U.S. patent application number 14/226116 was filed with the patent office on 2015-10-01 for surgical instrument utilizing sensor adaptation.
This patent application is currently assigned to Ethicon Endo-Surgery, Inc.. The applicant listed for this patent is Ethicon Endo-Surgery, Inc.. Invention is credited to Shane R. Adams, Kevin L. Houser, Richard L. Leimbach, Thomas W. Lytle, IV, Mark D. Overmyer, Frederick E. Shelton, IV, Brett E. Swensgard.
Application Number | 20150272571 14/226116 |
Document ID | / |
Family ID | 52727452 |
Filed Date | 2015-10-01 |
United States Patent
Application |
20150272571 |
Kind Code |
A1 |
Leimbach; Richard L. ; et
al. |
October 1, 2015 |
SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION
Abstract
A surgical instrument can comprise a handle, a movable input,
and an analog sensor configured to detect the position of the
movable input, wherein the analog sensor is configured to produce
an analog signal comprising analog data. The surgical instrument
can further comprise a microcontroller comprising an input channel,
wherein the analog sensor is in signal communication with the input
channel, wherein the microcontroller is configured to compare the
analog data to a reference value, and wherein the microcontroller
is configured to produce a digital signal in response to the
comparison.
Inventors: |
Leimbach; Richard L.;
(Cincinnati, OH) ; Adams; Shane R.; (Lebanon,
OH) ; Overmyer; Mark D.; (Cincinnati, OH) ;
Swensgard; Brett E.; (West Chester, OH) ; Lytle, IV;
Thomas W.; (Liberty Township, OH) ; Shelton, IV;
Frederick E.; (Hillsboro, OH) ; Houser; Kevin L.;
(Springboro, OH) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ethicon Endo-Surgery, Inc. |
Cincinnati |
OH |
US |
|
|
Assignee: |
Ethicon Endo-Surgery, Inc.
Cincinnati
OH
|
Family ID: |
52727452 |
Appl. No.: |
14/226116 |
Filed: |
March 26, 2014 |
Current U.S.
Class: |
227/175.1 |
Current CPC
Class: |
A61B 2017/00039
20130101; A61B 2017/00477 20130101; A61B 2017/2929 20130101; A61B
2017/2927 20130101; A61B 2090/0811 20160201; A61B 2090/0808
20160201; A61B 2017/00367 20130101; A61B 2017/0046 20130101; A61B
2017/00734 20130101; A61B 2017/00017 20130101; A61B 2017/00398
20130101; A61B 17/068 20130101; A61B 17/07207 20130101 |
International
Class: |
A61B 17/068 20060101
A61B017/068; A61B 17/072 20060101 A61B017/072 |
Claims
1. A surgical instrument, comprising: a handle; a movable input; an
analog sensor configured to detect the position of said movable
input, wherein said analog sensor is configured to produce an
analog signal comprising analog data; and a microcontroller
comprising an input channel, wherein said analog sensor is in
signal communication with said input channel, wherein said
microcontroller is configured to compare said analog data to a
reference value, and wherein said microcontroller is configured to
produce a digital signal in response to said comparison.
2. The surgical instrument of claim 1, wherein said microcontroller
is configured to sample said analog data, and wherein said
microcontroller is configured to generate a digital bit for each
sample of said analog data.
3. The surgical instrument of claim 2, wherein said microcontroller
is configured to generate an on bit if a sample is above said
reference value, and wherein said microcontroller is configured to
generate an off bit if a sample is below said reference value.
4. The surgical instrument of claim 2, wherein said reference value
comprises a first reference value, and wherein said microcontroller
is configured to compare said analog data to a second reference
value.
5. The surgical instrument of claim 4, wherein said microcontroller
is configured to generate an on bit if a sample is between said
first reference value and said second reference value, wherein said
microcontroller is configured to generate an off bit if a sample is
below said first reference value, and wherein said microcontroller
can be configured to generate a fault condition if a sample is
above said second reference value.
6. The surgical instrument of claim 4, wherein said microcontroller
is configured to generate an on bit if a sample is between said
first reference value and said second reference value, wherein said
microcontroller is configured to generate an off bit if a sample is
above said first reference value, and wherein said microcontroller
can be configured to generate a fault condition if a sample is
below said second reference value.
7. The surgical instrument of claim 1, wherein said microcontroller
is configured to sample said analog data, wherein said
microcontroller comprises an output channel, wherein said
microcontroller is configured to communicate said digital signal to
said output channel, wherein said reference value comprises a first
reference value, wherein said microcontroller is configured to
compare said analog data to a second reference value, wherein said
microcontroller is configured to change said digital signal if a
sample is below said first reference value or above said second
reference value, and wherein said microcontroller is configured to
not change said digital signal if a sample is between said first
reference value and said second reference value.
8. The surgical instrument of claim 1, wherein said microcontroller
is configured to sample said analog data, wherein said
microcontroller comprises an output channel, wherein said
microcontroller is configured to communicate said digital signal to
said output channel, wherein said reference value comprises a first
reference value, wherein said microcontroller is configured to
compare said analog data to a second reference value, wherein said
microcontroller is configured to supply an off bit to said output
channel if a sample is less than said first reference value,
wherein said microcontroller is configured to supply an on bit to
said output channel if a sample is greater than said second
reference value, and wherein said microcontroller is configured to
not change said digital signal if a sample is between said first
reference value and said second reference value.
9. The surgical instrument of claim 1, wherein said analog sensor
comprises a Hall effect sensor, wherein said movable input
comprises a magnetic element, and wherein the movement of said
magnetic element is detectable by said Hall effect sensor.
10. The surgical instrument of claim 1, wherein said analog sensor
is selected from the group consisting of a Hall effect sensor, a
magnetoresistive sensor, and an optical sensor.
11. The surgical instrument of claim 1, further comprising a shaft
assembly attachable to said handle, wherein said shaft assembly
comprises a movable jaw, and wherein said movable input comprises a
closure trigger configured to move said movable jaw.
12. The surgical instrument of claim 1, wherein said
microcontroller is configured to adjust said reference value.
13. The surgical instrument of claim 1, wherein said surgical
instrument further comprises a memory device, and wherein said
reference value is stored in said memory device.
14. The surgical instrument of claim 1, wherein said
microcontroller is operated by an algorithm, and wherein said
reference value is stored in said algorithm.
15. The surgical instrument of claim 1, further comprising a staple
cartridge.
16. A surgical instrument assembly, comprising: a movable portion;
an analog sensor configured to detect the position of said movable
portion, wherein said analog sensor is configured to produce an
analog signal comprising analog data; a processor comprising an
input channel, wherein said analog sensor is in signal
communication with said input channel, wherein said processor is
configured to compare said analog data to a reference value, and
wherein said processor is configured to generate a digital signal
in response to said comparison.
17. The surgical instrument assembly of claim 16, wherein said
microcontroller is configured to sample said analog data, wherein
said processor comprises an output channel, wherein said processor
is configured to communicate said digital signal to said output
channel, wherein said reference value comprises a first reference
value, wherein said processor is configured to compare said analog
data to a second reference value, wherein said processor is
configured to change said digital signal if a sample is below said
first reference value or above said second reference value, and
wherein said processor is configured to not change said digital
signal if a sample is between said first reference value and said
second reference value.
18. A surgical instrument, comprising: a handle comprising a
trigger, wherein the actuation of said trigger is configured to
produce a surgical instrument function, and wherein said trigger
comprises a magnetic element; an analog sensor configured to track
the position of said magnetic element, wherein said analog sensor
is configured to produce an analog signal comprising analog data; a
controller, wherein said analog sensor is in signal communication
with said controller, wherein said controller is configured to
compare said analog data to a reference value, and wherein said
controller is configured to produce a digital signal in response to
said comparison.
19. The surgical instrument of claim 18, wherein said controller is
configured to sample said analog data, wherein said controller
comprises an output channel, wherein said controller is configured
to communicate said digital signal to said output channel, wherein
said reference value comprises a first reference value, wherein
said controller is configured to compare said analog data to a
second reference value, wherein said controller is configured to
change said digital signal if a sample is below said first
reference value or above said second reference value, and wherein
said controller is configured to not change said digital signal if
a sample is between said first reference value and said second
reference value.
Description
BACKGROUND
[0001] The present invention relates to surgical instruments and,
in various circumstances, to surgical stapling and cutting
instruments and staple cartridges therefor that are designed to
staple and cut tissue.
BRIEF DESCRIPTION OF THE DRAWINGS
[0002] The features and advantages of this invention, and the
manner of attaining them, will become more apparent and the
invention itself will be better understood by reference to the
following description of embodiments of the invention taken in
conjunction with the accompanying drawings, wherein:
[0003] FIG. 1 is a perspective view of a surgical instrument that
has an interchangeable shaft assembly operably coupled thereto;
[0004] FIG. 2 is an exploded assembly view of the interchangeable
shaft assembly and surgical instrument of FIG. 1;
[0005] FIG. 3 is another exploded assembly view showing portions of
the interchangeable shaft assembly and surgical instrument of FIGS.
1 and 2;
[0006] FIG. 4 is an exploded assembly view of a portion of the
surgical instrument of FIGS. 1-3;
[0007] FIG. 5 is a cross-sectional side view of a portion of the
surgical instrument of FIG. 4 with the firing trigger in a fully
actuated position;
[0008] FIG. 6 is another cross-sectional view of a portion of the
surgical instrument of FIG. 5 with the firing trigger in an
unactuated position;
[0009] FIG. 7 is an exploded assembly view of one form of an
interchangeable shaft assembly;
[0010] FIG. 8 is another exploded assembly view of portions of the
interchangeable shaft assembly of FIG. 7;
[0011] FIG. 9 is another exploded assembly view of portions of the
interchangeable shaft assembly of FIGS. 7 and 8;
[0012] FIG. 10 is a cross-sectional view of a portion of the
interchangeable shaft assembly of FIGS. 7-9;
[0013] FIG. 11 is a perspective view of a portion of the shaft
assembly of FIGS. 7-10 with the switch drum omitted for
clarity;
[0014] FIG. 12 is another perspective view of the portion of the
interchangeable shaft assembly of FIG. 11 with the switch drum
mounted thereon;
[0015] FIG. 13 is a perspective view of a portion of the
interchangeable shaft assembly of FIG. 11 operably coupled to a
portion of the surgical instrument of FIG. 1 illustrated with the
closure trigger thereof in an unactuated position;
[0016] FIG. 14 is a right side elevational view of the
interchangeable shaft assembly and surgical instrument of FIG.
13;
[0017] FIG. 15 is a left side elevational view of the
interchangeable shaft assembly and surgical instrument of FIGS. 13
and 14;
[0018] FIG. 16 is a perspective view of a portion of the
interchangeable shaft assembly of FIG. 11 operably coupled to a
portion of the surgical instrument of FIG. 1 illustrated with the
closure trigger thereof in an actuated position and a firing
trigger thereof in an unactuated position;
[0019] FIG. 17 is a right side elevational view of the
interchangeable shaft assembly and surgical instrument of FIG.
16;
[0020] FIG. 18 is a left side elevational view of the
interchangeable shaft assembly and surgical instrument of FIGS. 16
and 17;
[0021] FIG. 18A is a right side elevational view of the
interchangeable shaft assembly of FIG. 11 operably coupled to a
portion of the surgical instrument of FIG. 1 illustrated with the
closure trigger thereof in an actuated position and the firing
trigger thereof in an actuated position;
[0022] FIG. 19A is a first portion of a schematic for controlling a
surgical instrument;
[0023] FIG. 19B is a second portion of the schematic of FIG.
19A;
[0024] FIG. 20 is a schematic of a switch circuit for use with a
surgical instrument;
[0025] FIG. 21 is another schematic of a switch circuit for use
with a surgical instrument;
[0026] FIG. 22A is a first portion of a schematic for controlling a
surgical instrument utilizing the switch circuit of FIG. 21;
and
[0027] FIG. 22B is a second portion of the schematic of FIG.
22A.
DETAILED DESCRIPTION
[0028] 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:
[0029] U.S. patent application Ser. No. 13/782,295, entitled
ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR
SIGNAL COMMUNICATION;
[0030] U.S. patent application Ser. No. 13/782,323, entitled ROTARY
POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS;
[0031] U.S. patent application Ser. No. 13/782,338, entitled
THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS;
[0032] U.S. patent application Ser. No. 13/782,499, entitled
ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY
ARRANGEMENT;
[0033] U.S. patent application Ser. No. 13/782,460, entitled
MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL
INSTRUMENTS;
[0034] U.S. patent application Ser. No. 13/782,358, entitled
JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS;
[0035] U.S. patent application Ser. No. 13/782,481, entitled SENSOR
STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR;
[0036] U.S. patent application Ser. No. 13/782,518, entitled
CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT
PORTIONS;
[0037] U.S. patent application Ser. No. 13/782,375, entitled ROTARY
POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM;
and
[0038] U.S. patent application Ser. No. 13/782,536, entitled
SURGICAL INSTRUMENT SOFT STOP are hereby incorporated by reference
in their entireties.
