U.S. patent application number 15/131963 was filed with the patent office on 2017-10-19 for method for operating a surgical instrument.
The applicant listed for this patent is Ethicon Endo-Surgery, LLC. Invention is credited to Jason L. Harris, Mark D. Overmyer, Frederick E. Shelton, IV, David C. Yates.
Application Number | 20170296173 15/131963 |
Document ID | / |
Family ID | 58549096 |
Filed Date | 2017-10-19 |
United States Patent
Application |
20170296173 |
Kind Code |
A1 |
Shelton, IV; Frederick E. ;
et al. |
October 19, 2017 |
METHOD FOR OPERATING A SURGICAL INSTRUMENT
Abstract
A surgical instrument is configured to compensate for battery
pack and drivetrain failures. One method includes generating a
firing sequence, determining whether a subset of rechargeable
battery cells is damaged during the firing sequence, and
stepping-up an output voltage of the battery pack to complete the
firing sequence in response to a determination that a subset of the
rechargeable battery cells is damaged. Another method includes
generating a mechanical output to motivate a drivetrain to transmit
a motion to a jaw assembly of the surgical instrument, activating a
safe mode in response to an acute failure of the drivetrain, and
activating a bailout mode in response to a catastrophic failure of
the drivetrain. Another method includes driving a drivetrain,
sensing and recording vibration information from the drivetrain,
generating an output signal based on the vibration information, and
determining a status of the surgical instrument based on the output
signal.
Inventors: |
Shelton, IV; Frederick E.;
(Hillsboro, OH) ; Overmyer; Mark D.; (Cincinnati,
OH) ; Yates; David C.; (Cincinnati, OH) ;
Harris; Jason L.; (Lebanon, OH) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ethicon Endo-Surgery, LLC |
Guaynabo |
PR |
US |
|
|
Family ID: |
58549096 |
Appl. No.: |
15/131963 |
Filed: |
April 18, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2017/00477
20130101; A61B 17/068 20130101; A61B 2017/00017 20130101; A61B
2017/07285 20130101; A61B 2090/0809 20160201; A61B 2017/2927
20130101; A61B 90/98 20160201; A61B 2017/2931 20130101; A61B
2090/0808 20160201; A61B 17/07207 20130101; A61B 2017/07257
20130101; H02J 7/0029 20130101; A61B 2017/00734 20130101; A61B
2017/00398 20130101; A61B 2017/003 20130101; H02J 7/0063 20130101;
A61B 2017/07278 20130101; A61B 2017/00154 20130101; A61B 2017/0046
20130101; A61B 2017/2943 20130101; A61B 2017/00473 20130101; A61B
2017/0003 20130101; A61B 2017/00876 20130101; H02J 2007/0067
20130101; A61B 2017/00119 20130101; A61B 2017/07271 20130101; A61B
2017/00075 20130101; A61B 2090/0814 20160201; A61B 2090/034
20160201 |
International
Class: |
A61B 17/068 20060101
A61B017/068 |
Claims
1. A method of compensating for a battery pack failure in a powered
surgical instrument, the method comprising: generating, by an
electric motor, a rotational motion to motivate a firing assembly
to deploy staples into a captured tissue during a firing sequence;
determining, by a control circuit, whether a subset of rechargeable
battery cells is damaged during the firing sequence based on a
measurement performed by a battery-cell health indicator; and
stepping-up, by the control circuit coupled to a voltage converter,
an output voltage of the battery pack to complete the firing
sequence in response to a determination that a subset of the
rechargeable battery cells is damaged.
2. The method of claim 1, further comprising storing, by the
control circuit coupled to a memory, a damaged status of the power
pack in the memory in response to a determination that a subset of
the rechargeable battery cells is damaged.
3. The method of claim 2, further comprising clearing, by the
control circuit, the damaged status after the damaged subset of the
rechargeable battery cells is replaced with undamaged battery
cells.
4. The method of claim 1, further comprising deactivating, by the
control circuit, the surgical instrument after completion of the
firing sequence in response to a determination that a subset of the
rechargeable battery cells is damaged.
5. A method of compensating for drivetrain failure in a powered
surgical instrument, the method comprising: generating, by an
electric motor, a mechanical output to motivate a drivetrain to
transmit a motion to a jaw assembly of the surgical instrument;
activating, by a control circuit, a safe mode in response to an
acute failure of the drivetrain; and activating, by the control
circuit, a bailout mode in response to a catastrophic failure of
the drivetrain.
6. The method of claim 5, further comprising modulating, by the
control circuit, the mechanical output of the electric motor in
response to the acute failure.
7. The method of claim 6, wherein modulating the mechanical output
of the electric motor comprises slowing the mechanical output.
8. The method of claim 5, further comprising generating, by a power
source, a motor input voltage.
9. The method of claim 8, further comprising modulating, by the
control circuit, the motor input voltage in response to the acute
failure.
10. The method of claim 9, wherein modulating the motor input
voltage comprises delivering the motor input voltage in pulses.
11. The method of claim 9, wherein modulating the motor input
voltage comprises reducing the motor input voltage.
12. The method of claim 5, further comprising disabling, by the
control circuit, the electric motor in response to the catastrophic
failure.
13. The method of claim 8, further comprising, employing, by the
control circuit, a feedback element to provide bailout instructions
in response to the catastrophic failure.
14. A method of compensating for drivetrain failure in a powered
surgical instrument, the method comprising: driving, by an electric
motor, a drivetrain comprising gear components to perform
operations of the surgical instrument; sensing, by a vibration
sensor positioned relative to the drivetrain, vibration information
from the drivetrain; recording, by a processor coupled to a memory,
the vibration information sensed by the vibration sensor;
generating, by the vibration sensor, an output signal based on the
vibration information; and determining a status of the surgical
instrument based on the output signal.
15. The method of claim 14, further comprising: filtering, by a
filter, the output signal of the vibration sensor; and generating,
by the filter, a filtered signal based on the received output
signal.
16. The method of apparatus of claim 14, further comprising
generating, by the processor, a processed signal based on the
filtered signal.
17. The method claim 16, further comprising comparing, by the
processor, a predetermined threshold value to a corresponding value
of the processed signal.
18. The method of claim 17, further comprising detecting, by the
processor, a malfunction of the surgical instrument when the
predetermined threshold value is equal to or less than the
corresponding value of the processed signal.
19. The method of claim 16, further comprising generating the
predetermined threshold value from a test output signal of the
vibration sensor or a previously processed signal.
20. The method of claim 19, further comprising: sensing, by the
vibration sensor, test vibration information during a testing
procedure of the surgical instrument; and recording, by the memory,
a test output signal based on the test vibration information sensed
by the vibration sensor.
Description
BACKGROUND
[0001] The present invention relates to surgical instruments and,
in various arrangements, to surgical stapling and cutting
instruments and staple cartridges for use therewith that are
designed to staple and cut tissue.
BRIEF DESCRIPTION OF THE DRAWINGS
[0002] The features of the various aspects are set forth with
particularity in the appended claims. The various aspects, however,
both as to organization and methods of operation, together with
advantages thereof, may best be understood by reference to the
following description, taken in conjunction with the accompanying
drawings as follows:
[0003] FIG. 1 is a perspective, disassembled view of an
electromechanical surgical system including a surgical instrument,
an adapter, and an end effector, according to the present
disclosure;
[0004] FIG. 2 is a perspective view of the surgical instrument of
FIG. 1, according to at least one aspect of the present
disclosure;
[0005] FIG. 3 is perspective, exploded view of the surgical
instrument of FIG. 1, according to at least one aspect of the
present disclosure;
[0006] FIG. 4 is a perspective view of a battery of the surgical
instrument of FIG. 1, according to at least one aspect of the
present disclosure;
[0007] FIG. 5 is a top, partially-disassembled view of the surgical
instrument of FIG. 1, according to at least one aspect of the
present disclosure;
[0008] FIG. 6 is a front, perspective view of the surgical
instrument of FIG. 1 with the adapter separated therefrom,
according to at least one aspect of the present disclosure;
[0009] FIG. 7 is a side, cross-sectional view of the surgical
instrument of FIG. 1, as taken through 7-7 of FIG. 2, according to
at least one aspect of the present disclosure;
[0010] FIG. 8 is a top, cross-sectional view of the surgical
instrument of FIG. 1, as taken through 8-8 of FIG. 2, according to
at least one aspect of the present disclosure;
[0011] FIG. 9 is a perspective, exploded view of a end effector of
FIG. 1, according to at least one aspect of the present
disclosure;
[0012] FIG. 10A is a top view of a locking member, according to at
least one aspect of the present disclosure;
[0013] FIG. 10B is a perspective view of the locking member of FIG.
10A, according to at least one aspect of the present
disclosure;
[0014] FIG. 11 is a schematic diagram of the surgical instrument of
FIG. 1, according to at least one aspect of the present
disclosure;
[0015] FIG. 12 is a perspective view, with parts separated, of an
electromechanical surgical system, according to at least one aspect
of the present disclosure;
[0016] FIG. 13 is a rear, perspective view of a shaft assembly and
a powered surgical instrument, of the electromechanical surgical
system of FIG. 12, illustrating a connection therebetween,
according to at least aspect of the present disclosure;
[0017] FIG. 14 is a perspective view, with parts separated, of the
shaft assembly of FIG. 13, according to at least aspect of the
present disclosure;
[0018] FIG. 15 is a perspective view, with parts separated of a
transmission housing of the shaft assembly of FIG. 13, according to
at least aspect of the present disclosure;
[0019] FIG. 16 is a perspective view of a first gear train system
that is supported in the transmission housing of FIG. 15, according
to at least aspect of the present disclosure;
[0020] FIG. 17 is a perspective view of a second gear train system
that is supported in the transmission housing of FIG. 15, according
to at least aspect of the present disclosure;
[0021] FIG. 18 is a perspective view of a third drive shaft that is
supported in the transmission housing of FIG. 15, according to at
least aspect of the present disclosure;
[0022] FIG. 19 is a perspective view of a surgical instrument,
according to at least one aspect of the present disclosure;
[0023] FIG. 19A is a top view of the surgical instrument of FIG.
19, according to at least one aspect of the present disclosure;
[0024] FIG. 20 is a circuit diagram of various components of the
surgical instrument of FIG. 20, according to at least one aspect of
the present disclosure;
[0025] FIG. 21 is logic diagram including steps for responding to
drivetrain failures of the surgical instrument of FIG. 19,
according to at least one aspect of the present disclosure;
[0026] FIG. 22 is a logic diagram of a safe mode of the surgical
instrument of FIG. 19, according to at least one aspect of the
present disclosure;
[0027] FIG. 22A is logic diagram including steps for responding to
drivetrain failures of the surgical instrument of FIG. 19,
according to at least one aspect of the present disclosure;
[0028] FIG. 23 is graph outlining a motor modulation in the safe
mode of FIG. 22, according to at least one aspect of the present
disclosure;
[0029] FIG. 23A is graph outlining a motor modulation in the safe
mode of FIG. 22, according to at least one aspect of the present
disclosure;
[0030] FIG. 24 is logic diagram including steps for responding to
drivetrain failures of the surgical instrument of FIG. 19,
according to at least one aspect of the present disclosure;
[0031] FIG. 25 is a logic diagram of a bailout mode of the surgical
instrument of FIG. 19, according to at least one aspect of the
present disclosure;
[0032] FIG. 26A is a partial perspective view of a surgical
instrument, according to at least one aspect of the present
disclosure;
[0033] FIG. 26B is a perspective view of a power pack of the
surgical instrument of FIG. 26A, according to at least one aspect
of the present disclosure;
[0034] FIG. 27 is a logic diagram outlining a method of assessing
the health of the power pack of FIG. 26B and responding to a
detected drop in power-pack health, according to at least one
aspect of the present disclosure;
[0035] FIG. 28 is a logic diagram of a module of the surgical
instrument of FIG. 26A, according to at least one aspect of the
present disclosure;
[0036] FIG. 29 is a logic diagram of steps of the method of FIG.
27, according to at least one aspect of the present disclosure;
[0037] FIG. 30 is a logic diagram of steps of the method of FIG.
27, according to least one aspect of the present disclosure;
[0038] FIG. 31 is a logic diagram of steps of the method of FIG.
27, according to at least one aspect of the present disclosure;
[0039] FIG. 32 is a circuit diagram of a module of the surgical
instrument of FIG. 26A, according to at least one aspect of the
present disclosure;
[0040] FIG. 33 is a Wheatstone bridge circuit, according to at
least one aspect of the present disclosure;
[0041] FIG. 34 is an electronic control circuit coupled to a
plurality of battery cells arranged in series, according to at
least one aspect of the present disclosure;
[0042] FIG. 35 is a logic diagram for assessing the health status
of a power pack based on the sensor readings, according to at least
one aspect of the present disclosure;
[0043] FIG. 36 is a perspective view of a surgical instrument,
according to at least one aspect of the present disclosure;
[0044] FIG. 36A is a top view of the surgical instrument of FIG.
36, according to at least aspect of the present disclosure;
[0045] FIG. 36B is a partial exploded view of the surgical
instrument of FIG. 36, according to at least aspect of the present
disclosure;
[0046] FIG. 37 is a perspective view of a motor cartridge,
according to at least aspect of the present disclosure;
[0047] FIG. 38 is a circuit diagram of various components of the
surgical instrument of FIG. 37, according to at least aspect of the
present disclosure;
[0048] FIG. 39 is a logic diagram outlining a method of monitoring
the health of a motor cartridge, according to at least aspect of
the present disclosure;
[0049] FIG. 40 is a logic diagram outlining a method that employs a
current sensor to monitor the health of a motor cartridge,
according to at least aspect of the present disclosure;
[0050] FIG. 41 is a logic diagram outlining a module of the
surgical instrument of FIG. 37, according to at least aspect of the
present disclosure;
[0051] FIG. 42 is a logic diagram outlining a module of the
surgical instrument of FIG. 37, according to at least aspect of the
present disclosure;
[0052] FIG. 43 is a perspective view of a surgical instrument,
according to at least one aspect of the present disclosure;
[0053] FIG. 44 is a circuit diagram of various components of the
surgical instrument of FIG. 43, according to at least one aspect of
the present disclosure;
[0054] FIG. 45 is a circuit diagram including a microphone in
communication with a plurality of filters coupled to a plurality of
logic gates in accordance with at least one aspect of the present
disclosure;
[0055] FIG. 46 is a graph of a microphone's output in volts versus
time in seconds, the graph representing is a vibratory response of
a properly functioning surgical instrument of FIG. 43 recorded by
the microphone during operation of the surgical instrument in
accordance with at least one aspect of the present disclosure;
[0056] FIG. 46A is a filtered signal of the microphone output of
FIG. 46 in accordance with at least one aspect of the present
disclosure;
[0057] FIG. 47 is a graph of a microphone's output in volts versus
time in seconds, the graph representing is a vibratory response of
a malfunctioning surgical instrument of FIG. 43 recorded by the
microphone during operation of the surgical instrument in
accordance with at least one aspect of the present disclosure;
[0058] FIG. 47A is a filtered signal of the microphone output of
FIG. 47 in accordance with at least one aspect of the present
disclosure;
[0059] FIG. 48 is a circuit diagram including a sensor of the
surgical instrument of FIG. 43 coupled to a plurality of filters in
communication with a microcontroller via a multiplexer and an
analogue to digital converter in accordance with at least one
aspect of the present disclosure;
[0060] FIG. 48A is a circuit diagram including a sensor of the
surgical instrument of FIG. 43 coupled to a plurality of filters in
communication with a microcontroller via a multiplexer and an
analogue to digital converter in accordance with at least one
aspect of the present disclosure;
[0061] FIGS. 48B-48D illustrate structural and operational
characteristics of a Band-pass filter of the surgical instrument of
FIG. 43 in accordance with at least one aspect of the present
disclosure;
[0062] FIG. 49 is graph representing a filtered signal of a sensor
output of the surgical instrument of FIG. 43 in accordance with at
least one aspect of the present disclosure;
[0063] FIG. 50 is a graph representing a processed signal of a
sensor output of the surgical instrument of FIG. 43 in accordance
with at least one aspect of the present disclosure;
[0064] FIG. 51 is a graph representing the force needed to fire
(FTF) the surgical instrument of FIG. 43 in relation to a
displacement position of a drive assembly of the surgical
instrument from a starting position in accordance with at least one
aspect of the present disclosure;
[0065] FIG. 52 is a graph representing the velocity of a drive
assembly of the surgical instrument of FIG. 43, during a firing
stroke, in relation to the displacement position of the drive
assembly from a starting position in accordance with at least one
aspect of the present disclosure;
[0066] FIG. 53 is a graph that represents acceptable limit
modification based on zone of stroke location during a firing
stroke of the surgical instrument of FIG. 43 in accordance with at
least one aspect of the present disclosure;
[0067] FIG. 54 is a graph that represents a processed signal of the
output of a sensor of the surgical instrument of FIG. 43 showing a
shift in the frequency response of the processed signal due to load
and velocity changes experienced by a drive assembly during a
firing stroke in accordance with at least one aspect of the present
disclosure;
[0068] FIG. 55 is a graph that represents a processed signal of
vibrations captured by a sensor of the surgical instrument of FIG.
43 during a zone of operation, the graph illustrating and
acceptable limit, marginal limit, and critical limit for the zone
of operation in accordance with at least one aspect of the present
disclosure;
[0069] FIG. 56 is a logic diagram of the surgical instrument of
FIG. 43 in accordance with at least one aspect of the present
disclosure;
[0070] FIG. 57 is a graph that represents a processed signal of
vibrations captured by a sensor of the surgical instrument of FIG.
43 in accordance with at least one aspect of the present
disclosure;
[0071] FIG. 58 is a graph that represents a processed signal of
vibrations captured by a sensor of the surgical instrument of FIG.
43 in accordance with at least one aspect of the present
disclosure;
[0072] FIG. 59 is a graph that represents a processed signal of
vibrations captured by a sensor of the surgical instrument of FIG.
