Patent Grant
11849946
The invention disclosed herein relates to surgical instruments and, in various embodiments, to surgical stapling and cutting instruments and staple cartridges for use therewith.
A stapling instrument can include a pair of cooperating elongate jaw members, wherein each jaw member can be adapted to be inserted into a patient and positioned relative to tissue that is to be stapled and/or incised. In various embodiments, one of the jaw members can support a staple cartridge with at least two laterally spaced rows of staples contained therein, and the other jaw member can support an anvil with staple-forming pockets aligned with the rows of staples in the staple cartridge. Generally, the stapling instrument can further include a pusher bar and a knife blade which are slidable relative to the jaw members to sequentially eject the staples from the staple cartridge via camming surfaces on the pusher bar and/or camming surfaces on a wedge sled that is pushed by the pusher bar. In at least one embodiment, the camming surfaces can be configured to activate a plurality of staple drivers carried by the cartridge and associated with the staples in order to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue gripped between the jaw members. In at least one embodiment, the knife blade can trail the camming surfaces and cut the tissue along a line between the staple rows.
The foregoing discussion is intended only to illustrate various aspects of the related art in the field of the invention at the time, and should not be taken as a disavowal of claim scope.
Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows:
Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.
Applicant of the present application owns the following patent applications that were filed on Sep. 23, 2015 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/862,421, entitled SURGICAL STAPLER HAVING MOTOR CONTROL BASED ON A DRIVE SYSTEM COMPONENT, now U.S. Pat. No. 10,327,769;
U.S. patent application Ser. No. 14/862,427, entitled SURGICAL STAPLER HAVING TEMPERATURE-BASED MOTOR CONTROL, now U.S. Pat. No. 10,085,751;
U.S. patent application Ser. No. 14/862,434, entitled SURGICAL STAPLER HAVING MAGNETIC FIELD-BASED MOTOR CONTROL, now U.S. Patent Application Publication No. 2017/0079642;
U.S. patent application Ser. No. 14/862,439, entitled SURGICAL STAPLER HAVING FORCE-BASED MOTOR CONTROL, now U.S. Pat. No. 10,363,036;
U.S. patent application Ser. No. 14/862,455, entitled SURGICAL STAPLER HAVING CURRENT MIRROR-BASED MOTOR CONTROL, now U.S. Pat. No. 10,076,326; and
U.S. patent application Ser. No. 14/862,465, entitled SURGICAL STAPLER HAVING MOTOR CONTROL BASED ON AN ELECTRICAL PARAMETER RELATED TO A MOTOR CURRENT, now U.S. Pat. No. 10,238,386.
Applicant of the present application owns the following patent applications that were filed on Mar. 6, 2015 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/640,746, entitled POWERED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246;
U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER, now U.S. Patent Application Publication No. 2016/0256160;
U.S. patent application Ser. No. 14/640,780, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat. No. 10,245,033;
U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,441,279;
U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. Pat. No. 9,901,342;
U.S. patent application Ser. No. 14/640,817, entitled INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,924,961;
U.S. patent application Ser. No. 14/640,831, entitled MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148;
U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication No. 2016/0256154;
U.S. patent application Ser. No. 14/640,837, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No. 9,993,248;
U.S. patent application Ser. No. 14/640,844, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No. 10,045,776;
U.S. patent application Ser. No. 14/640,859, entitled TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No. 10,052,044; and
U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now U.S. Patent Application Publication No. 2016/0256071.
Applicant of the present application owns the following patent applications that were filed on Feb. 27, 2015, and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258;
U.S. patent application Ser. No. 14/633,541, entitled MODULAR STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250;
U.S. patent application Ser. No. 14/633,542, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118;
U.S. patent application Ser. No. 14/633,546, entitled SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. Pat. No. 10,180,463;
U.S. patent application Ser. No. 14/633,548, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028;
U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S. Pat. No. 10,321,907;
U.S. patent application Ser. No. 14/633,560, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES, now U.S. Patent Application Publication No. 2016/0249910;
U.S. patent application Ser. No. 14/633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. Pat. No. 10,159,483;
U.S. patent application Ser. No. 14/633,566, entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S. Pat. No. 10,182,816; and
U.S. patent application Ser. No. 14/633,576, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. Pat. No. 10,045,779.
Applicant of the present application owns the following patent applications that were filed on Dec. 18, 2014 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING, now U.S. Pat. No. 9,844,374;
U.S. patent application Ser. No. 14/574,483, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat. No. 10,188,385;
U.S. patent application Ser. No. 14/574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S. Pat. No. 9,987,000;
U.S. patent application Ser. No. 14/574,500, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S. Pat. No. 10,117,649;
U.S. patent application Ser. No. 14/575,117, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;
U.S. patent application Ser. No. 14/575,130, entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. Pat. No. 10,245,027;
U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,844,375;
U.S. patent application Ser. No. 14/575,143, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat. No. 10,004,501;
U.S. patent application Ser. No. 14/575,148, entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748; and
U.S. patent application Ser. No. 14/575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355.
Applicant of the present application also owns the following patent applications that were filed on Sep. 5, 2014 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION, now U.S. Pat. No. 9,757,128;
U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No. 9,737,301;
U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat. No. 10,135,242;
U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 10,111,679;
U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent Application Publication No. 2016/0066913;
U.S. patent application Ser. No. 14/479,110, entitled USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE, now U.S. Pat. No. 10,016,199;
U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and
U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No. 9,724,094.
Applicant of the present application also owns the following patent applications that were filed on Apr. 9, 2014 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110;
U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Pat. No. 9,801,626;
U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,136,887;
U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;
U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEAR SURGICAL STAPLER, now U.S. Pat. No. 10,405,857;
U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat. No. 9,826,976;
U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,149,680;
U.S. patent application Ser. No. 14/248,595, entitled SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Pat. No. 9,844,368; and
U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now U.S. Pat. No. 9,814,460.
Applicant of the present application also owns the following patent applications that were filed on Mar. 26, 2014 and are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 14/226,071, entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat. No. 9,690,362;
U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No. 9,743,929;
U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Pat. No. 9,733,663;
U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No. 9,804,618;
U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,028,761;
U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent Application Publication No. 2015/0272580;
U.S. patent application Ser. No. 14/226,097, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No. 9,820,738;
U.S. patent application Ser. No. 14/226,099, entitled STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;
U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2015/0272582;
U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499;
U.S. patent application Ser. No. 14/226,116, entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent Application Publication No. 2015/0272571;
U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S. Pat. No. 10,013,049;
U.S. patent application Ser. No. 14/226,125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No. 10,201,364;
U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,004,497;
U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2015/0272557; and
U.S. patent application Ser. No. 14/226,142, entitled SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM, now U.S. Pat. No. 9,913,642.
Applicant of the present application also owns the following patent application that was filed on Mar. 7, 2014 and is herein incorporated by reference in its entirety:
U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.
Applicant of the present application also owns the following patent applications that were filed on Apr. 16, 2013 and which are each herein incorporated by reference in their respective entireties:
U.S. Provisional Patent Application Ser. No. 61/812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;
U.S. Provisional Patent Application Ser. No. 61/812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;
U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEAR CUTTER WITH POWER;
U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP; and
U.S. Provisional Patent Application Ser. No. 61/812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL.
Applicant of the present application also owns the following patent applications that were filed on Mar. 14, 2013 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,883,860;
U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,623;
U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent Application Publication No. 2014/0263541;
U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No. 9,687,230;
U.S. patent application Ser. No. 13/803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,351,726;
U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,351,727;
U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,470,762;
U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,888,919;
U.S. patent application Ser. No. 13/803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,332,987; and
U.S. patent application Ser. No. 13/803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,808,244.
Applicant of the present application owns the following patent applications that were filed on Mar. 1, 2013 and which are each herein incorporated by reference in their respective entireties:
U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309;
U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,782,169;
U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0249557;
U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767;
U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No. 9,398,911;
U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,554,794;
U.S. patent application Ser. No. 13/782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat. No. 9,468,438;
U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No. 9,358,003;
U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S. Patent Application Publication No. 2014/0246475; and
U.S. patent application Ser. No. 13/782,536, entitled SURGICAL INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.
Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims.
The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features.
The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” referring to the portion closest to the clinician and the term “distal” referring to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.
Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongated shaft of a surgical instrument can be advanced.
A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint.
The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.
The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.
Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.
The housing 12 depicted in
Referring now to
Still referring to
Further to the above,
As used throughout the present disclosure, a magnetic field sensor may be a Hall effect sensor, search coil, fluxgate, optically pumped, nuclear precession, SQUID, Hall-effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive/piezoelectric composites, magnetodiode, magnetotransistor, fiber optic, magnetooptic, and microelectromechanical systems-based magnetic sensors, among others.
In at least one form, the handle assembly 14 and the frame 20 may operably support another drive system referred to herein as a firing drive system 80 that is configured to apply firing motions to corresponding portions of the interchangeable shaft assembly attached thereto. The firing drive system may 80 also be referred to herein as a “second drive system”. The firing drive system 80 may employ an electric motor 82, located in the pistol grip portion 19 of the handle assembly 14. In various forms, the motor 82 may be a DC brushed driving motor having a maximum rotation of, approximately, 25,000 RPM, for example. In other arrangements, the motor 82 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 82 may be powered by a power source 90 that in one form may comprise a removable power pack 92. As shown in
As outlined above with respect to other various forms, the electric motor 82 can include a rotatable shaft (not shown) that operably interfaces with a gear reducer assembly 84 that is mounted in meshing engagement with a with a set, or rack, of drive teeth 122 on a longitudinally-movable drive member 120. In use, a voltage polarity provided by the power source 90 can operate the electric motor 82 in a clockwise direction wherein the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in a counter-clockwise direction. When the electric motor 82 is rotated in one direction, the drive member 120 will be axially driven in the distal direction “DD”. When the motor 82 is driven in the opposite rotary direction, the drive member 120 will be axially driven in a proximal direction “PD”. The handle assembly 14 can include a switch which can be configured to reverse the polarity applied to the electric motor 82 by the power source 90. As with the other forms described herein, the handle assembly 14 can also include a sensor that is configured to detect the position of the drive member 120 and/or the direction in which the drive member 120 is being moved.
Actuation of the motor 82 can be controlled by a firing trigger 130 that is pivotally supported on the handle assembly 14. The firing trigger 130 may be pivoted between an unactuated position and an actuated position. The firing trigger 130 may be biased into the unactuated position by a spring 132 or other biasing arrangement such that when the clinician releases the firing trigger 130, it may be pivoted or otherwise returned to the unactuated position by the spring 132 or biasing arrangement. In at least one form, the firing trigger 130 can be positioned “outboard” of the closure trigger 32 as was discussed above. In at least one form, a firing trigger safety button 134 may be pivotally mounted to the closure trigger 32 by pin 35. The safety button 134 may be positioned between the firing trigger 130 and the closure trigger 32 and have a pivot arm 136 protruding therefrom. See
As discussed above, the handle assembly 14 can include a closure trigger 32 and a firing trigger 130. Referring to
Upon comparing
Upon comparing
As indicated above, in at least one form, the longitudinally movable drive member 120 has a rack of teeth 122 formed thereon for meshing engagement with a corresponding drive gear 86 of the gear reducer assembly 84. At least one form also includes a manually-actuatable “bailout” assembly 140 that is configured to enable the clinician to manually retract the longitudinally movable drive member 120 should the motor 82 become disabled. The bailout assembly 140 may include a lever or bailout handle assembly 142 that is configured to be manually pivoted into ratcheting engagement with teeth 124 also provided in the drive member 120. Thus, the clinician can manually retract the drive member 120 by using the bailout handle assembly 142 to ratchet the drive member 120 in the proximal direction “PD”. U.S. Patent Application Publication No. 2010/0089970, now U.S. Pat. No. 8,608,045, discloses bailout arrangements and other components, arrangements and systems that also may be employed with the various instruments disclosed herein. U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, U.S. Patent Application Publication No. 2010/0089970, now U.S. Pat. No. 8,608,045, is hereby incorporated by reference in its entirety.
Turning now to
Referring primarily to
In at least one form, the interchangeable shaft assembly 200 may further include an articulation joint 270. Other interchangeable shaft assemblies, however, may not be capable of articulation. As shown in
In use, the closure tube 260 is translated distally (direction “DD”) to close the anvil 306, for example, in response to the actuation of the closure trigger 32. The anvil 306 is closed by distally translating the closure tube 260 and thus the shaft closure sleeve assembly 272, causing it to strike a proximal surface on the anvil 360 in the manner described in the aforementioned reference U.S. patent application Ser. No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541. As was also described in detail in that reference, the anvil 306 is opened by proximally translating the closure tube 260 and the shaft closure sleeve assembly 272, causing tab 276 and the horseshoe aperture 275 to contact and push against the anvil tab to lift the anvil 306. In the anvil-open position, the shaft closure tube 260 is moved to its proximal position.
As indicated above, the surgical instrument 10 may further include an articulation lock 350 of the types and construction described in further detail in U.S. patent application Ser. No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541, which can be configured and operated to selectively lock the end effector 300 in position. Such arrangement enables the end effector 300 to be rotated, or articulated, relative to the shaft closure tube 260 when the articulation lock 350 is in its unlocked state. In such an unlocked state, the end effector 300 can be positioned and pushed against soft tissue and/or bone, for example, surrounding the surgical site within the patient in order to cause the end effector 300 to articulate relative to the closure tube 260. The end effector 300 also may be articulated relative to the closure tube 260 by an articulation driver 230.
As was also indicated above, the interchangeable shaft assembly 200 further includes a firing member 220 that is supported for axial travel within the shaft spine 210. The firing member 220 includes an intermediate firing shaft portion 222 that is configured for attachment to a distal cutting portion or knife bar 280. The firing member 220 also may be referred to herein as a “second shaft” and/or a “second shaft assembly”. As shown in
Further to the above, the shaft assembly 200 can include a clutch assembly 400 which can be configured to selectively and releasably couple the articulation driver 230 to the firing member 220. In one form, the clutch assembly 400 includes a lock collar, or sleeve 402, positioned around the firing member 220 wherein the lock sleeve 402 can be rotated between an engaged position in which the lock sleeve 402 couples the articulation driver 360 to the firing member 220 and a disengaged position in which the articulation driver 360 is not operably coupled to the firing member 200. When lock sleeve 402 is in its engaged position, distal movement of the firing member 220 can move the articulation driver 360 distally and, correspondingly, proximal movement of the firing member 220 can move the articulation driver 230 proximally. When lock sleeve 402 is in its disengaged position, movement of the firing member 220 is not transmitted to the articulation driver 230 and, as a result, the firing member 220 can move independently of the articulation driver 230. In various circumstances, the articulation driver 230 can be held in position by the articulation lock 350 when the articulation driver 230 is not being moved in the proximal or distal directions by the firing member 220.
Referring primarily to
As shown in
As also illustrated in
As discussed above, the shaft assembly 200 can include a proximal portion which is fixably mounted to the handle assembly 14 and a distal portion which is rotatable about a longitudinal axis. The rotatable distal shaft portion can be rotated relative to the proximal portion about the slip ring assembly 600, as discussed above. The distal connector flange 601 of the slip ring assembly 600 can be positioned within the rotatable distal shaft portion. Moreover, further to the above, the switch drum 500 can also be positioned within the rotatable distal shaft portion. When the rotatable distal shaft portion is rotated, the distal connector flange 601 and the switch drum 500 can be rotated synchronously with one another. In addition, the switch drum 500 can be rotated between a first position and a second position relative to the distal connector flange 601. When the switch drum 500 is in its first position, the articulation drive system may be operably disengaged from the firing drive system and, thus, the operation of the firing drive system may not articulate the end effector 300 of the shaft assembly 200. When the switch drum 500 is in its second position, the articulation drive system may be operably engaged with the firing drive system and, thus, the operation of the firing drive system may articulate the end effector 300 of the shaft assembly 200. When the switch drum 500 is moved between its first position and its second position, the switch drum 500 is moved relative to distal connector flange 601. In various instances, the shaft assembly 200 can comprise at least one sensor configured to detect the position of the switch drum 500. Turning now to
Referring again to
Various shaft assemblies employ a latch system 710 for removably coupling the shaft assembly 200 to the housing 12 and more specifically to the frame 20. As shown in
When employing an interchangeable shaft assembly that includes an end effector of the type described herein that is adapted to cut and fasten tissue, as well as other types of end effectors, it may be desirable to prevent inadvertent detachment of the interchangeable shaft assembly from the housing during actuation of the end effector. For example, in use the clinician may actuate the closure trigger 32 to grasp and manipulate the target tissue into a desired position. Once the target tissue is positioned within the end effector 300 in a desired orientation, the clinician may then fully actuate the closure trigger 32 to close the anvil 306 and clamp the target tissue in position for cutting and stapling. In that instance, the first drive system 30 has been fully actuated. After the target tissue has been clamped in the end effector 300, it may be desirable to prevent the inadvertent detachment of the shaft assembly 200 from the housing 12. One form of the latch system 710 is configured to prevent such inadvertent detachment.