[0039] 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:
[0040] U.S. patent application Ser. No. 13/803,097, entitled
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE;
[0041] U.S. patent application Ser. No. 13/803,193, entitled
CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL
INSTRUMENT;
[0042] U.S. patent application Ser. No. 13/803,053, entitled
INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL
INSTRUMENT;
[0043] U.S. patent application Ser. No. 13/803,086, entitled
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION
LOCK;
[0044] U.S. patent application Ser. No. 13/803,210, entitled SENSOR
ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL
INSTRUMENTS;
[0045] U.S. patent application Ser. No. 13/803,148, entitled
MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT;
[0046] U.S. patent application Ser. No. 13/803,066, entitled DRIVE
SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS;
[0047] U.S. patent application Ser. No. 13/803,117, entitled
ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL
INSTRUMENTS;
[0048] U.S. patent application Ser. No. 13/803,130, entitled DRIVE
TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS;
and
[0049] U.S. patent application Ser. No. 13/803,159, entitled METHOD
AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT.
[0050] Applicant of the present application also owns the following
patent applications that were filed on even date herewith and are
each herein incorporated by reference in their respective
entireties:
[0051] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT COMPRISING A SENSOR SYSTEM, Attorney Docket No.
END7386USNP/130458;
[0052] U.S. patent application Ser. No. ______, entitled POWER
MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, Attorney
Docket No. END7387USNP/130459;
[0053] U.S. patent application Ser. No. ______, entitled
STERILIZATION VERIFICATION CIRCUIT, Attorney Docket No.
END7388USNP/130460;
[0054] U.S. patent application Ser. No. ______, entitled
VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT,
Attorney Docket No. END7389USNP/130461;
[0055] U.S. patent application Ser. No. ______, entitled POWER
MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP
CONTROL, Attorney Docket No. END7390USNP/130462;
[0056] U.S. patent application Ser. No. ______, entitled MODULAR
POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,
Attorney Docket No. END7391USNP/130463;
[0057] U.S. patent application Ser. No. ______, entitled FEEDBACK
ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,
Attorney Docket No. END7392USNP/130464;
[0058] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, Attorney
Docket No. END7394USNP/130466;
[0059] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, Attorney Docket No.
END7395USNP/130467;
[0060] U.S. patent application Ser. No. ______, entitled INTERFACE
SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, Attorney Docket No.
END7396USNP/130468;
[0061] U.S. patent application Ser. No. ______, entitled MODULAR
SURGICAL INSTRUMENT SYSTEM, Attorney Docket No.
END7397USNP/130469;
[0062] U.S. patent application Ser. No. ______, entitled SYSTEMS
AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, Attorney Docket
No. END7399USNP/130471;
[0063] U.S. patent application Ser. No. ______, entitled POWER
MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE
PROTECTION, Attorney Docket No. END7400USNP/130472;
[0064] U.S. patent application Ser. No. ______, entitled SURGICAL
STAPLING INSTRUMENT SYSTEM, Attorney Docket No. END7401USNP/130473;
and
[0065] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT COMPRISING A ROTATABLE SHAFT, Attorney Docket No.
END7402USNP/130474.
[0066] Certain exemplary embodiments will now be described to
provide an overall understanding of the principles of the
structure, function, manufacture, and use of the devices and
methods disclosed herein. One or more examples of these embodiments
are illustrated in the accompanying drawings. Those of ordinary
skill in the art will understand that the devices and methods
specifically described herein and illustrated in the accompanying
drawings are non-limiting exemplary embodiments. The features
illustrated or described in connection with one exemplary
embodiment may be combined with the features of other embodiments.
Such modifications and variations are intended to be included
within the scope of the present invention.
[0067] Reference throughout the specification to "various
embodiments," "some embodiments," "one embodiment," or "an
embodiment", or the like, means that a particular feature,
structure, or characteristic described in connection with the
embodiment is included in at least one embodiment. Thus,
appearances of the phrases "in various embodiments," "in some
embodiments," "in one embodiment", or "in an embodiment", or the
like, in places throughout the specification are not necessarily
all referring to the same embodiment. Furthermore, the particular
features, structures, or characteristics may be combined in any
suitable manner in one or more embodiments. Thus, the particular
features, structures, or characteristics illustrated or described
in connection with one embodiment may be combined, in whole or in
part, with the features structures, or characteristics of one or
more other embodiments without limitation. Such modifications and
variations are intended to be included within the scope of the
present invention.
[0068] 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.
[0069] Various exemplary devices and methods are provided for
performing laparoscopic and minimally invasive surgical procedures.
However, the person of ordinary skill in the art 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, those of
ordinary skill in the art 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.
[0070] FIGS. 1-6 depict a motor-driven surgical cutting and
fastening instrument 10 that may or may not be reused. In the
illustrated embodiment, the instrument 10 includes a housing 12
that comprises a handle 14 that is configured to be grasped,
manipulated and actuated by the clinician. The housing 12 is
configured for operable attachment to an interchangeable shaft
assembly 200 that has a surgical end effector 300 operably coupled
thereto that is configured to perform one or more surgical tasks or
procedures. As the present Detailed Description proceeds, it will
be understood that the various unique and novel arrangements of the
various forms of interchangeable shaft assemblies disclosed herein
may also be effectively employed in connection with
robotically-controlled surgical systems. Thus, the term "housing"
may also encompass a housing or similar portion of a robotic system
that houses or otherwise operably supports at least one drive
system that is configured to generate and apply at least one
control motion which could be used to actuate the interchangeable
shaft assemblies disclosed herein and their respective equivalents.
The term "frame" may refer to a portion of a handheld surgical
instrument. The term "frame" may also represent a portion of a
robotically controlled surgical instrument and/or a portion of the
robotic system that may be used to operably control a surgical
instrument. For example, the interchangeable shaft assemblies
disclosed herein may be employed with various robotic systems,
instruments, components and methods disclosed in U.S. patent
application Ser. No. 13/118,241, entitled SURGICAL STAPLING
INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S.
Patent Application Publication No. US 2012/0298719. U.S. patent
application Ser. No. 13/118,241, entitled SURGICAL STAPLING
INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S.
Patent Application Publication No. US 2012/0298719, is incorporated
by reference herein in its entirety.
[0071] The housing 12 depicted in FIGS. 1-3 is shown in connection
with an interchangeable shaft assembly 200 that includes an end
effector 300 that comprises a surgical cutting and fastening device
that is configured to operably support a surgical staple cartridge
304 therein. The housing 12 may be configured for use in connection
with interchangeable shaft assemblies that include end effectors
that are adapted to support different sizes and types of staple
cartridges, have different shaft lengths, sizes, and types, etc. In
addition, the housing 12 may also be effectively employed with a
variety of other interchangeable shaft assemblies including those
assemblies that are configured to apply other motions and forms of
energy such as, for example, radio frequency (RF) energy,
ultrasonic energy and/or motion to end effector arrangements
adapted for use in connection with various surgical applications
and procedures. Furthermore, the end effectors, shaft assemblies,
handles, surgical instruments, and/or surgical instrument systems
can utilize any suitable fastener, or fasteners, to fasten tissue.
For instance, a fastener cartridge comprising a plurality of
fasteners removably stored therein can be removably inserted into
and/or attached to the end effector of a shaft assembly.
[0072] FIG. 1 illustrates the surgical instrument 10 with an
interchangeable shaft assembly 200 operably coupled thereto. FIGS.
2 and 3 illustrate attachment of the interchangeable shaft assembly
200 to the housing 12 or handle 14. As can be seen in FIG. 4, the
handle 14 may comprise a pair of interconnectable handle housing
segments 16 and 18 that may be interconnected by screws, snap
features, adhesive, etc. In the illustrated arrangement, the handle
housing segments 16, 18 cooperate to form a pistol grip portion 19
that can be gripped and manipulated by the clinician. As will be
discussed in further detail below, the handle 14 operably supports
a plurality of drive systems therein that are configured to
generate and apply various control motions to corresponding
portions of the interchangeable shaft assembly that is operably
attached thereto.
[0073] Referring now to FIG. 4, the handle 14 may further include a
frame 20 that operably supports a plurality of drive systems. For
example, the frame 20 can operably support a "first" or closure
drive system, generally designated as 30, which may be employed to
apply closing and opening motions to the interchangeable shaft
assembly 200 that is operably attached or coupled thereto. In at
least one form, the closure drive system 30 may include an actuator
in the form of a closure trigger 32 that is pivotally supported by
the frame 20. More specifically, as illustrated in FIG. 4, the
closure trigger 32 is pivotally coupled to the housing 14 by a pin
33. Such arrangement enables the closure trigger 32 to be
manipulated by a clinician such that when the clinician grips the
pistol grip portion 19 of the handle 14, the closure trigger 32 may
be easily pivoted from a starting or "unactuated" position to an
"actuated" position and more particularly to a fully compressed or
fully actuated position. The closure trigger 32 may be biased into
the unactuated position by spring or other biasing arrangement (not
shown). In various forms, the closure drive system 30 further
includes a closure linkage assembly 34 that is pivotally coupled to
the closure trigger 32. As can be seen in FIG. 4, the closure
linkage assembly 34 may include a first closure link 36 and a
second closure link 38 that are pivotally coupled to the closure
trigger 32 by a pin 35. The second closure link 38 may also be
referred to herein as an "attachment member" and include a
transverse attachment pin 37.
[0074] Still referring to FIG. 4, it can be observed that the first
closure link 36 may have a locking wall or end 39 thereon that is
configured to cooperate with a closure release assembly 60 that is
pivotally coupled to the frame 20. In at least one form, the
closure release assembly 60 may comprise a release button assembly
62 that has a distally protruding locking pawl 64 formed thereon.
The release button assembly 62 may be pivoted in a counterclockwise
direction by a release spring (not shown). As the clinician
depresses the closure trigger 32 from its unactuated position
towards the pistol grip portion 19 of the handle 14, the first
closure link 36 pivots upward to a point wherein the locking pawl
64 drops into retaining engagement with the locking wall 39 on the
first closure link 36 thereby preventing the closure trigger 32
from returning to the unactuated position. See FIG. 18. Thus, the
closure release assembly 60 serves to lock the closure trigger 32
in the fully actuated position. When the clinician desires to
unlock the closure trigger 32 to permit it to be biased to the
unactuated position, the clinician simply pivots the closure
release button assembly 62 such that the locking pawl 64 is moved
out of engagement with the locking wall 39 on the first closure
link 36. When the locking pawl 64 has been moved out of engagement
with the first closure link 36, the closure trigger 32 may pivot
back to the unactuated position. Other closure trigger locking and
release arrangements may also be employed.
[0075] Further to the above, FIGS. 13-15 illustrate the closure
trigger 32 in its unactuated position which is associated with an
open, or unclamped, configuration of the shaft assembly 200 in
which tissue can be positioned between the jaws of the shaft
assembly 200. FIGS. 16-18 illustrate the closure trigger 32 in its
actuated position which is associated with a closed, or clamped,
configuration of the shaft assembly 200 in which tissue is clamped
between the jaws of the shaft assembly 200. Upon comparing FIGS. 14
and 17, the reader will appreciate that, when the closure trigger
32 is moved from its unactuated position (FIG. 14) to its actuated
position (FIG. 17), the closure release button 62 is pivoted
between a first position (FIG. 14) and a second position (FIG. 17).
The rotation of the closure release button 62 can be referred to as
being an upward rotation; however, at least a portion of the
closure release button 62 is being rotated toward the circuit board
100. Referring to FIG. 4, the closure release button 62 can include
an arm 61 extending therefrom and a magnetic element 63, such as a
permanent magnet, for example, mounted to the arm 61. When the
closure release button 62 is rotated from its first position to its
second position, the magnetic element 63 can move toward the
circuit board 100. The circuit board 100 can include at least one
sensor configured to detect the movement of the magnetic element
63. In at least one embodiment, a Hall effect sensor 65, for
example, can be mounted to the bottom surface of the circuit board
100. The Hall effect sensor 65 can be configured to detect changes
in a magnetic field surrounding the Hall effect sensor 65 caused by
the movement of the magnetic element 63. The Hall effect sensor 65
can be in signal communication with a microcontroller 7004 (FIG.
59), for example, which can determine whether the closure release
button 62 is in its first position, which is associated with the
unactuated position of the closure trigger 32 and the open
configuration of the end effector, its second position, which is
associated with the actuated position of the closure trigger 32 and
the closed configuration of the end effector, and/or any position
between the first position and the second position.