43 in accordance with at least one aspect of the present
disclosure;
[0073] FIG. 60 is a perspective view of a surgical instrument
system in accordance with at least one embodiment;
[0074] FIG. 61 is a perspective view of a portion of a rotary
driven firing assembly and a sled of a surgical staple cartridge
wherein the sled is in a starting position and the firing assembly
is in a first "unlocked" position according to at least one
embodiment;
[0075] FIG. 62 is another perspective view of the portion of the
rotary driven firing assembly embodiment of FIG. 61 in a second
"locked" position wherein the sled is not in the starting
position;
[0076] FIG. 63 is a side elevational view of a surgical staple
cartridge being initially installed in a surgical end effector that
is configured to cut and staple tissue in accordance with at least
one embodiment;
[0077] FIG. 64 is another side elevational view of the surgical
staple cartridge seated in the channel of the surgical end effector
of FIG. 63 wherein the sled of the surgical staple cartridge is in
a starting position and in engagement with the firing member of the
surgical instrument;
[0078] FIG. 65 is another side elevational view of a partially used
surgical staple cartridge seated in the channel of the surgical end
effector of FIG. 63 wherein the sled of the surgical staple
cartridge is not in a starting position;
[0079] FIG. 66 is a perspective view of a portion of a rotary
driven firing assembly and channel of a surgical cutting and
stapling end effector wherein the firing assembly is in a "locked"
position in accordance with at least one embodiment;
[0080] FIG. 67 is another perspective view of a portion of the
rotary driven firing assembly of FIG. 66 and a sled of a surgical
staple cartridge wherein the sled is in a starting position and the
firing assembly is in an "unlocked" position;
[0081] FIG. 68 is a perspective view of a threaded nut portion of
in accordance with at least one embodiment;
[0082] FIG. 69 is a perspective view of the threaded nut portion of
FIG. 68 being installed into a corresponding channel embodiment
shown in cross-section;
[0083] FIG. 70 is a cross-sectional elevational view of a channel
and threaded nut portion of FIG. 69 with the threaded nut portion
in a locked position;
[0084] FIG. 71 is another cross-sectional elevational view of the
channel and threaded nut portion of FIGS. 69 and 70 with the nut
portion in an unlocked position;
[0085] FIG. 72 is another cross-sectional elevational view of the
channel and threaded nut portion of FIGS. 69-71 with the threaded
nut portion in a locked position and illustrating the initial
installation of a sled of a surgical staple cartridge into the
channel with the cartridge body omitted for clarity;
[0086] FIG. 73 is another cross-sectional elevational view of the
channel, threaded nut portion and sled of FIG. 72 with the sled
installed so as to move the nut portion to the unlocked
position;
[0087] FIG. 74 is a cross-sectional side elevational view of a
surgical cutting and stapling end effector in accordance with at
least one embodiment;
[0088] FIG. 75 is an exploded perspective assembly view of an anvil
assembly of the surgical end effector of FIG. 74;
[0089] FIG. 76 is a cross-sectional view of the anvil assembly of
FIG. 75;
[0090] FIG. 77 is a cross-sectional view of the surgical end
effector of FIG. 74 with a firing member assembly thereof in a
locked position;
[0091] FIG. 78 is another cross-sectional view of the surgical end
effector of FIG. 77 taken at a proximal end thereof with the firing
member assembly in an unlocked position;
[0092] FIG. 79 is another cross-sectional view of the surgical end
effector of FIG. 77 taken at a position that is distal to the view
of FIG. 78;
[0093] FIG. 80 is a perspective view of a surgical stapling
instrument comprising a handle and a replaceable loading unit in
accordance with at least one embodiment;
[0094] FIG. 81 is a perspective view of the loading unit of FIG. 80
illustrated with a staple cartridge jaw detached from the loading
unit;
[0095] FIG. 82 is a perspective view of a surgical stapling
instrument comprising a handle and a replaceable loading unit in
accordance with at least one embodiment;
[0096] FIG. 83 is a perspective view of the loading unit of FIG.
82;
[0097] FIG. 84 illustrates the connection portions of the handle
and loading unit of FIG. 82;
[0098] FIG. 85 is a cross-sectional view of an end effector of the
loading unit of FIG. 80;
[0099] FIG. 86 is a detail view of the attachment between the
staple cartridge jaw and a frame of the staple loading unit of FIG.
80;
[0100] FIG. 87 is a cross-sectional view of an end effector of a
loading unit in accordance with at least one embodiment;
[0101] FIG. 88 is a detail view of the attachment between a staple
cartridge jaw and a frame of the loading unit of FIG. 87;
[0102] FIG. 89 is a perspective view of the frame of the loading
unit of FIG. 87;
[0103] FIG. 90 is a detail view of the proximal end of the staple
cartridge jaw of FIG. 87;
[0104] FIG. 91 is a detail view illustrating the connection between
the frame and the staple cartridge jaw of FIG. 87;
[0105] FIG. 92 is an exploded view of a staple cartridge jaw in
accordance with at least one embodiment;
[0106] FIG. 93 is a partial perspective view of a loading unit in
accordance with at least one embodiment;
[0107] FIG. 94 is a partial elevational view of a frame of a
loading unit in accordance with at least one embodiment illustrated
without a staple cartridge jaw attached thereto;
[0108] FIG. 95 is a partial elevational view of a staple cartridge
jaw attached to the frame of the loading unit of FIG. 94;
[0109] FIG. 96 is a partial elevational view of the loading unit of
FIG. 94 illustrated in a clamped configuration;
[0110] FIG. 97 is a partial elevational view of the loading unit of
FIG. 94 illustrated in a partially-fired configuration;
[0111] FIG. 98 is a partial elevational view of a frame of a
loading unit in accordance with at least one embodiment illustrated
without a staple cartridge jaw attached thereto;
[0112] FIG. 99 is a partial elevational view of a staple cartridge
jaw attached to the frame of the loading unit of FIG. 98;
[0113] FIG. 100 is a partial elevational view of the loading unit
of FIG. 98 illustrated in a clamped configuration;
[0114] FIG. 101 is a partial elevational view of the loading unit
of FIG. 98 illustrated in a partially-fired configuration;
[0115] FIG. 102 is a partial perspective view of the loading unit
of FIG. 98 illustrated with a staple cartridge jaw attached to the
frame;
[0116] FIG. 103 is a partial perspective view of a staple cartridge
jaw being attached to a frame of a loading unit in accordance with
at least one embodiment;
[0117] FIG. 104 is a partial elevational view of an attempt to
attach the staple cartridge jaw of FIG. 103 to a loading unit
configured to receive a different staple cartridge jaw;
[0118] FIG. 105 is a partial elevational view of the staple
cartridge jaw of FIG. 103 attached to the frame of the loading unit
of FIG. 103;
[0119] FIG. 106 is a partial elevational view of a connection
between a staple cartridge jaw and a frame of a loading unit in
accordance with at least one embodiment;
[0120] FIG. 107 is a partial elevational view of the loading unit
of FIG. 106;
[0121] FIG. 108 is a partial elevational view of a staple cartridge
jaw configured to be used with a different loading unit other than
the loading unit of FIG. 106 attached to the loading unit of FIG.
106;
[0122] FIG. 109 is a partial elevational view of a surgical
instrument system comprising a deflectable lockout arrangement
illustrated in a locked configuration;
[0123] FIG. 110 is a partial elevational view of the surgical
instrument system of FIG. 109, wherein the lockout arrangement is
illustrated in an unlocked configuration;
[0124] FIG. 111 is a partial elevational view of a surgical
instrument system comprising a magnetic lockout arrangement
illustrated in a locked configuration;
[0125] FIG. 112 is a partial elevational view of the surgical
instrument system of FIG. 111, wherein the magnetic lockout
arrangement is illustrated in an unlocked configuration;
[0126] FIG. 113 is a partial elevational view of the surgical
instrument system of FIG. 111, illustrated in a partially fired
configuration;
[0127] FIG. 114 is a partial perspective view of a staple cartridge
for a surgical instrument system, wherein the staple cartridge
comprises a driver configured to control a lockout arrangement of
the surgical instrument system;
[0128] FIG. 115 is a perspective view of a sled for use with the
staple cartridge of FIG. 114;
[0129] FIG. 116 is a perspective view of the false driver of the
staple cartridge of FIG. 114;
[0130] FIG. 117 is a partial elevational view of the surgical
instrument system utilizing the staple cartridge of FIG. 114,
wherein the surgical instrument system comprises a lockout
arrangement configured to limit the movement of a firing member
until a staple cartridge is loaded into the surgical instrument
system;
[0131] FIG. 118 is a partial elevational view of the surgical
instrument system of FIG. 117, wherein the lockout arrangement is
illustrated in an unlocked configuration;
[0132] FIG. 119 is a partial elevational view of the surgical
instrument system of FIG. 117, illustrated in a partially fired
configuration;
[0133] FIG. 120 is a partial perspective view of a staple cartridge
for use with a surgical instrument system, wherein the surgical
instrument system comprises a lockout circuit comprising a
severable member;
[0134] FIG. 121 is a cross-sectional plan view of the surgical
instrument system of FIG. 120, wherein the surgical instrument
system further comprises an electromagnet and a lockout member,
wherein the lockout member is illustrated in an unlocked position,
and wherein the lockout circuit is in a closed configuration;
[0135] FIG. 122 is a cross-sectional plan view of the surgical
instrument system of FIG. 120, wherein the lockout member is
illustrated in a locked position, and wherein the lockout circuit
is in an open configuration;
[0136] FIG. 123 is a perspective view of a surgical instrument
system, wherein the surgical instrument system comprises a circuit
lockout arrangement comprising electrical contacts positioned on a
sled for use with a staple cartridge;
[0137] FIG. 124 is a partial elevational view of the surgical
instrument system of FIG. 123;
[0138] FIG. 125 is a partial cross-sectional view of a firing
member lockout illustrating the firing member lockout in a locked
configuration;
[0139] FIG. 126 is a cross-sectional view of the firing member
lockout of FIG. 125 taken along line 126-126 in FIG. 125;
[0140] FIG. 127 is a partial cross-sectional view of the firing
member lockout of FIG. 125 illustrating the firing member lockout
in an unlocked configuration;
[0141] FIG. 128 is a cross-sectional view of the firing member
lockout of FIG. 125 taken along line 128-128 in FIG. 127;
[0142] FIG. 129 is a cross-sectional plan view of the firing member
lockout of FIG. 125 taken along line 129-129 in FIG. 127;
[0143] FIG. 130 is a partial elevational view of a stapling
assembly comprising an unspent staple cartridge in accordance with
at least one embodiment;
[0144] FIG. 131 is a partial plan view of the stapling assembly of
FIG. 130;
[0145] FIG. 132 is a partial elevational view of the stapling
assembly of FIG. 130 illustrated in a spent condition;
[0146] FIG. 133 is a partial plan view of the stapling assembly of
FIG. 130 illustrated in the condition of FIG. 132;
[0147] FIG. 134 is a partial perspective view of a stapling
assembly comprising an unspent staple cartridge in accordance with
at least one embodiment;
[0148] FIG. 135 is a partial perspective view of the stapling
assembly of FIG. 134 illustrated in a spent condition;
[0149] FIG. 136 is a partial perspective view of a stapling
assembly illustrated with components removed for the purpose of
illustration;
[0150] FIG. 137 illustrates a pin of the stapling assembly of FIG.
136 configured to affect a detection circuit of the stapling
assembly;
[0151] FIG. 138 is a partial perspective view of certain components
of the stapling assembly of FIG. 136;
[0152] FIG. 139 is a partial perspective view of a shaft housing of
the stapling assembly of FIG. 136;
[0153] FIG. 140 is a partial plan view of a staple cartridge in
accordance with at least one embodiment;
[0154] FIG. 140A illustrates a firing force profile that is
experienced when firing a staple cartridge in at least one
embodiment;
[0155] FIG. 141 is a partial cross-sectional view of a stapling
assembly comprising a lockout in accordance with at least one
embodiment;
[0156] FIG. 142 is a partial cross-sectional view of the stapling
assembly of FIG. 141 illustrated in a locked out configuration;
[0157] FIG. 143 is a partial cross-sectional view of a stapling
assembly comprising a lockout in accordance with at least one
embodiment;
[0158] FIG. 144 is a partial cross-sectional view of a stapling
assembly comprising a lockout in accordance with at least one
embodiment;
[0159] FIG. 145 is a partial cross-sectional view of a stapling
assembly comprising a brake in accordance with at least one
embodiment;
[0160] FIG. 146 is a partial cross-sectional view of a stapling
assembly comprising a damping system in accordance with at least
one embodiment;
[0161] FIG. 147 is a schematic illustrating a stapling assembly
comprising an electromagnetic brake in accordance with at least one
embodiment;
[0162] FIG. 148 is a partial cross-sectional view of a stapling
assembly comprising a damping system in accordance with at least
one embodiment;
[0163] FIG. 149 is an electrical circuit configured to detect the
position and progression of a staple firing member illustrating the
staple firing member in a fully fired position;
[0164] FIG. 150 illustrates the staple firing member of FIG. 149 in
a fully retracted position;
[0165] FIG. 151 is a cross-sectional view of a stapling assembly
comprising a lockout in accordance with at least one embodiment
illustrated in an unlocked configuration;
[0166] FIG. 152 is a cross-sectional end view of the stapling
assembly of FIG. 151 illustrated in its unlocked configuration;
[0167] FIG. 153 is a cross-sectional view of the stapling assembly
of FIG. 151 illustrated in a locked configuration; and
[0168] FIG. 154 is a cross-sectional end view of the stapling
assembly of FIG. 151 illustrated in its locked configuration.
DESCRIPTION
[0169] The Applicant of the present application owns the following
U.S. patent applications that were filed on even date herewith and
which are each herein incorporated by reference in their respective
entireties:
[0170] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT COMPRISING A LOCKOUT; Attorney Docket No.
END7828USNP/150542;
[0171] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT COMPRISING A PRIMARY FIRING LOCKOUT AND A SECONDARY
FIRING LOCKOUT; Attorney Docket No. END7787USNP/150522;
[0172] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT SYSTEM COMPRISING A MAGNETIC LOCKOUT; Attorney Docket
No. END7789USNP/150503;
[0173] U.S. patent application Ser. No. ______, entitled SURGICAL
INSTRUMENT COMPRISING A REPLACEABLE CARTRIDGE JAW; Attorney Docket
No. END7790USNP/150504; and
[0174] U.S. patent application Ser. No. ______, entitled CARTRIDGE
LOCKOUT ARRANGEMENTS FOR ROTARY POWERED SURGICAL CUTTING AND
STAPLING INSTRUMENTS; Attorney Docket No. END7791USNP/150505.
[0175] Applicant of the present application owns the following
patent applications that were filed on Apr. 15, 2016 and which are
each herein incorporated by reference in their respective
entireties:
[0176] U.S. patent application Ser. No. 15/130,575, entitled STAPLE
FORMATION DEFECTION MECHANISMS;
[0177] U.S. patent application Ser. No. 15/130,582, entitled
SURGICAL INSTRUMENT WITH DETECTION SENSORS;
[0178] U.S. patent application Ser. No. 15/130,588, entitled
SURGICAL INSTRUMENT WITH IMPROVED STOP/START CONTROL DURING A
FIRING MOTION;
[0179] U.S. patent application Ser. No. 15/130,595, entitled
SURGICAL INSTRUMENT WITH ADJUSTABLE STOP/START CONTROL DURING A
FIRING MOTION;
[0180] U.S. patent application Ser. No. 15/130,566, entitled
SURGICAL INSTRUMENT WITH MULTIPLE PROGRAM RESPONSES DURING A FIRING
MOTION;
[0181] U.S. patent application Ser. No. 15/130,571, entitled
SURGICAL INSTRUMENT WITH MULTIPLE PROGRAM RESPONSES DURING A FIRING
MOTION;
[0182] U.S. patent application Ser. No. 15/130,581, entitled
MODULAR SURGICAL INSTRUMENT WITH CONFIGURABLE OPERATING MODE;
[0183] U.S. patent application Ser. No. 15/130,590, entitled
SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING
INSTRUMENT; and
[0184] U.S. patent application Ser. No. 15/130,596, entitled
SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING
INSTRUMENT.
[0185] The Applicant of the present application owns the following
U.S. patent applications that were filed on Apr. 1, 2016 and which
are each herein incorporated by reference in their respective
entireties:
[0186] U.S. patent application Ser. No. 15/089,325, entitled METHOD
FOR OPERATING A SURGICAL STAPLING SYSTEM;
[0187] U.S. patent application Ser. No. 15/089,321, entitled
MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY;
[0188] U.S. patent application Ser. No. 15/089,326, entitled
SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A
RE-ORIENTABLE DISPLAY FIELD;
[0189] U.S. patent application Ser. No. 15/089,263, entitled
SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP
PORTION;
[0190] U.S. patent application Ser. No. 15/089,262, entitled ROTARY
POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT
SYSTEM;
[0191] U.S. patent application Ser. No. 15/089,277, entitled
SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC
DRIVE MEMBER;
[0192] U.S. patent application Ser. No. 15/089,283, entitled
CLOSURE SYSTEM ARRANGEMENTS FOR SURGICAL CUTTING AND STAPLING
DEVICES WITH SEPARATE AND DISTINCT FIRING SHAFTS;
[0193] U.S. patent application Ser. No. 15/089,296, entitled
INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR
THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS;
[0194] U.S. patent application Ser. No. 15/089,258, entitled
SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION;
[0195] U.S. patent application Ser. No. 15/089,278, entitled
SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF
TISSUE;
[0196] U.S. patent application Ser. No. 15/089,284, entitled
SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT;
[0197] U.S. patent application Ser. No. 15/089,295, entitled
SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION
LOCKOUT;
[0198] U.S. patent application Ser. No. 15/089,300, entitled
SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT;
[0199] U.S. patent application Ser. No. 15/089,196 entitled
SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT;
[0200] U.S. patent application Ser. No. 15/089,203, entitled
SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT;
[0201] U.S. patent application Ser. No. 15/089,210, entitled
SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT;
[0202] U.S. patent application Ser. No. 15/089,324, entitled
SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM;
[0203] U.S. patent application Ser. No. 15/089,335, entitled
SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS;
[0204] U.S. patent application Ser. No. 15/089,339, entitled
SURGICAL STAPLING INSTRUMENT;
[0205] U.S. patent application Ser. No. 15/089,253, entitled
SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF
STAPLES HAVING DIFFERENT HEIGHTS;
[0206] U.S. patent application Ser. No. 15/089,304, entitled
SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET;
[0207] U.S. patent application Ser. No. 15/089,331, entitled ANVIL
MODIFICATION MEMBERS FOR SURGICAL STAPLERS;
[0208] U.S. patent application Ser. No. 15/089,336, entitled STAPLE
CARTRIDGES WITH ATRAUMATIC FEATURES;
[0209] U.S. patent application Ser. No. 15/089,312, entitled
CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE
SUPPORT;
[0210] U.S. patent application Ser. No. 15/089,309, entitled
CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM; and
[0211] U.S. patent application Ser. No. 15/089,349, entitled
CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL.