As can be most particularly seen in
Attachment of the interchangeable shaft assembly 200 to the handle assembly 14 will now be described with reference to
As discussed above, at least five systems of the interchangeable shaft assembly 200 can be operably coupled with at least five corresponding systems of the handle assembly 14. A first system can comprise a frame system which couples and/or aligns the frame or spine of the shaft assembly 200 with the frame 20 of the handle assembly 14. Another system can comprise a closure drive system 30 which can operably connect the closure trigger 32 of the handle assembly 14 and the closure tube 260 and the anvil 306 of the shaft assembly 200. As outlined above, the closure tube attachment yoke 250 of the shaft assembly 200 can be engaged with the pin 37 on the second closure link 38. Another system can comprise the firing drive system 80 which can operably connect the firing trigger 130 of the handle assembly 14 with the intermediate firing shaft 222 of the shaft assembly 200.
As outlined above, the shaft attachment lug 226 can be operably connected with the cradle 126 of the longitudinal drive member 120. Another system can comprise an electrical system which can signal to a controller in the handle assembly 14, such as microcontroller, for example, that a shaft assembly, such as shaft assembly 200, for example, has been operably engaged with the handle assembly 14 and/or, two, conduct power and/or communication signals between the shaft assembly 200 and the handle assembly 14. For instance, the shaft assembly 200 can include an electrical connector 1410 that is operably mounted to the shaft circuit board 610. The electrical connector 1410 is configured for mating engagement with a corresponding electrical connector 1400 on the handle control board 100. Further details regaining the circuitry and control systems may be found in U.S. patent application Ser. No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541, the entire disclosure of which was previously incorporated by reference herein. The fifth system may consist of the latching system for releasably locking the shaft assembly 200 to the handle assembly 14.
Referring again to
As illustrated in
In other circumstances, the handle assembly 14 can be powered when a shaft assembly, such as shaft assembly 200, for example, is not attached thereto. In such circumstances, the microcontroller 1500 can be configured to ignore inputs, or voltage potentials, applied to the contacts in electrical communication with the microcontroller 1500, i.e., contacts 1401b-1401e, for example, until a shaft assembly is attached to the handle assembly 14. Even though the microcontroller 1500 may be supplied with power to operate other functionalities of the handle assembly 14 in such circumstances, the handle assembly 14 may be in a powered-down state. In a way, the electrical connector 1400 may be in a powered-down state as voltage potentials applied to the electrical contacts 1401b-1401e may not affect the operation of the handle assembly 14. The reader will appreciate that, even though contacts 1401b-1401e may be in a powered-down state, the electrical contacts 1401a and 1401f, which are not in electrical communication with the microcontroller 1500, may or may not be in a powered-down state. For instance, sixth contact 1401f may remain in electrical communication with a ground regardless of whether the handle assembly 14 is in a powered-up or a powered-down state.
Furthermore, the transistor 1408, and/or any other suitable arrangement of transistors, such as transistor 1410, for example, and/or switches may be configured to control the supply of power from a power source 1404, such as a battery 90 within the handle assembly 14, for example, to the first electrical contact 1401a regardless of whether the handle assembly 14 is in a powered-up or a powered-down state. In various circumstances, the shaft assembly 200, for example, can be configured to change the state of the transistor 1408 when the shaft assembly 200 is engaged with the handle assembly 14. In certain circumstances, further to the below, a magnetic field sensor 1402 can be configured to switch the state of transistor 1410 which, as a result, can switch the state of transistor 1408 and ultimately supply power from power source 1404 to first contact 1401a. In this way, both the power circuits and the signal circuits to the connector 1400 can be powered down when a shaft assembly is not installed to the handle assembly 14 and powered up when a shaft assembly is installed to the handle assembly 14.
In various circumstances, referring again to
In various examples, as may be used throughout the present disclosure, any suitable magnetic field sensor may be employed to detect whether a shaft assembly has been assembled to the handle assembly 14, for example. For example, the technologies used for magnetic field sensing include Hall effect sensor, search coil, fluxgate, optically pumped, nuclear precession, SQUID, Hall-effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive/piezoelectric composites, magnetodiode, magnetotransistor, fiber optic, magnetooptic, and microelectromechanical systems-based magnetic sensors, among others.
Referring to
Referring to
As discussed above, the handle assembly 14 and/or the shaft assembly 200 can include systems and configurations configured to prevent, or at least reduce the possibility of, the contacts of the handle electrical connector 1400 and/or the contacts of the shaft electrical connector 1410 from becoming shorted out when the shaft assembly 200 is not assembled, or completely assembled, to the handle assembly 14. Referring to
In various instances, the handle assembly 14 can comprise a connector guard configured to at least partially cover the handle electrical connector 1400 and/or a connector guard configured to at least partially cover the shaft electrical connector 1410. A connector guard can prevent, or at least reduce the possibility of, an object accidentally touching the contacts of an electrical connector when the shaft assembly is not assembled to, or only partially assembled to, the handle. A connector guard can be movable. For instance, the connector guard can be moved between a guarded position in which it at least partially guards a connector and an unguarded position in which it does not guard, or at least guards less of, the connector. In at least one example, a connector guard can be displaced as the shaft assembly is being assembled to the handle. For instance, if the handle comprises a handle connector guard, the shaft assembly can contact and displace the handle connector guard as the shaft assembly is being assembled to the handle. Similarly, if the shaft assembly comprises a shaft connector guard, the handle can contact and displace the shaft connector guard as the shaft assembly is being assembled to the handle. In various instances, a connector guard can comprise a door, for example. In at least one instance, the door can comprise a beveled surface which, when contacted by the handle or shaft, can facilitate the displacement of the door in a certain direction. In various instances, the connector guard can be translated and/or rotated, for example. In certain instances, a connector guard can comprise at least one film which covers the contacts of an electrical connector. When the shaft assembly is assembled to the handle, the film can become ruptured. In at least one instance, the male contacts of a connector can penetrate the film before engaging the corresponding contacts positioned underneath the film.
As described above, the surgical instrument can include a system which can selectively power-up, or activate, the contacts of an electrical connector, such as the electrical connector 1400, for example. In various instances, the contacts can be transitioned between an unactivated condition and an activated condition. In certain instances, the contacts can be transitioned between a monitored condition, a deactivated condition, and an activated condition. For instance, the microcontroller 1500, for example, can monitor the contacts 1401a-1401f when a shaft assembly has not been assembled to the handle assembly 14 to determine whether one or more of the contacts 1401a-1401f may have been shorted. The microcontroller 1500 can be configured to apply a low voltage potential to each of the contacts 1401a-1401f and assess whether only a minimal resistance is present at each of the contacts. Such an operating state can comprise the monitored condition. In the event that the resistance detected at a contact is high, or above a threshold resistance, the microcontroller 1500 can deactivate that contact, more than one contact, or, alternatively, all of the contacts. Such an operating state can comprise the deactivated condition. If a shaft assembly is assembled to the handle assembly 14 and it is detected by the microcontroller 1500, as discussed above, the microcontroller 1500 can increase the voltage potential to the contacts 1401a-1401f. Such an operating state can comprise the activated condition.
The various shaft assemblies disclosed herein may employ sensors and various other components that require electrical communication with the controller in the housing. These shaft assemblies generally are configured to be able to rotate relative to the housing necessitating a connection that facilitates such electrical communication between two or more components that may rotate relative to each other. When employing end effectors of the types disclosed herein, the connector arrangements must be relatively robust in nature while also being somewhat compact to fit into the shaft assembly connector portion.
Referring to
Further to the above, the E-beam 178 can include upper pins 180 which engage the anvil 306 during firing. The E-beam 178 can further include middle pins 184 and a bottom foot 186 which can engage various portions of the cartridge body 194, cartridge tray 196 and elongate channel 198. When a staple cartridge 304 is positioned within the elongate channel 198, a slot 193 defined in the cartridge body 194 can be aligned with a slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongate channel 198. In use, the E-beam 178 can slide through the aligned slots 193, 197, and 189 wherein, as indicated in
Having described a surgical instrument 10 (
In one aspect, the main processor 2006 may be any single core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one example, the safety processor 2004 may be a safety microcontroller platform comprising two microcontroller-based families such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. Nevertheless, other suitable substitutes for microcontrollers and safety processor may be employed, without limitation. In one example, the safety processor 2004 may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.
In certain instances, the main processor 2006 may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F Processor Core comprising on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle SRAM, internal ROM loaded with StellarisWare® software, 2 KB EEPROM, one or more PWM modules, one or more QEI analog, one or more 12-bit ADC with 12 analog input channels, among other features that are readily available for the product datasheet. Other processors may be readily substituted and, accordingly, the present disclosure should not be limited in this context.
In one aspect, the segmented circuit 2000 comprises an acceleration segment 2002c (Segment 3). The acceleration segment 2002c comprises an acceleration sensor 2022. The acceleration sensor 2022 may comprise, for example, an accelerometer. The acceleration sensor 2022 is configured to detect movement or acceleration of the powered surgical instrument 10. In some examples, input from the acceleration sensor 2022 is used, for example, to transition to and from a sleep mode, identify an orientation of the powered surgical instrument, and/or identify when the surgical instrument has been dropped. In some examples, the acceleration segment 2002c is coupled to the safety processor 2004 and/or the primary processor 2006.
In some aspects, the segmented circuit 2000 comprises a display segment 2002d (Segment 4). According to various embodiments, the display segment 2002d comprises a display connector (not shown) which is coupled to the primary processor 2006, one or more display driver integrated circuits (not shown) which are coupled to the display connector, and a display 2028 which is coupled to the one or more display driver integrated circuits. The display connector and the one or more display driver integrated circuits are shown, for example, in FIG. 4B of U.S. patent application Ser. No. 14/226,076, the content of which is hereby incorporated by reference in its entirety. The display driver integrated circuits may be integrated with the display 2028 and/or may be located separately from the display 2028. The display 2028 may comprise any suitable display, such as, for example, an organic light-emitting diode (OLED) display, a liquid-crystal display (LCD), and/or any other suitable display. In some examples, the display segment 2002d is coupled to the safety processor 2004.
In some aspects, the segmented circuit 2000 comprises a shaft segment 2002e (Segment 5). The shaft segment 2002e comprises one or more controls for a shaft assembly (e.g., shaft assembly 200) coupled to the surgical instrument 10 and/or one or more controls for an end effector (e.g., end effector 300) coupled to the shaft 200. According to various embodiments, the shaft segment 2002e comprises a shaft connector 2030 and a shaft printed circuit board assembly (PCBA) 2031. The shaft connector 2030 is configured to couple the shaft PCBA 2031 to the primary processor 2006. According to various embodiments, the shaft PCBA 2031 comprises a first articulation switch (not shown), a second articulation switch (not shown), and a shaft PCBA EEPROM (not shown). In some examples, the shaft PCBA EEPROM comprises one or more parameters, routines, and/or programs specific to the shaft assembly 200 and/or the shaft PCBA 2031. The shaft PCBA 2031 may be coupled to the shaft assembly 200 and/or integral with the surgical instrument 10. In some examples, the shaft segment 2002e comprises a second shaft EEPROM (not shown). The second shaft EEPROM comprises a plurality of algorithms, routines, parameters, and/or other data corresponding to one or more shaft assemblies 200 and/or end effectors 300 which may be interfaced with the powered surgical instrument 10. The first articulation switch, the second articulation switch, and the shaft PCBA EEPROMs are shown, for example, in FIG. 4A of U.S. patent application Ser. No. 14/226,076, the content of which is hereby incorporated by reference in its entirety. According to other embodiments, as shown in
In some aspects, the segmented circuit 2000 comprises a position encoder segment 2002f (Segment 6). The position encoder segment 2002f comprises one or more magnetic rotary position encoders 2040a-2040b. The one or more magnetic rotary position encoders 2040a-2040b are configured to identify the rotational position of a motor 2048, a shaft assembly 200, and/or an end effector 300 of the surgical instrument 10. In some examples, the magnetic rotary position encoders 2040a-2040b may be coupled to the safety processor 2004 and/or the primary processor 2006.
In some aspects, the segmented circuit 2000 comprises a motor segment 2002g (Segment 7). The motor segment 2002g comprises a motor 2048, such as, for example, a brushed DC motor, configured to control one or more movements of the powered surgical instrument 10. The motor 2048 is coupled to the primary processor 2006 through a motor controller 2043, a plurality of H-bridge drivers 2042 and a plurality of H-bridge field-effect transistors (not shown). According to various embodiments, the H-bridge field-effect transistors (FETs) are coupled to the safety processor 2004. The H-bridge FETs are shown, for example, in FIG. 4B of U.S. patent application Ser. No. 14/226,076, the content of which is hereby incorporated by reference in its entirety. The motor controller 2043 controls a first motor flag 2074a and a second motor flag 2074b to indicate the status and position of the motor 2048 to the primary processor 2006. The primary processor 2006 provides a pulse-width modulation (PWM) high signal 2076a, a PWM low signal 2076b, a direction signal 2078, a synchronize signal 2080, and a motor reset signal 2082 to the motor controller 2043 through a buffer 2084. A motor current sensor 2046 is coupled in series with the motor 2048 to measure the current draw of the motor 2048. The motor current sensor 2046 is in signal communication with the primary processor 2006 and/or the safety processor 2004. In some examples, the motor 2048 is coupled to a motor electromagnetic interference (EMI) filter (not shown). The EMI filter is shown, for example, in FIG. 3B of U.S. patent application Ser. No. 14/226,076, the content of which is hereby incorporated by reference in its entirety.
In some aspects, the segmented circuit 2000 comprises a power segment 2002h (Segment 8) configured to provide a segment voltage to each of the circuit segments 1102a-1102g. A battery 2008 is coupled to the safety processor 2004, the primary processor 2006, and one or more of the additional circuit segments 2002c-2002g. The battery 2008 is coupled to the segmented circuit 2000 by a battery connector 2010 and a current sensor 2012. The current sensor 2012 is configured to measure the total current draw of the segmented circuit 2000. In some examples, one or more voltage converters 2014a, 2014b, 2016 are configured to provide predetermined voltage values to one or more circuit segments 2002a-2002g. For example, in some examples, the segmented circuit 2000 may comprise 3.3V voltage converters 2014a-2014b and/or 5V voltage converters 2016. A boost converter 2018 is configured to provide a boost voltage up to a predetermined amount, such as, for example, up to 13V. The boost converter 2018 is configured to provide additional voltage and/or current during power intensive operations and prevent brownout or low-power conditions. A transistor switch (e.g., N-Channel MOSFET) 2015 is coupled to the power converters 2014B, 2016.
In some aspects, the safety segment 2002a comprises a motor power interrupt 2020. The motor power interrupt 2020 is coupled between the power segment 2002h and the motor segment 2002g. A transistor switch (e.g., N-Channel MOSFET) 2057 is coupled to the motor power interrupt 2020. The safety segment 2002a is configured to interrupt power to the motor segment 2002g when an error or fault condition is detected by the safety processor 2004 and/or the primary processor 2006 as discussed in more detail herein. Although the circuit segments 2002a-2002g are illustrated with all components of the circuit segments 2002a-2002h located in physical proximity, one skilled in the art will recognize that a circuit segment 2002a-2002h may comprise components physically and/or electrically separate from other components of the same circuit segment 2002a-2002g. In some examples, one or more components may be shared between two or more circuit segments 2002a-2002g.