[0076] In at least one form, the handle 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 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 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 can be seen in FIG. 4, for example, the
power pack 92 may comprise a proximal housing portion 94 that is
configured for attachment to a distal housing portion 96. The
proximal housing portion 94 and the distal housing portion 96 are
configured to operably support a plurality of batteries 98 therein.
Batteries 98 may each comprise, for example, a Lithium Ion ("LI")
or other suitable battery. The distal housing portion 96 is
configured for removable operable attachment to a control circuit
board assembly 100 which is also operably coupled to the motor 82.
A number of batteries 98 may be connected in series may be used as
the power source for the surgical instrument 10. In addition, the
power source 90 may be replaceable and/or rechargeable.
[0077] 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 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 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.
[0078] Actuation of the motor 82 can be controlled by a firing
trigger 130 that is pivotally supported on the handle 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 FIG. 4. When
the closure trigger 32 is in the unactuated position, the safety
button 134 is contained in the handle 14 where the clinician cannot
readily access it and move it between a safety position preventing
actuation of the firing trigger 130 and a firing position wherein
the firing trigger 130 may be fired. As the clinician depresses the
closure trigger 32, the safety button 134 and the firing trigger
130 pivot down wherein they can then be manipulated by the
clinician.
[0079] As discussed above, the handle 14 can include a closure
trigger 32 and a firing trigger 130. Referring to FIGS. 14-18A, the
firing trigger 130 can be pivotably mounted to the closure trigger
32. The closure trigger 32 can include an arm 31 extending
therefrom and the firing trigger 130 can be pivotably mounted to
the arm 31 about a pivot pin 33. When the closure trigger 32 is
moved from its unactuated position (FIG. 14) to its actuated
position (FIG. 17), the firing trigger 130 can descend downwardly,
as outlined above. After the safety button 134 has been moved to
its firing position, referring primarily to FIG. 18A, the firing
trigger 130 can be depressed to operate the motor of the surgical
instrument firing system. In various instances, the handle 14 can
include a tracking system, such as system 800, for example,
configured to determine the position of the closure trigger 32
and/or the position of the firing trigger 130. With primary
reference to FIGS. 14, 17, and 18A, the tracking system 800 can
include a magnetic element, such as permanent magnet 802, for
example, which is mounted to an arm 801 extending from the firing
trigger 130. The tracking system 800 can comprise one or more
sensors, such as a first Hall effect sensor 803 and a second Hall
effect sensor 804, for example, which can be configured to track
the position of the magnet 802. Upon comparing FIGS. 14 and 17, the
reader will appreciate that, when the closure trigger 32 is moved
from its unactuated position to its actuated position, the magnet
802 can move between a first position adjacent the first Hall
effect sensor 803 and a second position adjacent the second Hall
effect sensor 804. Upon comparing FIGS. 17 and 18A, the reader will
further appreciate that, when the firing trigger 130 is moved from
an unfired position (FIG. 17) to a fired position (FIG. 18A), the
magnet 802 can move relative to the second Hall effect sensor 804.
The sensors 803 and 804 can track the movement of the magnet 802
and can be in signal communication with a microcontroller on the
circuit board 100. With data from the first sensor 803 and/or the
second sensor 804, the microcontroller can determine the position
of the magnet 802 along a predefined path and, based on that
position, the microcontroller can determine whether the closure
trigger 32 is in its unactuated position, its actuated position, or
a position therebetween. Similarly, with data from the first sensor
803 and/or the second sensor 804, the microcontroller can determine
the position of the magnet 802 along a predefined path and, based
on that position, the microcontroller can determine whether the
firing trigger 130 is in its unfired position, its fully fired
position, or a position therebetween.
[0080] 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. US 2010/0089970 discloses bailout arrangements and
other components, arrangements and systems that may also 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, now
U.S. Patent Application Publication No. 2010/0089970, is hereby
incorporated by reference in its entirety.
[0081] Turning now to FIGS. 1 and 7, the interchangeable shaft
assembly 200 includes a surgical end effector 300 that comprises an
elongated channel 302 that is configured to operably support a
staple cartridge 304 therein. The end effector 300 may further
include an anvil 306 that is pivotally supported relative to the
elongated channel 302. The interchangeable shaft assembly 200 may
further include an articulation joint 270 and an articulation lock
350 (FIG. 8) which can be configured to releasably hold the end
effector 300 in a desired position relative to a shaft axis SA-SA.
Details regarding the construction and operation of the end
effector 300, the articulation joint 270 and the articulation lock
350 are set forth in U.S. patent application Ser. No. 13/803,086,
filed Mar. 14, 2013, entitled ARTICULATABLE SURGICAL INSTRUMENT
COMPRISING AN ARTICULATION LOCK. The entire disclosure of U.S.
patent application Ser. No. 13/803,086, filed Mar. 14, 2013,
entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN
ARTICULATION LOCK is hereby incorporated by reference herein. As
can be seen in FIGS. 7 and 8, the interchangeable shaft assembly
200 can further include a proximal housing or nozzle 201 comprised
of nozzle portions 202 and 203. The interchangeable shaft assembly
200 can further include a closure tube 260 which can be utilized to
close and/or open the anvil 306 of the end effector 300. Primarily
referring now to FIGS. 8 and 9, the shaft assembly 200 can include
a spine 210 which can be configured to fixably support a shaft
frame portion 212 of the articulation lock 350. See FIG. 8. The
spine 210 can be configured to, one, slidably support a firing
member 220 therein and, two, slidably support the closure tube 260
which extends around the spine 210. The spine 210 can also be
configured to slidably support a proximal articulation driver 230.
The articulation driver 230 has a distal end 231 that is configured
to operably engage the articulation lock 350. The articulation lock
350 interfaces with an articulation frame 352 that is adapted to
operably engage a drive pin (not shown) on the end effector frame
(not shown). As indicated above, further details regarding the
operation of the articulation lock 350 and the articulation frame
may be found in U.S. patent application Ser. No. 13/803,086. In
various circumstances, the spine 210 can comprise a proximal end
211 which is rotatably supported in a chassis 240. In one
arrangement, for example, the proximal end 211 of the spine 210 has
a thread 214 formed thereon for threaded attachment to a spine
bearing 216 configured to be supported within the chassis 240. See
FIG. 7. Such an arrangement facilitates rotatable attachment of the
spine 210 to the chassis 240 such that the spine 210 may be
selectively rotated about a shaft axis SA-SA relative to the
chassis 240.
[0082] Referring primarily to FIG. 7, the interchangeable shaft
assembly 200 includes a closure shuttle 250 that is slidably
supported within the chassis 240 such that it may be axially moved
relative thereto. As can be seen in FIGS. 3 and 7, the closure
shuttle 250 includes a pair of proximally-protruding hooks 252 that
are configured for attachment to the attachment pin 37 that is
attached to the second closure link 38 as will be discussed in
further detail below. A proximal end 261 of the closure tube 260 is
coupled to the closure shuttle 250 for relative rotation thereto.
For example, a U shaped connector 263 is inserted into an annular
slot 262 in the proximal end 261 of the closure tube 260 and is
retained within vertical slots 253 in the closure shuttle 250. See
FIG. 7. Such an arrangement serves to attach the closure tube 260
to the closure shuttle 250 for axial travel therewith while
enabling the closure tube 260 to rotate relative to the closure
shuttle 250 about the shaft axis SA-SA. A closure spring 268 is
journaled on the closure tube 260 and serves to bias the closure
tube 260 in the proximal direction "PD" which can serve to pivot
the closure trigger into the unactuated position when the shaft
assembly is operably coupled to the handle 14.
[0083] 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 can be seen in FIG. 7, for example, the
articulation joint 270 includes a double pivot closure sleeve
assembly 271. According to various forms, the double pivot closure
sleeve assembly 271 includes an end effector closure sleeve
assembly 272 having upper and lower distally projecting tangs 273,
274. An end effector closure sleeve assembly 272 includes a
horseshoe aperture 275 and a tab 276 for engaging an opening tab on
the anvil 306 in the various manners described in U.S. patent
application Ser. No. 13/803,086, filed Mar. 14, 2013, entitled
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK
which has been incorporated by reference herein. As described in
further detail therein, the horseshoe aperture 275 and tab 276
engage a tab on the anvil when the anvil 306 is opened. An upper
double pivot link 277 includes upwardly projecting distal and
proximal pivot pins that engage respectively an upper distal pin
hole in the upper proximally projecting tang 273 and an upper
proximal pin hole in an upper distally projecting tang 264 on the
closure tube 260. A lower double pivot link 278 includes upwardly
projecting distal and proximal pivot pins that engage respectively
a lower distal pin hole in the lower proximally projecting tang 274
and a lower proximal pin hole in the lower distally projecting tang
265. See also FIG. 8.
[0084] 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. 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.
[0085] 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 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 may also be articulated relative to the
closure tube 260 by an articulation driver 230.
[0086] 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 may also be referred to herein as a
"second shaft" and/or a "second shaft assembly". As can be seen in
FIGS. 8 and 9, the intermediate firing shaft portion 222 may
include a longitudinal slot 223 in the distal end thereof which can
be configured to receive a tab 284 on the proximal end 282 of the
distal knife bar 280. The longitudinal slot 223 and the proximal
end 282 can be sized and configured to permit relative movement
therebetween and can comprise a slip joint 286. The slip joint 286
can permit the intermediate firing shaft portion 222 of the firing
drive 220 to be moved to articulate the end effector 300 without
moving, or at least substantially moving, the knife bar 280. Once
the end effector 300 has been suitably oriented, the intermediate
firing shaft portion 222 can be advanced distally until a proximal
sidewall of the longitudinal slot 223 comes into contact with the
tab 284 in order to advance the knife bar 280 and fire the staple
cartridge positioned within the channel 302 As can be further seen
in FIGS. 8 and 9, the shaft spine 210 has an elongate opening or
window 213 therein to facilitate assembly and insertion of the
intermediate firing shaft portion 222 into the shaft frame 210.
Once the intermediate firing shaft portion 222 has been inserted
therein, a top frame segment 215 may be engaged with the shaft
frame 212 to enclose the intermediate firing shaft portion 222 and
knife bar 280 therein. Further description of the operation of the
firing member 220 may be found in U.S. patent application Ser. No.
13/803,086.
[0087] 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.
[0088] Referring primarily to FIG. 9, the lock sleeve 402 can
comprise a cylindrical, or an at least substantially cylindrical,
body including a longitudinal aperture 403 defined therein
configured to receive the firing member 220. The lock sleeve 402
can comprise diametrically-opposed, inwardly-facing lock
protrusions 404 and an outwardly-facing lock member 406. The lock
protrusions 404 can be configured to be selectively engaged with
the firing member 220. More particularly, when the lock sleeve 402
is in its engaged position, the lock protrusions 404 are positioned
within a drive notch 224 defined in the firing member 220 such that
a distal pushing force and/or a proximal pulling force can be
transmitted from the firing member 220 to the lock sleeve 402. When
the lock sleeve 402 is in its engaged position, the second lock
member 406 is received within a drive notch 232 defined in the
articulation driver 230 such that the distal pushing force and/or
the proximal pulling force applied to the lock sleeve 402 can be
transmitted to the articulation driver 230. In effect, the firing
member 220, the lock sleeve 402, and the articulation driver 230
will move together when the lock sleeve 402 is in its engaged
position. On the other hand, when the lock sleeve 402 is in its
disengaged position, the lock protrusions 404 may not be positioned
within the drive notch 224 of the firing member 220 and, as a
result, a distal pushing force and/or a proximal pulling force may
not be transmitted from the firing member 220 to the lock sleeve
402. Correspondingly, the distal pushing force and/or the proximal
pulling force may not be transmitted to the articulation driver
230. In such circumstances, the firing member 220 can be slid
proximally and/or distally relative to the lock sleeve 402 and the
proximal articulation driver 230.
[0089] As can be seen in FIGS. 8-12, the shaft assembly 200 further
includes a switch drum 500 that is rotatably received on the
closure tube 260. The switch drum 500 comprises a hollow shaft
segment 502 that has a shaft boss 504 formed thereon for receive an
outwardly protruding actuation pin 410 therein. In various
circumstances, the actuation pin 410 extends through a slot 267
into a longitudinal slot 408 provided in the lock sleeve 402 to
facilitate axial movement of the lock sleeve 402 when it is engaged
with the articulation driver 230. A rotary torsion spring 420 is
configured to engage the boss 504 on the switch drum 500 and a
portion of the nozzle housing 203 as shown in FIG. 10 to apply a
biasing force to the switch drum 500. The switch drum 500 can
further comprise at least partially circumferential openings 506
defined therein which, referring to FIGS. 5 and 6, can be
configured to receive circumferential mounts 204, 205 extending
from the nozzle halves 202, 203 and permit relative rotation, but
not translation, between the switch drum 500 and the proximal
nozzle 201. As can be seen in those Figures, the mounts 204 and 205
also extend through openings 266 in the closure tube 260 to be
seated in recesses 211 in the shaft spine 210. However, rotation of
the nozzle 201 to a point where the mounts 204, 205 reach the end
of their respective slots 506 in the switch drum 500 will result in
rotation of the switch drum 500 about the shaft axis SA-SA.
