already in the "used identifier list", this identifier can be automatically placed on a "black list" (for example, defined critical constraint) by the system). Here, identifiers (for example, serial numbers) must be unique. If an identifier that has already been used is shown on the first use several times, it may show fraud and / or counterfeiting activity.
[0268] [0268] As discussed in this document, several aspects of this description are directed to the application of restrictions defined by the system. For example, as discussed with reference to Figure 27 above, each modular component of a surgical tool can be associated with an identifier and each identifier can be associated with one or more of a parameter (for example, usage parameter, expiration date, flexible parameter, etc.). In another aspect of the present description, a surgical tool can be associated with an identifier in which this identifier is associated with one or more of a parameter. In this respect, either the surgical tool does not comprise modular components or the surgical tool comprises - “modular components associated with the same identifier (for example, serial number, Activation code). Here, the restrictions defined by the system, as discussed in this document, can be applied to such a surgical tool in a similar way.
[0269] [0269] Additionally, as discussed in this document, several aspects of this description refer to the identification of reusable / reprocessed devices (eg, modular components, surgical tools, etc.) and the display of the availability / readiness of each reusable device for a procedure next / proposed surgical procedure and its operational status on a screen other than the reusable device screen (for example, a screen from a central surgical controller cloud access terminal). In one aspect of the present description, the status of each reusable device (for example, the status of each modular component, the status of a surgical tool and / or the overall status of the combined modular components and / or subsets) is consulted and / or determined when the reusable device connects to the system or how the reusable device connects to the system (for example, the central surgical controller and / or cloud-based analysis system). In another aspect of the present description, once / after the reusable device is used, the central surgical controller and / or cloud-based analysis system stamps the usage timestamp and updates the use of each modular component and / or surgical tool in its respective database.
[0270] [0270] In several additional aspects of the present description, a modular component and / or a surgical tool can be marked by the central surgical controller and / or cloud-based analysis system based on predetermined criteria. For example, if a modular component is incompatible with other modular components, its identifier (for example, serial number) is known to be falsified, and / or is subject to a recall, a database of the central surgical controller and / or The cloud-based analysis system can be updated to not allow the use of the modular component and / or surgical tool in the system (for example, creation of critical restrictions defined by the system). Such system-defined restrictions created can be applied as discussed in this document.
[0271] [0271] In still further aspects of the present description, a modular component and / or a surgical tool can be marked by the central surgical controller and / or cloud-based analysis system based on a previous use. For example, the central surgical controller and / or the cloud-based analysis system can track the performance of the modular component and / or surgical tool. Here, performance results can be analyzed by the cloud-based analysis system to inform about future uses of the modular component and / or surgical tool. For example,
[0272] [0272] Several aspects of this description are also directed to a cloud-based analysis system that generates a cloud interface for a customer service institution. More specifically, aspects of the present description refer to a cloud-based system that includes a central surgical controller from a customer service institution attachable to a plurality of stock items (for example, handles, modular adapters, end actuators, staple cartridges, etc.) and a cloud-based analysis system. The central surgical controller can include a processor programmed to communicate with the plurality of inventory items and the cloud-based analysis system. The cloud-based analysis system may include a processor programmed to i) receive, through the central surgical controller, the data associated with the plurality of stock items, where the received data comprises a unique identifier for each stock item, ii) determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, in which the system-defined restrictions comprise at least one usage restriction, iii) generate a cloud interface for the institution, in that the institution's cloud interface comprises a plurality of user interface elements, in which at least one user interface element allows the institution to select one or more of the surgical procedures to be performed, in which after selecting one surgical procedure, by means of at least one user interface element, the availability of each associated stock item the selected surgical procedure is dynamically generated on the institution's cloud interface, and iv) display an alert for each stock item determined to be unavailable based on the restrictions defined by the system, in which the alert can be displayed in at least one of the institution's cloud interface or inventory item. Here, in line with the description contained herein, alternative stock items for unavailable items can also be displayed. Such a cloud interface allows an institution to assess whether a desired / proposed surgical procedure can proceed based on current stocks. Here, data at the level of the central surgical controller (eg, local historical use) and / or level of the cloud-based analysis system (eg local history and / or global use) can be used to determine combinations of modular components and / or surgical tools usable for the surgical procedure selected through the user interface element. In addition, alternative and / or preferred modular components and / or surgical tools can be recommended for the selected surgical procedure via the user interface element. This recommendation (for example, best practices) can be based on a statistical analysis of the data at the level of the central surgical controller and / or the cloud-based analysis system. This recommendation may or may not be based on the institution's current stock.
[0273] [0273] In yet another aspect of the present description, a modular component and / or surgical tool can be a single-use device instead of a reusable and / or reprocessed device. In this respect, the packaging associated with the single-use device may include a single-use activation code. In this regard, the single-use activation code can be inserted into the activation input field on a cloud interface via the cloud access terminator of the central surgical controller and transmitted to the cloud-based analysis system. Here, upon receipt, the cloud-based analytics system can cross-reference the single-use activation code with a database of single-use activation codes (for example, downloaded from a manufacturer) to authorize use with the system . If the single-use activation code corresponds to an unused activation code, the modular component and / or surgical tool is authorized. However, if the single-use activation code does not match an activation code in the database or the single-use activation code matches an already used activation code, this single-use activation code can be placed in a blacklisted so that the modular component and / or single-use surgical tool is not authorized (for example, critical restriction defined by the system). Situational recognition
[0274] [0274] 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 instrument) that are connected to it and provide information or contextualized suggestions to the surgeon during the course of the surgical procedure.
[0275] [0275] Now with reference to Figure 28, a 5200 timeline representing the situational recognition of a central controller, such as the central surgical controller 106 or 206, for example, is represented. 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.
[0276] [0276] 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 operating room 106 , 206. Central surgical controller 106, 206 can receive this data from paired modular devices and other data sources and continuously derive inferences (ie, contextual information) about the ongoing procedure as new data is received, such as which stage of the procedure. 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.
[0277] [0277] In the first step 5202, in this illustrative procedure, members of the hospital team retrieve the patient's electronic medical record (PEP) from the hospital's PEP database. Based on patient selection data in the PEP, the central surgical controller 106, 206 determines that the procedure to be performed is a thoracic procedure.
[0278] [0278] 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).
[0279] [0279] 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.
[0280] [0280] 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.
[0281] [0281] 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.
[0282] [0282] In the sixth step 5212, medical personnel induced 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.
[0283] [0283] 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.
[0284] [0284] 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 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 in relation to visualizing the patient's anatomy, monitoring the number or medical imaging devices being used (ie, which are activated and paired with the operating room 106, 206), and monitoring the types of visualization devices used.
[0285] [0285] 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 dissecting to mobilize the patient's lung because he receives data from the RF or ultrasonic generator that indicate that an energy instrument is being fired. The central surgical controller 106, 206 can cross-check the received data with the steps retrieved from the surgical procedure to determine that an energy instrument being fired at that point in the process (that is, after the completion of the previously discussed steps of the procedure) corresponds to the step of dissection. In certain cases, the energy instrument may be a power tool mounted on a robotic arm in a robotic surgical system.
[0286] [0286] 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 data of the stapling and surgical 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.
[0287] [0287] 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.
[0288] [0288] 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 switch between surgical stapling / cutting instruments and surgical energy instruments (that is, 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 cutting / stapling instruments and surgical energy instruments are used can indicate which step 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.
[0289] [0289] In the thirteenth stage 5226, the patient's anesthesia is reversed. The central surgical controller 106, 206 can infer that the patient is emerging from anesthesia based on ventilator data (i.e., the patient's respiratory rate begins to increase), for example.
[0290] [0290] 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.
[0291] [0291] Situational awareness is further described in US Provisional Patent Application 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the description 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 its components and / or based on information from cloud 102.
[0292] [0292] Various aspects of the subject described in this document are defined in the following numbered examples:
[0293] [0293] Example 1. A surgical system, comprising: a central surgical controller attachable to a plurality of stock items in an institution, in which the plurality of stock items include medical devices, and in which the central surgical controller comprises: a processor; and a memory coupled to the processor, where the memory stores instructions executable by the processor to communicate with the plurality of stock items; and a cloud-based analysis system coupled communicatively to the central surgical controller, in which the cloud-based analysis system comprises: a processor; and a memory coupled to the processor, in which the memory stores instructions executable by the processor to: receive, through the central surgical controller, data associated with the plurality of stock items, in which the received data comprises a unique identifier for each stock item; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, where the system-defined restrictions comprise at least one usage restriction; generate a cloud interface for the institution, in which the institution's cloud interface comprises a plurality of user interface elements, in which at least one user interface element allows the selection of one or more of a surgical procedure to be executed, and in which after the selection of a surgical procedure, through at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface; and transmit an alert for each inventory item determined to be unavailable based on the restrictions defined by the system, where the alert can be displayed on at least one of the institution's cloud interface or the inventory item.
[0294] [0294] Example 2. The surgical system of Example 1, in which the restrictions defined by the system additionally comprise a list of unauthorized devices, and where the instructions are additionally executable by the cloud-based analysis system processor to: prevent each unauthorized device is used in the surgical system to perform surgical procedures.
[0295] [0295] Example 3. The surgical system of any of Examples 1 to 2, in which the instructions are additionally executable by the cloud-based analysis system processor to: allow an unauthorized device to perform surgical procedures if at least one among the unauthorized device is subject to a usage fee, the unauthorized device is subject to limited functionality, or the unauthorized device is subject to secondary restrictions defined by the system.
[0296] [0296] Example 4. The surgical system of any of Examples 1 to 3, where the instructions are additionally executable by the central surgical controller processor to communicate wirelessly with the plurality of stock items.
[0297] [0297] Example 5. The surgical system of any of Examples 1 to 4, wherein the plurality of stock items further comprises a surgical instrument to perform the selected surgical procedure, wherein the surgical instrument comprises a plurality of modular components, and where the instructions are additionally executable by the cloud-based analysis system processor to: determine whether each modular component of the surgical instrument is available for use based on its respective unique identifier and the restrictions defined by the system.
[0298] [0298] Example 6. The surgical system of any of Examples 1 to 5, where the instructions are additionally executable by the cloud-based analysis system processor to: determine that a unique identifier, associated with a plurality first modular component of modular components, indicates the first modular component as at least one among counterfeit or defective; and transmit an alert that can be displayed in a user interface of the first modular component.
[0299] [0299] Example 7. The surgical system of any of Examples 1 to 6, where the cloud-based analysis system additionally comprises a database, and where the instructions are additionally executable by the processor of the analysis system based on cloud to: update a list of unauthorized devices stored in the database with the unique identifier of the first modular component.
[0300] [0300] Example 8. The surgical system of any of examples 1 to 7, where the instructions are additionally executable by the cloud-based analysis system processor to: determine at least one alternative modular component available, based on the defined restrictions through the system, to perform the selected surgical procedure; and broadcast an alert that can be displayed on at least one institution's cloud interface or the user interface of the first modular component.
[0301] [0301] Example 9. The surgical system of any of Examples 1 to 8, in which a constraint defined by the system comprises an expiration date associated with each modular component of the surgical instrument, and where the instructions are additionally executable by the processor of the cloud-based analysis system to: determine that a first modular component of the surgical instrument has expired an expiration date; transmit an alert that can be displayed in a user interface of the first modular component, where the alert comprises a warning that the expiration date has expired; and receiving an entry, through the user interface of the first modular component, to bypass the expiration date.
[0302] [0302] Example 10. The surgical system of Example 9, in which the expired date is associated with a control program stored in the first modular component.
[0303] [0303] Example 11. The surgical system of Example 5, in which at least one use restriction comprises a lifetime metric associated with each modular component of the surgical instrument, and where the instructions are additionally executable by the processor of the surgical system. cloud-based analysis to: access a current usage parameter associated with each modular component of the surgical instrument; determine that a first modular component of the surgical instrument has exceeded its associated lifetime metric; and transmit an alert that can be displayed in a user interface of the first modular component.
[0304] [0304] Example 12. The surgical system of any of Examples 1 to 11, which further comprises: at least one modular component attachable to the central surgical controller, wherein each modular component comprises: a processor; and a memory attached to the processor, where the memory stores instructions executable by the processor to communicate its identifier and at least one of a usage parameter or a metric of useful life to the central surgical controller.
[0305] [0305] Example 13. The surgical system of any of Examples 1 to 12, in which the instructions are additionally executable by the processor of each modular component to relay at least one among an identifier, a usage parameter, or a life metric useful input from another modular component to the central surgical controller.
[0306] [0306] Example 14. The surgical system of any of Examples 1 to 13, in which each modular component additionally comprises a user interface, and in which the instructions are additionally executable by the processor of each modular component to: display, by means of from its user interface, an alert transmitted by the cloud-based analysis system, in which the alert comprises a link associated with a violated restriction defined by the system; receive, through its user interface, a link selection; receive, through its user interface, a selection to cancel a flexible restriction defined by the system; and transmit the selection to cancel the system-defined flexible constraint to the cloud-based analysis system.
[0307] [0307] Example 15. A surgical system, comprising: a central surgical controller attachable to a plurality of stock items in an institution, where the plurality of stock items include medical devices, and where the central surgical controller comprises a control circuit configured to communicate with the plurality of stock items; and a cloud-based analysis system communicatively coupled to the central surgical controller, in which the cloud-based analysis system comprises a control circuit configured to: receive, through the central surgical controller, data associated with the plurality of stock items , in which the data received comprises a unique identifier for each inventory item; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, where the system-defined restrictions comprise at least one usage restriction; generate a cloud interface for the institution, in which the institution's cloud interface comprises a plurality of user interface elements, in which at least one user interface element allows the selection of one or more of a surgical procedure to be executed, and in which after the selection of a surgical procedure, through at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface; and transmit an alert for each inventory item determined to be unavailable based on the restrictions defined by the system, where the alert can be displayed on at least one of the institution's cloud interface or inventory item.
[0308] [0308] Example 16. The surgical system of Example 15, in which the restrictions defined by the system additionally comprise a list of unauthorized devices, and in which the control circuit of the cloud-based analysis system is additionally configured to: prevent each unauthorized device is used in the surgical system to perform surgical procedures; allow an unauthorized device to perform surgical procedures if at least one of the unauthorized device is subject to a usage fee, the unauthorized device is subject to limited functionality or the unauthorized device is subject to secondary restrictions defined by the system.
[0309] [0309] Example 17. The surgical system of any of Examples 15 to 16, wherein the plurality of stock items further comprises a surgical instrument to perform the selected surgical procedure, wherein the surgical instrument comprises a plurality of modular and where the cloud-based analysis system control circuit for is configured to: determine whether each modular component of the surgical instrument is available for use based on its respective unique identifier and the restrictions defined by the system.
[0310] [0310] Example 18. The surgical system of any of Examples 15 to 17, further comprising: at least one modular component attachable to the central surgical controller, where each modular component comprises a control circuit configured to transmit its identifier and at least one of a usage parameter or a lifetime metric for the central surgical controller.
[0311] [0311] Example 19. The surgical system of any of Examples 15 to 18, in which each modular component additionally comprises a user interface, and in which the control circuit of each modular component is additionally configured to: display, by means of from its user interface, an alert transmitted by the cloud-based analysis system, in which the alert comprises a link associated with a violated restriction defined by the system; receive, through its user interface, a link selection; receive, through its user interface, a selection to cancel a flexible restriction defined by the system; and transmit the selection to cancel the system-defined flexible constraint to the cloud-based analysis system.
[0312] [0312] Example 20. A non-transitory, computer-readable medium that stores computer-readable instructions that, when executed, make a cloud-based analysis system: receive, through a central surgical controller, data associated with a plurality of stock items of an institution, where the plurality of stock items include medical devices, where the received data comprises a unique identifier for each stock item and where each unique identifier is received by the central surgical controller in communication with each stock item; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, where the system-defined restrictions comprise at least one usage restriction; generate a cloud interface for the institution, in which the institution's cloud interface comprises a plurality of user interface elements, in which at least one user interface element allows the selection of one or more of a surgical procedure to be executed, and in which after the selection of a surgical procedure, through at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface; and transmit an alert for each inventory item determined to be unavailable based on the restrictions defined by the system, where the alert can be displayed on at least one of the institution's cloud interface or inventory item.
[0313] [0313] Although several forms have been illustrated and described, it is not the applicant's intention to restrict or limit the scope of the claims attached to such detail. Numerous modifications, variations, alterations, substitutions, combinations and equivalents of these forms can be implemented and will occur to those skilled in the art without departing from the scope of the present description. In addition, the structure of each element associated with the shape can alternatively be described as a means of providing the function performed by the element. In addition, where materials are revealed for certain components, other materials can be used. It should be understood, therefore, that the preceding description and the appended claims are intended to cover all such modifications,
[0314] [0314] The previous detailed description presented various forms of devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts and / or examples can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or 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, can 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 description. 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.
[0315] [0315] The instructions used to program the logic to execute various revealed aspects can be stored in a memory in the system, such as dynamic random access memory (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 (EEPROM), cards magnetic or optical, flash memory, or machine-readable tangible storage media used to transmit information over the Internet via an electrical, optical, acoustic cable or other forms of propagation signals (for example, carrier waves, infrared signal, digital signals, etc.). Consequently, computer-readable non-transitory media includes any type of machine-readable media suitable for storing or transmitting instructions or electronic information in a machine-readable form (for example, a computer).
[0316] [0316] 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, electrical circuits that form a general purpose computing device configured by a computer program (for example, a general purpose computer configured by a computer program that at least partially executes processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially performs the processes and / or devices described here), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, communication key, or eq optical-electrical equipment). Those skilled in the art will recognize that the subject described here can be implemented in an analog or digital way, or in some combination of these.
[0317] [0317] 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.
[0318] [0318] 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.
[0319] [0319] 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.
[0320] [0320] A network can include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet switched network communications protocol. An exemplary communications protocol may include an Ethernet communications protocol that may be able to allow communication using a transmission control protocol / Internet protocol (TCP / IP). The protocol
[0321] [0321] Unless otherwise stated, as is evident from the preceding description, it is understood that, throughout the preceding description, 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 system 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 information storage, transmission or display devices.
[0322] [0322] 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.
[0323] [0323] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located opposite the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.
[0324] [0324] 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
[0325] [0325] 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 among
[0326] [0326] With respect to the appended 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.
[0327] [0327] 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 features, structures or characteristics can be combined in any appropriate way in one or more aspects.
[0328] [0328] 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, the description 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 description materials contained herein, will be incorporated here only to the extent that there is no conflict between the embedded material and the existing description material.
[0329] [0329] 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. Surgical system, characterized by comprising: a central surgical controller attachable to a plurality of stock items in an institution, in which the plurality of stock items include medical devices, and in which the central surgical controller comprises: a processor; and a memory coupled to the processor, where the memory stores instructions executable by the processor to communicate with the plurality of stock items; and a cloud-based analysis system coupled communicatively to the central surgical controller, in which the cloud-based analysis system comprises: a processor; and a memory coupled to the processor, in which the memory stores instructions executable by the processor to: receive, through the central surgical controller, data associated with the plurality of stock items, in which the received data comprises a unique identifier for each stock item; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, where the system-defined restrictions comprise at least one usage restriction; generate a cloud interface for the institution, in which the institution's cloud interface comprises a plurality of user interface elements, in which at least one user interface element allows the selection of one or more of a surgical procedure to be executed, and in which after the selection of a surgical procedure, through at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface; and transmit an alert for each inventory item determined to be unavailable based on the restrictions defined by the system, where the alert can be displayed on at least one of the institution's cloud interface or the inventory item.
[2]
2. Surgical system, according to claim 1, characterized in that the restrictions defined by the system additionally comprise a list of unauthorized devices, and in which the instructions are additionally executable by the cloud-based analysis system processor to: prevent each unauthorized device is used in the surgical system to perform surgical procedures.
[3]
3. Surgical system, according to claim 2, characterized in that the instructions are additionally executable by the cloud-based analysis system processor to: allow an unauthorized device to perform surgical procedures if at least one of the unauthorized device is subjected at a usage fee, the unauthorized device is subjected to limited functionality or the unauthorized device is subjected to secondary restrictions defined by the system.
[4]
4. Surgical system according to claim 1, characterized in that the instructions are additionally executable by the central surgical controller processor to communicate wirelessly with the plurality of stock items.
[5]
5. Surgical system according to claim 1, characterized in that the plurality of stock items additionally comprise a surgical instrument to perform the selected surgical procedure, in which the surgical instrument comprises a plurality of modular components, and in which the instructions are additionally executable by the cloud-based analysis system processor to: determine whether each modular component of the surgical instrument is available for use based on its respective unique identifier and the restrictions defined by the system.
[6]
6. Surgical system according to claim 5, characterized in that the instructions are additionally executable by the cloud-based analysis system processor to: determine that a unique identifier, associated with a first modular component of the plurality of modular components, indicates the first modular component as at least one among counterfeit or defective; and transmit an alert that can be displayed in a user interface of the first modular component.
[7]
7. Surgical system according to claim 6, characterized in that the cloud-based analysis system additionally comprises a database, and in which the instructions are additionally executable by the cloud-based analysis system processor to: update a list unauthorized devices stored in the database with the unique identifier of the first modular component.
[8]
8. Surgical system according to claim 6, characterized in that the instructions are additionally executable by the cloud-based analysis system processor to: determine at least one alternative modular component available, based on the restrictions defined by the system, to execute the selected surgical procedure; and broadcast an alert that can be displayed on at least one of the institution's cloud interface or the user interface of the first modular component.
[9]
9. Surgical system according to claim 5, characterized by a restriction defined by the system comprising an expiration date associated with each modular component of the surgical instrument, and in which the instructions are additionally executable by the cloud-based analysis system processor to: determine that a first modular component of the surgical instrument has exceeded an expiration date; transmit an alert that can be displayed in a user interface of the first modular component, where the alert comprises a warning that the expiration date has expired; and receiving an entry, through the user interface of the first modular component, to bypass the expiration date.
[10]
10. Surgical system, according to claim 9, characterized in that the expired expiration date is associated with a control program stored in the first modular component.
[11]
11. Surgical system according to claim 5, characterized in that the at least one use restriction comprises a metric of useful life associated with each modular component of the surgical instrument, and in which the instructions are additionally executable by the analysis system processor cloud-based to: access a current usage parameter associated with each modular component of the surgical instrument; determine that a first modular component of the surgical instrument has exceeded its associated lifetime metric; and transmit an alert that can be displayed in a user interface of the first modular component.
[12]
Surgical system according to claim 1, characterized in that it additionally comprises: at least one modular component attachable to the central surgical controller, wherein each modular component comprises: a processor; and a memory attached to the processor, where the memory stores instructions executable by the processor to communicate its identifier and at least one of a usage parameter or a metric of useful life to the central surgical controller.
[13]
13. Surgical system, according to claim 12, characterized in that the instructions are additionally executable by the processor of each modular component to relay at least one among an identifier, a usage parameter, or a metric of useful life received from another component modular to the central surgical controller.
[14]
14. Surgical system according to claim 12, characterized in that each modular component additionally comprises a user interface, and in which the instructions are additionally executable by the processor of each modular component to: display, through its user interface, a alert transmitted by the cloud-based analysis system, in which the alert comprises a link associated with a violated restriction defined by the system; receive, through its user interface, a link selection; receive, through its user interface, a selection to cancel a flexible restriction defined by the system; and transmit the selection to cancel the system-defined flexible constraint to the cloud-based analysis system.
[15]
15. Surgical system, characterized by comprising: a central surgical controller attachable to a plurality of stock items in an institution, in which the plurality of stock items include medical devices, and in which the central surgical controller comprises a configured control circuit to communicate with the plurality of stock items; and a cloud-based analysis system communicatively coupled to the central surgical controller, in which the cloud-based analysis system comprises a control circuit configured to: receive, through the central surgical controller, data associated with the plurality of stock items , in which the data received comprises a unique identifier for each inventory item; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, where the system-defined restrictions comprise at least one usage restriction; generate a cloud interface for the institution, in which the institution's cloud interface comprises a plurality of user interface elements, in which at least one user interface element allows the selection of one or more of a surgical procedure to be executed, and in which after the selection of a surgical procedure, through at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface; and transmit an alert for each inventory item determined to be unavailable based on the restrictions defined by the system, where the alert can be displayed on at least one of the institution's cloud interface or the inventory item.
[16]
16. Surgical system according to claim 15, characterized in that the restrictions defined by the system additionally comprise a list of unauthorized devices, and in which the control circuit of the cloud-based analysis system is additionally configured to: prevent each unauthorized device is used in the surgical system to perform surgical procedures; or allow an unauthorized device to perform surgical procedures if at least one of the unauthorized device is subject to a usage fee, the unauthorized device is subjected to limited functionality, or the unauthorized device is subjected to secondary restrictions defined by the system .
[17]
17. Surgical system according to claim 15, characterized in that the plurality of stock items additionally comprises a surgical instrument to perform the selected surgical procedure, in which the surgical instrument comprises a plurality of modular components, and in which the circuit of control of the cloud-based analysis system is additionally configured to: determine whether each modular component of the surgical instrument is available for use based on its respective unique identifier and the restrictions defined by the system.
[18]
18. Surgical system according to claim 15, characterized by additionally comprising: at least one modular component attachable to the central surgical controller, in which each modular component comprises a control circuit configured to communicate its identifier and at least one among a parameter of use or a lifetime metric for the central surgical controller.
[19]
19. Surgical system, according to claim 18, characterized in that each modular component additionally comprises a user interface, and in which the control circuit of each modular component is additionally configured to: display, through its user interface, a alert transmitted by the cloud-based analysis system, in which the alert comprises a link associated with a violated restriction defined by the system; receive, through its user interface, a link selection; receive, through its user interface, a selection to cancel a flexible restriction defined by the system; and transmit the selection to cancel the system-defined flexible constraint to the cloud-based analysis system.
[20]
20. Computer-readable non-transitory media characterized by storing computer-readable instructions that, when executed, make the cloud-based analysis system: receive, through a central surgical controller, data associated with a plurality of stock items from an institution, in which the plurality of stock items include medical devices, where the data received comprises a unique identifier for each stock item and where each unique identifier is received by the central surgical controller in communication with each stock item; determine whether each inventory item is available for use based on its respective unique identifier and system-defined restrictions, where the system-defined restrictions comprise at least one usage restriction;
manages a cloud interface for the institution, where the institution's cloud interface comprises a plurality of user interface elements, where at least one user interface element allows the selection of one or more of a surgical procedure to be executed, and in which after the selection of a surgical procedure, through at least one user interface element, the availability of each stock item associated with the selected surgical procedure is dynamically generated in the institution's cloud interface; and transmit an alert for each inventory item determined to be unavailable based on the restrictions defined by the system, where the alert can be displayed on at least one of the institution's cloud interface or the inventory item.