In some aspects, a plurality of switches 2056-2070 are coupled to the safety processor 2004 and/or the primary processor 2006. The plurality of switches 2056-2070 may be configured to control one or more operations of the surgical instrument 10, control one or more operations of the segmented circuit 2000, and/or indicate a status of the surgical instrument 10. For example, a bail-out door switch 2056 is configured to indicate the status of a bail-out door. A plurality of articulation switches, such as, for example, a left side articulation left switch 2058a, a left side articulation right switch 2060a, a left side articulation center switch 2062a, a right side articulation left switch 2058b, a right side articulation right switch 2060b, and a right side articulation center switch 2062b are configured to control articulation of a shaft assembly 200 and/or an end effector 300. A left side reverse switch 2064a and a right side reverse switch 2064b are coupled to the primary processor 2006. In some examples, the left side switches comprising the left side articulation left switch 2058a, the left side articulation right switch 2060a, the left side articulation center switch 2062a, and the left side reverse switch 2064a are coupled to the primary processor 2006 by a left flex connector (not shown). The right side switches comprising the right side articulation left switch 2058b, the right side articulation right switch 2060b, the right side articulation center switch 2062b, and the right side reverse switch 2064b are coupled to the primary processor 2006 by a right flex connector (not shown). The left flex connector and the right flex connector are shown, for example, in FIG. 3A of U.S. patent application Ser. No. 14/226,076, the content of which is hereby incorporated by reference in its entirety. In some examples, a firing switch 2066, a clamp release switch 2068, and the Hall effect sensor/shaft engaged switch 2070 are coupled to the primary processor 2006.
In some aspects, the plurality of switches 2056-2070 may comprise, for example, a plurality of handle controls mounted to a handle of the surgical instrument 10, a plurality of indicator switches, and/or any combination thereof. In various examples, the plurality of switches 2056-2070 allow a surgeon to manipulate the surgical instrument, provide feedback to the segmented circuit 2000 regarding the position and/or operation of the surgical instrument, and/or indicate unsafe operation of the surgical instrument 10. In some examples, additional or fewer switches may be coupled to the segmented circuit 2000, one or more of the switches 2056-2070 may be combined into a single switch, and/or expanded to multiple switches. For example, in one example, one or more of the left side and/or right side articulation switches 2058a-2064b may be combined into a single multi-position switch.
In one aspect, the safety processor 2004 is configured to implement a watchdog function, among other safety operations. The safety processor 2004 and the primary processor 2006 of the segmented circuit 2000 are in signal communication. The primary processor 2006 is also coupled to a flash memory 2086. A microprocessor alive heartbeat signal is provided at output 2096. The acceleration segment 2002c comprises an accelerometer 2022 configured to monitor movement of the surgical instrument 10. In various examples, the accelerometer 2022 may be a single, double, or triple axis accelerometer. The accelerometer 2022 may be employed to measure proper acceleration that is not necessarily the coordinate acceleration (rate of change of velocity). Instead, the accelerometer sees the acceleration associated with the phenomenon of weight experienced by a test mass at rest in the frame of reference of the accelerometer 2022. For example, the accelerometer 2022 at rest on the surface of the earth will measure an acceleration g=9.8 m/s2 (gravity) straight upwards, due to its weight. Another type of acceleration that accelerometer 2022 can measure is g-force acceleration. In various other examples, the accelerometer 2022 may comprise a single, double, or triple axis accelerometer. Further, the acceleration segment 2002c may comprise one or more inertial sensors to detect and measure acceleration, tilt, shock, vibration, rotation, and multiple degrees-of-freedom (DoF). A suitable inertial sensor may comprise an accelerometer (single, double, or triple axis), a magnetometer to measure a magnetic field in space such as the earth's magnetic field, and/or a gyroscope to measure angular velocity.
In one aspect, the safety processor 2004 is configured to implement a watchdog function with respect to one or more circuit segments 2002c-2002h, such as, for example, the motor segment 2002g. In this regards, the safety processor 2004 employs the watchdog function to detect and recover from malfunctions of the primary processor 2006. During normal operation, the safety processor 2004 monitors for hardware faults or program errors of the primary processor 2006 and to initiate corrective action or actions. The corrective actions may include placing the primary processor 2006 in a safe state and restoring normal system operation. In one example, the safety processor 2004 is coupled to at least a first sensor. The first sensor measures a first property of the surgical instrument 10 (
In some aspects, a second sensor is coupled to the primary processor 2006. The second sensor is configured to measure the first physical property. The safety processor 2004 and the primary processor 2006 are configured to provide a signal indicative of the value of the first sensor and the second sensor respectively. When either the safety processor 2004 or the primary processor 2006 indicates a value outside of an acceptable range, the segmented circuit 2000 prevents operation of at least one of the circuit segments 2002c-2002h, such as, for example, the motor segment 2002g. For example, in the example illustrated in
The safety processor 2004 and the primary processor 2006 generate an activation signal when the values of the first motor sensor 2040a and the second motor sensor 2040b are within a predetermined range. When either the primary processor 2006 or the safety processor 2004 detect a value outside of the predetermined range, the activation signal is terminated and operation of at least one circuit segment 2002c-2002h, such as, for example, the motor segment 2002g, is interrupted and/or prevented. For example, in some examples, the activation signal from the primary processor 2006 and the activation signal from the safety processor 2004 are coupled to an AND gate 2059. The AND gate 2059 is coupled to a motor power switch 2020. The AND gate 2059 maintains the motor power switch 2020 in a closed, or on, position when the activation signal from both the safety processor 2004 and the primary processor 2006 are high, indicating a value of the motor sensors 2040a, 2040b within the predetermined range. When either of the motor sensors 2040a, 2040b detect a value outside of the predetermined range, the activation signal from that motor sensor 2040a, 2040b is set low, and the output of the AND gate 2059 is set low, opening the motor power switch 2020. In some examples, the value of the first sensor 2040a and the second sensor 2040b is compared, for example, by the safety processor 2004 and/or the primary processor 2006. When the values of the first sensor and the second sensor are different, the safety processor 2004 and/or the primary processor 2006 may prevent operation of the motor segment 2002g.
In some aspects, the safety processor 2004 receives a signal indicative of the value of the second sensor 2040b and compares the second sensor value to the first sensor value. For example, in one aspect, the safety processor 2004 is coupled directly to a first motor sensor 2040a. A second motor sensor 2040b is coupled to a primary processor 2006, which provides the second motor sensor 2040b value to the safety processor 2004, and/or coupled directly to the safety processor 2004. The safety processor 2004 compares the value of the first motor sensor 2040 to the value of the second motor sensor 2040b. When the safety processor 2004 detects a mismatch between the first motor sensor 2040a and the second motor sensor 2040b, the safety processor 2004 may interrupt operation of the motor segment 2002g, for example, by cutting power to the motor segment 2002g.
In some aspects, the safety processor 2004 and/or the primary processor 2006 is coupled to a first sensor 2040a configured to measure a first property of a surgical instrument and a second sensor 2040b configured to measure a second property of the surgical instrument. The first property and the second property comprise a predetermined relationship when the surgical instrument is operating normally. The safety processor 2004 monitors the first property and the second property. When a value of the first property and/or the second property inconsistent with the predetermined relationship is detected, a fault occurs. When a fault occurs, the safety processor 2004 takes at least one action, such as, for example, preventing operation of at least one of the circuit segments, executing a predetermined operation, and/or resetting the primary processor 2006. For example, the safety processor 2004 may open the motor power switch 2020 to cut power to the motor circuit segment 2002g when a fault is detected.
In one aspect, the safety processor 2004 is configured to execute an independent control algorithm. In operation, the safety processor 2004 monitors the segmented circuit 2000 and is configured to control and/or override signals from other circuit components, such as, for example, the primary processor 2006, independently. The safety processor 2004 may execute a preprogrammed algorithm and/or may be updated or programmed on the fly during operation based on one or more actions and/or positions of the surgical instrument 10. For example, in one example, the safety processor 2004 is reprogrammed with new parameters and/or safety algorithms each time a new shaft and/or end effector is coupled to the surgical instrument 10. In some examples, one or more safety values stored by the safety processor 2004 are duplicated by the primary processor 2006. Two-way error detection is performed to ensure values and/or parameters stored by either of the processors 2004, 2006 are correct.
In some aspects, the safety processor 2004 and the primary processor 2006 implement a redundant safety check. The safety processor 2004 and the primary processor 2006 provide periodic signals indicating normal operation. For example, during operation, the safety processor 2004 may indicate to the primary processor 2006 that the safety processor 2004 is executing code and operating normally. The primary processor 2006 may, likewise, indicate to the safety processor 2004 that the primary processor 2006 is executing code and operating normally. In some examples, communication between the safety processor 2004 and the primary processor 2006 occurs at a predetermined interval. The predetermined interval may be constant or may be variable based on the circuit state and/or operation of the surgical instrument 10.
In some instances, a usage cycle, or use, is defined by one or more power assembly 2100 parameters. For example, in one instance, a usage cycle comprises using more than 5% of the total energy available from the power assembly 2100 when the power assembly 2100 is at a full charge level. In another instance, a usage cycle comprises a continuous energy drain from the power assembly 2100 exceeding a predetermined time limit. For example, a usage cycle may correspond to five minutes of continuous and/or total energy draw from the power assembly 2100. In some instances, the power assembly 2100 comprises a usage cycle circuit 2102 having a continuous power draw to maintain one or more components of the usage cycle circuit 2102, such as, for example, the use indicator 2106 and/or a counter 2108, in an active state.
The processor 2104 maintains a usage cycle count. The usage cycle count indicates the number of uses detected by the use indicator 2106 for the power assembly 2100 and/or the surgical instrument 2110. The processor 2104 may increment and/or decrement the usage cycle count based on input from the use indicator 2106. The usage cycle count is used to control one or more operations of the power assembly 2100 and/or the surgical instrument 2110. For example, in some instances, a power assembly 2100 is disabled when the usage cycle count exceeds a predetermined usage limit. Although the instances discussed herein are discussed with respect to incrementing the usage cycle count above a predetermined usage limit, those skilled in the art will recognize that the usage cycle count may start at a predetermined amount and may be decremented by the processor 2104. In this instance, the processor 2104 initiates and/or prevents one or more operations of the power assembly 2100 when the usage cycle count falls below a predetermined usage limit.
The usage cycle count is maintained by a counter 2108. The counter 2108 comprises any suitable circuit, such as, for example, a memory module, an analog counter, and/or any circuit configured to maintain a usage cycle count. In some instances, the counter 2108 is formed integrally with the processor 2104. In other instances, the counter 2108 comprises a separate component, such as, for example, a solid state memory module. In some instances, the usage cycle count is provided to a remote system, such as, for example, a central database. The usage cycle count is transmitted by a communications module 2112 to the remote system. The communications module 2112 is configured to use any suitable communications medium, such as, for example, wired and/or wireless communication. In some instances, the communications module 2112 is configured to receive one or more instructions from the remote system, such as, for example, a control signal when the usage cycle count exceeds the predetermined usage limit.
In some instances, the use indicator 2106 is configured to monitor the number of modular components used with a surgical instrument 2110 coupled to the power assembly 2100. A modular component may comprise, for example, a modular shaft, a modular end effector, and/or any other modular component. In some instances, the use indicator 2106 monitors the use of one or more disposable components, such as, for example, insertion and/or deployment of a staple cartridge within an end effector coupled to the surgical instrument 2110. The use indicator 2106 comprises one or more sensors for detecting the exchange of one or more modular and/or disposable components of the surgical instrument 2110.
In some instances, the use indicator 2106 is configured to monitor single patient surgical procedures performed while the power assembly 2100 is installed. For example, the use indicator 2106 may be configured to monitor firings of the surgical instrument 2110 while the power assembly 2100 is coupled to the surgical instrument 2110. A firing may correspond to deployment of a staple cartridge, application of electrosurgical energy, and/or any other suitable surgical event. The use indicator 2106 may comprise one or more circuits for measuring the number of firings while the power assembly 2100 is installed. The use indicator 2106 provides a signal to the processor 2104 when a single patient procedure is performed and the processor 2104 increments the usage cycle count.
In some instances, the use indicator 2106 comprises a circuit configured to monitor one or more parameters of the power source 2114, such as, for example, a current draw from the power source 2114. The one or more parameters of the power source 2114 correspond to one or more operations performable by the surgical instrument 2110, such as, for example, a cutting and sealing operation. The use indicator 2106 provides the one or more parameters to the processor 2104, which increments the usage cycle count when the one or more parameters indicate that a procedure has been performed.
In some instances, the use indicator 2106 comprises a timing circuit configured to increment a usage cycle count after a predetermined time period. The predetermined time period corresponds to a single patient procedure time, which is the time required for an operator to perform a procedure, such as, for example, a cutting and sealing procedure. When the power assembly 2100 is coupled to the surgical instrument 2110, the processor 2104 polls the use indicator 2106 to determine when the single patient procedure time has expired. When the predetermined time period has elapsed, the processor 2104 increments the usage cycle count. After incrementing the usage cycle count, the processor 2104 resets the timing circuit of the use indicator 2106.
In some instances, the use indicator 2106 comprises a time constant that approximates the single patient procedure time. In one example, the usage cycle circuit 2102 comprises a resistor-capacitor (RC) timing circuit 2506. The RC timing circuit comprises a time constant defined by a resistor-capacitor pair. The time constant is defined by the values of the resistor and the capacitor. In one example, the usage cycle circuit 2552 comprises a rechargeable battery and a clock. When the power assembly 2100 is installed in a surgical instrument, the rechargeable battery is charged by the power source. The rechargeable battery comprises enough power to run the clock for at least the single patient procedure time. The clock may comprise a real time clock, a processor configured to implement a time function, or any other suitable timing circuit.
Referring still to
In some instances, the use indicator 2106 comprises a chemical exposure sensor. The chemical exposure sensor is configured to indicate when the power assembly 2100 has come into contact with harmful and/or dangerous chemicals. For example, during a sterilization procedure, an inappropriate chemical may be used that leads to degradation of the power assembly 2100. The processor 2104 increments the usage cycle count when the use indicator 2106 detects an inappropriate chemical.
In some instances, the usage cycle circuit 2102 is configured to monitor the number of reconditioning cycles experienced by the power assembly 2100. A reconditioning cycle may comprise, for example, a cleaning cycle, a sterilization cycle, a charging cycle, routine and/or preventative maintenance, and/or any other suitable reconditioning cycle. The use indicator 2106 is configured to detect a reconditioning cycle. For example, the use indicator 2106 may comprise a moisture sensor to detect a cleaning and/or sterilization cycle. In some instances, the usage cycle circuit 2102 monitors the number of reconditioning cycles experienced by the power assembly 2100 and disables the power assembly 2100 after the number of reconditioning cycles exceeds a predetermined threshold.
The usage cycle circuit 2102 may be configured to monitor the number of power assembly 2100 exchanges. The usage cycle circuit 2102 increments the usage cycle count each time the power assembly 2100 is exchanged. When the maximum number of exchanges is exceeded the usage cycle circuit 2102 locks out the power assembly 2100 and/or the surgical instrument 2110. In some instances, when the power assembly 2100 is coupled the surgical instrument 2110, the usage cycle circuit 2102 identifies the serial number of the power assembly 2100 and locks the power assembly 2100 such that the power assembly 2100 is usable only with the surgical instrument 2110. In some instances, the usage cycle circuit 2102 increments the usage cycle each time the power assembly 2100 is removed from and/or coupled to the surgical instrument 2110.
In some instances, the usage cycle count corresponds to sterilization of the power assembly 2100. The use indicator 2106 comprises a sensor configured to detect one or more parameters of a sterilization cycle, such as, for example, a temperature parameter, a chemical parameter, a moisture parameter, and/or any other suitable parameter. The processor 2104 increments the usage cycle count when a sterilization parameter is detected. The usage cycle circuit 2102 disables the power assembly 2100 after a predetermined number of sterilizations. In some instances, the usage cycle circuit 2102 is reset during a sterilization cycle, a voltage sensor to detect a recharge cycle, and/or any suitable sensor. The processor 2104 increments the usage cycle count when a reconditioning cycle is detected. The usage cycle circuit 2102 is disabled when a sterilization cycle is detected. The usage cycle circuit 2102 is reactivated and/or reset when the power assembly 2100 is coupled to the surgical instrument 2110. In some instances, the use indicator comprises a zero power indicator. The zero power indicator changes state during a sterilization cycle and is checked by the processor 2104 when the power assembly 2100 is coupled to a surgical instrument 2110. When the zero power indicator indicates that a sterilization cycle has occurred, the processor 2104 increments the usage cycle count.