[0212] The Applicant of the present application also owns the U.S.
patent applications identified below which were filed on Dec. 31,
2015 which are each herein incorporated by reference in their
respective entirety:
[0213] U.S. patent application Ser. No. 14/984,488, entitled
MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED
SURGICAL INSTRUMENTS;
[0214] U.S. patent application Ser. No. 14/984,525, entitled
MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED
SURGICAL INSTRUMENTS; and
[0215] U.S. patent application Ser. No. 14/984,552, entitled
SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL
CIRCUITS.
[0216] The Applicant of the present application also owns the U.S.
patent applications identified below which were filed on Feb. 9,
2016 which are each herein incorporated by reference in their
respective entirety:
[0217] U.S. patent application Ser. No. 15/019,220, entitled
SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END
EFFECTOR;
[0218] U.S. patent application Ser. No. 15/019,228, entitled
SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION
ARRANGEMENTS;
[0219] U.S. patent application Ser. No. 15/019,196, entitled
SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY
CONSTRAINT;
[0220] U.S. patent application Ser. No. 15/019,206, entitled
SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY
ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY;
[0221] U.S. patent application Ser. No. 15/019,215, entitled
SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION
ARRANGEMENTS;
[0222] U.S. patent application Ser. No. 15/019,227, entitled
ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK
ARRANGEMENTS;
[0223] U.S. patent application Ser. No. 15/019,235, entitled
SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN
ARTICULATION SYSTEMS;
[0224] U.S. patent application Ser. No. 15/019,230, entitled
ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM
ARRANGEMENTS; and
[0225] U.S. patent application Ser. No. 15/019,245, entitled
SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION
ARRANGEMENTS.
[0226] The Applicant of the present application also owns the U.S.
patent applications identified below which were filed on Feb. 12,
2016 which are each herein incorporated by reference in their
respective entirety:
[0227] U.S. patent application Ser. No. 15/043,254, entitled
MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED
SURGICAL INSTRUMENTS;
[0228] U.S. patent application Ser. No. 15/043,259, entitled
MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED
SURGICAL INSTRUMENTS;
[0229] U.S. patent application Ser. No. 15/043,275, entitled
MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED
SURGICAL INSTRUMENTS; and
[0230] U.S. patent application Ser. No. 15/043,289, entitled
MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED
SURGICAL INSTRUMENTS.
[0231] Applicant of the present application owns the following
patent applications that were filed on Jun. 18, 2015 and which are
each herein incorporated by reference in their respective
entireties:
[0232] U.S. patent application Ser. No. 14/742,925, entitled
SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS;
[0233] U.S. patent application Ser. No. 14/742,941, entitled
SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING
FEATURES;
[0234] U.S. patent application Ser. No. 14/742,914, entitled
MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL
INSTRUMENTS;
[0235] U.S. patent application Ser. No. 14/742,900, entitled
ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM
STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION
SUPPORT;
[0236] U.S. patent application Ser. No. 14/742,885, entitled DUAL
ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL
INSTRUMENTS; and
[0237] U.S. patent application Ser. No. 14/742,876, entitled
PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL
INSTRUMENTS.
[0238] Applicant of the present application owns the following
patent applications that were filed on Mar. 6, 2015 and which are
each herein incorporated by reference in their respective
entireties:
[0239] U.S. patent application Ser. No. 14/640,746, entitled
POWERED SURGICAL INSTRUMENT; U.S. patent application Ser. No.
14/640,795, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION
OF POWERED SURGICAL INSTRUMENTS;
[0240] U.S. patent application Ser. No. 14/640,832, entitled
ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RAILS FOR
MULTIPLE TISSUE TYPES; Attorney Docket No. END7557USNP/140482;
[0241] U.S. patent application Ser. No. 14/640,935, entitled
OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO
MEASURE TISSUE COMPRESSION;
[0242] U.S. patent application Ser. No. 14/640,831, entitled
MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR
POWERED SURGICAL INSTRUMENTS;
[0243] U.S. patent application Ser. No. 14/640,859, entitled TIME
DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP,
AND VISCOELASTIC ELEMENTS OF MEASURES;
[0244] U.S. patent application Ser. No. 14/640,817, entitled
INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS;
[0245] U.S. patent application Ser. No. 14/640,844, entitled
CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT
WITH SELECT CONTROL PROCESSING FROM HANDLE;
[0246] U.S. patent application Ser. No. 14/640,837, entitled SMART
SENSORS WITH LOCAL SIGNAL PROCESSING;
[0247] U.S. patent application Ser. No. 14/640,765, entitled SYSTEM
FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A
SURGICAL STAPLER;
[0248] U.S. patent application Ser. No. 14/640,799, entitled SIGNAL
AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT;
and
[0249] U.S. patent application Ser. No. 14/640,780, entitled
SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING.
[0250] Applicant of the present application owns the following
patent applications that were filed on Feb. 27, 2015, and which are
each herein incorporated by reference in their respective
entireties:
[0251] U.S. patent application Ser. No. 14/633,576, entitled
SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION;
[0252] U.S. patent application Ser. No. 14/633,546, entitled
SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE
PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE
PERFORMANCE BAND;
[0253] U.S. patent application Ser. No. 14/633,576, entitled
SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE
BATTERIES;
[0254] U.S. patent application Ser. No. 14/633,566, entitled
CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A
BATTERY;
[0255] U.S. patent application Ser. No. 14/633,555, entitled SYSTEM
FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE
SERVICED;
[0256] U.S. patent application Ser. No. 14/633,542, entitled
REINFORCED BATTERY FOR A SURGICAL INSTRUMENT;
[0257] U.S. patent application Ser. No. 14/633,548, entitled POWER
ADAPTER FOR A SURGICAL INSTRUMENT;
[0258] U.S. patent application Ser. No. 14/633,526, entitled
ADAPTABLE SURGICAL INSTRUMENT HANDLE;
[0259] U.S. patent application Ser. No. 14/633,541, entitled
MODULAR STAPLING ASSEMBLY; and U.S. patent application Ser. No.
14/633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN
END-OF-LIFE PARAMETER.
[0260] Applicant of the present application owns the following
patent applications that were filed on Dec. 18, 2014 and which are
each herein incorporated by reference in their respective
entireties:
[0261] U.S. patent application Ser. No. 14/574,478, entitled
SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END
EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING;
[0262] U.S. patent application Ser. No. 14/574,483, entitled
SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS;
[0263] U.S. patent application Ser. No. 14/575,139, entitled DRIVE
ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS;
[0264] U.S. patent application Ser. No. 14/575,148, entitled
LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH
ARTICULATABLE SURGICAL END EFFECTORS;
[0265] U.S. patent application Ser. No. 14/575,130, entitled
SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT
A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE;
[0266] U.S. patent application Ser. No. 14/575,143, entitled
SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS;
[0267] U.S. patent application Ser. No. 14/575,117, entitled
SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE
FIRING BEAM SUPPORT ARRANGEMENTS;
[0268] U.S. patent application Ser. No. 14/575,154, entitled
SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED
FIRING BEAM SUPPORT ARRANGEMENTS;
[0269] U.S. patent application Ser. No. 14/574,493, entitled
SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION
SYSTEM; and
[0270] U.S. patent application Ser. No. 14/574,500, entitled
SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION
SYSTEM.
[0271] 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:
[0272] U.S. patent application Ser. No. 13/782,295, entitled
ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR
SIGNAL COMMUNICATION, now U.S. Patent Application Publication No.
2014/0246471;
[0273] U.S. patent application Ser. No. 13/782,323, entitled ROTARY
POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.
Patent Application Publication No. 2014/0246472;
[0274] U.S. patent application Ser. No. 13/782,338, entitled
THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S.
Patent Application Publication No. 2014/0249557;
[0275] U.S. patent application Ser. No. 13/782,499, entitled
ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,
now U.S. Patent Application Publication No. 2014/0246474;
[0276] U.S. patent application Ser. No. 13/782,460, entitled
MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS,
now U.S. Patent Application Publication No. 2014/0246478;
[0277] U.S. patent application Ser. No. 13/782,358, entitled
JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S.
Patent Application Publication No. 2014/0246477;
[0278] U.S. patent application Ser. No. 13/782,481, entitled SENSOR
STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S.
Patent Application Publication No. 2014/0246479;
[0279] U.S. patent application Ser. No. 13/782,518, entitled
CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT
PORTIONS, now U.S. Patent Application Publication No.
2014/0246475;
[0280] U.S. patent application Ser. No. 13/782,375, entitled ROTARY
POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now
U.S. Patent Application Publication No. 2014/0246473; and
[0281] U.S. patent application Ser. No. 13/782,536, entitled
SURGICAL INSTRUMENT SOFT STOP, now U.S. Patent Application
Publication No. 2014/0246476.
[0282] 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:
[0283] U.S. patent application Ser. No. 13/803,097, entitled
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now
U.S. Patent Application Publication No. 2014/0263542;
[0284] U.S. patent application Ser. No. 13/803,193, entitled
CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT,
now U.S. Patent Application Publication No. 2014/0263537;
[0285] U.S. patent application Ser. No. 13/803,053, entitled
INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL
INSTRUMENT, now U.S. Patent Application Publication No.
2014/0263564;
[0286] U.S. patent application Ser. No. 13/803,086, entitled
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK,
now U.S. Patent Application Publication No. 2014/0263541;
[0287] U.S. patent application Ser. No. 13/803,210, entitled SENSOR
ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL
INSTRUMENTS, now U.S. Patent Application Publication No.
2014/0263538;
[0288] U.S. patent application Ser. No. 13/803,148, entitled
MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent
Application Publication No. 2014/0263554;
[0289] U.S. patent application Ser. No. 13/803,066, entitled DRIVE
SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now
U.S. Patent Application Publication No. 2014/0263565;
[0290] U.S. patent application Ser. No. 13/803,117, entitled
ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS,
now U.S. Patent Application Publication No. 2014/0263553;
[0291] U.S. patent application Ser. No. 13/803,130, entitled DRIVE
TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now
U.S. Patent Application Publication No. 2014/0263543; and
[0292] U.S. patent application Ser. No. 13/803,159, entitled METHOD
AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent
Application Publication No. 2014/0277017.
[0293] Applicant of the present application also owns the following
patent application that was filed on Mar. 7, 2014 and is herein
incorporated by reference in its entirety:
[0294] U.S. patent application Ser. No. 14/200,111, entitled
CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent
Application Publication No. 2014/0263539.
[0295] Applicant of the present application also owns the following
patent applications that were filed on Mar. 26, 2014 and are each
herein incorporated by reference in their respective
entireties:
[0296] U.S. patent application Ser. No. 14/226,106, entitled POWER
MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.
Patent Application Publication No. 2015/0272582;
[0297] U.S. patent application Ser. No. 14/226,099, entitled
STERILIZATION VERIFICATION CIRCUIT, now U.S. Patent Application
Publication No. 2015/0272581;
[0298] U.S. patent application Ser. No. 14/226,094, entitled
VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now
U.S. Patent Application Publication No. 2015/0272580;
[0299] U.S. patent application Ser. No. 14/226,117, entitled POWER
MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP
CONTROL, now U.S. Patent Application Publication No.
2015/0272574;
[0300] U.S. patent application Ser. No. 14/226,075, entitled
MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT
ASSEMBLIES, now U.S. Patent Application Publication No.
2015/0272579;
[0301] U.S. patent application Ser. No. 14/226,093, entitled
FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL
INSTRUMENTS, now U.S. Patent Application Publication No.
2015/0272569;
[0302] U.S. patent application Ser. No. 14/226,116, entitled
SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent
Application Publication No. 2015/0272571;
[0303] U.S. patent application Ser. No. 14/226,071, entitled
SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now
U.S. Patent Application Publication No. 2015/0272578;
[0304] U.S. patent application Ser. No. 14/226,097, entitled
SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Patent
Application Publication No. 2015/0272570;
[0305] U.S. patent application Ser. No. 14/226,126, entitled
INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S.
Patent Application Publication No. 2015/0272572;
[0306] U.S. patent application Ser. No. 14/226,133, entitled
MODULAR SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application
Publication No. 2015/0272557;
[0307] U.S. patent application Ser. No. 14/226,081, entitled
SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S.
Patent Application Publication No. 2015/0277471;
[0308] U.S. patent application Ser. No. 14/226,076, entitled POWER
MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE
PROTECTION, now U.S. Patent Application Publication No.
2015/0280424;
[0309] U.S. patent application Ser. No. 14/226,111, entitled
SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Patent Application
Publication No. 2015/0272583; and
[0310] U.S. patent application Ser. No. 14/226,125, entitled
SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent
Application Publication No. 2015/0280384.
[0311] Applicant of the present application also owns the following
patent applications that were filed on Sep. 5, 2014 and which are
each herein incorporated by reference in their respective
entireties:
[0312] U.S. patent application Ser. No. 14/479,103, entitled
CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent
Application Publication No. 2016/0066912;
[0313] U.S. patent application Ser. No. 14/479,119, entitled
ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now
U.S. Patent Application Publication No. 2016/0066914;
[0314] U.S. patent application Ser. No. 14/478,908, entitled
MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now
U.S. Patent Application Publication No. 2016/0066910;
[0315] U.S. patent application Ser. No. 14/478,895, entitled
MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT
OR INTERPRETATION, now U.S. Patent Application Publication No.
2016/0066909;
[0316] U.S. patent application Ser. No. 14/479,110, entitled USE OF
POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE,
now U.S. Patent Application Publication No. 2016/0066915;
[0317] U.S. patent application Ser. No. 14/479,098, entitled SMART
CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Patent
Application Publication No. 2016/0066911;
[0318] U.S. patent application Ser. No. 14/479,115, entitled
MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent
Application Publication No. 2016/0066916; and
[0319] U.S. patent application Ser. No. 14/479,108, entitled LOCAL
DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent
Application Publication No. 2016/0066913.
[0320] Applicant of the present application also owns the following
patent applications that were filed on Apr. 9, 2014 and which are
each herein incorporated by reference in their respective
entireties:
[0321] U.S. patent application Ser. No. 14/248,590, entitled MOTOR
DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now
U.S. Patent Application Publication No. 2014/0305987;
[0322] U.S. patent application Ser. No. 14/248,581, entitled
SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE
OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Patent
Application Publication No. 2014/0305989;
[0323] U.S. patent application Ser. No. 14/248,595, entitled
SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE
OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent Application
Publication No. 2014/0305988;
[0324] U.S. patent application Ser. No. 14/248,588, entitled
POWERED LINEAR SURGICAL STAPLER, now U.S. Patent Application
Publication No. 2014/0309666;
[0325] U.S. patent application Ser. No. 14/248,591, entitled
TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent
Application Publication No. 2014/0305991;
[0326] U.S. patent application Ser. No. 14/248,584, entitled
MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES
FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,
now U.S. Patent Application Publication No. 2014/0305994;
[0327] U.S. patent application Ser. No. 14/248,587, entitled
POWERED SURGICAL STAPLER, now U.S. Patent Application Publication
No. 2014/0309665;
[0328] U.S. patent application Ser. No. 14/248,586, entitled DRIVE
SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S.
Patent Application Publication No. 2014/0305990; and
[0329] U.S. patent application Ser. No. 14/248,607, entitled
MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION
ARRANGEMENTS, now U.S. Patent Application Publication No.
2014/0305992.
[0330] Applicant of the present application also owns the following
patent applications that were filed on Apr. 16, 2013 and which are
each herein incorporated by reference in their respective
entireties:
[0331] U.S. Provisional Patent Application Ser. No. 61/812,365,
entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A
SINGLE MOTOR;
[0332] U.S. Provisional Patent Application Ser. No. 61/812,376,
entitled LINEAR CUTTER WITH POWER; U.S. Provisional Patent
Application Ser. No. 61/812,382, entitled LINEAR CUTTER WITH MOTOR
AND PISTOL GRIP;
[0333] U.S. Provisional Patent Application Ser. No. 61/812,385,
entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS
AND MOTOR CONTROL; and
[0334] U.S. Provisional Patent Application Ser. No. 61/812,372,
entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A
SINGLE MOTOR.
[0335] Numerous specific details are set forth to provide a
thorough understanding of the overall structure, function,
manufacture, and use of the embodiments as described in the
specification and illustrated in the accompanying drawings.
Well-known operations, components, and elements have not been
described in detail so as not to obscure the embodiments described
in the specification. The reader will understand that the
embodiments described and illustrated herein are non-limiting
examples, and thus it can be appreciated that the specific
structural and functional details disclosed herein may be
representative and illustrative. Variations and changes thereto may
be made without departing from the scope of the claims.
[0336] The terms "comprise" (and any form of comprise, such as
"comprises" and "comprising"), "have" (and any form of have, such
as "has" and "having"), "include" (and any form of include, such as
"includes" and "including") and "contain" (and any form of contain,
such as "contains" and "containing") are open-ended linking verbs.
As a result, a surgical system, device, or apparatus that
"comprises," "has," "includes" or "contains" one or more elements
possesses those one or more elements, but is not limited to
possessing only those one or more elements. Likewise, an element of
a system, device, or apparatus that "comprises," "has," "includes"
or "contains" one or more features possesses those one or more
features, but is not limited to possessing only those one or more
features.
[0337] The terms "proximal" and "distal" are used herein with
reference to a clinician manipulating the handle portion of the
surgical instrument. The term "proximal" refers to the portion
closest to the clinician and the term "distal" refers 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.
[0338] Various exemplary devices and methods are provided for
performing laparoscopic and minimally invasive surgical procedures.
However, the reader will readily appreciate that the various
methods and devices disclosed herein can be used in numerous
surgical procedures and applications including, for example, in
connection with open surgical procedures. As the present Detailed
Description proceeds, the reader will further appreciate that the
various instruments disclosed herein can be inserted into a body in
any way, such as through a natural orifice, through an incision or
puncture hole formed in tissue, etc. The working portions or end
effector portions of the instruments can be inserted directly into
a patient's body or can be inserted through an access device that
has a working channel through which the end effector and elongate
shaft of a surgical instrument can be advanced.
