surgical tool equipped with motor with predefined adjustable control algorithm to control end actuat

专利摘要:
The present invention relates to a surgical system. The surgical system comprises a surgical instrument comprising an end actuator, the end actuator being configured to perform an end actuator function, and a control circuit configured to control the end actuator function and automatically adapt the control. of the function of the end actuator over time and limit the automatic adaptation of the control of the function of the end actuator.
公开号:BR112020013169A2
申请号:R112020013169-5
申请日:2018-11-14
公开日:2020-12-01
发明作者:Frederick E. Shelton Iv；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present application claims the benefit of the priority of the non-provisional patent application US serial number 16 / 182.249, entitled POWERED SURGICAL TOOL WITH PREDEFINED ADJUSTABLE
[002] [002] The present application claims priority under 35 U.S.C. $ 119 (e) of US provisional patent application No. 62 / 729,184, entitled POWERED SURGICAL TOOL WITH A PREDEFINED ADJUSTABLE CONTROL ALGORITHM FOR CONTROLLING AT LEAST ONE END-
[003] [003] The present application claims priority under 35 U.S.C. $ 119 (e) to provisional patent application No. 62 / 692,747, entitled
[004] [004] The present application claims priority under 35 U.S.C. $
[005] [005] The present application also claims priority under 35 USC $ 119 (e) of US provisional patent application 62 / 650,898 filed March 30, 2018, entitled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS, of the application for US Provisional Patent Serial No. 62 / 650,887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES, filed on March 30, 2018, from US Provisional Patent Application Serial No. 62 / 650,882, entitled SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM, filed at March 30, 2018, and provisional US patent application serial number 62 / 650,877, entitled SURGICAL SMOKE EVACUATION SENSING AND CONTROLS, filed on March 30, 2018, the description of which is incorporated herein by reference, in its entirety.
[006] [006] This application also claims priority under 35 US $ 119 (e) of US provisional patent application serial number 62 / 640,417, entitled TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR, filed on March 8, 2018, and US provisional patent application serial number 62 / 640,415, entitled
[007] [007] The present application also claims priority under 35 U.S.C. $ 119 (e) of US provisional patent application serial number 62 / 611.341, entitled INTERACTIVE SURGICAL PLATFORM,
[008] [008] The present description refers to several surgical systems. Surgical procedures are typically performed in theaters or surgical operating rooms in a health care facility, such as a hospital. A sterile field is typically created around the patient. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area. Various surgical devices and systems are used to perform a surgical procedure.
[009] [009] Furthermore, in the digital and information age, medical systems and facilities are often slower to implement systems or procedures that use newer and improved technologies due to patient safety and a general desire to maintain traditional practices. However, health systems and clinics may often lack communication and knowledge shared with other neighboring or similarly located clinics as a result. To improve patient practices, it would be desirable to find ways to help better connect medical systems and clinics. FIGURES
[0010] [0010] The various aspects described here, both with regard to organization and methods of operation, together with additional objects and advantages of them, can be better understood in reference to the description presented below, considered together with the drawings in attached as follows.
[0011] [0011] Figure 1 is a block diagram of an interactive surgical system implemented by computer, according to at least one aspect of the present description.
[0012] [0012] Figure 2 is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present description.
[0013] [0013] 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.
[0014] [0014] Figure 4 is a partial perspective view of a central surgical controller enclosure, and a generator module in combination received slidably in a central surgical controller enclosure, in accordance with at least one aspect of the present description.
[0015] [0015] Figure 5 is a perspective view of a generator module in combination with bipolar, ultrasonic and monopolar contacts and a smoke evacuation component, in accordance with at least one aspect of the present description.
[0016] [0016] 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.
[0017] [0017] Figure 7 illustrates a vertical modular housing configured to receive a plurality of modules, according to at least one aspect of the present description.
[0018] [0018] Figure 8 illustrates a surgical data network comprising a modular communication center configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a utility facility especially equipped for surgical operations, to the cloud, in accordance with at least one aspect of the present description.
[0019] [0019] Figure 9 illustrates an interactive surgical system implemented by computer, in accordance with at least one aspect of the present description.
[0020] [0020] 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.
[0021] [0021] Figure 11 illustrates an aspect of a universal serial bus (USB) central network controller device, in accordance with at least one aspect of the present description.
[0022] [0022] Figure 12 is a block diagram of a cloud computing system that comprises a plurality of intelligent surgical instruments coupled to central surgical controllers that can connect to the cloud component of the cloud computing system, according to the least one aspect of the present description.
[0023] [0023] Figure 13 is a functional module architecture of a cloud computing system, according to at least one aspect of the present description.
[0024] [0024] Figure 14 illustrates a diagram of a surgical system with situational recognition, according to at least one aspect of the present description.
[0025] [0025] Figure 15 is a timeline that represents the situational recognition of a central surgical controller, according to at least one aspect of the present description.
[0026] [0026] Figure 16 is a diagram of a graphical user interface (GUI) for controlling various parameters of the device, according to at least one aspect of the present description.
[0027] [0027] Figure 17 is a graphical user interface for controlling adaptive parameters of a surgical device, in accordance with at least one aspect of the present description.
[0028] [0028] Figure 18 is a flow chart of a control circuit, according to at least one aspect of the present description.
[0029] [0029] Figure 19 is a block diagram representing a surgical system, according to at least one aspect of the present description. DESCRIPTION
[0030] [0030] The applicant for the present application holds the following US patent applications, filed on November 6, 2018, the description of each of which is incorporated herein by reference, in its entirety:
[0031] [0031] and US patent application No. 16 / 182,224, entitled SURGICAL NETWORK, INSTRUMENT, AND CLOUD RESPONSES BASED ON VALIDATION OF RECEIVED DATASET AND AUTHENTICATION OF ITS SOURCE AND INTEGRITY;
[0032] [0032] and US patent application: 16 / 182,230, entitled SURGICAL SYSTEM FOR PRESENTING INFORMATION INTERPRETED FROM EXTERNAL DATA;
[0033] [0033] and US patent application No. 16 / 182,233, entitled MODIFICATION OF SURGICAL SYSTEMS CONTROL PROGRAMS BASED ON MACHINE LEARNING;
[0034] [0034] and US patent application No. 16 / 182,239, entitled ADJUSTMENT OF DEVICE CONTROL PROGRAMS BASED ON STRATIFIED CONTEXTUAL DATA IN ADDITION TO THE DATA;
[0035] [0035] and US patent application No. 16 / 182,243, entitled SURGICAL HUB AND MODULAR DEVICE RESPONSE ADJUSTMENT BASED ON SITUATIONAL AWARENESS;
[0036] [0036] and US patent application No. 16 / 182,248, entitled DETECTION AND ESCALATION OF SECURITY RESPONSES OF SURGICAL INSTRUMENTS TO INCREASING SEVERITY THREATS;
[0037] [0037] and US patent application No. 16 / 182,251, entitled INTERACTIVE SURGICAL SYSTEM;
[0038] [0038] and US patent application No. 16 / 182,260, entitled AUTOMATED DATA SCALING, ALIGNMENT, AND ORGANIZING BASED ON PREDEFINED PARAMETERS WITHIN SURGICAL NETWORKS;
[0039] [0039] and US patent application No. 16 / 182,267, entitled SENSING THE PATIENT POSITION AND CONTACT UTILIZING THE MONO- POLAR RETURN PAD ELECTRODE TO PROVIDE SITUATIONAL AWARENESS TO A SURGICAL NETWORK;
[0040] [0040] and US patent application No. 16 / 182,246, entitled ADJUSTMENTS BASED ON AIRBORNE PARTICLE PROPERTIES;
[0041] [0041] and US patent application No. 16 / 182,256, entitled ADJUSTMENT OF A SURGICAL DEVICE FUNCTION BASED ON SITUATIONAL AWARENESS;
[0042] [0042] and US patent application No. 16 / 182,242, entitled REAL- TIME ANALYSIS OF COMPREHENSIVE COST OF ALL INSTRUMENTATION USED IN SURGERY UTILIZING DATA FLUIDITY TO TRACK INSTRUMENTS THROUGH STOCKING AND IN-HOUSE PROCESSES;
[0043] [0043] and US patent application No. 16 / 182,255, entitled USAGE AND TECHNIQUE ANALYSIS OF SURGEON / STAFF PERFORMANCE AGAINST A BASELINE TO OPTIMIZE DEVICE UTILIZATION AND PERFORMANCE FOR BOTH CURRENT AND FUTURE PROCEDURES;
[0044] [0044] and US patent application No. 16 / 182,269, entitled IMAGE CAPTURING OF THE AREAS OUTSIDE THE ABDOMEN TO IMPROVE PLACEMENT AND CONTROL OF A SURGICAL DEVICE IN USE;
[0045] [0045] and US patent application No. 16 / 182,278, entitled 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;
[0046] [0046] and US patent application No. 16 / 182,290, entitled SURGICAL NETWORK RECOMMENDATIONS FROM REAL TIME ANALYSIS OF PROCEDURE VARIABLES AGAINST A BASELINE HIGHLIGHTING DIFFERENCES FROM THE OPTIMAL SOLUTION;
[0047] [0047] and US patent application No. 16 / 182,232, entitled CONTROL OF A SURGICAL SYSTEM THROUGH A SURGICAL BARRIER;
[0048] [0048] and US patent application No. 16 / 182,227, entitled SURGICAL NETWORK DETERMINATION OF PRIORITIZATION OF COMMUNICATION, INTERACTION, OR PROCESSING BASED ON SYSTEM OR DEVICE NEEDS;
[0049] [0049] and US patent application No. 16 / 182,231, entitled WIRELESS PAIRING OF A SURGICAL DEVICE WITH ANOTHER DEVICE WITHIN A STERILE SURGICAL FIELD BASED ON THE USAGE AND SITUATIONAL AWARENESS OF DEVICES;
[0050] [0050] and US patent application No. 16 / 182,229, entitled ADJUSTMENT OF STAPLE HEIGHT OF AT LEAST ONE ROW OF STAPLES BASED ON THE SENSED TISSUE THICKNESS OR FORCE IN CLOSING;
[0051] [0051] and US patent application No. 16 / 182,234, entitled STAPLING DEVICE WITH BOTH COMPULSORY AND DISCRETIONARY LOCKOUTS BASED ON SENSED PARAMETERS;
[0052] [0052] and US patent application No. 16 / 182,240, entitled POWERED STAPLING DEVICE CONFIGURED TO ADJUST FORCE, ADVANCEMENT SPEED, AND OVERALL STROKE OF CUTTING MEMBER BASED ON SENSED PARAMETER OF FIRING OR CLAMPING;
[0053] [0053] and US patent application No. 16 / 182,235, entitled VARIATION OF RADIO FREQUENCY AND ULTRASONIC POWER LEVEL IN COOPERATION WITH VARYING CLAMP ARM PRESSURE TO
[0054] [0054] and US patent application No. 16 / 182,238, entitled ULTRASONIC ENERGY DEVICE WHICH VARIES PRESSURE APPLIED BY CLAMP ARM TO PROVIDE THRESHOLD CONTROL PRESSURE AT A CUT PROGRESSION LOCATION.
[0055] [0055] The applicant for the present application holds the following US patent applications filed on September 10, 2018, the description of which is incorporated herein by reference in its entirety:
[0056] [0056] and US provisional patent application No. 62 / 729,183, entitled A CONTROL FOR A SURGICAL NETWORK OR SURGICAL NETWORK CONNECTED DEVICE THAT ADJUSTS ITS FUNCTION BASED ON A SENSED SITUATION OR USAGE;
[0057] [0057] and US provisional patent application No. 62 / 729,177, entitled AUTOMATED DATA SCALING, ALIGNMENT, AND ORGANIZING BASED ON PREDEFINED PARAMETERS WITHIN A SURGICAL NETWORK BEFORE TRANSMISSION;
[0058] [0058] and US provisional patent application No. 62 / 729,176, entitled INDIRECT COMMAND AND CONTROL OF A FIRST OPERATING ROOM SYSTEM THROUGH THE USE OF A SECOND OPERATING ROOM SYSTEM WITHIN A STERILE FIELD WHERE THE SECOND OPERATING ROOM SYSTEM HAS PRIMARY AND SECONDARY OPERATING MODES;
[0059] [0059] and US provisional patent application No. 62 / 729,185, entitled POWERED STAPLING DEVICE THAT IS CAPABLE OF ADJUSTING FORCE, ADVANCEMENT SPEED, AND OVERALL STROKE OF CUTTING MEMBER OF THE DEVICE BASED ON SENSED PARAMETER OF FIRING OR CLAMPING;
[0060] [0060] and US provisional patent application No. 62 / 729,184, entitled POWERED SURGICAL TOOL WITH A PREDEFINED ADJUSTABLE CONTROL ALGORITHM FOR CONTROLLING AT LEAST ONE END EFFECTOR PARAMETER AND A MEANS FOR LIMITING THE ADJUSTMENT;
[0061] [0061] and provisional US patent application No. 62 / 729,182, entitled SENSING THE PATIENT POSITION AND CONTACT UTILIZING THE MONO POLAR RETURN PAD ELECTRODE TO PROVIDE SITUATIONAL AWARENESS TO THE HUB;
[0062] [0062] and US provisional patent application No. 62 / 729,191, entitled SURGICAL NETWORK RECOMMENDATIONS FROM REAL TIME ANALYSIS OF PROCEDURE VARIABLES AGAINST A BASELINE HIGHLIGHTING DIFFERENCES FROM THE OPTIMAL SOLUTION;
[0063] [0063] and US provisional patent application No. 62 / 729,195, entitled ULTRASONIC ENERGY DEVICE WHICH VARIES PRESSURE APPLIED
[0064] [0064] and US provisional patent application No. 62 / 729,186, entitled WIRELESS PAIRING OF A SURGICAL DEVICE WITH ANOTHER DEVICE WITHIN A STERILE SURGICAL FIELD BASED ON THE USAGE AND SITUATIONAL AWARENESS OF DEVICES.
[0065] [0065] The applicant for the present application holds the following US patent applications, filed on August 28, 2018, the description of each of which is incorporated herein by reference, in its entirety:
[0066] [0066] and US patent application No. 16 / 115,214, entitled ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR;
[0067] [0067] and patent application U, nº 16 / 115,205, entitled TEMPERATURE CONTROL OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR;
[0068] [0068] and US patent application No. 16 / 115,233, entitled RADIO FREQUENCY ENERGY DEVICE FOR DELIVERING COMBINED ELECTRICAL SIGNALS;
[0069] [0069] and US patent application No. 16 / 115,208, entitled CONTROLLING AN ULTRASONIC SURGICAL INSTRUMENT ACCORDING TO TISSUE LOCATION;
[0070] [0070] and US patent application No. 16 / 115,220, entitled CONTROLLING ACTIVATION OF AN ULTRASONIC SURGICAL INSTRUMENT ACCORDING TO THE PRESENCE OF TISSUE;
[0071] [0071] and US patent application No. 16 / 115,232, entitled DETERMINING TISSUE COMPOSITION VIA AN ULTRASONIC SYSTEM;
[0072] [0072] and US patent application No. 16 / 115,239, entitled DETERMINING THE STATE OF AN ULTRASONIC ELECTROMECHANICAL SYSTEM ACCORDING TO FREQUENCY SHIFT;
[0073] [0073] and US patent application No. 16 / 115,247, entitled DETERMINING THE STATE OF AN ULTRASONIC END EFFECTOR;
[0074] [0074] and US patent application No. 16 / 115,211, entitled SITUATIONAL AWARENESS OF ELECTROSURGICAL SYSTEMS;
[0075] [0075] and US patent application No. 16 / 115,226, entitled MECHANISMS FOR CONTROLLING DIFFERENT ELECTROMECHANICAL SYSTEMS OF AN ELECTROSURGICAL INSTRUMENT;
[0076] [0076] and US patent application No. 16 / 115,240, entitled DETECTION OF END EFFECTOR IMMERSION IN LIQUID;
[0077] [0077] and US patent application No. 16 / 115,249, entitled INTERRUPTION OF ENERGY DUE TO INADVERTENT CAPACITIVE COUPLING;
[0078] [0078] and US patent application No. 16 / 115,256, entitled INCREASING RADIO FREQUENCY TO CREATE PAD-LESS MONOPOLAR LOOP;
[0079] [0079] and US patent application No. 16 / 115,223, entitled BIPOLAR
[0080] [0080] and US patent application No. 16 / 115,238, entitled ACTIVATION OF ENERGY DEVICES.
[0081] [0081] The applicant for this application holds the following US patent applications filed on August 23, 2018, the description of which is incorporated herein by reference in its entirety for reference:
[0082] [0082] and US Provisional Patent Application No. 62 / 721,995, entitled CONTROLLING AN ULTRASONIC SURGICAL INSTRUMENT ACCORDING TO TISSUE LOCATION;
[0083] [0083] and US Provisional Patent Application No. 62 / 721,998, entitled SITUATIONAL AWARENESS OF ELECTROSURGICAL SYSTEMS;
[0084] [0084] and US Provisional Patent Application No. 62 / 721,999, entitled INTERRUPTION OF ENERGY DUE TO INADVERTENT CAPACITIVE COUPLING;
[0085] [0085] and US Provisional Patent Application No. 62 / 721,994, entitled BIPOLAR —COMBINATION DEVICE THAT AUTOMATICALLY ADJUSTS PRESSURE BASED ON ENERGY MODALITY; and
[0086] [0086] and US Provisional Patent Application No. 62 / 721,996, entitled RADIO FREQUENCY ENERGY DEVICE FOR DELIVERING COMBINED ELECTRICAL SIGNALS.
[0087] [0087] The applicant of the present application holds the following US patent applications, filed on June 30, 2018, the description of each of which is incorporated herein, by reference, in its entirety:
[0088] [0088] and US Provisional Patent Application No. 62 / 692,747, entitled SMART ACTIVATION OF AN ENERGY DEVICE BY ANOTHER DEVICE;
[0089] [0089] and US Provisional Patent Application No. 62 / 692,748, entitled SMART ENERGY ARCHITECTURE; and
[0090] [0090] and US Provisional Patent Application No. 62 / 692,768, entitled SMART ENERGY DEVICES.
[0091] [0091] The applicant for the present application holds the following US patent applications, filed on June 29, 2018, the description of each of which is incorporated herein, by reference, in its entirety:
[0092] [0092] and US patent application serial number 16 / 024,090, entitled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS;
[0093] [0093] and US patent application serial number 16 / 024,057, entitled CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS;
[0094] [0094] and US patent application serial number 16 / 024,067, entitled SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE INFORMATION;
[0095] [0095] and US patent application serial number 16 / 024,075, entitled SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING;
[0096] [0096] and US patent application serial number 16 / 024,083, entitled SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING;
[0097] [0097] and US Patent Application Serial No. 16 / 024,094, entitled SURGICAL SYSTEMS FOR DETECTING END EFFECTOR TISSUE DISTRIBUTION IRREGULARITIES;
[0098] [0098] and US patent application serial number 16 / 024,138, entitled SYSTEMS FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE;