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR112020013102A2|2020-12-01|cloud interface for attached surgical devices

---

US11076921B2|2021-08-03|Adaptive control program updates for surgical hubs

---

US11179208B2|2021-11-23|Cloud-based medical analytics for security and authentication trends and reactive measures

---

US20210241898A1|2021-08-05|Data handling and prioritization in a cloud analytics network

---

US20190206003A1|2019-07-04|Adaptive control program updates for surgical devices

---

BR112020012904A2|2020-12-08|CLOUD-BASED MEDICAL DATA ANALYSIS FOR CUSTOMIZATION AND RECOMMENDATIONS FOR A USER

---

US10932872B2|2021-03-02|Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set

---

BR112020013224A2|2020-12-01|cloud-based medical analysis for segmented individualization of instrument functions in medical facilities

---

BR112020012806A2|2020-11-24|aggregation and reporting of data from a central surgical controller

---

BR112020012896A2|2020-12-08|SELF-DESCRIPTIVE DATA PACKAGES GENERATED IN AN EMISSION INSTRUMENT

---

BR112020012865A2|2020-12-29|DATA EXTRACTION METHOD TO INTERROGATE A PATIENT'S RECORDS AND CREATE AN ANONYMOUS RECORD

---

BR112020011230A2|2020-11-17|interactive surgical systems implemented by computer

---

BR112020013138A2|2020-12-01|data pairing to interconnect a measured parameter from a device with a result

---

BR112020012849A2|2020-12-29|CENTRAL COMMUNICATION CONTROLLER AND STORAGE DEVICE FOR STORAGE AND STATE PARAMETERS AND A SURGICAL DEVICE TO BE SHARED WITH CLOUD-BASED ANALYSIS SYSTEMS

---

BR112020013116A2|2020-12-01|cooperative surgical actions for robot-assisted surgical platforms

---

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

---

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

---

BR112020013233A2|2020-12-01|capacitive coupled return path block with separable matrix elements

同族专利:

---

公开号 | 公开日

---

US10849697B2|2020-12-01|

---

CN111527553A|2020-08-11|

---

WO2019130094A1|2019-07-04|

---

US20190201117A1|2019-07-04|

---

EP3635736A1|2020-04-15|

---

JP2021509507A|2021-03-25|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

US3082426A|1960-06-17|1963-03-26|George Oliver Halsted|Surgical stapling device|

---

US3503396A|1967-09-21|1970-03-31|American Hospital Supply Corp|Atraumatic surgical clamp|

---

US3584628A|1968-10-11|1971-06-15|United States Surgical Corp|Wire suture wrapping instrument|

---

US3759017A|1971-10-22|1973-09-18|American Air Filter Co|Latch for a filter apparatus|

---

JPS6056394B2|1976-12-10|1985-12-10|Sony Corp|

---

CA1124605A|1977-08-05|1982-06-01|Charles H. Klieman|Surgical stapler|

---

DE3204522C2|1982-02-10|1988-08-25|B. Braun Melsungen Ag, 3508 Melsungen, De|

---

US4448193A|1982-02-26|1984-05-15|Ethicon, Inc.|Surgical clip applier with circular clip magazine|

---

DE3523871C2|1985-07-04|1994-07-28|Erbe Elektromedizin Gmbh, 7400 Tuebingen, De|

---

US4701193A|1985-09-11|1987-10-20|Xanar, Inc.|Smoke evacuator system for use in laser surgery|

---

US4735603A|1986-09-10|1988-04-05|James H. Goodson|Laser smoke evacuation system and method|

---

DE3824913A1|1988-07-22|1990-02-01|Thomas Hill|Device for monitoring high-frequency electric leakage currents|

---

JPH071130Y2|1988-10-25|1995-01-18|オリンパス光学工業株式会社|Ultrasonic treatment device|

---

US4892244B1|1988-11-07|1991-08-27|Ethicon Inc|

---

US4955959A|1989-05-26|1990-09-11|United States Surgical Corporation|Locking mechanism for a surgical fastening apparatus|

---

US5151102A|1989-05-31|1992-09-29|Kyocera Corporation|Blood vessel coagulation/stanching device|

---

US5084057A|1989-07-18|1992-01-28|United States Surgical Corporation|Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures|

---

DE4002843C1|1990-02-01|1991-04-18|Gesellschaft Fuer Geraetebau Mbh, 4600 Dortmund, De|Protective breathing mask with filter - having gas sensors in-front and behind with difference in their signals providing signal for change of filter|

---

US5396900A|1991-04-04|1995-03-14|Symbiosis Corporation|Endoscopic end effectors constructed from a combination of conductive and non-conductive materials and useful for selective endoscopic cautery|

---

US5318516A|1990-05-23|1994-06-07|Ioan Cosmescu|Radio frequency sensor for automatic smoke evacuator system for a surgical laser and/or electrical apparatus and method therefor|

---

US5156315A|1990-09-17|1992-10-20|United States Surgical Corporation|Arcuate apparatus for applying two-part surgical fasteners|

---

US5253793A|1990-09-17|1993-10-19|United States Surgical Corporation|Apparatus for applying two-part surgical fasteners|

---

US5100402A|1990-10-05|1992-03-31|Megadyne Medical Products, Inc.|Electrosurgical laparoscopic cauterization electrode|

---

WO1992010976A1|1990-12-18|1992-07-09|Minnesota Mining And Manufacturing Company|Safety device for a surgical stapler cartridge|

---

USD399561S|1991-01-24|1998-10-13|Megadyne Medical Products, Inc.|Electrical surgical forceps handle|

---

US5413267A|1991-05-14|1995-05-09|United States Surgical Corporation|Surgical stapler with spent cartridge sensing and lockout means|

---

US5197962A|1991-06-05|1993-03-30|Megadyne Medical Products, Inc.|Composite electrosurgical medical instrument|

---

US6250532B1|1991-10-18|2001-06-26|United States Surgical Corporation|Surgical stapling apparatus|

---

US5397046A|1991-10-18|1995-03-14|United States Surgical Corporation|Lockout mechanism for surgical apparatus|

---

CA2122594A1|1991-11-01|1993-05-13|Royce Herbst|Dual mode laser smoke evacuation system with sequential filter monitor and vacuum compensation|

---

US5383880A|1992-01-17|1995-01-24|Ethicon, Inc.|Endoscopic surgical system with sensing means|

---

US5439468A|1993-05-07|1995-08-08|Ethicon Endo-Surgery|Surgical clip applier|

---

US5417210A|1992-05-27|1995-05-23|International Business Machines Corporation|System and method for augmentation of endoscopic surgery|

---

US5906625A|1992-06-04|1999-05-25|Olympus Optical Co., Ltd.|Tissue-fixing surgical instrument, tissue-fixing device, and method of fixing tissue|

---

US5772597A|1992-09-14|1998-06-30|Sextant Medical Corporation|Surgical tool end effector|

---

FR2696089B1|1992-09-25|1994-11-25|Gen Electric Cgr|Device for handling a radiology device.|

---

US5417699A|1992-12-10|1995-05-23|Perclose Incorporated|Device and method for the percutaneous suturing of a vascular puncture site|

---

US5697926A|1992-12-17|1997-12-16|Megadyne Medical Products, Inc.|Cautery medical instrument|

---

US5403327A|1992-12-31|1995-04-04|Pilling Weck Incorporated|Surgical clip applier|

---

US5322055B1|1993-01-27|1997-10-14|Ultracision Inc|Clamp coagulator/cutting system for ultrasonic surgical instruments|

---

US5467911A|1993-04-27|1995-11-21|Olympus Optical Co., Ltd.|Surgical device for stapling and fastening body tissues|

---

CA2159348A1|1993-04-30|1994-11-10|Claude A. Vidal|Surgical instrument having an articulated jaw structure and a detachable knife|

---

US5403312A|1993-07-22|1995-04-04|Ethicon, Inc.|Electrosurgical hemostatic device|

---

GR940100335A|1993-07-22|1996-05-22|Ethicon Inc.|Electrosurgical device for placing staples.|

---

US5817093A|1993-07-22|1998-10-06|Ethicon Endo-Surgery, Inc.|Impedance feedback monitor with query electrode for electrosurgical instrument|

---

US5342349A|1993-08-18|1994-08-30|Sorenson Laboratories, Inc.|Apparatus and system for coordinating a surgical plume evacuator and power generator|

---

US5503320A|1993-08-19|1996-04-02|United States Surgical Corporation|Surgical apparatus with indicator|

---

US5465895A|1994-02-03|1995-11-14|Ethicon Endo-Surgery, Inc.|Surgical stapler instrument|

---

US5474566A|1994-05-05|1995-12-12|United States Surgical Corporation|Self-contained powered surgical apparatus|

---

EP1177771B1|1994-07-29|2005-02-09|Olympus Optical Co., Ltd.|Medical instrument for use in combination with endoscopes|

---

US5496315A|1994-08-26|1996-03-05|Megadyne Medical Products, Inc.|Medical electrode insulating system|

---

DE4434864C2|1994-09-29|1997-06-19|United States Surgical Corp|Surgical staple applicator with interchangeable staple magazine|

---

US5846237A|1994-11-18|1998-12-08|Megadyne Medical Products, Inc.|Insulated implement|

---

US5531743A|1994-11-18|1996-07-02|Megadyne Medical Products, Inc.|Resposable electrode|

---

JPH08164148A|1994-12-13|1996-06-25|Olympus Optical Co Ltd|Surgical operation device under endoscope|

---

US5632432A|1994-12-19|1997-05-27|Ethicon Endo-Surgery, Inc.|Surgical instrument|

---

US5613966A|1994-12-21|1997-03-25|Valleylab Inc|System and method for accessory rate control|

---

DE19503702B4|1995-02-04|2005-10-27|Nicolay Verwaltungs-Gmbh|Liquid and gas-tight encapsulated switch, in particular for electrosurgical instruments|

---

US5654750A|1995-02-23|1997-08-05|Videorec Technologies, Inc.|Automatic recording system|

---

US5695505A|1995-03-09|1997-12-09|Yoon; Inbae|Multifunctional spring clips and cartridges and applicators therefor|

---

US5942333A|1995-03-27|1999-08-24|Texas Research Institute|Non-conductive coatings for underwater connector backshells|

---

US5624452A|1995-04-07|1997-04-29|Ethicon Endo-Surgery, Inc.|Hemostatic surgical cutting or stapling instrument|

---

US5752644A|1995-07-11|1998-05-19|United States Surgical Corporation|Disposable loading unit for surgical stapler|

---

US5706998A|1995-07-17|1998-01-13|United States Surgical Corporation|Surgical stapler with alignment pin locking mechanism|

---

US7030146B2|1996-09-10|2006-04-18|University Of South Carolina|Methods for treating diabetic neuropathy|

---

US5693052A|1995-09-01|1997-12-02|Megadyne Medical Products, Inc.|Coated bipolar electrocautery|

---

US5746209A|1996-01-26|1998-05-05|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration|Method of and apparatus for histological human tissue characterizationusing ultrasound|

---

US5762458A|1996-02-20|1998-06-09|Computer Motion, Inc.|Method and apparatus for performing minimally invasive cardiac procedures|

---

US6099537A|1996-02-26|2000-08-08|Olympus Optical Co., Ltd.|Medical treatment instrument|

---

US5673842A|1996-03-05|1997-10-07|Ethicon Endo-Surgery|Surgical stapler with locking mechanism|

---

IL117607D0|1996-03-21|1996-07-23|Dev Of Advanced Medical Produc|Surgical stapler and method of surgical fastening|

---

US6646541B1|1996-06-24|2003-11-11|Computer Motion, Inc.|General purpose distributed operating room control system|

---

US7053752B2|1996-08-06|2006-05-30|Intuitive Surgical|General purpose distributed operating room control system|

---

US6017354A|1996-08-15|2000-01-25|Stryker Corporation|Integrated system for powered surgical tools|

---

US5836909A|1996-09-13|1998-11-17|Cosmescu; Ioan|Automatic fluid control system for use in open and laparoscopic laser surgery and electrosurgery and method therefor|

---

US5843080A|1996-10-16|1998-12-01|Megadyne Medical Products, Inc.|Bipolar instrument with multi-coated electrodes|

---

US6582424B2|1996-10-30|2003-06-24|Megadyne Medical Products, Inc.|Capacitive reusable electrosurgical return electrode|

---

US6053910A|1996-10-30|2000-04-25|Megadyne Medical Products, Inc.|Capacitive reusable electrosurgical return electrode|

---

US9050119B2|2005-12-20|2015-06-09|Intuitive Surgical Operations, Inc.|Cable tensioning in a robotic surgical system|

---

EP0864348A1|1997-03-11|1998-09-16|Philips Electronics N.V.|Gas purifier|

---

US6699187B2|1997-03-27|2004-03-02|Medtronic, Inc.|System and method for providing remote expert communications and video capabilities for use during a medical procedure|

---

US7041941B2|1997-04-07|2006-05-09|Patented Medical Solutions, Llc|Medical item thermal treatment systems and method of monitoring medical items for compliance with prescribed requirements|

---

US5865361A|1997-09-23|1999-02-02|United States Surgical Corporation|Surgical stapling apparatus|

---

US6039735A|1997-10-03|2000-03-21|Megadyne Medical Products, Inc.|Electric field concentrated electrosurgical electrode|

---

US5980510A|1997-10-10|1999-11-09|Ethicon Endo-Surgery, Inc.|Ultrasonic clamp coagulator apparatus having improved clamp arm pivot mount|

---

US5873873A|1997-10-10|1999-02-23|Ethicon Endo-Surgery, Inc.|Ultrasonic clamp coagulator apparatus having improved clamp mechanism|

---

US6273887B1|1998-01-23|2001-08-14|Olympus Optical Co., Ltd.|High-frequency treatment tool|

---

US5968032A|1998-03-30|1999-10-19|Sleister; Dennis R.|Smoke evacuator for a surgical laser or cautery plume|

---

US6059799A|1998-06-25|2000-05-09|United States Surgical Corporation|Apparatus for applying surgical clips|

---

US6341164B1|1998-07-22|2002-01-22|Entrust Technologies Limited|Method and apparatus for correcting improper encryption and/or for reducing memory storage|

---

US6090107A|1998-10-20|2000-07-18|Megadyne Medical Products, Inc.|Resposable electrosurgical instrument|

---

EP1123051A4|1998-10-23|2003-01-02|Applied Med Resources|Surgical grasper with inserts and method of using same|

---

US6659939B2|1998-11-20|2003-12-09|Intuitive Surgical, Inc.|Cooperative minimally invasive telesurgical system|

---

US6325808B1|1998-12-08|2001-12-04|Advanced Realtime Control Systems, Inc.|Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery|

---

WO2001008578A1|1999-07-30|2001-02-08|Vivant Medical, Inc.|Device and method for safe location and marking of a cavity and sentinel lymph nodes|

---

DE19860689C2|1998-12-29|2001-07-05|Erbe Elektromedizin|Method for controlling a device for removing smoke and device for carrying out the method|

---

AU5924099A|1998-12-31|2000-07-24|Jeffrey E. Yeung|Tissue fastening devices and delivery means|

---

GB2351884B|1999-04-10|2002-07-31|Peter Strong|Data transmission method|

---

US6301495B1|1999-04-27|2001-10-09|International Business Machines Corporation|System and method for intra-operative, image-based, interactive verification of a pre-operative surgical plan|

---

US6461352B2|1999-05-11|2002-10-08|Stryker Corporation|Surgical handpiece with self-sealing switch assembly|

---

US6716233B1|1999-06-02|2004-04-06|Power Medical Interventions, Inc.|Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities|

---

US6443973B1|1999-06-02|2002-09-03|Power Medical Interventions, Inc.|Electromechanical driver device for use with anastomosing, stapling, and resecting instruments|

---

US6264087B1|1999-07-12|2001-07-24|Powermed, Inc.|Expanding parallel jaw device for use with an electromechanical driver device|

---

US6619406B1|1999-07-14|2003-09-16|Cyra Technologies, Inc.|Advanced applications for 3-D autoscanning LIDAR system|

---

AU7880600A|1999-08-12|2001-03-13|Somnus Medical Technologies, Inc.|Nerve stimulation and tissue ablation apparatus and method|

---

WO2001020892A2|1999-09-13|2001-03-22|Fernway Limited|A method for transmitting data between respective first and second modems in a telecommunications system, and a telecommunications system|

---

US6325811B1|1999-10-05|2001-12-04|Ethicon Endo-Surgery, Inc.|Blades with functional balance asymmetries for use with ultrasonic surgical instruments|

---

US20040078236A1|1999-10-30|2004-04-22|Medtamic Holdings|Storage and access of aggregate patient data for analysis|

---

US6569109B2|2000-02-04|2003-05-27|Olympus Optical Co., Ltd.|Ultrasonic operation apparatus for performing follow-up control of resonance frequency drive of ultrasonic oscillator by digital PLL system using DDS |

---

AUPQ600100A0|2000-03-03|2000-03-23|Macropace Products Pty. Ltd.|Animation technology|

---

US6391102B1|2000-03-21|2002-05-21|Stackhouse, Inc.|Air filtration system with filter efficiency management|

---

EP1272117A2|2000-03-31|2003-01-08|Rita Medical Systems, Inc.|Tissue biopsy and treatment apparatus and method|

---

US6742895B2|2000-07-06|2004-06-01|Alan L. Robin|Internet-based glaucoma diagnostic system|

---

WO2002032335A1|2000-07-25|2002-04-25|Rita Medical Systems Inc.|Apparatus for detecting and treating tumors using localized impedance measurement|

---

EP1322236B1|2000-09-24|2007-08-15|Medtronic, Inc.|Motor control system for a surgical handpiece|

---

US6945981B2|2000-10-20|2005-09-20|Ethicon-Endo Surgery, Inc.|Finger operated switch for controlling a surgical handpiece|

---

US7077853B2|2000-10-20|2006-07-18|Ethicon Endo-Surgery, Inc.|Method for calculating transducer capacitance to determine transducer temperature|

---

US20020049551A1|2000-10-20|2002-04-25|Ethicon Endo-Surgery, Inc.|Method for differentiating between burdened and cracked ultrasonically tuned blades|

---

US7423972B2|2000-11-28|2008-09-09|Flash Networks Ltd.|System and method for a transmission rate controller|

---

US7232445B2|2000-12-06|2007-06-19|Id, Llc|Apparatus for the endoluminal treatment of gastroesophageal reflux disease |

---

US6618626B2|2001-01-16|2003-09-09|Hs West Investments, Llc|Apparatus and methods for protecting the axillary nerve during thermal capsullorhaphy|

---

US6551243B2|2001-01-24|2003-04-22|Siemens Medical Solutions Health Services Corporation|System and user interface for use in providing medical information and health care delivery support|

---

US6911033B2|2001-08-21|2005-06-28|Microline Pentax Inc.|Medical clip applying device|

---

US9002518B2|2003-06-30|2015-04-07|Intuitive Surgical Operations, Inc.|Maximum torque driving of robotic surgical tools in robotic surgical systems|

---

US6783524B2|2001-04-19|2004-08-31|Intuitive Surgical, Inc.|Robotic surgical tool with ultrasound cauterizing and cutting instrument|

---

PT1381302E|2001-04-20|2008-08-01|Power Med Interventions Inc|Imaging device|

---

US7044911B2|2001-06-29|2006-05-16|Philometron, Inc.|Gateway platform for biological monitoring and delivery of therapeutic compounds|

---

EP2305143B1|2001-08-08|2016-11-09|Stryker Corporation|Motorized surgical handpiece that drives a cutting accessory and that includes a coil for reading data from the accessory|

---

JP2005503871A|2001-09-28|2005-02-10|メーガンメディカル、インク．|Method and apparatus for securing and / or identifying a link to a transcutaneous probe|

---

US7334717B2|2001-10-05|2008-02-26|Tyco Healthcare Group Lp|Surgical fastener applying apparatus|

---

DE10151269B4|2001-10-17|2005-08-25|Sartorius Ag|Method for monitoring the integrity of filtration plants|

---

US7383088B2|2001-11-07|2008-06-03|Cardiac Pacemakers, Inc.|Centralized management system for programmable medical devices|

---

US7409354B2|2001-11-29|2008-08-05|Medison Online Inc.|Method and apparatus for operative event documentation and related data management|

---

US6783525B2|2001-12-12|2004-08-31|Megadyne Medical Products, Inc.|Application and utilization of a water-soluble polymer on a surface|

---

US20070010838A1|2003-05-20|2007-01-11|Shelton Frederick E Iv|Surgical stapling instrument having a firing lockout for an unclosed anvil|

---

US6869435B2|2002-01-17|2005-03-22|Blake, Iii John W|Repeating multi-clip applier|

---

US8775196B2|2002-01-29|2014-07-08|Baxter International Inc.|System and method for notification and escalation of medical data|