Rotation of the switch drum 500 will ultimately result in the
rotation of eth actuation pin 410 and the lock sleeve 402 between
its engaged and disengaged positions. Thus, in essence, the nozzle
201 may be employed to operably engage and disengage the
articulation drive system with the firing drive system in the
various manners described in further detail in U.S. patent
application Ser. No. 13/803,086.
[0090] As also illustrated in FIGS. 8-12, the shaft assembly 200
can comprise a slip ring assembly 600 which can be configured to
conduct electrical power to and/or from the end effector 300 and/or
communicate signals to and/or from the end effector 300, for
example. The slip ring assembly 600 can comprise a proximal
connector flange 604 mounted to a chassis flange 242 extending from
the chassis 240 and a distal connector flange 601 positioned within
a slot defined in the shaft housings 202, 203. The proximal
connector flange 604 can comprise a first face and the distal
connector flange 601 can comprise a second face which is positioned
adjacent to and movable relative to the first face. The distal
connector flange 601 can rotate relative to the proximal connector
flange 604 about the shaft axis SA-SA. The proximal connector
flange 604 can comprise a plurality of concentric, or at least
substantially concentric, conductors 602 defined in the first face
thereof. A connector 607 can be mounted on the proximal side of the
connector flange 601 and may have a plurality of contacts (not
shown) wherein each contact corresponds to and is in electrical
contact with one of the conductors 602. Such an arrangement permits
relative rotation between the proximal connector flange 604 and the
distal connector flange 601 while maintaining electrical contact
therebetween. The proximal connector flange 604 can include an
electrical connector 606 which can place the conductors 602 in
signal communication with a shaft circuit board 610 mounted to the
shaft chassis 240, for example. In at least one instance, a wiring
harness comprising a plurality of conductors can extend between the
electrical connector 606 and the shaft circuit board 610. The
electrical connector 606 may extend proximally through a connector
opening 243 defined in the chassis mounting flange 242. See FIG. 7.
U.S. patent application Ser. No. 13/800,067, entitled STAPLE
CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013,
is incorporated by reference in its entirety. U.S. patent
application Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUE
THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, is incorporated by
reference in its entirety. Further details regarding slip ring
assembly 600 may be found in U.S. patent application Ser. No.
13/803,086.
[0091] As discussed above, the shaft assembly 200 can include a
proximal portion which is fixably mounted to the handle 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 FIGS. 11
and 12, the distal connector flange 601 can comprise a Hall effect
sensor 605, for example, and the switch drum 500 can comprise a
magnetic element, such as permanent magnet 505, for example. The
Hall effect sensor 605 can be configured to detect the position of
the permanent magnet 505. When the switch drum 500 is rotated
between its first position and its second position, the permanent
magnet 505 can move relative to the Hall effect sensor 605. In
various instances, Hall effect sensor 605 can detect changes in a
magnetic field created when the permanent magnet 505 is moved. The
Hall effect sensor 605 can be in signal communication with the
shaft circuit board 610 and/or the handle circuit board 100, for
example. Based on the signal from the Hall effect sensor 605, a
microcontroller on the shaft circuit board 610 and/or the handle
circuit board 100 can determine whether the articulation drive
system is engaged with or disengaged from the firing drive
system.
[0092] Referring again to FIGS. 3 and 7, the chassis 240 includes
at least one, and preferably two, tapered attachment portions 244
formed thereon that are adapted to be received within corresponding
dovetail slots 702 formed within a distal attachment flange portion
700 of the frame 20. Each dovetail slot 702 may be tapered or,
stated another way, be somewhat V-shaped to seatingly receive the
attachment portions 244 therein. As can be further seen in FIGS. 3
and 7, a shaft attachment lug 226 is formed on the proximal end of
the intermediate firing shaft 222. As will be discussed in further
detail below, when the interchangeable shaft assembly 200 is
coupled to the handle 14, the shaft attachment lug 226 is received
in a firing shaft attachment cradle 126 formed in the distal end
125 of the longitudinal drive member 120. See FIGS. 3 and 6.
[0093] Various shaft assembly embodiments employ a latch system 710
for removably coupling the shaft assembly 200 to the housing 12 and
more specifically to the frame 20. As can be seen in FIG. 7, for
example, in at least one form, the latch system 710 includes a lock
member or lock yoke 712 that is movably coupled to the chassis 240.
In the illustrated embodiment, for example, the lock yoke 712 has a
U-shape with two spaced downwardly extending legs 714. The legs 714
each have a pivot lug 716 formed thereon that are adapted to be
received in corresponding holes 245 formed in the chassis 240. Such
arrangement facilitates pivotal attachment of the lock yoke 712 to
the chassis 240. The lock yoke 712 may include two proximally
protruding lock lugs 714 that are configured for releasable
engagement with corresponding lock detents or grooves 704 in the
distal attachment flange 700 of the frame 20. See FIG. 3. In
various forms, the lock yoke 712 is biased in the proximal
direction by spring or biasing member (not shown). Actuation of the
lock yoke 712 may be accomplished by a latch button 722 that is
slidably mounted on a latch actuator assembly 720 that is mounted
to the chassis 240. The latch button 722 may be biased in a
proximal direction relative to the lock yoke 712. As will be
discussed in further detail below, the lock yoke 712 may be moved
to an unlocked position by biasing the latch button the in distal
direction which also causes the lock yoke 712 to pivot out of
retaining engagement with the distal attachment flange 700 of the
frame 20. When the lock yoke 712 is in "retaining engagement" with
the distal attachment flange 700 of the frame 20, the lock lugs 716
are retainingly seated within the corresponding lock detents or
grooves 704 in the distal attachment flange 700.
[0094] 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.
[0095] As can be most particularly seen in FIG. 7, the lock yoke
712 includes at least one and preferably two lock hooks 718 that
are adapted to contact corresponding lock lug portions 256 that are
formed on the closure shuttle 250. Referring to FIGS. 13-15, when
the closure shuttle 250 is in an unactuated position (i.e., the
first drive system 30 is unactuated and the anvil 306 is open), the
lock yoke 712 may be pivoted in a distal direction to unlock the
interchangeable shaft assembly 200 from the housing 12. When in
that position, the lock hooks 718 do not contact the lock lug
portions 256 on the closure shuttle 250. However, when the closure
shuttle 250 is moved to an actuated position (i.e., the first drive
system 30 is actuated and the anvil 306 is in the closed position),
the lock yoke 712 is prevented from being pivoted to an unlocked
position. See FIGS. 16-18. Stated another way, if the clinician
were to attempt to pivot the lock yoke 712 to an unlocked position
or, for example, the lock yoke 712 was in advertently bumped or
contacted in a manner that might otherwise cause it to pivot
distally, the lock hooks 718 on the lock yoke 712 will contact the
lock lugs 256 on the closure shuttle 250 and prevent movement of
the lock yoke 712 to an unlocked position.
[0096] Attachment of the interchangeable shaft assembly 200 to the
handle 14 will now be described with reference to FIG. 3. To
commence the coupling process, the clinician may position the
chassis 240 of the interchangeable shaft assembly 200 above or
adjacent to the distal attachment flange 700 of the frame 20 such
that the tapered attachment portions 244 formed on the chassis 240
are aligned with the dovetail slots 702 in the frame 20. The
clinician may then move the shaft assembly 200 along an
installation axis IA that is perpendicular to the shaft axis SA-SA
to seat the attachment portions 244 in "operable engagement" with
the corresponding dovetail receiving slots 702. In doing so, the
shaft attachment lug 226 on the intermediate firing shaft 222 will
also be seated in the cradle 126 in the longitudinally movable
drive member 120 and the portions of pin 37 on the second closure
link 38 will be seated in the corresponding hooks 252 in the
closure yoke 250. As used herein, the term "operable engagement" in
the context of two components means that the two components are
sufficiently engaged with each other so that upon application of an
actuation motion thereto, the components may carry out their
intended action, function and/or procedure.
[0097] 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 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
14. Another system can comprise a closure drive system 30 which can
operably connect the closure trigger 32 of the handle 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 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 14, such as microcontroller, for
example, that a shaft assembly, such as shaft assembly 200, for
example, has been operably engaged with the handle 14 and/or, two,
conduct power and/or communication signals between the shaft
assembly 200 and the handle 14. For instance, the shaft assembly
200 can include an electrical connector 4010 that is operably
mounted to the shaft circuit board 610. The electrical connector
4010 is configured for mating engagement with a corresponding
electrical connector 4000 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, 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 14.
[0098] As described herein, a surgical instrument, such as a
surgical stapling instrument, for example, can include a processor,
computer, and/or controller, for example, (herein collectively
referred to as a "processor") and one or more sensors in signal
communication with the processor, computer, and/or controller. In
various instances, a processor can comprise a microcontroller and
one or more memory units operationally coupled to the
microcontroller. By executing instruction code stored in the
memory, the processor may control various components of the
surgical instrument, such as the motor, various drive systems,
and/or a user display, for example. The processor may be
implemented using integrated and/or discrete hardware elements,
software elements, and/or a combination of both. Examples of
integrated hardware elements may include processors,
microprocessors, microcontrollers, integrated circuits, application
specific integrated circuits (ASIC), programmable logic devices
(PLD), digital signal processors (DSP), field programmable gate
arrays (FPGA), logic gates, registers, semiconductor devices,
chips, microchips, chip sets, microcontrollers, system-on-chip
(SoC), and/or system-in-package (SIP). Examples of discrete
hardware elements may include circuits and/or circuit elements such
as logic gates, field effect transistors, bipolar transistors,
resistors, capacitors, inductors, and/or relays. In certain
instances, the processor may include a hybrid circuit comprising
discrete and integrated circuit elements or components on one or
more substrates, for example.
[0099] The processor may be an LM 4F230H5QR, available from Texas
Instruments, for example. In certain instances, 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.RTM. software, 2 KB electrically erasable
programmable read-only memory (EEPROM), one or more pulse width
modulation (PWM) modules, one or more quadrature encoder inputs
(QED analog, one or more 12-bit Analog-to-Digital Converters (ADC)
with 12 analog input channels, among other features that are
readily available. Other microcontrollers may be readily
substituted for use with the present disclosure. Accordingly, the
present disclosure should not be limited in this context.
[0100] Signal communication can comprise any suitable form of
communication in which information is transmitted between a sensor
and the processor. Such communication can comprise wired
communication utilizing one or more conductors and/or wireless
communication utilizing a wireless transmitter and receiver, for
example. In various instances, a surgical instrument can include a
first sensor configured to detect a first condition of the surgical
instrument and a second sensor configured to detect a second
condition of the surgical instrument. For instance, the surgical
instrument can include a first sensor configured to detect whether
a closure trigger of the surgical instrument has been actuated and
a second sensor configured to detect whether a firing trigger of
the surgical instrument has been actuated, for example.
[0101] Various embodiments are envisioned in which the surgical
instrument can include two or more sensors configured to detect the
same condition. In at least one such embodiment, the surgical
instrument can comprise a processor, a first sensor in signal
communication with the processor, and a second sensor in signal
communication with the processor. The first sensor can be
configured to communicate a first signal to the processor and the
second sensor can be configured to communicate a second signal to
the processor. In various instances, the processor can include a
first input channel for receiving the first signal from the first
sensor and a second input channel for receiving the second signal
from the second sensor. In other instances, a multiplexer device
can receive the first signal and the second signal and communicate
the data of the first and second signals to the processor as part
of a single, combined signal, for example. In some instances, a
first conductor, such as a first insulated wire, for example, can
connect the first sensor to the first input channel and a second
conductor, such as a second insulated wire, for example, can
connect the second sensor to the second input channel. As outlined
above, the first sensor and/or the second sensor can communicate
wirelessly with the processor. In at least one such instance, the
first sensor can include a first wireless transmitter and the
second sensor can include a second wireless transmitter, wherein
the processor can include and/or can be in communication with at
least one wireless signal receiver configured to receive the first
signal and/or the second signal and transmit the signals to the
processor.
[0102] In co-operation with the sensors, as described in greater
detail below, the processor of the surgical instrument can verify
that the surgical instrument is operating correctly. The first
signal can include data regarding a condition of the surgical
instrument and the second signal can include data regarding the
same condition. The processor can include an algorithm configured
to compare the data from the first signal to the data from the
second signal and determine whether the data communicated by the
two signals are the same or different. If the data from the two
signals are the same, the processor may use the data to operate the
surgical instrument. In such circumstances, the processor can
assume that a fault condition does not exist. In various instances,
the processor can determine whether the data from the first signal
and the data from the second signal are within an acceptable, or
recognized, range of data. If the data from the two signals are
within the recognized range of data, the processor may use the data
from one or both of the signals to operate the surgical instrument.