[0099] [0099] and US patent application serial number 16 / 024.150, entitled SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES;
[00100] [00100] and US patent application serial number 16 / 024,160, entitled VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY;
[00101] [00101] and US patent application serial number 16 / 024.124, entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE;
[00102] [00102] and US patent application serial number 16 / 024,132, entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT;
[00103] [00103] and US patent application serial number 16 / 024,141, entitled SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY;
[00104] [00104] and US patent application serial number 16 / 024,162, entitled SURGICAL SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES;
[00105] [00105] and US patent application serial number 16 / 024,066, entitled SURGICAL EVACUATION SENSING AND MOTOR CONTROL;
[00106] [00106] and US patent application serial number 16 / 024,096, entitled SURGICAL EVACUATION SENSOR ARRANGEMENTS;
[00107] [00107] and US patent application serial number 16 / 024,116, entitled SURGICAL EVACUATION FLOW PATHS;
[00108] [00108] and US patent application serial number 16 / 024,149, entitled SURGICAL EVACUATION SENSING AND GENERATOR CONTROL;
[00109] [00109] and US patent application serial number 16 / 024.180, entitled SURGICAL EVACUATION SENSING AND DISPLAY;
[00110] [00110] and US patent application serial number 16 / 024,245, entitled COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM;
[00111] [00111] and US Patent Application Serial No. 16 / 024,258, entitled SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM;
[00112] [00112] and US patent application serial number 16 / 024,265, entitled SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION
[00113] [00113] and US patent application serial number 16 / 024,273, entitled DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS.
[00114] [00114] The applicant for this application holds the following provisional US patent applications, filed on June 28, 2018, with the description of each of which is incorporated herein by reference in its entirety:
[00115] [00115] and US Provisional Patent Application Serial No. 62 / 691,228, entitled A METHOD OF USING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITH ELECTROSURGICAL DEVICES;
[00116] [00116] and US Provisional Patent Application Serial No. 62 / 691,227, entitled CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS;
[00117] [00117] and US Provisional Patent Application Serial No. 62 / 691,230, entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE;
[00118] [00118] and US provisional patent application serial number 62 / 691,219, entitled SURGICAL EVACUATION SENSING AND MOTOR CONTROL;
[00119] [00119] and US Provisional Patent Application Serial No. 62 / 691.257, entitled COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM;
[00120] [00120] and US provisional patent application serial number 62 / 691,262,
[00121] [00121] and US provisional patent application serial number 62 / 691,251, entitled DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS.
[00122] [00122] The applicant for the present application holds the following provisional US patent applications, filed on April 19, 2018, with the description of each of which is incorporated herein by reference, in its entirety:
[00123] [00123] and US provisional patent application serial number 62 / 659,900, entitled METHOD OF HUB COMMUNICATION.
[00124] [00124] —The applicant for this application holds the following provisional US patent applications, filed on March 30, 2018, the description of each of which is incorporated herein by reference, in its entirety:
[00125] [00125] and US Provisional Patent Application No. 62 / 650,898 filed on March 30, 2018, entitled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS;
[00126] [00126] and US Provisional Patent Application Serial No. 62 / 650,887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES;
[00127] [00127] and US Provisional Patent Application Serial No. 62 / 650,882, entitled SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM; and
[00128] [00128] and US Provisional Patent Application Serial No. 62 / 650,877, entitled SURGICAL SMOKE EVACUATION SENSING AND CONTROLS.
[00129] [00129] The applicant of the present application holds the following US patent applications, filed on March 29, 2018, the description of each of which is incorporated herein, by reference,
[00130] [00130] and US patent application serial number 15 / 940,641, entitled INTERACTIVE - SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;
[00131] [00131] and US patent application serial number 15 / 940,648, entitled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES;
[00132] [00132] and US Patent Application Serial No. 15 / 940,656, entitled SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES;
[00133] [00133] and US patent application serial no. 15 / 940,666, entitled SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS;
[00134] [00134] and US Patent Application Serial No. 15 / 940,670, entitled COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS;
[00135] [00135] and US patent application serial no. 15 / 940,677, entitled SURGICAL HUB CONTROL ARRANGEMENTS;
[00136] [00136] and US Patent Application Serial No. 15 / 940,632, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;
[00137] [00137] and US Patent Application Serial No. 15 / 940,640, entitled COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS;
[00138] [00138] and US Patent Application Serial No. 15 / 940,645, entitled SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT;
[00139] [00139] and US Patent Application Serial No. 15 / 940,649, entitled DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME;
[00140] [00140] and US patent application serial number 15 / 940,654, entitled SURGICAL HUB SITUATIONAL AWARENESS;
[00141] [00141] and US patent application serial number 15 / 940,663, entitled SURGICAL SYSTEM DISTRIBUTED PROCESSING;
[00142] [00142] and US patent application serial number 15 / 940,668, entitled AGGREGATION AND REPORTING OF SURGICAL HUB DATA;
[00143] [00143] and US patent application serial number 15 / 940,671, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;
[00144] [00144] and US Patent Application Serial No. 15 / 940,686, entitled DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE;
[00145] [00145] and US patent application serial number 15 / 940,700, entitled STERILE FIELD INTERACTIVE CONTROL DISPLAYS;
[00146] [00146] and US patent application serial number 15 / 940,629, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;
[00147] [00147] US Patent Application Serial No. 15 / 940,704, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;
[00148] [00148] and US Patent Application Serial No. 15 / 940,722, entitled CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY;
[00149] [00149] and US patent application serial number 15 / 940,742, entitled DUAL CMOS ARRAY IMAGING.
[00150] [00150] and US patent application serial number 15 / 940,636, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;
[00151] [00151] and US patent application serial number 15 / 940,653, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS;
[00152] [00152] and US patent application serial number 15 / 940,660, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;
[00153] [00153] and US patent application serial number 15 / 940,679, entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET;
[00154] [00154] and US patent application serial no. 15 / 940,694, entitled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION;
[00155] [00155] and US patent application serial number 15 / 940,634, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;
[00156] [00156] and US Patent Application Serial No. 15 / 940,706, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;
[00157] [00157] and US patent application serial number 15 / 940,675, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;
[00158] [00158] and US patent application serial number 15 / 940,627, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00159] [00159] and US patent application serial number 15 / 940,637, entitled COMMUNICATION - ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00160] [00160] and US patent application serial number 15 / 940,642, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00161] [00161] and US patent application serial number 15 / 940,676, entitled AUTOMATIC. TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00162] [00162] and US Patent Application Serial No. 15 / 940,680, entitled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00163] [00163] and US patent application serial number 15 / 940,683, entitled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00164] [00164] and US patent application serial number 15 / 940,690, entitled DISPLAY. ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and
[00165] [00165] and US patent application serial no. 15 / 940,711, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.
[00166] [00166] The applicant for the present application holds the following provisional US patent applications, filed on March 28, 2018, the description of each of which is incorporated herein by reference, in its entirety:
[00167] [00167] and provisional US patent application No. 62 / 649,302, entitled INTERACTIVE - SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;
[00168] [00168] and US Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;
[00169] [00169] and Provisional Patent Application US Serial No. 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS;
[00170] [00170] and US Provisional Patent Application Serial No. 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;
[00171] [00171] and provisional US patent application 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;
[00172] [00172] and US provisional patent application No. 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;
[00173] [00173] and provisional US patent application No. 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;
[00174] [00174] and US Provisional Patent Application Serial No. 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;
[00175] [00175] and US Provisional Patent Application Serial No. 62 / 649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;
[00176] [00176] and provisional US patent application No. 62 / 649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;
[00177] [00177] and US Provisional Patent Application Serial No. 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;
[00178] [00178] and US provisional patent application No. 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;
[00179] [00179] and US Provisional Patent Application Serial No. 62 / 649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and
[00180] [00180] and US provisional patent application No. 62 / 649,323, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.
[00181] [00181] The applicant of the present application holds the following provisional US patent applications, filed on March 8, 2018, the description of which is incorporated herein by reference in its entirety:
[00182] [00182] and US Provisional Patent Application Serial No. 62 / 640,417, entitled TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR; and
[00183] [00183] and US Provisional Patent Application Serial No. 62 / 640,415, entitled ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR.
[00184] [00184] The applicant for the present application holds the following provisional US patent applications, filed on December 28, 2017, the description of which is incorporated herein by reference in its entirety:
[00185] [00185] and US Provisional Patent Application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM;
[00186] [00186] and US Provisional Patent Application Serial No. 62 / 611,340, entitled CLOUD-BASED MEDICAL ANALYTICS; and
[00187] [00187] and US provisional patent application serial number 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM.
[00188] [00188] 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. Central surgical controllers
[00189] [00189] Referring to Figure 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (for example, cloud 104 which may include a remote server 113 coupled to a storage 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 one another and / or the central controller 106. In some respects, a surgical system 102 may include a number of central controllers M 106, an N number of visualization systems 108, an O number of robotic systems 110, and a P number of smart, hand-held surgical instruments 112, where M, N, O, and P are whole numbers greater than or equal to one.
[00190] [00190] Figure 2 represents an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying on an operating table 114 in a surgical operating room 116. A robotic system 110 is used in the surgical procedure as part of the surgical system 102. The robotic system 110 includes a surgeon console 118, a patient carriage 120 (surgical robot), and a robotic central surgical controller 122. The patient carriage 120 can handle at least one attached surgical tool removably 117 through a minimally invasive incision in the patient's body while the surgeon views the surgical site through the surgeon's console 118. An image of the surgical site can be obtained by a medical imaging device 124, which can be manipulated by car of patient 120 to orient imaging device 124. Robotic central surgical controller 122 can be used to process images from the surgical site for subsequent display to the surgeon through the surgeon's console 118.
[00191] [00191] Other types of robotic systems can be readily adapted for use with the surgical system 102. Various examples of robotic systems and surgical instruments that are suitable for use with the present description are described in provisional patent application serial number 62 / 611.339 , entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28, 2017, whose description is hereby incorporated by reference in its entirety for reference.
[00192] [00192] Several examples of cloud-based analysis that are performed by the cloud 104, and are suitable for use with the present description, are described in US provisional patent application serial number 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.
[00193] [00193] 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.
[00194] [00194] 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.
[00195] [00195] 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.
[00196] [00196] 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.
[00197] [00197] 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.
[00198] [00198] In one aspect, the imaging device employs multiple spectrum monitoring to discriminate topography and underlying structures. A multi-spectral image is one that captures image data within wavelength bands across the electromagnetic spectrum. Wavelengths can be separated by filters or using instruments that are sensitive to specific wavelengths, including light from frequencies beyond the visible light range, for example, IR and ultraviolet light. Spectral images can allow the extraction of additional information that the human eye cannot capture with its receivers for the colors red, green, and blue. The use of multispectral imaging is described in greater detail under the heading "Advanced Imaging Acquisition Module" in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the 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.
[00199] [00199] 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.
[00200] [00200] In several aspects, the visualization system 108 includes one or more imaging sensors, one or more image processing units, one or more storage matrices and one or more screens that are strategically arranged in relation to the sterile field, as shown in Figure 2. In one aspect, the display system 108 includes an interface for HL7, PACS and EMR. Various components of the visualization system 108 are described under the heading "Advanced Imaging Acquisition Module" in US provisional patent application serial number 62 / 611.341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the description of which is incorporated here reference title in its entirety.
[00201] [00201] As shown in Figure 2, a primary screen 119 is positioned in the sterile field to be visible to the operator on the operating table 114. In addition, a viewing tower 111 is positioned outside the sterile field. The display tower 111 includes a first non-sterile screen 107 and a second non-sterile screen 109, which are opposite each other. The visualization system 108, guided by the central controller 106, is configured to use screens 107, 109, and 119 to coordinate the flow of information to operators inside and outside the sterile field. For example, the central controller 106 can have the visualization system 108 display a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile screen 107 or 109, while maintaining a live transmission of the surgical site on main screen 119. Snapshot on non-sterile screen 107 or 109 can allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
[00202] [00202] In one aspect, central controller 106 is also configured to route a diagnostic input or feedback by a non-sterile operator in the display tower 111 to the primary screen 119 within the sterile field, where it can be seen by a sterile operator on the operating table. In one example, the entry may be in the form of a modification of the snapshot displayed on the non-sterile screen 107 or 109, which can be routed to main screen 119 by central controller 106.
[00203] [00203] With reference to Figure 2, a surgical instrument 112 is being used in the surgical procedure as part of the surgical system 102. The central controller 106 is also configured to coordinate the flow of information to a screen of the surgical instrument 112. For example, the flow of coordinated information is further described in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the content of which is incorporated herein by reference, in its entirety. An entry or diagnostic feedback inserted by a non-sterile operator in the viewing tower 111 can be routed by the central controller 106 to the surgical instrument screen 115 in the sterile field, where it can be seen by the surgical instrument operator 112. Exemplary surgical instruments that are suitable for use with surgical system 102 are described under the heading "Hardware of Surgical Instruments" in US provisional patent application serial number 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, for example.