---

US6685704B2|2002-02-26|2004-02-03|Megadyne Medical Products, Inc.|Utilization of an active catalyst in a surface coating of an electrosurgical instrument|

---

EP2218479A3|2006-06-28|2013-06-05|Medtronic Ardian Luxembourg S.à.r.l.|Methods and systems for thermally-induced renal neuromodulation|

---

JP4431404B2|2002-04-25|2010-03-17|タイコヘルスケアグループエルピー|Surgical instruments including microelectromechanical systems |

---

EP2289429B1|2002-05-10|2015-06-17|Covidien LP|Surgical stapling apparatus having a wound closure material applicator assembly|

---

US6951559B1|2002-06-21|2005-10-04|Megadyne Medical Products, Inc.|Utilization of a hybrid material in a surface coating of an electrosurgical instrument|

---

US7121460B1|2002-07-16|2006-10-17|Diebold Self-Service Systems Division Of Diebold, Incorporated|Automated banking machine component authentication system and method|

---

US6852219B2|2002-07-22|2005-02-08|John M. Hammond|Fluid separation and delivery apparatus and method|

---

US20060116908A1|2002-07-30|2006-06-01|Dew Douglas K|Web-based data entry system and method for generating medical records|

---

US9271753B2|2002-08-08|2016-03-01|Atropos Limited|Surgical device|

---

ES2310876T3|2002-10-04|2009-01-16|Tyco Healthcare Group Lp|SURGICAL STAPLER WITH UNIVERSAL ARTICULATION AND DEVICE FOR PREVIOUS FASTENING OF THE FABRIC.|

---

JP3769752B2|2002-12-24|2006-04-26|ソニー株式会社|Information processing apparatus and information processing method, data communication system, and program|

---

US7081096B2|2003-01-24|2006-07-25|Medtronic Vascular, Inc.|Temperature mapping balloon|

---

US7230529B2|2003-02-07|2007-06-12|Theradoc, Inc.|System, method, and computer program for interfacing an expert system to a clinical information system|

---

US7182775B2|2003-02-27|2007-02-27|Microline Pentax, Inc.|Super atraumatic grasper apparatus|

---

US8882657B2|2003-03-07|2014-11-11|Intuitive Surgical Operations, Inc.|Instrument having radio frequency identification systems and methods for use|

---

US20040243148A1|2003-04-08|2004-12-02|Wasielewski Ray C.|Use of micro- and miniature position sensing devices for use in TKA and THA|

---

US20070084897A1|2003-05-20|2007-04-19|Shelton Frederick E Iv|Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism|

---

US7143923B2|2003-05-20|2006-12-05|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a firing lockout for an unclosed anvil|

---

US6988649B2|2003-05-20|2006-01-24|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a spent cartridge lockout|

---

US9060770B2|2003-05-20|2015-06-23|Ethicon Endo-Surgery, Inc.|Robotically-driven surgical instrument with E-beam driver|

---

US7380695B2|2003-05-20|2008-06-03|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a single lockout mechanism for prevention of firing|

---

US7044352B2|2003-05-20|2006-05-16|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a single lockout mechanism for prevention of firing|

---

US6978921B2|2003-05-20|2005-12-27|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument incorporating an E-beam firing mechanism|

---

US9561045B2|2006-06-13|2017-02-07|Intuitive Surgical Operations, Inc.|Tool with rotation lock|

---

US20040243435A1|2003-05-29|2004-12-02|Med-Sched, Inc.|Medical information management system|

---

US20070168461A1|2005-02-01|2007-07-19|Moore James F|Syndicating surgical data in a healthcare environment|

---

US20050065438A1|2003-09-08|2005-03-24|Miller Landon C.G.|System and method of capturing and managing information during a medical diagnostic imaging procedure|

---

EP1517117A1|2003-09-22|2005-03-23|Leica Geosystems AG|Method and system for the determination of the actual position of a positioning apparatus|

---

US8147486B2|2003-09-22|2012-04-03|St. Jude Medical, Atrial Fibrillation Division, Inc.|Medical device with flexible printed circuit|

---

US20050063575A1|2003-09-22|2005-03-24|Ge Medical Systems Global Technology, Llc|System and method for enabling a software developer to introduce informational attributes for selective inclusion within image headers for medical imaging apparatus applications|

---

JP2005111085A|2003-10-09|2005-04-28|Olympus Corp|Operation supporting system|

---

US7169145B2|2003-11-21|2007-01-30|Megadyne Medical Products, Inc.|Tuned return electrode with matching inductor|

---

US7118564B2|2003-11-26|2006-10-10|Ethicon Endo-Surgery, Inc.|Medical treatment system with energy delivery device for limiting reuse|

---

US7317955B2|2003-12-12|2008-01-08|Conmed Corporation|Virtual operating room integration|

---

US7147139B2|2003-12-30|2006-12-12|Ethicon Endo-Surgery, Inc|Closure plate lockout for a curved cutter stapler|

---

US20050149356A1|2004-01-02|2005-07-07|Cyr Keneth K.|System and method for management of clinical supply operations|

---

US7766905B2|2004-02-12|2010-08-03|Covidien Ag|Method and system for continuity testing of medical electrodes|

---

ES2395916T3|2004-02-17|2013-02-18|Covidien Lp|Surgical stapling device with locking mechanism|

---

US20050192610A1|2004-02-27|2005-09-01|Houser Kevin L.|Ultrasonic surgical shears and tissue pad for same|

---

US20050222631A1|2004-04-06|2005-10-06|Nirav Dalal|Hierarchical data storage and analysis system for implantable medical devices|

---

US20050277913A1|2004-06-09|2005-12-15|Mccary Brian D|Heads-up display for displaying surgical parameters in a surgical microscope|

---

US20060020272A1|2004-06-24|2006-01-26|Gildenberg Philip L|Semi-robotic suturing device|

---

US7818041B2|2004-07-07|2010-10-19|Young Kim|System and method for efficient diagnostic analysis of ophthalmic examinations|

---

US8229549B2|2004-07-09|2012-07-24|Tyco Healthcare Group Lp|Surgical imaging device|

---

CA2513202C|2004-07-23|2015-03-31|Mehran Anvari|Multi-purpose robotic operating system and method|

---

US8905977B2|2004-07-28|2014-12-09|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser|

---

US7407074B2|2004-07-28|2008-08-05|Ethicon Endo-Surgery, Inc.|Electroactive polymer-based actuation mechanism for multi-fire surgical fastening instrument|

---

US7143925B2|2004-07-28|2006-12-05|Ethicon Endo-Surgery, Inc.|Surgical instrument incorporating EAP blocking lockout mechanism|

---

US7862579B2|2004-07-28|2011-01-04|Ethicon Endo-Surgery, Inc.|Electroactive polymer-based articulation mechanism for grasper|

---

US7784663B2|2005-03-17|2010-08-31|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having load sensing control circuitry|

---

US8123764B2|2004-09-20|2012-02-28|Endoevolution, Llc|Apparatus and method for minimally invasive suturing|

---

US7782789B2|2004-09-23|2010-08-24|Harris Corporation|Adaptive bandwidth utilization for telemetered data|

---

US20080015664A1|2004-10-06|2008-01-17|Podhajsky Ronald J|Systems and methods for thermally profiling radiofrequency electrodes|

---

JP2006158525A|2004-12-03|2006-06-22|Olympus Medical Systems Corp|Ultrasonic surgical apparatus, and method of driving ultrasonic treatment instrument|

---

US7371227B2|2004-12-17|2008-05-13|Ethicon Endo-Surgery, Inc.|Trocar seal assembly|

---

US7294116B1|2005-01-03|2007-11-13|Ellman Alan G|Surgical smoke plume evacuation system|

---

US20080040151A1|2005-02-01|2008-02-14|Moore James F|Uses of managed health care data|

---

WO2006083963A2|2005-02-03|2006-08-10|Christopher Sakezles|Models and methods of using same for testing medical devices|

---

US20060241399A1|2005-02-10|2006-10-26|Fabian Carl E|Multiplex system for the detection of surgical implements within the wound cavity|

---

AU2006218889A1|2005-02-28|2006-09-08|Rothman Healthcare Corporation|A system and method for improving hospital patient care by providing a continual measurement of health|

---

US8206345B2|2005-03-07|2012-06-26|Medtronic Cryocath Lp|Fluid control system for a medical device|

---

US7699860B2|2005-04-14|2010-04-20|Ethicon Endo-Surgery, Inc.|Surgical clip|

---

US8038686B2|2005-04-14|2011-10-18|Ethicon Endo-Surgery, Inc.|Clip applier configured to prevent clip fallout|

---

US7297149B2|2005-04-14|2007-11-20|Ethicon Endo-Surgery, Inc.|Surgical clip applier methods|

---

EP3095379A1|2005-04-15|2016-11-23|Surgisense Corporation|Surgical instruments with sensors for detecting tissue properties, and systems using such instruments|

---

US7362228B2|2005-04-28|2008-04-22|Warsaw Orthepedic, Inc.|Smart instrument tray RFID reader|

---

US7515961B2|2005-04-29|2009-04-07|Medtronic, Inc.|Method and apparatus for dynamically monitoring, detecting and diagnosing lead conditions|

---

US7464847B2|2005-06-03|2008-12-16|Tyco Healthcare Group Lp|Surgical stapler with timer and feedback display|

---

US7717312B2|2005-06-03|2010-05-18|Tyco Healthcare Group Lp|Surgical instruments employing sensors|

---

US8398541B2|2006-06-06|2013-03-19|Intuitive Surgical Operations, Inc.|Interactive user interfaces for robotic minimally invasive surgical systems|

---

US7833236B2|2005-06-13|2010-11-16|Ethicon Endo-Surgery, Inc.|Surgical suturing apparatus with collapsible vacuum chamber|

---

US8468030B2|2005-06-27|2013-06-18|Children's Mercy Hospital|System and method for collecting, organizing, and presenting date-oriented medical information|

---

US9662116B2|2006-05-19|2017-05-30|Ethicon, Llc|Electrically self-powered surgical instrument with cryptographic identification of interchangeable part|

---

US7770773B2|2005-07-27|2010-08-10|Power Medical Interventions, Llc|Surgical device|

---

US7621192B2|2005-07-29|2009-11-24|Dynatek Laboratories, Inc.|Medical device durability test apparatus having an integrated particle counter and method of use|

---

US20070027459A1|2005-07-29|2007-02-01|Christopher Horvath|Method and system for configuring and data populating a surgical device|

---

US7641092B2|2005-08-05|2010-01-05|Ethicon Endo - Surgery, Inc.|Swing gate for device lockout in a curved cutter stapler|

---

US7407075B2|2005-08-15|2008-08-05|Tyco Healthcare Group Lp|Staple cartridge having multiple staple sizes for a surgical stapling instrument|

---

US7720306B2|2005-08-29|2010-05-18|Photomed Technologies, Inc.|Systems and methods for displaying changes in biological responses to therapy|

---

US9237891B2|2005-08-31|2016-01-19|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical stapling devices that produce formed staples having different lengths|

---

US8096459B2|2005-10-11|2012-01-17|Ethicon Endo-Surgery, Inc.|Surgical stapler with an end effector support|

---

CA2625359A1|2005-10-11|2007-04-19|Blake Podaima|Smart medical compliance method and system|

---

US7966269B2|2005-10-20|2011-06-21|Bauer James D|Intelligent human-machine interface|

---

DE102005051367A1|2005-10-25|2007-04-26|Olympus Winter & Ibe Gmbh|Surgical jaw instrument e.g. for endoscopic surgery, has two joints having angle which can be moved relative to each other with bearing has joint section and far working section such as surgical muzzle instrument|

---

US7328828B2|2005-11-04|2008-02-12|Ethicon Endo-Surgery, Inc,|Lockout mechanisms and surgical instruments including same|

---

US7761164B2|2005-11-30|2010-07-20|Medtronic, Inc.|Communication system for medical devices|

---

AU2006326508B2|2005-12-14|2012-11-01|Stryker Corporation|Medical waste collection unit|

---

WO2007075091A2|2005-12-29|2007-07-05|Rikshospitalet - Radiumhospitalet Hf|Method and apparatus for determining local tissue impedance for positioning of a needle|

---

US7670334B2|2006-01-10|2010-03-02|Ethicon Endo-Surgery, Inc.|Surgical instrument having an articulating end effector|

---

EP1981406B1|2006-01-27|2016-04-13|Suturtek Incorporated|Apparatus for tissue closure|

---

US8820603B2|2006-01-31|2014-09-02|Ethicon Endo-Surgery, Inc.|Accessing data stored in a memory of a surgical instrument|

---

US8161977B2|2006-01-31|2012-04-24|Ethicon Endo-Surgery, Inc.|Accessing data stored in a memory of a surgical instrument|

---

US7464849B2|2006-01-31|2008-12-16|Ethicon Endo-Surgery, Inc.|Electro-mechanical surgical instrument with closure system and anvil alignment components|

---

US20120292367A1|2006-01-31|2012-11-22|Ethicon Endo-Surgery, Inc.|Robotically-controlled end effector|

---

US7422139B2|2006-01-31|2008-09-09|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting fastening instrument with tactile position feedback|

---

US20070175955A1|2006-01-31|2007-08-02|Shelton Frederick E Iv|Surgical cutting and fastening instrument with closure trigger locking mechanism|

---

US7575144B2|2006-01-31|2009-08-18|Ethicon Endo-Surgery, Inc.|Surgical fastener and cutter with single cable actuator|

---

US7568603B2|2006-01-31|2009-08-04|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting and fastening instrument with articulatable end effector|

---

US8763879B2|2006-01-31|2014-07-01|Ethicon Endo-Surgery, Inc.|Accessing data stored in a memory of surgical instrument|

---

US7845537B2|2006-01-31|2010-12-07|Ethicon Endo-Surgery, Inc.|Surgical instrument having recording capabilities|

---

US20190000569A1|2012-06-21|2019-01-03|Globus Medical, Inc.|Controlling a surgical robot to avoid robotic arm collision|

---

US20070225556A1|2006-03-23|2007-09-27|Ethicon Endo-Surgery, Inc.|Disposable endoscope devices|

---

US8992422B2|2006-03-23|2015-03-31|Ethicon Endo-Surgery, Inc.|Robotically-controlled endoscopic accessory channel|

---

US9636188B2|2006-03-24|2017-05-02|Stryker Corporation|System and method for 3-D tracking of surgical instrument in relation to patient body|

---

US20070270660A1|2006-03-29|2007-11-22|Caylor Edward J Iii|System and method for determining a location of an orthopaedic medical device|

---

US20080015912A1|2006-03-30|2008-01-17|Meryl Rosenthal|Systems and methods for workforce management|

---

US7667839B2|2006-03-30|2010-02-23|Particle Measuring Systems, Inc.|Aerosol particle sensor with axial fan|

---

FR2899932A1|2006-04-14|2007-10-19|Renault Sas|METHOD AND DEVICE FOR CONTROLLING THE REGENERATION OF A DEPOLLUTION SYSTEM|

---

US20070249990A1|2006-04-20|2007-10-25|Ioan Cosmescu|Automatic smoke evacuator and insufflation system for surgical procedures|

---

CN101448467B|2006-05-19|2014-07-09|马科外科公司|Method and apparatus for controlling a haptic device|

---

US8627995B2|2006-05-19|2014-01-14|Ethicon Endo-Sugery, Inc.|Electrically self-powered surgical instrument with cryptographic identification of interchangeable part|

---

EP2486872A3|2006-05-19|2013-03-06|Ethicon Endo-Surgery, Inc.|Surgical instrument and method for post-termination braking of a motor in an electrically powered surgical instrument|

---

US20070293218A1|2006-05-22|2007-12-20|Qualcomm Incorporated|Collision avoidance for traffic in a wireless network|

---

US9138129B2|2007-06-13|2015-09-22|Intuitive Surgical Operations, Inc.|Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide|

---

US8620473B2|2007-06-13|2013-12-31|Intuitive Surgical Operations, Inc.|Medical robotic system with coupled control modes|

---

US8560047B2|2006-06-16|2013-10-15|Board Of Regents Of The University Of Nebraska|Method and apparatus for computer aided surgery|

---

EP2034922B1|2006-06-22|2017-03-15|Board of Regents of the University of Nebraska|Magnetically coupleable robotic devices|

---

US20080059658A1|2006-06-29|2008-03-06|Nokia Corporation|Controlling the feeding of data from a feed buffer|

---

US7391173B2|2006-06-30|2008-06-24|Intuitive Surgical, Inc|Mechanically decoupled capstan drive|

---

CA2692368C|2006-07-03|2016-09-20|Beth Israel Deaconess Medical Center|Multi-channel medical imaging systems|

---

US7776037B2|2006-07-07|2010-08-17|Covidien Ag|System and method for controlling electrode gap during tissue sealing|

---

US20080013460A1|2006-07-17|2008-01-17|Geoffrey Benjamin Allen|Coordinated upload of content from multimedia capture devices based on a transmission rule|

---

US9757142B2|2006-08-09|2017-09-12|Olympus Corporation|Relay device and ultrasonic-surgical and electrosurgical system|

---

US10130359B2|2006-09-29|2018-11-20|Ethicon Llc|Method for forming a staple|

---

US8608043B2|2006-10-06|2013-12-17|Covidien Lp|Surgical instrument having a multi-layered drive beam|

---

US20080114212A1|2006-10-10|2008-05-15|General Electric Company|Detecting surgical phases and/or interventions|

---

EP2954868A1|2006-10-18|2015-12-16|Vessix Vascular, Inc.|Tuned rf energy and electrical tissue characterization for selective treatment of target tissues|

---

US8126728B2|2006-10-24|2012-02-28|Medapps, Inc.|Systems and methods for processing and transmittal of medical data through an intermediary device|

---

WO2008056618A2|2006-11-06|2008-05-15|Johnson & Johnson Kabushiki Kaisha|Stapling instrument|

---

WO2008069816A1|2006-12-06|2008-06-12|Ryan Timothy J|Apparatus and methods for delivering sutures|

---

US8062306B2|2006-12-14|2011-11-22|Ethicon Endo-Surgery, Inc.|Manually articulating devices|

---

US8684253B2|2007-01-10|2014-04-01|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor|

---

EP2117442A4|2007-02-06|2012-05-30|Stryker Corp|Universal surgical function control system|

---

US8930203B2|2007-02-18|2015-01-06|Abbott Diabetes Care Inc.|Multi-function analyte test device and methods therefor|

---

WO2008109014A2|2007-03-01|2008-09-12|Medtek Devices, Inc. Dba/ Buffalo Filter|Wick and relief valve for disposable laparscopic smoke evacuation system|

---

US7862560B2|2007-03-23|2011-01-04|Arthrocare Corporation|Ablation apparatus having reduced nerve stimulation and related methods|

---

US7995045B2|2007-04-13|2011-08-09|Ethicon Endo-Surgery, Inc.|Combined SBI and conventional image processor|

---

US20080255413A1|2007-04-13|2008-10-16|Michael Zemlok|Powered surgical instrument|

---

US8768251B2|2007-05-17|2014-07-01|Abbott Medical Optics Inc.|Exclusive pairing technique for Bluetooth compliant medical devices|

---

US20090036750A1|2007-05-25|2009-02-05|The Charles Stark Draper Laboratory, Inc.|Integration and control of medical devices in a clinical environment|

---

US20080296346A1|2007-05-31|2008-12-04|Shelton Iv Frederick E|Pneumatically powered surgical cutting and fastening instrument with electrical control and recording mechanisms|

---

US7753245B2|2007-06-22|2010-07-13|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments|

---

US8308040B2|2007-06-22|2012-11-13|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument with an articulatable end effector|

---

US8062330B2|2007-06-27|2011-11-22|Tyco Healthcare Group Lp|Buttress and surgical stapling apparatus|

---

US8321581B2|2007-10-19|2012-11-27|Voxer Ip Llc|Telecommunication and multimedia management method and apparatus|

---

US7982776B2|2007-07-13|2011-07-19|Ethicon Endo-Surgery, Inc.|SBI motion artifact removal apparatus and method|

---

US8512365B2|2007-07-31|2013-08-20|Ethicon Endo-Surgery, Inc.|Surgical instruments|

---

US9044261B2|2007-07-31|2015-06-02|Ethicon Endo-Surgery, Inc.|Temperature controlled ultrasonic surgical instruments|

---

US8801703B2|2007-08-01|2014-08-12|Covidien Lp|System and method for return electrode monitoring|

---

AU2008286957B2|2007-08-10|2012-11-01|Smiths Medical Asd, Inc.|System for controlling medical devices|

---

US9020240B2|2007-08-10|2015-04-28|Leica Geosystems Ag|Method and surveying system for noncontact coordinate measurement on an object surface|

---

US20090046146A1|2007-08-13|2009-02-19|Jonathan Hoyt|Surgical communication and control system|

---

US9848058B2|2007-08-31|2017-12-19|Cardiac Pacemakers, Inc.|Medical data transport over wireless life critical network employing dynamic communication link mapping|

---

GB0718291D0|2007-09-19|2007-10-31|King S College London|Imaging apparatus and method|

---

CA2698329C|2007-09-21|2016-04-26|Power Medical Interventions, Llc|Surgical device|

---

WO2009039506A1|2007-09-21|2009-03-26|Power Medical Interventions, Inc.|Surgical device|

---

US20090112618A1|2007-10-01|2009-04-30|Johnson Christopher D|Systems and methods for viewing biometrical information and dynamically adapting schedule and process interdependencies with clinical process decisioning|

---

US8960520B2|2007-10-05|2015-02-24|Covidien Lp|Method and apparatus for determining parameters of linear motion in a surgical instrument|

---

US10779818B2|2007-10-05|2020-09-22|Covidien Lp|Powered surgical stapling device|

---

AU2016200084B2|2015-01-16|2020-01-16|Covidien Lp|Powered surgical stapling device|

---

US20130214025A1|2007-10-05|2013-08-22|Covidien Lp|Powered surgical stapling device|

---

AU2008308606B2|2007-10-05|2014-12-18|Ethicon Endo-Surgery, Inc.|Ergonomic surgical instruments|

---

US10041822B2|2007-10-05|2018-08-07|Covidien Lp|Methods to shorten calibration times for powered devices|

---

US10498269B2|2007-10-05|2019-12-03|Covidien Lp|Powered surgical stapling device|

---

EP2053353A1|2007-10-26|2009-04-29|Leica Geosystems AG|Distance measuring method and corresponding device|

---

EP2060986B1|2007-11-13|2019-01-02|Karl Storz SE & Co. KG|System and method for management of processes in a hospital and/or in an operating room|

---

US8057498B2|2007-11-30|2011-11-15|Ethicon Endo-Surgery, Inc.|Ultrasonic surgical instrument blades|

---

DE102008061418A1|2007-12-12|2009-06-18|Erbe Elektromedizin Gmbh|Apparatus for contactless communication and use of a memory device|

---

EP2075096A1|2007-12-27|2009-07-01|Leica Geosystems AG|Method and system for extremely precise positioning of at least one object in the end position of a space|

---

US20090182577A1|2008-01-15|2009-07-16|Carestream Health, Inc.|Automated information management process|

---

US8561870B2|2008-02-13|2013-10-22|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument|

---

US7913891B2|2008-02-14|2011-03-29|Ethicon Endo-Surgery, Inc.|Disposable loading unit with user feedback features and surgical instrument for use therewith|

---

US8573465B2|2008-02-14|2013-11-05|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical end effector system with rotary actuated closure systems|

---

US8752749B2|2008-02-14|2014-06-17|Ethicon Endo-Surgery, Inc.|Robotically-controlled disposable motor-driven loading unit|

---

US9179912B2|2008-02-14|2015-11-10|Ethicon Endo-Surgery, Inc.|Robotically-controlled motorized surgical cutting and fastening instrument|

---

US7980443B2|2008-02-15|2011-07-19|Ethicon Endo-Surgery, Inc.|End effectors for a surgical cutting and stapling instrument|