[0339] A surgical stapling system can comprise a shaft and an end
effector extending from the shaft. The end effector comprises a
first jaw and a second jaw. The first jaw comprises a staple
cartridge. The staple cartridge is insertable into and removable
from the first jaw; however, other embodiments are envisioned in
which a staple cartridge is not removable from, or at least readily
replaceable from, the first jaw. The second jaw comprises an anvil
configured to deform staples ejected from the staple cartridge. The
second jaw is pivotable relative to the first jaw about a closure
axis; however, other embodiments are envisioned in which first jaw
is pivotable relative to the second jaw. The surgical stapling
system further comprises an articulation joint configured to permit
the end effector to be rotated, or articulated, relative to the
shaft. The end effector is rotatable about an articulation axis
extending through the articulation joint. Other embodiments are
envisioned which do not include an articulation joint.
[0340] The staple cartridge comprises a cartridge body. The
cartridge body includes a proximal end, a distal end, and a deck
extending between the proximal end and the distal end. In use, the
staple cartridge is positioned on a first side of the tissue to be
stapled and the anvil is positioned on a second side of the tissue.
The anvil is moved toward the staple cartridge to compress and
clamp the tissue against the deck. Thereafter, staples removably
stored in the cartridge body can be deployed into the tissue. The
cartridge body includes staple cavities defined therein wherein
staples are removably stored in the staple cavities. The staple
cavities are arranged in six longitudinal rows. Three rows of
staple cavities are positioned on a first side of a longitudinal
slot and three rows of staple cavities are positioned on a second
side of the longitudinal slot. Other arrangements of staple
cavities and staples may be possible.
[0341] The staples are supported by staple drivers in the cartridge
body. The drivers are movable between a first, or unfired position,
and a second, or fired, position to eject the staples from the
staple cavities. The drivers are retained in the cartridge body by
a retainer which extends around the bottom of the cartridge body
and includes resilient members configured to grip the cartridge
body and hold the retainer to the cartridge body. The drivers are
movable between their unfired positions and their fired positions
by a sled. The sled is movable between a proximal position adjacent
the proximal end and a distal position adjacent the distal end. The
sled comprises a plurality of ramped surfaces configured to slide
under the drivers and lift the drivers, and the staples supported
thereon, toward the anvil.
[0342] Further to the above, the sled is moved distally by a firing
member. The firing member is configured to contact the sled and
push the sled toward the distal end. The longitudinal slot defined
in the cartridge body is configured to receive the firing member.
The anvil also includes a slot configured to receive the firing
member. The firing member further comprises a first cam which
engages the first jaw and a second cam which engages the second
jaw. As the firing member is advanced distally, the first cam and
the second cam can control the distance, or tissue gap, between the
deck of the staple cartridge and the anvil. The firing member also
comprises a knife configured to incise the tissue captured
intermediate the staple cartridge and the anvil. It is desirable
for the knife to be positioned at least partially proximal to the
ramped surfaces such that the staples are ejected ahead of the
knife.
[0343] Before explaining various forms of mechanisms for
compensating for drivetrain failure in powered surgical instruments
in detail, it should be noted that the illustrative forms are not
limited in application or use to the details of construction and
arrangement of parts illustrated in the accompanying drawings and
description. The illustrative forms may be implemented or
incorporated in other forms, variations and modifications, and may
be practiced or carried out in various ways. Further, unless
otherwise indicated, the terms and expressions employed herein have
been chosen for the purpose of describing the illustrative forms
for the convenience of the reader and are not for the purpose of
limitation thereof.
[0344] Further, it is understood that any one or more of the
following-described forms, expressions of forms, examples, can be
combined with any one or more of the other following-described
forms, expressions of forms, and examples.
[0345] Various forms are directed to mechanisms for compensating
for drivetrain failure in powered surgical instruments. In one
form, the mechanisms for compensating for drivetrain failure in
powered surgical instruments may be configured for use in open
surgical procedures, but has applications in other types of
surgery, such as laparoscopic, endoscopic, and robotic-assisted
procedures.
[0346] FIGS. 1-18 depict various aspects of a surgical system that
is generally designated as 10, and is in the form of a powered hand
held electromechanical instrument configured for selective
attachment thereto of a plurality of different end effectors that
are each configured for actuation and manipulation by the powered
hand held electromechanical surgical instrument. The aspects of
FIGS. 1-18 are disclosed in U.S. Patent Application Publication No.
2014/0110453, filed Oct. 23, 2012, and titled SURGICAL INSTRUMENT
WITH RAPID POST EVENT DEFECTION, U.S. Patent Application
Publication No. 2013/0282052, filed Jun. 19, 2013, and titled
APPARATUS FOR ENDOSCOPIC PROCEDURES, and U.S. Patent Application
Publication No. 2013/0274722, filed May 10, 2013, and titled
APPARATUS FOR ENDOSCOPIC PROCEDURES.
[0347] Referring to FIGS. 1-3, a surgical instrument 100 is
configured for selective connection with an adapter 200, and, in
turn, adapter 200 is configured for selective connection with an
end effector or single use loading unit or reload 300. As
illustrated in FIGS. 1-3, the surgical instrument 100 includes a
handle housing 102 having a lower housing portion 104, an
intermediate housing portion 106 extending from and/or supported on
lower housing portion 104, and an upper housing portion 108
extending from and/or supported on intermediate housing portion
106. Intermediate housing portion 106 and upper housing portion 108
are separated into a distal half-section 110a that is integrally
formed with and extending from the lower portion 104, and a
proximal half-section 110b connectable to distal half-section 110a
by a plurality of fasteners. When joined, distal and proximal
half-sections 110a, 110b define a handle housing 102 having a
cavity 102a therein in which a circuit board 150 and a drive
mechanism 160 is situated.
[0348] Distal and proximal half-sections 110a, 110b are divided
along a plane that traverses a longitudinal axis "X" of upper
housing portion 108, as seen in FIGS. 2 and 3. Handle housing 102
includes a gasket 112 extending completely around a rim of distal
half-section and/or proximal half-section 110a, 110b and being
interposed between distal half-section 110a and proximal
half-section 110b. Gasket 112 seals the perimeter of distal
half-section 110a and proximal half-section 110b. Gasket 112
functions to establish an air-tight seal between distal
half-section 110a and proximal half-section 110b such that circuit
board 150 and drive mechanism 160 are protected from sterilization
and/or cleaning procedures.
[0349] In this manner, the cavity 102a of handle housing 102 is
sealed along the perimeter of distal half-section 110a and proximal
half-section 110b yet is configured to enable easier, more
efficient assembly of circuit board 150 and a drive mechanism 160
in handle housing 102.
[0350] Intermediate housing portion 106 of handle housing 102
provides a housing in which circuit board 150 is situated. Circuit
board 150 is configured to control the various operations of
surgical instrument 100.
[0351] Lower housing portion 104 of surgical instrument 100 defines
an aperture (not shown) formed in an upper surface thereof and
which is located beneath or within intermediate housing portion
106. The aperture of lower housing portion 104 provides a passage
through which wires 152 pass to electrically interconnect
electrical components (a battery 156, as illustrated in FIG. 4, a
circuit board 154, as illustrated in FIG. 3, etc.) situated in
lower housing portion 104 with electrical components (circuit board
150, drive mechanism 160, etc.) situated in intermediate housing
portion 106 and/or upper housing portion 108.
[0352] Handle housing 102 includes a gasket 103 disposed within the
aperture of lower housing portion 104 (not shown) thereby plugging
or sealing the aperture of lower housing portion 104 while allowing
wires 152 to pass therethrough. Gasket 103 functions to establish
an air-tight seal between lower housing portion 106 and
intermediate housing portion 108 such that circuit board 150 and
drive mechanism 160 are protected from sterilization and/or
cleaning procedures.
[0353] As shown, lower housing portion 104 of handle housing 102
provides a housing in which a rechargeable battery 156, is
removably situated. Battery 156 is configured to supply power to
any of the electrical components of surgical instrument 100. Lower
housing portion 104 defines a cavity (not shown) into which battery
156 is inserted. Lower housing portion 104 includes a door 105
pivotally connected thereto for closing cavity of lower housing
portion 104 and retaining battery 156 therein.
[0354] With reference to FIGS. 3 and 5, distal half-section 110a of
upper housing portion 108 defines a nose or connecting portion
108a. A nose cone 114 is supported on nose portion 108a of upper
housing portion 108. Nose cone 114 is fabricated from a transparent
material. A feedback indicator such as, for example, an
illumination member 116 is disposed within nose cone 114 such that
illumination member 116 is visible therethrough. Illumination
member 116 is may be a light emitting diode printed circuit board
(LED PCB). Illumination member 116 is configured to illuminate
multiple colors with a specific color pattern being associated with
a unique discrete event.
[0355] Upper housing portion 108 of handle housing 102 provides a
housing in which drive mechanism 160 is situated. As illustrated in
FIG. 5, drive mechanism 160 is configured to drive shafts and/or
gear components in order to perform the various operations of
surgical instrument 100. In particular, drive mechanism 160 is
configured to drive shafts and/or gear components in order to
selectively move tool assembly 304 of end effector 300 (see FIGS. 1
and 9) relative to proximal body portion 302 of end effector 300,
to rotate end effector 300 about a longitudinal axis "X" (see FIG.
2) relative to handle housing 102, to move anvil assembly 306
relative to cartridge assembly 308 of end effector 300, and/or to
fire a stapling and cutting cartridge within cartridge assembly 308
of end effector 300.
[0356] The drive mechanism 160 includes a selector gearbox assembly
162 that is located immediately proximal relative to adapter 200.
Proximal to the selector gearbox assembly 162 is a function
selection module 163 having a first motor 164 that functions to
selectively move gear elements within the selector gearbox assembly
162 into engagement with an input drive component 165 having a
second motor 166.
[0357] As illustrated in FIGS. 1-4, and as mentioned above, distal
half-section 110a of upper housing portion 108 defines a connecting
portion 108a configured to accept a corresponding drive coupling
assembly 210 of adapter 200.
[0358] As illustrated in FIGS. 6-8, connecting portion 108a of
surgical instrument 100 has a cylindrical recess 108b that receives
a drive coupling assembly 210 of adapter 200 when adapter 200 is
mated to surgical instrument 100. Connecting portion 108a houses
three rotatable drive connectors 118, 120, 122.
[0359] When adapter 200 is mated to surgical instrument 100, each
of rotatable drive connectors 118, 120, 122 of surgical instrument
100 couples with a corresponding rotatable connector sleeve 218,
220, 222 of adapter 200 as shown in FIG. 6. In this regard, the
interface between corresponding first drive connector 118 and first
connector sleeve 218, the interface between corresponding second
drive connector 120 and second connector sleeve 220, and the
interface between corresponding third drive connector 122 and third
connector sleeve 222 are keyed such that rotation of each of drive
connectors 118, 120, 122 of surgical instrument 100 causes a
corresponding rotation of the corresponding connector sleeve 218,
220, 222 of adapter 200.
[0360] The mating of drive connectors 118, 120, 122 of surgical
instrument 100 with connector sleeves 218, 220, 222 of adapter 200
allows rotational forces to be independently transmitted via each
of the three respective connector interfaces. The drive connectors
118, 120, 122 of surgical instrument 100 are configured to be
independently rotated by drive mechanism 160. In this regard, the
function selection module 163 of drive mechanism 160 selects which
drive connector or connectors 118, 120, 122 of surgical instrument
100 is to be driven by the input drive component 165 of drive
mechanism 160.
[0361] Since each of drive connectors 118, 120, 122 of surgical
instrument 100 has a keyed and/or substantially non-rotatable
interface with respective connector sleeves 218, 220, 222 of
adapter 200, when adapter 200 is coupled to surgical instrument
100, rotational force(s) are selectively transferred from drive
mechanism 160 of surgical instrument 100 to adapter 200.
[0362] The selective rotation of drive connector(s) 118, 120 and/or
122 of surgical instrument 100 allows surgical instrument 100 to
selectively actuate different functions of end effector 300.
Selective and independent rotation of first drive connector 118 of
surgical instrument 100 corresponds to the selective and
independent opening and closing of tool assembly 304 of end
effector 300, and driving of a stapling/cutting component of tool
assembly 304 of end effector 300. Also, the selective and
independent rotation of second drive connector 120 of surgical
instrument 100 corresponds to the selective and independent
articulation of tool assembly 304 of end effector 300 transverse to
longitudinal axis "X" (see FIG. 2). Additionally, the selective and
independent rotation of third drive connector 122 of surgical
instrument 100 corresponds to the selective and independent
rotation of end effector 300 about longitudinal axis "X" (see FIG.
2) relative to handle housing 102 of surgical instrument 100.
[0363] As mentioned above and as illustrated in FIGS. 5 and 8,
drive mechanism 160 includes a selector gearbox assembly 162; and a
function selection module 163, located proximal to the selector
gearbox assembly 162, that functions to selectively move gear
elements within the selector gearbox assembly 162 into engagement
with second motor 166. Thus, drive mechanism 160 selectively drives
one of drive connectors 118, 120, 122 of surgical instrument 100 at
a given time.
[0364] As illustrated in FIGS. 1-3, handle housing 102 supports a
control assembly 107 on a distal surface or side of intermediate
housing portion 108. The control assembly 107 is a fully-functional
mechanical subassembly that can be assembled and tested separately
from the rest of the instrument 100 prior to coupling thereto.
[0365] Control assembly 107, in cooperation with intermediate
housing portion 108, supports a pair of finger-actuated control
buttons 124, 126 and a pair rocker devices 128, 130 within a
housing 107a. The control buttons 124, 126 are coupled to extension
shafts 125, 127 respectively. In particular, control assembly 107
defines an upper aperture 124a for slidably receiving the extension
shaft 125, and a lower aperture 126a for slidably receiving the
extension shaft 127.
[0366] The control assembly 107 and its components (e.g., control
buttons 124, 126 and rocker devices 128, 130) my be formed from low
friction, self-lubricating, lubricious plastics or materials or
coatings covering the moving components to reduce actuation forces,
key component wear, elimination of galling, smooth consistent
actuation, improved component and assembly reliability and reduced
clearances for a tighter fit and feel consistency. This includes
the use of plastic materials in the bushings, rocker journals,
plunger bushings, spring pockets, retaining rings and slider
components. Molding the components in plastic also provides
net-shape or mesh-shaped components with all of these performance
attributes. Plastic components eliminate corrosion and bi-metal
anodic reactions under electrolytic conditions such as autoclaving,
steam sterilizations and cleaning Press fits with lubricious
plastics and materials also eliminate clearances with minimal
strain or functional penalties on the components when compared to
similar metal components.
[0367] Suitable materials for forming the components of the control
assembly 107 include, but are not limited to, polyamines,
polyphenylene sulfides, polyphthalamides, polyphenylsulfones,
polyether ketones, polytetrafluoroethylenes, and combinations
thereof. These components may be used in the presence or absence of
lubricants and may also include additives for reduced wear and
frictional forces.
[0368] Reference may be made to a U.S. patent application Ser. No.
13/331,047, now U.S. Pat. No. 8,968,276, the entire contents of
which are incorporated by reference herein, for a detailed
discussion of the construction and operation of the surgical
instrument 100.
[0369] The surgical instrument 100 includes a firing assembly
configured to deploy or eject a plurality of staples into tissue
captured by the end effector 300. The firing assembly comprises a
drive assembly 360, as illustrated in FIG. 9. The drive assembly
360 includes a flexible drive beam 364 having a distal end which is
secured to a dynamic clamping member 365, and a proximal engagement
section 368. Engagement section 368 includes a stepped portion
defining a shoulder 370. A proximal end of engagement section 368
includes diametrically opposed inwardly extending fingers 372.
Fingers 372 engage a hollow drive member 374 to fixedly secure
drive member 374 to the proximal end of beam 364. Drive member 374
defines a proximal porthole 376a which receives a connection member
of drive tube 246 (FIG. 1) of adapter 200 when end effector 300 is
attached to distal coupling 230 of adapter 200.
[0370] When drive assembly 360 is advanced distally within tool
assembly 304, an upper beam 365a of clamping member 365 moves
within a channel defined between anvil plate 312 and anvil cover
310 and a lower beam 365b moves over the exterior surface of
carrier 316 to close tool assembly 304 and fire staples
therefrom.
[0371] Proximal body portion 302 of end effector 300 includes a
sheath or outer tube 301 enclosing an upper housing portion 301a
and a lower housing portion 301b. The housing portions 301a and
301b enclose an articulation link 366 having a hooked proximal end
366a which extends from a proximal end of end effector 300. Hooked
proximal end 366a of articulation link 366 engages a coupling hook
(not shown) of adapter 200 when end effector 300 is secured to
distal housing 232 of adapter 200. When drive bar 258 of adapter
200 is advanced or retracted as described above, articulation link
366 of end effector 300 is advanced or retracted within end
effector 300 to pivot tool assembly 304 in relation to a distal end
of proximal body portion 302.
[0372] As illustrated in FIG. 9 above, cartridge assembly 308 of
tool assembly 304 includes a staple cartridge 305 supportable in
carrier 316. The cartridge can be permanently installed in the end
effector 300 or can be arranged so as to be removable and
replaceable. Staple cartridge 305 defines a central longitudinal
slot 305a, and three linear rows of staple retention slots 305b
positioned on each side of longitudinal slot 305a. Each of staple
retention slots 305b receives a single staple 307 and a portion of
a staple pusher 309. During operation of instrument 100, drive
assembly 360 abuts an actuation sled and pushes actuation sled
through cartridge 305. As the actuation sled moves through
cartridge 305, cam wedges of the actuation sled sequentially engage
staple pushers 309 to move staple pushers 309 vertically within
staple retention slots 305b and sequentially eject staples 307
therefrom for formation against anvil plate 312.
[0373] The hollow drive member 374 includes a lockout mechanism 373
that prevents a firing of previously fired end effectors 300. The
lockout mechanism 373 includes a locking member 371 pivotally
coupled within a distal porthole 376b via a pin 377, such that
locking member 371 is pivotal about pin 377 relative to drive
member 374.
[0374] With reference to FIGS. 10A and 10B, locking member 371
defines a channel 379 formed between elongate glides 381 and 383.
Web 385 joins a portion of the upper surfaces of glides 381 and
383. Web 385 is configured and dimensioned to fit within the
porthole 376b of the drive member 374. Horizontal ledges 389 and
391 extend from glides 381 and 383 respectively. As best shown in
FIG. 9, a spring 393 is disposed within the drive member 374 and
engages horizontal ledge 389 and/or horizontal ledge 391 to bias
locking member 371 downward.