[00204] [00204] - Now with reference to Figure 3, a central controller 106 is shown in communication with a visualization system 108, a robotic system 110 and an intelligent handheld surgical instrument 112. The central controller 106 includes a central controller screen 135 , an imaging module 138, a generator module 140 (which may include a monopolar generator 142, a bipolar generator 144 and / or an ultrasonic generator 143), a communication module 130, a processor module 132 and a storage matrix 134. In certain aspects, as illustrated in Figure 3, the central controller 106 additionally includes a smoke evacuation module 126, a suction / irrigation module 128 and / or an OR 133 mapping module.
[00205] [00205] “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 modular housing 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.
[00206] [00206] Aspects of the present description feature a central surgical controller for use in a surgical procedure that involves applying energy to tissue at a surgical site. The central surgical controller includes a central controller housing and a combination generator module received slidably at a central controller housing 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.
[00207] [00207] 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 into the central controller housing. In one aspect, the central controller housing comprises a fluid interface.
[00208] [00208] 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 housing of central controller 136 is configured to accommodate different generators and facilitate interactive communication between them. One of the advantages of the central modular housing 136 is that it allows quick removal and / or replacement of several modules.
[00209] [00209] Aspects of the present description present a modular surgical wrap for use in a surgical procedure that involves applying energy to the tissue. The modular surgical housing 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 and energy contacts, the first module being The power generator is slidingly movable in an electric coupling with the power and data contacts and the first power generator module is slidingly movable out of the electric coupling with the first power and data contacts.
[00210] [00210] In addition to the above, the modular surgical enclosure also includes a second energy generator module configured to generate a second energy, different from the first energy, for application to the tissue, and a second docking station comprising a second docking port which includes second data and power contacts, the second power generating module being slidably movable in an electrical coupling with the power and data contacts, and the second power generating module being slidingly movable outwards electrical coupling with the second power and data contacts.
[00211] [00211] In addition, the modular surgical cabinet also includes a communication bus between the first coupling port and the second coupling port, configured to facilitate communication between the first power generator module and the second power generator module.
[00212] [00212] With reference to Figures 3 to 7, aspects of the present description are presented for a modular housing of the central controller 136 that allows the modular integration of a generator module 140, a smoke evacuation module 126, and a suction module / irrigation 128. The central modular housing 136 further facilitates interactive communication between modules 140, 126, 128. As shown in Figure 5, generator module 140 can be a generator module with integrated monopoly, bipolar and ultrasonic components, supported in a single cabinet unit 139 slidably insertable into the central modular housing 136. As shown in Figure 5, generator module 140 can be configured to connect to a monopolar device 146, a bipolar device 147 and an ultrasonic device 148. Alternatively, generator module 140 may comprise a series of monopolar, bipolar and / or ultrasonic generator modules that interact through the modular housing central dular
[00213] [00213] In one aspect, the central modular housing 136 comprises a modular power and a rear communication board 149 with external and wireless communication heads to allow removable fixing of modules 140, 126, 128 and interactive communication between them.
[00214] [00214] In one aspect, the central modular housing 136 includes docking stations, or drawers, 151, here also called drawers, which are configured to receive modules 140, 126, 128 in a sliding manner. Figure 4 illustrates a view in partial perspective of a central surgical controller housing 136, and a combined generator module 145 slidably received at a docking station 151 of the central surgical controller housing 136. A docking port 152 with power and data contacts on one side The rear of the combined generator module 145 is configured to engage a corresponding docking port 150 with the power and data contacts of a corresponding docking station 151 of the central controller modular housing 136 as the combined generator module 145 is slid into position at the station matching coupling 151 of the central housing of the central controller 136. In one aspect, the combined generator module 145 includes i a bipolar, ultrasonic and monopolar module and a smoke evacuation module integrated in a single compartment unit 139, as shown in Figure 5.
[00215] [00215] In several respects, the smoke evacuation module 126 includes a fluid line 154 that carries captured / collected smoke fluid 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 housing 136.
[00216] [00216] 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.
[00217] [00217] In one aspect, the surgical tool includes a drive shaft that has an end actuator at a distal end thereof and at least an energy treatment associated with the end actuator, a suction tube, and a suction tube. irrigation. The suction tube can have an inlet port at a distal end of it and the suction tube extends through the drive shaft. Similarly, an irrigation pipe can extend through the drive shaft and may have an entrance port close to the power application implement. The power application implement is configured to deliver ultrasonic and / or RF energy to the surgical site and is coupled to the generator module 140 by a cable that initially extends through the drive shaft.
[00218] [00218] 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 housing 136 separately from the control module. suction / irrigation
[00219] [00219] In one aspect, modules 140, 126, 128 and / or their corresponding docking stations in the central modular housing 136 may include alignment features that are configured to align the docking ports of the modules in engagement with their counterparts at the stations coupling of the central modular housing
[00220] [00220] In some respects, the drawers 151 of the central modular housing 136 are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers
[00221] [00221] - 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.
[00222] [00222] - As shown in Figure 4, the coupling port 150 of one drawer 151 can be coupled to the coupling port 150 of another drawer 151 through a communication link 157 to facilitate interactive communication between the modules housed in the modular housing central 136. The coupling ports 150 of the central modular housing 136 can, alternatively or additionally, facilitate interactive wireless communication between the modules housed in the central modular housing
[00223] [00223] Figure 6 illustrates individual power bus connectors for a plurality of side coupling ports of a side modular compartment 160 configured to receive a plurality of modules from a central surgical controller 206. Side modular compartment 160 is configured to receive and laterally interconnect modules 161. Modules 161 are slidably inserted into docking stations 162 of side modular compartment 160, which includes a back plate for interconnecting modules 161. As shown in Figure 6, modules 161 are arranged laterally in the side modular cabinet 160. Alternatively, modules 161 can be arranged vertically in a side modular cabinet.
[00224] [00224] 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 164. In the example in Figure 7, a screen 177 is provided to show data relevant to the operation of modules 165. In addition, the vertical modular compartment 164 includes a master module 178 which houses a plurality of submodules that are received slidingly in the master module 178.
[00225] [00225] In several respects, the imaging module 138 comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular compartment that can be mounted with a light source module and a camera module. The compartment can be a disposable compartment. In at least one example, the disposable compartment is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and / or the camera module can be selected selectively depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for imaging the scanned beam. Similarly, the light source module can be configured to provide a white light or a different light, depending on the surgical procedure.
[00226] [00226] 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.
[00227] [00227] In one aspect, the imaging device comprises a tubular compartment that includes a plurality of channels. A first channel is configured to receive the Camera module in a sliding way, which can be configured for a snap-fit fit (pressure fit) with the first channel. A second channel is configured to slide the camera module, which can be configured for a snap-fit fit (pressure fit) with the first channel. In another example, the camera module and / or the light source module can be rotated to an end position within their respective channels. A threaded coupling can be used instead of a pressure fitting.
[00228] [00228] 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.
[00229] [00229] 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
[00230] [00230] Figure 8 illustrates a surgical data network 201 comprising a modular communication center 203 configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a utility facility specially equipped for surgical operations, to 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 center 203 comprises a central network controller 207 and / or a network key 209 in communication with a network router. The modular communication center 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.
[00231] [00231] Modular devices 1a to 1n located in the operating room can be coupled to the modular communication center 203. The central network controller 207 and / or network switch 209 can be coupled to a network router 211 to connect the devices 1a to 1n to the cloud 204 or to the local computer system 210. The data associated with devices 1a to 1n can be transferred to cloud-based computers through the router for remote data processing and manipulation. The data associated with devices 1a to 1h can also be transferred to the local computer system 210 for processing and manipulation of the local data. Modular devices 2a to 2m located in the same operating room can also be attached to a network switch 209. The network switch 209 can be attached to the central network controller 207 and / or to network router 211 to connect devices 2a 2m to cloud 204. The data associated with devices 2a to 2n can be transferred to cloud 204 via network router 211 for data processing and manipulation. The data associated with devices 2a to 2m can also be transferred to the local computer system 210 for processing and manipulation of the local data.
[00232] [00232] It will be understood that the surgical data network 201 can be expanded by interconnecting multiple central network controllers 207 and / or multiple network keys 209 with multiple network routers 211. The modular communication center 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 center 203 is connected to a screen 212 to display the images obtained by some of the devices 1a to 1n / 2a to 2m, for example, during surgical procedures. In several respects, devices 1a to 1n / 2a to 2m can include, for example, several modules such as an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, an evacuation module smoke 126, a suction / irrigation module 128, a communication module 130, a processor module 132, a storage matrix 134, a surgical device attached to a screen, and / or a non-contact sensor module, among others modular devices that can be connected to the modular communication center 203 of the surgical data network 201.
[00233] [00233] 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
[00234] [00234] 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.
[00235] [00235] In an implementation, devices in the operating room 1a to 1h can be connected to the modular communication center 203 via a wired channel or a wireless channel depending on the configuration of devices 1a to 1h on a central network controller . The central network controller 207 can be implemented, in one aspect, as a LAN transmission device that acts on the physical layer of the open system interconnection model ("OSI" - 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 (MAC / IP) for transfer device data 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 does not have routing tables or intelligence about where to send information and transmits all data from the network through each connection and to a remote server 213 (Figure 9) in the cloud 204. The central network controller 207 can detect basic network errors, such as collisions, but have all (admit that) the information transmitted to multiple input ports it can be a security risk and cause strangulation.
[00236] [00236] 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.
[00237] [00237] The central network controller 207 and / or the network key 209 are coupled to the network router 211 for a connection to the cloud
[00238] [00238] 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.
[00239] [00239] In other examples, operating room devices 1a to 1n / 2a to 2m can communicate with the modular communication center 203 via standard Bluetooth wireless technology for exchanging data over short distances (using short wavelength UHF radio waves in the 2.4 to 2485 GHz ISM band) from fixed and mobile devices and to build personal area networks ("PANs"). In other respects, operating room devices 1a to 1n / 2a to 2m can communicate with the modular communication center 203 through a number of wireless and wired communication standards or protocols, including, but not limited to , Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution ("LTE" - long-term evolution), 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.
[00240] [00240] —The modular communication center 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 communication center 203, it is amplified and transmitted to the network router 211, which transfers the data to the cloud computing resources using a series of wireless communication standards or protocols or with wire, as described in the present invention.
[00241] [00241] The modular communication center 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 modular communication center 203 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.
[00242] [00242] Figure 9 illustrates an interactive surgical system, implemented by computer 200. The interactive surgical system implemented by computer 200 is similar in many respects to the interactive surgical system, implemented by computer 100. For example, the surgical system, interactive, implemented per computer 200 includes one or more surgical systems 202, which are similar in many respects to surgical systems 102. Each surgical system 202 includes at least one central surgical controller 206 in communication with a cloud 204 which may include a remote server
[00243] [00243] Figure 10 illustrates a central surgical controller 206 comprising a plurality of modules coupled to the modular control tower 236. The modular control tower 236 comprises a modular communication center 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 center 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 center 203 and transfer data associated with the modules to the computer system 210, cloud computing resources, or both. As shown in Figure 10, each of the central controllers / network switches in the modular communication center 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.
[00244] [00244] 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 such as laser or ultrasonic. An ultrasound-based non-contact sensor module scans the operating room by transmitting an ultrasound explosion and receiving the echo when it bounces outside the perimeter of the operating room walls, as described under the heading Surgical Hub Spatial Awareness Within an Operating Room "in US provisional patent application serial number 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, 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 limits s Bluetooth pairing distance, for example.
[00245] [00245] 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),
[00246] [00246] Processor 244 can be any single-core or multi-core processor, such as those known under the trade name of 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 analog input channels, details of which are available for the product data sheet.
[00247] [00247] In one aspect, processor 244 may comprise a safety controller comprising two controller-based families, such as TMS570 and RMA4x, 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.
[00248] [00248] 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).
[00249] [00249] Computer system 210 also includes removable / non-removable, volatile / non-volatile computer storage media, for example disk storage. Disk storage includes, but is not limited to, devices such as a magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card or memory stick (pen drive). 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.