---

US8608044B2|2008-02-15|2013-12-17|Ethicon Endo-Surgery, Inc.|Feedback and lockout mechanism for surgical instrument|

---

WO2009126553A2|2008-04-08|2009-10-15|The Quantum Group, Inc.|Dynamic integration of disparate health-related processes and data|

---

US20090259149A1|2008-04-15|2009-10-15|Naoko Tahara|Power supply apparatus for operation|

---

US20090259221A1|2008-04-15|2009-10-15|Naoko Tahara|Power supply apparatus for operation|

---

US9526407B2|2008-04-25|2016-12-27|Karl Storz Imaging, Inc.|Wirelessly powered medical devices and instruments|

---

WO2009140092A1|2008-05-13|2009-11-19|The Medicines Company|Maintenance of platelet inhibition during antiplatelet therapy|

---

CA2724127A1|2008-06-05|2009-12-10|Alcon Research, Ltd.|Wireless network and methods of wireless communication for ophthalmic surgical consoles|

---

US7789283B2|2008-06-06|2010-09-07|Tyco Healthcare Group Lp|Knife/firing rod connection for surgical instrument|

---

US7942303B2|2008-06-06|2011-05-17|Tyco Healthcare Group Lp|Knife lockout mechanisms for surgical instrument|

---

US20090308907A1|2008-06-12|2009-12-17|Nalagatla Anil K|Partially reusable surgical stapler|

---

US8628545B2|2008-06-13|2014-01-14|Covidien Lp|Endoscopic stitching devices|

---

US20090326336A1|2008-06-25|2009-12-31|Heinz Ulrich Lemke|Process for comprehensive surgical assist system by means of a therapy imaging and model management system |

---

US10258425B2|2008-06-27|2019-04-16|Intuitive Surgical Operations, Inc.|Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide|

---

CN101617950A|2008-07-01|2010-01-06|王爱娣|Repeating titanium clamp pincers|

---

US8771270B2|2008-07-16|2014-07-08|Intuitive Surgical Operations, Inc.|Bipolar cautery instrument|

---

US8054184B2|2008-07-31|2011-11-08|Intuitive Surgical Operations, Inc.|Identification of surgical instrument attached to surgical robot|

---

US8058771B2|2008-08-06|2011-11-15|Ethicon Endo-Surgery, Inc.|Ultrasonic device for cutting and coagulating with stepped output|

---

US9089360B2|2008-08-06|2015-07-28|Ethicon Endo-Surgery, Inc.|Devices and techniques for cutting and coagulating tissue|

---

WO2010019515A2|2008-08-10|2010-02-18|Board Of Regents, The University Of Texas System|Digital light processing hyperspectral imaging apparatus|

---

US8172836B2|2008-08-11|2012-05-08|Tyco Healthcare Group Lp|Electrosurgical system having a sensor for monitoring smoke or aerosols|

---

US8257387B2|2008-08-15|2012-09-04|Tyco Healthcare Group Lp|Method of transferring pressure in an articulating surgical instrument|

---

US20100070417A1|2008-09-12|2010-03-18|At&T Mobility Ii Llc|Network registration for content transactions|

---

WO2010030850A2|2008-09-12|2010-03-18|Ethicon Endo-Surgery, Inc.|Ultrasonic device for fingertip control|

---

US9107688B2|2008-09-12|2015-08-18|Ethicon Endo-Surgery, Inc.|Activation feature for surgical instrument with pencil grip|

---

EP2163209A1|2008-09-15|2010-03-17|Zhiqiang Weng|Lockout mechanism for a surgical stapler|

---

US9050083B2|2008-09-23|2015-06-09|Ethicon Endo-Surgery, Inc.|Motorized surgical instrument|

---

US8210411B2|2008-09-23|2012-07-03|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument|

---

US7988028B2|2008-09-23|2011-08-02|Tyco Healthcare Group Lp|Surgical instrument having an asymmetric dynamic clamping member|

---

US9439736B2|2009-07-22|2016-09-13|St. Jude Medical, Atrial Fibrillation Division, Inc.|System and method for controlling a remote medical device guidance system in three-dimensions using gestures|

---

MY160563A|2008-10-01|2017-03-15|Chevron Usa Inc|A 170 neutral base oil with improved properties|

---

WO2012044410A2|2010-09-20|2012-04-05|Surgiquest, Inc.|Multi-flow filtration system|

---

US8608045B2|2008-10-10|2013-12-17|Ethicon Endo-Sugery, Inc.|Powered surgical cutting and stapling apparatus with manually retractable firing system|

---

US8627483B2|2008-12-18|2014-01-07|Accenture Global Services Limited|Data anonymization based on guessing anonymity|

---

US8335590B2|2008-12-23|2012-12-18|Intuitive Surgical Operations, Inc.|System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device|

---

US9526587B2|2008-12-31|2016-12-27|Intuitive Surgical Operations, Inc.|Fiducial marker design and detection for locating surgical instrument in images|

---

US8160098B1|2009-01-14|2012-04-17|Cisco Technology, Inc.|Dynamically allocating channel bandwidth between interfaces|

---

US20100191100A1|2009-01-23|2010-07-29|Warsaw Orthopedic, Inc.|Methods and systems for diagnosing, treating, or tracking spinal disorders|

---

EP2391259A1|2009-01-30|2011-12-07|The Trustees Of Columbia University In The City Of New York|Controllable magnetic source to fixture intracorporeal apparatus|

---

CN102300516B|2009-01-30|2014-07-23|皇家飞利浦电子股份有限公司|Examination apparatus|

---

US8799009B2|2009-02-02|2014-08-05|Mckesson Financial Holdings|Systems, methods and apparatuses for predicting capacity of resources in an institution|

---

US20100198248A1|2009-02-02|2010-08-05|Ethicon Endo-Surgery, Inc.|Surgical dissector|

---

ES2398006T3|2009-02-04|2013-03-13|Stryker Leibinger Gmbh & Co. Kg|Electric surgical tool and drive assembly for it|

---

US8641621B2|2009-02-17|2014-02-04|Inneroptic Technology, Inc.|Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures|

---

US8914098B2|2009-03-08|2014-12-16|Oprobe, Llc|Medical and veterinary imaging and diagnostic procedures utilizing optical probe systems|

---

US8120301B2|2009-03-09|2012-02-21|Intuitive Surgical Operations, Inc.|Ergonomic surgeon control console in robotic surgical systems|

---

US20100235689A1|2009-03-16|2010-09-16|Qualcomm Incorporated|Apparatus and method for employing codes for telecommunications|

---

US8277446B2|2009-04-24|2012-10-02|Tyco Healthcare Group Lp|Electrosurgical tissue sealer and cutter|

---

US8012170B2|2009-04-27|2011-09-06|Tyco Healthcare Group Lp|Device and method for controlling compression of tissue|

---

US10271844B2|2009-04-27|2019-04-30|Covidien Lp|Surgical stapling apparatus employing a predictive stapling algorithm|

---

US9656092B2|2009-05-12|2017-05-23|Chronicmobile, Inc.|Methods and systems for managing, controlling and monitoring medical devices via one or more software applications functioning in a secure environment|

---

GB0908368D0|2009-05-15|2009-06-24|Univ Leuven Kath|Adjustable remote center of motion positioner|

---

WO2010141922A1|2009-06-04|2010-12-09|Abbott Diabetes Care Inc.|Method and system for updating a medical device|

---

US8827134B2|2009-06-19|2014-09-09|Covidien Lp|Flexible surgical stapler with motor in the head|

---

US8663220B2|2009-07-15|2014-03-04|Ethicon Endo-Surgery, Inc.|Ultrasonic surgical instruments|

---

US9017326B2|2009-07-15|2015-04-28|Ethicon Endo-Surgery, Inc.|Impedance monitoring apparatus, system, and method for ultrasonic surgical instruments|

---

FR2948594B1|2009-07-31|2012-07-20|Dexterite Surgical|ERGONOMIC AND SEMI-AUTOMATIC MANIPULATOR AND INSTRUMENT APPLICATIONS FOR MINI-INVASIVE SURGERY|

---

US8968358B2|2009-08-05|2015-03-03|Covidien Lp|Blunt tissue dissection surgical instrument jaw designs|

---

EP2329786A2|2009-10-01|2011-06-08|Navotek Medical Ltd.|Guided surgery|

---

US20110125521A1|2009-10-02|2011-05-26|Rabin Chandra Kemp Dhoble|Apparatuses, methods and systems for a mobile healthcare manager-based healthcare consultation manager|

---

US9168054B2|2009-10-09|2015-10-27|Ethicon Endo-Surgery, Inc.|Surgical generator for ultrasonic and electrosurgical devices|

---

US8986302B2|2009-10-09|2015-03-24|Ethicon Endo-Surgery, Inc.|Surgical generator for ultrasonic and electrosurgical devices|

---

US10441345B2|2009-10-09|2019-10-15|Ethicon Llc|Surgical generator for ultrasonic and electrosurgical devices|

---

WO2011047295A2|2009-10-16|2011-04-21|Nanomedapps Llc|Item and user tracking|

---

US8398633B2|2009-10-30|2013-03-19|Covidien Lp|Jaw roll joint|

---

US8225979B2|2009-10-30|2012-07-24|Tyco Healthcare Group Lp|Locking shipping wedge|

---

DK2320621T3|2009-11-06|2016-12-19|F Hoffmann-La Roche Ag|A method of establishing a cryptographic communication between a remote device and a medical device and system for carrying out this method|

---

KR101923049B1|2009-11-13|2018-11-28|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|End effector with redundant closing mechanisms|

---

US8682489B2|2009-11-13|2014-03-25|Intuitive Sugical Operations, Inc.|Method and system for hand control of a teleoperated minimally invasive slave surgical instrument|

---

KR102092384B1|2009-11-13|2020-03-23|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|Surgical tool with a compact wrist|

---

US9259275B2|2009-11-13|2016-02-16|Intuitive Surgical Operations, Inc.|Wrist articulation by linked tension members|

---

US10105140B2|2009-11-20|2018-10-23|Covidien Lp|Surgical console and hand-held surgical device|

---

US10588629B2|2009-11-20|2020-03-17|Covidien Lp|Surgical console and hand-held surgical device|

---

EP2544598B1|2010-03-12|2020-05-06|The Board of Trustees of the University of Illionis|Waterproof stretchable optoelectronics|

---

WO2012051200A2|2010-10-11|2012-04-19|Cook Medical Technologies Llc|Medical devices with detachable pivotable jaws|

---

US8220688B2|2009-12-24|2012-07-17|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument with electric actuator directional control assembly|

---

US20110162048A1|2009-12-31|2011-06-30|Apple Inc.|Local device awareness|

---

US20120319859A1|2010-01-20|2012-12-20|Creative Team Instruments Ltd.|Orientation detector for use with a hand-held surgical or dental tool|

---

US10044791B2|2010-01-22|2018-08-07|Deka Products Limited Partnership|System, method, and apparatus for communicating data|

---

US8476227B2|2010-01-22|2013-07-02|Ethicon Endo-Surgery, Inc.|Methods of activating a melanocortin-4 receptor pathway in obese subjects|

---

US8439910B2|2010-01-22|2013-05-14|Megadyne Medical Products Inc.|Electrosurgical electrode with electric field concentrating flash edge|

---

GB2477515B|2010-02-03|2012-09-26|Orbital Multi Media Holdings Corp|Data flow control method and apparatus|

---

MX2012001235A|2010-02-04|2012-05-23|Aesculap Ag|Laparoscopic radiofrequency surgical device.|

---

US9107684B2|2010-03-05|2015-08-18|Covidien Lp|System and method for transferring power to intrabody instruments|

---

US20130024213A1|2010-03-25|2013-01-24|The Research Foundation Of State University Of New York|Method and system for guided, efficient treatment|

---

JP5405373B2|2010-03-26|2014-02-05|富士フイルム株式会社|Electronic endoscope system|

---

CN102845090B|2010-04-13|2016-07-06|皇家飞利浦电子股份有限公司|There is the medical body area network that the frequency spectrum behaviour in service based on key controls|

---

AU2015201140B2|2010-06-11|2017-02-09|Ethicon, Llc|Suture delivery tools for endoscopic and robot-assisted surgery and methods|

---

US8596515B2|2010-06-18|2013-12-03|Covidien Lp|Staple position sensor system|

---

US8968337B2|2010-07-28|2015-03-03|Covidien Lp|Articulating clip applier|

---

US8403946B2|2010-07-28|2013-03-26|Covidien Lp|Articulating clip applier cartridge|

---

US8360296B2|2010-09-09|2013-01-29|Ethicon Endo-Surgery, Inc.|Surgical stapling head assembly with firing lockout for a surgical stapler|

---

US8632525B2|2010-09-17|2014-01-21|Ethicon Endo-Surgery, Inc.|Power control arrangements for surgical instruments and batteries|

---

US9289212B2|2010-09-17|2016-03-22|Ethicon Endo-Surgery, Inc.|Surgical instruments and batteries for surgical instruments|

---

US8733613B2|2010-09-29|2014-05-27|Ethicon Endo-Surgery, Inc.|Staple cartridge|

---

US9314246B2|2010-09-30|2016-04-19|Ethicon Endo-Surgery, Llc|Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent|

---

US9320523B2|2012-03-28|2016-04-26|Ethicon Endo-Surgery, Llc|Tissue thickness compensator comprising tissue ingrowth features|

---

BR112013027794B1|2011-04-29|2020-12-15|Ethicon Endo-Surgery, Inc|CLAMP CARTRIDGE SET|

---

US9861361B2|2010-09-30|2018-01-09|Ethicon Llc|Releasable tissue thickness compensator and fastener cartridge having the same|

---

US9204880B2|2012-03-28|2015-12-08|Ethicon Endo-Surgery, Inc.|Tissue thickness compensator comprising capsules defining a low pressure environment|

---

PL3120781T3|2010-09-30|2018-12-31|Ethicon Llc|Surgical stapling instrument with interchangeable staple cartridge arrangements|

---

US8777004B2|2010-09-30|2014-07-15|Ethicon Endo-Surgery, Inc.|Compressible staple cartridge comprising alignment members|

---

JP5902180B2|2010-09-30|2016-04-13|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Fastening system including retention matrix and alignment matrix|

---

US9386984B2|2013-02-08|2016-07-12|Ethicon Endo-Surgery, Llc|Staple cartridge comprising a releasable cover|

---

US8740037B2|2010-09-30|2014-06-03|Ethicon Endo-Surgery, Inc.|Compressible fastener cartridge|

---

US9381058B2|2010-11-05|2016-07-05|Ethicon Endo-Surgery, Llc|Recharge system for medical devices|

---

US9161803B2|2010-11-05|2015-10-20|Ethicon Endo-Surgery, Inc.|Motor driven electrosurgical device with mechanical and electrical feedback|

---

US20120116381A1|2010-11-05|2012-05-10|Houser Kevin L|Surgical instrument with charging station and wireless communication|

---

US9072523B2|2010-11-05|2015-07-07|Ethicon Endo-Surgery, Inc.|Medical device with feature for sterile acceptance of non-sterile reusable component|

---

US9782214B2|2010-11-05|2017-10-10|Ethicon Llc|Surgical instrument with sensor and powered control|

---

EP2640301B1|2010-11-15|2016-03-30|Intuitive Surgical Operations, Inc.|Decoupling instrument shaft roll and end effector actuation in a surgical instrument|

---

US20120130217A1|2010-11-23|2012-05-24|Kauphusman James V|Medical devices having electrodes mounted thereon and methods of manufacturing therefor|

---

EP2458328B1|2010-11-24|2016-01-27|Leica Geosystems AG|Construction measuring device with an automatic plumbing point finding function|

---

US9044244B2|2010-12-10|2015-06-02|Biosense Webster , Ltd.|System and method for detection of metal disturbance based on mutual inductance measurement|

---

WO2015134768A1|2011-01-11|2015-09-11|Amsel Medical Corporation|Method and apparatus for occluding a blood vessel and/or other tubular structures|

---

US8818556B2|2011-01-13|2014-08-26|Microsoft Corporation|Multi-state model for robot and user interaction|

---

US8798527B2|2011-01-14|2014-08-05|Covidien Lp|Wireless relay module for remote monitoring systems|

---

EP2789209A1|2011-12-05|2014-10-15|Qualcomm Incorporated|Telehealth wireless communication hub device and service platform system|

---

EP2672903A4|2011-02-10|2017-07-12|Actuated Medical, Inc.|Medical tool with electromechanical control and feedback|

---

KR101964642B1|2011-02-15|2019-04-02|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft|

---

KR102081754B1|2011-02-15|2020-02-26|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|Systems for detecting clamping or firing failure|

---

WO2012112251A1|2011-02-15|2012-08-23|Intuitive Surgical Operations, Inc.|Systems for indicating a clamping prediction|

---

US9393017B2|2011-02-15|2016-07-19|Intuitive Surgical Operations, Inc.|Methods and systems for detecting staple cartridge misfire or failure|

---

US20120211542A1|2011-02-23|2012-08-23|Tyco Healthcare Group I.P|Controlled tissue compression systems and methods|

---

US8397972B2|2011-03-18|2013-03-19|Covidien Lp|Shipping wedge with lockout|

---

US20120245958A1|2011-03-25|2012-09-27|Surgichart, Llc|Case-Centric Medical Records System with Social Networking|

---

EP2509276B1|2011-04-05|2013-11-20|F. Hoffmann-La Roche AG|Method for secure transmission of electronic data over a data communication connection between one device and another|

---

CN103635130A|2011-04-15|2014-03-12|信息生物股份有限公司|Remote data monitoring and collection system with multi-tiered analysis|

---

US8926542B2|2011-04-29|2015-01-06|Medtronic, Inc.|Monitoring fluid volume for patients with renal disease|

---

US9861354B2|2011-05-06|2018-01-09|Ceterix Orthopaedics, Inc.|Meniscus repair|

---

US9820741B2|2011-05-12|2017-11-21|Covidien Lp|Replaceable staple cartridge|

---

JP5816457B2|2011-05-12|2015-11-18|オリンパス株式会社|Surgical device|

---

US20130317837A1|2012-05-24|2013-11-28|Deka Products Limited Partnership|System, Method, and Apparatus for Electronic Patient Care|

---

US9202078B2|2011-05-27|2015-12-01|International Business Machines Corporation|Data perturbation and anonymization using one way hash|

---

US9072535B2|2011-05-27|2015-07-07|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments with rotatable staple deployment arrangements|

---

WO2012174539A1|2011-06-17|2012-12-20|Parallax Enterprises|Consolidated healthcare and resource management system|

---

US20140107697A1|2012-06-25|2014-04-17|Castle Surgical, Inc.|Clamping Forceps and Associated Methods|

---

US9652655B2|2011-07-09|2017-05-16|Gauss Surgical, Inc.|System and method for estimating extracorporeal blood volume in a physical sample|

---

JP6021353B2|2011-08-04|2016-11-09|オリンパス株式会社|Surgery support device|

---

WO2013023006A2|2011-08-08|2013-02-14|California Institute Of Technology|Filtration membranes, and related nano and/or micro fibers, composites, methods and systems|

---

US9724095B2|2011-08-08|2017-08-08|Covidien Lp|Surgical fastener applying apparatus|

---

US9539007B2|2011-08-08|2017-01-10|Covidien Lp|Surgical fastener applying aparatus|

---

US9123155B2|2011-08-09|2015-09-01|Covidien Lp|Apparatus and method for using augmented reality vision system in surgical procedures|

---

US20130046279A1|2011-08-16|2013-02-21|Paul J. Niklewski|User interface feature for drug delivery system|

---

US8685056B2|2011-08-18|2014-04-01|Covidien Lp|Surgical forceps|

---

WO2013036496A1|2011-09-09|2013-03-14|Depuy Spine, Inc.|Systems and methods for surgical support and management|

---

US9101359B2|2011-09-13|2015-08-11|Ethicon Endo-Surgery, Inc.|Surgical staple cartridge with self-dispensing staple buttress|

---

WO2013049386A1|2011-09-27|2013-04-04|Allied Minds Devices Llc|Instruct-or|

---

WO2013049595A1|2011-09-29|2013-04-04|Ethicon Endo-Surgery, Inc.|Methods and compositions of bile acids|

---

US8931679B2|2011-10-17|2015-01-13|Covidien Lp|Surgical stapling apparatus|

---

US9016539B2|2011-10-25|2015-04-28|Covidien Lp|Multi-use loading unit|

---

US8657177B2|2011-10-25|2014-02-25|Covidien Lp|Surgical apparatus and method for endoscopic surgery|

---

US9480492B2|2011-10-25|2016-11-01|Covidien Lp|Apparatus for endoscopic procedures|

---

US9492146B2|2011-10-25|2016-11-15|Covidien Lp|Apparatus for endoscopic procedures|

---

EP2770937B1|2011-10-26|2016-10-05|Intuitive Surgical Operations, Inc.|Cartridge status and presence detection|

---

KR102019754B1|2011-10-26|2019-09-10|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|Surgical instrument with integral knife blade|

---

US8912746B2|2011-10-26|2014-12-16|Intuitive Surgical Operations, Inc.|Surgical instrument motor pack latch|

---

US9364231B2|2011-10-27|2016-06-14|Covidien Lp|System and method of using simulation reload to optimize staple formation|

---

US10496788B2|2012-09-13|2019-12-03|Parkland Center For Clinical Innovation|Holistic hospital patient care and management system and method for automated patient monitoring|

---

US9277956B2|2011-11-09|2016-03-08|Siemens Medical Solutions Usa, Inc.|System for automatic medical ablation control|

---

US8968309B2|2011-11-10|2015-03-03|Covidien Lp|Surgical forceps|

---

EP2781195B1|2011-11-16|2016-10-26|Olympus Corporation|Medical instrument|

---

US8968336B2|2011-12-07|2015-03-03|Edwards Lifesciences Corporation|Self-cinching surgical clips and delivery system|

---

US20130165776A1|2011-12-22|2013-06-27|Andreas Blomqvist|Contraction status assessment|

---

US20130178853A1|2012-01-05|2013-07-11|International Business Machines Corporation|Surgical tool management|

---

US9867914B2|2012-01-10|2018-01-16|Buffalo Filter Llc|Fluid filtration device and system|

---

US8962062B2|2012-01-10|2015-02-24|Covidien Lp|Methods of manufacturing end effectors for energy-based surgical instruments|

---

US9641596B2|2012-01-25|2017-05-02|Panasonic Intellectual Property Management Co., Ltd.|Home appliance information management apparatus, home appliance information sharing method, and home appliance information sharing system|

---

US9183723B2|2012-01-31|2015-11-10|Cleanalert, Llc|Filter clog detection and notification system|

---

US9710644B2|2012-02-01|2017-07-18|Servicenow, Inc.|Techniques for sharing network security event information|

---

US9038882B2|2012-02-03|2015-05-26|Covidien Lp|Circular stapling instrument|

---

US20140066700A1|2012-02-06|2014-03-06|Vantage Surgical Systems Inc.|Stereoscopic System for Minimally Invasive Surgery Visualization|

---

CN104135952B|2012-02-14|2017-07-14|伊西康内外科公司|Linear staplers|

---

US8682049B2|2012-02-14|2014-03-25|Terarecon, Inc.|Cloud-based medical image processing system with access control|

---

WO2013134411A1|2012-03-06|2013-09-12|Briteseed, Llc|Surgical tool with integrated sensor|

---

US9364249B2|2012-03-22|2016-06-14|Ethicon Endo-Surgery, Llc|Method and apparatus for programming modular surgical instrument|

---

US20130253480A1|2012-03-22|2013-09-26|Cory G. Kimball|Surgical instrument usage data management|

---

US9381003B2|2012-03-23|2016-07-05|Integrated Medical Systems International, Inc.|Digital controller for surgical handpiece|