In such circumstances, the processor can assume that a fault
condition does not exist. If the data from the first signal is
outside of the recognized range of data, the processor may assume
that a fault condition exists with regard to the first sensor,
ignore the first signal, and operate the surgical instrument in
response to the data from the second signal. Likewise, if the data
from the second signal is outside the recognized range of data, the
processor may assume that a fault condition exists with regard to
the second sensor, ignore the second signal, and operate the
surgical instrument in response to the data from the first signal.
The processor can be configured to selectively ignore the input
from one or more sensors.
[0103] In various instances, further to the above, the processor
can include a module configured to implement an algorithm
configured to assess whether the data from the first signal is
between a first value and a second value. Similarly, the algorithm
can be configured to assess whether the data from the second signal
is between the first value and the second value. In certain
instances, a surgical instrument can include at least one memory
device. A memory device can be integral with the processor, in
signal communication with the processor, and/or accessible by the
processor. In certain instances, the memory device can include a
memory chip including data stored thereon. The data stored on the
memory chip can be in the form of a lookup table, for example,
wherein the processor can access the lookup table to establish the
acceptable, or recognized, range of data. In certain instances, the
memory device can comprise nonvolatile memory, such as bit-masked
read-only memory (ROM) or flash memory, for example. Nonvolatile
memory (NVM) may comprise other types of memory including, for
example, programmable ROM (PROM), erasable programmable ROM
(EPROM), electrically erasable programmable ROM (EEPROM), or
battery backed random-access memory (RAM) such as dynamic RAM
(DRAM), Double-Data-Rate DRAM (DDRAM), and/or synchronous DRAM
(SDRAM).
[0104] Further to the above, the first sensor and the second sensor
can be redundant. The processor can be configured to compare the
first signal from the first sensor to the second signal from the
second sensor to determine what action, if any, to take. In
addition to or in lieu of the above, the processor can be
configured to compare the data from the first signal and/or the
second signal to limits established by the algorithm and/or data
stored within a memory device. In various circumstances, the
processor can be configured to apply a gain to a signal it
receives, such as the first signal and/or the second signal, for
example. For instance, the processor can apply a first gain to the
first signal and a second gain to the second signal. In certain
instances, the first gain can be the same as the second gain. In
other instances, the first gain and the second gain can be
different. In some circumstances, the processor can be configured
to calibrate the first gain and/or the second gain. In at least one
such circumstance, the processor can modify a gain such that the
amplified signal is within a desired, or acceptable, range. In
various instances, the unmodified gain and/or the modified gain can
be stored within a memory device which is integral to and/or
accessible by the processor. In certain embodiments, the memory
device can track the history of the gains applied to a signal. In
any event, the processor can be configured to provide this
calibration before, during, and/or after a surgical procedure.
[0105] In various embodiments, the first sensor can apply a first
gain to the first signal and the second sensor can apply a second
gain to the second signal. In certain embodiments, the processor
can include one or more output channels and can communicate with
the first and second sensors. For instance, the processor can
include a first output channel in signal communication with the
first sensor and a second output channel in signal communication
with the second sensor. Further to the above, the processor can be
configured to calibrate the first sensor and/or the second sensor.
The processor can send a first calibration signal through said
first output channel in order to modify a first gain that the first
sensor is applying to the first signal. Similarly, the processor
can send a second calibration signal through said second output
channel in order to modify a second gain that the second sensor is
applying to the second signal.
[0106] As discussed above, the processor can modify the operation
of the surgical instrument in view of the data received from the
first signal and/or the second signal. In some circumstances, the
processor can ignore the signal from a redundant sensor that the
processor deems to be faulty. In some circumstances, the processor
can return the surgical instrument to a safe state and/or warn the
user of the surgical instrument that one or both of the sensors may
be faulty. In certain circumstances, the processor can disable the
surgical instrument. In various circumstances, the processor can
deactivate and/or modify certain functions of the surgical
instrument when the processor detects that one or more of the
sensors may be faulty. In at least one such circumstance, the
processor may limit the operable controls to those controls which
can permit the surgical instrument to be safely removed from the
surgical site, for example, when the processor detects that one or
more of the sensors may be faulty. In at least one circumstance,
when the processor detects that one or more of the sensors may be
faulty. In certain circumstances, the processor may limit the
maximum speed, power, and/or torque that can be delivered by the
motor of the surgical instrument, for example, when the processor
detects that one or more of the sensors may be faulty. In various
circumstances, the processor may enable a recalibration control
which may allow the user of the surgical instrument to recalibrate
the mal-performing or non-performing sensor, for example, when the
processor detects that one or more of the sensors may be faulty.
While various exemplary embodiments utilizing two sensors to detect
the same condition are described herein, various other embodiments
are envisioned which utilize more than two sensors. The principles
applied to the two sensor system described herein can be adapted to
systems including three or more sensors.
[0107] As discussed above, the first sensor and the second sensor
can be configured to detect the same condition of the surgical
instrument. For instance, the first sensor and the second sensor
can be configured to detect whether an anvil of the surgical
instrument is in an open condition, for example. In at least one
such instance, the first sensor can detect the movement of a
closure trigger into an actuated position and the second sensor can
detect the movement of an anvil into a clamped position, for
example. In some instances, the first sensor and the second sensor
can be configured to detect the position of a firing member
configured to deploy staples from an end effector of the surgical
instrument. In at least one such instance, the first sensor can be
configured to detect the position of a motor-driven rack in a
handle of the surgical instrument and the second sensor can be
configured to detect the position of a firing member in a shaft or
an end effector of the surgical instrument which is operably
coupled with the motor-driven rack, for example. In various
instances, the first and second sensors could verify that the same
event is occurring. The first and second sensors could be located
in the same portion of the surgical instrument and/or in different
portions of the surgical instrument. A first sensor can be located
in the handle, for example, and a second sensor could be located in
the shaft or the end effector, for example.
[0108] Further to the above, the first and second sensors can be
utilized to determine whether two events are occurring at the same
time. For example, whether the closure trigger and the anvil are
moving, or have moved, concurrently. In certain instances, the
first and second sensors can be utilized to determine whether two
events are not occurring at the same time. For example, it may not
be desirable for the anvil of the end effector to open while the
firing member of the surgical instrument is being advanced to
deploy the staples from the end effector. The first sensor can be
configured to determine whether the anvil is in an clamped position
and the second sensor can be configured to determine whether the
firing member is being advanced. In the event that the first sensor
detects that the anvil is in an unclamped position while the second
sensor detects that the firing member is being advanced, the
processor can interrupt the supply of power to the motor of the
surgical instrument, for example. Similarly, the first sensor can
be configured to detect whether an unclamping actuator configured
to unclamp the end effector has been depressed and the second
sensor can be configured to detect whether a firing actuator
configured to operate the motor of the surgical instrument has been
depressed. The processor of the surgical instrument can be
configured to resolve these conflicting instructions by stopping
the motor, reversing the motor to retract the firing member, and/or
ignoring the instructions from the unclamping actuator, for
example.
[0109] In some instances, further to the above, the condition
detected can include the power consumed by the surgical instrument.
In at least one such instance, the first sensor can be configured
to monitor the current drawn from a battery of the surgical
instrument and the second sensor can be configured to monitor the
voltage of the battery. As discussed above, such information can be
communicated from the first sensor and the second sensor to the
processor. With this information, the processor can calculate the
electrical power draw of the surgical instrument. Such a system
could be referred to as `supply side` power monitoring. In certain
instances, the first sensor can be configured to detect the current
drawn by a motor of the surgical instrument and the second sensor
can be configured to detect the current drawn by a processor of the
surgical instrument, for example. As discussed above, such
information can be communicated from the first sensor and the
second sensor to the processor. With this information, the
processor can calculate the electrical power draw of the surgical
instrument. To the extent that other components of the surgical
instrument draw electrical power, a sensor could be utilized to
detect the current drawn for each component and communicate that
information to the processor. Such a system could be referred to as
`use side` power monitoring. Various embodiments are envisioned
which utilize supply side power monitoring and use side power
monitoring. In various instances, the processor, and/or an
algorithm implemented by the processor, can be configured to
calculate a state of the device using more than one sensor that may
not be sensed directly by only one sensor. Based on this
calculation, the processor can enable, block, and/or modify a
function of the surgical instrument.
[0110] In various circumstances, the condition of the surgical
instrument that can be detected by a processor and a sensor system
can include the orientation of the surgical instrument. In at least
one embodiment, the surgical instrument can include a handle, a
shaft extending from the handle, and an end effector extending from
the shaft. A first sensor can be positioned within the handle and a
second sensor can be positioned within the shaft, for example. The
first sensor can comprise a first tilt sensor and the second sensor
can comprise a second tilt sensor, for example. The first tilt
sensor can be configured to detect the instrument's orientation
with respect to a first plane and the second tilt sensor can be
configured to detect the instrument's orientation with respect to a
second plane. The first plane and the second plane may or may not
be orthogonal. The first sensor can comprise an accelerometer
and/or a gyroscope, for example. The second sensor can comprise an
accelerometer and/or a gyroscope, for example. Various embodiments
are envisioned which comprise more than two sensors and each such
sensor can comprise an accelerometer and/or a gyroscope, for
example. In at least one implementation, a first sensor can
comprise a first accelerometer arranged along a first axis and a
second sensor can comprise a second accelerometer arranged along a
second axis which is different than the first axis. In at least one
such instance, the first axis can be transverse to the second
axis.
[0111] Further to the above, the processor can utilize data from
the first and second accelerometers to determine the direction in
which gravity is acting with respect to the instrument, i.e., the
direction of ground with respect to the surgical instrument. In
certain instances, magnetic fields generated in the environment
surrounding the surgical instrument may affect one of the
accelerometers. Further to the above, the processor can be
configured to ignore data from an accelerometer if the data from
the accelerometers is inconsistent. Moreover, the processor can be
configured to ignore data from an accelerometer if the
accelerometer is dithering between two or more strong polarity
orientations, for example. To the extent that an external magnetic
field is affecting two or more, and/or all, of the accelerometers
of a surgical instrument, the processor can deactivate certain
functions of the surgical instrument which depend on data from the
accelerometers. In various instances, a surgical instrument can
include a screen configured to display images communicated to the
screen by the processor, wherein the processor can be configured to
change the orientation of the images displayed on the screen when
the handle of the surgical instrument is reoriented, or at least
when a reorientation of the handle is detected by the
accelerometers. In at least one instance, the display on the screen
can be flipped upside down when the handle is oriented upside down.
In the event that the processor determines that orientation data
from one or more of the accelerometers may be faulty, the processor
may prevent the display from being reoriented away from its default
position, for example.
[0112] Further to the above, the orientation of a surgical
instrument may or may not be detectable from a single sensor. In at
least one instance, the handle of the surgical instrument can
include a first sensor and the shaft can include a second sensor,
for example. Utilizing data from the first sensor and the second
sensor, and/or data from any other sensor, the processor can
determine the orientation of the surgical instrument. In some
instances, the processor can utilize an algorithm configured to
combine the data from the first sensor signal, the second sensor
signal, and/or any suitable number of sensor signals to determine
the orientation of the surgical instrument. In at least one
instance, a handle sensor positioned within the handle can
determine the orientation of the handle with respect to gravity. A
shaft sensor positioned within the shaft can determine the
orientation of the shaft with respect to gravity. In embodiments
where the shaft, or at least a portion of the shaft, does not
articulate relative to the handle, the processor can determine the
direction in which the shaft, or the non-articulated shaft portion,
is pointing. In some instances, a surgical instrument can include
an end effector which can articulate relative to the shaft. The
surgical instrument can include an articulation sensor which can
determine the direction and the degree in which the end effector
has been articulated relative to the shaft, for example. With data
from the handle sensor, the shaft sensor, and the articulation
sensor, the processor can determine the direction in which the end
effector is pointing. With additional data including the length of
the handle, the shaft, and/or the end effector, the processor can
determine the position of the distal tip of the end effector, for
example. With such information, the processor could enable, block,
and/or modify a function of the surgical instrument.
[0113] In various instances, a surgical instrument can include a
redundant processor in addition to a first processor. The redundant
processor can be in signal communication with some or all of the
sensors that the first processor is in signal communication with.
The redundant processor can perform some or all of the same
calculations that the first processor performs. The redundant
processor can be in signal communication with the first processor.
The first processor can be configured to compare the calculations
that it has performed with the calculations that the redundant
processor has performed. Similarly, the redundant processor can be
configured to compare the calculations that it has performed with
the calculations that the first processor has performed. In various
instances, the first processor and the redundant processor can be
configured to operate the surgical instrument independently of one
another. In some instances, the first processor and/or the
redundant processor can be configured to determine whether the
other processor is faulty and/or deactivate the other processor if
a fault within the other processor and/or within the surgical
instrument is detected. The first processor and the redundant
processor can both be configured to communicate with the operator
of the surgical instrument such that, if one of the processors
determines the other processor to be faulty, the non-faulty
processor can communicate with the operator that a fault condition
exists, for example.