[0375] In operation, the locking member 371 is initially disposed
in its pre-fired position at the proximal end of the housing
portions 301a and 301b with horizontal ledge 389 and 391 resting on
top of projections 303a, 303b formed in the sidewalls of housing
portion 301b. In this position, locking member 371 is held up and
out of alignment with a projection 303c formed in the bottom
surface of housing portion 301b, distal of the projection 303a,
303b, and web 385 is in longitudinal juxtaposition with shoulder
370 defined in drive beam 364. This configuration permits the anvil
306 to be opened and repositioned onto the tissue to be stapled
until the surgeon is satisfied with the position without activating
locking member 371 to disable the disposable end effector 300.
[0376] Upon distal movement of the drive beam 364 by the drive tube
246, locking member 371 rides off of projections 303a, 303b and is
biased into engagement with housing portion 301b by the spring 393,
distal of projection 303c. Locking member 371 remains in this
configuration throughout firing of the apparatus.
[0377] Upon retraction of the drive beam 364, after at least a
partial firing, locking member 371 passes under projections 303a,
303b and rides over projection 303c of housing portion 301b until
the distal-most portion of locking member 371 is proximal to
projection 303c. The spring 393 biases locking member 371 into
juxtaposed alignment with projection 303c, effectively disabling
the disposable end effector. If an attempt is made to reactuate the
apparatus, loaded with the existing end effector 300, the locking
member 371 will abut projection 303c of housing portion 301b and
will inhibit distal movement of the drive beam 364.
[0378] Another aspect of the instrument 100 is shown in FIG. 11.
The instrument 100 includes the motor 164. The motor 164 may be any
electrical motor configured to actuate one or more drives (e.g.,
rotatable drive connectors 118, 120, 122 of FIG. 6). The motor 164
is coupled to the battery 156, which may be a DC battery (e.g.,
rechargeable lead-based, nickel-based, lithium-ion based, battery
etc.), an AC/DC transformer, or any other power source suitable for
providing electrical energy to the motor 164.
[0379] The battery 156 and the motor 164 are coupled to a motor
driver circuit 404 disposed on the circuit board 154 which controls
the operation of the motor 164 including the flow of electrical
energy from the battery 156 to the motor 164. The driver circuit
404 includes a plurality of sensors 408a, 408b, . . . 408n
configured to measure operational states of the motor 164 and the
battery 156. The sensors 408a-n may include voltage sensors,
current sensors, temperature sensors, pressure sensors, telemetry
sensors, optical sensors, and combinations thereof. The sensors
408a-408n may measure voltage, current, and other electrical
properties of the electrical energy supplied by the battery 156.
The sensors 408a-408n may also measure rotational speed as
revolutions per minute (RPM), torque, temperature, current draw,
and other operational properties of the motor 164. RPM may be
determined by measuring the rotation of the motor 164. Position of
various drive shafts (e.g., rotatable drive connectors 118, 120,
122 of FIG. 6) may be determined by using various linear sensors
disposed in or in proximity to the shafts or extrapolated from the
RPM measurements. In aspects, torque may be calculated based on the
regulated current draw of the motor 164 at a constant RPM. In
further aspects, the driver circuit 404 and/or the controller 406
may measure time and process the above-described values as a
function thereof, including integration and/or differentiation,
e.g., to determine rate of change of the measured values and the
like.
[0380] The driver circuit 404 is also coupled to a controller 406,
which may be any suitable logic control circuit adapted to perform
the calculations and/or operate according to a set of instructions.
The controller 406 may include a central processing unit operably
connected to a memory which may include transitory type memory
(e.g., RAM) and/or non-transitory type memory (e.g., flash media,
disk media, etc.). The controller 406 includes a plurality of
inputs and outputs for interfacing with the driver circuit 404. In
particular, the controller 406 receives measured sensor signals
from the driver circuit 404 regarding operational status of the
motor 164 and the battery 156 and, in turn, outputs control signals
to the driver circuit 404 to control the operation of the motor 164
based on the sensor readings and specific algorithm instructions.
The controller 406 is also configured to accept a plurality of user
inputs from a user interface (e.g., switches, buttons, touch
screen, etc. of the control assembly 107 coupled to the controller
406). A removable memory card or chip may be provided, or data can
be downloaded wirelessly.
[0381] Referring to FIG. 12-18, a surgical system 10' is depicted.
The surgical system 10' is similar in many respects to the surgical
system 10. For example, the surgical system 10' includes the
surgical instrument 100. Upper housing portion 108 of instrument
housing 102 defines a nose or connecting portion 108a configured to
accept a corresponding shaft coupling assembly 514 of a
transmission housing 512 of a shaft assembly 500 that is similar in
many respects to the shaft assembly 200.
[0382] The shaft assembly 500 has a force transmitting assembly for
interconnecting the at least one drive member of the surgical
instrument to at least one rotation receiving member of the end
effector. The force transmitting assembly has a first end that is
connectable to the at least one rotatable drive member and a second
end that is connectable to the at least one rotation receiving
member of the end effector. When shaft assembly 500 is mated to
surgical instrument 100, each of rotatable drive members or
connectors 118, 120, 122 of surgical instrument 100 couples with a
corresponding rotatable connector sleeve 518, 520, 522 of shaft
assembly 500 (see FIGS. 13 and 15). In this regard, the interface
between corresponding first drive member or connector 118 and first
connector sleeve 518, the interface between corresponding second
drive member or connector 120 and second connector sleeve 520, and
the interface between corresponding third drive member or connector
122 and third connector sleeve 522 are keyed such that rotation of
each of drive members or connectors 118, 120, 122 of surgical
instrument 100 causes a corresponding rotation of the corresponding
connector sleeve 518, 520, 522 of shaft assembly 500.
[0383] The selective rotation of drive member(s) or connector(s)
118, 120 and/or 122 of surgical instrument 100 allows surgical
instrument 100 to selectively actuate different functions of an end
effector 400.
[0384] Referring to FIGS. 12 and 14, the shaft assembly 500
includes an elongate, substantially rigid, outer tubular body 510
having a proximal end 510a and a distal end 510b and a transmission
housing 212 connected to proximal end 210a of tubular body 510 and
being configured for selective connection to surgical instrument
100. In addition, the shaft assembly 500 further includes an
articulating neck assembly 530 connected to distal end 510b of
elongate body portion 510.
[0385] Transmission housing 512 is configured to house a pair of
gear train systems therein for varying a speed/force of rotation
(e.g., increase or decrease) of first, second and/or third
rotatable drive members or connectors 118, 120, and/or 122 of
surgical instrument 100 before transmission of such rotational
speed/force to the end effector 501. As seen in FIG. 15,
transmission housing 512 and shaft coupling assembly 514 rotatably
support a first proximal or input drive shaft 524a, a second
proximal or input drive shaft 526a, and a third drive shaft
528.
[0386] Shaft drive coupling assembly 514 includes a first, a second
and a third biasing member 518a, 520a and 522a disposed distally of
respective first, second and third connector sleeves 518, 520, 522.
Each of biasing members 518a, 520a and 522a is disposed about
respective first proximal drive shaft 524a, second proximal drive
shaft 526a, and third drive shaft 228. Biasing members 518a, 520a
and 522a act on respective connector sleeves 518, 520 and 522 to
help maintain connector sleeves 218, 220 and 222 engaged with the
distal end of respective drive rotatable drive members or
connectors 118, 120, 122 of surgical instrument 100 when shaft
assembly 500 is connected to surgical instrument 100.
[0387] Shaft assembly 500 includes a first and a second gear train
system 540, 550, respectively, disposed within transmission housing
512 and tubular body 510, and adjacent coupling assembly 514. As
mentioned above, each gear train system 540, 550 is configured and
adapted to vary a speed/force of rotation (e.g., increase or
decrease) of first and second rotatable drive connectors 118 and
120 of surgical instrument 100 before transmission of such
rotational speed/force to end effector 501.
[0388] As illustrated in FIGS. 15 and 16, first gear train system
540 includes first input drive shaft 524a, and a first input drive
shaft spur gear 542a keyed to first input drive shaft 524a. First
gear train system 540 also includes a first transmission shaft 544
rotatably supported in transmission housing 512, a first input
transmission spur gear 544 a keyed to first transmission shaft 544
and engaged with first input drive shaft spur gear 542a, and a
first output transmission spur gear 544b keyed to first
transmission shaft 544. First gear train system 540 further
includes a first output drive shaft 546a rotatably supported in
transmission housing 512 and tubular body 510, and a first output
drive shaft spur gear 546b keyed to first output drive shaft 546a
and engaged with first output transmission spur gear 544b.
[0389] In at least one instance, the first input drive shaft spur
gear 542a includes 10 teeth; first input transmission spur gear
544a includes 18 teeth; first output transmission spur gear 544b
includes 13 teeth; and first output drive shaft spur gear 546b
includes 15 teeth. As so configured, an input rotation of first
input drive shaft 524a is converted to an output rotation of first
output drive shaft 546a by a ratio of 1:2.08.
[0390] In operation, as first input drive shaft spur gear 542a is
rotated, due to a rotation of first connector sleeve 558 and first
input drive shaft 524a, as a result of the rotation of the first
respective drive connector 118 of surgical instrument 100, first
input drive shaft spur gear 542a engages first input transmission
spur gear 544a causing first input transmission spur gear 544a to
rotate. As first input transmission spur gear 544a rotates, first
transmission shaft 544 is rotated and thus causes first output
drive shaft spur gear 546b, that is keyed to first transmission
shaft 544, to rotate. As first output drive shaft spur gear 546b
rotates, since first output drive shaft spur gear 546b is engaged
therewith, first output drive shaft spur gear 546b is also rotated.
As first output drive shaft spur gear 546b rotates, since first
output drive shaft spur gear 546b is keyed to first output drive
shaft 546a, first output drive shaft 546a is rotated.
[0391] The shaft assembly 500, including the first gear system 540,
functions to transmit operative forces from surgical instrument 100
to end effector 501 in order to operate, actuate and/or fire end
effector 501.
[0392] As illustrated in FIGS. 15 and 17, second gear train system
550 includes second input drive shaft 526a, and a second input
drive shaft spur gear 552a keyed to second input drive shaft 526a.
Second gear train system 550 also includes a first transmission
shaft 554 rotatably supported in transmission housing 512, a first
input transmission spur gear 554a keyed to first transmission shaft
554 and engaged with second input drive shaft spur gear 552a, and a
first output transmission spur gear 554b keyed to first
transmission shaft 554.
[0393] Second gear train system 550 further includes a second
transmission shaft 556 rotatably supported in transmission housing
512, a second input transmission spur gear 556a keyed to second
transmission shaft 556 and engaged with first output transmission
spur gear 554b that is keyed to first transmission shaft 554, and a
second output transmission spur gear 556b keyed to second
transmission shaft 556.
[0394] Second gear train system 550 additionally includes a second
output drive shaft 558a rotatably supported in transmission housing
512 and tubular body 510, and a second output drive shaft spur gear
558b keyed to second output drive shaft 558a and engaged with
second output transmission spur gear 556b.
[0395] In at least one instance, the second input drive shaft spur
gear 552a includes 10 teeth; first input transmission spur gear
554a includes 20 teeth; first output transmission spur gear 554b
includes 10 teeth; second input transmission spur gear 556a
includes 20 teeth; second output transmission spur gear 556b
includes 10 teeth; and second output drive shaft spur gear 558b
includes 15 teeth. As so configured, an input rotation of second
input drive shaft 526a is converted to an output rotation of second
output drive shaft 558a by a ratio of 1:6.
[0396] In operation, as second input drive shaft spur gear 552a is
rotated, due to a rotation of second connector sleeve 560 and
second input drive shaft 526a, as a result of the rotation of the
second respective drive connector 120 of surgical instrument 100,
second input drive shaft spur gear 552a engages first input
transmission spur gear 554a causing first input transmission spur
gear 554a to rotate. As first input transmission spur gear 554a
rotates, first transmission shaft 554 is rotated and thus causes
first output transmission spur gear 554b, that is keyed to first
transmission shaft 554, to rotate. As first output transmission
spur gear 554b rotates, since second input transmission spur gear
556a is engaged therewith, second input transmission spur gear 556a
is also rotated. As second input transmission spur gear 556a
rotates, second transmission shaft 256 is rotated and thus causes
second output transmission spur gear 256b, that is keyed to second
transmission shaft 556, to rotate. As second output transmission
spur gear 556b rotates, since second output drive shaft spur gear
558b is engaged therewith, second output drive shaft spur gear 558b
is rotated. As second output drive shaft spur gear 558b rotates,
since second output drive shaft spur gear 558b is keyed to second
output drive shaft 558a, second output drive shaft 558a is
rotated.
[0397] The shaft assembly 500, including second gear train system
550, functions to transmit operative forces from surgical
instrument 100 to end effector 501 in order rotate shaft assembly
500 and/or end effector 501 relative to surgical instrument
100.
[0398] As illustrated in FIGS. 15 and 18, the transmission housing
512 and shaft coupling assembly 514 rotatably support a third drive
shaft 528. Third drive shaft 528 includes a proximal end 528a
configured to support third connector sleeve 522, and a distal end
528b extending to and operatively connected to an articulation
assembly 570.
[0399] As illustrated in FIG. 14, elongate, outer tubular body 510
of shaft assembly 500 includes a first half section 511 a and a
second half section 511b defining at least three longitudinally
extending channels through outer tubular body 510 when half
sections 511a, 511b are mated with one another. The channels are
configured and dimensioned to rotatably receive and support first
output drive shaft 546a, second output drive shaft 558a, and third
drive shaft 528 as first output drive shaft 546a, second output
drive shaft 558a, and third drive shaft 528 extend from
transmission housing 512 to articulating neck assembly 530. Each of
first output drive shaft 546a, second output drive shaft 558a, and
third drive shaft 528 are elongate and sufficiently rigid to
transmit rotational forces from transmission housing 520 to
articulating neck assembly 530.
[0400] Turning to FIG. 14, the shaft assembly 500 further includes
an articulating neck assembly 530. The articulating neck assembly
530 includes a proximal neck housing 532, a plurality of links 534
connected to and extending in series from proximal neck housing
532; and a distal neck housing 536 connected to and extending from
a distal-most link of the plurality of links 534. It is
contemplated that, in any of the aspects disclosed herein, that the
shaft assembly may have a single link or pivot member for allowing
the articulation of the end effector. It is contemplated that, in
any of the aspects disclosed herein, that the distal neck housing
can be incorporated with the distal most link.
[0401] The entire disclosures of:
[0402] U.S. Patent Application Publication No. 2014/0110453, filed
Oct. 23, 2012, and titled SURGICAL INSTRUMENT WITH RAPID POST EVENT
DETECTION;
[0403] U.S. Patent Application Publication No. 2013/0282052, filed
Jun. 19, 2013, and titled APPARATUS FOR ENDOSCOPIC PROCEDURES;
and
[0404] U.S. Patent Application Publication No. 2013/0274722, filed
May 10, 2013, and titled APPARATUS FOR ENDOSCOPIC PROCEDURES, are
hereby incorporated by reference herein.
[0405] Referring to FIGS. 19-20, a surgical instrument 1010 is
depicted. The surgical instrument 1010 is similar in many respects
to the surgical instrument 100. For example, the surgical
instrument 1010 is configured for selective connection with the end
effector or single use loading unit or reload 300 via the adapter
200. Also, the surgical instrument 1010 includes a handle housing
102 that includes a lower housing portion 104, an intermediate
housing portion 106, and an upper housing portion 108.
[0406] Like the surgical instrument 100, the surgical instrument
1010 includes a drive mechanism 160 which is configured to drive
shafts and/or gear components in order to perform the various
operations of surgical instrument 1010. In at least one instance,
the drive mechanism 160 includes a rotation drivetrain 1012 (See
FIG. 20) configured to rotate end effector 300 about a longitudinal
axis "X" (see FIG. 2) relative to handle housing 102. The drive
mechanism 160 further includes a closure drivetrain 1014 (See FIG.
20) configured to move the anvil assembly 306 relative to the
cartridge assembly 308 of the end effector 300 to capture tissue
therebetween. In addition, the drive mechanism 160 includes a
firing drivetrain 1016 (See FIG. 20) configured to fire a stapling
and cutting cartridge within the cartridge assembly 308 of the end
effector 300.
[0407] As described above, referring primarily to FIGS. 7, 8, and
20, the drive mechanism 160 includes a selector gearbox assembly
162 that can be located immediately proximal relative to adapter
200. Proximal to the selector gearbox assembly 162 is the function
selection module 163 which includes the first motor 164 that
functions to selectively move gear elements within the selector
gearbox assembly 162 to selectively position one of the drivetrains
1012, 1014, and 1016 into engagement with the input drive component
165 of the second motor 166.
[0408] Referring to FIG. 20, the motors 164 and 166 are coupled to
motor control circuits 1018 and 1018', respectively, which are
configured to control the operation of the motors 164 and 66
including the flow of electrical energy from a power source 156 to
the motors 164 and 166. The power source 156 may be a DC battery
(e.g., rechargeable lead-based, nickel-based, lithium-ion based,
battery etc.), an AC/DC transformer, or any other power source
suitable for providing electrical energy to the surgical instrument
1010.
[0409] The surgical instrument 1010 further includes a
microcontroller 1020 ("controller"). In certain instances, the
controller 1020 may include a microprocessor 1036 ("processor") and
one or more computer readable mediums or memory units 1038
("memory"). In certain instances, the memory 1038 may store various
program instructions, which when executed may cause the processor
1036 to perform a plurality of functions and/or calculations
described herein. The power source 156 can be configured to supply
power to the controller 1020, for example.
[0410] The processor 1036 can be in communication with the motor
control circuit 1018. In addition, the memory 1038 may store
program instructions, which when executed by the processor 1036 in
response to a user input 1034, may cause the motor control circuit
1018 to motivate the motor 164 to generate at least one rotational
motion to selectively move gear elements within the selector
gearbox assembly 162 to selectively position one of the drivetrains
1012, 1014, and 1016 into engagement with the input drive component
165 of the second motor 166. Furthermore, the processor 1036 can be
in communication with the motor control circuit 1018'. The memory
1038 may also store program instructions, which when executed by
the processor 1036 in response to a user input 1034, may cause the
motor control circuit 1018' to motivate the motor 166 to generate
at least one rotational motion to drive the drivetrain engaged with
the input drive component 165 of the second motor 166, for
example.