[00250] [00250] It is to be understood that computer system 210 includes software that acts as an intermediary between users and the basic computer resources described in an appropriate operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, acts to control and allocate computer system resources. System applications benefit from the management capabilities of the operating system through program modules and “program data stored in system memory or on the storage disk. It is to be understood that the various components "described in the present invention can be implemented with various operating systems or combinations of operating systems.
[00251] [00251] A user enters commands or information into computer system 210 through the input device (s) coupled to the 1 / O interface 251. 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.
[00252] [00252] Computer system 210 can operate in a networked environment using logical connections to one or more remote computers, such as cloud computers, or local computers. Remote cloud computers can be a personal computer, server, router, personal network computer, workstation, microprocessor-based device, peer device, or other common network node, and the like, and typically include many or all elements described in relation to the computer system. For the sake of brevity, only one memory storage device is illustrated with the remote computer. Remote computers are logically connected to the computer system via a network interface and then physically connected via a communication connection. The network interface covers communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include fiber distributed data interface (FDDI), copper distributed data interface (CDDI), Ethernet / IEEE 802.3, Token / IEEE 802.5 ring and the like. WAN technologies include, but are not limited to, point-to-point links, circuit switching networks such as digital integrated service networks (ISDN) and variations in them, packet switching networks and digital subscriber lines (DSL).
[00253] [00253] In several respects, computer system 210 of Figure 10, imaging module 238 and / or display system 208, and / or processor module 232 of Figures 9 to 10, may comprise an image processor, image processing engine, media processor, or any specialized digital signal processor (DSP) used for processing digital images. The image processor can employ parallel computing with single multi-data instruction (SIMD) or multiple multi-data instruction (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a number of tasks. The image processor can be an integrated circuit system with a multi-core processor architecture.
[00254] [00254] 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.
[00255] [00255] Figure 11 illustrates a functional block diagram of an aspect of a USB 300 central network controller device, in accordance with at least one aspect of the present description. In the illustrated aspect, the USB 300 central network controller device uses a TUSB2036 integrated circuit central controller available from Texas Instruments. The USB 300 core network controller is a CMOS device that provides one USB transceiver port 302 and up to three USB transceiver ports downstream 304, 306, 308 in accordance with the USB 2.0 specification. Upstream USB transceiver port 302 is a differential data root port comprising a "minus" differential data input (DMO) paired with a "plus" differential data input (DPO). The three ports of the downstream USB transceiver 304, 306, 308 are differential data ports, with each port including "more" differential data outputs (DP1-DP3) paired with "less" differential data outputs (DM1-DM3) .
[00256] [00256] The USB 300 central network controller device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compatible USB transceivers are integrated into the circuit for the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both full speed as low speed automatically configuring the scan rate according to the speed of the device attached to the doors. The USB 300 central network controller device can be configured in bus powered or self powered mode and includes 312 central power logic to manage power.
[00257] [00257] The USB 300 central network controller device includes a 310 series interface motor (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 only, 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 circuit repeat loop 318 to control communication between the upstream USB transceiver port 302 and the transceiver ports Downstream USB 304, 306, 308 through the logic circuits of ports 320, 322, 324. The SIE 310 is coupled to a command decoder 326 through logic interface 328 to control the commands of a serial EEPROM via a serial interface. EEPROM in series 330.
[00258] [00258] 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 transceiver port 302 is plugged into a USB host controller, and the USB transceiver ports downstream 304, 306, 308 are exposed to connect compatible USB devices, and so on.
[00259] [00259] Additional details regarding the structure and function of the central surgical controller and / or networks of central surgical controllers can be found in US provisional patent application No. 62 / 659,900, entitled METHOD OF HUB COMMUNICATION, filed on April 19, 2018 , which is incorporated herein by reference, in its entirety. Cloud system hardware and functional modules
[00260] [00260] Figure 12 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. The computer-implemented interactive surgical system comprises a cloud-based data analysis system. Although the cloud-based data analysis system is described as a surgical system, it is not necessarily limited with such and could be a cloud-based medical system in general. As shown in Figure 12, the cloud-based data analysis system comprises a plurality of surgical instruments 7012 (may be the same or similar to instruments 112), a plurality of central surgical controllers 7006 (may be the same or similar to central controllers 106 ) and a surgical data network 7001 (can be the same or similar to network 201) to couple central surgical controllers 7006 to cloud 7004 (can be the same or similar to cloud 204). Each of the plurality of 7006 central surgical controllers is communicatively coupled to one or more surgical instruments
[00261] [00261] 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 health posts (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 12, cloud 7004 comprises central servers 7013 (which can be the same or similar to remote server 113 in Figure 1 and / or remote server 213 in Figure 9), application servers for central controllers 7002, analysis modules data 7034 and an input / output interface ("I / O") 7007. Central servers 7013 of the cloud 7004 collectively administer the cloud computing system, which includes monitoring requests by central client controllers 7006 and managing the capacity of 7004 cloud processing to execute requests. The central servers 7013 each comprise one or more processors 7008 coupled to suitable memory devices 7010 which may include volatile memory, such as random access memory (RAM), and non-volatile memory, such as magnetic storage devices. 7010 memory devices can comprise machine executable instructions that, when executed, cause 7008 processors to run 7034 data analysis modules for cloud-based data analysis, operations,
[00262] [00262] “Based on connections with several 7006 surgical centers through the 7001 network, the 7004 cloud can aggregate data from specific data generated by several 7012 surgical instruments and their corresponding 7006 central controllers. Such aggregate data can be stored in aggregate medical databases 7011 of cloud 7004. In particular, cloud 7004 can advantageously perform data analysis and operations on aggregate data to produce insights and / or perform functions that individual central controllers 7006 could not achieve on their own. For this purpose, as shown in Figure 12, cloud 7004 and central surgical controllers 7006 are communicatively coupled to transmit and receive information. The I / O interface 7007 is connected to the plurality of central surgical controllers 7006 over the network 7001. In this way, the I / O interface 7007 can be configured to transfer information between the central surgical controllers 7006 and the aggregated medical databases 7011. Consequently, the 7007 I / O interface can facilitate the read / write operations of the cloud-based data analysis system. Such read / write operations can be performed in response to requests from central controllers
[00263] [00263] The configuration of the specific cloud computing system described in this description is specifically designed 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 7012 surgical instruments and 7006 central surgical controllers can comprise touch-controlled user interfaces, so that doctors can control aspects of interaction between the 7012 surgical instruments and the 7004 cloud. Other user interfaces suitable for control, such as user interfaces auditory alert, can also be used.
[00264] [00264] Figure 13 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.
[00265] [00265] 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 as a desirable event (for example, a successful surgical procedure) or an undesirable event (for example, a surgical instrument with failure or misuse 7012). The aggregated self-describing data can correspond to individual data received from various groups or subgroups of central surgical controllers 7006. Consequently, the 7022 data collection and aggregation module can manage aggregated metadata or other data organized based on raw data received from the central surgical controllers. 7006. For this purpose, 7008 processors can be operationally coupled with applications for central controllers 7014 and aggregated medical databases 7011 to perform data analysis modules 7034. The data collection and aggregation module 7022 can store data aggregates organized in the aggregated medical databases 2212.
[00266] [00266] The resource optimization module 7020 can be configured to analyze this aggregated data to determine an optimal use of resources for a specific group or group of health posts. For example, the resource optimization module 7020 can determine an ideal ordering point for surgical stapling instruments 7012 for a group of clinics based on the corresponding expected demand for such instruments 7012. The resource optimization module 7020 could also assess resource use or other operational settings at various health posts to determine whether resource use could be improved. Similarly, the 7030 recommendation module can be configured to analyze aggregated data organized from the 7022 data collection and aggregation module to provide recommendations. For example, the 7030 recommendations module could recommend to health care facilities (for example, medical providers such as hospitals) that a specific surgical instrument 7012 should be upgraded to an improved version based on a higher than expected error rate, for example example. In addition, the 7030 recommendation module and / or the 7020 resource optimization module could recommend better supply chain parameters, such as product refueling points, and provide suggestions for a different 7012 surgical instrument, its uses or procedural steps to improve surgical results. Health clinics can receive such recommendations through corresponding 7006 central surgical controllers. More specific recommendations on parameters or configurations of various 7012 surgical instruments can also be provided. Central controllers 7006 and / or surgical instruments 7012 can each also have display screens that display data or recommendations provided by the cloud
[00267] [00267] The 7028 patient results analysis module can analyze surgical results associated with currently used operating parameters of 7012 surgical instruments. The 7028 patient results analysis module can also analyze and evaluate other potential operational parameters. In this context, the 7030 recommendations module could recommend the use of these other potential operating parameters based on obtaining better surgical results, such as better sealing or less bleeding. For example, the 7030 recommendation module could transmit recommendations to a central surgical controller 7006 on when to use a particular cartridge for a corresponding 7012 stapling surgical instrument. In this way, the cloud-based data analysis system, while controlling common variables, can be configured to analyze the large collection of raw data and provide centralized recommendations on multiple health posts (advantageously determined based on aggregated data). For example, the cloud-based data analysis system could analyze, evaluate and / or aggregate data based on the type of medical practice, type of patient, number of patients, geographical similarity between medical providers, which providers / medical posts use types similar instruments, etc., in a way that no health post alone would be able to analyze independently.
[00268] [00268] The 7026 control program update module can be configured to implement various 7012 surgical instrument recommendations when the corresponding control programs are updated. For example, the Patient Results Analysis Module 7028 could identify correlations that link specific control parameters with successful (or unsuccessful) results. These correlations can be addressed when updated control programs are transmitted to 7012 surgical instruments via the 7026 control program update module. Updates to 7012 instruments that are transmitted via a corresponding central controller 7006 can incorporate aggregated performance data that has been gathered and analyzed by the data collection and aggregation module 7022 of the 7004 cloud. Additionally, the patient results analysis module 7028 and the recommendations module 7030 could identify better methods of using 7012 instruments based on aggregated performance data.
[00269] [00269] The cloud-based data analysis system can include security features implemented by the 7004 cloud. These security features can be managed by the authorization and security module 7024. Each central surgical controller 7006 can have unique credentials associated with username , password, and other appropriate security credentials. These credentials could be stored in memory 7010 and associated with a level of access allowed to the cloud. For example, based on the provision of accurate credentials, a central surgical controller 7006 can be granted access to communicate with the cloud to a predetermined point (for example, only certain defined types of information can participate in transmitting or receiving). For this purpose, the aggregated medical databases 7011 of the cloud 7004 may comprise a database of authorized credentials to verify the accuracy of the supplied credentials. Different credentials can be associated with varying levels of permission to interact with the 7004 cloud, such as a predetermined level of access to receive data analysis generated by the 7004 cloud.
[00270] [00270] In addition, for security purposes, the cloud could maintain a database of 7006 central controllers, 7012 instruments and other devices that may comprise a "black list" of prohibited devices. In particular, a blacklisted central surgical controller 7006 may not be allowed to interact with the cloud, while blacklisted 7012 surgical instruments may not have functional access to a corresponding 7006 central controller and / or may be prevented from functioning fully when paired with its corresponding central controller 7006. In addition or alternatively, cloud 7004 can signal instruments 7012 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.
[00271] [00271] The 7012 surgical instruments can use wireless transceivers to transmit wireless signals that can represent, for example, authorization credentials for access to the corresponding central controllers 7006 and the cloud 7004. Wired transceivers can also be used to transmit signals. These authorization credentials can be stored in the respective memory devices of the 7012 surgical instruments. The authorization and security module 7024 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, surgical instruments 7012 can transmit a signal to the corresponding central controllers 7006 and finally to cloud 7004 to indicate that 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 databases 7011. This availability for data transmission could be indicated, for example, by an indicator light on the instruments
[00272] [00272] The cloud-based data analysis system can allow monitoring of multiple health posts (for example, medical posts like hospitals) to determine improved practices and recommend changes (through the 2030 recommendations module, for example) accordingly . In this way, processors 7008 from the 7004 cloud can analyze the data associated with an individual health clinic to identify the health clinic and aggregate the data with other data associated with other health clinics 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 for the entire group of health posts. The cloud-based data analysis system could also be used to increase situational awareness. For example, 7008 processors can predictively model the effects of recommendations on cost and effectiveness for a specific post (in relation to general operations and / or various medical procedures). The cost and effectiveness associated with that specific station can also be compared to a corresponding local region of other stations or any other comparable stations.