[0114] In various embodiments, a surgical instrument can include a
processor and one or more sensors in signal communication with the
processor. The sensors can comprise digital sensors and/or analog
sensors. A digital sensor can generate a measuring signal and can
include an electronic chip. The electronic chip can convert the
measuring signal into a digital output signal. The digital output
signal can then be transmitted to the processor utilizing a
suitable transmission means such as, for example, a conductive
cable, a fiber optic cable, and/or a wireless emitter. An analog
sensor can generate a measuring signal and communicate the
measuring signal to the processor using an analog output signal. An
analog sensor can include a Hall Effect sensor, a magnetoresistive
sensor, an optical sensor, and/or any other suitable sensor, for
example. A surgical instrument can include a signal filter which
can be configured to receive and/or condition the analog output
signal before the analog output signal reaches the processor. The
signal filter can comprise a low-pass filter, for example, that
passes signals to the processor having a low frequency which is at
and/or below a cutoff frequency and that attenuates, or reduces the
amplitude of, signals with high frequencies higher than the cutoff
frequency. In some instances, the low-pass filter may eliminate
certain high frequency signals that it receives or all of the high
frequency signals that it receives. The low-pass filter may also
attenuate, or reduce the amplitude of, certain or all of the low
frequency signals, but such attenuation may be different than the
attenuation that it applies to high frequency signals. Any suitable
signal filter could be utilized. A high-pass filter, for example,
could be utilized. A longpass filter could be utilized to receive
and condition signals from optical sensors. In various instances,
the processor can include an integral signal filter. In some
instances, the processor can be in signal communication with the
signal filter. In any event, the signal filter can be configured to
reduce noise within the analog output signal, or signals, that it
receives.
[0115] Further to the above, an analog output signal from a sensor
can comprise a series of voltage potentials applied to an input
channel of the processor. In various instances, the voltage
potentials of the analog sensor output signal can be within a
defined range. For instance, the voltage potentials can be between
about 0V and about 12V, between about 0V and about 6V, between
about 0V and about 3V, and/or between about 0V and about 1V, for
example. In some instances, the voltage potentials can be less than
or equal to 12V, less than or equal to 6V, less than or equal to
3V, and/or less than or equal to 1V, for example. In some
instances, the voltage potentials can be between about 0V and about
-12V, between about 0V and about -6V, between about 0V and about
-3V, and/or between about 0V and about -1V, for example. In some
instances, the voltage potentials can be greater than or equal to
-12V, greater than or equal to -6V, greater than or equal to -3V,
and/or greater than or equal to -1V, for example. In some
instances, the voltage potentials can be between about 12V and
about -12V, between about 6V and about -6V, between about 3V and
about -3V, and/or between about 1V and about -1V, for example. In
various instances, the sensor can supply voltage potentials to an
input channel of the processor in a continuous stream. The
processor may sample this stream of data at a rate which is less
than rate in which data is delivered to the processor. In some
instances, the sensor can supply voltage potentials to an input
channel of the process intermittently or at periodic intervals. In
any event, the processor can be configured to evaluate the voltage
potentials applied to the input channel or channels thereof and
operate the surgical instrument in response to the voltage
potentials, as described in greater detail further below.
[0116] Further to the above, the processor can be configured to
evaluate the analog output signal from a sensor. In various
instances, the processor can be configured to evaluate every
voltage potential of the analog output signal and/or sample the
analog output signal. When sampling the analog output signal, the
processor can make periodic evaluations of the signal to
periodically obtain voltage potentials from the analog output
signal. For each evaluation, the processor can compare the voltage
potential obtained from the evaluation against a reference value.
In various circumstances, the processor can calculate a digital
value, such as 0 or 1, or on or off, for example, from this
comparison. For instance, in the event that the evaluated voltage
potential equals the reference value, the processor can calculate a
digital value of 1. Alternatively, the processor can calculate a
digital value of 0 if the evaluated voltage potential equals the
reference value. With regard to a first embodiment, the processor
can calculate a digital value of 1 if the evaluated voltage
potential is less than the reference value and a digital value of 0
if the evaluated voltage potential is greater than the reference
value. With regard to a second embodiment, the processor can
calculate a digital value of 0 if the evaluated voltage potential
is less than the reference value and a digital value of 1 if the
evaluated voltage potential is greater than the reference value. In
either event, the processor can convert the analog signal to a
digital signal. When the processor is continuously evaluating the
voltage potential of the sensor output signal, the processor can
continuously compare the voltage potential to the reference value,
and continuously calculate the digital value. When the processor is
evaluating the voltage potential of the sensor output signal at
periodic intervals, the processor can compare the voltage potential
to the reference value at periodic intervals, and calculate the
digital value at periodic intervals.
[0117] Further to the above, the reference value can be part of an
algorithm utilized by the processor. The reference value can be
pre-programmed in the algorithm. In some instances, the processor
can obtain, calculate, and/or modify the reference value in the
algorithm. In some instances, the reference value can be stored in
a memory device which is accessible by and/or integral with the
processor. The reference value can be pre-programmed in the memory
device. In some instances, the processor can obtain, calculate,
and/or modify the reference value in the memory device. In at least
one instance, the reference value may be stored in non-volatile
memory. In some instances, the reference value may be stored in
volatile memory. The reference value may comprise a constant value.
The reference value may or may not be changeable or overwritten. In
certain instances, the reference value can be stored, changed,
and/or otherwise determined as the result of a calibration
procedure. The calibration procedure can be performed when
manufacturing the surgical instrument, when initializing, or
initially powering up, the instrument, when powering up the
instrument from a sleep mode, when using the instrument, when
placing the instrument into a sleep mode, and/or when completely
powering down the instrument, for example.
[0118] Also further to the above, the processor can be configured
to store the digital value. The digital value can be stored at an
electronic logic gate. In various instances, the electronic logic
gate can supply a binary output which can be referenced by the
processor to assess a condition detected by the sensor, as
described in greater detail further below. The processor can
include the electronic logic gate. The binary output of the
electronic logic gate can be updated. In various instances, the
processor can include one or more output channels. The processor
can supply the binary output to at least one of the output
channels. The processor can apply a low voltage to such an output
channel to indicate an off bit or a high voltage to the output
channel to indicate an on bit, for example. The low voltage and the
high voltage can be measured relative to a threshold value. In at
least one instance, the low voltage can comprise no voltage, for
example. In at least one other instance, the low voltage can
comprise a voltage having a first polarity and the high voltage can
comprise a voltage having an opposite polarity, for example.
[0119] In at least one instance, if the voltage potentials
evaluated by the processor are consistently at or below the
reference value, the electronic logic gate can maintain an output
of `on`. When an evaluated voltage potential exceeds the reference
value, the output of the logic gate can be switched to `off`. If
the voltage potentials evaluated by the processor are consistently
above the reference value, the electronic logic gate can maintain
an output of `off`. When an evaluated voltage potential is
thereafter measured at or below the reference value, the output of
the logic gate can be switched back to `on`, and so forth. In
various instances, the electronic logic gate may not maintain a
history of its output. In some instances, the processor can include
a memory device configured to record the output history of the
electronic logic gate, i.e., record a history of the calculated
digital value. In various instances, the processor can be
configured to access the memory device to ascertain the current
digital value and/or at least one previously-existing digital
value, for example.
[0120] In various instances, the processor can provide an immediate
response to a change in the calculated digital value. When the
processor first detects that the calculated digital value has
changed from `on` to `off` or from `off` to `on`, for example, the
processor can immediately modify the operation of the surgical
instrument. In certain instances, the processor may not immediately
modify the operation of the surgical instrument upon detecting that
the calculated digital value has changed from `on` to `off` or from
`off` to `on`, for example. The processor may employ a hysteresis
algorithm. For instance, the processor may not modify the operation
of the surgical instrument until after the digital value has been
calculated the same way a certain number of consecutive times. In
at least one such instance, the processor may calculate an `on`
value and display an `on` binary value at the output logic gate
and/or the output channel based on the data it has received from
one or more surgical instrument sensors wherein, at some point
thereafter, the processor may calculate an `off` value based on the
data it has received from one or more of the surgical instrument
sensors; however, the processor may not immediately display an
`off` binary value at the output logic gate and/or the output
channel. Rather, the processor may delay changing the binary value
at the output logic gate and/or the output channel until after the
processor has calculated the `off` value a certain number of
consecutive times, such as ten times, for example. Once the
processor has changed the binary value at the output logic gate
and/or the output channel, the processor may likewise delay
changing the binary value at the output logic gate and/or the
output channel until after the processor has calculated the `on`
value a certain number of consecutive times, such as ten times, for
example, and so forth.
[0121] A hysteresis algorithm may be suitable for handling switch
debounce. A surgical instrument can include a switch debouncer
circuit which utilizes a capacitor to filter out any quick changes
of signal response.
[0122] In the example provided above, the sampling delay for going
from `on` to `off` was the same as the sampling delay for going
from `off` to `on`. Embodiments are envisioned in which the
sampling delays are not equal. For instance, if an `on` value at an
output channel activates the motor of the surgical instrument and
an `off` value at an output channel deactivates the motor, the `on`
delay may be longer than the `off` delay, for example. In such
instances, the processor may not suddenly activate the motor in
response to accidental or incidental movements of the firing
trigger while, on the other hand, the processor may react quickly
to a release of the firing trigger to stop the motor. In at least
one such instance, the processor may have an `on` delay but no
`off` delay such that the motor can be stopped immediately after
the firing trigger is released, for example. As discussed above,
the processor may wait for a certain number of consecutive
consistent binary output calculations before changing the binary
output value. Other algorithms are contemplated. For instance, a
processor may not require a certain number of consecutive
consistent binary output calculations; rather, the processor may
only require that a certain number, or percentage, of consecutive
calculations be consistent in order to change the binary
output.
[0123] As discussed above, a processor can convert an analog input
signal to a digital output signal utilizing a reference value. As
also discussed above, the processor can utilize the reference value
to convert the analog input data, or samples of the analog input
data, to `on` values or `off` values as part of its digital output
signal. In various instances, a processor can utilize more than one
reference value in order to determine whether to output an `on`
value or an `off` value. One reference value can define two ranges.
A range below the reference value and a range above the reference
value. The reference value itself can be part of the first range or
the second range, depending on the circumstances. The use of
additional reference values can define additional ranges. For
instance, a first reference value and a second reference value can
define three ranges: a first range below the first reference value,
a second range between the first reference value and the second
reference value, and a third range above the second reference
value. Again, the first reference value can be part of the first
range or the second range and, similarly, the second reference
value can be part of the second range or the third range, depending
on the circumstances. For a given sample of data from an analog
signal, the processor can determine whether the sample lies within
the first range, the second range, or the third range. In at least
one exemplary embodiment, the processor can assign an `on` value to
the binary output if the sample is in the first range and an `off`
value to the binary output if the sample is in the third range.
Alternatively, the processor can assign an `off` value to the
binary output if the sample is in the first range and an `on` value
to the binary output if the sample is in the third range.
[0124] Further to the above, the processor can assign an `on` value
or an `off` value to the binary output if the data sample is in the
second range. In various instances, an analog data sample in the
second range may not change the binary output value. For instance,
if the processor has been receiving analog data above the second
reference value and producing a certain binary output and,
subsequently, the processor receives analog data between the first
reference value and the second reference value, the processor may
not change the binary output. If the processor, in this example,
receives analog data below the first reference value, the processor
may then change the binary output. Correspondingly, in this
example, if the processor has been receiving analog data below the
first reference value and producing a certain binary output and,
subsequently, the processor receives analog data between the first
reference value and the second reference value, the processor may
not change the binary output. If the processor, in this example,
receives analog data above the second reference value, the
processor may then change the binary output. In various instances,
the second range between the first reference value and the second
reference value may comprise an observation window within which the
processor may not change the binary output signal. In certain
instances, the processor may utilize different sampling delays,
depending on whether the analog input data jumps directly between
the first range and the third range or whether the analog input
data transitions into the second range before transitioning into
the third range. For example, the sampling delay may be shorter if
the analog input data transitions into the second range before
transitioning into the first range or the third range as compared
to when analog input data jumps directly between the first range
and the third range.