---

US9078653B2|2012-03-26|2015-07-14|Ethicon Endo-Surgery, Inc.|Surgical stapling device with lockout system for preventing actuation in the absence of an installed staple cartridge|

---

US9375282B2|2012-03-26|2016-06-28|Covidien Lp|Light energy sealing, cutting and sensing surgical device|

---

WO2013143573A1|2012-03-26|2013-10-03|Brainlab Ag|Pairing medical devices within a working environment|

---

US20130256373A1|2012-03-28|2013-10-03|Ethicon Endo-Surgery, Inc.|Devices and methods for attaching tissue thickness compensating materials to surgical stapling instruments|

---

JP2013202313A|2012-03-29|2013-10-07|Panasonic Corp|Surgery support device and surgery support program|

---

US9226766B2|2012-04-09|2016-01-05|Ethicon Endo-Surgery, Inc.|Serial communication protocol for medical device|

---

US9724118B2|2012-04-09|2017-08-08|Ethicon Endo-Surgery, Llc|Techniques for cutting and coagulating tissue for ultrasonic surgical instruments|

---

US9241731B2|2012-04-09|2016-01-26|Ethicon Endo-Surgery, Inc.|Rotatable electrical connection for ultrasonic surgical instruments|

---

JP5940864B2|2012-04-12|2016-06-29|カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト|Medical manipulator|

---

JP5997365B2|2012-04-18|2016-09-28|カーディカ インコーポレイテッド|Safety lockout for surgical staplers|

---

US9788851B2|2012-04-18|2017-10-17|Ethicon Llc|Surgical instrument with tissue density sensing|

---

US20150133945A1|2012-05-02|2015-05-14|Stryker Global Technology Center|Handheld tracking system and devices for aligning implant systems during surgery|

---

US20190104919A1|2012-05-20|2019-04-11|Ethicon Llc|Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage|

---

US9439622B2|2012-05-22|2016-09-13|Covidien Lp|Surgical navigation system|

---

US9572592B2|2012-05-31|2017-02-21|Ethicon Endo-Surgery, Llc|Surgical instrument with orientation sensing|

---

US9084606B2|2012-06-01|2015-07-21|Megadyne Medical Products, Inc.|Electrosurgical scissors|

---

KR20130136184A|2012-06-04|2013-12-12|삼성전자주식회사|Method for contents backup and an electronic device thereof|

---

US20130325352A1|2012-06-05|2013-12-05|Dexcom, Inc.|Calculation engine based on histograms|

---

US20130331875A1|2012-06-11|2013-12-12|Covidien Lp|Temperature estimation and tissue detection of an ultrasonic dissector from frequency response monitoring|

---

US10677764B2|2012-06-11|2020-06-09|Covidien Lp|Temperature estimation and tissue detection of an ultrasonic dissector from frequency response monitoring|

---

US9101358B2|2012-06-15|2015-08-11|Ethicon Endo-Surgery, Inc.|Articulatable surgical instrument comprising a firing drive|

---

US9629523B2|2012-06-27|2017-04-25|Camplex, Inc.|Binocular viewing assembly for a surgical visualization system|

---

US9072536B2|2012-06-28|2015-07-07|Ethicon Endo-Surgery, Inc.|Differential locking arrangements for rotary powered surgical instruments|

---

US20140001231A1|2012-06-28|2014-01-02|Ethicon Endo-Surgery, Inc.|Firing system lockout arrangements for surgical instruments|

---

US9649111B2|2012-06-28|2017-05-16|Ethicon Endo-Surgery, Llc|Replaceable clip cartridge for a clip applier|

---

US9028494B2|2012-06-28|2015-05-12|Ethicon Endo-Surgery, Inc.|Interchangeable end effector coupling arrangement|

---

US10930400B2|2012-06-28|2021-02-23|LiveData, Inc.|Operating room checklist system|

---

RU2636861C2|2012-06-28|2017-11-28|Этикон Эндо-Серджери, Инк.|Blocking of empty cassette with clips|

---

US9364230B2|2012-06-28|2016-06-14|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with rotary joint assemblies|

---

US9119657B2|2012-06-28|2015-09-01|Ethicon Endo-Surgery, Inc.|Rotary actuatable closure arrangement for surgical end effector|

---

US20140005718A1|2012-06-28|2014-01-02|Ethicon Endo-Surgery, Inc.|Multi-functional powered surgical device with external dissection features|

---

US20140006132A1|2012-06-28|2014-01-02|Jason W. Barker|Systems and methods for managing promotional offers|

---

US9561038B2|2012-06-28|2017-02-07|Ethicon Endo-Surgery, Llc|Interchangeable clip applier|

---

US9393037B2|2012-06-29|2016-07-19|Ethicon Endo-Surgery, Llc|Surgical instruments with articulating shafts|

---

US10194907B2|2012-07-18|2019-02-05|Covidien Lp|Multi-fire stapler with electronic counter, lockout, and visual indicator|

---

US9516239B2|2012-07-26|2016-12-06|DePuy Synthes Products, Inc.|YCBCR pulsed illumination scheme in a light deficient environment|

---

US20140029411A1|2012-07-27|2014-01-30|Samsung Electronics Co., Ltd.|Method and system to provide seamless data transmission|

---

US9119655B2|2012-08-03|2015-09-01|Stryker Corporation|Surgical manipulator capable of controlling a surgical instrument in multiple modes|

---

US8761717B1|2012-08-07|2014-06-24|Brian K. Buchheit|Safety feature to disable an electronic device when a wireless implantable medical device is proximate|

---

JP6257930B2|2012-08-07|2018-01-10|東芝メディカルシステムズ株式会社|Ultrasonic diagnostic apparatus and ultrasonic probe|

---

US9101374B1|2012-08-07|2015-08-11|David Harris Hoch|Method for guiding an ablation catheter based on real time intracardiac electrical signals and apparatus for performing the method|

---

EP2698602A1|2012-08-16|2014-02-19|Leica Geosystems AG|Hand-held distance measuring device with angle calculation unit|

---

EP2890319B1|2012-08-28|2019-03-27|Covidien LP|Adjustable electrosurgical pencil|

---

CN103654896B|2012-09-14|2015-12-02|苏州天臣国际医疗科技有限公司|The nail bin of Linear seam cutting device|

---

US20140081659A1|2012-09-17|2014-03-20|Depuy Orthopaedics, Inc.|Systems and methods for surgical and interventional planning, support, post-operative follow-up, and functional recovery tracking|

---

US9250172B2|2012-09-21|2016-02-02|Ethicon Endo-Surgery, Inc.|Systems and methods for predicting metabolic and bariatric surgery outcomes|

---

US20140087999A1|2012-09-21|2014-03-27|The General Hospital Corporation D/B/A Massachusetts General Hospital|Clinical predictors of weight loss|

---

JP5719819B2|2012-09-28|2015-05-20|日本光電工業株式会社|Surgery support system|

---

US9106270B2|2012-10-02|2015-08-11|Covidien Lp|Transmitting data across a patient isolation barrier using an electric-field capacitive coupler module|

---

US9107573B2|2012-10-17|2015-08-18|Karl Storz Endovision, Inc.|Detachable shaft flexible endoscope|

---

US9095367B2|2012-10-22|2015-08-04|Ethicon Endo-Surgery, Inc.|Flexible harmonic waveguides/blades for surgical instruments|

---

US9265585B2|2012-10-23|2016-02-23|Covidien Lp|Surgical instrument with rapid post event detection|

---

US9918788B2|2012-10-31|2018-03-20|St. Jude Medical, Atrial Fibrillation Division, Inc.|Electrogram-based ablation control|

---

US9686306B2|2012-11-02|2017-06-20|University Of Washington Through Its Center For Commercialization|Using supplemental encrypted signals to mitigate man-in-the-middle attacks on teleoperated systems|

---

US10631939B2|2012-11-02|2020-04-28|Intuitive Surgical Operations, Inc.|Systems and methods for mapping flux supply paths|

---

CA2795323C|2012-11-09|2019-09-24|Covidien Lp|Multi-use loading unit|

---

ES2736004T3|2012-11-14|2019-12-23|Covidien Lp|Multipurpose Charging Unit|

---

US9546662B2|2012-11-20|2017-01-17|Smith & Nephew, Inc.|Medical pump|

---

US9743016B2|2012-12-10|2017-08-22|Intel Corporation|Techniques for improved focusing of camera arrays|

---

FR2999757A1|2012-12-13|2014-06-20|Patrick Coudert|METHOD FOR SECURE ACCESS TO CONFIDENTIAL MEDICAL DATA, AND STORAGE MEDIUM FOR SAID METHOD|

---

US9498207B2|2012-12-13|2016-11-22|Ethicon Endo-Surgery, Llc|Cartridge interface for surgical suturing device|

---

US9320534B2|2012-12-13|2016-04-26|Alcon Research, Ltd.|Fine membrane forceps with integral scraping feature|

---

CN202953237U|2012-12-14|2013-05-29|纬创资通股份有限公司|Carton box structure|

---

US10722222B2|2012-12-14|2020-07-28|Covidien Lp|Surgical system including a plurality of handle assemblies|

---

US9597081B2|2012-12-17|2017-03-21|Ethicon Endo-Surgery, Llc|Motor driven rotary input circular stapler with modular end effector|

---

US9463022B2|2012-12-17|2016-10-11|Ethicon Endo-Surgery, Llc|Motor driven rotary input circular stapler with lockable flexible shaft|

---

US20140187856A1|2012-12-31|2014-07-03|Lee D. Holoien|Control System For Modular Imaging Device|

---

GB2509523A|2013-01-07|2014-07-09|Anish Kumar Mampetta|Surgical instrument with flexible members and a motor|

---

US10265090B2|2013-01-16|2019-04-23|Covidien Lp|Hand held electromechanical surgical system including battery compartment diagnostic display|

---

US9370248B2|2013-01-31|2016-06-21|Enrique Ramirez Magaña|Theater seating system with reclining seats and comfort divider|

---

KR101451970B1|2013-02-19|2014-10-23|주식회사 루트로닉|An ophthalmic surgical apparatus and an method for controlling that|

---

WO2014134196A1|2013-02-26|2014-09-04|Eastern Virginia Medical School|Augmented shared situational awareness system|

---

US10098527B2|2013-02-27|2018-10-16|Ethidcon Endo-Surgery, Inc.|System for performing a minimally invasive surgical procedure|

---

US9808248B2|2013-02-28|2017-11-07|Ethicon Llc|Installation features for surgical instrument end effector cartridge|

---

US9717497B2|2013-02-28|2017-08-01|Ethicon Llc|Lockout feature for movable cutting member of surgical instrument|

---

US9700309B2|2013-03-01|2017-07-11|Ethicon Llc|Articulatable surgical instruments with conductive pathways for signal communication|

---

RU2669463C2|2013-03-01|2018-10-11|Этикон Эндо-Серджери, Инк.|Surgical instrument with soft stop|

---

KR102117270B1|2013-03-06|2020-06-01|삼성전자주식회사|Surgical robot system and method for controlling the same|

---

US9414776B2|2013-03-06|2016-08-16|Navigated Technologies, LLC|Patient permission-based mobile health-linked information collection and exchange systems and methods|

---

US9706993B2|2013-03-08|2017-07-18|Covidien Lp|Staple cartridge with shipping wedge|

---

US9204995B2|2013-03-12|2015-12-08|Katalyst Surgical, Llc|Membrane removing forceps|

---

US9629628B2|2013-03-13|2017-04-25|Covidien Lp|Surgical stapling apparatus|

---

US9814463B2|2013-03-13|2017-11-14|Covidien Lp|Surgical stapling apparatus|

---

US20140263552A1|2013-03-13|2014-09-18|Ethicon Endo-Surgery, Inc.|Staple cartridge tissue thickness sensor system|

---

US9314308B2|2013-03-13|2016-04-19|Ethicon Endo-Surgery, Llc|Robotic ultrasonic surgical device with articulating end effector|

---

US9289211B2|2013-03-13|2016-03-22|Covidien Lp|Surgical stapling apparatus|

---

EP3135225B1|2013-03-13|2019-08-14|Covidien LP|Surgical stapling apparatus|

---

US9717498B2|2013-03-13|2017-08-01|Covidien Lp|Surgical stapling apparatus|

---

US9629629B2|2013-03-14|2017-04-25|Ethicon Endo-Surgey, LLC|Control systems for surgical instruments|

---

KR102257030B1|2013-03-14|2021-05-27|어플라이드 메디컬 리소시스 코포레이션|Surgical stapler with partial pockets|

---

US9114494B1|2013-03-14|2015-08-25|Kenneth Jack Mah|Electronic drill guide|

---

WO2014142926A1|2013-03-14|2014-09-18|Empire Technology Development Llc|Identification of surgical smoke|

---

US9687230B2|2013-03-14|2017-06-27|Ethicon Llc|Articulatable surgical instrument comprising a firing drive|

---

US20150313538A1|2013-03-14|2015-11-05|Kate Leeann Bechtel|Identification of surgical smoke|

---

US9668765B2|2013-03-15|2017-06-06|The Spectranetics Corporation|Retractable blade for lead removal device|

---

JP6396417B2|2013-03-15|2018-09-26|アプライド メディカル リソーシーズ コーポレイション|Surgical stapler having an actuating mechanism with a rotatable shaft|

---

US9788906B2|2013-03-15|2017-10-17|Synaptive Medical Inc.|Context aware surgical systems for intraoperatively configuring imaging devices|

---

EP2967294B1|2013-03-15|2020-07-29|DePuy Synthes Products, Inc.|Super resolution and color motion artifact correction in a pulsed color imaging system|

---

AU2014233193B2|2013-03-15|2018-11-01|DePuy Synthes Products, Inc.|Controlling the integral light energy of a laser pulse|

---

JP6527086B2|2013-03-15|2019-06-05|シナプティヴ メディカル （バルバドス） インコーポレイテッドＳｙｎａｐｔｉｖｅ Ｍｅｄｉｃａｌ （Ｂａｒｂａｄｏｓ） Ｉｎｃ．|Imaging system for hyperspectral surgery|

---

US10219491B2|2013-03-15|2019-03-05|Pentair Water Pool And Spa, Inc.|Dissolved oxygen control system for aquaculture|

---

WO2014151621A1|2013-03-15|2014-09-25|Sri International|Hyperdexterous surgical system|

---

US20160038253A1|2013-03-15|2016-02-11|Cameron Anthony Piron|Method, system and apparatus for controlling a surgical navigation system|

---

US9241728B2|2013-03-15|2016-01-26|Ethicon Endo-Surgery, Inc.|Surgical instrument with multiple clamping mechanisms|

---

WO2014153428A1|2013-03-19|2014-09-25|Surgisense Corporation|Apparatus, systems and methods for determining tissue oxygenation|

---

US20140303660A1|2013-04-04|2014-10-09|Elwha Llc|Active tremor control in surgical instruments|

---

US10136887B2|2013-04-16|2018-11-27|Ethicon Llc|Drive system decoupling arrangement for a surgical instrument|

---

US9592095B2|2013-05-16|2017-03-14|Intuitive Surgical Operations, Inc.|Systems and methods for robotic medical system integration with external imaging|

---

EP3010398A1|2013-06-18|2016-04-27|Koninklijke Philips N.V.|Processing status information of a medical device|

---

EP2639580B1|2013-06-20|2017-08-16|Siemens Schweiz AG|Monitoring the function of an electrolytic gas sensor with three electrodes and a hazard warning device and gas measuring device|

---

US9542481B2|2013-06-21|2017-01-10|Virtual Radiologic Corporation|Radiology data processing and standardization techniques|

---

EP2827099A1|2013-07-16|2015-01-21|Leica Geosystems AG|Laser tracker with target searching functionality|

---

JP5830625B2|2013-08-06|2015-12-09|オリンパス株式会社|Pneumoperitoneum|

---

US9750522B2|2013-08-15|2017-09-05|Ethicon Llc|Surgical instrument with clips having transecting blades|

---

US9636112B2|2013-08-16|2017-05-02|Covidien Lp|Chip assembly for reusable surgical instruments|

---

GB201314774D0|2013-08-19|2013-10-02|Fish Engineering Ltd|Distributor apparatus|

---

US20150053746A1|2013-08-23|2015-02-26|Ethicon Endo-Surgery, Inc.|Torque optimization for surgical instruments|

---

US9539006B2|2013-08-27|2017-01-10|Covidien Lp|Hand held electromechanical surgical handle assembly for use with surgical end effectors, and methods of use|

---

US9295514B2|2013-08-30|2016-03-29|Ethicon Endo-Surgery, Llc|Surgical devices with close quarter articulation features|

---

WO2015035178A2|2013-09-06|2015-03-12|Brigham And Women's Hospital, Inc.|System and method for a tissue resection margin measurement device|

---

US9962157B2|2013-09-18|2018-05-08|Covidien Lp|Apparatus and method for differentiating between tissue and mechanical obstruction in a surgical instrument|

---

US9717548B2|2013-09-24|2017-08-01|Covidien Lp|Electrode for use in a bipolar electrosurgical instrument|

---

US9867651B2|2013-09-26|2018-01-16|Covidien Lp|Systems and methods for estimating tissue parameters using surgical devices|

---

CN108289661A|2015-07-13|2018-07-17|瑟吉玛蒂克斯公司|Laparoscopic stapling device with relieving mechanism|

---

US20140035762A1|2013-10-01|2014-02-06|Ethicon Endo-Surgery, Inc.|Providing Near Real Time Feedback To A User Of A Surgical Instrument|

---

EP3054842A4|2013-10-11|2017-06-21|The Trustees of Columbia University in the City of New York|System, method and computer-accessible medium for characterization of tissue|

---

US20150108198A1|2013-10-17|2015-04-23|Covidien Lp|Surgical instrument, loading unit and fasteners for use therewith|

---

EP2876885A1|2013-11-21|2015-05-27|Axis AB|Method and apparatus in a motion video capturing system|

---

US9949785B2|2013-11-21|2018-04-24|Ethicon Llc|Ultrasonic surgical instrument with electrosurgical feature|

---

US10552574B2|2013-11-22|2020-02-04|Spinal Generations, Llc|System and method for identifying a medical device|

---

US9943325B2|2013-11-26|2018-04-17|Ethicon Llc|Handpiece and blade configurations for ultrasonic surgical instrument|

---

EP3912575A1|2013-11-26|2021-11-24|Ethicon LLC|Shielding features for ultrasonic blade of a surgical instrument|

---

US10159044B2|2013-12-09|2018-12-18|GM Global Technology Operations LLC|Method and apparatus for controlling operating states of bluetooth interfaces of a bluetooth module|

---

EP3079608B8|2013-12-11|2020-04-01|Covidien LP|Wrist and jaw assemblies for robotic surgical systems|

---

US9808245B2|2013-12-13|2017-11-07|Covidien Lp|Coupling assembly for interconnecting an adapter assembly and a surgical device, and surgical systems thereof|

---

GB2521228A|2013-12-16|2015-06-17|Ethicon Endo Surgery Inc|Medical device|

---

US9743946B2|2013-12-17|2017-08-29|Ethicon Llc|Rotation features for ultrasonic surgical instrument|

---

US9839428B2|2013-12-23|2017-12-12|Ethicon Llc|Surgical cutting and stapling instruments with independent jaw control features|

---

US9681870B2|2013-12-23|2017-06-20|Ethicon Llc|Articulatable surgical instruments with separate and distinct closing and firing systems|

---

US9539020B2|2013-12-27|2017-01-10|Ethicon Endo-Surgery, Llc|Coupling features for ultrasonic surgical instrument|

---

US9795436B2|2014-01-07|2017-10-24|Ethicon Llc|Harvesting energy from a surgical generator|

---

US9839424B2|2014-01-17|2017-12-12|Covidien Lp|Electromechanical surgical assembly|

---

US9655616B2|2014-01-22|2017-05-23|Covidien Lp|Apparatus for endoscopic procedures|

---

US9907550B2|2014-01-27|2018-03-06|Covidien Lp|Stitching device with long needle delivery|

---

US9801679B2|2014-01-28|2017-10-31|Ethicon Llc|Methods and devices for controlling motorized surgical devices|

---

US9358685B2|2014-02-03|2016-06-07|Brain Corporation|Apparatus and methods for control of robot actions based on corrective user inputs|

---

US9706674B2|2014-02-04|2017-07-11|Covidien Lp|Authentication system for reusable surgical instruments|

---

US10213266B2|2014-02-07|2019-02-26|Covidien Lp|Robotic surgical assemblies and adapter assemblies thereof|

---

EP3108839B1|2014-02-17|2018-12-05|Olympus Corporation|Ultrasonic treatment apparatus|

---

US9301691B2|2014-02-21|2016-04-05|Covidien Lp|Instrument for optically detecting tissue attributes|

---

US10973682B2|2014-02-24|2021-04-13|Alcon Inc.|Surgical instrument with adhesion optimized edge condition|

---

US10499994B2|2014-02-27|2019-12-10|University Surgical Associates, Inc.|Interactive display for surgery with mother and daughter video feeds|

---

JP2015163172A|2014-02-28|2015-09-10|オリンパス株式会社|Exclusion device and robot system|

---

WO2015134749A2|2014-03-06|2015-09-11|Stryker Corporation|Medical/surgical waste collection unit with a light assembly separate from the primary display, the light assembly presenting informatin about the operation of the system by selectively outputting light|

---

GB2523224C2|2014-03-07|2021-06-02|Cambridge Medical Robotics Ltd|Surgical arm|

---

WO2015138708A1|2014-03-12|2015-09-17|Proximed, Llc|Surgical guidance systems, devices, and methods|

---

KR102311986B1|2014-03-17|2021-10-14|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|System and method for recentering imaging devices and input controls|

---

US10456208B2|2014-03-17|2019-10-29|Intuitive Surgical Operations, Inc.|Surgical cannula mounts and related systems and methods|

---

US10172687B2|2014-03-17|2019-01-08|Intuitive Surgical Operations, Inc.|Surgical cannulas and related systems and methods of identifying surgical cannulas|

---

WO2015142791A1|2014-03-17|2015-09-24|Intuitive Surgical Operations, Inc.|Coupler to transfer motion to surgical instrument from servo actuator|

---

US9554854B2|2014-03-18|2017-01-31|Ethicon Endo-Surgery, Llc|Detecting short circuits in electrosurgical medical devices|

---

US10013049B2|2014-03-26|2018-07-03|Ethicon Llc|Power management through sleep options of segmented circuit and wake up control|

---

US9913642B2|2014-03-26|2018-03-13|Ethicon Llc|Surgical instrument comprising a sensor system|

---

US10004497B2|2014-03-26|2018-06-26|Ethicon Llc|Interface systems for use with surgical instruments|

---

US20150272580A1|2014-03-26|2015-10-01|Ethicon Endo-Surgery, Inc.|Verification of number of battery exchanges/procedure count|

---

CN106163445B|2014-03-31|2019-11-29|直观外科手术操作公司|Surgical operating instrument with changeable transmission device|

---

US9757126B2|2014-03-31|2017-09-12|Covidien Lp|Surgical stapling apparatus with firing lockout mechanism|

---

US9737355B2|2014-03-31|2017-08-22|Ethicon Llc|Controlling impedance rise in electrosurgical medical devices|

---

KR20210134437A|2014-04-01|2021-11-09|인튜어티브 서지컬 오퍼레이션즈 인코포레이티드|Control input accuracy for teleoperated surgical instrument|

---

US20170027603A1|2014-04-08|2017-02-02|Ams Research Corporation|Flexible devices for blunt dissection and related methods|

---

US10765376B2|2014-04-09|2020-09-08|University Of Rochester|Method and apparatus to diagnose the metastatic or progressive potential of cancer, fibrosis and other diseases|

---

US10561422B2|2014-04-16|2020-02-18|Ethicon Llc|Fastener cartridge comprising deployable tissue engaging members|