[0411] The controller 1020 and/or other controllers of the present
disclosure 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, ASICs,
PLDs, DSPs, FPGAs, logic gates, registers, semiconductor devices,
chips, microchips, chip sets, microcontrollers, SoC, and/or 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 controller 1020 may include a
hybrid circuit comprising discrete and integrated circuit elements
or components on one or more substrates, for example.
[0412] In certain instances, the controller 1020 and/or other
controllers of the present disclosure 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 SRAM, internal ROM loaded with StellarisWare.RTM.
software, 2 KB EEPROM, one or more PWM modules, one or more QEI
analog, one or more 12-bit ADC with 12 analog input channels, among
other features that are readily available. Other microcontrollers
may be readily substituted for use with the present disclosure.
Accordingly, the present disclosure should not be limited in this
context.
[0413] In various instances, one or more of the various steps
described herein can be performed by a finite state machine
comprising either a combinational logic circuit or a sequential
logic circuit, where either the combinational logic circuit or the
sequential logic circuit is coupled to at least one memory circuit.
The at least one memory circuit stores a current state of the
finite state machine. The combinational or sequential logic circuit
is configured to cause the finite state machine to the steps. The
sequential logic circuit may be synchronous or asynchronous. In
other instances, one or more of the various steps described herein
can be performed by a circuit that includes a combination of the
processor 1036 and the finite state machine, for example.
[0414] Referring again to FIG. 20, the surgical instrument 1010
further includes a drivetrain failure detection module 1040. The
processor 1036 can be in communication with or otherwise control
the module 1040. The module 1040 can be embodied as various means,
such as circuitry, hardware, a computer program product comprising
a computer readable medium (for example, the memory 1038) storing
computer readable program instructions that are executable by a
processing device (for example, the processor 1036), or some
combination thereof. In some aspects, the processor 1036 can
include, or otherwise control the module 1040.
[0415] Referring to FIG. 20, the module 1040 may include one or
more sensors (not shown) which can be configured to detect an acute
drivetrain failure in one or more of the drivetrains 1012, 1014,
and 1016.
[0416] Referring to FIG. 20, the module 1040 can be configured to
detect an acute failure in an active drivetrain of the surgical
instrument 1010. The term "active" as used herein in connection
with the drivetrains 1012, 1014, and 1016 refers to a selected
drivetrain that is engaged with the input drive component 165 and
is driven by the second motor 166. The term "acute failure" as used
herein refers to a failure that can cause one or more of the
drivetrains 1012, 1014, and 1016, for example, to operate at less
than optimal performance levels. One example of an acute drivetrain
failure may involve a tooth damage to one or more of the gears of
an active drivetrain and/or or excessive slop in the active
drivetrain.
[0417] In the event of an acute drivetrain failure, the active
drivetrain may still be operated to complete a surgical step or to
reset the surgical instrument 1010; however, certain precautionary
and/or safety steps can be taken, as described below in greater
detail, to avoid or minimize additional damage to the active
drivetrain and/or other components of the surgical instrument 1010.
Alternatively, in the event of a catastrophic failure, the active
drivetrain is rendered inoperable, and certain bailout steps are
taken to ensure, among other things, a safe detachment of the
surgical instrument 1010 from the tissue being treated.
[0418] Referring again to FIG. 21, a logic diagram 1021 represents
possible operations that can be implemented by the surgical
instrument 1010 in response to active drivetrain failures. The
memory 1038 may include program instructions, which when executed
by the processor 1036, may cause the processor 1036 to employ the
module 1040 to continuously detect 1023 active drivetrain failures.
The memory 1038 may include program instructions, which when
executed by the processor 1036, may cause the processor 1036 to
respond to a detected acute drivetrain failure by activating a safe
mode 1022 of operation, for example. In addition, the memory 1038
may include program instructions, which when executed by the
processor 1036, may cause the processor 1036 to respond to a
detected catastrophic drivetrain failure by activating a recovery
or bailout mode 1022. If no drivetrain failures are detected, the
processor 1036 may permit the surgical instrument 1010 to continue
1027 with normal operations until an active drivetrain failure is
detected.
[0419] Referring to FIG. 22, the safe mode 1022 may include one or
more steps such as, for example, a motor modulation step 1026 which
can be employed by the processor 1036 to limit the speed of an
active drivetrain. For example, if the firing drivetrain 1016 is
being actively driven by the motor 166 during a firing sequence, a
detection of an acute drivetrain failure by the module 1040 may
cause the processor 1036 to communicate to the motor drive circuit
1018' instructions to cause the mechanical output of the motor 166
to be reduced. A reduction in the mechanical output of the motor
166 reduces the speed of the active drivetrain 1016 which ensures
safe completion of the firing sequence and/or resetting of the
active drivetrain 1016 to an original or starting position.
[0420] Likewise, if the closure drivetrain 1014 is being actively
driven by the motor 166 during a closure motion to capture tissue
by the end effector 300, a detection of an acute drivetrain failure
by the module 1040 may cause the processor 1036 to communicate to
the motor drive circuit 1018' instructions to cause the mechanical
output of motor 166 to be reduced. A reduction in the mechanical
output of the motor 166 reduces the speed of the active drivetrain
1014 which ensures safe completion of the closure motion and/or
resetting of the active drivetrain 1014 to an original or starting
position. Also, if the rotation drivetrain 1012 is being actively
driven by the motor 166, a detection of an acute drivetrain failure
by the module 1040 may cause the processor 1036 to communicate to
the motor drive circuit 1018' instructions to cause the mechanical
output of motor 166 to be reduced. A reduction in the mechanical
output of the motor 166 reduces the speed of the active drivetrain
1012 which ensures safe completion of the rotation and/or resetting
of the active drivetrain 1012 to an original or starting
position.
[0421] Referring to FIG. 23, the motor modulation step 1026 can be
implemented by program instructions stored in the memory 1038
which, when executed by the processor 1036, may cause the processor
1036 to communicate with the motor drive circuit 1018', for
example, to modulate a motor input voltage (Vm) of the motor 166,
for example, to reduce a speed of an active drivetrain operably
coupled to the motor 166. In at least one instance, as illustrated
in FIG. 23, the motor modulation 1026 may comprise delivering the
motor input voltage (Vm) in pulses that are spaced apart from one
another by time periods (t.sub.1) with no or zero motor input
voltage (Vm). Alternatively, as illustrated in FIG. 23A, the motor
modulation 1026 may comprise a reduction in the motor input voltage
(Vm) from a first voltage (V1) to a second voltage (V2). Delivering
the motor input voltage (Vm) sparingly reduces the mechanical
output of the motor 166 which, in turn, reduces or limits the speed
of the active drivetrain. Reducing the speed of the active
drivetrain, as described above, can slow the rotation of the
drivetrain around the damaged section and/or limit the force of
engagement with a tooth that follows a damaged or missing
tooth.
[0422] The motor input voltage (Vm) pulses may each comprise a time
period (t.sub.2). In at least one instance, a ratio of a time
period (t.sub.2) to a time period (t.sub.1) can be any value
selected from a range of about 1/100 to about 1, for example. In at
least one instance, a ratio of a time period (t.sub.2) to a time
period (t.sub.1) can be any value selected from a range of about
1/20 to about 1/80, for example. In at least one instance, a ratio
of a time period (t.sub.2) to a time period (t.sub.1) can be any
value selected from a range of about 1/30 to about 1/60, for
example. Other values of the ratio of a time period (t.sub.2) to a
time period (t.sub.1) are contemplated by the present
disclosure.
[0423] Referring to FIG. 22A, in certain instances, a different or
dedicated motor modulation 1026 can be implemented for each of the
drivetrains 1012, 1014, and/or 1016. A logic diagram 1041
represents possible operations that can be implemented by the
surgical instrument 1010 in such instances. As described above, the
memory 1038 may include program instructions, which when executed
by the processor 1036, may cause the processor 1036 to employ the
module 1040 to continuously detect 1023 active drivetrain failures.
The memory 1038 may also include program instructions, which when
executed by the processor 1036, may cause the processor 1036 to
respond to a detected 1027 acute drivetrain failure by implementing
one of a firing drivetrain modulation algorithm 1043, a closure
drivetrain modulation algorithm 1045, and a rotation drivetrain
modulation algorithm 1049 depending on the type or nature of the
active drivetrain when the acute failure is detected. The firing
drivetrain modulation algorithm 1043, the closure drivetrain
modulation algorithm 1045, and/or the rotation drivetrain
modulation algorithm 1049 can be stored in the memory 1038, for
example.
[0424] Referring again to FIG. 22, the safe mode 1022 may also
include a sensor bypass step 1028. The surgical instrument 1010 may
include a variety of sensors such as, for example, closed loop
sensors that are configured to provide various data to the
processor 1036 regarding the operation of the surgical instrument
1010. In the event of an acute drivetrain failure, the data
provided by such sensors may not be accurate. In response, the
memory 1038 may include program instructions which, when executed
by the processor 1036, may cause the processor 1036 to respond to a
detected acute drivetrain failure by bypassing input from such
sensors and/or deactivating or pausing functions that are triggered
in response to the input from such sensors.
[0425] The memory 1038 may include a sensor bypass database of a
subset of sensors that are to be deactivated or ignored in the
event of an acute drivetrain failure. In at least one instance, the
processor 1036 may utilize the sensor bypass database to implement
the sensor bypass step in the event of an acute drivetrain
failure.
[0426] The safe mode 1022 may also include a step 1029 of alerting
a user of the surgical instrument 1010 that an acute drivetrain
failure has been detected, and that the surgical instrument 1010
will continue to run in the safe mode 1022 which may limit or
reduce the functions available to the user, for example. The
processor 1036 may employ a feedback system 1035 to issue such
alerts to the user of the surgical instrument 1010. The feedback
system 1035 may include one or more feedback elements 1034 and/or
one or more user input elements 1037, for example. In certain
instances, the feedback system 1035 may comprise one or more visual
feedback elements including display screens, backlights, and/or
LEDs, for example. In certain instances, the feedback system 1035
may comprise one or more audio feedback systems such as speakers
and/or buzzers, for example. In certain instances, the feedback
system 1035 may comprise one or more haptic feedback systems, for
example. In certain instances, the feedback system 1035 may
comprise combinations of visual, audio, and/or haptic feedback
systems, for example.
[0427] Referring to FIG. 24, a logic diagram 1021', which is
similar in many respects to the logic diagram 1021, represents
possible operations that can be implemented by the surgical
instrument 1010 in response to active drivetrain failures. In at
least one instance, as illustrated in FIG. 24, operating the
surgical instrument 1010 in the safe mode 1022 can be conditioned
on obtaining an approval from a user of the surgical instrument
1010, as illustrated in FIG. 24. The motor 166, for example, can be
suspended 1033 after an acute drivetrain failure is detected. The
memory 1038 may include program instructions, which when executed
by the processor 1036, may cause the processor 1036 to suspend
operation of an active drivetrain, in response to an acute
drivetrain failure, by suspending operation of the motor 166, for
example. The motor 166 can be stopped and/or disabled by
disconnecting the power source 156 from the motor 166, for example.
In various instances, a motor override circuit can be employed by
the processor 1036 to stop power delivery to the motor 166, for
example.
[0428] After disabling the motor 166, the processor 1036 can
solicit an approval from the user to proceed in the safe mode 1022
via one or more of the feedback elements 1037. The operator's
decision can be communicated to the processor 1036 via the user
input 1034. If the operator chooses to proceed in the safe mode
1022, the processor 1036 can reactivate the damaged drivetrain, by
reactivating power transmission to the motor 166, and proceed in
the safe mode 1022. Alternatively, if the operator chooses not to
proceed in the safe mode 1022, the processor 1036 may activate the
bailout mode 1024.
[0429] Referring again to FIG. 22, the safe mode 1022 may also
include a service request step 1042 for initiating a service
request in the event of an acute failure of an active drivetrain.
The memory 1038 may include program instructions, which when
executed by the processor 1036, may cause the processor 1036 to
respond to a detected acute drivetrain failure by initiating a
service request. The request can be communicated, through any
suitable mode of communication, to a servicing unit which can be in
the form of an external server, for example.
[0430] In at least one instance, a wireless mode of communication
can be employed to initiate the service request. The wireless mode
of communication can include one or more of Dedicated Short Range
Communication (DSRC), Bluetooth, WiFi, ZigBee, Radio Frequency
Identification (RFID) and Near Field Communication (NFC).
[0431] The service request communication may also include any saved
data in connection with the detected drivetrain failure such as,
for example, the time and date of the failure, the type of the
active drivetrain, and/or the surgical step during which the
failure occurred. Furthermore, the feedback system 1035 may include
one or more visual feedback elements such as, for example, the
screen 1046 which can be employed to provide an interactive
walkthrough of serviceability options and/or rebuild steps, for
example.
[0432] Referring again to FIG. 22, the safe mode 1022 may also
include a limited functionality step 1044. The memory 1038 may
include program instructions, which when executed by the processor
1036, may cause the processor 1036 to respond to a detected acute
drivetrain failure by limiting the functions of the surgical
instrument 1010 that are available to the user. In at least one
instance, processor 1036 can limit the available functions to ones
that reset or return the surgical instrument 1010 to an original or
starting position. For example, in the event an acute failure is
detected in the firing drivetrain 1016, the processor 1036 can be
configured to suspend further advancement of the firing drivetrain
1016, and only allow retraction of the firing drivetrain 1016 to an
original or starting position. Likewise, in the event an acute
failure is detected in the closure drivetrain 1014 during a closure
motion of the end effector 300, the processor 1036 can be
configured to suspend further advancement of the closure drivetrain
1014, and only allow retraction of the closure drivetrain 1014 to
an original or starting position thereby releasing any captured
tissue. Otherwise, functions that are not affected by the detected
failure may still remain available.
[0433] In the event a catastrophic drivetrain failure rather than
an acute drivetrain failure is detected, a bailout mode 1024 can be
activated. The memory 1038 may include program instructions, which
when executed by the processor 1036, may cause the processor 1036
to respond to an acute drivetrain failure by activating the bailout
mode 1024. In at least one instance, as illustrated in FIG. 25, the
bailout mode 1024 may include a mechanical bailout step 1046. In
the event of a catastrophic failure of an active drivetrain such
as, for example, the firing drivetrain 1016, the processor 1036 may
suspend the firing drivetrain 1016 by stopping the motor 166. In
addition, the processor 1036 may employ one or more of the feedback
elements 1037 to alert 1029 the user as to the detected failure and
provide instructions to the user of the surgical instrument 1010 to
mechanically complete the firing sequence and/or reset the firing
drivetrain 1016.
[0434] In the event of a catastrophic failure of an active closure
drivetrain 1014, the processor 1036 may suspend the closure
drivetrain 1014 by stopping the motor 166. In addition, the
processor 1036 may employ one or more of the feedback elements 1037
to provide instructions to the user of the surgical instrument 1010
to mechanically complete the closure motion and/or reset the
closure drivetrain 1014.
[0435] Referring to FIG. 19, the surgical instrument 1010 can
include a bailout door 1013 which can be opened using a bailout
handle 1047. The bailout door 1013 can be opened by a user of the
surgical instrument 1010 to access a bailout assembly which can be
employed to mechanically complete a firing sequence, for example,
and/or reset a firing drivetrain 1016 of the surgical instrument
1010. U.S. patent application Ser. No. 14/226,142, titled SURGICAL
INSTRUMENT COMPRISING A SENSOR SYSTEM, and filed Mar. 26, 2014, now
U.S. Patent Application Publication No. 2015/0272575 and U.S.
Patent Application Publication No. 2010/0089970 disclose 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. 14/226,142, titled SURGICAL
INSTRUMENT COMPRISING A SENSOR SYSTEM, and filed Mar. 26, 2014, now
U.S. Patent Application Publication No. 2015/0272575, is hereby
incorporated by reference in its entirety. Also, U.S. patent
application Ser. No. 12/249,117, titled 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.
[0436] Referring again to FIG. 25, the bailout mode 1024 may
further include of one or more of the steps described above in
connection with the safe mode 1022. For example, the bailout mode
1024 may include a sensor bypass step 1028. The memory 1038 may
include program instructions which, when executed by the processor
1036, may cause the processor 1036 to respond to a catastrophic
drivetrain failure by bypassing input from various sensors and/or
deactivating or pausing functions that are triggered in response to
input from such sensors.
[0437] The memory 1038 may include a sensor bypass database of a
subset of sensors that are to be deactivated or ignored in the
event of a catastrophic drivetrain failure. In at least one
instance, the processor 1036 may utilize the sensor bypass database
to implement the sensor bypass step in the event of a catastrophic
drivetrain failure. The bailout mode 1024 may also include a
service request step 1042 for initiating a service request in the
event of a catastrophic failure of an active drivetrain.
[0438] Referring to FIG. 26A, a surgical instrument 2010 is
depicted. The surgical instrument 2010 is similar in many respects
to the surgical instrument 100. For example, the surgical
instrument 2010 is configured for selective connection with the end
effector or single use loading unit or reload 300 via the adapter
200. Also, the surgical instrument 2010 includes a handle housing
102 that includes a lower housing portion 104, an intermediate
housing portion 106, and an upper housing portion 108. In addition,
the surgical instrument 2010 includes a power pack 2012 held in the
lower housing portion 104. Like the battery 156, the power pack
2012 is separably couplable to the surgical instrument 2010. One or
more connectors 2019 can be configured to electrically couple the
power pack 2012 to the surgical instrument 2010, as illustrated in
FIG. 28, when the power pack 2012 is attached to the surgical
instrument 2010. The connectors 2019 facilitate communication and
power exchange between the power pack 2012 and the surgical
instrument 2010.
[0439] As illustrated in FIG. 26B, the lower housing portion 104
comprises resilient members 2017 and 2018 that are configured to
provide a snap-fit engagement with the intermediate housing portion
106. Other mechanisms for attaching the lower housing portion 104
to the intermediate housing portion 106 are contemplated by the
present disclosure. In the aspect illustrated in FIG. 26A, the
power pack 2012 can be separated from the surgical instrument 2010
by retracting or pulling the lower housing portion 104 in a
direction away from the intermediate housing portion 106.