A counter 2108 maintains the usage cycle count. In some instances, the counter 2108 comprises a non-volatile memory module. The processor 2104 increments the usage cycle count stored in the non-volatile memory module each time a usage cycle is detected. The memory module may be accessed by the processor 2104 and/or a control circuit, such as, for example, the control circuit 2000. When the usage cycle count exceeds a predetermined threshold, the processor 2104 disables the power assembly 2100. In some instances, the usage cycle count is maintained by a plurality of circuit components. For example, in one instance, the counter 2108 comprises a resistor (or fuse) pack. After each use of the power assembly 2100, a resistor (or fuse) is burned to an open position, changing the resistance of the resistor pack. The power assembly 2100 and/or the surgical instrument 2110 reads the remaining resistance. When the last resistor of the resistor pack is burned out, the resistor pack has a predetermined resistance, such as, for example, an infinite resistance corresponding to an open circuit, which indicates that the power assembly 2100 has reached its usage limit. In some instances, the resistance of the resistor pack is used to derive the number of uses remaining.
In some instances, the usage cycle circuit 2102 prevents further use of the power assembly 2100 and/or the surgical instrument 2110 when the usage cycle count exceeds a predetermined usage limit. In one instance, the usage cycle count associated with the power assembly 2100 is provided to an operator, for example, utilizing a screen formed integrally with the surgical instrument 2110. The surgical instrument 2110 provides an indication to the operator that the usage cycle count has exceeded a predetermined limit for the power assembly 2100, and prevents further operation of the surgical instrument 2110.
In some instances, the usage cycle circuit 2102 is configured to physically prevent operation when the predetermined usage limit is reached. For example, the power assembly 2100 may comprise a shield configured to deploy over contacts of the power assembly 2100 when the usage cycle count exceeds the predetermined usage limit. The shield prevents recharge and use of the power assembly 2100 by covering the electrical connections of the power assembly 2100.
In some instances, the usage cycle circuit 2102 is located at least partially within the surgical instrument 2110 and is configured to maintain a usage cycle count for the surgical instrument 2110.
In some instances, the usage cycle circuit 2102 is configured to prevent operation of the surgical instrument 2110 after the predetermined usage limit is reached. In some instances, the surgical instrument 2110 comprises a visible indicator to indicate when the predetermined usage limit has been reached and/or exceeded. For example, a flag, such as a red flag, may pop-up from the surgical instrument 2110, such as from the handle, to provide a visual indication to the operator that the surgical instrument 2110 has exceeded the predetermined usage limit. As another example, the usage cycle circuit 2102 may be coupled to a display formed integrally with the surgical instrument 2110. The usage cycle circuit 2102 displays a message indicating that the predetermined usage limit has been exceeded. The surgical instrument 2110 may provide an audible indication to the operator that the predetermined usage limit has been exceeded. For example, in one instance, the surgical instrument 2110 emits an audible tone when the predetermined usage limit is exceeded and the power assembly 2100 is removed from the surgical instrument 2110. The audible tone indicates the last use of the surgical instrument 2110 and indicates that the surgical instrument 2110 should be disposed or reconditioned.
In some instances, the usage cycle circuit 2102 is configured to transmit the usage cycle count of the surgical instrument 2110 to a remote location, such as, for example, a central database. The usage cycle circuit 2102 comprises a communications module 2112 configured to transmit the usage cycle count to the remote location. The communications module 2112 may utilize any suitable communications system, such as, for example, wired or wireless communications system. The remote location may comprise a central database configured to maintain usage information. In some instances, when the power assembly 2100 is coupled to the surgical instrument 2110, the power assembly 2100 records a serial number of the surgical instrument 2110. The serial number is transmitted to the central database, for example, when the power assembly 2100 is coupled to a charger. In some instances, the central database maintains a count corresponding to each use of the surgical instrument 2110. For example, a bar code associated with the surgical instrument 2110 may be scanned each time the surgical instrument 2110 is used. When the use count exceeds a predetermined usage limit, the central database provides a signal to the surgical instrument 2110 indicating that the surgical instrument 2110 should be discarded.
The surgical instrument 2110 may be configured to lock and/or prevent operation of the surgical instrument 2110 when the usage cycle count exceeds a predetermined usage limit. In some instances, the surgical instrument 2110 comprises a disposable instrument and is discarded after the usage cycle count exceeds the predetermined usage limit. In other instances, the surgical instrument 2110 comprises a reusable surgical instrument which may be reconditioned after the usage cycle count exceeds the predetermined usage limit. The surgical instrument 2110 initiates a reversible lockout after the predetermined usage limit is met. A technician reconditions the surgical instrument 2110 and releases the lockout, for example, utilizing a specialized technician key configured to reset the usage cycle circuit 2102.
In some aspects, the segmented circuit 2000 is configured for sequential start-up. An error check is performed by each circuit segment 2002a-2002g prior to energizing the next sequential circuit segment 2002a-2002g.
The boost converter 2318 is coupled to one or more step-down converters to provide voltages below the boosted voltage level. A first voltage converter 2316 is coupled to the boost converter 2318 and provides a first stepped-down voltage to one or more circuit components. In the illustrated example, the first voltage converter 2316 provides a voltage of 5V. The first voltage converter 2316 is coupled to a rotary position encoder 2340. A FET switch 2317 is coupled between the first voltage converter 2316 and the rotary position encoder 2340. The FET switch 2317 is controlled by the processor 2306. The processor 2306 opens the FET switch 2317 to deactivate the position encoder 2340, for example, during power intensive operations. The first voltage converter 2316 is coupled to a second voltage converter 2314 configured to provide a second stepped-down voltage. The second stepped-down voltage comprises, for example, 3.3V. The second voltage converter 2314 is coupled to a processor 2306. In some examples, the boost converter 2318, the first voltage converter 2316, and the second voltage converter 2314 are coupled in a daisy chain configuration. The daisy chain configuration allows the use of smaller, more efficient converters for generating voltage levels below the boosted voltage level. The examples, however, are not limited to the particular voltage range(s) described in the context of this specification.
The segmented circuit 2400 comprises a boost converter 2418. The boost converter 2418 provides a boosted voltage above the source voltage provided by the battery 2408, such as, for example, 13V. The boost converter 2418 provides a boosted voltage directly to one or more circuit components, such as, for example, an OLED display 2488 and a motor controller 2443. By coupling the OLED display 2488 directly to the boost converter 2418, the segmented circuit 2400 eliminates the need for a power converter dedicated to the OLED display 2488. The boost converter 2418 provides a boosted voltage to the motor controller 2443 and the motor 2448 during one or more power intensive operations of the motor 2448, such as, for example, a cutting operation. The boost converter 2418 is coupled to a step-down converter 2416. The step-down converter 2416 is configured to provide a voltage below the boosted voltage to one or more circuit components, such as, for example, 5V. The step-down converter 2416 is coupled to, for example, a FET switch 2451 and a position encoder 2440. The FET switch 2451 is coupled to the primary processor 2406. The primary processor 2406 opens the FET switch 2451 when transitioning the segmented circuit 2400 to sleep mode and/or during power intensive functions requiring additional voltage delivered to the motor 2448. Opening the FET switch 2451 deactivates the position encoder 2440 and eliminates the power draw of the position encoder 2440. The examples, however, are not limited to the particular voltage range(s) described in the context of this specification.
The step-down converter 2416 is coupled to a linear converter 2414. The linear converter 2414 is configured to provide a voltage of, for example, 3.3V. The linear converter 2414 is coupled to the primary processor 2406. The linear converter 2414 provides an operating voltage to the primary processor 2406. The linear converter 2414 may be coupled to one or more additional circuit components. The examples, however, are not limited to the particular voltage range(s) described in the context of this specification.
The segmented circuit 2400 comprises a bailout switch 2456. The bailout switch 2456 is coupled to a bailout door on the surgical instrument 10. The bailout switch 2456 and the safety processor 2404 are coupled to an AND gate 2419. The AND gate 2419 provides an input to a FET switch 2413. When the bailout switch 2456 detects a bailout condition, the bailout switch 2456 provides a bailout shutdown signal to the AND gate 2419. When the safety processor 2404 detects an unsafe condition, such as, for example, due to a sensor mismatch, the safety processor 2404 provides a shutdown signal to the AND gate 2419. In some examples, both the bailout shutdown signal and the shutdown signal are high during normal operation and are low when a bailout condition or an unsafe condition is detected. When the output of the AND gate 2419 is low, the FET switch 2413 is opened and operation of the motor 2448 is prevented. In some examples, the safety processor 2404 utilizes the shutdown signal to transition the motor 2448 to an off state in sleep mode. A third input to the FET switch 2413 is provided by a current sensor 2412 coupled to the battery 2408. The current sensor 2412 monitors the current drawn by the circuit 2400 and opens the FET switch 2413 to shut-off power to the motor 2448 when an electrical current above a predetermined threshold is detected. The FET switch 2413 and the motor controller 2443 are coupled to a bank of FET switches 2445 configured to control operation of the motor 2448.
A motor current sensor 2446 is coupled in series with the motor 2448 to provide a motor current sensor reading to a current monitor 2447. The current monitor 2447 is coupled to the primary processor 2406. The current monitor 2447 provides a signal indicative of the current draw of the motor 2448. The primary processor 2406 may utilize the signal from the motor current 2447 to control operation of the motor, for example, to ensure the current draw of the motor 2448 is within an acceptable range, to compare the current draw of the motor 2448 to one or more other parameters of the circuit 2400 such as, for example, the position encoder 2440, and/or to determine one or more parameters of a treatment site. In some examples, the current monitor 2447 may be coupled to the safety processor 2404.
In some aspects, actuation of one or more handle controls, such as, for example, a firing trigger, causes the primary processor 2406 to decrease power to one or more components while the handle control is actuated. For example, in one example, a firing trigger controls a firing stroke of a cutting member. The cutting member is driven by the motor 2448. Actuation of the firing trigger results in forward operation of the motor 2448 and advancement of the cutting member. During firing, the primary processor 2406 opens the FET switch 2451 to remove power from the position encoder 2440. The deactivation of one or more circuit components allows higher power to be delivered to the motor 2448. When the firing trigger is released, full power is restored to the deactivated components, for example, by closing the FET switch 2451 and reactivating the position encoder 2440.
In some aspects, the safety processor 2404 controls operation of the segmented circuit 2400. For example, the safety processor 2404 may initiate a sequential power-up of the segmented circuit 2400, transition of the segmented circuit 2400 to and from sleep mode, and/or may override one or more control signals from the primary processor 2406. For example, in the illustrated example, the safety processor 2404 is coupled to the step-down converter 2416. The safety processor 2404 controls operation of the segmented circuit 2400 by activating or deactivating the step-down converter 2416 to provide power to the remainder of the segmented circuit 2400.
The 5V supply section 2516 is sequentially powered-up after the boost section 2518. The 5V supply section 2516 performs a self-check during power-up to identify any errors in the 5V supply section 2516. The 5V supply section 2516 comprises an integrated circuit 2515 configured to provide a step-down voltage from the boost voltage and to perform an error check. When no errors are detected, the 5V supply section 2516 completes sequential power-up and provides an activation signal to the 3.3V supply section 2514. In some examples, the safety processor provides an activation signal to the 3.3V supply section 2514. The 3.3V supply section comprises an integrated circuit 2513 configured to provide a step-down voltage from the 5V supply section 2516 and perform a self-error check during power-up. When no errors are detected during the self-check, the 3.3V supply section 2514 provides power to the primary processor. The primary processor is configured to sequentially energize each of the remaining circuit segments. By sequentially energizing the power system 2500 and/or the remainder of a segmented circuit, the power system 2500 reduces error risks, allows for stabilization of voltage levels before loads are applied, and prevents large current draws from all hardware being turned on simultaneously in an uncontrolled manner. The examples, however, are not limited to the particular voltage range(s) described in the context of this specification.
In one aspect, the power system 2500 comprises an over voltage identification and mitigation circuit. The over voltage identification and mitigation circuit is configured to detect a monopolar return current in the surgical instrument and interrupt power from the power segment when the monopolar return current is detected. The over voltage identification and mitigation circuit is configured to identify ground floatation of the power system. The over voltage identification and mitigation circuit comprises a metal oxide varistor. The over voltage identification and mitigation circuit comprises at least one transient voltage suppression diode.
Examples of drive systems and closure systems that are suitable for use with the surgical instrument 10 are disclosed in U.S. Provisional Patent Application Ser. No. 61/782,866, entitled CONTROL SYSTEM OF A SURGICAL INSTRUMENT, and filed Mar. 14, 2013, the entire disclosure of which is incorporated by reference herein in its entirety. For example, the electric motor 3014 can include a rotatable shaft (not shown) that may operably interface with a gear reducer assembly that can be mounted in meshing engagement with a set, or rack, of drive teeth on a longitudinally-movable drive member. In use, a voltage polarity provided by the battery can operate the electric motor 3014 to drive the longitudinally-movable drive member to effectuate the end effector 300. For example, the motor 3014 can be configured to drive the longitudinally-movable drive member to advance a firing mechanism to fire staples into tissue captured by the end effector 300 from a staple cartridge assembled with the end effector 300 and/or advance a cutting member to cut tissue captured by the end effector 300, for example.
As illustrated in
The shaft assembly 200 may include the shaft PCBA 3031 which includes the shaft assembly controller 3022 which can communicate with the power management controller 3016 through an interface (e.g., interface 3024 of
In certain circumstances, the interface can facilitate transmission of the one or more communication signals between the power management controller 3016 and the shaft assembly controller 3022 by routing such communication signals through a main controller 3017 residing in the handle assembly 14, for example. In other circumstances, the interface can facilitate a direct line of communication between the power management controller 3016 and the shaft assembly controller 3022 through the handle assembly 14 while the shaft assembly 200 and the power assembly 3006 are coupled to the handle assembly 14.
In one instance, the main microcontroller 3017 may be any single core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one instance, the surgical instrument 10 (
In certain instances, the microcontroller 3017 may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F Processor Core comprising on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QEI) analog, one or more 12-bit Analog-to-Digital Converters (ADC) with 12 analog input channels, among other features that are readily available for the product datasheet. The present disclosure should not be limited in this context.
The power assembly 3006 may include a power management circuit which may comprise the power management controller 3016, a power modulator 3038, and a current sense circuit 3036. The power management circuit can be configured to modulate power output of the battery based on the power requirements of the shaft assembly 200 while the shaft assembly 200 and the power assembly 3006 are coupled to the handle assembly 14. For example, the power management controller 3016 can be programmed to control the power modulator 3038 of the power output of the power assembly 3006 and the current sense circuit 3036 can be employed to monitor power output of the power assembly 3006 to provide feedback to the power management controller 3016 about the power output of the battery so that the power management controller 3016 may adjust the power output of the power assembly 3006 to maintain a desired output.
It is noteworthy that the power management controller 3016 and/or the shaft assembly controller 3022 each may comprise one or more processors and/or memory units which may store a number of software modules. Although certain modules and/or blocks of the surgical instrument 10 may be described by way of example, it can be appreciated that a greater or lesser number of modules and/or blocks may be used. Further, although various instances may be described in terms of modules and/or blocks to facilitate description, such modules and/or blocks may be implemented by one or more hardware components, e.g., processors, Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), Application Specific Integrated Circuits (ASICs), circuits, registers and/or software components, e.g., programs, subroutines, logic and/or combinations of hardware and software components.