[0125] As discussed above, an analog sensor, such as a Hall effect
sensor, for example, can be utilized to detect a condition of a
surgical instrument. In various instances, a Hall effect sensor can
produce a linear analog output which can include a positive
polarity and a negative polarity and, in certain instances, produce
a wide range of analog output values. Such a wide range of values
may not always be useful, or may not correspond to events which are
actually possible for the surgical instrument. For instance, a Hall
effect sensor can be utilized to track the orientation of the anvil
of an end effector which, owing to certain physical constraints to
the motion of the anvil, may only move through a small range of
motion, such as about 30 degrees, for example. Although the Hall
effect sensor could detect motion of the anvil outside this range
of motion, as a practical matter, the Hall effect sensor will not
need to and, as a result, a portion of the output range of the Hall
effect sensor may not be utilized. The processor may be programmed
to only recognize a range of output from the Hall effect sensor
which corresponds to a possible range of motion of the anvil and,
to the extent that the processor receives data from the Hall effect
sensor which is outside of this range of output, whether above the
range or below the range, the processor can ignore such data,
generate a fault condition, modify the operation of the surgical
instrument, and/or notify the user of the surgical instrument, for
example. In such instances, the processor may recognize a valid
range of data from the sensor and any data received from the sensor
which is outside of this range may be deemed invalid by the
processor. The valid range of data may be defined by a first
reference value, or threshold, and a second reference value, or
threshold. The valid range of data may include data having a
positive polarity and a negative polarity. Alternatively, the valid
range of data may only comprise data from the positive polarity or
data from the negative polarity.
[0126] The first reference value and the second reference value,
further to the above, can comprise fixed values. In certain
circumstances, the first reference value and/or the second
reference value can be calibrated. The first reference value and/or
the second reference value can be calibrated when the surgical
instrument is initially manufactured and/or subsequently
re-manufactured. For instance, a trigger, such as the closure
trigger, for example, can be moved through its entire range of
motion during a calibration procedure and a Hall effect sensor, for
example, positioned within the surgical instrument handle can
detect the motion of the closure trigger, or at least the motion of
a magnetic element, such as a permanent magnet, for example,
positioned on the closure trigger. When the closure trigger is in
its unclamped position, the reading taken by the Hall effect sensor
can be stored as a first set point which corresponds with the
unclamped position of the closure trigger. Similarly, when the
closure trigger is in its fully clamped position, the reading taken
by the Hall effect sensor can be stored as a second set point which
corresponds with the fully clamped position of the closure trigger.
Thereafter, the first set point can define the first reference
value and the second set point can define the second reference
value. Positions of the closure trigger between its unclamped
position and its fully clamped position can correspond to the range
of data between the first reference value and the second reference
value. As outlined above, the processor can produce a digital
output value in response to the data received from the analog
sensor. In at least one instance, the processor can assign an `off`
value to its digital output when the data received from the analog
sensor is at or above the first reference value. Alternatively, the
processor can assign an `off` value to its digital output when the
data received from the analog sensor is above, at, or within about
20% of the range preceding first reference value, for example. Data
from the analog sensor which is between the first reference value
and about 20% of the range below the first reference value can
correspond with a position of the closure trigger which is suitably
close to is unclamped position. In at least one instance, the
processor can assign an `on` value to its digital output when the
data received from the analog sensor is below the first reference
value. Alternatively, the processor can assign an `on` value to its
digital output when the data received from the analog sensor is at,
below, or within about 40% of the range above the second reference
value can correspond with a position of the closure trigger when it
has been pulled about 3/4 through its range of motion, for example.
The same or similar attributes could be applied to a firing trigger
of the surgical instrument, for example.
[0127] Further to the above, a sensor can be calibrated in view of
a reference value. For instance, if a reference value of +2V, for
example, is associated with an unclamped position of the closure
trigger and the processor detects a sensor output value which is
different than +2V when the closure trigger is in its unclamped
position, the processor can recalibrate the sensor, or the gain of
the sensor, such that the sensor output matches, or at least
substantially matches, the reference value. The processor may
utilize an independent method of confirming that the closure
trigger is in its unclamped position. In at least one such
instance, the surgical instrument can include a second sensor in
signal communication with the processor which can independently
verify that the closure trigger is in its unclamped position. The
second sensor could also comprise an analog sensor, such as a Hall
effect sensor, for example. The second sensor could comprise a
proximity sensor, a resistance based sensor, and/or any other
suitable sensor, for example. The same or similar attributes could
be applied to a firing trigger of the surgical instrument, for
example.
[0128] As discussed above, referring to FIGS. 14-18A, a tracking
system 800 can comprise one or more sensors, such as a first Hall
effect sensor 803 and a second Hall effect sensor 804, for example,
which can be configured to track the position of the magnet 802.
Upon comparing FIGS. 14 and 17, the reader will appreciate that,
when the closure trigger 32 is moved from its unactuated position
to its actuated position, the magnet 802 can move between a first
position adjacent the first Hall effect sensor 803 and a second
position adjacent the second Hall effect sensor 804. When the
magnet 802 is in its first position, the position of the magnet 802
can be detected by the first Hall effect sensor 803 and/or the
second Hall effect sensor 804. The processor of the surgical
instrument can use data from the first sensor 803 to determine the
position of the magnet 802 and data from the second sensor 804 to
independently determine the position of the magnet 802. In such
instances, the processor can utilize data from the second sensor
804 to verify the integrity of the data from the first sensor 803.
Alternatively, the processor could utilize the data from the first
sensor 803 to verify the integrity of the data from the second
sensor 804. The processor can utilize any suitable hierarchy for
determining whether the data from a sensor should be used to
provide a primary determination or a secondary determination of the
position of the magnet 802. For instance, when the magnet 802 is in
its first position, the magnet 802 may provide a larger disturbance
to the magnetic field surrounding the first sensor 803 than to the
magnetic field surrounding the second sensor 804 and, as a result,
the processor may utilize the data from the first sensor 803 as a
primary determination of the position of the magnet 802. When the
magnet 802 is closer to the second sensor 804 than the first sensor
803, the magnet 802 may provide a larger disturbance to the
magnetic field surrounding the second sensor 804 than to the
magnetic field surrounding the first sensor 803 and, as a result,
the processor may utilize the data from the second sensor 804 as a
primary determination of the position of the magnet 802.
[0129] Further to the above, the path of the magnet 802 relative to
the first sensor 803 can be determined when the magnet 802 moves
along a first path segment when the closure trigger 32 is moved
between its unclamped position and its clamped position and a
second path segment when the firing trigger 130 is moved between
its unfired position and its fired position. The range of outputs
that the first sensor 803 will produce while tracking the magnet
802 as it moves along its first path segment can define a first
valid range of data while the range of outputs that the first
sensor 803 will produce while tracking the magnet 802 as it moves
along its second path segment can define a second valid range of
data. The first valid range of data may or may not be contiguous
with the second valid range of data. In either event, the path of
the magnet 802 relative to the second sensor 804 can also be
determined when the magnet 802 moves along its first path segment
and its second path segment. The range of outputs that the second
sensor 804 will produce while tracking the magnet 802 as it moves
along its first path segment can define a first valid range of data
while the range of outputs that the second sensor 804 will produce
while tracking the magnet 802 as it moves along its second path
segment can define a second valid range of data. When the first
sensor 803 and/or the second sensor 804 receives data outside of
its respective first valid range of data and second valid range of
data, the processor may assume that an error has occurred, modify
the operation of the surgical instrument, and/or notify the
operator of the surgical instrument. In certain instances, the
processor can be configured to utilize data from the first sensor
803 and the second sensor 804 to determine whether the surgical
instrument has been positioned within a strong external magnetic
field which can affect the operation of the surgical instrument.
For instance, the magnet 802 may move along a path such that the
first sensor 803 and the second sensor 804 do not produce the same
output at the same time and, in the event that first sensor 803 and
the second sensor 804 produce the same output at the same time, the
processor can determine that a fault condition exists, for
example.
[0130] The entire disclosures of:
[0131] U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC
DEVICE, which issued on Apr. 4, 1995;
[0132] U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING
INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS,
which issued on Feb. 21, 2006;
[0133] 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;
[0134] 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;
[0135] U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING
AN ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;
[0136] U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING
INSTRUMENTS, which issued on Jul. 13, 2010;
[0137] U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE
IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;
[0138] U.S. patent application Ser. No. 11/343,803, entitled
SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES;
[0139] U.S. patent application Ser. No. 12/031,573, entitled
SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES,
filed Feb. 14, 2008;
[0140] 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
[0141] U.S. patent application Ser. No. 12/235,782, entitled
MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.
8,210,411;
[0142] U.S. patent application Ser. No. 12/249,117, entitled
POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY
RETRACTABLE FIRING SYSTEM, now U.S. Patent Application Publication
No. 2010/0089970;
[0143] 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;
[0144] U.S. patent application Ser. No. 12/893,461, entitled STAPLE
CARTRIDGE, filed Sep. 29, 2012, now U.S. Patent Application
Publication No. 2012/0074198;
[0145] U.S. patent application Ser. No. 13/036,647, entitled
SURGICAL STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Patent
Application Publication No. 2011/0226837;
[0146] U.S. patent application Ser. No. 13/118,241, entitled
SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT
ARRANGEMENTS, now U.S. Patent Application Publication No.
2012/0298719;
[0147] U.S. patent application Ser. No. 13/524,049, entitled
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed
on Jun. 15, 2012;
[0148] U.S. patent application Ser. No. 13/800,025, entitled STAPLE
CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,
2013;
[0149] U.S. patent application Ser. No. 13/800,067, entitled STAPLE
CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,
2013;
[0150] U.S. Patent Application Pub. No. 2007/0175955, entitled
SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER
LOCKING MECHANISM, filed Jan. 31, 2006; and
[0151] U.S. Patent Application Publication No. 2010/0264194,
entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END
EFFECTOR, filed Apr. 22, 2010, are hereby incorporated by reference
herein.
[0152] In accordance with various embodiments, the surgical
instruments described herein may comprise one or more processors
(e.g., microprocessor, microcontroller) coupled to various sensors.
In addition, to the processor(s), a storage (having operating
logic) and communication interface, are coupled to each other.
[0153] The processor may be configured to execute the operating
logic. The processor may be any one of a number of single or
multi-core processors known in the art. The storage may comprise
volatile and non-volatile storage media configured to store
persistent and temporal (working) copy of the operating logic.
[0154] In various embodiments, the operating logic may be
configured to process the collected biometric associated with
motion data of the user, as described above. In various
embodiments, the operating logic may be configured to perform the
initial processing, and transmit the data to the computer hosting
the application to determine and generate instructions. For these
embodiments, the operating logic may be further configured to
receive information from and provide feedback to a hosting
computer. In alternate embodiments, the operating logic may be
configured to assume a larger role in receiving information and
determining the feedback. In either case, whether determined on its
own or responsive to instructions from a hosting computer, the
operating logic may be further configured to control and provide
feedback to the user.
[0155] In various embodiments, the operating logic may be
implemented in instructions supported by the instruction set
architecture (ISA) of the processor, or in higher level languages
and compiled into the supported ISA. The operating logic may
comprise one or more logic units or modules. The operating logic
may be implemented in an object oriented manner. The operating
logic may be configured to be executed in a multi-tasking and/or
multi-thread manner. In other embodiments, the operating logic may
be implemented in hardware such as a gate array.
[0156] In various embodiments, the communication interface may be
configured to facilitate communication between a peripheral device
and the computing system. The communication may include
transmission of the collected biometric data associated with
position, posture, and/or movement data of the user's body part(s)
to a hosting computer, and transmission of data associated with the
tactile feedback from the host computer to the peripheral device.
In various embodiments, the communication interface may be a wired
or a wireless communication interface. An example of a wired
communication interface may include, but is not limited to, a
Universal Serial Bus (USB) interface. An example of a wireless
communication interface may include, but is not limited to, a
Bluetooth interface.
[0157] For various embodiments, the processor may be packaged
together with the operating logic. In various embodiments, the
processor may be packaged together with the operating logic to form
a System in Package (SiP). In various embodiments, the processor
may be integrated on the same die with the operating logic. In
various embodiments, the processor may be packaged together with
the operating logic to form a System on Chip (SoC).
[0158] Various embodiments may be described herein in the general
context of computer executable instructions, such as software,
program modules, and/or engines being executed by a processor.
Generally, software, program modules, and/or engines include any
software element arranged to perform particular operations or
implement particular abstract data types. Software, program
modules, and/or engines can include routines, programs, objects,
components, data structures and the like that perform particular
tasks or implement particular abstract data types. An
implementation of the software, program modules, and/or engines
components and techniques may be stored on and/or transmitted
across some form of computer-readable media. In this regard,
computer-readable media can be any available medium or media
useable to store information and accessible by a computing device.
Some embodiments also may be practiced in distributed computing
environments where operations are performed by one or more remote
processing devices that are linked through a communications
network. In a distributed computing environment, software, program
modules, and/or engines may be located in both local and remote
computer storage media including memory storage devices. A memory
such as a random access memory (RAM) or other dynamic storage
device may be employed for storing information and instructions to
be executed by the processor. The memory also may be used for
storing temporary variables or other intermediate information
during execution of instructions to be executed by the
processor.