[0440] Referring to FIGS. 26B and 28, the power pack 2012 includes
a plurality of battery cells (B1 . . . Bn) 2014 and an electronic
control circuit 2016. The battery cells 2014 are arranged in series
and are electrically coupled to the electronic control circuit
2016. Other arrangements of the battery cells 2014 are contemplated
by the present disclosure. In the aspect illustrated in FIG. 26B,
the power pack 2012 includes four battery cells (B1-B4). In other
aspects, as illustrated in FIG. 28, the power pack 2012 may include
more or less than four battery cells. In various instances, the
battery cells 2014 are replaceable and/or rechargeable.
[0441] Referring to FIG. 27, a method 2009 of monitoring the health
of the power pack 2012 during a firing sequence of the surgical
instrument 2010 is depicted. The method 2009 includes steps for
responding to a detected drop in the health of the power pack 2012
below a predetermined threshold. The method 2009 comprises a step
2011 of detecting activation of the firing sequence. The method
2009 further comprises a step 2013 of monitoring the health of the
power pack after detection of the activation of the firing
sequence. The step of monitoring the health of the power pack 2012
may include monitoring one or more parameters associated with the
power pack 2012 such as, for example, temperature, output current,
and/or output voltage. In the event it is detected that the health
of the power pack 2012 is partially compromised, the method 2009
further comprises at least one post detection safety and/or
operational measure. For example, the method 2009 further comprises
alerting a user of the surgical instrument 2010 and/or recording a
damaged status of the compromised power pack 2012.
[0442] In at least one instance, the method 2009 further comprises
determining whether the firing sequence can be completed. In the
event it is determined that the firing sequence cannot be
completed, the method 2009 further comprises alerting the user of
the surgical instrument 2010 and/or resetting the firing sequence.
The step of resetting the firing sequence may include, among other
things, retracting the drive assembly 360 to an original or
starting position. In the event it is determined that the firing
sequence can be completed, the method 2009 further comprises
alerting the user of the surgical instrument 2010 to continue the
firing sequence. In addition the method 2009 may further comprise
increasing and/or prioritizing a power output of the power pack
2012 to facilitate completion of the firing sequence. Upon
completion of the firing sequence, the method 9 may further
comprise a step of deactivating the surgical instrument 2010.
[0443] The safety and/or operational measures of the method 2009
can be employed in addressing a situation where the firing sequence
has been started but is only partially completed due to a failure
of the power pack 2012. This situation generally yields a tissue
region that is only partially stapled and/or resected. The method
2009 permits completion of the stapling and/or resection of the
tissue region in the event the failure of the power pack 2012 is a
partial failure.
[0444] Referring to FIG. 28, the power pack 2012 may employ the
electronic control circuit 2016 to monitor the health of the power
pack 2012 during a firing sequence of the surgical instrument 2010
and respond to a detected drop in the health of the power pack 2012
below a predetermined threshold. The electronic control circuit
2016 may include one or more sensors (S1 . . . Sn) 2015 for
monitoring the health of the power pack 2012. In the aspect
illustrated in FIG. 34, the electronic control circuit 2016
includes a voltage sensor 2022, a temperature sensor 2024, and a
current sensor 2026 which cooperate to monitor the health status of
the power pack 2012, as described in greater detail below. Other
sensors can also be employed by the electronic control circuit 2016
to monitor the health of the power pack 2012.
[0445] Further to the above, the electronic control circuit 2016
includes a microcontroller 2028 ("controller") that is operably
coupled to sensors 2015, as illustrated in FIG. 28. In certain
instances, the controller 2028 may include a microprocessor 2030
("processor") and one or more computer readable mediums or memory
units 2032 ("memory"). In certain instances, the memory 2032 may
store various program instructions, which when executed may cause
the processor 2030 to perform a plurality of functions and/or
calculations described herein such as, for example, one or more of
the steps of the method 2009 depicted in FIG. 27. In certain
instances, the memory 2032 may be coupled to the processor 2030,
for example. The battery cells 2014 can be configured to supply
power to the controller 2028, the sensors 2015, and/or other
components of the electronic control circuit 2016, for example.
Furthermore, the controller 2028 can be in communication with a
main controller 2029 in the surgical instrument 2010, as
illustrated in FIG. 28, which can also be powered by the battery
cells 2014 through the connectors 2019.
[0446] The controller 2028 and/or other controllers of the present
disclosure 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, ASICs,
PLDs, DSPs, FPGAs, logic gates, registers, semiconductor devices,
chips, microchips, chip sets, microcontrollers, SoC, and/or 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 controller 2028 may include a
hybrid circuit comprising discrete and integrated circuit elements
or components on one or more substrates, for example.
[0447] In certain instances, the controller 2028 and/or other
controllers of the present disclosure 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 SRAM, internal ROM loaded with StellarisWare.RTM.
software, 2 KB EEPROM, one or more PWM modules, one or more QEI
analog, one or more 12-bit ADC with 12 analog input channels, among
other features that are readily available. Other microcontrollers
may be readily substituted for use with the present disclosure.
Accordingly, the present disclosure should not be limited in this
context.
[0448] In various instances, one or more of the various steps
described herein can be performed by a finite state machine
comprising either a combinational logic circuit or a sequential
logic circuit, where either the combinational logic circuit or the
sequential logic circuit is coupled to at least one memory circuit.
The at least one memory circuit stores a current state of the
finite state machine. The combinational or sequential logic circuit
is configured to cause the finite state machine to the steps. The
sequential logic circuit may be synchronous or asynchronous. In
other instances, one or more of the various steps described herein
can be performed by a circuit that includes a combination of the
processor 2030 and the finite state machine, for example.
[0449] Referring to FIG. 28, the electronic control circuit 2016
may further include a boost converter 2036. As illustrated in FIG.
28, the battery cells 2014 are coupled to the voltage converter or
a boost converter 2036. The processor 2030 can be configured to
employ the boost converter 2036 to provide a boosted voltage or
step-up the voltage to maintain a minimum voltage sufficient to
complete a firing sequence in the event it is determined that one
or more of the battery cells 2014 is damaged or compromised during
operation of the surgical instrument 2010.
[0450] In at least one instance, as illustrated in FIG. 28, the
processor 2030 can be configured to respond to a determination that
one or more of the battery cells 2014 are compromised by employing
a feedback system 2034 to issue an alert to a user of the surgical
instrument 100. In certain instances, the feedback system 2034 may
comprise one or more visual feedback systems such as display
screens, backlights, and/or LEDs, for example. In certain
instances, the feedback system 2034 may comprise one or more audio
feedback systems such as speakers and/or buzzers, for example. In
certain instances, the feedback system 2034 may comprise one or
more haptic feedback systems, for example. In certain instances,
the feedback system 2034 may comprise combinations of visual,
audio, and/or haptic feedback systems, for example.
[0451] In at least one instance, the processor 2030 is configured
to respond to a determination that one or more of the battery cells
2014 are compromised by storing or recording a damaged status of
the power pack 2012 in the memory 2032. A damaged status of the
power pack 2012 can also be stored in a memory 2054 of a main
controller 2029 within the surgical instrument 2040. The processor
2030 of the controller 2028 of the power pack 2012 can be in
communication with the processor 2052 of the main controller 2029
to report to the main controller 2029 the damaged status of the
power pack 2012. In response to a determination that one or more of
the battery cells 2014 are compromised, the processor 2052 of the
main controller 2029 can be configured to reset the firing sequence
by causing the drive assembly 360 to return to an original or
starting position, for example. Alternatively, in certain
instances, the processor 2052 can be configured to reroute power
from non-essential systems of the surgical instrument 2040 to
ensure completion of the firing sequence in the event of a
determination that one or more of the battery cells 2014 are
compromised during the firing sequence. Examples of non-essential
systems may include backlit liquid crystal displays (LCDs) and/or
Light-emitting diode (LED) indicators. After completion of the
firing sequence, the processor 2052 of the main controller 2029 can
be configured to cause the surgical instrument 2040 to be
deactivated until the damaged power pack 2012 is replaced with an
undamaged power pack, for example.
[0452] Referring to FIG. 29, the step 2013 of monitoring the health
of the power pack 2012 may include monitoring an output voltage of
the battery cells 2014. In such instances, the sensors 2015 may
include a voltage sensor which can be arranged in parallel with the
battery cells 2014. The voltage sensor can be configured to sample
the output voltage of the battery cells 2014 during the firing
sequence of the surgical instrument 2010. Additional voltage
readings can be obtained prior to activation of the firing sequence
and/or after completion of the firing sequence. The processor 2030
can be configured to receive the voltage readings of the voltage
sensor, and compare the readings to a predetermined voltage
threshold (vt) that can be stored in the memory 2032. In the event
of a voltage reading, or an average of a plurality of voltage
readings, that reaches and/or falls below the predetermined voltage
threshold (vt), the processor 2030 may conclude that one or more of
the battery cells 2014 are compromised or damaged. In response, the
processor 2030 can be configured activate one or more of the safety
and/or operational measures described above.
[0453] Referring to FIG. 30, the step 2013 of monitoring the health
of the power pack 2012 may include monitoring the current draw from
the battery cells 2014. In such instances, the sensors 2015 may
include a current sensor which can be arranged in series with the
battery cells 2014. The current sensor can be configured to sample
the current draw from the battery cells 2014 during the firing
sequence of the surgical instrument 2010. Additional current
readings can be obtained prior to activation of the firing sequence
and/or after completion of the firing sequence. The processor 2030
can be configured to receive the current readings of the current
sensor and compare the readings to a predetermined current
threshold (It) that can be stored in the memory 2032. In the event
of a current reading, or an average of a plurality of current
readings, that reaches and/or falls below the predetermined current
threshold (It), the processor 2030 may conclude that one or more of
the battery cells 2014 are compromised or damaged. In response, the
processor 2030 can be configured to activate one or more of the
safety and/or operational measures described above.
[0454] Referring to FIG. 31, the step 2013 of monitoring the health
of the power pack 2012 may include monitoring a temperature of the
battery cells 2014. In such instances, the sensors 2015 may include
one or more temperature sensors which can be positioned inside the
power pack 2012 in close proximity to the battery cells 2014. The
temperature sensors can be configured to sample the temperature of
the battery cells 2014 during the firing sequence of the surgical
instrument 100. Additional temperature readings can be obtained
prior to activation of the firing sequence and/or after completion
of the firing sequence. The processor 2030 can be configured to
receive the temperature readings of the temperature sensor and
compare the readings to a predetermined temperature threshold (Tt)
that can be stored in the memory 2032. In the event of a
temperature reading, or an average of a plurality of temperature
readings, that reaches and/or exceeds the predetermined temperature
threshold (Tt), the processor 2030 may conclude that one or more of
the battery cells 2014 are compromised or damaged. In response, the
processor 2030 can be configured to activate one or more of the
safety and/or operational measures described above.
[0455] Referring to FIG. 32, a surgical instrument 2040 is similar
in many respects to the surgical instruments 2010 and 100. The
surgical instrument 2040 includes a power pack 2042, which is
similar in many respects to the power pack 2012. In addition, the
power pack 2042 includes an insulation chamber 2044 that houses the
battery cells 2014. The insulation chamber 2044 includes an
insulation wall 2046 that is configured to resist heat transfer
between the inside and the outside of the insulation chamber 2044.
The insulation chamber 2044 also houses one or more temperature
sensors 2024 that are configured to sample an internal temperature
inside the insulation chamber 2044 during the firing sequence of
the surgical instrument 2040. Additional temperature sensors 2024'
are positioned outside the insulation chamber 2044 to sample an
external temperature outside the insulation chamber 2044 during the
firing sequence of the surgical instrument 2040.
[0456] The processor 2030 is configured to receive the external and
internal temperature readings of the temperature sensors 2024' and
2024, respectively. In addition, the processor 30 is configured to
apply an algorithm, which can be stored in the memory 2032, to
quantitatively compare the received external and internal
temperature readings. In the event an internal temperature reading,
or an average of a plurality of internal temperature readings,
exceeds a simultaneously taken external temperature reading, or an
average of a plurality of external temperature readings, by a
predetermined temperature threshold (Tt), which can be stored in
the memory 2032, the processor 2030 may conclude that one or more
of the battery cells 2014 are compromised or damaged. In response,
the processor 2030 can be configured to activate one or more of the
safety and/or operational measures described above.
[0457] In certain instances, the internal temperature sensors 2024
and the external temperature sensors 2024' of the surgical
instrument 2040 can be arranged in a Wheatstone bridge circuit
2048, as illustrated in FIG. 33. A voltage sensor 2022 can be
employed to measure the voltage across the Wheatstone bridge
circuit 2048. The processor 2030 can be configured to receive the
voltage readings of the voltage sensor 2022. In the event of a
voltage reading, or an average of a plurality of voltage readings,
that reaches and/or exceeds a predetermined voltage threshold (vt),
the processor 2030 may conclude that one or more of the battery
cells 2014 are compromised or damaged. In response, the processor
2030 can be configured activate one or more of the safety and/or
operational measures described above.
[0458] In the aspect illustrated in FIG. 34, the electronic control
circuit 2016 includes a voltage sensor 2022, a temperature sensor
2024, and a current sensor 2026 which cooperate to monitor the
health status of the power pack 2012. The voltage sensor 2022 can
be configured to monitor an output voltage of the battery cells
2014 while the current sensor 2026 and the temperature sensor 2024
simultaneously measure a current draw from the battery cells 2014
and a temperature of the battery cells 2014, respectively. In at
least one instance, the processor 30 is configured to receive
readings from the voltage sensor 2022, the temperature sensor 2024,
and the current sensor 2026 during the firing sequence of the
surgical instrument 2010. Additional readings can also be obtained
prior to activation of the firing sequence and/or after completion
of the firing sequence.
[0459] FIG. 35 is a logic diagram for assessing the health status
of a power pack based on the sensor readings, according to at least
one aspect of the present disclosure. Referring to FIG. 35, further
to the above, the processor 2030 is configured to apply an
algorithm 2050, which can be stored in the memory 2032, to assess
the health status of the power pack 2012 based on the readings
obtained from the voltage sensor 2022, the temperature sensor 2024,
and the current sensor 2026. First, the processor 2030 is
configured to determine whether the voltage reading received from
the voltage sensor 2022 reaches or falls below a predetermined
voltage threshold (Vt) stored in the memory 2032. Second, if the
processor 2030 determines that the voltage reading reaches or falls
below the predetermined voltage threshold (Vt), the processor 2030
is configured to further determine whether the current reading
received from the current sensor 2026 reaches or falls below the
predetermined current threshold (It) stored in the memory 2032.
Third, if the processor 2030 determines that the current reading
reaches or falls below the predetermined current threshold (It),
the processor 2030 is further configured to determine whether the
temperature reading received from the temperature sensor 2024
reaches or exceeds the predetermined temperature threshold (Tt)
stored in the memory 2032. If any of the three conditions is not
met, the processor 2030 may continue to monitor the health of the
power pack 2012. However, if all of the three conditions are met,
the processor 2030 may conclude that one or more of the battery
cells 2014 are compromised or damaged. In response, the processor
2030 can be configured to activate one or more of the safety and/or
operational measures described above. In at least one instance, if
two of the three conditions are met the processor 2030 may conclude
that one or more of the battery cells 2014 are compromised or
damaged.
[0460] Referring to FIGS. 36-36B, a surgical instrument 3010 is
depicted. The surgical instrument 3010 is similar in many respects
to the surgical instrument 100. For example, the surgical
instrument 3010 is configured for selective connection with the end
effector or single use loading unit or reload 300 via the adapter
200. Also, the surgical instrument 3010 includes the handle housing
102 including the lower housing portion 104, the intermediate
housing portion 106, and the upper housing portion 108. In
addition, the surgical instrument 3010 further includes a
replaceable motor cartridge 3012, as illustrated in FIG. 37. The
motor cartridge 3012 is separably couplable to the surgical
instrument 3010. A motor access door 3013 (FIG. 36) can be opened
to obtain access to the motor cartridge 3012. Once the motor access
door 3013 is opened, the motor cartridge 3012 can be removed and
replaced with another motor cartridge.
[0461] As described in greater delay below, the surgical instrument
3010 is configured to detect a damaged motor cartridge 3012 and, in
certain instances, instruct an operator of the surgical instrument
3010 to replace the damaged motor cartridge 3012 with an undamaged
motor cartridge 3012. The ability to replace a motor cartridge 3012
is quite useful at least because it allows for an improved repair
capability since a damaged motor cartridge 3012 can be readily
replaced with an undamaged motor cartridge 3012. In absence of the
ability to replace a damaged motor cartridge 3012, the surgical
instrument 3010 may be rendered inoperable even though the majority
of the components of the surgical instrument 3010 are in good
operating condition. The ability to replace a motor cartridge 3012
is also useful in allowing modularity in new product designs, and
simplifying installation of hardware upgrades as part of life cycle
improvements. For example, a first generation motor cartridge can
be readily replaced with an upgraded second generation motor
cartridge. Motor cartridges can also be swapped between surgical
instruments that employ the same type of motor cartridge, for
example.
[0462] The motor cartridge 3012 comprises a housing 3014 which
includes high current components of the surgical instrument 3010
such as, for example, at least one motor 3016 and at least one
motor circuit board 3018. Since high current components of the
surgical instrument 3010 are more susceptible to damage than low
current components such as a main control circuit board 3019 and
various feedback systems, it is desirable to be able to readily
replace the high current components by replacing the motor
cartridge 3012.
[0463] As illustrated in FIG. 38, the motor cartridge 3012 is
releasably coupled to the surgical instrument 3010. An interface
3021 between the motor cartridge 3012 and the surgical instrument
3010 comprises a mechanical component represented by mechanical
connectors 3022, 3023, 3024, and 3025, a power/communication
transmission component represented by electrical connectors 3026,
3028, 3030, and 3032. In at least one instance, the main control
circuit board 3019 comprises a receiver 3053 which can be in the
form of a socket, as illustrated in FIG. 36B. The receiver 3053 can
be configured to receive the connectors 3028 and 3032, for example,
to electrically couple the main control circuit board 3019 to the
circuit boards 3018 and 3018'. In certain instances, the interface
3021 may comprise one or more switches which can be activated after
coupling engagement of the motor cartridge 3012 and the surgical
instrument 3010. Various suitable connectors are described in U.S.
Patent Application Publication No. 2014/0305990, filed Apr. 16,
2013, and titled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL
INSTRUMENT, which is hereby incorporated by reference herein in its
entirety.