[00273] [00273] 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, distrust). This classification and prioritization can be used in conjunction with the functions of the other 7034 data analysis modules described above to improve the operation and cloud-based data analysis described here. For example, the 7032 data classification and prioritization module can assign a priority to the data analysis performed by the 7022 data collection and aggregation module and the 7028 patient outcome analysis module. Different levels of prioritization can result in specific responses from the 7004 cloud (corresponding to a level of urgency), such as escalation to an accelerated response, special processing, exclusion of aggregated medical databases 7011 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 for additional data from corresponding 7012 surgical instruments. The push message may result in a notification displayed on the corresponding 7006 central controllers to request support or additional data. This push message may be necessary in situations where the cloud detects an irregularity or results outside significant limits and the cloud cannot determine the cause of the irregularity. Central 7013 servers can be programmed to activate this push message in certain significant circumstances, such as when data is determined to be different from an expected value beyond a predetermined threshold or when it appears that security has been compounded, for example.
[00274] [00274] Additional details related to the cloud data analysis system can be found in US provisional patent application No. 62 / 659,900, entitled METHOD OF HUB COMMUNICATION, filed on April 19, 2018, which is hereby incorporated by reference , in its entirety.
[00275] [00275] Although a "smart" device, including control algorithms responsive to detected data, can be an improvement over a "stupid" device that operates without taking the detected data, some detected data can be incomplete or inconclusive when considered in isolation, that is, without the context of the type of surgical procedure being performed or the type of tissue that is undergoing the surgery. Without knowing the context of the procedure (for example, knowing the type of tissue that is undergoing surgery, or the type of procedure that is being performed), the control algorithm may control the modular device incorrectly or suboptimally, provided the detected data without specific context. For example, the ideal way for a control algorithm to control a surgical instrument in response to a particular detected parameter can vary according to the type of particular tissue being operated on. This is due to the fact that different types of tissue have different properties (for example, tear resistance) and thus respond differently to actions performed by surgical instruments. Therefore, it may be desirable for a surgical instrument to perform different actions when the same measurement is detected for a specific parameter. As a specific example, the optimal way in which to control a stapling and surgical cutting instrument in response to the instrument detecting an unexpectedly high force to close its end actuator, will vary depending on whether the type of tissue is susceptible or resistant to tearing. For tissues that are susceptible to tearing, such as lung tissue, the instrument's control algorithm would optimally slow the engine in response to an unexpectedly high force to close to prevent tearing of the tissue. For tissues that are tear resistant, such as stomach tissue, the instrument's control algorithm would optimally accelerate the engine in response to an unexpectedly high force to close to ensure that the end actuator is properly attached to the tissue. Without knowing whether lung or stomach tissue has been trapped, the control algorithm can make a decision below what is considered ideal.
[00276] [00276] One solution uses a central surgical controller including a system configured to derive information about the surgical procedure that is being performed based on data received from various data sources, and then control, accordingly, the paired modular devices. In other words, the central surgical controller is configured to infer information about the surgical procedure from received data and then control modular devices paired with the central surgical controller based on the inferred context of the surgical procedure. Figure 14 illustrates a diagram of a surgical system with 5100 situational recognition, in accordance with at least one aspect of the present description. In some examples, data sources 5126 include, for example, modular devices 5102 (which may include sensors configured to detect parameters associated with the patient and / or the modular device itself), databases 5122 (for example, a base EMR data containing the patient's medical record), and 5124 monitoring devices (for example, a blood pressure monitor (BP) and an electrocardiography monitor (ECG)).
[00277] [00277] A central surgical controller 5104 that can be similar to surgical controller 106 in many ways, can be configured to derive contextual information related to the surgical procedure from the data based, for example, on the combination (s) specific data (s) received or in the specific order in which data is received from data sources 5126. Contextual information inferred from data received may include, for example, the type of surgical procedure being performed, the specific stage of the surgical procedure that the surgeon is performing, the type of tissue being operated on, or the body cavity that is the object of the procedure. This ability for some aspects of the 5104 central surgical controller to derive or infer information related to the surgical procedure from received data, can be called "situational perception." In one example, the 5104 central surgical controller can incorporate a situational perception system, which is the hardware and / or programming associated with the 5104 central surgical controller that derives contextual information related to the surgical procedure based on the data received.
[00278] [00278] The situational perception system of the central surgical controller 5104 can be configured to derive contextual information from data received from data sources 5126 in several ways. In one example, the situational awareness system includes a pattern recognition system, or machine learning system (for example, an artificial neural network), that has been trained in training data to correlate various inputs (for example, data from databases 5122, patient monitoring devices 5124, and / or modular devices 5102) to corresponding contextual information regarding a surgical procedure. In other words, a machine learning system can be trained to accurately derive contextual information regarding a surgical procedure from the inputs provided. In another example, the situational perception system may include a query table that stores information - contextual - pre-characterized - related to a surgical procedure in association with one or more entries (or ranges of entries) corresponding to the contextual information. In response to a query with one or more entries, the lookup table can return the corresponding contextual information to the situational perception system to control the 5102 Modular devices. In an example, the contextual information received by the surgical controller's situational perception system central 5104, are associated with a specific control setting or set of control settings for one or more 5102 modular devices. In another example, the situational awareness system includes an additional machine learning system, research table, or other such system type, generating or retrieving one or more control settings for one or more 5102 modular devices, when contextual information is provided as input.
[00279] [00279] A central surgical controller 5104, which incorporates a situational perception system, provides several benefits to the 5100 surgical system. One benefit includes improving the interpretation of detected and captured data, which in turn improves processing accuracy and / or the use of data during the course of a surgical procedure. To return to an earlier example, a 5104 central surgical controller with situational awareness could determine what type of tissue was being operated on; therefore, when an unexpectedly high force is detected to close the end actuator of the surgical instrument, the central surgical controller with situational perception 5104 could correctly accelerate or decelerate the surgical instrument motor for the tissue type.
[00280] [00280] As another example, the type of tissue being operated on may affect the adjustments that are made to the load and compression rate thresholds of a stapling and surgical cutting instrument for a specific span measurement. A central surgical controller with situational perception 5104 could infer whether a surgical procedure being performed is a thoracic or abdominal procedure, allowing the central surgical controller 5104 to determine whether tissue pinched by an end actuator of the surgical cutting and stapling instrument it is lung tissue (for a chest procedure) or stomach tissue (for an abdominal procedure). The central surgical controller 5104 can then properly adjust the loading and compression rate thresholds of the surgical stapling and cutting instrument for the tissue type.
[00281] [00281] As yet another example, the type of body cavity being operated during an insufflation procedure, can affect the function of a smoke evacuator. A central surgical controller with situational perception 5104 can determine if the surgical site is under pressure (by determining that the surgical procedure is using insufflation) and determine the type of procedure. As a type of procedure is usually performed in a specific body cavity, the 5104 central surgical controller can then adequately control the speed of the smoke evacuator motor to the body cavity being operated. In this way, a central surgical controller equipped with 5104 situational awareness can provide a consistent amount of smoke evacuation to both thoracic and abdominal procedures.
[00282] [00282] As yet another example, the type of procedure being performed can affect the ideal energy level for an ultrasonic surgical instrument or radio frequency (RF) electrosurgical instrument to operate. Arthroscopic procedures, for example, require higher energy levels because the end actuator of the ultrasonic surgical instrument or RF electrosurgical instrument is immersed in fluid. A central surgical controller with situational perception 5104 can determine whether the surgical procedure is an arthroscopic procedure. The central surgical controller 5104 can then adjust the RF power level or the ultrasonic amplitude of the generator (i.e., the "energy level") to compensate for the fluid-filled environment. Related to this, the type of tissue being operated on can affect the ideal energy level at which an ultrasonic surgical instrument or RF electrosurgical instrument operates. A central surgical controller with situational awareness 5104 can determine what type of surgical procedure is being performed and then customize the energy level for the ultrasonic surgical instrument or RF electrosurgical instrument, respectively, according to the tissue profile expected for the surgical procedure. In addition, a central surgical controller equipped with 5104 situational awareness can be configured to adjust the energy level for the ultrasonic surgical instrument or RF electrosurgical instrument throughout the course of a surgical procedure, rather than just on a procedure-by basis. -procedure. A central surgical controller with situational perception 5104 can determine which stage of the surgical procedure is being performed or will be performed subsequently and then update the control algorithms for the generator and / or ultrasonic surgical instrument or RF electrosurgical instrument to adjust the level of energy in an appropriate value for the type of tissue, according to the stage of the surgical procedure.
[00283] [00283] Yet as another example, data can be extracted from additional data sources 5126 to improve the conclusions that the central surgical controller 5104 extracts from a data source 5126. A central surgical controller with situational perception 5104 can augment the data that he receives from modular devices 5102 with contextual information that he has accumulated, referring to the surgical procedure, from other data sources 5126.
[00284] [00284] Another benefit includes proactively and automatically controlling the paired modular devices 5102, according to the specific stage of the surgical procedure being performed to reduce the number of times that medical personnel are required to interact with or control the 5100 surgical system during the course of a surgical procedure. For example, a central surgical controller with 5104 situational awareness can proactively activate the generator to which an RF electrosurgical instrument is connected, if it is determined that a subsequent step in the procedure requires the use of the instrument. Proactively activating the power source allows the instrument to be ready for use as soon as the preceding step of the procedure is complete.
[00285] [00285] As another example, a central surgical controller with situational perception 5104 could determine whether the current or subsequent stage of the surgical procedure requires a different view or degree of magnification of the screen, according to the resource (s) in the surgical site that the surgeon is expected to see. The central surgical controller 5104 could then proactively change the displayed view (provided, for example, by a Medical Imaging device to the visualization system 108), so that the screen automatically adjusts throughout the surgical procedure.
[00286] [00286] As yet another example, a central surgical controller with situational perception 5104 could determine which stage of the surgical procedure is being performed or will be performed subsequently and whether specific data or comparisons between the data will be required for that stage of the surgical procedure. The central surgical controller 5104 can be configured to call screens automatically based on data about the stage of the surgical procedure being performed, without waiting for the surgeon to request specific information.
[00287] [00287] Another benefit includes checking for errors during the configuration of the surgical procedure or during the course of the surgical procedure. For example, a central surgical controller with 5104 situational awareness could determine whether the operating room is properly or ideally configured for the surgical procedure to be performed. The central surgical controller 5104 can be configured to determine the type of surgical procedure being performed, retrieve the corresponding checklists, product location, or configuration needs (for example, from a memory), and then compare the current operating room layout with the standard layout for the type of surgical procedure that the 5104 central surgical controller determines is being performed. In one example, the central surgical controller 5104 can be configured to compare the list of items for the procedure scanned by a suitable scanner 5132, for example and / or a list of devices paired with the central surgical controller 5104 with a recommended or anticipated manifest of items and / or devices for the given surgical procedure. If there are any discontinuities between the lists, the central surgical controller 5104 can be configured to provide an alert indicating that a specific modular device 5102, patient monitoring device 5124 and / or other surgical item is missing. In one example, the central surgical controller 5104 can be configured to determine the position or relative distance of modular devices 5102 and patient monitoring devices 5124 using proximity sensors, for example. The 5104 central surgical controller can compare the relative positions of the devices with a recommended or anticipated layout for the specific surgical procedure. If there are any discontinuities between the layouts, the 5104 central surgical controller can be configured to provide an alert indicating that the current layout for the surgical procedure deviates from the recommended layout.
[00288] [00288] As another example, the central surgical controller with situational awareness 5104 could determine whether the surgeon (or other medical personnel) was making a mistake or otherwise deviating from the expected course of action during the course of a procedure surgical. For example, the central surgical controller 5104 can be configured to determine the type of surgical procedure being performed, retrieve the corresponding list of steps or order of use of the equipment (for example, from a memory), and then compare the steps being performed or equipment being used during the course of the surgical procedure with the steps or equipment expected for the type of surgical procedure that the 5104 central surgical controller determined is being performed. In one example, the central surgical controller 5104 can be configured to provide an alert indicating that an unexpected action is being taken or an unexpected device is being used at the specific stage in the surgical procedure.
[00289] [00289] In general, the situational perception system for the central surgical controller 5104 improves the results of the surgical procedure by adjusting the surgical instruments (and other modular devices 5102) for the specific context of each surgical procedure (such as adjusting to different types tissue), and when validating actions during a surgical procedure. The situational perception system also improves the surgeon's efficiency in performing surgical procedures by automatically suggesting the next steps, providing data, and adjusting screens and other 5102 modular devices in the operating room, according to the specific context of the procedure.
[00290] [00290] With reference now to Figure 15, a time line 5200 is shown representing the situational recognition of a central controller, such as the central surgical controller 106 or 206 (Figures 1 to 11), for example. Timeline 5200 is an illustrative surgical procedure and the contextual information that the central surgical controller 106, 206 can derive from data received from data sources at each stage in the surgical procedure. Timeline 5200 represents the typical steps that would be taken by nurses, surgeons, and other medical personnel during the course of a pulmonary segmentectomy procedure, starting with the setup of the operating room and ending with the transfer of the patient to an operating room. postoperative recovery.
[00291] [00291] 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.
[00292] [00292] 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.