---

US10164466B2|2014-04-17|2018-12-25|Covidien Lp|Non-contact surgical adapter electrical interface|

---

US20150302157A1|2014-04-17|2015-10-22|Ryan Mitchell Collar|Apparatus, Method, and System for Counting Packaged, Consumable, Medical Items Such as Surgical Suture Cartridges|

---

US20150297200A1|2014-04-17|2015-10-22|Covidien Lp|End of life transmission system for surgical instruments|

---

US10133248B2|2014-04-28|2018-11-20|Covidien Lp|Systems and methods for determining an end of life state for surgical devices|

---

US20150317899A1|2014-05-01|2015-11-05|Covidien Lp|System and method for using rfid tags to determine sterilization of devices|

---

US10175127B2|2014-05-05|2019-01-08|Covidien Lp|End-effector force measurement drive circuit|

---

CN106456257B|2014-05-13|2019-11-05|柯惠Lp公司|Robot arm for operation support system and application method|

---

US20150332196A1|2014-05-15|2015-11-19|Heinz-Werner Stiller|Surgical Workflow Support System|

---

US10512461B2|2014-05-15|2019-12-24|Covidien Lp|Surgical fastener applying apparatus|

---

WO2016007224A2|2014-05-16|2016-01-14|Powdermet, Inc.|Heterogeneous composite bodies with isolated cermet regions formed by high temperature, rapid consolidation|

---

US20150332003A1|2014-05-19|2015-11-19|Unitedhealth Group Incorporated|Computer readable storage media for utilizing derived medical records and methods and systems for same|

---

KR20170013240A|2014-05-30|2017-02-06|가부시키가이샤 한도오따이 에네루기 켄큐쇼|Semiconductor device and method for manufacturing the same|

---

US10118119B2|2015-06-08|2018-11-06|Cts Corporation|Radio frequency process sensing, control, and diagnostics network and system|

---

US9331422B2|2014-06-09|2016-05-03|Apple Inc.|Electronic device with hidden connector|

---

EP3154449B1|2014-06-11|2019-08-14|Applied Medical Resources Corporation|Surgical stapler with circumferential firing|

---

US10045781B2|2014-06-13|2018-08-14|Ethicon Llc|Closure lockout systems for surgical instruments|

---

KR101587721B1|2014-06-17|2016-01-22|에스엔유 프리시젼 주식회사|Apparatus and method for controlling surgical burr cutter|

---

US10292701B2|2014-06-25|2019-05-21|Ethicon Llc|Articulation drive features for surgical stapler|

---

US10335147B2|2014-06-25|2019-07-02|Ethicon Llc|Method of using lockout features for surgical stapler cartridge|

---

US10152789B2|2014-07-25|2018-12-11|Covidien Lp|Augmented surgical reality environment|

---

CN107072739B|2014-08-01|2020-09-11|史密夫和内修有限公司|Providing an implant for a surgical procedure|

---

US10422727B2|2014-08-10|2019-09-24|Harry Leon Pliskin|Contaminant monitoring and air filtration system|

---

US10258359B2|2014-08-13|2019-04-16|Covidien Lp|Robotically controlling mechanical advantage gripping|

---

US10004500B2|2014-09-02|2018-06-26|Ethicon Llc|Devices and methods for manually retracting a drive shaft, drive beam, and associated components of a surgical fastening device|

---

US9280884B1|2014-09-03|2016-03-08|Oberon, Inc.|Environmental sensor device with alarms|

---

US9757128B2|2014-09-05|2017-09-12|Ethicon Llc|Multiple sensors with one sensor affecting a second sensor's output or interpretation|

---

GB2547355A|2014-09-15|2017-08-16|Synaptive Medical Inc|System and method for collection, storage and management of medical data|

---

US10321964B2|2014-09-15|2019-06-18|Covidien Lp|Robotically controlling surgical assemblies|

---

US10105142B2|2014-09-18|2018-10-23|Ethicon Llc|Surgical stapler with plurality of cutting elements|

---

WO2016044920A1|2014-09-23|2016-03-31|Surgical Safety Technologies Inc.|Operating room black-box device, system, method and computer readable medium|

---

WO2016149794A1|2015-03-26|2016-09-29|Surgical Safety Technologies Inc.|Operating room black-box device, system, method and computer readable medium|

---

EP3560532A1|2014-09-25|2019-10-30|NxStage Medical Inc.|Medicament preparation and treatment devices and systems|

---

US9801627B2|2014-09-26|2017-10-31|Ethicon Llc|Fastener cartridge for creating a flexible staple line|

---

US20170224428A1|2014-09-29|2017-08-10|Covidien Lp|Dynamic input scaling for controls of robotic surgical system|

---

US10039564B2|2014-09-30|2018-08-07|Ethicon Llc|Surgical devices having power-assisted jaw closure and methods for compressing and sensing tissue|

---

US9630318B2|2014-10-02|2017-04-25|Brain Corporation|Feature detection apparatus and methods for training of robotic navigation|

---

US10603128B2|2014-10-07|2020-03-31|Covidien Lp|Handheld electromechanical surgical system|

---

US10292758B2|2014-10-10|2019-05-21|Ethicon Llc|Methods and devices for articulating laparoscopic energy device|

---

CN104436911A|2014-11-03|2015-03-25|佛山市顺德区阿波罗环保器材有限公司|Air purifier capable of preventing faking based on filter element recognition|

---

US9782212B2|2014-12-02|2017-10-10|Covidien Lp|High level algorithms|

---

US20190069949A1|2014-12-03|2019-03-07|Metavention, Inc.|Systems and methods for modulatng nerves or other tissue|

---

US10736636B2|2014-12-10|2020-08-11|Ethicon Llc|Articulatable surgical instrument system|

---

CN104490448B|2014-12-17|2017-03-15|徐保利|Surgical ligation clip applier|

---

US9844374B2|2014-12-18|2017-12-19|Ethicon Llc|Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member|

---

US10085748B2|2014-12-18|2018-10-02|Ethicon Llc|Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors|

---

US9987000B2|2014-12-18|2018-06-05|Ethicon Llc|Surgical instrument assembly comprising a flexible articulation system|

---

US9844375B2|2014-12-18|2017-12-19|Ethicon Llc|Drive arrangements for articulatable surgical instruments|

---

US9968355B2|2014-12-18|2018-05-15|Ethicon Llc|Surgical instruments with articulatable end effectors and improved firing beam support arrangements|

---

US10188385B2|2014-12-18|2019-01-29|Ethicon Llc|Surgical instrument system comprising lockable systems|

---

US10117649B2|2014-12-18|2018-11-06|Ethicon Llc|Surgical instrument assembly comprising a lockable articulation system|

---

BR112017014210A2|2014-12-30|2018-04-10|Suzhou Touchstone Int Medical Science Co Ltd|stapling head set and suturing and cutting apparatus for endoscopic surgery.|

---

EP3241166A4|2014-12-31|2018-10-03|Vector Medical, LLC|Process and apparatus for managing medical device selection and implantation|

---

US9931124B2|2015-01-07|2018-04-03|Covidien Lp|Reposable clip applier|

---

US10362179B2|2015-01-09|2019-07-23|Tracfone Wireless, Inc.|Peel and stick activation code for activating service for a wireless device|

---

US9931040B2|2015-01-14|2018-04-03|Verily Life Sciences Llc|Applications of hyperspectral laser speckle imaging|

---

GB2535627B|2015-01-14|2017-06-28|Gyrus Medical Ltd|Electrosurgical system|

---

US10404521B2|2015-01-14|2019-09-03|Datto, Inc.|Remotely configurable routers with failover features, and methods and apparatus for reliable web-based administration of same|

---

JP6498303B2|2015-01-15|2019-04-10|コヴィディエン リミテッド パートナーシップ|Endoscopic reposable surgical clip applier|

---

GB2534558B|2015-01-21|2020-12-30|Cmr Surgical Ltd|Robot tool retraction|

---

US9387295B1|2015-01-30|2016-07-12|SurgiQues, Inc.|Filter cartridge with internal gaseous seal for multimodal surgical gas delivery system having a smoke evacuation mode|

---

US10159809B2|2015-01-30|2018-12-25|Surgiquest, Inc.|Multipath filter assembly with integrated gaseous seal for multimodal surgical gas delivery system|

---

WO2016125574A1|2015-02-05|2016-08-11|オリンパス株式会社|Manipulator|

---

US9713424B2|2015-02-06|2017-07-25|Richard F. Spaide|Volume analysis and display of information in optical coherence tomography angiography|

---

US10111658B2|2015-02-12|2018-10-30|Covidien Lp|Display screens for medical devices|

---

ES2878455T3|2015-02-13|2021-11-18|Zoller & Froehlich Gmbh|Scan layout and procedure for scanning an object|

---

US9805472B2|2015-02-18|2017-10-31|Sony Corporation|System and method for smoke detection during anatomical surgery|

---

US9905000B2|2015-02-19|2018-02-27|Sony Corporation|Method and system for surgical tool localization during anatomical surgery|

---

US10111665B2|2015-02-19|2018-10-30|Covidien Lp|Electromechanical surgical systems|

---

US10285698B2|2015-02-26|2019-05-14|Covidien Lp|Surgical apparatus|

---

US10085749B2|2015-02-26|2018-10-02|Covidien Lp|Surgical apparatus with conductor strain relief|

---

US10226250B2|2015-02-27|2019-03-12|Ethicon Llc|Modular stapling assembly|

---

US10321907B2|2015-02-27|2019-06-18|Ethicon Llc|System for monitoring whether a surgical instrument needs to be serviced|

---

WO2016135977A1|2015-02-27|2016-09-01|オリンパス株式会社|Medical treatment device, method for operating medical treatment device, and therapeutic method|

---

US10733267B2|2015-02-27|2020-08-04|Surgical Black Box Llc|Surgical data control system|

---

US10180463B2|2015-02-27|2019-01-15|Ethicon Llc|Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band|

---

US9808246B2|2015-03-06|2017-11-07|Ethicon Endo-Surgery, Llc|Method of operating a powered surgical instrument|

---

US10441279B2|2015-03-06|2019-10-15|Ethicon Llc|Multiple level thresholds to modify operation of powered surgical instruments|

---

US9993248B2|2015-03-06|2018-06-12|Ethicon Endo-Surgery, Llc|Smart sensors with local signal processing|

---

US9895148B2|2015-03-06|2018-02-20|Ethicon Endo-Surgery, Llc|Monitoring speed control and precision incrementing of motor for powered surgical instruments|

---

US9924961B2|2015-03-06|2018-03-27|Ethicon Endo-Surgery, Llc|Interactive feedback system for powered surgical instruments|

---

US10245033B2|2015-03-06|2019-04-02|Ethicon Llc|Surgical instrument comprising a lockable battery housing|

---

US10548504B2|2015-03-06|2020-02-04|Ethicon Llc|Overlaid multi sensor radio frequency electrode system to measure tissue compression|

---

US10687806B2|2015-03-06|2020-06-23|Ethicon Llc|Adaptive tissue compression techniques to adjust closure rates for multiple tissue types|

---

US10045776B2|2015-03-06|2018-08-14|Ethicon Llc|Control techniques and sub-processor contained within modular shaft with select control processing from handle|

---

US10617412B2|2015-03-06|2020-04-14|Ethicon Llc|System for detecting the mis-insertion of a staple cartridge into a surgical stapler|

---

US9901342B2|2015-03-06|2018-02-27|Ethicon Endo-Surgery, Llc|Signal and power communication system positioned on a rotatable shaft|

---

CN113040921A|2015-03-10|2021-06-29|柯惠Lp公司|Measuring health of connector components of a robotic surgical system|

---

JP6360803B2|2015-03-10|2018-07-18|富士フイルム株式会社|Medical data management apparatus, its operating method and operating program|

---

US10420620B2|2015-03-10|2019-09-24|Covidien Lp|Robotic surgical systems, instrument drive units, and drive assemblies|

---

US10342602B2|2015-03-17|2019-07-09|Ethicon Llc|Managing tissue treatment|

---

WO2016149563A1|2015-03-17|2016-09-22|Ahluwalia Prabhat|Uterine manipulator|

---

US10390718B2|2015-03-20|2019-08-27|East Carolina University|Multi-spectral physiologic visualization using laser imaging methods and systems for blood flow and perfusion imaging and quantification in an endoscopic design|

---

US20160321400A1|2015-03-30|2016-11-03|Zoll Medical Corporation|Clinical Data Handoff in Device Management and Data Sharing|

---

US10383518B2|2015-03-31|2019-08-20|Midmark Corporation|Electronic ecosystem for medical examination room|

---

US10390825B2|2015-03-31|2019-08-27|Ethicon Llc|Surgical instrument with progressive rotary drive systems|

---

US20160301690A1|2015-04-10|2016-10-13|Enovate Medical, Llc|Access control for a hard asset|

---

US10117702B2|2015-04-10|2018-11-06|Ethicon Llc|Surgical generator systems and related methods|

---

CN107427330B|2015-04-10|2020-10-16|马科外科公司|System and method for controlling a surgical tool during autonomous movement of the surgical tool|

---

US20160296246A1|2015-04-13|2016-10-13|Novartis Ag|Forceps with metal and polymeric arms|

---

US10806506B2|2015-04-21|2020-10-20|Smith & Nephew, Inc.|Vessel sealing algorithm and modes|

---

JP6755884B2|2015-04-22|2020-09-16|コヴィディエン リミテッド パートナーシップ|Handheld electromechanical surgical system|

---

CN107708595B|2015-04-23|2020-08-04|Sri国际公司|Ultra-dexterous surgical system user interface device|

---

WO2017189317A1|2016-04-26|2017-11-02|KindHeart, Inc.|Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and an animating device|

---

US20160323283A1|2015-04-30|2016-11-03|Samsung Electronics Co., Ltd.|Semiconductor device for controlling access right to resource based on pairing technique and method thereof|

---

EP3291725A4|2015-05-07|2018-11-07|Novadaq Technologies Inc.|Methods and systems for laser speckle imaging of tissue using a color image sensor|

---

EP3294184A4|2015-05-11|2019-05-08|Covidien LP|Coupling instrument drive unit and robotic surgical instrument|

---

GB2538497B|2015-05-14|2020-10-28|Cmr Surgical Ltd|Torque sensing in a surgical robotic wrist|

---

US10555675B2|2015-05-15|2020-02-11|Gauss Surgical, Inc.|Method for projecting blood loss of a patient during a surgery|

---

CN112842527A|2015-05-15|2021-05-28|马科外科公司|System and method for providing guidance for robotic medical procedures|

---

US20160342916A1|2015-05-20|2016-11-24|Schlumberger Technology Corporation|Downhole tool management system|

---

CA3029355A1|2015-05-22|2016-11-22|Covidien Lp|Surgical instruments and methods for performing tonsillectomy, adenoidectomy, and other surgical procedures|

---

US9519753B1|2015-05-26|2016-12-13|Virtual Radiologic Corporation|Radiology workflow coordination techniques|

---

US10022120B2|2015-05-26|2018-07-17|Ethicon Llc|Surgical needle with recessed features|

---

EP3302335A4|2015-06-03|2019-02-20|Covidien LP|Offset instrument drive unit|

---

CN107690318B|2015-06-08|2021-05-04|柯惠Lp公司|Mounting device for surgical system and method of use|

---

EP3307196A4|2015-06-09|2019-06-19|Intuitive Surgical Operations Inc.|Configuring surgical system with surgical procedures atlas|

---

US10004491B2|2015-06-15|2018-06-26|Ethicon Llc|Suturing instrument with needle motion indicator|

---

EP3311181B1|2015-06-16|2020-03-11|Covidien LP|Robotic surgical system torque transduction sensing|

---

US9782164B2|2015-06-16|2017-10-10|Ethicon Endo-Surgery, Llc|Suturing instrument with multi-mode cartridges|

---

US9839419B2|2015-06-16|2017-12-12|Ethicon Endo-Surgery, Llc|Suturing instrument with jaw having integral cartridge component|

---

US9888914B2|2015-06-16|2018-02-13|Ethicon Endo-Surgery, Llc|Suturing instrument with motorized needle drive|

---

US10178992B2|2015-06-18|2019-01-15|Ethicon Llc|Push/pull articulation drive systems for articulatable surgical instruments|

---

EP3310288A4|2015-06-19|2019-03-06|Covidien LP|Controlling robotic surgical instruments with bidirectional coupling|

---

CN107771063B|2015-06-19|2020-12-04|柯惠Lp公司|Robotic surgical assembly|

---

JP6719487B2|2015-06-23|2020-07-08|コヴィディエン リミテッド パートナーシップ|Robotic surgery assembly|

---

WO2016206015A1|2015-06-24|2016-12-29|Covidien Lp|Surgical clip applier with multiple clip feeding mechanism|

---

US10905415B2|2015-06-26|2021-02-02|Ethicon Llc|Surgical stapler with electromechanical lockout|

---

US11051873B2|2015-06-30|2021-07-06|Cilag Gmbh International|Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters|

---

US11141213B2|2015-06-30|2021-10-12|Cilag Gmbh International|Surgical instrument with user adaptable techniques|

---

US10034704B2|2015-06-30|2018-07-31|Ethicon Llc|Surgical instrument with user adaptable algorithms|

---

US9839470B2|2015-06-30|2017-12-12|Covidien Lp|Electrosurgical generator for minimizing neuromuscular stimulation|

---

US11129669B2|2015-06-30|2021-09-28|Cilag Gmbh International|Surgical system with user adaptable techniques based on tissue type|

---

EP3322337A4|2015-07-13|2019-03-13|Mako Surgical Corp.|Lower extremities leg length calculation method|

---

WO2017011646A1|2015-07-14|2017-01-19|Smith & Nephew, Inc.|Instrumentation identification and re-ordering system|

---

GB2541369B|2015-07-22|2021-03-31|Cmr Surgical Ltd|Drive mechanisms for robot arms|

---

GB2540756B|2015-07-22|2021-03-31|Cmr Surgical Ltd|Gear packaging for robot arms|

---

US10524795B2|2015-07-30|2020-01-07|Ethicon Llc|Surgical instrument comprising systems for permitting the optional transection of tissue|

---

US10679758B2|2015-08-07|2020-06-09|Abbott Cardiovascular Systems Inc.|System and method for supporting decisions during a catheterization procedure|

---

US10143948B2|2015-08-14|2018-12-04|3M Innovative Properties Company|Identification of filter media within a filtration system|

---

US10136949B2|2015-08-17|2018-11-27|Ethicon Llc|Gathering and analyzing data for robotic surgical systems|

---

US10205708B1|2015-08-21|2019-02-12|Teletracking Technologies, Inc.|Systems and methods for digital content protection and security in multi-computer networks|

---

US10639039B2|2015-08-24|2020-05-05|Ethicon Llc|Surgical stapler buttress applicator with multi-zone platform for pressure focused release|

---

US20180271603A1|2015-08-30|2018-09-27|M.S.T. Medical Surgery Technologies Ltd|Intelligent surgical tool control system for laparoscopic surgeries|

---

US10687905B2|2015-08-31|2020-06-23|KB Medical SA|Robotic surgical systems and methods|

---

US20170068792A1|2015-09-03|2017-03-09|Bruce Reiner|System and method for medical device security, data tracking and outcomes analysis|

---

EP3141181B1|2015-09-11|2018-06-20|Bernard Boon Chye Lim|Ablation catheter apparatus with a basket comprising electrodes, an optical emitting element and an optical receiving element|

---

JP6812419B2|2015-09-11|2021-01-13|コヴィディエン リミテッド パートナーシップ|Robot surgical system control scheme for operating robot end effectors|

---

DE102015115559A1|2015-09-15|2017-03-16|Karl Storz Gmbh & Co. Kg|Manipulation system and handling device for surgical instruments|

---

US10076326B2|2015-09-23|2018-09-18|Ethicon Llc|Surgical stapler having current mirror-based motor control|

---

EP3352699A4|2015-09-25|2019-07-10|Covidien LP|Robotic surgical assemblies and instrument drive connectors thereof|

---

AU2016327595B2|2015-09-25|2020-07-23|Covidien Lp|Robotic surgical assemblies and electromechanical instruments thereof|

---

CN112618025A|2015-09-25|2021-04-09|柯惠Lp公司|Surgical robot assembly and instrument adapter therefor|

---

EP3352700A4|2015-09-25|2019-07-03|Covidien LP|Elastic surgical interface for robotic surgical systems|

---

US10285699B2|2015-09-30|2019-05-14|Ethicon Llc|Compressible adjunct|

---

US10687884B2|2015-09-30|2020-06-23|Ethicon Llc|Circuits for supplying isolated direct current voltage to surgical instruments|

---

US9900787B2|2015-09-30|2018-02-20|George Ou|Multicomputer data transferring system with a base station|

---

US10893914B2|2015-10-19|2021-01-19|Ethicon Llc|Surgical instrument with dual mode end effector and modular clamp arm assembly|

---

AU2016341284A1|2015-10-22|2018-04-12|Covidien Lp|Variable sweeping for input devices|

---

CN108430339A|2015-10-29|2018-08-21|夏普应用流体力学有限责任公司|System and method for data capture in operating room|

---

WO2017075122A1|2015-10-30|2017-05-04|Covidien Lp|Input handles for robotic surgical systems having visual feedback|

---

US10818383B2|2015-10-30|2020-10-27|Koninklijke Philips N.V.|Hospital matching of de-identified healthcare databases without obvious quasi-identifiers|

---

CN108135659B|2015-10-30|2021-09-10|柯惠Lp公司|Haptic feedback control device for robotic surgical system interface|

---

US20170132785A1|2015-11-09|2017-05-11|Xerox Corporation|Method and system for evaluating the quality of a surgical procedure from in-vivo video|

---

US10390831B2|2015-11-10|2019-08-27|Covidien Lp|Endoscopic reposable surgical clip applier|

---

US20170132374A1|2015-11-11|2017-05-11|Zyno Medical, Llc|System for Collecting Medical Data Using Proxy Inputs|

---

EP3373834A4|2015-11-12|2019-07-31|Intuitive Surgical Operations Inc.|Surgical system with training or assist functions|

---

US10898189B2|2015-11-13|2021-01-26|Intuitive Surgical Operations, Inc.|Push-pull stapler with two degree of freedom wrist|

---

WO2017091048A1|2015-11-27|2017-06-01|Samsung Electronics Co., Ltd.|Method and apparatus for managing electronic device through wireless communication|

---

US10311036B1|2015-12-09|2019-06-04|Universal Research Solutions, Llc|Database management for a logical registry|

---

GB201521805D0|2015-12-10|2016-01-27|Cambridge Medical Robotics Ltd|Guiding engagement of a robot arm and surgical instrument|

---

US20170164997A1|2015-12-10|2017-06-15|Ethicon Endo-Surgery, Llc|Method of treating tissue using end effector with ultrasonic and electrosurgical features|

---

GB201521804D0|2015-12-10|2016-01-27|Cambridge Medical Robotics Ltd|Pulley arrangement for articulating a surgical instrument|

---

WO2017100534A1|2015-12-11|2017-06-15|Servicenow, Inc.|Computer network threat assessment|

---

US10265130B2|2015-12-11|2019-04-23|Ethicon Llc|Systems, devices, and methods for coupling end effectors to surgical devices and loading devices|

---

US10751768B2|2015-12-14|2020-08-25|Buffalo Filter Llc|Method and apparatus for attachment and evacuation|

---

US10238413B2|2015-12-16|2019-03-26|Ethicon Llc|Surgical instrument with multi-function button|

---

US20170172614A1|2015-12-17|2017-06-22|Ethicon Endo-Surgery, Llc|Surgical instrument with multi-functioning trigger|

---

EP3380029A1|2015-12-21|2018-10-03|Gyrus ACMI, Inc. |High surface energy portion on a medical instrument|

---

US10368894B2|2015-12-21|2019-08-06|Ethicon Llc|Surgical instrument with variable clamping force|