In certain instances, the surgical instrument 10 may comprise an output device 3042 which may include one or more devices for providing a sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (e.g., an LCD display screen, LED indicators), audio feedback devices (e.g., a speaker, a buzzer) or tactile feedback devices (e.g., haptic actuators). In certain circumstances, the output device 3042 may comprise a display 3043 which may be included in the handle assembly 14. The shaft assembly controller 3022 and/or the power management controller 3016 can provide feedback to a user of the surgical instrument 10 through the output device 3042. The interface (e.g. interface 3024 of
The shaft assembly 200 includes the shaft assembly controller 3022 and a shaft assembly connector 3028. The shaft assembly connector 3028 is configured to connect to the shaft assembly connector 3026 of the handle assembly 14 at the interface 3025 to connect the shaft assembly 200 to the handle assembly 14. As shown in
As described hereinabove, various components may cooperate to assist in the control of a motor of a powered surgical instrument. For example, for the powered surgical instrument 10, the motor current sensor 2046 measures the current being delivered to the motor 2048 and delivers an input signal representative of the measured current to the main processor 2006, which in turn applies pulse width modulation signals to the motor controller 2043, which in turn provides control signals to the gate terminals of the FETS 2044 to control the amount of current delivered to the motor 2048 over time from the battery 2008, as well as the direction of rotation of the motor 2048. One motor current sensor 2046 may be utilized to measure the current being delivered to the motor 2048 when the motor is rotating in a first direction and another motor current sensor 2046 may be utilized to measure the current being delivered to the motor 2048 when the motor is rotating in a second direction. Collectively, such components may be considered to form a portion of a control circuit/system or a motor control circuit/system. In various embodiments, in order to measure the current being delivered to the motor 2048, the motor current sensor 2046 is positioned to measure the current flowing in the H-bridge circuit (the H-bridge circuit includes the FETS 2044 and allows a voltage to be applied across the motor 2048 in either direction to allow the motor 2048 to rotate in a first direction and a second direction) between the motor 2048 and a FET 2044 which is upstream to the motor 2048. The measured current can be utilized to control the motor 2048, and by extension, to control a force applied to the firing drive system 80 of the powered surgical instrument 10.
In practice, it is relatively difficult to position a motor current sensor 2046 to measure the current flowing in the H-bridge circuit between the motor 2048 and a FET 2044 which is upstream to the motor 2048. Therefore, according to various embodiments, it is desired to utilize a current other than the current measured in the H-bridge circuit to control the motor 2048. For example, in lieu of utilizing the current measured in the H-bridge as described above, (1) a velocity or an acceleration of a component of the drive system can be utilized to control the motor 2048, (2) a temperature, a light intensity or other parameter associated with a component connected to or in the H-bridge circuit can be utilized to control the motor 2048, (3) a current electrically isolated from the H-bridge circuit can be utilized to control the motor 2048, (4) an out-of-phase current downstream of the H-bridge can be utilized to control the motor 2048, and/or (5) a current measured at another point in the surgical instrument 10 can be utilized to control the motor 2048.
In “general” operation, when the first and fourth switching devices 3110, 3116 are “closed” and the second and third switching devices 3112, 3114 are “open”, the electric motor 3102 is able to draw current from the battery 3104 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3104, through the first switching device 3110, through the electric motor 3102, through the fourth switching device 3116 and back to the negative terminal of the battery 3104. Similarly, when the second and third switching devices 3112, 3114 are “closed” and the first and fourth switching devices 3110, 3116 are “open”, the electric motor 3102 is able to draw current from the battery 3104 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3104, through the second switching device 3112, through the electric motor 3102, through the third switching device 3114 and back to the negative terminal of the battery 3104. As described in more detail hereinbelow, a velocity or an acceleration of a component of the drive system can be utilized to control the electric motor 3102.
In operation, when the first and fourth switching devices 3110, 3116 are “closed” and the second and third switching devices 3112, 3114 are “open”, the electric motor 3102 is able to draw current from the battery 3104 and rotate in a first direction (e.g., a direction which causes the movable drive member 120 to advance distally). As the electric motor 3102 rotates, the drive gear 86 rotates, the movable drive member 120 is advanced distally, the rotatable shaft 3118 mechanically coupled to the drive gear 86 rotates and the first and second magnets 3120, 3122 each rotate. The rotation of the first and second magnets 3120, 3122 generates a changing magnetic field around the accelerometer 3124. Responsive to the changing magnetic field, the accelerometer 3124 may output a signal (e.g., a varying voltage such as a Hall voltage, a varying current, a varying capacitance, etc.) which is indicative of the velocity or the acceleration of the movable drive member 120. The output signal from the accelerometer 3124 may be input to the main processor 2006 to control the electric motor 3102, and by extension, to control a force applied to the drive system of the surgical stapler 3100 when the electric motor 3102 is operating in the first direction.
According to various embodiments, the surgical stapler 3100 further includes a third magnet 3128 connected to the movable drive member 120 and a sensor 3130 magnetically coupled to the third magnet 3128. For such embodiments, as the movable drive member 120 is advanced distally, the third magnet 3128 moves relative to the sensor 3130. Responsive to the movement of the third magnet 3128, the sensor 3130 may generate an output signal which is indicative of the position of the movable drive member 120. The output signal from the sensor 3130 may also be input to the main processor 2006 to determine the velocity of the movable drive member 120 and/or further control the electric motor 3102, and by extension, to further control a force applied to the drive system of the surgical stapler 3100 when the electric motor 3102 is operating in the first direction.
Similarly, when the second and third switching devices 3112, 3114 are “closed” and the first and fourth switching devices 3110, 3116 are “open”, the electric motor 3102 is able to draw current from the battery 3104 and rotate in a second direction (e.g., a direction which causes the movable drive member 120 to retract proximally). As the electric motor 3102 rotates, the drive gear 86 rotates, the movable drive member 120 is retracted proximally, the rotatable shaft 3118 mechanically coupled to the drive gear 86 rotates and the first and second magnets 3120, 3122 each rotate. The rotation of the first and second magnets 3120, 3122 generates a changing magnetic field around the accelerometer 3124. Responsive to the changing magnetic field, the accelerometer 3124 may output a signal (e.g., a varying voltage such as a Hall voltage, a varying current, a varying capacitance, etc.) which is indicative of the velocity or the acceleration of the movable drive member 120. The output signal from the accelerometer 3124 may be input to the main processor 2006 to control the electric motor 3102, and by extension, to control a force applied to the drive system of the surgical stapler 3100 when the electric motor 3102 is operating in the second direction. For embodiments, which include the third magnet 3128 and the sensor 3130, as the movable member is retracted proximally, the output signal from the sensor 3130 may also be input to the main processor 2006 to determine the velocity of the movable drive member 120 and/or further control the electric motor 3102, and by extension, to further control a force applied to the drive system of the surgical stapler 3100 when the electric motor 3102 is operating in the second direction.
The first resistive heating element 3206 is electrically connected in series with the fourth switching device 3216, downstream of the fourth switching device 3216. The first resistive heating element 3206 may be embodied as any suitable type of resistive heating element. For example, according to various embodiments, the first resistive heating element 3206 may be embodied as a resistive wire, and the resistive wire may be any suitable type of resistive wire. For example, according to various embodiments, the resistive wire includes a nickel-chromium alloy.
Similarly, the second resistive heating element 3208 is electrically connected in series with the third switching device 3214, downstream of the third switching device 3214. The second resistive heating element 3208 may be embodied as any suitable type of resistive heating element. For example, according to various embodiments, the second resistive heating element 3208 may be embodied as a resistive wire, and the resistive wire may be any suitable type of resistive wire. For example, according to various embodiments, the resistive wire includes a nickel-chromium alloy.
The first and second resistive heating elements 3206, 3208 may be the same or different, and may embodied as any suitable type of resistive heating element. For example, according to various embodiments, the first and second resistive heating elements 3206, 3208 may be embodied as resistive wires, and the resistive wires may have the same or different ohm values.
The control system also includes a first temperature sensing device 3218 and a second temperature sensing device 3220. The first temperature sensing device 3218 is positioned proximate to the first resistive heating element 3206, is thermally coupled to the first resistive heating element 3206 and is configured to sense a temperature of and/or associated with the first resistive heating element 3206. The first temperature sensing device 3218 may be embodied as any suitable type of temperature sensing device. For example, according to various embodiments, the first temperature sensing device 3218 may be embodied as a thermocouple, a resistive temperature device, a thermistor, an infrared sensor, etc.
Similarly, the second temperature sensing device 3220 is positioned proximate to the second resistive heating element 3208, is thermally coupled to the second resistive heating element 3208 and is configured to sense a temperature of and/or associated with the second resistive heating element 3208. The second temperature sensing device 3220 may be embodied as any suitable type of temperature sensing device. For example, according to various embodiments, the second temperature sensing device 3220 may be embodied as a thermocouple, a resistive temperature device, a thermistor, an infrared sensor, etc.
In operation, when the first and fourth switching devices 3210, 3216 are “closed” and the second and third switching devices 3212, 3214 are “open”, the electric motor 3202 is able to draw current from the battery 3204 and rotate in a first direction (e.g., a direction which causes the a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3204, through the first switching device 3210, through the electric motor 3202, through the fourth switching device 3216, through the first resistive heating element 3206 and back to the negative terminal of the battery 3204. As current flows through the first resistive heating element 3206, heat is emitted from the first resistive heating element 3206. The first temperature sensing device 3218 senses/measures the temperature of and/or proximate (associated with) the first resistive heating element 3206. Responsive to the sensed temperature, the first temperature sensing device 3218 may output a signal which is indicative of the magnitude of the current flowing through the first resistive heating element 3206. The output signal from the first temperature sensing device 3218 may be input to the main processor 2006 to control the electric motor 3202, and by extension, to control a force applied to the drive system of the surgical stapler 3200 when the electric motor 3202 is operating in the first direction.
Similarly, when the second and third switching devices 3212, 32114 are “closed” and the first and fourth switching devices 3210, 3216 are “open”, the electric motor 3202 is able to draw current from the battery 3204 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3204, through the second switching device 3212, through the electric motor 3202, through the third switching device 3214, through the second resistive heating element 3208 and back to the negative terminal of the battery 3204. As current flows through the second resistive heating element 3208, heat is emitted from the second resistive heating element 3208. The second temperature sensing device 3220 senses the temperature of and/or proximate (associated with) the second resistive heating element 3208. Responsive to the sensed temperature, the second temperature sensing device 3220 may output a signal which is indicative of the magnitude of the current flowing through the second resistive heating element 3208. The output signal from the second temperature sensing device 3220 may be input to the main processor 2006 to control the electric motor 3202, and by extension, to control a force applied to the drive system of the surgical stapler 3200 when the electric motor 3202 is operating in the second direction.
Although the surgical stapler 3200 is shown in
According to other embodiments of the surgical stapler 3200, in lieu of utilizing a temperature associated with a component of the low side of the H-bridge circuit to control the electric motor 3202, the surgical stapler 3200 may utilize a current which is indicative of a temperature associated with a component of the low side of the H-bridge circuit but is external to the H-bridge circuit.
The first resistive heating element 3306 is electrically connected in series with the fourth switching device 3216, downstream of the fourth switching device 3216. The first resistive heating element 3306 may be embodied as any suitable type of resistive heating element. Similarly, the second resistive heating element 3308 is electrically connected in series with the third switching device 3214, downstream of the third switching device 3214. The second resistive heating element 3308 may be embodied as any suitable type of resistive heating element. The first and second resistive heating elements 3306, 3308 may be the same or different, and may embodied as any suitable type of resistive heating element. For example, according to various embodiments, the first and second resistive heating elements 3306, 3308 may be embodied as resistive wires, and the resistive wires may have the same or different ohm values.
The control system also includes a first temperature sensing device 3318, a second temperature sensing device 3320, a first temperature correlation system 3322 and a second temperature correlation system 3324. The first temperature sensing device 3318 is positioned proximate to the first resistive heating element 3306, is thermally coupled to the first resistive heating element 3306 and is configured to sense a temperature of and/or associated with the first resistive heating element 3306. The first temperature sensing device 3318 may be embodied as any suitable type of temperature sensing device. For example, according to various embodiments, the first temperature sensing device 3318 may be embodied as a thermocouple, a resistive temperature device, a thermistor, an infrared sensor, etc. Similarly, the second temperature sensing device 3320 is positioned proximate to the second resistive heating element 3308, is thermally coupled to the second resistive heating element 3308 and is configured to sense a temperature of and/or associated with the second resistive heating element 3308. The second temperature sensing device 3320 may be embodied as any suitable type of temperature sensing device. For example, according to various embodiments, the second temperature sensing device 3320 may be embodied as a thermocouple, a resistive temperature device, a thermistor, an infrared sensor, etc.
The first temperature correlation system 3322 is electrically coupled to the first temperature sensing device 3318 and includes a battery 3326, controller 3328, a third resistive heating element 3330, a third temperature sensing device 3332 and a current sensor 3334. The controller 3328 is electrically coupled to the first temperature sensing device 3318 and the third temperature sensing device 3332. The third resistive heating element 3330 is thermally and electrically isolated from the first resistive heating element 3306. The third temperature sensing device 3332 is positioned proximate to the third resistive heating element 3330, is thermally coupled to the third resistive heating element 3330 and is configured to sense a temperature of and/or associated with the third resistive heating element 3330.
Similarly, the second temperature correlation system 3324 is electrically coupled to the second temperature sensing device 3320 and includes a battery 3336, a controller 3338, a fourth resistive heating element 3340, a fourth temperature sensing device 3342 and a second current sensor 3344. The controller 3338 is electrically coupled to the second temperature sensing device 3320 and the fourth temperature sensing device 3342. The fourth resistive heating element 3340 is thermally and electrically isolated from the second resistive heating element 3308. The fourth temperature sensing device 3342 is positioned proximate to the fourth resistive heating element 3340, is thermally coupled to the fourth resistive heating element 3340 and is configured to sense a temperature of and/or associated with the fourth resistive heating element 3340.
In operation, when the first and fourth switching devices 3210, 3216 are “closed” and the second and third switching devices 3212, 3214 are “open”, the electric motor 3202 is able to draw current from the battery 3204 and rotate in a first direction (e.g., a direction which causes the a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3204, through the first switching device 3210, through the electric motor 3202, through the fourth switching device 3216, through the first resistive heating element 3306 and back to the negative terminal of the battery 3204. As current flows through the first resistive heating element 3306, heat is emitted from the first resistive heating element 3306. The first temperature sensing device 3318 senses the temperature of and/or proximate (associated with) the first resistive heating element 3306. Responsive to the sensed temperature, the first temperature sensing device 3318 may output a signal which is indicative of the magnitude of the current flowing through the first resistive heating element 3306. The output signal from the first temperature sensing device 3318 may be input to the controller 3328.
The controller 3328 operates to allow current to be drawn from the battery 3326 by the third resistive heating element 3330. As current flows from the battery 3326 to the third resistive heating element 3330, the current can be measured by the current sensor 3334. As the current flows through the third resistive heating element 3330, heat is emitted from the third resistive heating element 3330. The third temperature sensing device 3332 senses the temperature of and/or proximate (associated with) the third resistive heating element 3330. Responsive to the sensed temperature, the third temperature sensing device 3332 may output a signal which is indicative of the magnitude of the current flowing through the third resistive heating element 3330. The output signal from the third temperature sensing device 3332 may be input to the controller 3328. Based on the signals received from the first and third temperature sensing devices 3318, 3332, the controller 3328 operates to allow sufficient current to be drawn from the battery 3326 by the third resistive heating element 3330 so that the temperature sensed by the first and third temperature sensing devices 3318, 3330 are substantially equal. When the temperatures are substantially equal, the current measured by the current sensor 3334 and flowing through the third resistive heating element 3330 is either proportional to or substantially equal to the current flowing through the first resistive heating element 3306. The current sensor 3334 may output a signal which is indicative of the magnitude of the current measured by the current sensor 3234 to the main processor 2006 to control the electric motor 3202, and by extension, to control a force applied to the drive system of the surgical stapler when the electric motor 3202 is operating in the first direction.
Similarly, when the second and third switching devices 3212, 3214 are “closed” and the first and fourth switching devices 3210, 3216 are “open”, the electric motor 3202 is able to draw current from the battery 3204 and rotate in a second direction (e.g., a direction which causes the a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3204, through the second switching device 3212, through the electric motor 3202, through the third switching device 3214, through the second resistive heating element 3308 and back to the negative terminal of the battery 3204. As current flows through the second resistive heating element 3308, heat is emitted from the second resistive heating element 3308. The second temperature sensing device 3320 senses the temperature of and/or proximate (associated with) the second resistive heating element 3308. Responsive to the sensed temperature, the second temperature sensing device 3320 may output a signal which is indicative of the magnitude of the current flowing through the second resistive heating element 3308. The output signal from the second temperature sensing device 3320 may be input to the controller 3338.