[00293] [00293] “In the second step 5204, the team members scan the entry of 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).
[00294] [00294] At 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.
[00295] [00295] In the fourth step 5208, the medical personnel 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.
[00296] [00296] 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.
[00297] [00297] In the sixth step 5212, the 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.
[00298] [00298] 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. The 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 lung is the first operative step in this specific procedure.
[00299] [00299] 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. For example, a technique for performing a VATS lobectomy places the camera in the lower anterior corner of the patient's chest cavity above the diaphragm, while a technique for performing a VATS segmentectomy places the camera in an anterior intercostal position in relation to the segment fissure. With the use of standard recognition or machine learning techniques, for example, the situational recognition system can be trained to recognize the positioning of the medical imaging device according to the visualization of the patient's anatomy. As another example, a technique for performing a VATS lobectomy uses a single medical imaging device, while another technique for performing a VATS segmentectomy uses multiple cameras. As yet another example, a technique to perform a VATS segmentectomy uses an infrared light source (which can be communicated to the central surgical controller as part of the visualization system) to visualize the segment crack, which is not used in a VATS lobectomy. By tracking any or all of these data from the medical imaging device, the central surgical controller 106, 206 can thus determine the specific type of surgical procedure being performed and / or the technique being used for a specific type of procedure surgical.
[00300] [00300] 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.
[00301] [00301] 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.
[00302] [00302] 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.
[00303] [00303] 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 the cutting / stapling instruments and surgical energy instruments are used can indicate which stage of the procedure the surgeon is performing. In addition, in certain cases, robotic tools can be used for one or more steps in a surgical procedure and / or Hand held surgical instruments can be used for one or more steps in the surgical procedure. The surgeon can switch between robotic tools and hand-held surgical instruments and / or can use the devices simultaneously, for example. After the completion of the twelfth stage 5224, the incisions are closed and the post-operative portion of the process begins.
[00304] [00304] 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.
[00305] [00305] 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.
[00306] [00306] Situational recognition is further described in US provisional patent application serial number 62 / 659,900, entitled METHOD OF HUB COMMUNICATION, filed on April 19, 2018, which is hereby incorporated by reference in its entirety. In certain cases, the operation of a robotic surgical system, including the various robotic surgical systems described here, for example, can be controlled by the central controller 106, 206 based on its situational recognition and / or feedback from its components and / or based on information from cloud 104. Autonomous local adjustment of functional parameters Limitation of adjustment of the adaptive program of a surgical instrument equipped with an engine
[00307] [00307] In several respects, the autonomous adjustable control programs may contain limits for the algorithms of the surgical instrument. In one aspect, a surgical instrument equipped with a 208100 engine (Figure 19) with a preset adjustable control algorithm for controlling at least one parameter of a 208109 end actuator may additionally include a means to limit the adjustment of the control algorithm to one or more predefined adjustment windows.
[00308] [00308] In one aspect, the adjustable control algorithm controls at least one function of the end actuator 208109. In one aspect, the adjustability depends on at least one detected parameter. In one respect, the detected parameter includes a set of historical data from previous uses of the 208100 surgical instrument by the surgeon, at the facility, in the region or by the user base in general. In one aspect, the adjustment limit is predefined by the 208100 surgical instrument and / or by a central surgical controller (for example, 102, 202). In one respect, the limit is an overall ceiling. In one respect, the limit is an adjustment for use. In one respect, the limit is based on uses by a specific user, in a particular installation or in a specific region.
[00309] [00309] In one aspect, a control program can limit the learning settings of the control program. For example, in a qualified aggregation, an event or behavior might have to undergo a check to determine whether it will enable the long-term behavior of a specific surgical instrument 208100 or a class of surgical instrument 208100 to be affected, for example. example. A control program run by a 208100 surgical instrument or central surgical controller (eg 102, 202) can account for individualized or one-time failures (for example, a damaged or poorly inserted cartridge due to a non-repeatable error) that have a minimal effect on the behavior of the control program. In other words, the data associated with the individualized error may or may not be transmitted to a central surgical controller (for example, 102, 202) and / or the main database, depending on the nature of the individualized error. However, even if it is transferred, the individualized error could be excluded from the aggregate database used to affect the long-term behavior of the 208100 surgical instrument as a means of preventing or detecting future failures of the 208100 surgical instrument.
[00310] [00310] As another example of qualified aggregation, the weighted effect of a behavior could be used to influence the amount of adjustment (for example, a "class 0" defect resulting in an injury to the patient could have a greater influence as an event unique about the performance of the device than a number, for example, 10x, of small variations).
[00311] [00311] In one aspect, a control program can limit the learning settings of the control program over a series of parameters. For example, learning adjustments can be limited to a maximum adjustment of the control algorithm over a given time interval (for example, + 10% over a week, a month or another interval). This would prevent different behaviors of a new user, rotation of OR staff or other individuals from causing a substantial change in the behavior of the instrument for all other users (especially if, for example, some other users are on vacation, not working during a weekend or otherwise are not actively using the instruments for a period).
[00312] [00312] As another example, the total maximum and minimum limits of performance behavior can be applied to a given user. This could have a lasting cumulative effect or a maximum adjustment for a given BIOS or version of the driver. Each time a control program is updated, the setting can be transferred or it could be "reset" to a nominal target value and the system will have to learn the setting again, for example. This would enable the system to benefit from improved control programs, without requiring the control program to learn the same adjustment again if the program operates differently. As another example, users may be able to temporarily use other users' settings,
[00313] [00313] In one aspect, a control program could set a ceiling or a maximum for the number of adjustments to the control program by procedural use. This would minimize what could seem like dramatic changes in behavior from one use to the next. In addition, this could also be accounted for by use per user and, therefore, behave differently for different users and minimize adjustments in the performance of one user's device to the next.
[00314] [00314] In one aspect, a control program could be programmed to implement a predefined adjustability envelope. In this respect, adaptive algorithms and techniques could be implemented to adjust locally (that is, adjust a control program for a given central surgical controller (eg 102, 202) or control programs for a local network of central surgical centers, for example, a single installation) the general control schemes. The adjustment methods can be implemented through machine learning, for example, as a neural network, to update / control the algorithms of the fixed devices.
[00315] [00315] In just one case, a graphical interface is described to control various parameters of the device, such as the parameters described above. The graphical interface can be displayed, for example, on the device that is controlled and / or on a central surgical controller (for example, 102, 202) to which the device is connected. The graphical interface allows users to select settings for a specific surgeon (for example, "Dr. Smith" or "Dr. Jones") by device type (for example, staplers, power devices, scopes, and so on) by type of action (for example, clamping, firing, or joint settings for staplers). Different configurations for devices can be learned over time, as users become more experienced in using the devices.
[00316] [00316] In one aspect, control programs can provide a substitution capability to enable the user to reset the device's default settings to the nominal value or suggested by the manufacturer of a device's performance. For example, there could be an indication of the current learned parameters of the device and allow the user to determine whether to use this personalized performance. As another example, the user could have the ability to select a replacement for an adjusted parameter. This can occur before a device is used, at the beginning of a procedure, or even during performance. As another example, the control programs could enable the user to reset the device to an unadjusted state or even disable the parameter's ability to be adjusted over time due to performance measured in the future.
[00317] [00317] In one aspect, a device could identify a user's use or behavior and determine a performance parameter adjustment to improve the results of that behavior. It could then, in a later use, detect the same behavior OR use, but because it is a different user, limit the application of the adjustment or ask the user to confirm the use of the enhancement before being used. For example, if a thicker than indicated tissue is detected and an uneven distribution of the tissue with it leaning towards the stopping end of the anvil tissue, the control program could adjust for these variables, by decelerating the advance beam with profile in | at the start of the course and the length of the stabilization waiting period displayed. Consequently, if this same irregular tissue filling of the claws is detected at a later time, but it appears to the instrument that the user is different from the first user, the instrument could ask whether the user wants to use the new performance program or the standard program. , instead of simply adjusting the parameters automatically, as it would be for the first user to use the device in a subsequent procedure.
[00318] [00318] In at least one embodiment, a surgical instrument system includes a surgical end actuator, such as a 208109 surgical end actuator, for example, or surgical instrument, such as those described here (for example, 208100), for example, configured to apply at least one function of the end actuator to a patient and a control circuit, such as the control circuit 208103, for example, configured to operate the surgical end actuator and / or the function of the surgical end actuator 208109. The function (s) of the 208109 end actuator can be performed by a surgical robot and / or by means of a hand instrument handle, for example. The handholds of the hand instrument can be operated manually by a doctor. The end actuators attached to a surgical robot can be operated manually by a doctor who operates the surgical robot and / or operated automatically by a control circuit of the surgical robot, for example. The functions of an end actuator may include firing staples, for example, which may include cutting tissue and / or implanting staples into a surgical stapling end actuator. Another function of the end actuator may include securing the tissue with a surgical stapling end actuator. Yet another example of a function of the end actuator may include energizing the tissue with a surgical power device. It should be understood that any functions of the appropriate end actuator can be used with the surgical systems described here.
[00319] [00319] The control circuits of such surgical systems may include adaptive control programs configured to control the function of the end actuator and adapt over time to better accommodate the subsequent uses of the function (s) of the end actuator end and / or surgical instrument systems. Such adaptive control programs can use various types of information to automatically adjust and / or adapt the control program for the end actuator function. For example, adaptive control programs can be directly based on inputs including parameters detected within an end actuator, such as end actuator 208109, for example, itself, within a patient and / or within a surgical site. Adaptive control programs can be based on inputs from a central surgical controller (eg 102, 202), for example. Machine learning can be used to analyze inputs and make adjustments to the adaptive control program in an attempt to provide better end results from the end actuator function for each subsequent use.
[00320] [00320] In less than one case, the adaptation of the control program is based on a parameter locally detected within the end actuator, such as end actuator 208109, for example. For example, the load on a tissue cutting knife or firing member 208111 applied by the tissue and / or other aspects of the system, on a surgical stapling end actuator, can be measured inside the 208109 end actuator. Load information on the fabric cutting knife can be fed to the control circuit 208103 so that the control circuit 208103 can automatically adjust the control program of the fabric cutting knife. For example, if the load is monitored and becomes higher and higher during a trigger sequence, the adaptive control program can predict that the next trigger sequence will include a similar load profile and, in at least one case, the program Adaptive control can automatically slow the firing speed of the tissue cutting knife to the next firing sequence to prevent the tissue cutting knife from becoming tangled.
[00321] [00321] In at least one case, the adaptability of the control program is based on the information collected over a period. In addition to the above, the adaptability of the control program can be based on specific information collected over time. For example, adaptability can only be based on data collected while a certain surgeon was using the device. In at least one case, adaptability can only be based on data collected during use in a specific patient, during use in a specific operating room, during use in a specific region of the country and / or during use in specific types of procedures. Any suitable groupings of data can be used to control the adaptability of the program. In at least one case, multiple data clusters are used cooperatively and the adaptability of the control program is based on multiple data clusters.
[00322] [00322] In systems that use adaptive control programs, it may be advantageous to restrict the adaptability of the control program itself. Setting limits, automatically, based on locally detected parameters, for example, and / or manually based on a surgeon's direct input, for example, on the adaptability of the control program, can avoid undesirable adaptive adjustments of the control program. In addition to the above, these restrictions and / or limitations placed on adaptive control programs, if applied automatically and / or applied manually, can provide more information for machine learning aspects of the control circuit to better operate the functions of the end actuator in subsequent uses. Such limitations can be implemented by an adaptive limiting program, for example.
[00323] [00323] “Again with reference to the tissue cutting knife example discussed above, a physician may be aware that the adaptive control program will slow down the firing speed of the tissue cutting knife for a subsequent firing sequence; however, in this case, the doctor may not want the firing speed of the tissue cutting knife to decrease for the next firing sequence. The physician may want to automatically place a limit on the adaptive control program that controls the trigger function of the end actuator, such as the 208109 end actuator, for example. In at least one case, the doctor may want to manually place a limit on the adaptability of the control program that controls the trigger function. In the example discussed, the physician may wish to set a value for the slowest possible firing speed for which the adaptive control program is authorized to decelerate automatically. In that case, after such restriction and / or limitation has been established, the adaptive control program may not be allowed to adjust the firing speed of the tissue cutting knife to a speed that would fall below the slowest firing speed possible. Restrictions and / or limitations can be established during a procedure, before a procedure and / or after a procedure. In at least one case, the physician may be informed by means of a display or audible alert of the adaptability of the real-time control program to enable the physician to make real-time adjustments to the adaptability of the control program.
[00324] [00324] In at least one case, the adaptive adjustments made by the control program may have limits.