---

JP6657933B2|2015-12-25|2020-03-04|ソニー株式会社|Medical imaging device and surgical navigation system|

---

WO2017116793A1|2015-12-29|2017-07-06|Covidien Lp|Robotic surgical systems and instrument drive assemblies|

---

US10292704B2|2015-12-30|2019-05-21|Ethicon Llc|Mechanisms for compensating for battery pack failure in powered surgical instruments|

---

US10470791B2|2015-12-30|2019-11-12|Ethicon Llc|Surgical instrument with staged application of electrosurgical and ultrasonic energy|

---

US10368865B2|2015-12-30|2019-08-06|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10265068B2|2015-12-30|2019-04-23|Ethicon Llc|Surgical instruments with separable motors and motor control circuits|

---

US11229471B2|2016-01-15|2022-01-25|Cilag Gmbh International|Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization|

---

US10716615B2|2016-01-15|2020-07-21|Ethicon Llc|Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade|

---

US11129670B2|2016-01-15|2021-09-28|Cilag Gmbh International|Modular battery powered handheld surgical instrument with selective application of energy based on button displacement, intensity, or local tissue characterization|

---

US11051840B2|2016-01-15|2021-07-06|Ethicon Llc|Modular battery powered handheld surgical instrument with reusable asymmetric handle housing|

---

JP2019508091A|2016-01-29|2019-03-28|インテュイティブ サージカル オペレーションズ， インコーポレイテッド|Systems and methods for variable speed surgical instruments|

---

US10258415B2|2016-01-29|2019-04-16|Boston Scientific Scimed, Inc.|Medical user interfaces and related methods of use|

---

US11213293B2|2016-02-09|2022-01-04|Cilag Gmbh International|Articulatable surgical instruments with single articulation link arrangements|

---

US10413291B2|2016-02-09|2019-09-17|Ethicon Llc|Surgical instrument articulation mechanism with slotted secondary constraint|

---

US10420559B2|2016-02-11|2019-09-24|Covidien Lp|Surgical stapler with small diameter endoscopic portion|

---

US20170231628A1|2016-02-12|2017-08-17|Ethicon Endo-Surgery, Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10258331B2|2016-02-12|2019-04-16|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US11224426B2|2016-02-12|2022-01-18|Cilag Gmbh International|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10448948B2|2016-02-12|2019-10-22|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10555769B2|2016-02-22|2020-02-11|Ethicon Llc|Flexible circuits for electrosurgical instrument|

---

CA2958160A1|2016-02-24|2017-08-24|Covidien Lp|Endoscopic reposable surgical clip applier|

---

CN108472086B|2016-02-26|2021-07-09|直观外科手术操作公司|System and method for avoiding collisions using virtual boundaries|

---

CN108697468B|2016-02-26|2021-06-08|柯惠Lp公司|Robotic surgical system and robotic arm thereof|

---

US10786298B2|2016-03-01|2020-09-29|Covidien Lp|Surgical instruments and systems incorporating machine learning based tissue identification and methods thereof|

---

US20210212777A1|2016-03-04|2021-07-15|Covidien Lp|Inverse kinematic control systems for robotic surgical system|

---

EP3422983B1|2016-03-04|2021-09-22|Covidien LP|Ultrasonic instruments for robotic surgical systems|

---

JP6488249B2|2016-03-08|2019-03-20|富士フイルム株式会社|Blood vessel information acquisition apparatus, endoscope system, and blood vessel information acquisition method|

---

JPWO2017169823A1|2016-03-30|2019-02-07|ソニー株式会社|Image processing apparatus and method, surgical system, and surgical member|

---

US10307159B2|2016-04-01|2019-06-04|Ethicon Llc|Surgical instrument handle assembly with reconfigurable grip portion|

---

US10175096B2|2016-04-01|2019-01-08|Ethicon Llc|System and method to enable re-use of surgical instrument|

---

US10271851B2|2016-04-01|2019-04-30|Ethicon Llc|Modular surgical stapling system comprising a display|

---

US10376263B2|2016-04-01|2019-08-13|Ethicon Llc|Anvil modification members for surgical staplers|

---

US10722233B2|2016-04-07|2020-07-28|Intuitive Surgical Operations, Inc.|Stapling cartridge|

---

US11179150B2|2016-04-15|2021-11-23|Cilag Gmbh International|Systems and methods for controlling a surgical stapling and cutting instrument|

---

US10828028B2|2016-04-15|2020-11-10|Ethicon Llc|Surgical instrument with multiple program responses during a firing motion|

---

US10492783B2|2016-04-15|2019-12-03|Ethicon, Llc|Surgical instrument with improved stop/start control during a firing motion|

---

US10456137B2|2016-04-15|2019-10-29|Ethicon Llc|Staple formation detection mechanisms|

---

US10357247B2|2016-04-15|2019-07-23|Ethicon Llc|Surgical instrument with multiple program responses during a firing motion|

---

US20170296213A1|2016-04-15|2017-10-19|Ethicon Endo-Surgery, Llc|Systems and methods for controlling a surgical stapling and cutting instrument|

---

US10426467B2|2016-04-15|2019-10-01|Ethicon Llc|Surgical instrument with detection sensors|

---

US10368867B2|2016-04-18|2019-08-06|Ethicon Llc|Surgical instrument comprising a lockout|

---

US20170296173A1|2016-04-18|2017-10-19|Ethicon Endo-Surgery, Llc|Method for operating a surgical instrument|

---

JP2019513959A|2016-04-19|2019-05-30|クリアモーション，インコーポレイテッド|Active hydraulic ripple cancellation method and system|

---

US10456193B2|2016-05-03|2019-10-29|Ethicon Llc|Medical device with a bilateral jaw configuration for nerve stimulation|

---

DE102016207666A1|2016-05-03|2017-11-09|Olympus Winter & Ibe Gmbh|Medical smoke evacuation apparatus and method of operating the same|

---

CA3024623A1|2016-05-18|2017-11-23|Virtual Incision Corporation|Robotic surgical devices, systems and related methods|

---

US10555748B2|2016-05-25|2020-02-11|Ethicon Llc|Features and methods to control delivery of cooling fluid to end effector of ultrasonic surgical instrument|

---

CA3022164A1|2016-05-26|2017-11-30|Covidien Lp|Robotic surgical assemblies|

---

CA3022139A1|2016-05-26|2017-11-30|Covidien Lp|Instrument drive units|

---

WO2017205481A1|2016-05-26|2017-11-30|Covidien Lp|Robotic surgical assemblies and instrument drive units thereof|

---

EP3463158A4|2016-05-26|2020-01-22|Covidien LP|Cannula assemblies for use with robotic surgical systems|

---

GB201609467D0|2016-05-30|2016-07-13|Givaudan Sa|Improvements in or relating to organic compounds|

---

DE102016209576A1|2016-06-01|2017-12-07|Siemens Healthcare Gmbh|Motion control for a mobile medical device|

---

WO2017210499A1|2016-06-03|2017-12-07|Covidien Lp|Control arm for robotic surgical systems|

---

EP3463148A4|2016-06-03|2020-01-22|Covidien LP|Passive axis system for robotic surgical systems|

---

AU2017275482A1|2016-06-03|2018-11-15|Covidien Lp|Systems, methods, and computer-readable storage media for controlling aspects of a robotic surgical device and viewer adaptive stereoscopic display|

---

JP6959264B2|2016-06-03|2021-11-02|コヴィディエン リミテッド パートナーシップ|Control arm assembly for robotic surgery system|

---

USD826405S1|2016-06-24|2018-08-21|Ethicon Llc|Surgical fastener|

---

USD850617S1|2016-06-24|2019-06-04|Ethicon Llc|Surgical fastener cartridge|

---

USD847989S1|2016-06-24|2019-05-07|Ethicon Llc|Surgical fastener cartridge|

---

US10542979B2|2016-06-24|2020-01-28|Ethicon Llc|Stamped staples and staple cartridges using the same|

---

USD822206S1|2016-06-24|2018-07-03|Ethicon Llc|Surgical fastener|

---

US10313137B2|2016-07-05|2019-06-04|General Electric Company|Method for authenticating devices in a medical network|

---

CN206097107U|2016-07-08|2017-04-12|山东威瑞外科医用制品有限公司|Ultrasonic knife frequency tracking device|

---

US10258362B2|2016-07-12|2019-04-16|Ethicon Llc|Ultrasonic surgical instrument with AD HOC formed blade|

---

US10842522B2|2016-07-15|2020-11-24|Ethicon Llc|Ultrasonic surgical instruments having offset blades|

---

WO2018020553A1|2016-07-25|2018-02-01|オリンパス株式会社|Energy control device and treatment system|

---

US10378893B2|2016-07-29|2019-08-13|Ca, Inc.|Location detection sensors for physical devices|

---

US10376305B2|2016-08-05|2019-08-13|Ethicon Llc|Methods and systems for advanced harmonic energy|

---

US10037641B2|2016-08-10|2018-07-31|Elwha Llc|Systems and methods for individual identification and authorization utilizing conformable electronics|

---

US10398517B2|2016-08-16|2019-09-03|Ethicon Llc|Surgical tool positioning based on sensed parameters|

---

US10390895B2|2016-08-16|2019-08-27|Ethicon Llc|Control of advancement rate and application force based on measured forces|

---

US10813703B2|2016-08-16|2020-10-27|Ethicon Llc|Robotic surgical system with energy application controls|

---

US10531929B2|2016-08-16|2020-01-14|Ethicon Llc|Control of robotic arm motion based on sensed load on cutting tool|

---

US9943377B2|2016-08-16|2018-04-17|Ethicon Endo-Surgery, Llc|Methods, systems, and devices for causing end effector motion with a robotic surgical system|

---

US20180050196A1|2016-08-19|2018-02-22|Nicholas Charles Pawsey|Advanced electrode array insertion|

---

US10555750B2|2016-08-25|2020-02-11|Ethicon Llc|Ultrasonic surgical instrument with replaceable blade having identification feature|

---

US10828056B2|2016-08-25|2020-11-10|Ethicon Llc|Ultrasonic transducer to waveguide acoustic coupling, connections, and configurations|

---

JP6748299B2|2016-08-30|2020-08-26|マコー サージカル コーポレイション|System and method for intraoperative pelvic registration|

---

US20180065248A1|2016-09-06|2018-03-08|Verily Life Sciences Llc|Systems and methods for prevention of surgical mistakes|

---

US20180098816A1|2016-10-06|2018-04-12|Biosense Webster Ltd.|Pre-Operative Registration of Anatomical Images with a Position-Tracking System Using Ultrasound|

---

US10278778B2|2016-10-27|2019-05-07|Inneroptic Technology, Inc.|Medical device navigation using a virtual 3D space|

---

EP3534817A4|2016-11-04|2020-07-29|Intuitive Surgical Operations Inc.|Reconfigurable display in computer-assisted tele-operated surgery|

---

US11147935B2|2016-11-14|2021-10-19|Conmed Corporation|Smoke evacuation system for continuously removing gas from a body cavity|

---

WO2018089986A2|2016-11-14|2018-05-17|Conmed Corporation|Multimodal surgical gas delivery system having continuous pressure monitoring of a continuous flow of gas to a body cavity|

---

US10318763B2|2016-12-20|2019-06-11|Privacy Analytics Inc.|Smart de-identification using date jittering|

---

AU2017379816B2|2016-12-20|2020-02-20|Verb Surgical Inc.|Sterile adapter control system and communication interface for use in a robotic surgical system|

---

US11191539B2|2016-12-21|2021-12-07|Cilag Gmbh International|Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system|

---

US10993715B2|2016-12-21|2021-05-04|Ethicon Llc|Staple cartridge comprising staples with different clamping breadths|

---

US20180168592A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems|

---

US10945727B2|2016-12-21|2021-03-16|Ethicon Llc|Staple cartridge with deformable driver retention features|

---

US10736629B2|2016-12-21|2020-08-11|Ethicon Llc|Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems|

---

US20180168647A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling instruments having end effectors with positive opening features|

---

US10426471B2|2016-12-21|2019-10-01|Ethicon Llc|Surgical instrument with multiple failure response modes|

---

US11179155B2|2016-12-21|2021-11-23|Cilag Gmbh International|Anvil arrangements for surgical staplers|

---

US11160551B2|2016-12-21|2021-11-02|Cilag Gmbh International|Articulatable surgical stapling instruments|

---

US10779823B2|2016-12-21|2020-09-22|Ethicon Llc|Firing member pin angle|

---

US20180168618A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling systems|

---

US11134942B2|2016-12-21|2021-10-05|Cilag Gmbh International|Surgical stapling instruments and staple-forming anvils|

---

US10675026B2|2016-12-21|2020-06-09|Ethicon Llc|Methods of stapling tissue|

---

US20180168615A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument|

---

US20180168608A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical instrument system comprising an end effector lockout and a firing assembly lockout|

---

US20180168598A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Staple forming pocket arrangements comprising zoned forming surface grooves|

---

US10687810B2|2016-12-21|2020-06-23|Ethicon Llc|Stepped staple cartridge with tissue retention and gap setting features|

---

US20180168633A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling instruments and staple-forming anvils|

---

US20180168625A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with smart staple cartridges|

---

US10888322B2|2016-12-21|2021-01-12|Ethicon Llc|Surgical instrument comprising a cutting member|

---

EP3582708A4|2017-02-15|2020-12-23|Covidien LP|System and apparatus for crush prevention for medical robot applications|

---

US9788907B1|2017-02-28|2017-10-17|Kinosis Ltd.|Automated provision of real-time custom procedural surgical guidance|

---

WO2018208616A1|2017-05-08|2018-11-15|Masimo Corporation|System for pairing a medical system to a network controller by use of a dongle|

---

US10806532B2|2017-05-24|2020-10-20|KindHeart, Inc.|Surgical simulation system using force sensing and optical tracking and robotic surgery system|

---

US20180360456A1|2017-06-20|2018-12-20|Ethicon Llc|Surgical instrument having controllable articulation velocity|

---

US10307170B2|2017-06-20|2019-06-04|Ethicon Llc|Method for closed loop control of motor velocity of a surgical stapling and cutting instrument|

---

US10881399B2|2017-06-20|2021-01-05|Ethicon Llc|Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument|

---

US10980537B2|2017-06-20|2021-04-20|Ethicon Llc|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations|

---

US10888321B2|2017-06-20|2021-01-12|Ethicon Llc|Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument|

---

US11229496B2|2017-06-22|2022-01-25|Navlab Holdings Ii, Llc|Systems and methods of providing assistance to a surgeon for minimizing errors during a surgical procedure|

---

US10765427B2|2017-06-28|2020-09-08|Ethicon Llc|Method for articulating a surgical instrument|

---

US20190000478A1|2017-06-28|2019-01-03|Ethicon Llc|Surgical system couplable with staple cartridge and radio frequency cartridge, and method of using same|

---

US10639037B2|2017-06-28|2020-05-05|Ethicon Llc|Surgical instrument with axially movable closure member|

---

US10903685B2|2017-06-28|2021-01-26|Ethicon Llc|Surgical shaft assemblies with slip ring assemblies forming capacitive channels|

---

US10932772B2|2017-06-29|2021-03-02|Ethicon Llc|Methods for closed loop velocity control for robotic surgical instrument|

---

US10898183B2|2017-06-29|2021-01-26|Ethicon Llc|Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing|

---

US11007022B2|2017-06-29|2021-05-18|Ethicon Llc|Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument|

---

US11027432B2|2017-09-06|2021-06-08|Stryker Corporation|Techniques for controlling position of an end effector of a robotic device relative to a virtual constraint|

---

US10743872B2|2017-09-29|2020-08-18|Ethicon Llc|System and methods for controlling a display of a surgical instrument|

---

US20190125457A1|2017-10-30|2019-05-02|Ethicon Llc|Method for communicating with surgical instrument systems|

---

US11129634B2|2017-10-30|2021-09-28|Cilag Gmbh International|Surgical instrument with rotary drive selectively actuating multiple end effector functions|

---

US11229436B2|2017-10-30|2022-01-25|Cilag Gmbh International|Surgical system comprising a surgical tool and a surgical hub|

---

US20190125459A1|2017-10-30|2019-05-02|Ethicon Llc|Method of hub communication with surgical instrument systems|

---

US20190125455A1|2017-10-30|2019-05-02|Ethicon Llc|Method of hub communication with surgical instrument systems|

---

US10932804B2|2017-10-30|2021-03-02|Ethicon Llc|Surgical instrument with sensor and/or control systems|

---

US11103268B2|2017-10-30|2021-08-31|Cilag Gmbh International|Surgical clip applier comprising adaptive firing control|

---

US20190125458A1|2017-10-30|2019-05-02|Ethicon Llc|Method for producing a surgical instrument comprising a smart electrical system|

---

US10736616B2|2017-10-30|2020-08-11|Ethicon Llc|Surgical instrument with remote release|

---

US20190125361A1|2017-10-30|2019-05-02|Ethicon Llc|Method for operating a powered articulating multi-clip applier|

---

US20190125456A1|2017-10-30|2019-05-02|Ethicon Llc|Method of hub communication with surgical instrument systems|

---

US20190125454A1|2017-10-30|2019-05-02|Ethicon Llc|Method of hub communication with surgical instrument systems|

---

US11141160B2|2017-10-30|2021-10-12|Cilag Gmbh International|Clip applier comprising a motor controller|

---

US10842490B2|2017-10-31|2020-11-24|Ethicon Llc|Cartridge body design with force reduction based on firing completion|

---

US10783634B2|2017-11-22|2020-09-22|General Electric Company|Systems and methods to deliver point of care alerts for radiological findings|

---

US10743868B2|2017-12-21|2020-08-18|Ethicon Llc|Surgical instrument comprising a pivotable distal head|

---

US10892899B2|2017-12-28|2021-01-12|Ethicon Llc|Self describing data packets generated at an issuing instrument|

---

US11147607B2|2017-12-28|2021-10-19|Cilag Gmbh International|Bipolar combination device that automatically adjusts pressure based on energy modality|

---

US20190201036A1|2017-12-28|2019-07-04|Ethicon Llc|Temperature control of ultrasonic end effector and control system therefor|

---

US20190274716A1|2017-12-28|2019-09-12|Ethicon Llc|Determining the state of an ultrasonic end effector|

---

US11179208B2|2017-12-28|2021-11-23|Cilag Gmbh International|Cloud-based medical analytics for security and authentication trends and reactive measures|

---

US20190206563A1|2017-12-28|2019-07-04|Ethicon Llc|Method for adaptive control schemes for surgical network control and interaction|

---

US20190201130A1|2017-12-28|2019-07-04|Ethicon Llc|Communication of data where a surgical network is using context of the data and requirements of a receiving system / user to influence inclusion or linkage of data and metadata to establish continuity|

---

US10944728B2|2017-12-28|2021-03-09|Ethicon Llc|Interactive surgical systems with encrypted communication capabilities|

---

US11213359B2|2017-12-28|2022-01-04|Cilag Gmbh International|Controllers for robot-assisted surgical platforms|

---

US20190201040A1|2017-12-28|2019-07-04|Ethicon Llc|Controlling activation of an ultrasonic surgical instrument according to the presence of tissue|

---

US11100631B2|2017-12-28|2021-08-24|Cilag Gmbh International|Use of laser light and red-green-blue coloration to determine properties of back scattered light|

---

US20190201027A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical instrument with acoustic-based motor control|

---

US20190206561A1|2017-12-28|2019-07-04|Ethicon Llc|Data handling and prioritization in a cloud analytics network|

---

US20190201123A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical systems with autonomously adjustable control programs|

---

US20190201126A1|2017-12-28|2019-07-04|Ethicon Llc|Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures|

---

US20190201047A1|2017-12-28|2019-07-04|Ethicon Llc|Method for smart energy device infrastructure|

---

US20190201043A1|2017-12-28|2019-07-04|Ethicon Llc|Detection of end effector emersion in liquid|

---

US20190200997A1|2017-12-28|2019-07-04|Ethicon Llc|Stapling device with both compulsory and discretionary lockouts based on sensed parameters|

---

US20190201025A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical instrument with a hardware-only control circuit|

---

US20190200986A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical instrument cartridge sensor assemblies|

---

US20190206562A1|2017-12-28|2019-07-04|Ethicon Llc|Method of hub communication, processing, display, and cloud analytics|

---

US20190206551A1|2017-12-28|2019-07-04|Ethicon Llc|Spatial awareness of surgical hubs in operating rooms|

---

US11013563B2|2017-12-28|2021-05-25|Ethicon Llc|Drive arrangements for robot-assisted surgical platforms|

---

US20190201128A1|2017-12-28|2019-07-04|Ethicon Llc|Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub|

---

US20190201090A1|2017-12-28|2019-07-04|Ethicon Llc|Capacitive coupled return path pad with separable array elements|

---

US20190201045A1|2017-12-28|2019-07-04|Ethicon Llc|Method for smoke evacuation for surgical hub|

---

US20190201146A1|2017-12-28|2019-07-04|Ethicon Llc|Safety systems for smart powered surgical stapling|

---

US20190201112A1|2017-12-28|2019-07-04|Ethicon Llc|Computer implemented interactive surgical systems|

---

US11051876B2|2017-12-28|2021-07-06|Cilag Gmbh International|Surgical evacuation flow paths|

---

US10987178B2|2017-12-28|2021-04-27|Ethicon Llc|Surgical hub control arrangements|

---

US20190206565A1|2017-12-28|2019-07-04|Ethicon Llc|Method for operating surgical instrument systems|

---

US20190200985A1|2017-12-28|2019-07-04|Ethicon Llc|Systems for detecting proximity of surgical end effector to cancerous tissue|

---

US10695081B2|2017-12-28|2020-06-30|Ethicon Llc|Controlling a surgical instrument according to sensed closure parameters|

---

US11076921B2|2017-12-28|2021-08-03|Cilag Gmbh International|Adaptive control program updates for surgical hubs|

---

US20190201127A1|2017-12-28|2019-07-04|Ethicon Llc|Adjustment of a surgical device function based on situational awareness|

---

US10758310B2|2017-12-28|2020-09-01|Ethicon Llc|Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices|

---

US20190200987A1|2017-12-28|2019-07-04|Ethicon Llc|Variable output cartridge sensor assembly|

---

US20190200905A1|2017-12-28|2019-07-04|Ethicon Llc|Characterization of tissue irregularities through the use of mono-chromatic light refractivity|

---

US10892995B2|2017-12-28|2021-01-12|Ethicon Llc|Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs|

---

US11056244B2|2017-12-28|2021-07-06|Cilag Gmbh International|Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks|

---

US20190201115A1|2017-12-28|2019-07-04|Ethicon Llc|Aggregation and reporting of surgical hub data|

---

US10932872B2|2017-12-28|2021-03-02|Ethicon Llc|Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set|

---

US20190201073A1|2017-12-28|2019-07-04|Ethicon Llc|Estimating state of ultrasonic end effector and control system therefor|

---

US11096693B2|2017-12-28|2021-08-24|Cilag Gmbh International|Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing|

---

US20190206564A1|2017-12-28|2019-07-04|Ethicon Llc|Method for facility data collection and interpretation|

---

US11266468B2|2017-12-28|2022-03-08|Cilag Gmbh International|Cooperative utilization of data derived from secondary sources by intelligent surgical hubs|

---

US20190201041A1|2017-12-28|2019-07-04|Ethicon Llc|Activation of energy devices|

---

US11132462B2|2017-12-28|2021-09-28|Cilag Gmbh International|Data stripping method to interrogate patient records and create anonymized record|

---

US20190206003A1|2017-12-28|2019-07-04|Ethicon Llc|Adaptive control program updates for surgical devices|

---

US11257589B2|2017-12-28|2022-02-22|Cilag Gmbh International|Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes|