The controller 3338 operates to allow current to be drawn from the battery 3336 by the fourth resistive heating element 3340. As current flows from the battery 3336 to the fourth resistive heating element 3340, the current can be measured by the current sensor 3344. As the current flows through the fourth resistive heating element 3340, heat is emitted from the fourth resistive heating element 3340. The fourth temperature sensing device 3342 senses the temperature of and/or proximate (associated with) the fourth resistive heating element 3340. Responsive to the sensed temperature, the fourth temperature sensing device 33242 may output a signal which is indicative of the magnitude of the current flowing through the fourth resistive heating element 3340. The output signal from the fourth temperature sensing device 3342 may be input to the controller 3338. Based on the signals received from the second and fourth temperature sensing devices 3320, 3342, the controller 3338 operates to allow sufficient current to be drawn from the battery 3336 by the fourth resistive heating element 3340 so that the temperature sensed by the second and fourth temperature sensing devices 3320, 3342 are substantially equal. When the temperatures are substantially equal, the current measured by the current sensor 3344 and flowing through the fourth resistive heating element 3340 is either proportional to or substantially equal to the current flowing through the second resistive heating element 3308. The current sensor 3344 may output a signal which is indicative of the magnitude of the current measured by the current sensor 3344 to the main processor 2006 to control the electric motor 3202, and by extension, to control a force applied to the drive system of the surgical stapler when the electric motor 3202 is operating in the second direction.
According to other embodiments of the surgical stapler, in lieu of utilizing a measured temperature or a current associated with a measured temperature, an intensity of a light emitting diode can be measured and utilized to control the electric motor 3202.
The first light emitting diode 3406 is electrically connected in series with the fourth switching device 3216, downstream of the fourth switching device 3216, and includes two leads or terminals—an anode and a cathode. The first light emitting diode 3406 may be embodied as any suitable type of light emitting diode. For example, according to various embodiments, the first light emitting diode 3406 may be embodied as a blue, green, red, etc. light emitting diode.
Similarly, the second light emitting diode 3408 is electrically connected in series with the third switching device 3214, downstream of the third switching device 3214, and includes two leads or terminals—an anode and a cathode. The second light emitting diode 3408 may be embodied as any suitable type of light emitting diode. For example, according to various embodiments, the second light emitting diode 3408 may be embodied as a blue, green, red, etc. light emitting diode.
The first and second light emitting diodes 3406, 3408 may be the same or different, and may embodied as any suitable type of light emitting diodes. For example, according to various embodiments, the wavelength (color) of light emitted by the first light emitting diode 3406 may be different from the wavelength (color) of light emitted by the second light emitting diode 3408.
The control system also includes a first light intensity sensing device 3418 and a second light intensity sensing device 3420. The first light intensity sensing device 3418 is positioned proximate to the first light emitting diode 3406, is optically coupled to the first light emitting diode 3406 and is configured to sense an intensity of light emitted from the first light emitting diode 3406. The first light intensity sensing device 3418 may be embodied as any suitable type of light intensity sensing device. For example, according to various embodiments, the first light intensity sensing device 3418 may be embodied as a photon detector.
Similarly, the second light intensity sensing device 3420 is positioned proximate to the second light emitting diode 3408, is optically coupled to the second light emitting diode 3408 and is configured to sense an intensity of light emitted from the second light emitting diode 3408. The second light intensity sensing device 3420 may be embodied as any suitable type of light intensity sensing device. For example, according to various embodiments, the second light intensity sensing device 3420 may be embodied as a photon detector.
The first and second light intensity sensing devices 3418, 3420 may be the same or different. According to various embodiments, a single light intensity measuring device (e.g., the first or the second light intensity measuring device) may be positioned and utilized to measure the intensity of light emitted from both the first and second light emitting diodes 3406, 3408.
In operation, when the first and fourth switching devices 3210, 3216 are “closed” and the second and third switching devices 3212, 3214 are “open”, the electric motor 3202 is able to draw current from the battery 3204 and rotate in a first direction (e.g., a direction which causes the a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3204, through the first switching device 3210, through the electric motor 3202, through the fourth switching device 3216, through the first light emitting diode 3406 and back to the negative terminal of the battery 3204. As a voltage is applied across the two leads of the first light emitting diode 3406, the recombination of electrons with electron holes within the first light emitting diode 3406 results in a release of energy in the form of photons which transmit light. In other words, light is emitted from the first light emitting diode 3406. The intensity of the emitted light is sensed/measured by the first light intensity sensing device 3418. Responsive to the sensed/measured intensity of the emitted light, the first light intensity sensing device 3418 may output a signal which is indicative of the intensity of the light emitted by the first light emitting diode 3406. The output signal from the first light intensity sensing device 3418 may be input to the main processor 2006 to control the electric motor 3202, and by extension, to control a force applied to the drive system of the surgical stapler when the electric motor 3202 is operating in the first direction.
Similarly, when the second and third switching devices 3212, 3214 are “closed” and the first and fourth switching devices 3210, 3216 are “open”, the electric motor 3202 is able to draw current from the battery 3204 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3204, through the second switching device 3212, through the electric motor 3202, through the third switching device 3214, through the second light emitting diode 3408 and back to the negative terminal of the battery 3204. As a voltage is applied across the two leads of the second light emitting diode 3408, light is emitted from the second light emitting diode 3408. The intensity of the emitted light is sensed/measured by the second light intensity sensing device 3420. Responsive to the sensed/measured intensity of the emitted light, the second light intensity sensing device 3420 may output a signal which is indicative of the intensity of the light emitted by the second light emitting diode 3408. The output signal from the second light intensity sensing device 3420 may be input to the main processor 2006 to control the electric motor 3202, and by extension, to control a force applied to the drive system of the surgical stapler when the electric motor 3202 is operating in the second direction.
Although the surgical stapler 3400 is shown in
The first inductive element 3520 is electrically connected in series with the fourth switching device 3516, downstream of the fourth switching device 3516. The first inductive element 3520 may be embodied as any suitable type of inductive element. For example, according to various embodiments, the first inductive element 3520 may be embodied as an inductor. Although the first inductive element 3520 is shown as a single inductor, it will be appreciated that the first inductive element 3520 may include any number of inductive elements. The second inductive element 3522 is electrically connected in series with the third switching device 3514, downstream of the third switching device 3514. The second inductive element 3522 may be embodied as any suitable type of inductive element. For example, according to various embodiments, the second inductive element 3522 may be embodied as an inductor. Although the second inductive element 3522 is shown as a single inductor, it will be appreciated that the second inductive element 3522 may include any number of inductive elements. The first and second inductive elements 3520, 3522 may be the same or different, and may embodied as any suitable type of inductive element. For example, the first and second inductive elements 3520, 3522 may be embodied as inductors and the inductors may have the same or different henry values.
The first resistive element 3524 is electrically connected in series with the first inductive element 3520. The first resistive element 3524 may be embodied as any suitable type of resistive element. For example, according to various embodiments, the first resistive element 3524 may be embodied as a resistor. Although the first resistive element 3524 is shown as a single resistor, it will be appreciated that the first resistive element 3524 may include any number of resistive elements. The second resistive element 3526 is electrically connected in series with the second inductive element 3522. The second resistive element 3526 may be embodied as any suitable type of resistive element. For example, according to various embodiments, the second resistive element 3526 may be embodied as a resistor. Although the second resistive element 3526 is shown as a single resistor, it will be appreciated that the second resistive element 3526 may include any number of resistive elements. The first and second resistive elements 3524, 3526 may be the same or different, and may embodied as any suitable type of resistive element. For example, as shown in according to various embodiments, the first and second resistive elements 3524, 3526 may be embodied as resistors, and the resistors may have the same or different ohm values.
The first sensor 3528 may be positioned proximate the first resistive element 3524 and is configured to sense/measure a current entering, passing through, exiting from or downstream of the first resistive element 3524. The first sensor 3524 may be any suitable type of sensor configured to sense/measure a current. The second sensor 3530 may be positioned proximate the second resistive element 3526 and is configured to sense/measure a current entering, passing through, exiting from or downstream of the second resistive element 3526. The second sensor 3526 may be any suitable type of sensor configured to sense/measure a current.
In operation, when the first and fourth switching devices 3510, 3516 are “closed” and the second and third switching devices 3512, 3514 are “open”, the electric motor 3502 is able to draw current from the battery 3504 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3504, through the first switching device 3510, through the electric motor 3502, through the fourth switching device 3516, through the first inductive element 3520, through the first resistive element 3524 and back to the negative terminal of the battery 3504. Initially, the current through the first inductive element 3520 is zero, then it increases over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the first inductive element 3520. In other words, the first inductive element 3520 initially resists any change in the current flowing through the first inductive element 3520. Due to the variation in the amount of current flowing through the first inductive element 3520 over time, the current flowing through the first resistive element 3524 will also vary over time, initially starting at zero then increasing over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the first resistive element 3524. The current flowing through the first resistive element 3524 may be sensed/measured by the first sensor 3528. Responsive to the sensed current, the first sensor 3528 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the first sensor 3528 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3500 when the electric motor 3502 is operating in the first direction.
Similarly, when the second and third switching devices 3512, 3514 are “closed” and the first and fourth switching devices 3510, 3516 are “open”, the electric motor 3502 is able to draw current from the battery 3504 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3504, through the second switching device 3512, through the electric motor 3502, through the third switching device 3514, through the second inductive element 3522, through the second resistive element 3526 and back to the negative terminal of the battery 3504. Initially, the current through the second inductive element 3522 is zero, then it increases over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the second inductive element 3522. In other words, the second inductive element 3522 initially resists any change in the current flowing through the second inductive element 3522. Due to the variation in the amount of current flowing through the second inductive element 3522 over time, the current flowing through the second resistive element 3526 will also vary over time, initially starting at zero then increasing over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the second resistive element 3526. The current flowing through the second resistive element 3526 may be sensed/measured by the second sensor 3530. Responsive to the sensed current, the second sensor 3530 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the second sensor 3530 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3500 when the electric motor 3502 is operating in the second direction.
Although the surgical stapler 3500 is only shown in
The first capacitive element 3632 is electrically connected in series with the first inductive element 3620 and in parallel with the first resistive element 3624. The first capacitive element 3632 may be embodied as any suitable type of capacitive element. For example, according to various embodiments, the first capacitive element 3632 may be embodied as a capacitor. Although the first capacitive element 3632 is shown as a single capacitor, it will be appreciated that the first capacitive element 3632 may include any number of capacitive elements. The second capacitive element 3634 is electrically connected in series with the second inductive element 3622 and in parallel with the second resistive element 3626. The second capacitive element 3634 may be embodied as any suitable type of capacitive element. For example, according to various embodiments, the second capacitive element 3634 may be embodied as a capacitor. Although the second capacitive element 3634 is shown as a single capacitor, it will be appreciated that the second capacitive element 3634 may include any number of capacitive elements. The first and second capacitive elements 3632, 3634 may be the same or different, and may embodied as any suitable type of capacitive element. For example, according to various embodiments, the first and second capacitive elements 3632, 3634 may be embodied as capacitors, and the capacitors may have the same or different farad values.
In operation, when the first and fourth switching devices 3510, 3516 are “closed” and the second and third switching devices 3512, 3514 are “open”, the electric motor 3502 is able to draw current from the battery 3504 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3504, through the first switching device 3510, through the electric motor 3502, through the fourth switching device 3516, through both the first resistive element 3624 and the first inductive element 3620/first capacitance element 3632 pair, and back to the negative terminal of the battery 3504. Initially, the current through the first inductive element 3620 is zero, then it increases over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the first inductive element 3620. Due to the variation in the amount of current flowing through the first inductive element 3620 over time, the current flowing through the first capacitive element 3632 will also vary over time, initially starting at zero then increasing over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the first capacitive element 3632. The current downstream of the first capacitance element 3632 (or downstream of the first resistive element 3624) may be sensed/measured by the first sensor 3628. Responsive to the sensed current, the first sensor 3628 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the first sensor 3628 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3600 when the electric motor 3502 is operating in the first direction.
With respect to voltage, initially the voltage across the first capacitive element 3632 is zero, then it increases over time until it is equal to the battery voltage less any voltage drops between the battery 3504 and the first capacitive element 3632. In other words, the first capacitive element 3632 initially resists any change in the voltage across it. Thus, there is a variation in the amount of voltage across the first capacitive element 3632 over time, initially starting at zero then increasing over time until it is equal to the battery voltage less any voltage drops between the battery 3504 and the first capacitive element 3632. By measuring a voltage across the first capacitive element 3632 while the electric motor 3502 is operating in the first direction, the measured voltage will have a magnitude which is different than a magnitude of a voltage measured at the electric motor 3502. The voltage across the first capacitive element 3632 may be sensed/measured by a the first sensor 3628. Responsive to the sensed voltage, the first sensor 3628 may output a signal which is indicative of the magnitude of the sensed voltage. The output signal from the first sensor 3628 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3600 when the electric motor 3502 is operating in the first direction.
Similarly, when the second and third switching devices 3512, 3514 are “closed” and the first and fourth switching devices 3510, 3516 are “open”, the electric motor 3502 is able to draw current from the battery 3504 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3504, through the second switching device 3512, through the electric motor 3502, through the third switching device 3514, through both the second resistive element 3626 and the second inductive element 3622/second capacitance element 3634 pair, and back to the negative terminal of the battery 3504. Initially, the current through the second inductive element 3622 is zero, then it increases over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the second inductive element 3622. Due to the variation in the amount of current flowing through the second inductive element 3622 over time, the current flowing through the second capacitive element 3634 will also vary over time, initially starting at zero then increasing over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the second capacitive element 3634. The current downstream of the second capacitance element 3634 (or downstream of the second resistive element 3626) may be sensed/measured by the second sensor 3630. Responsive to the sensed current, the second sensor 3630 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the second sensor 3630 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3600 when the electric motor 3502 is operating in the second direction.
With respect to voltage, initially the voltage across the second capacitive element 3634 is zero, then it increases over time until it is equal to the battery voltage less any voltage drops between the battery 3504 and the second capacitive element 3634. In other words, the second capacitive element 3634 initially resists any change in the voltage across it. Thus, there is a variation in the amount of voltage across the second capacitive element 3634 over time, initially starting at zero then increasing over time until it is equal to the battery voltage less any voltage drops between the battery 3504 and the second capacitive element 3634. By measuring a voltage across the second capacitive element 3634 while the electric motor 3502 is operating in the second direction, the measured voltage will have a magnitude which is different than a magnitude of a voltage measured at the electric motor 3502. The voltage across the second capacitive element 3634 may be sensed/measured by the second sensor 3630. Responsive to the sensed voltage, the second sensor 3630 may output a signal which is indicative of the magnitude of the sensed voltage. The output signal from the second sensor 3630 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3600 when the electric motor 3502 is operating in the second direction.
Although the surgical stapler 3600 is only shown in
The first inductive element 3720 is electrically connected in series with the fourth switching device 3516 and is magnetically coupled with the third inductive element 3736. The first and third inductive elements 3720, 3736 may be embodied as coupled inductors or may collectively form a portion of a transformer. The first and third inductive elements 3320, 3736 may be the same or different, and may embodied as any suitable type of inductive element. For example, according to various embodiments, the first and third inductive elements 3720, 3736 may be embodied as inductors, and the inductors may have the same or different henry values. Although the first inductive element 3720 is shown as a single inductor and the third inductive element 3736 is shown as a single inductor, it will be appreciated that the first inductive element 3720 and/or the third inductive element 3736 may each include any number of inductive elements. Similarly, the second inductive element 3722 is electrically connected in series with the third switching device 3514 and is magnetically coupled with the fourth inductive element 3738. The second and fourth inductive elements 3732, 3738 may be embodied as coupled inductors or may collectively form a portion of a transformer. The second and fourth inductive elements 3732, 3738 may be the same or different, and may embodied as any suitable type of inductive element. For example, according to various embodiments, the second and fourth inductive elements 3732, 3738 may be embodied as inductors, and the inductors may have the same or different henry values. Although the second inductive element 3722 is shown as a single inductor and the fourth inductive element 3738 is shown as a single inductor, it will be appreciated that the second inductive element 3722 and/or the fourth inductive element 3738 may each include any number of inductive elements.