[00325] [00325] In at least one case, certain events, such as the incorrectly loaded cartridge firing failure event discussed above, could receive different weight values when determining the amount of influence that this event would have on the adaptability of the control program . For example, a trigger failure due to an incorrectly loaded staple cartridge can receive considerably less weight providing considerably less influence on the adaptability of the control program than a complete clogging of tissue resulting after a properly assembled cartridge is fired. In that case, the type of tissue may have caused the incident of complete tissue obstruction, which may be much more desirable to have an influence on the adaptability of the control program if the doctor and the end actuator encounter this type of tissue again. Likewise, a physician may not want the adaptive control program to adjust based on the error of the user who loaded a cartridge incorrectly and / or the misuse of the instrument.
[00326] [00326] During normal operation and assuming there is no misuse of the end actuator, such as the end actuator 208109, for example, an event that causes injury and / or damage to the patient could be given a much greater weight and thus influence the adaptability of the control program more than an event that causes little or no injury and / or damage to a patient.
[00327] [00327] In at least one case, the delimitation of the adaptive control program can occur over a series of parameters. For example, a control circuit, such as control circuit 208103, for example, can only allow a percentage of adjustment of the control program over a given period of time. For example, an adaptive trigger control program for a surgical stapling end actuator, such as the 208109 end actuator, for example, can be limited to adjusting the control program's trigger speed + 10% of the trigger speed to the over a week of time. Any suitable percentage of restriction can be employed at any suitable time interval. Such a provision can eliminate drastic adaptability over a period of time. For example, an end actuator may possibly experience an interruption period and have some abnormal sequence during the beginning of its life. Thus, it may be desirable, in this case, to limit the adaptability of the control program to that end actuator during an interruption period. Another advantage may include eliminating drastic adaptability among multiple users who have different operating behaviors.
[00328] [00328] In at least one case, minimum and maximum limits of the program can be specific for a given user. In such a scenario, the user may be able to adjust these limits for a lasting cumulative effect. In at least one case, the user may be able to select the minimum and maximum program limits specific to another user. In at least one case, when the user is using specific limits for another user, the user may not be able to adjust the specific limits for another user, nor can those limits be adjusted by the adaptive control program because the specific user of those limits are not using them.
[00329] [00329] In at least one case, the limits placed on adaptive control programs could be transferred to a database and / or central controller (eg 102, 202) and that control program would be reset to a target value nominal. In that case, limits may need to be learned again and / or readjusted. In another case, a surgeon may have the option of resetting the limits to the nominal value or defining the control program where the surgeon stopped at the end of the last use. This would allow systems to benefit from improved control programs and may not need the same adjustment if the program operates differently.
[00330] [00330] In at least one case, the limits placed on adaptive control programs can have a basis for use. In at least one case, the adaptability of the control program can be isolated to a single procedure and / or a lasting use of the specific end actuator that the control program is controlling.
[00331] [00331] In just one case, adaptive control programs can be limited to a predefined adjustability envelope. Adaptive algorithms and / or techniques can be used to locally adjust the global control regimes of adaptive control programs and / or surgical instrument systems in general. Control program settings can also be based on neural networks including inputs from the central surgical controller (eg 102, 202) and any other information that may be desirable to contribute to neural networks when making adjustments to the control program .
[00332] [00332] Figure 18 represents the logic 208060 of a control circuit like those described here. The 208060 control logic comprising the 208061 control of a parameter of an end actuator, the 208063 setting of the parameter control and the 208065 limitation of the parameter control setting. Controlling 208061 an end actuator parameter may include running a control program to operate a motor operably coupled to a fabric cutting knife, for example. The control program may be able to cause the motor to advance the knife distally, retract the knife proximally and / or pause the knife drive. The speed and acceleration of the fabric cutting knife can also be varied by the control program. The 208063 setting of the parameter control can include modifying and / or automatically and / or manually adapting the control program or the 208061 parameter control to perform better during one use and / or for each subsequent use. This is called an adaptive control program that is capable of using machine learning, for example, to achieve a better functioning of the parameter being controlled. The limitation 208065 of the parameter control setting can comprise manually defining an adjustment window or range of values in which the adaptive control program can vary. For example, a range of firing speeds can be set manually and / or automatically to restrict an adaptive control program to fall within the established range of firing speeds.
[00333] [00333] Figure 16 represents a graphical interface that displays a series of menus that comprise selectable options to assist a doctor in the operation of a specific surgical instrument, such as the 208100 instrument, for example. In the illustrated example, a first series of screens 208010 represents multiple selectable menu options where, in this case, a specific surgeon is selected, a specific instrument is selected and a specific function is selected. In this case, a specific surgeon can be selected so that a control circuit, such as control circuit 208103, for example, can load specific configurations, such as adaptive limits learned, for example, for that specific surgeon. A specific instrument, such as the 208100 instrument, for example, can be selected to enable the control circuit to load a specific control program to operate that instrument. This may include a specific adaptive limitation program corresponding to a specific instrument and a specific surgeon. All selected options can be taken into account by the control circuit in order to load the correct control program (s) and / or the settings to operate the desired device. In the illustrated example, the CLIP 2 trigger function for Dr. Jones has been selected. These options can be automatically detected by the control circuit and, in at least one case, are not selected. For example, information can already be delivered to the control circuit in a package corresponding to the specific procedure by a central surgical controller (for example, 102, 202), for example. In another example, a surgeon may use an integrated circuit identifier that a component of the control circuit can detect, a surgical robot, such as surgical robot 110, for example, to which the instrument is attached, may be able to automatically identify which The instrument is attached to the operating arm of the robot 110 and / or the trigger configuration of the specific instrument can be identified by the robot based on an indirect input from the surgeon on a surgical robot control interface, for example.
[00334] [00334] Still with reference to Figure 16, two screens 208020 are shown that show, in at least one case, selectable options for Dr. Jones for the trigger function of STAPLER 2. As can be seen in these screens 208020, the time and the clamping force are displayed and can be related to the total firing speed of the instrument, such as the 208100 instrument, for example. In that case, Dr. Jones may have limited experience. This experience can be known by the control circuit, such as control circuit 208103, for example, based on information stored about Dr. Jones. In this case, the range of values allowed for the firing speed, whether they are selectable learned limits and / or selectable direct function parameters, may be greater than a range of values allowed for an experienced surgeon. For example, a 208030 screen is illustrated in which Dr. Smith, a more experienced surgeon than Dr. Smith, receives the most rigid default settings. This can occur due to the number of repetitions that a surgeon has with a specific instrument, such as the 208100 instrument, for example. In at least one case, a range of permitted values indicating the safer operation of a specific instrument can be provided to a surgeon with less experience where a range of permitted values indicating the riskier operation of a specific instrument can be provided to a surgeon with more experience. Customizable user performance and program behaviors
[00335] [00335] In several aspects, the behaviors of the control program of an intelligent surgical device (for example, a stapling device) could be customizable with the user's interaction in order to personalize the performance of the device.
[00336] [00336] In one aspect, a surgical device, such as the 208100 instrument, for example, could be controlled through adjustable controls by the user with adjustable algorithms. In at least one case, a graphical interface for controlling adaptive parameters of a surgical device is described. A stapler uses an adaptive firing speed algorithm that adjusts the firing speed based on the firing resistance provided by the fabric. The variables in the algorithm include the minimum / maximum speed, the number of speed intervals in the range and the duration of the triggering pause when the force parameters exceed the safety limits. These variables are scalable or are able to be changed by the user, such as through the graphical interface. These entries inform the system limits for the staple's subsequent trigger response.
[00337] [00337] In one aspect, local instrument controls could enable the user to adjust their function. A control may, for example, have scalable sensitivity to establish a link between the actuation control and an actuation movement equipped with a motor. In one aspect, controls on local instruments can be reclassified from one function to another by the user (ie controls can be mapped from a first function or standard function to a second function).
[00338] [00338] In one aspect, trained learning (for example, machine learning) can be used to assist users in personalizing the performance of a device (for example, a surgical instrument, such as the 208100 instrument, for example, or the central controller (e.g. 102, 202)). For example, a user could enter his personal opinion of the output that the device provided in its most recent uses. The device can then use this additional information to better tune the performance of the device's controlled functions. In addition, the user could then be able to enter an opinion on the relative performance of the second use of the device for the first use of the device. This trained behavior would make it possible for the device - to personally tune not only its behavior, but also the desired results. For example, one of the people most knowledgeable in the technique could input their opinions about the performance / functions of the device to tune the performance / functions and then enable the device to present this improved output behavior to all other users of the device.
[00339] [00339] In at least one case, a control interface may be provided, such as a graphical user interface or any suitable control interface, to enable a doctor to choose whether to cancel the learned or to set limits for a nominal value. In other words, the user can be prompted and asked if he would like to reset the adaptive control program before using the end actuator, such as the 208111 end actuator, for example. This reset can set the device to the default state suggested by the manufacturer. In at least one case, the current state of the adaptive control program is shown to a user as well as its learned or established limits. A user may then be able to choose whether or not to use this personalized performance. In at least one case, a brief history of the current state of the adaptive control program can be shown to the user. For example, which surgeons used and contributed to the adaptive control program and its limits, and / or which operating room personnel were involved during data aggregation to arrive at the current state of the adaptive control program, can be shown to the next user to enable the next user to decide whether the adaptive control program is in a desirable state for use in its procedure. Such a substitution can be selected before, after and / or when using the 208111 end actuator. More specifically, such a substitution can be selected while the end actuator function is active. In this case, a surgeon may have a second opinion about the state of the adaptive control program during triggering based on real-time events and / or the behavior of the end actuator and would like to override the adaptive control program and / or the limits established in the adaptive control program.
[00340] [00340] In at least one example, the user can be provided with the ability to completely disable the ability to establish limits for the adaptive control program. In addition to this, the user can be provided with the ability to completely disable the adaptability of the adaptive control program in order to control the function of the end actuator which can be entirely operated manually so that machine learning does not affect the way in which the function of the end actuator is actuated and / or controlled, for example.
[00341] [00341] In at least one case, a control circuit, such as control circuit 208103, for example, can be configured to identify a user of the end actuator, such as the end actuator 208111, for example, based on behavior of the user using the end actuator. In this case, an adaptive control program can adapt, as described above, and the limits can be learned and / or defined in the adaptive control program, as described above. If the control circuit determines that a different user is using the 208111 end actuator, the new user can be alerted about the adaptive control program implemented on the current end actuator and asked if the new user would like to continue with the program current adaptive control. In at least one example, if the control circuit determines that a different user is using the end actuator, the adaptive control program can exclude the use of the end actuator under the new user to avoid affecting the adaptive control program and / or the limits of the end control actuator's adaptive control program.
[00342] [00342] “An example of the benefit of user detection will now be described. For example, thicker than expected tissue and an uneven distribution of tissue can be detected where the tissue slopes towards a stop end of an anvil. This could be adjusted to reduce the firing speed of the firing member at the start of the firing stroke and to increase the stabilization waiting period. Waiting for the tissue to regulate and flatten inside the claws can help advance a firing member through thicker tissue. If a similar event occurs but the control circuit detects that a different user is using the instrument, such as the 208100 instrument, for example, during the same scenario, the control circuit may ask whether the user wants to use the enhanced performance program or the adaptive control program with its learned and / or defined limits or whether the user wants to use the standard adaptive control program instead of simply adjusting the parameters automatically as it would be for the first user using the device in a subsequent procedure. This can provide an advantage in a scenario where different users have different preferences when performing similar procedures.
[00343] [00343] In at least one case, a user may be able to define and / or select a range and / or value window to which an adaptive control program may be able to adapt. With reference to Figure 17, a screen is illustrated where a user is provided with options for fine-tuning the allowed adjustments that an adaptive control program for an end actuator, such as end actuator 208111, for example, it is about to use or is using, is authorized to perform while using the end actuator. In the illustrated example, a stapler uses an adaptive firing speed algorithm or program that adjusts the firing speed based on the resistance experienced by the firing member provided by the fabric. The graphical interface illustrated in Figure 17 and the corresponding control circuit, such as the control circuit 208103, for example, make it possible to customize the performance of the end actuator with which it is used. Limits can be placed on several variables in the algorithm. These variables include the minimum and maximum speed settings, the number of speed intervals in the range, and the duration of the trigger pause when the force parameters exceed safety limits. These variables are scalable and / or are able to be changed by the user so that the user can manually define the window in which the trigger speed algorithm or adaptive control program is authorized to make adjustments. In at least one case, these inputs inform system limits for the subsequent trigger response. In the illustrated example, screens 208040 and 208050 show a first slider to adjust the firing speed range for an adaptive firing speed program to operate, a second slider to adjust the length of a pause that a user would like to take at speed adaptive trigger speed and a number of selectable speed options where a user can set the desired number of speed ranges within an established range. Different settings are selected on each 208040 screen and