---

US20190206555A1|2017-12-28|2019-07-04|Ethicon Llc|Cloud-based medical analytics for customization and recommendations to a user|

---

US20190201136A1|2017-12-28|2019-07-04|Ethicon Llc|Method of hub communication|

---

US20190201087A1|2017-12-28|2019-07-04|Ethicon Llc|Smoke evacuation system including a segmented control circuit for interactive surgical platform|

---

US20190201104A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical hub spatial awareness to determine devices in operating theater|

---

US20190206569A1|2017-12-28|2019-07-04|Ethicon Llc|Method of cloud based data analytics for use with the hub|

---

US20190201044A1|2017-12-28|2019-07-04|Ethicon Llc|Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue|

---

US20190201020A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical systems for detecting end effector tissue distribution irregularities|

---

US20190208641A1|2017-12-28|2019-07-04|Ethicon Llc|Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices|

---

US20190200988A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical systems with prioritized data transmission capabilities|

---

US20190200977A1|2017-12-28|2019-07-04|Ethicon Llc|Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation|

---

US20190205001A1|2017-12-28|2019-07-04|Ethicon Llc|Sterile field interactive control displays|

---

US20190201046A1|2017-12-28|2019-07-04|Ethicon Llc|Method for controlling smart energy devices|

---

US20190205567A1|2017-12-28|2019-07-04|Ethicon Llc|Data pairing to interconnect a device measured parameter with an outcome|

---

US20190201158A1|2017-12-28|2019-07-04|Ethicon Llc|Control of a surgical system through a surgical barrier|

---

US20190200980A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical system for presenting information interpreted from external data|

---

US11166772B2|2017-12-28|2021-11-09|Cilag Gmbh International|Surgical hub coordination of control and communication of operating room devices|

---

US11045591B2|2017-12-28|2021-06-29|Cilag Gmbh International|Dual in-series large and small droplet filters|

---

US11253315B2|2017-12-28|2022-02-22|Cilag Gmbh International|Increasing radio frequency to create pad-less monopolar loop|

---

US10966791B2|2017-12-28|2021-04-06|Ethicon Llc|Cloud-based medical analytics for medical facility segmented individualization of instrument function|

---

US20190201075A1|2017-12-28|2019-07-04|Ethicon Llc|Mechanisms for controlling different electromechanical systems of an electrosurgical instrument|

---

US20190201102A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution|

---

US20190201083A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical evacuation sensor arrangements|

---

US20190201080A1|2017-12-28|2019-07-04|Ethicon Llc|Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location|

---

US20190201079A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical instrument having a flexible electrode|

---

US20190201077A1|2017-12-28|2019-07-04|Ethicon Llc|Interruption of energy due to inadvertent capacitive coupling|

---

US11234756B2|2017-12-28|2022-02-01|Cilag Gmbh International|Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter|

---

US20190205441A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity|

---

US20190200844A1|2017-12-28|2019-07-04|Ethicon Llc|Method of hub communication, processing, storage and display|

---

US11202570B2|2017-12-28|2021-12-21|Cilag Gmbh International|Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems|

---

US10943454B2|2017-12-28|2021-03-09|Ethicon Llc|Detection and escalation of security responses of surgical instruments to increasing severity threats|

---

US20190201594A1|2017-12-28|2019-07-04|Ethicon Llc|Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub|

---

US20190200906A1|2017-12-28|2019-07-04|Ethicon Llc|Dual cmos array imaging|

---

US20190201034A1|2017-12-28|2019-07-04|Ethicon Llc|Powered stapling device configured to adjust force, advancement speed, and overall stroke of cutting member based on sensed parameter of firing or clamping|

---

US20190201120A1|2017-12-28|2019-07-04|Ethicon Llc|Sensing arrangements for robot-assisted surgical platforms|

---

US20190201030A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical instrument comprising a plurality of drive systems|

---

US20190201021A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical instrument having a flexible circuit|

---

US20190201137A1|2017-12-28|2019-07-04|Ethicon Llc|Method of robotic hub communication, detection, and control|

---

US20190201129A1|2017-12-28|2019-07-04|Ethicon Llc|Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use|

---

US20190201085A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical evacuation sensing and generator control|

---

US11160605B2|2017-12-28|2021-11-02|Cilag Gmbh International|Surgical evacuation sensing and motor control|

---

US11109866B2|2017-12-28|2021-09-07|Cilag Gmbh International|Method for circular stapler control algorithm adjustment based on situational awareness|

---

US20190201140A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical hub situational awareness|

---

US20190201033A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical system distributed processing|

---

US11069012B2|2017-12-28|2021-07-20|Cilag Gmbh International|Interactive surgical systems with condition handling of devices and data capabilities|

---

US20190201086A1|2017-12-28|2019-07-04|Ethicon Llc|Surgical evacuation sensing and display|

---

US20190201091A1|2017-12-28|2019-07-04|Ethicon Llc|Radio frequency energy device for delivering combined electrical signals|

---

US20190200981A1|2017-12-28|2019-07-04|Ethicon Llc|Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws|

---

US20190274752A1|2018-03-08|2019-09-12|Ethicon Llc|Fine dissection mode for tissue classification|

---

US20190274749A1|2018-03-08|2019-09-12|Ethicon Llc|Detection of large vessels during parenchymal dissection using a smart blade|

---

US11259830B2|2018-03-08|2022-03-01|Cilag Gmbh International|Methods for controlling temperature in ultrasonic device|

---

US11219453B2|2018-03-28|2022-01-11|Cilag Gmbh International|Surgical stapling devices with cartridge compatible closure and firing lockout arrangements|

---

US11197668B2|2018-03-28|2021-12-14|Cilag Gmbh International|Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout|

---

US20190298352A1|2018-03-28|2019-10-03|Ethicon Llc|Surgical stapling devices with improved rotary driven closure systems|

---

US11213294B2|2018-03-28|2022-01-04|Cilag Gmbh International|Surgical instrument comprising co-operating lockout features|

---

US11166716B2|2018-03-28|2021-11-09|Cilag Gmbh International|Stapling instrument comprising a deactivatable lockout|

---

US20190298350A1|2018-03-28|2019-10-03|Ethicon Llc|Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems|

---

US11207067B2|2018-03-28|2021-12-28|Cilag Gmbh International|Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing|

---

US11090047B2|2018-03-28|2021-08-17|Cilag Gmbh International|Surgical instrument comprising an adaptive control system|

---

US11096688B2|2018-03-28|2021-08-24|Cilag Gmbh International|Rotary driven firing members with different anvil and channel engagement features|

---

US10973520B2|2018-03-28|2021-04-13|Ethicon Llc|Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature|

---

US20190298353A1|2018-03-28|2019-10-03|Ethicon Llc|Surgical stapling devices with asymmetric closure features|

---

US11141232B2|2018-03-29|2021-10-12|Intuitive Surgical Operations, Inc.|Teleoperated surgical instruments|

---

US10856870B2|2018-08-20|2020-12-08|Ethicon Llc|Switching arrangements for motor powered articulatable surgical instruments|

---

US10842492B2|2018-08-20|2020-11-24|Ethicon Llc|Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system|

---

US11207065B2|2018-08-20|2021-12-28|Cilag Gmbh International|Method for fabricating surgical stapler anvils|

---

US10779821B2|2018-08-20|2020-09-22|Ethicon Llc|Surgical stapler anvils with tissue stop features configured to avoid tissue pinch|

---

US11039834B2|2018-08-20|2021-06-22|Cilag Gmbh International|Surgical stapler anvils with staple directing protrusions and tissue stability features|

---

US11083458B2|2018-08-20|2021-08-10|Cilag Gmbh International|Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions|

---

US11045192B2|2018-08-20|2021-06-29|Cilag Gmbh International|Fabricating techniques for surgical stapler anvils|

---

US10912559B2|2018-08-20|2021-02-09|Ethicon Llc|Reinforced deformable anvil tip for surgical stapler anvil|

---

US20200054321A1|2018-08-20|2020-02-20|Ethicon Llc|Surgical instruments with progressive jaw closure arrangements|

---

US11253256B2|2018-08-20|2022-02-22|Cilag Gmbh International|Articulatable motor powered surgical instruments with dedicated articulation motor arrangements|

---

US20200054320A1|2018-08-20|2020-02-20|Ethicon Llc|Method for operating a powered articulatable surgical instrument|US20070084897A1|2003-05-20|2007-04-19|Shelton Frederick E Iv|Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism|

---

US8215531B2|2004-07-28|2012-07-10|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a medical substance dispenser|

---

US9237891B2|2005-08-31|2016-01-19|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical stapling devices that produce formed staples having different lengths|

---

US11246590B2|2005-08-31|2022-02-15|Cilag Gmbh International|Staple cartridge including staple drivers having different unfired heights|

---

US7669746B2|2005-08-31|2010-03-02|Ethicon Endo-Surgery, Inc.|Staple cartridges for forming staples having differing formed staple heights|

---

US11224427B2|2006-01-31|2022-01-18|Cilag Gmbh International|Surgical stapling system including a console and retraction assembly|

---

US8186555B2|2006-01-31|2012-05-29|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting and fastening instrument with mechanical closure system|

---

US7845537B2|2006-01-31|2010-12-07|Ethicon Endo-Surgery, Inc.|Surgical instrument having recording capabilities|

---

US11207064B2|2011-05-27|2021-12-28|Cilag Gmbh International|Automated end effector component reloading system for use with a robotic system|

---

US8684253B2|2007-01-10|2014-04-01|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor|

---

US8931682B2|2007-06-04|2015-01-13|Ethicon Endo-Surgery, Inc.|Robotically-controlled shaft based rotary drive systems for surgical instruments|

---

US9585657B2|2008-02-15|2017-03-07|Ethicon Endo-Surgery, Llc|Actuator for releasing a layer of material from a surgical end effector|

---

US9386983B2|2008-09-23|2016-07-12|Ethicon Endo-Surgery, Llc|Robotically-controlled motorized surgical instrument|

---

US8210411B2|2008-09-23|2012-07-03|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument|

---

US8517239B2|2009-02-05|2013-08-27|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument comprising a magnetic element driver|

---

US20110024477A1|2009-02-06|2011-02-03|Hall Steven G|Driven Surgical Stapler Improvements|

---

US9861361B2|2010-09-30|2018-01-09|Ethicon Llc|Releasable tissue thickness compensator and fastener cartridge having the same|

---

US9072535B2|2011-05-27|2015-07-07|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments with rotatable staple deployment arrangements|

---

US11197671B2|2012-06-28|2021-12-14|Cilag Gmbh International|Stapling assembly comprising a lockout|

---

RU2636861C2|2012-06-28|2017-11-28|Этикон Эндо-Серджери, Инк.|Blocking of empty cassette with clips|

---

US9364230B2|2012-06-28|2016-06-14|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with rotary joint assemblies|

---

RU2669463C2|2013-03-01|2018-10-11|Этикон Эндо-Серджери, Инк.|Surgical instrument with soft stop|

---

US9629629B2|2013-03-14|2017-04-25|Ethicon Endo-Surgey, LLC|Control systems for surgical instruments|

---

MX369362B|2013-08-23|2019-11-06|Ethicon Endo Surgery Llc|Firing member retraction devices for powered surgical instruments.|

---

US20150053746A1|2013-08-23|2015-02-26|Ethicon Endo-Surgery, Inc.|Torque optimization for surgical instruments|

---

US11259799B2|2014-03-26|2022-03-01|Cilag Gmbh International|Interface systems for use with surgical instruments|

---

JP6612256B2|2014-04-16|2019-11-27|エシコンエルエルシー|Fastener cartridge with non-uniform fastener|

---

BR112017004361A2|2014-09-05|2017-12-05|Ethicon Llc|medical overcurrent modular power supply|

---

US9757128B2|2014-09-05|2017-09-12|Ethicon Llc|Multiple sensors with one sensor affecting a second sensor's output or interpretation|

---

BR112017005981A2|2014-09-26|2017-12-19|Ethicon Llc|surgical staplers and ancillary materials|

---

US9924944B2|2014-10-16|2018-03-27|Ethicon Llc|Staple cartridge comprising an adjunct material|

---

US11141153B2|2014-10-29|2021-10-12|Cilag Gmbh International|Staple cartridges comprising driver arrangements|

---

US11154301B2|2015-02-27|2021-10-26|Cilag Gmbh International|Modular stapling assembly|

---

US9993248B2|2015-03-06|2018-06-12|Ethicon Endo-Surgery, Llc|Smart sensors with local signal processing|

---

US10245033B2|2015-03-06|2019-04-02|Ethicon Llc|Surgical instrument comprising a lockable battery housing|

---

US10299878B2|2015-09-25|2019-05-28|Ethicon Llc|Implantable adjunct systems for determining adjunct skew|

---

US10368865B2|2015-12-30|2019-08-06|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10292704B2|2015-12-30|2019-05-21|Ethicon Llc|Mechanisms for compensating for battery pack failure in powered surgical instruments|

---

US10265068B2|2015-12-30|2019-04-23|Ethicon Llc|Surgical instruments with separable motors and motor control circuits|

---

US11213293B2|2016-02-09|2022-01-04|Cilag Gmbh International|Articulatable surgical instruments with single articulation link arrangements|

---

US11224426B2|2016-02-12|2022-01-18|Cilag Gmbh International|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10335145B2|2016-04-15|2019-07-02|Ethicon Llc|Modular surgical instrument with configurable operating mode|

---

US11179150B2|2016-04-15|2021-11-23|Cilag Gmbh International|Systems and methods for controlling a surgical stapling and cutting instrument|

---

US10456137B2|2016-04-15|2019-10-29|Ethicon Llc|Staple formation detection mechanisms|

---

US10368867B2|2016-04-18|2019-08-06|Ethicon Llc|Surgical instrument comprising a lockout|

---

US10675026B2|2016-12-21|2020-06-09|Ethicon Llc|Methods of stapling tissue|

---

US20180168618A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling systems|

---

US11160551B2|2016-12-21|2021-11-02|Cilag Gmbh International|Articulatable surgical stapling instruments|

---

US11179155B2|2016-12-21|2021-11-23|Cilag Gmbh International|Anvil arrangements for surgical staplers|

---

US11191539B2|2016-12-21|2021-12-07|Cilag Gmbh International|Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system|

---

JP2020501779A|2016-12-21|2020-01-23|エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ|Surgical stapling system|

---

US10307170B2|2017-06-20|2019-06-04|Ethicon Llc|Method for closed loop control of motor velocity of a surgical stapling and cutting instrument|

---

US11266405B2|2017-06-27|2022-03-08|Cilag Gmbh International|Surgical anvil manufacturing methods|

---

US11141154B2|2017-06-27|2021-10-12|Cilag Gmbh International|Surgical end effectors and anvils|

---

US20190000474A1|2017-06-28|2019-01-03|Ethicon Llc|Surgical instrument comprising selectively actuatable rotatable couplers|

---

US11246592B2|2017-06-28|2022-02-15|Cilag Gmbh International|Surgical instrument comprising an articulation system lockable to a frame|

---

US11259805B2|2017-06-28|2022-03-01|Cilag Gmbh International|Surgical instrument comprising firing member supports|

---

US11134944B2|2017-10-30|2021-10-05|Cilag Gmbh International|Surgical stapler knife motion controls|

---

US11229436B2|2017-10-30|2022-01-25|Cilag Gmbh International|Surgical system comprising a surgical tool and a surgical hub|

---

US11141160B2|2017-10-30|2021-10-12|Cilag Gmbh International|Clip applier comprising a motor controller|

---

US11103268B2|2017-10-30|2021-08-31|Cilag Gmbh International|Surgical clip applier comprising adaptive firing control|

---

US11090075B2|2017-10-30|2021-08-17|Cilag Gmbh International|Articulation features for surgical end effector|

---

US11071543B2|2017-12-15|2021-07-27|Cilag Gmbh International|Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges|

---

US11197670B2|2017-12-15|2021-12-14|Cilag Gmbh International|Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed|

---

US11076853B2|2017-12-21|2021-08-03|Cilag Gmbh International|Systems and methods of displaying a knife position during transection for a surgical instrument|

---

US10743868B2|2017-12-21|2020-08-18|Ethicon Llc|Surgical instrument comprising a pivotable distal head|

---

US10987178B2|2017-12-28|2021-04-27|Ethicon Llc|Surgical hub control arrangements|

---

US10758310B2|2017-12-28|2020-09-01|Ethicon Llc|Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices|

---

US11202570B2|2017-12-28|2021-12-21|Cilag Gmbh International|Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems|

---

US20190205001A1|2017-12-28|2019-07-04|Ethicon Llc|Sterile field interactive control displays|

---

US10944728B2|2017-12-28|2021-03-09|Ethicon Llc|Interactive surgical systems with encrypted communication capabilities|

---

US10695081B2|2017-12-28|2020-06-30|Ethicon Llc|Controlling a surgical instrument according to sensed closure parameters|

---

US11096693B2|2017-12-28|2021-08-24|Cilag Gmbh International|Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing|

---

US11257589B2|2017-12-28|2022-02-22|Cilag Gmbh International|Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes|

---

US11056244B2|2017-12-28|2021-07-06|Cilag Gmbh International|Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks|

---

US20190201087A1|2017-12-28|2019-07-04|Ethicon Llc|Smoke evacuation system including a segmented control circuit for interactive surgical platform|

---

US11076921B2|2017-12-28|2021-08-03|Cilag Gmbh International|Adaptive control program updates for surgical hubs|

---

US20190206551A1|2017-12-28|2019-07-04|Ethicon Llc|Spatial awareness of surgical hubs in operating rooms|

---

US11132462B2|2017-12-28|2021-09-28|Cilag Gmbh International|Data stripping method to interrogate patient records and create anonymized record|

---

US10892995B2|2017-12-28|2021-01-12|Ethicon Llc|Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs|

---

US11100631B2|2017-12-28|2021-08-24|Cilag Gmbh International|Use of laser light and red-green-blue coloration to determine properties of back scattered light|

---

US11179208B2|2017-12-28|2021-11-23|Cilag Gmbh International|Cloud-based medical analytics for security and authentication trends and reactive measures|

---

US11147607B2|2017-12-28|2021-10-19|Cilag Gmbh International|Bipolar combination device that automatically adjusts pressure based on energy modality|

---

US11013563B2|2017-12-28|2021-05-25|Ethicon Llc|Drive arrangements for robot-assisted surgical platforms|

---

US11266468B2|2017-12-28|2022-03-08|Cilag Gmbh International|Cooperative utilization of data derived from secondary sources by intelligent surgical hubs|

---

US11045591B2|2017-12-28|2021-06-29|Cilag Gmbh International|Dual in-series large and small droplet filters|

---

US10892899B2|2017-12-28|2021-01-12|Ethicon Llc|Self describing data packets generated at an issuing instrument|

---

US10943454B2|2017-12-28|2021-03-09|Ethicon Llc|Detection and escalation of security responses of surgical instruments to increasing severity threats|

---

US10932872B2|2017-12-28|2021-03-02|Ethicon Llc|Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set|

---

US11234756B2|2017-12-28|2022-02-01|Cilag Gmbh International|Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter|

---

US11166772B2|2017-12-28|2021-11-09|Cilag Gmbh International|Surgical hub coordination of control and communication of operating room devices|

---

US11069012B2|2017-12-28|2021-07-20|Cilag Gmbh International|Interactive surgical systems with condition handling of devices and data capabilities|

---

US10966791B2|2017-12-28|2021-04-06|Ethicon Llc|Cloud-based medical analytics for medical facility segmented individualization of instrument function|

---

US11253315B2|2017-12-28|2022-02-22|Cilag Gmbh International|Increasing radio frequency to create pad-less monopolar loop|

---

US20190201146A1|2017-12-28|2019-07-04|Ethicon Llc|Safety systems for smart powered surgical stapling|

---

US11051876B2|2017-12-28|2021-07-06|Cilag Gmbh International|Surgical evacuation flow paths|

---

US11109866B2|2017-12-28|2021-09-07|Cilag Gmbh International|Method for circular stapler control algorithm adjustment based on situational awareness|

---

US11213359B2|2017-12-28|2022-01-04|Cilag Gmbh International|Controllers for robot-assisted surgical platforms|

---

US11160605B2|2017-12-28|2021-11-02|Cilag Gmbh International|Surgical evacuation sensing and motor control|

---

US20190274716A1|2017-12-28|2019-09-12|Ethicon Llc|Determining the state of an ultrasonic end effector|

---

US11259830B2|2018-03-08|2022-03-01|Cilag Gmbh International|Methods for controlling temperature in ultrasonic device|

---

US11213294B2|2018-03-28|2022-01-04|Cilag Gmbh International|Surgical instrument comprising co-operating lockout features|

---

US11219453B2|2018-03-28|2022-01-11|Cilag Gmbh International|Surgical stapling devices with cartridge compatible closure and firing lockout arrangements|

---

US20190298350A1|2018-03-28|2019-10-03|Ethicon Llc|Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems|

---

US10973520B2|2018-03-28|2021-04-13|Ethicon Llc|Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature|

---

US11197668B2|2018-03-28|2021-12-14|Cilag Gmbh International|Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout|

---

US11207067B2|2018-03-28|2021-12-28|Cilag Gmbh International|Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing|

---

US11090047B2|2018-03-28|2021-08-17|Cilag Gmbh International|Surgical instrument comprising an adaptive control system|

---

US11166716B2|2018-03-28|2021-11-09|Cilag Gmbh International|Stapling instrument comprising a deactivatable lockout|

---

US11096688B2|2018-03-28|2021-08-24|Cilag Gmbh International|Rotary driven firing members with different anvil and channel engagement features|

---

US11207065B2|2018-08-20|2021-12-28|Cilag Gmbh International|Method for fabricating surgical stapler anvils|

---

US11253256B2|2018-08-20|2022-02-22|Cilag Gmbh International|Articulatable motor powered surgical instruments with dedicated articulation motor arrangements|

---

US11259807B2|2019-02-19|2022-03-01|Cilag Gmbh International|Staple cartridges with cam surfaces configured to engage primary and secondary portions of a lockout of a surgical stapling device|

---

US11172929B2|2019-03-25|2021-11-16|Cilag Gmbh International|Articulation drive arrangements for surgical systems|

---

US11147551B2|2019-03-25|2021-10-19|Cilag Gmbh International|Firing drive arrangements for surgical systems|

---

US11147553B2|2019-03-25|2021-10-19|Cilag Gmbh International|Firing drive arrangements for surgical systems|

---

US11253254B2|2019-04-30|2022-02-22|Cilag Gmbh International|Shaft rotation actuator on a surgical instrument|

---

US11224497B2|2019-06-28|2022-01-18|Cilag Gmbh International|Surgical systems with multiple RFID tags|

---

US11259803B2|2019-06-28|2022-03-01|Cilag Gmbh International|Surgical stapling system having an information encryption protocol|

---

US11246678B2|2019-06-28|2022-02-15|Cilag Gmbh International|Surgical stapling system having a frangible RFID tag|

---

US11241235B2|2019-06-28|2022-02-08|Cilag Gmbh International|Method of using multiple RFID chips with a surgical assembly|

---

US11234698B2|2019-12-19|2022-02-01|Cilag Gmbh International|Stapling system comprising a clamp lockout and a firing lockout|

---

US20210196365A1|2019-12-30|2021-07-01|Ethicon Llc|Control program adaptation based on device status and user input|

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

优先权:

---

申请号 | 申请日 | 专利标题

---

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

---

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

---

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

---

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

---

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

---

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

---

US201862649313P| true| 2018-03-28|2018-03-28|

---

US62/649,313|2018-03-28|

---

US15/940,675|US10849697B2|2017-12-28|2018-03-29|Cloud interface for coupled surgical devices|

---

US15/940,675|2018-03-29|

---

PCT/IB2018/057441|WO2019130094A1|2017-12-28|2018-09-26|Cloud interface for coupled surgical devices|

---