The first resistive element 3724 is electrically connected in series with the third inductive element 3736. The second resistive element 3726 is electrically connected in series with the fourth inductive element 3738. The first capacitive element 3732 is electrically connected in series with the first resistive element 3724. The second capacitive element 3734 is electrically connected in series with the second resistive element 3726. Collectively, the third inductive element 3736, the first resistive element 3724 and the first capacitive element 3732 form a LRC circuit (e.g., a filter) which is magnetically coupled to the first inductive element 3720. The LRC circuit is configured to filter away certain components (e.g., switching currents, harmonics, etc.) of the current exiting the fourth switching device 3516. Similarly, the fourth inductive element 3738, the second resistive element 3726 and the second capacitive element 3734 form a second LRC circuit (e.g., a filter) which is magnetically coupled to the second inductive element 3722. The second LRC circuit is configured to filter away certain components (e.g., switching currents, harmonics, etc.) of the current exiting the third switching device 3514. Although the two filters are shown as LRC circuits, it will be appreciated that according to various embodiments, the three components of each filter may be arranged in a different order (e.g., a RLC circuit), and one filter may be arranged differently than the other filter.
In operation, when the first and fourth switching devices 3510, 3516 are “closed” and the second and third switching devices 3512, 3514 are “open”, the electric motor 3502 is able to draw current from the battery 3504 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3504, through the first switching device 3510, through the electric motor 3502, through the fourth switching device 3516, through first inductive element 3720 and back to the negative terminal of the battery 3504. Initially, the current through the first inductive element 3720 is zero, then it increases over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the first inductive element 3720. The varying current passing through the first inductive element 3720 induces a varying electromotive force (EMF) or voltage across the third inductive element 3736. The voltage induces a current in the LRC circuit. The current in the LRC circuit is a “filtered” current in comparison to the current exiting the fourth switching device 3516 and has a magnitude which is different than the magnitude of the current exiting the fourth switching device 3516. The LRC current may be sensed/measured by the first sensing device 3728. Responsive to the sensed LRC current, the first sensor 3728 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the first sensor 3728 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3700 when the electric motor 3502 is operating in the first direction. Additionally, the voltage across the first capacitive element 3732 will be different than the voltage at the electric motor 3502. The first sensor 3728 may be configured to sense/measure the voltage across the first capacitive element 3732. Responsive to the sensed voltage, the first sensor 3728 may output a signal which is indicative of the magnitude of the sensed voltage. The output signal from the first sensor 3728 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3700 when the electric motor 3502 is operating in the first direction.
Similarly, when the second and third switching devices 3512, 3514 are “closed” and the first and fourth switching devices 3510, 3516 are “open”, the electric motor 3502 is able to draw current from the battery 3504 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3504, through the second switching device 3512, through the electric motor 3502, through the third switching device 3514, through second inductive element 3722 and back to the negative terminal of the battery 3504. Initially, the current through the second inductive element 3722 is zero, then it increases over time until it is equal to the battery voltage divided by the series resistance between the battery 3504 and the second inductive element 3722. The varying current passing through the second inductive element 3732 induces a varying electromotive force (EMF) or voltage across the fourth inductive element 3738. The voltage induces a current in the second LRC circuit. The current in the second LRC circuit is a “filtered” current in comparison to the current exiting the third switching device 3514 and has a magnitude which is different than the magnitude of the current exiting the third switching device 3514. The LRC current may be sensed/measured by the second sensing device 3730. Responsive to the sensed LRC current, the second sensor 3730 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the second sensor 3730 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3700 when the electric motor 3502 is operating in the second direction. Additionally, the voltage across the second capacitive element 3734 will be different than the voltage at the electric motor 3502. The second sensor 3730 may be configured to sense/measure the voltage across the second capacitive element 3734. Responsive to the sensed voltage, the second sensor 3730 may output a signal which is indicative of the magnitude of the sensed voltage. The output signal from the second sensor 3730 may be input to the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler 3700 when the electric motor 3502 is operating in the second direction.
Although the surgical stapler 3700 is shown in
For each of the surgical staplers/instruments described hereinabove, both battery current and recirculation current flows in the H-bridge circuit. An example of battery current and recirculation current waveforms are shown in
Therefore, in order to measure the total average current in the H-bridge, both battery current and recirculation current are measured. Although the battery current can be sensed relatively easily by a current sensor (e.g., current sensor 2012) positioned proximate the battery 3504, the current sensor positioned proximate the battery 3504 will not sense the recirculating current. Although a current sensor positioned to sense a current in the H-bridge proximate the electric motor 3502 would sense the recirculation current, as indicated hereinabove it is relatively difficult to position a current sensor in the H-bridge circuit.
According to various embodiments, each of the above-described surgical staplers may be configured to utilize predicted recirculation current values to determine an average total current associated with the electric motor 3502, and the average total current may be utilized to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler when the motor is operating in the first or second direction. For such embodiments, the control system includes a battery current sensor positioned to sense the battery current, and the control system is configured to predict recirculating current values based on the sensed battery current.
The recirculation current may be predicted from the measured battery current in any suitable manner. For example, according to various embodiments, the recirculation current may be predicted based on a characterization of the battery current. For example, the recirculation current may be predicted in the following manner. First, the battery current sensor of the control system takes a plurality of battery current measurements while a pulse signal generated by the pulse width modulation circuit is “high” (above a baseline value). Such samples are indicated by the dots shown on the “A” portions of
where VB is the battery voltage, R is the resistance, t is the time and L is the inductance. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. The above equation is representative of a charging current curve for an inductor (e.g., the motor). At t=0, the current I=0. As t approaches infinity, the current I=VB/R. Third, given the measured battery current I, the control system (e.g., the main processor 2006) determines the value of VB. Fourth, the control system (e.g., the main processor 2006) utilizes the value of VB as determined above in the following equation to predict values of the recirculating current at various times while the pulse signal is not high:
where R is the resistance, t is the time and L is the inductance. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. The above equation is representative of the discharge current curve for an inductor (e.g., the motor). At t=0, the current I=VB/R. As t approaches infinity, the current I=0.
Once the recirculating current values are predicted as described above, the control system (e.g., the main processor 2006) fits the recirculating current values to a second curve representative of the following equation:
where R is the resistance, t is the time and L is the inductance. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. Next, the control system (e.g., the main processor 2006) determines the intersection of the first and second curves. The intersection is representative of an inflection point of a curve which includes a battery current component and a recirculating curve component. From this point, the control system (e.g., the main processor 2006) determines the area under the first curve up to the intersection and the area under the second curve after the intersection. Next, the control system (e.g., the main processor 2006) adds the areas under the first and second curves to determine the average total current at the motor 3502. Finally, the determined average total current at the motor 3502 may be input to or utilized by the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler when the motor is operating in the first or second direction.
According to other embodiments, the recirculation current may be predicted based on a characterization of the peaks of the measured battery current. For example, the recirculation current may be predicted in the following manner. First, the battery current sensor of the control system takes a plurality of battery current measurements over multiple periods of the PWM duty cycle. An example of such sampling is shown in
where VB is the battery voltage, R is the resistance, t is the time and L is the inductance, and generates the battery current curve based on the above equation. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. The above equation is representative of a charging current curve for an inductor (e.g., the motor). At t=0, the current I=0. As t approaches infinity, the current I=VB/R. Third, given the measured battery current I, the control system (e.g., the main processor 2006) determines the value of VB. Fourth, the control system (e.g., the main processor 2006) also designates the maximum value of the samples as the initial condition of a recirculation current curve representative of the following equation:
where VB is the determined battery voltage value, R is the resistance, t is the time and L is the inductance, and generates the recirculation current curve based on the above equation. The values for the resistance R and the inductance L are known and stored in the handle assembly 14. From this point, the control system (e.g., the main processor 2006) determines the area under the battery current curve and the area under the recirculation current curve. Next, the control system (e.g. the main processor) adds the areas under the battery current curve and the recirculation current curves to determine the average total current at the motor 3502. Finally, the determined average total current at the motor 3502 may be input to or utilized by the main processor 2006 to control the electric motor 3502, and by extension, to control a force applied to the drive system of the surgical stapler when the motor is operating in the first or second direction.
According to yet other embodiments, in lieu of utilizing the measured battery current and the predicted recirculation current to control the electric motor, the measured battery current and a state of a duty cycle associated with a pulse width modulation circuit may be utilized to control the electric motor, and by extension, to control a force applied to the drive system of the surgical stapler when the electric motor is operating in the first or second direction. For example, the measured battery current and the state of the duty cycle may be utilized in the following manner.
First, during the manufacturing of the surgical stapler, the surgical stapler is run at increments of PWM duty cycle between 0% and 100%. At each increment of the PWM duty cycle test, a range of loads are applied to the surgical stapler and the current draw from the battery 3104 is also measured. Also, at each increment of the PWM duty cycle test, the measured current draw is tabulated against the PWM duty cycle and the associated load. Based on the tests, a PWM and current versus force lookup table is generated and stored in a memory (e.g., a nonvolatile memory) of the surgical stapler. Second, during the subsequent use of the surgical stapler, the control system of the surgical stapler utilizes pulse width modulation to modulate the voltage applied to the motor to achieve a target force applied by the surgical stapler. To achieve the target force, the state of the PWM duty cycle (e.g., 20%, 30%, etc.) and the value of the measured battery current are input to the lookup table to obtain the actual force being applied by the surgical stapler. Third, the control system compares the actual force to target force and adjusts the PWM duty cycle to increase or decrease the actual force being applied by the surgical stapler as required to achieve the target force.
According to various embodiments, the PWM and current versus force lookup table is stored in the main processor 2006. For surgical staplers which also include the safety processor 2004, the PWM and current versus force lookup table can be passed to both the main processor 2006 and the safety processor 2004 during manufacturing. For such embodiments, the PWM duty cycle can be communicated from the main processor 2006 to the safety processor 2004 during the use of the surgical stapler. According to other embodiments, the safety processor 2004 could measure the PWM signal issuing from the main processor 2006 and decode it to access the appropriate force value in the PWM and current versus force lookup table.
In operation, when the first and fourth switching devices 3810, 3816 are “closed” and the second and third switching devices 3812, 3814 are “open”, the electric motor 3802 is able to draw current from the battery 3804 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3804, through the first switching device 3810, through the electric motor 3802, through both the fourth switching device 3816 and the first electrically resistive element 3806 and back to the negative terminal of the battery 3804. Similarly, when the second and third switching devices 3812, 3814 are “closed” and the first and fourth switching devices 3810, 3816 are “open”, the electric motor 3802 is able to draw current from the battery 3804 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3804, through the second switching device 3812, through the electric motor 3802, through both the third switching device 3814 and the second electrically resistive element 3808 and back to the negative terminal of the battery 3804.
The first electrically resistive element 3806 is electrically connected in parallel with the fourth switching device 3816, downstream of the electric motor 3802. When the first and fourth switching devices 3810, 3816 are “closed” and the second and third switching devices 3812, 3814 are “open”, a current sensed/measured downstream of the first electrically resistive element 3806 (e.g., at the node A) will have a magnitude which is different than a magnitude of a current sensed/measured at the electric motor 3802. The current flowing at the node A may be sensed/measured by a current sensor 3818. Responsive to the sensed current, the current sensor 3818 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the current sensor 3818 may be input to the main processor 2006 to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3800 when the electric motor 3802 is operating in the first direction. The current sensor 3818 may be configured for indirect or direct current sensing and may be considered as part of the control system. Although the current sensor 3818 is shown downstream of the fourth switching device 3816, it will be appreciated that according to other embodiments the current sensor 3818 may also be positioned to sense/measure the current flowing through the first electrically resistive element 3806. For such embodiments, the sensed/measured current may be utilized to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3800 when the electric motor 3802 is operating in the first direction.
The second electrically resistive element 3808 is electrically connected in parallel with the third switching device 3814, downstream of the electric motor 3802. When the second and third switching devices 3812, 3814 are “closed” and the first and fourth switching devices 3810, 3816 are “open”, a current measured downstream of the second electrically resistive element 3808 (e.g., at the node B) will have a magnitude which is different than a magnitude of a current sensed/measured at the electric motor 3802. The current flowing at the node B may be sensed/measured by current sensor 3820. Responsive to the sensed current, the current sensor 3820 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the current sensor 3820 may be input to the main processor 2006 to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3800 when the electric motor 3802 is operating in the second direction. The current sensor 3820 may be configured for indirect or direct current sensing and may be considered as part of the control system. Although the current sensor 3820 is shown downstream of the fourth switching device 3816, it will be appreciated that according to other embodiments the current sensor 3820 may also be positioned to sense/measure the current flowing through the second electrically resistive element 3808. For such embodiments, the sensed/measured current may be utilized to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3800 when the electric motor 3802 is operating in the second direction.
The first and second electrically resistive elements 3806, 3808 may be the same or different, and may embodied as any suitable type of electrically resistive element. For example, as shown in
In operation, when the first and fourth switching devices 3810, 3816 are “closed” and the second and third switching devices 3812, 3814 are “open”, the electric motor 3802 is able to draw current from the battery 3804 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 3804, through the first switching device 3810, through both the electric motor 3802 and the electrically resistive element 3906, through the fourth switching device 3816, and back to the negative terminal of the battery 3804. Similarly, when the second and third switching devices 3812, 3814 are “closed” and the first and fourth switching devices 3810, 3816 are “open”, the electric motor 3802 is able to draw current from the battery 3804 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 3804, through the second switching device 3812, through both the electric motor 3802 and the electrically resistive element 3906, through the third switching device 3814, and back to the negative terminal of the battery 3804.
The electrically resistive element 3906 is electrically connected across the low side of the H-bridge circuit and to the third and fourth switching devices 3814, 3816. In other words, the electrically resistive element 3906 is electrically connected across the third and fourth legs of the H-bridge circuit and to the third and fourth switching devices 3814, 3816. The electrically resistive element 3906 may be embodied as any suitable type of resistive element. For example, as shown in
When the first and fourth switching devices 3810, 3816 are “closed” and the second and third switching devices 3812, 3814 are “open”, a current sensed/measured downstream of the electrically resistive element 3906 (e.g., downstream of the fourth switching device 3816) will have a magnitude which is different than a magnitude of a current sensed/measured at the electric motor 3802. The current downstream of the electrically resistive element 3906 may be sensed/measured by a current sensor 3818. Responsive to the sensed/measured current, the current sensor 3818 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the current sensor 3818 may be input to the main processor 2006 to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3900 when the electric motor 3802 is operating in the first direction. The current sensor 3818 may be configured for indirect or direct current sensing and may be considered as part of the control system. Although the current sensor 3818 is shown downstream of the fourth switching device 3816, it will be appreciated that according to other embodiments the current sensor 3818 may also be positioned downstream of the electrically resistive element 3906 and upstream of the fourth switching device 3816. According to yet other embodiments, the current sensor 3818 may be positioned to sense/measure the current flowing through the electrically resistive element 3906. For each of the above-described embodiments, the sensed/measured current may be utilized to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3900 when the electric motor 3802 is operating in the first direction.
When the second and third switching devices 3812, 3814 are “closed” and the first and fourth switching devices 3810, 3816 are “open”, a current sensed/measured downstream of the electrically resistive element 3906 (e.g., downstream of the third switching device 3814) will have a magnitude which is different than a magnitude of a current sensed/measured at the electric motor 3802. The current downstream of the electrically resistive element 3906 may be sensed/measured by a current sensor 3820. Responsive to the sensed/measured current, the current sensor 3820 may output a signal which is indicative of the magnitude of the sensed current. The output signal from the current sensor 3820 may be input to the main processor 2006 to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3900 when the electric motor 3802 is operating in the second direction. The current sensor 3820 may be configured for indirect or direct current sensing and may be considered as part of the control system. Although the current sensor 3820 is shown downstream of the third switching device 3814, it will be appreciated that according to other embodiments the current sensor 3820 may also be positioned downstream of the electrically resistive element 3906 and upstream of the third switching device 3814. According to yet other embodiments, the current sensor 3820 may be positioned to sense/measure the current flowing through the electrically resistive element 3906. For each of the above-described embodiments, the sensed/measured current may be utilized to control the electric motor 3802, and by extension, to control a force applied to the drive system of the surgical stapler 3900 when the electric motor 3802 is operating in the first direction.
In operation, when the first and fourth switching devices 4010, 4016 are “closed” and the second and third switching devices 4012, 4014 are “open”, the electric motor 4002 is able to draw current from the battery 4004 and rotate in a first direction (e.g., a direction which causes a component of the drive system to advance distally). For this condition, the path of the current is from the positive terminal of the battery 4004, through the first switching device 4010, through the electric motor 4002, through the fourth switching device 4016, through the first current mirror circuit 4006 and back to the negative terminal of the battery 4004. Similarly, when the second and third switching devices 4012, 4014 are “closed” and the first and fourth switching devices 4010, 4016 are “open”, the electric motor 4002 is able to draw current from the battery 4004 and rotate in a second direction (e.g., a direction which causes a component of the drive system to retract proximally). For this condition, the path of the current is from the positive terminal of the battery 4004, through the second switching device 4012, through the electric motor 4002, through the third switching device 4014, through the second current mirror circuit 4008 and back to the negative terminal of the battery 4004.