[0159] Although some embodiments may be illustrated and described
as comprising functional components, software, engines, and/or
modules performing various operations, it can be appreciated that
such components or modules may be implemented by one or more
hardware components, software components, and/or combination
thereof. The functional components, software, engines, and/or
modules may be implemented, for example, by logic (e.g.,
instructions, data, and/or code) to be executed by a logic device
(e.g., processor). Such logic may be stored internally or
externally to a logic device on one or more types of
computer-readable storage media. In other embodiments, the
functional components such as software, engines, and/or modules may
be implemented by hardware elements that may include processors,
microprocessors, circuits, circuit elements (e.g., transistors,
resistors, capacitors, inductors, and so forth), integrated
circuits, application specific integrated circuits (ASIC),
programmable logic devices (PLD), digital signal processors (DSP),
field programmable gate array (FPGA), logic gates, registers,
semiconductor device, chips, microchips, chip sets, and so
forth.
[0160] Examples of software, engines, and/or modules may include
software components, programs, applications, computer programs,
application programs, system programs, machine programs, operating
system software, middleware, firmware, software modules, routines,
subroutines, functions, methods, procedures, software interfaces,
application program interfaces (API), instruction sets, computing
code, computer code, code segments, computer code segments, words,
values, symbols, or any combination thereof. Determining whether an
embodiment is implemented using hardware elements and/or software
elements may vary in accordance with any number of factors, such as
desired computational rate, power levels, heat tolerances,
processing cycle budget, input data rates, output data rates,
memory resources, data bus speeds and other design or performance
constraints.
[0161] One or more of the modules described herein may comprise one
or more embedded applications implemented as firmware, software,
hardware, or any combination thereof. One or more of the modules
described herein may comprise various executable modules such as
software, programs, data, drivers, application program interfaces
(APIs), and so forth. The firmware may be stored in a memory of the
controller 2016 and/or the controller 2022 which may comprise a
nonvolatile memory (NVM), such as in bit-masked read-only memory
(ROM) or flash memory. In various implementations, storing the
firmware in ROM may preserve flash memory. The nonvolatile memory
(NVM) may comprise other types of memory including, for example,
programmable ROM (PROM), erasable programmable ROM (EPROM),
electrically erasable programmable ROM (EEPROM), or battery backed
random-access memory (RAM) such as dynamic RAM (DRAM),
Double-Data-Rate DRAM (DDRAM), and/or synchronous DRAM (SDRAM).
[0162] In some cases, various embodiments may be implemented as an
article of manufacture. The article of manufacture may include a
computer readable storage medium arranged to store logic,
instructions and/or data for performing various operations of one
or more embodiments. In various embodiments, for example, the
article of manufacture may comprise a magnetic disk, optical disk,
flash memory or firmware containing computer program instructions
suitable for execution by a general purpose processor or
application specific processor. The embodiments, however, are not
limited in this context.
[0163] The functions of the various functional elements, logical
blocks, modules, and circuits elements described in connection with
the embodiments disclosed herein may be implemented in the general
context of computer executable instructions, such as software,
control modules, logic, and/or logic modules executed by the
processing unit. Generally, software, control modules, logic,
and/or logic modules comprise any software element arranged to
perform particular operations. Software, control modules, logic,
and/or logic modules can comprise routines, programs, objects,
components, data structures and the like that perform particular
tasks or implement particular abstract data types. An
implementation of the software, control modules, logic, and/or
logic modules and techniques may be stored on and/or transmitted
across some form of computer-readable media. In this regard,
computer-readable media can be any available medium or media
useable to store information and accessible by a computing device.
Some embodiments also may be practiced in distributed computing
environments where operations are performed by one or more remote
processing devices that are linked through a communications
network. In a distributed computing environment, software, control
modules, logic, and/or logic modules may be located in both local
and remote computer storage media including memory storage
devices.
[0164] Additionally, it is to be appreciated that the embodiments
described herein illustrate example implementations, and that the
functional elements, logical blocks, modules, and circuits elements
may be implemented in various other ways which are consistent with
the described embodiments. Furthermore, the operations performed by
such functional elements, logical blocks, modules, and circuits
elements may be combined and/or separated for a given
implementation and may be performed by a greater number or fewer
number of components or modules. As will be apparent to those of
skill in the art upon reading the present disclosure, each of the
individual embodiments described and illustrated herein has
discrete components and features which may be readily separated
from or combined with the features of any of the other several
aspects without departing from the scope of the present disclosure.
Any recited method can be carried out in the order of events
recited or in any other order which is logically possible.
[0165] It is worthy to note that any reference to "one embodiment"
or "an embodiment" means that a particular feature, structure, or
characteristic described in connection with the embodiment is
comprised in at least one embodiment. The appearances of the phrase
"in one embodiment" or "in one aspect" in the specification are not
necessarily all referring to the same embodiment.
[0166] Unless specifically stated otherwise, it may be appreciated
that terms such as "processing," "computing," "calculating,"
"determining," or the like, refer to the action and/or processes of
a computer or computing system, or similar electronic computing
device, such as a general purpose processor, a DSP, ASIC, FPGA or
other programmable logic device, discrete gate or transistor logic,
discrete hardware components, or any combination thereof designed
to perform the functions described herein that manipulates and/or
transforms data represented as physical quantities (e.g.,
electronic) within registers and/or memories into other data
similarly represented as physical quantities within the memories,
registers or other such information storage, transmission or
display devices.
[0167] It is worthy to note that some embodiments may be described
using the expression "coupled" and "connected" along with their
derivatives. These terms are not intended as synonyms for each
other. For example, some embodiments may be described using the
terms "connected" and/or "coupled" to indicate that two or more
elements are in direct physical or electrical contact with each
other. The term "coupled," however, also may mean that two or more
elements are not in direct contact with each other, but yet still
co-operate or interact with each other. With respect to software
elements, for example, the term "coupled" may refer to interfaces,
message interfaces, application program interface (API), exchanging
messages, and so forth.
[0168] It should be appreciated that 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 material 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.
[0169] The disclosed embodiments have application in conventional
endoscopic and open surgical instrumentation as well as application
in robotic-assisted surgery.
[0170] Embodiments of 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. Embodiments may, in either or both cases, be
reconditioned for reuse after at least one use. Reconditioning may
include any combination of the steps of disassembly of the device,
followed by cleaning or replacement of particular pieces, and
subsequent reassembly. In particular, embodiments of the device may
be disassembled, and any number of the particular pieces or parts
of the device may be selectively replaced or removed in any
combination. Upon cleaning and/or replacement of particular parts,
embodiments of the device may 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 may 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.
[0171] By way of example only, embodiments 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
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, or steam.
[0172] One skilled in the art will recognize that the herein
described components (e.g., operations), devices, objects, and the
discussion accompanying them are used as examples for the sake of
conceptual clarity and that various configuration modifications are
contemplated. Consequently, as used herein, the specific exemplars
set forth and the accompanying discussion are intended to be
representative of their more general classes. In general, use of
any specific exemplar is intended to be representative of its
class, and the non-inclusion of specific components (e.g.,
operations), devices, and objects should not be taken limiting.
[0173] With respect to the use of substantially any plural and/or
singular terms herein, those having skill in the art can translate
from the plural to the singular and/or from the singular to the
plural as is appropriate to the context and/or application. The
various singular/plural permutations are not expressly set forth
herein for sake of clarity.
[0174] The herein described subject matter sometimes illustrates
different components contained within, or connected with, different
other components. It is to be understood that such depicted
architectures are merely examples and that in fact many other
architectures may be implemented which achieve the same
functionality. In a conceptual sense, any arrangement of components
to achieve the same functionality is effectively "associated" such
that the desired functionality is achieved. Hence, any two
components herein combined to achieve a particular functionality
can be seen as "associated with" each other such that the desired
functionality is achieved, irrespective of architectures or
intermedial components. Likewise, any two components so associated
also can be viewed as being "operably connected," or "operably
coupled," to each other to achieve the desired functionality, and
any two components capable of being so associated also can be
viewed as being "operably couplable," to each other to achieve the
desired functionality. Specific examples of operably couplable
include but are not limited to physically mateable and/or
physically interacting components, and/or wirelessly interactable,
and/or wirelessly interacting components, and/or logically
interacting, and/or logically interactable components.
[0175] Some aspects may be described using the expression "coupled"
and "connected" along with their derivatives. It should be
understood that these terms are not intended as synonyms for each
other. For example, some aspects may be described using the term
"connected" to indicate that two or more elements are in direct
physical or electrical contact with each other. In another example,
some aspects may be described using the term "coupled" to indicate
that two or more elements are in direct physical or electrical
contact. The term "coupled," however, also may mean that two or
more elements are not in direct contact with each other, but yet
still co-operate or interact with each other.
[0176] In some instances, one or more components may be referred to
herein as "configured to," "configurable to," "operable/operative
to," "adapted/adaptable," "able to," "conformable/conformed to,"
etc. Those skilled in the art will recognize that "configured to"
can generally encompass active-state components and/or
inactive-state components and/or standby-state components, unless
context requires otherwise.
[0177] While particular aspects of the present subject matter
described herein have been shown and described, it will be apparent
to those skilled in the art that, based upon the teachings herein,
changes and modifications may be made without departing from the
subject matter described herein and its broader aspects and,
therefore, the appended claims are to encompass within their scope
all such changes and modifications as are within the true scope of
the subject matter described herein. It will be understood by those
within the art that, in general, terms used herein, and especially
in the appended claims (e.g., bodies of the appended claims) are
generally intended as "open" terms (e.g., the term "including"
should be interpreted as "including but not limited to," the term
"having" should be interpreted as "having at least," the term
"includes" should be interpreted as "includes but is not limited
to," etc.). It will be further understood by those within the art
that when a specific number of an introduced claim recitation is
intended, such an intent will be explicitly recited in the claim,
and in the absence of such recitation no such intent is present.
For example, as an aid to understanding, the following appended
claims may contain usage of the introductory phrases "at least one"
and "one or more" to introduce claim recitations. However, the use
of such phrases should not be construed to imply that the
introduction of a claim recitation by the indefinite articles "a"
or "an" limits any particular claim containing such introduced
claim recitation to claims containing only one such recitation,
even when the same claim includes the introductory phrases "one or
more" or "at least one" and indefinite articles such as "a" or "an"
(e.g., "a" and/or "an" should typically be interpreted to mean "at
least one" or "one or more"); the same holds true for the use of
definite articles used to introduce claim recitations.
[0178] In addition, even when a specific number of an introduced
claim recitation is explicitly recited, those skilled in the art
will recognize that such recitation should typically be interpreted
to mean at least the recited number (e.g., the bare recitation of
"two recitations," without other modifiers, typically means at
least two recitations, or two or more recitations). Furthermore, in
those instances where a convention analogous to "at least one of A,
B, and C, etc." is used, in general such a construction is intended
in the sense one having skill in the art would understand the
convention (e.g., "a system having at least one of A, B, and C"
would include but not be limited to systems that have A alone, B
alone, C alone, A and B together, A and C together, B and C
together, and/or A, B, and C together, etc.). In those instances
where a convention analogous to "at least one of A, B, or C, etc."
is used, in general such a construction is intended in the sense
one having skill in the art would understand the convention (e.g.,
"a system having at least one of A, B, or C" would include but not
be limited to systems that have A alone, B alone, C alone, A and B
together, A and C together, B and C together, and/or A, B, and C
together, etc.). It will be further understood by those within the
art that typically a disjunctive word and/or phrase presenting two
or more alternative terms, whether in the description, claims, or
drawings, should be understood to contemplate the possibilities of
including one of the terms, either of the terms, or both terms
unless context dictates otherwise. For example, the phrase "A or B"
will be typically understood to include the possibilities of "A" or
"B" or "A and B."
[0179] With respect to the appended claims, those skilled in the
art will appreciate that recited operations therein may generally
be performed in any order. Also, although various operational flows
are presented in a sequence(s), it should be understood that the
various operations may be performed in other orders than those
which are illustrated, or may be performed concurrently. Examples
of such alternate orderings may include overlapping, interleaved,
interrupted, reordered, incremental, preparatory, supplemental,
simultaneous, reverse, or other variant orderings, unless context
dictates otherwise. Furthermore, terms like "responsive to,"
"related to," or other past-tense adjectives are generally not
intended to exclude such variants, unless context dictates
otherwise.
[0180] In summary, numerous benefits have been described which
result from employing the concepts described herein. The foregoing
description of the one or more embodiments has been presented for
purposes of illustration and description. It is not intended to be
exhaustive or limiting to the precise form disclosed. Modifications
or variations are possible in light of the above teachings. The one
or more embodiments were chosen and described in order to
illustrate principles and practical application to thereby enable
one of ordinary skill in the art to utilize the various embodiments
and with various modifications as are suited to the particular use
contemplated. It is intended that the claims submitted herewith
define the overall scope.
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