[00344] [00344] In at least one case, a user might be able to input his opinion on the output of the device and thus the performance of the adaptive control program and its learned limits, for example. This research may take place after the end of an entire procedure and / or after a week of using a device. In another case, this type of research could take place after long-term use of the device so that machine learning can use this data searched in control programs of the next device to better adjust the performance of the control functions. Such opinions could correspond to the performance of the device from one use to the next use and / or a single procedure for the next procedure, for example. This trained behavior would allow the device to personally tune not only its behavior but also the desired results. This could be done by one of the most knowledgeable people in the technique and then enable the device to present this improved output and behavior to all other users of the device.
[00345] [00345] Figure 19 represents a 208100 surgical instrument comprising a 208101 user interface and a 208103 control circuit configured to receive inputs from the 20810 user interface. The 208100 surgical instrument further comprises a 208105 motor driver, a configured 208107 motor to be driven by motor driver 208105 and controlled by control circuit 208103, and an end actuator 208109 comprising a trigger member 208111 configured to be driven by motor 208107. In at least one case, various components of the 208100 surgical instrument can be replaced by an energy-based surgical instrument, such as an ultrasonic surgical instrument.
[00346] [00346] Various aspects of the subject described in this document are defined in the following numbered examples:
[00347] [00347] Example 1 - A surgical system comprising a surgical instrument comprising an end actuator, the end actuator being configured to perform an end actuator function and a control circuit configured to control the end actuator function and automatically adapt the control of the function of the end actuator over time and limit the automatic adaptation of the control of the function of the end actuator.
[00348] [00348] Example 2 - The surgical system of Example 1, the control circuit being additionally configured to automatically adapt the control of the end actuator function using machine learning.
[00349] [00349] “Example3-oThe surgical system of Examples 1 or 2, with automatic adaptation depending on a parameter detected in the surgical instrument.
[00350] [00350] Example 4 -oThe surgical system of Example 3, with the detected parameter comprising a set of parameters previously detected from previous uses of the surgical instrument.
[00351] [00351] Examples 5- The surgical system of Example 4, with the set of parameters previously detected comprising parameters detected during the use of the surgical instrument by a specific user.
[00352] [00352] Example 6 - The surgical system of Examples 4 or 5, with the previously detected set of parameters comprising parameters detected during the use of the surgical instrument in a specific location.
[00353] [00353] Example 7 -The surgical system of Examples 1, 2,3,4,5 or 6, the control circuit being additionally configured to limit the automatic adaptation of the control of the end actuator function to a specific range of settings.
[00354] [00354] Example 38 -oThe surgical system of Example 7, with the specific range of adjustments being predefined.
[00355] [00355] Example 9-oDO the surgical system of Examples 7 or 8, the specific range of adjustments being manually adjustable.
[00356] [00356] Example 10-The surgical system of Examples 7, 8 or 9, with the specific range of adjustments being automatically adjusted by the control circuit based on machine learning.
[00357] [00357] Example 11 - The surgical system of Examples 1, 2,3, 4, 5, 6, 7, 8, 9 or 10, the control circuit being additionally configured to limit the automatic adaptation of the control of the function of the end actuator to a maximum limit setting.
[00358] [00358] “Example 12-0The surgical system of Examples 1,2,3,4,5, 6, 7, 8, 9, 10 or 11, the limitation of the automatic adaptation of the end actuator function control being based on a usage basis.
[00359] [00359] “Example 13-The surgical system of Examples 1,2, 3,4,5,6, 7, 8, 9, 10, 11, or 12, the limitation of the automatic adaptation of the actuator function control endpoint is based on a specific user.
[00360] [00360] Example 14 - The surgical system of Examples 1, 2,3,4,
[00361] [00361] Example 15 - A surgical system comprising a surgical instrument comprising an end actuator and a control circuit configured to control an end actuator parameter, automatically adjust the parameter control, and limit the automatic adjustment of the parameter control to an adjustability window.
[00362] [00362] Example 16-The surgical system of Example 15, with the control circuit being configured to automatically adjust the parameter control using machine learning.
[00363] [00363] Example 17-0The surgical system of Examples 15 or 16, the adjustment window being manually selectable by a doctor.
[00364] [00364] Example 18-The surgical system of Examples 15, 16 or 17, the adjustment window being automatically selected based on machine learning.
[00365] [00365] Example 19 - A surgical system comprising a surgical instrument comprising an end actuator and a control circuit configured to receive information about a parameter - detected, control an end actuator function, adapt the control of the end actuator function end over time based on the detected parameter, and limit the adaptation of the end actuator function control.
[00366] [00366] Example 20 -The surgical system of Example 19, the limitation of adapting the function of the end actuator comprises limiting the adaptation of the control of the function of the end actuator to an adaptability range.
[00367] [00367] Although several forms have been illustrated and described,
[00368] [00368] The previous detailed description presented various forms of the devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts and / or examples can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or virtually any combination thereof. Those skilled in the art will recognize, however, that some aspects of the aspects described here, 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 the 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.
[00369] [00369] The instructions used to program the logic to execute various aspects described 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).
[00370] [00370] 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 that includes one or more cores instruction processing units - individual, 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.
[00371] [00371] 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.
[00372] [00372] 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.
[00373] [00373] 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 adequate physical quantities and are merely convenient identifications applied to those quantities and / or states.
[00374] [00374] A network may include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet switched network communications protocol.
[00375] [00375] Unless otherwise stated, as is evident from the preceding description, it is understood that, throughout the preceding description, discussions using terms such as "processing", or "computation", or "calculation", or " determination ", or" display ", or similar, refer to the action and processes of a computer, or similar electronic computing device, that manipulates and transforms the data represented in the form of physical (electronic) quantities in records and memories of the computer in other data represented in a similar way in the form of physical quantities in the memories or records of the computer, or in other similar devices for storing, transmitting or displaying information.
[00376] [00376] 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.
[00377] [00377] 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.
[00378] [00378] Persons skilled in the art will recognize that, in general, the terms used here, and especially in the appended claims (for example, bodies of the appended claims) are generally intended as "open" terms (for example, the term "including" should be interpreted as "including, but not limited to", the term "having" should be interpreted as "having, at least", the term "includes" should be interpreted as "includes, but is not limited to ", etc.). It will also be understood by those skilled in the art that, when a specific number of a claim statement entered is intended, that intention will be expressly mentioned in the claim and, in the absence of such mention, no intention will be present. For example, as an aid to understanding, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim statements. However, the use of such phrases should not be interpreted as implying that the introduction of a claim statement by the indefinite articles "one, ones" or "one, ones" limits any specific claim containing the mention of the claim entered to claims that contain only such a mention, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles, such as "one, ones" or "one, ones" (for example, "one, ones" and / or "one, ones" should typically be interpreted as meaning "not one" or "one or more"); the same goes for the use of defined articles used to introduce claims.
[00379] [00379] Furthermore, even if a specific number of an introduced claim statement is explicitly mentioned, those skilled in the art will recognize that that statement must typically be interpreted as meaning at least the number mentioned (for example, the mere mention of "two mentions ", without other modifiers, typically means at least two mentions, or two or more mentions). In addition, in cases where a convention analogous to "at least one of A, B and C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that has at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). In cases where a convention analogous to "at least one of A, B or C, etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that have at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A , B and C together, etc.). It will be further understood by those skilled in the art that typically a disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, in the claims or in the drawings, should be understood as contemplating the possibility of including one of the terms, any of the terms or both terms, except where the context dictates something different. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "AeB".
[00380] [00380] 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 ordering - overlapping, merging, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, inverse or other variant orders, unless the context otherwise determines. In addition, terms such as "responsive to", "related to" or other adjectives participles are not intended in general to exclude these variants, except when the context determines otherwise.
[00381] [00381] It is worth noting that any reference to "one (1) aspect", "one aspect", "an exemplification" or "one (1) exemplification", and the like means that a particular feature, structure or feature described in connection with the aspect is included in at least one aspect. Thus, the use of expressions such as "in one (1) aspect", "in one aspect", "in an exemplification", "in one (1) exemplification", in several places throughout this specification does not necessarily refer the same aspect. In addition, specific resources, structures or characteristics can be combined in any appropriate way in one or more aspects.
[00382] [00382] 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.
[00383] [00383] In short, 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 described.
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 surgical instrument that comprises an end actuator, the end actuator being configured to perform an end actuator function; and a control circuit configured to: control the function of the end actuator and automatically adapt the control of the function of the end actuator over time; and limit the automatic adaptation of the function control of the end actuator.
[2]
2. Surgical system, according to claim 1, characterized in that the control circuit is additionally configured to automatically adapt the control of the end actuator function using machine learning.
[3]
3. Surgical system, according to claim 1, characterized in that the automatic adaptation is dependent on a parameter detected in the surgical instrument.
[4]
4. Surgical system, according to claim 3, characterized in that the detected parameter comprises a set of parameters previously detected from previous uses of the surgical instrument.
[5]
5. Surgical system, according to claim 4, characterized in that the set of parameters previously detected comprises parameters detected during the use of the surgical instrument by a specific user.
[6]
6. Surgical system, according to claim 4, characterized in that the set of parameters previously detected comprises parameters detected during the use of the surgical instrument in a specific location.
[7]
7. Surgical system, according to claim 1, characterized in that the control circuit is additionally configured to limit the automatic adaptation of the control of the end actuator function to a specific range of adjustments.
[8]
8. Surgical system, according to claim 7, characterized in that the specific range of adjustments is predefined.
[9]
9. Surgical system, according to claim 7, characterized in that the specific range of adjustments is manually adjustable.
[10]
10. Surgical system, according to claim 7, characterized in that the specific range of adjustments is automatically adjusted by the control circuit based on machine learning.
[11]
11. Surgical system according to claim 1, characterized in that the control circuit is additionally configured to limit the automatic adaptation of the control of the end actuator function to a maximum limit setting.
[12]
12. Surgical system, according to claim 1, characterized in that the limitation of the automatic adaptation of the control of the function of the end actuator is based on a basis for use.
[13]
13. Surgical system, according to claim 1, characterized in that the limitation of the automatic adaptation of the function control of the end actuator is based on a specific user.
[14]
14. Surgical system, according to claim 1, characterized in that the limitation of the automatic adaptation of the function control of the end actuator is based on a specific location of the surgical instrument.
[15]
15. Surgical system, characterized by comprising: a surgical instrument comprising an end actuator; and a control circuit configured to: control an end actuator parameter; automatically adjust the parameter control; and limit the automatic adjustment of the parameter control to an adjustability window.
[16]
16. Surgical system, according to claim 15, characterized in that the control circuit is configured to automatically adjust the parameter control using machine learning.
[17]
17. Surgical system, according to claim 15, characterized in that the adjustability window is manually selectable by a clinician.
[18]
18. Surgical system, according to claim 15, characterized in that the adjustability window is selected automatically based on machine learning.
[19]
19. Surgical system, characterized by comprising: a surgical instrument comprising an end actuator; and a control circuit configured to: receive information about a detected parameter; control a function of the end actuator; adapt the control of the end actuator function over time based on the detected parameter; and limit the adaptation of the function control of the end actuator.
[20]
20. Surgical system according to claim 19, characterized in that the limitation of the adaptation of the function control of the end actuator comprises the limitation of the adaptation of the function control of the end actuator to an adaptability range.
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同族专利:

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公开号 | 公开日

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US20190201081A1|2019-07-04|

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CN111542282A|2020-08-14|

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JP2021509065A|2021-03-18|

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EP3505115A1|2019-07-03|

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WO2019133148A1|2019-07-04|

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US11234756B2|2022-02-01|

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

优先权:

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申请号 | 申请日 | 专利标题

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

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

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

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

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

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

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US201862640417P| true| 2018-03-08|2018-03-08|

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US201862640415P| true| 2018-03-08|2018-03-08|

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US62/640,417|2018-03-08|

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US62/640,415|2018-03-08|

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US201862650882P| true| 2018-03-30|2018-03-30|

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US201862650887P| true| 2018-03-30|2018-03-30|

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US201862650877P| true| 2018-03-30|2018-03-30|

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US201862650898P| true| 2018-03-30|2018-03-30|

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US201862659900P| true| 2018-04-19|2018-04-19|

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US201862692747P| true| 2018-06-30|2018-06-30|

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US201862729184P| true| 2018-09-10|2018-09-10|

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