The first current mirror circuit 4006 is electrically connected to a leg of the low side of the H-bridge circuit (e.g., the fourth leg) and includes nodes A and B. The node A is considered as being electrically connected in series with the H-bridge circuit and the node B is considered as being electrically connected in parallel with the H-bridge circuit and in series with the battery 4004. As known in the art, a current mirror circuit is a circuit designed to copy a current through one active device by controlling the current in another active device of the circuit, keeping the output current constant regardless of loading. When the first and fourth switching devices 4010, 4016 are “closed” and the second and third switching devices 4012, 4014 are “open”, based on a current at the node A, the first current mirror circuit 4006 may be configured to operate to maintain a current at the node B which is equivalent in magnitude to the current at the node A. The current at the node B of the first current mirror circuit 4006 may be sensed/measured by a current sensor 4018. Responsive to the sensed current, the current sensor 4018 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the H-Bridge circuit at node A). The output signal from the current sensor 4018 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4000 when the electric motor 4002 is operating in the first direction. The current sensor 4018 may be considered as part of the control system. According to other embodiments, the first current mirror circuit 4006 may be configured to operate to maintain a current at the node B which correlates to but is not necessarily equivalent in magnitude to the current at the node A. For such embodiments, one or more resistive elements (e.g., resistors) may be included in a “leg” of the first current mirror circuit 4006.
The second current mirror circuit 4008 is electrically connected to a second leg of the low side of the H-bridge circuit (e.g., the third leg) and includes nodes C and D. The node C is considered as being electrically connected in series with the H-bridge circuit and the node D is considered as being electrically connected in parallel with the H-bridge circuit and in series with the battery 4004. When the second and third switching devices 4012, 4014 are “closed” and the first and fourth switching devices 4010, 4016 are “open”, based on a current at the node C, the second current mirror circuit 4008 operates to maintain a current at the node D which is equivalent in magnitude to the current at the node C. The current at the node D of the second current mirror circuit 4008 may be sensed/measured by a current sensor 4020. Responsive to the sensed current, the current sensor 4020 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the H-Bridge circuit at node C). The output signal from the current sensor 4020 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4000 when the electric motor 4002 is operating in the second direction. The current sensor 4020 may be considered as part of the control system. According to other embodiments, the second current mirror circuit 4008 may be configured to operate to maintain a current at the node D which correlates to but is not necessarily equivalent in magnitude to the current at the node C. For such embodiments, one or more resistive elements (e.g., resistors) may be included in a “leg” of the first current mirror circuit 4008.
The first and second current mirror circuit 4006, 4008 may be the same or different, and may embodied as any suitable type of current mirror circuits. For example, as described in more detail hereinbelow, according to various embodiments, the first current mirror circuit 4006 may be embodied as a three-transistor Wilson current mirror, a four-transistor Wilson current mirror, etc. and the second current mirror circuit 4008 may be embodied as a three-transistor Wilson current mirror, a four-transistor Wilson current mirror, etc. For purposes of simplicity, each current mirror circuit described hereafter will be described in the context of being a Wilson current mirror. However, it will be appreciated that the first and second current mirror circuits 4006, 4008, and any current mirror circuits described hereinafter may be embodied as any suitable type of current mirror circuit.
Although the surgical stapler 4000 is shown in
For the second three-transistor Wilson current mirror 4008, based on a current at the node C, the second three-transistor Wilson current mirror 4008 operates to maintain a current at the node D which is equivalent in magnitude to the current at the node C. The current at the node D of the second three-transistor Wilson current mirror 4008 may be sensed/measured by the current sensor 4020. Responsive to the sensed current, the current sensor 4020 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the H-Bridge circuit at node C). The output signal from the current sensor 4020 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4000 when the electric motor 4002 is operating in the second direction. According to other embodiments, the second three-transistor Wilson current mirror 4008 may be configured to operate to maintain a current at the node D which correlates to but is not necessarily equivalent in magnitude to the current at the node C. For such embodiments, one or more resistive elements (not shown) may be included in a “leg” of the second three-transistor Wilson current mirror 4008.
Although the surgical stapler 4000 is shown in
For the second four-transistor Wilson current mirror 4008a, based on a current at the node C, the second four-transistor Wilson current mirror 4008a operates to maintain a current at the node D which is equivalent in magnitude to the current at the node C. The current at the node D of the second four-transistor Wilson current mirror 4008a may be sensed/measured by the current sensor 4020. Responsive to the sensed current, the current sensor 4020 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the H-Bridge circuit at node C). The output signal from the current sensor 4020 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4000 when the electric motor 4002 is operating in the second direction. According to other embodiments, the second four-transistor Wilson current mirror 4008a may be configured to operate to maintain a current at the node D which correlates to but is not necessarily equivalent in magnitude to the current at the node C. For such embodiments, one or more resistive elements (not shown) may be included in a “leg” of the second four-transistor Wilson current mirror 4008a.
Although the surgical stapler 4000 is shown in
For embodiments of the surgical stapler 4000 which includes two current mirror circuits (each on the downstream side of the H-bridge circuit), the two current mirror circuits can be the same or different. Thus, although
The first current mirror circuit 4106 is electrically connected to a leg of the low side of the H-bridge circuit (e.g., the fourth leg) between the electric motor 4002 and the fourth switching device 4016, and is also electrically connected to a battery 4122. The battery 4122 may be representative of the battery 4004 or may be in addition to the battery 4004. The first current mirror circuit 4106 includes nodes A and B. The node A is considered as being electrically connected in series with the electric motor 4002 and the fourth switching device 4016 and the node B is considered as being external to the H-bridge circuit. When the first and fourth switching devices 4010, 4016 are “closed” and the second and third switching devices 4012, 4014 are “open”, current flows from the positive terminal of the battery 4004, through the first switching device 4010, through the electric motor 4002, through a leg of the first current mirror circuit 4106, through the fourth switching device 4016 and back to the negative terminal of the battery 4004. Based on the current at the node A, the first current mirror circuit 4106 operates to maintain a current at the node B which is equivalent in magnitude to the current at the node A. The current at the node B of the first current mirror circuit 4106 may be sensed/measured by the current sensor 4018. Responsive to the sensed current, the current sensor 4018 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the electric motor 4002 at node A). The output signal from the current sensor 4018 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4100 when the electric motor 4002 is operating in the first direction. According to other embodiments, the first current mirror circuit 4106 may be configured to operate to maintain a current at the node B which correlates to but is not necessarily equivalent in magnitude to the current at the node A. For such embodiments, one or more resistive elements (e.g., resistors) may be included in a “leg” of the first current mirror circuit 4106.
The second current mirror circuit 4108 is electrically connected to a leg of the low side of the H-bridge circuit (e.g., the third leg) between the electric motor 4002 and the third switching device 4014, and is also electrically connected to a battery 4124. The second current mirror circuit 4108 includes nodes C and D. The node C is considered as being electrically connected in series with the electric motor 4002 and the third switching device 4014 and the node D is considered as being external to the H-bridge circuit. When the second and third switching devices 4012, 4014 are “closed” and the first and fourth switching devices 4010, 4016 are “open”, current flows from the positive terminal of the battery 4004, through the second switching device 4012, through the electric motor 4002, through a leg of the second current mirror circuit 4108, through the third switching device 4014 and back to the negative terminal of the battery 4004. Based on the current at the node C, the second current mirror circuit 4108 operates to maintain a current at the node D which is equivalent in magnitude to the current at the node C. The current at the node D of the second current mirror circuit 4108 may be sensed/measured by the current sensor 4020. Responsive to the sensed current, the current sensor 4020 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the electric motor 4002 at node C). The output signal from the current sensor 4020 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4100 when the electric motor 4002 is operating in the second direction. According to other embodiments, the second current mirror circuit 4108 may be configured to operate to maintain a current at the node D which correlates to but is not necessarily equivalent in magnitude to the current at the node C. For such embodiments, one or more resistive elements (e.g., resistors) may be included in a “leg” of the second current mirror circuit 4108.
The first and second current mirror circuits 4106, 4108 of the mirror bridge circuit may be the same or different, and may embodied as any suitable type of current mirror circuits. For example, as described in more detail hereinbelow with respect to
The second four-transistor current mirror 4108 is electrically connected to a leg of the low side of the H-bridge circuit (e.g., the third leg) between the electric motor 4002 and the third switching device 4014, and is also electrically connected to the battery 4124. The second four-transistor current mirror 4108 includes nodes C and D. The node C is considered as being electrically connected in series with the electric motor 4002 and the third switching device 4014 and the node D is considered as being external to the H-bridge circuit. When the second and third switching devices 4012, 4014 are “closed” and the first and fourth switching devices 4010, 4016 are “open”, current flows from the positive terminal of the battery 4004, through the second switching device 4012, through the electric motor 4002, through a leg of the second four-transistor current mirror 4108, through the third switching device 4014 and back to the negative terminal of the battery 4004. Based on the current at the node C, the second four-transistor current mirror 4108 operates to maintain a current at the node D which is equivalent in magnitude to the current at the node C. The current at the node D of the second four-transistor current mirror 4108 may be sensed/measured by the current sensor 4020. Responsive to the sensed current, the current sensor 4020 may output a signal which is indicative of the magnitude of the sensed current (and also indicative of the current downstream of the electric motor 4002 at node C). The output signal from the current sensor 4020 may be input to the main processor 2006 to control the electric motor 4002, and by extension, to control a force applied to the drive system of the surgical stapler 4100 when the electric motor 4002 is operating in the second direction. According to other embodiments, the second four-transistor Wilson current mirror 4108 may be configured to operate to maintain a current at the node D which correlates to but is not necessarily equivalent in magnitude to the current at the node C. For such embodiments, one or more resistive elements (not shown) may be included in a “leg” of the second four-transistor Wilson current mirror 4108.
Example 1—A surgical stapler is provided. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, a battery electrically couplable to the electric motor, and a control system electrically connected to the electric motor. The control system comprises an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices. The control system further comprises an electrically resistive element electrically connected in parallel with one of the switching devices. The control system is configured to control a force applied to the drive system based on a current measured downstream of the electrically resistive element.
Example 2—The surgical stapler of Example 1, wherein, one, the low side of the H-bridge circuit comprises first and second legs and, two, the electrically resistive element is electrically connected to one of the first and second legs of the H-bridge circuit.
Example 3—The surgical stapler of Examples 1 or 2, wherein the plurality of switching devices comprises first and second switching devices.
Example 4—The surgical stapler of Examples 1, 2, or 3, wherein the control system further comprises a current sensor configured to measure the current.
Example 5—The surgical stapler of Examples 1, 2, 3, or 4, wherein the control system further comprises a second electrically resistive element electrically connected in parallel with another one of the switching devices.
Example 6—The surgical stapler of Example 5, wherein the plurality of switching devices comprises first and second switching devices, the electrically resistive element is connected in parallel with the first switching device, and the second electrically resistive element is connected in parallel with the second switching device.
Example 7—The surgical stapler of Examples 5 or 6, wherein the control system is further configured to control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element.
Example 8—The surgical stapler of Example 7, wherein the control system further comprises a current sensor configured to measure the second current.
Example 9—The surgical stapler of Example 7, wherein the control system further comprises a first current sensor configured to measure the current and a second current sensor configured to measure the second current.
Example 10—A surgical stapler is provided. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, and a battery electrically couplable to the electric motor. The surgical stapler further comprises a control system electrically connected to the electric motor. The control system comprises an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices. The control system further comprises a first electrically resistive element electrically connected in parallel with one of the switching devices, and a second electrically resistive element connected in parallel with another one of the switching devices. The control system is configured to, one, control a first force applied to the drive system based on a first current measured downstream of the first electrically resistive element and, two, control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element.
Example 11—The surgical stapler of Example 10, wherein the low side of the H-bridge circuit comprises first and second legs, the first electrically resistive element is electrically connected to the first leg of the H-bridge circuit, and the second electrically resistive element is electrically connected to the second leg of the H-bridge circuit.
Example 12—The surgical stapler of Examples 10 or 11, wherein the plurality of switching devices comprises first and second switching devices.
Example 13—The surgical stapler of Example 12, wherein, one, the first electrically resistive element is electrically connected in parallel with the first switching device and, two, the second electrically resistive element is electrically connected in parallel with the second switching devices.
Example 14—The surgical stapler of Examples 10, 11, 12, or 13, wherein the control system further comprises a first current sensor configured to measure the first current and a second current sensor configured to measure the second current.
Example 15—A surgical stapler is provided. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, a battery electrically couplable to the electric motor, and a control system electrically connected to the electric motor. The control system comprises an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices. The control system further comprises an electrically resistive element electrically connected in parallel with one of the switching devices. The control system is configured to control a force applied to the drive system based on a current flowing through the electrically resistive element.
Example 16—The surgical stapler of Example 15, wherein the control system further comprises a second electrically resistive element electrically connected in parallel with another one of the switching devices, and wherein the control system is further configured to control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element.
Example 17—A surgical stapler is provided. The surgical stapler comprises a drive system, an electric motor mechanically coupled to the drive system, and a battery electrically couplable to the electric motor. The surgical stapler further comprises a control system electrically connected to the electric motor. The control system comprises, one an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises a plurality of switching devices and, two, an electrically resistive element electrically connected across the plurality of switching devices. The control system is configured to control a force applied to the drive system based on a current measured downstream of the electrically resistive element.
Example 18—The surgical stapler of Example 17, wherein the low side of the H-bridge circuit comprises first and second legs and the electrically resistive element is electrically connected across the first and second legs of the H-bridge circuit.
Example 19—The surgical stapler of Examples 17 or 18, wherein the plurality of switching devices comprises first and second switching devices.
Example 20—The surgical stapler of Examples 17, 18, or 19, wherein the control system further comprises a current sensor configured to measure the current.
The entire disclosures of:
U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which issued on Apr. 4, 1995;
U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21, 2006;
U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on Sep. 9, 2008;
U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec. 16, 2008;
U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;
U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which issued on Jul. 13, 2010;
U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;
U.S. patent application Ser. No. 11/343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No. 7,845,537;
U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;
U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, now U.S. Pat. No. 7,980,443;
U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;
U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;
U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009; now U.S. Pat. No. 8,220,688;
U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;
U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;
U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535;
U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012; now U.S. Pat. No. 9,101,358;
U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Patent Application Publication No. 2014/0263551;
U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Patent Application Publication No. 2014/0263552;
U.S. Patent Application Publication No. 2007/0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed Jan. 31, 2006; and
U.S. Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by reference herein.
Although the various embodiments of the devices have been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations.
The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
By way of example only, aspects described herein may be processed before surgery. First, a new or used instrument may be obtained and when necessary cleaned. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK (commercially available from E. I. du Pont de Nemours and Company) bag. The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until it is opened in a medical facility. A device also may be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, plasma peroxide, or steam.
While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.
Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.
This application is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 16/731,281, entitled SURGICAL STAPLER HAVING DOWNSTREAM CURRENT-BASED MOTOR CONTROL, filed Dec. 31, 2019, which issued May 31, 2022 as U.S. Pat. No. 11,344,299, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 16/164,303, entitled SURGICAL STAPLER HAVING DOWNSTREAM CURRENT-BASED MOTOR CONTROL, filed Oct. 18, 2018, which issued Dec. 15, 2020 as U.S. Pat. No. 10,863,986, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/862,415, entitled SURGICAL STAPLER HAVING DOWNSTREAM CURRENT-BASED MOTOR CONTROL, filed Sep. 23, 2015, which issued Oct. 23, 2018 as U.S. Pat. No. 10,105,139, the entire disclosures of which are hereby incorporated by reference herein.
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| Number | Date | Country | |
|---|---|---|---|
| 20220167979 A1 | Jun 2022 | US |
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| Parent | 16731281 | Dec 2019 | US |
| Child | 17547670 | US | |
| Parent | 16164303 | Oct 2018 | US |
| Child | 16731281 | US | |
| Parent | 14862415 | Sep 2015 | US |
| Child | 16164303 | US |