[0464] In the aspect illustrated in FIG. 38, the motor cartridge
3012 includes two motors 3016 and 3016' which are controlled by
separate motor control circuit boards 3018 and 3018'.
Alternatively, the motors 3016 and 3016' can be controlled by one
motor control circuit board. In certain instances, two or more
separate motor cartridges can be employed with the surgical
instrument 3010, wherein each motor cartridge includes at least one
motor and at least one motor control circuit board for controlling
the at least one motor, for example. For the sake of brevity, the
following discussion will focus on the motor 3016 and the control
circuit board 3018; however, the following discussion is also
applicable to the motor 3016' and the control circuit board
3018'.
[0465] The motor 3016 may be any electrical motor configured to
actuate one or more drives (e.g., rotatable drive connector 3024 of
FIG. 36B). The motor 3016 is powered by a power source 3034 in the
surgical instrument 3010. Electrical energy is transmitted to the
motor 3016 through the interface 3021. The power source 3034 may be
a DC battery (e.g., rechargeable lead-based, nickel-based,
lithium-ion based, battery etc.), an AC/DC transformer, or any
other power source suitable for providing electrical energy to the
motor 3016. When the motor cartridge 3012 is coupled to the
surgical instrument 3010, the power source 3034 and the motor 3016
are coupled to the motor control circuit 3018 which controls the
operation of the motor 3016 including the flow of electrical energy
from the power source 3034 to the motor 3016.
[0466] Referring to FIG. 38, the main control circuit board 3019
includes a microcontroller 3020 ("controller"). In certain
instances, the controller 3020 may include a microprocessor 3036
("processor") and one or more computer readable mediums or memory
units 3038 ("memory"). In certain instances, the memory 3038 may
store various program instructions, which when executed may cause
the processor 3036 to perform a plurality of functions and/or
calculations described herein. The power source 3034 can be
configured to supply power to the controller 3020 and/or other
components of the main control circuit board 3019, for example.
[0467] The controller 3020 and/or other controllers of the present
disclosure 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, ASICs,
PLDs, DSPs, FPGAs, logic gates, registers, semiconductor devices,
chips, microchips, chip sets, microcontrollers, SoC, and/or 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 controller 3020 may include a
hybrid circuit comprising discrete and integrated circuit elements
or components on one or more substrates, for example.
[0468] In certain instances, the controller 3020 and/or other
controllers of the present disclosure 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 SRAM, internal ROM loaded with StellarisWare.RTM.
software, 2 KB EEPROM, one or more PWM modules, one or more QEI
analog, one or more 12-bit ADC with 12 analog input channels, among
other features that are readily available. Other microcontrollers
may be readily substituted for use with the present disclosure.
Accordingly, the present disclosure should not be limited in this
context.
[0469] In various instances, one or more of the various steps
described herein can be performed by a finite state machine
comprising either a combinational logic circuit or a sequential
logic circuit, where either the combinational logic circuit or the
sequential logic circuit is coupled to at least one memory circuit.
The at least one memory circuit stores a current state of the
finite state machine. The combinational or sequential logic circuit
is configured to cause the finite state machine to the steps. The
sequential logic circuit may be synchronous or asynchronous. In
other instances, one or more of the various steps described herein
can be performed by a circuit that includes a combination of the
processor 3036 and the finite state machine, for example.
[0470] FIG. 39 depicts a logic diagram 3070 representative of
possible operations that can be implemented by the surgical
instrument 3010, for example, to monitor the health of a motor
cartridge 3012 and respond to a detected motor cartridge
malfunction. A motor activation signal can be received 3072 by the
processor 3036 from an actuator 3042 of the surgical instrument
3010. The actuator 3042 can be a switch that is configured to close
or open a circuit upon actuation of the actuator 3042. The closure
or opening of the circuit can signal the processor 3036 that the
actuator 3042 has been actuated. In at least one instance, the
actuator 3042 can be in the form of a firing trigger which can be
actuated by an operator to activate a firing sequence of the
surgical instrument 3010, for example. In another instance, the
actuator 3042 can be in the form of a closure trigger which can be
actuated by an operator to close an end effector 300 of the
surgical instrument 3010, for example. In another instance, the
actuator 3042 can be in the form of a rotation trigger which can be
actuated by an operator to rotate an end effector 300 of the
surgical instrument 3010, for example.
[0471] Upon receipt of the activation signal, the processor 3036
may signal 3074 the motor control circuit board 3018 to activate
the motor 3016. The health of the motor cartridge 3012 can be
continuously monitored 3076 while the actuator 3042 is actuated.
Under normal operating conditions, as illustrated in FIG. 38, the
motor 3016 draws current from the power source 3034 and generates
rotational motion(s) that are transmitted through the interface
3021 to the drive mechanism 160 in response to the actuation of the
actuator 3042. If, however, a malfunction in the motor cartridge
3012 is detected 3078, one or more safety and/or operational
measures can be activated 3079, as described in greater detail
below. Otherwise, the motor cartridge health is continuously
monitored 3076 while the actuator 3042 is actuated until a
malfunction is detected 3078.
[0472] FIG. 40 depicts a logic diagram 3080 representative of
possible operations that can be implemented by the surgical
instrument 3010, for example, to monitor the health of a motor
cartridge 3012 and respond to a detected motor cartridge
malfunction. A motor activation signal can be received 3082 by the
processor 3036 from an actuator 3042 of the surgical instrument
3010. Upon receipt of the activation signal, the processor 3036 may
signal 3084 the motor control circuit board 3018 to activate the
motor 3016. At 3086, the health of the motor cartridge 3012 can be
continuously monitored, while the actuator 3042 is actuated, by
monitoring the current draw of the motor cartridge 3012. As
illustrated in FIG. 38, the current draw of the motor cartridge
3012 can be monitored by one or more current sensors 3040. Sensed
current readings can be communicated to the processor 3036 by the
current sensor 3040. At 3088, if the current draw of the motor
cartridge 3012, while the actuator 3042 is actuated, becomes
outside a predetermined value or range, the processor 3036 can
conclude that a malfunction of the motor cartridge 3012 is detected
3088. If a malfunction in the motor cartridge 3012 is detected
3088, one or more safety and/or operational measures can be
activated 3089, as described in greater detail below. Otherwise,
the motor cartridge health is continuously monitored 3086 while the
actuator 3042 is actuated until a malfunction is detected 3088.
[0473] The predetermined value or range can be stored in the memory
3038, for example. In the event a predetermined range is stored in
the memory 3038, the processor 3036 may access the memory 3038 to
compare a current reading, or an average of a plurality of current
readings, of the current sensor 3040 to the predetermined range. If
the current reading is greater than or equal to a maximum value of
the predetermined range, the processor 3036 may conclude that a
malfunction of the motor cartridge 3012 is detected 3088. Also, if
the current reading is less than or equal a minimum value of the
predetermined range, the processor 3036 may conclude that a
malfunction of the motor cartridge 3012 is detected 3088.
[0474] Likewise, in the event a stored value is stored in the
memory 3038, the processor 3036 may access the memory 3038 to
compare a current reading, or an average of a plurality of current
readings, of the current sensor 3040 to the predetermined value. If
the current reading is greater than or equal to the predetermined
value, for example, or less than or equal to the predetermined
value, for example, the processor 3036 may conclude that a
malfunction of the motor cartridge 3012 is detected 3088.
[0475] In at least one instance, the processor 3036 may conclude
that a malfunction of the motor cartridge 3012 is detected if the
current draw of the motor cartridge 3012, while the actuator 4302
is activated, is less than or equal to 10% of the predetermined
value. In at least one instance, the processor 3036 may conclude
that a malfunction of the motor cartridge 3012 is detected if the
current draw of the motor cartridge 3012, while the actuator 3042
is activated, is less than or equal to 20% of the predetermined
value. In at least one instance, the processor 3036 may conclude
that a malfunction of the motor cartridge 3012 is detected if the
current draw of the motor cartridge 3012, while the actuator 3042
is actuated, is greater than or equal to 150% of the predetermined
value. In at least one instance, the processor 3036 may conclude
that a malfunction of the motor cartridge 3012 is detected if the
current draw of the motor cartridge 3012, while the actuator 3042
is actuated, is greater than or equal to 200% of the predetermined
value.
[0476] As indicated above, the processor 3036 can be configured to
respond to a detected malfunction of the motor cartridge 3012 by
activating (79 and 89) one or more safety and/or operational
measures. For example, the processor 3036 may employ one or more
feedback elements 3044 to issue an alert to an operator of the
surgical instrument 3010. In certain instances, the feedback
elements 3044 may comprise one or more visual feedback systems such
as display screens, backlights, and/or LEDs, for example. In
certain instances, the feedback elements 3044 may comprise one or
more audio feedback systems such as speakers and/or buzzers, for
example. In certain instances, the feedback elements 3044 may
comprise one or more haptic feedback systems, for example. In
certain instances, the feedback elements 3044 may comprise
combinations of visual, audio, and/or haptic feedback systems, for
example.
[0477] Further to the above, the processor 3036 may employ a
feedback screen 3046 (FIG. 36B) of the surgical instrument 3010 to
provide instructions to an operator for how to replace the motor
cartridge 3012, for example. In addition, the processor 3036 may
respond to a detected malfunction of the motor cartridge 3012 by
storing or recording a damaged status of the motor cartridge 3012
in the memory 3038.
[0478] In at least one instance, the processor 3036 may disable the
surgical instrument 3010 until the damaged motor cartridge 3012 is
replaced with an undamaged motor cartridge. Tor example, the memory
3038 may include program instructions, which when executed by the
processor 3036 in response to a detected malfunction of the motor
cartridge 3012, may cause the processor 3036 to ignore input from
the actuator 3042 until the damaged motor cartridge 3012 is
replaced. A motor cartridge replacement feedback element 3058 can
be employed to alert the processor 3036 when the motor cartridge
3012 is replaced, as described in greater detail below.
[0479] Referring primarily to FIGS. 36A and 38, the surgical
instrument 3010 may include a motor access door 3013. The motor
access door 3013 can be releasably locked to the handle housing 102
to control access to the motor cartridge 3012. As illustrated in
FIG. 36A, the motor access door 3013 may include a locking
mechanism such as, for example, a snap-type locking mechanism 3047
for locking engagement with the handle housing 102. Other locking
mechanisms for locking the motor access door 3013 to the handle
housing 102 are contemplated by the present disclosure. In use, a
clinician may obtain access to the motor cartridge 3012 by
unlocking the locking mechanism 3047 and opening the motor access
door 3013. In at least one example, the motor access door 3013 can
be separably coupled to the handle housing 102 and can be detached
from the handle housing 102 to provide access to the motor access
door 3013, for example. In another example, the motor access door
3013 can be pivotally coupled to the handle housing 102 via hinges
(not shown) and can be pivoted relative to the handle housing 102
to provide access to the motor access door 3013, for example. In
yet another example, the motor access door 3013 can be a sliding
door which can be slidably movable relative to the handle housing
102 to provide access to the motor access door 3013.
[0480] Referring again to FIG. 38, in certain instances, a motor
door feedback element 3048 can be configured to alert the processor
3036 that the locking mechanism 3047 is unlocked. In at least one
example, the motor door feedback element 3048 may comprise a switch
circuit (not shown) operably coupled to the processor 3036; the
switch circuit can be configured to be transitioned to an open
configuration when the locking mechanism 3047 is unlocked by a
clinician and/or transitioned to a closed configuration when the
locking mechanism 3047 is locked by the clinician, for example. In
at least one example, the motor door feedback element 3048 may
comprise at least one sensor (not shown) operably coupled to the
processor 3036; the sensor can be configured to be triggered when
the locking mechanism 3047 is transitioned to unlocked and/or
locked configurations by the clinician, for example. The motor door
feedback element 3048 may include other means for detecting the
locking and/or unlocking of the locking mechanism 3047 by the
clinician.
[0481] Referring to FIGS. 38 and 41, the controller 3020 may
comprise one or more embedded applications implemented as firmware,
software, hardware, or any combination thereof. In certain
instances, the controller 3020 may comprise various executable
modules such as software, programs, data, drivers, and/or
application program interfaces (APIs), for example. FIG. 41 depicts
an example module 3050 that can be stored in the memory 3038, for
example. The module 3050 can be executed by the processor 3036, for
example, to alert, guide, and/or provide feedback to a user of the
surgical instrument 3010 with regard to replacing a motor cartridge
3012.
[0482] As illustrated in FIG. 41, the module 3050 is executed by
the processor 3036 to provide the user with instructions as to how
to replace a motor cartridge 3012, for example. In various
instances, the module 3050 may comprise one or more decision-making
steps such as, for example, a decision-making step 3052 with regard
to the detection of one or more errors requiring replacement of the
motor cartridge 3012. In at least one instance, as described above
in greater detail, the processor 3036 is configured to detect an
error requiring replacement of the motor cartridge 3012 when the
current draw of the motor cartridge 3012, while the actuator 3042
is actuated, is outside a predetermined range, for example.
[0483] When the processor 3036 detects an error in the
decision-making step 52, the processor 3036 may respond by stopping
and/or disabling the motor 3016, for example. In addition, in
certain instances, the processor 3036 may also store a damaged
status of the motor cartridge 3012 in the memory 3038 after
detecting the motor cartridge error, as illustrated in FIG. 42. As
described above, the memory 3038 can be a non-volatile memory which
may preserve the stored status when the surgical instrument 3010 is
reset by the user, for example. In various instances, the motor
3016 can be stopped and/or disabled by disconnecting the power
source 3034 from the motor 3016, for example. In various instances,
the main control circuit board 3019 may include a motor override
circuit which can be employed by the processor 3036 to stop power
delivery to the motor cartridge 3012, for example. The step of
stopping the motor 3016 and/or stopping power delivery to the motor
cartridge 3012 can be advantageous in preventing, or at least
reducing, the possibility of further damage to the surgical
instrument 3010, for example.
[0484] Further to the above, referring still to FIG. 41, the module
3050 may include a decision-making step 3054 for detecting whether
the motor access door 3013 is removed. As described above, the
processor 3036 can be operationally coupled to the motor door
feedback element 3048 which can be configured to alert the
processor 3036 as to whether the motor access door 3013 is removed.
In certain instances, the processor 3036 can be programmed to
detect that the motor access door 3013 is removed when the motor
door feedback element 3048 reports that the locking mechanism 3047
is unlocked, for example. In certain instances, the processor 3036
can be programmed to detect that the motor access door 3013 is
removed when the motor door feedback element 3048 reports that the
motor access door 3013 is opened, for example. In certain
instances, the processor 3036 can be programmed to detect that the
motor access door 3013 is removed when the motor door feedback
element 3048 reports that the locking mechanism 3047 is unlocked
and that the motor access door 3013 is opened, for example.
[0485] Referring still to FIG. 41, when the processor 3036 does not
detect a motor cartridge error in the decision-making step 3052 and
does not detect that the motor access door 3013 is removed in the
decision-making step 3054, the processor 3036 may not interrupt the
normal operation of the surgical instrument 3010 and may proceed
with various clinical algorithms. However, the processor 3036 may
continue to detect errors requiring replacement of the motor
cartridge 3012.
[0486] In certain instances, when the processor 3036 does not
detect a motor cartridge error in the decision-making step 3052 but
detects that the motor access door 3013 is removed in the
decision-making step 3054, the processor 3036 may respond by
stopping and/or disabling the motor 3016, as described above. In
addition, the processor 3036 may also provide the user with
instructions to reinstall the motor access door 3013. In certain
instances, when the processor 3036 detects that the motor access
door 3013 is reinstalled, while no motor cartridge error is
detected, the processor 3036 can be configured to reconnect the
power to the motor 3016 and allow the user to continue with
clinical algorithms, as illustrated in FIG. 41.
[0487] Further to the above, when the processor 3036 detects a
motor cartridge error and further detects removal of the motor
access door 3013, the processor 3036 can signal the user to replace
the motor cartridge 3012 by providing the user with a visual,
audio, and/or tactile feedback, for example. In certain instances,
the processor 3036 can signal the user of the surgical instrument
3010 to replace the motor cartridge 3012 by flashing a backlight of
the feedback screen 3046. In any event, the processor 3036 may
provide the user with instructions to replace the motor cartridge
3012, as illustrated in FIG. 41.
[0488] Referring again to FIG. 41, in various instances, the
instructions provided by the processor 3036 to the user to remove
the motor access door 3013 and/or to replace the motor cartridge
3012 may comprise one or more steps; the steps may be presented to
the user in a chronological order. The steps may comprise actions
to be performed by the user. In such instances, the user may
proceed through the steps by performing the actions presented in
each of the steps. In certain instances, the actions required in
one or more of the steps can be presented to the user in the form
of animated images displayed on the feedback screen 3046 (FIG.
36B), for example. In certain instances, one or more of the steps
can be presented to the user as messages which may include words,
symbols, and/or images.
[0489] Further to the above, referring still to FIG. 41, the module
3050 may include a decision-making step 3056 for detecting whether
the motor cartridge 3012 has been replaced. In at least one
instance, the user of the surgical instrument 3010 is requested to
alert the processor 3036 when the motor cartridge 3012 has been
replaced using one or more of the user feedback elements 3044, for
example. Alternatively, as illustrated in FIG. 38, the processor
3036 can be operationally coupled to a motor cartridge replacement
feedback element 3058 which can be configured to alert the
processor 3036 when the motor cartridge 3012 is replaced. In at
least one instance, the motor cartridge replacement feedback
element 3058 includes one or more sensors and/or switches which can
be triggered when the motor cartridge 3012 is removed and/or
replaced to alert the processor 36 when the motor cartridge 3012
has been removed and/or replaced.
[0490] In at least one instance, the motor cartridge replacement
feedback element 3058 includes a pressure sensor positioned at the
interface 3021 between the surgical instrument 3010 and the motor
cartridge 3012. The processor 3036 can be configured to employ the
pressure sensor of the motor cartridge replacement feedback element
3058 to detect when the motor cartridge 3012 has been removed
and/or replaced. In at least one instance, the processor 3036 can
be configured to employ the pressure sensor of the motor cartridge
replacement feedback element 3058 to detect a threshold-setting
pressure reading when the motor cartridge 3012 is installed with
the surgical instrument 3010. The threshold-setting pressure
reading can be used to set a predetermined threshold which can be
stored in the memory 3038. Alternatively, the predetermined
threshold can be calculated and stored in the memory 3036
independent of any readings obtained by the pressure sensor.
[0491] Further to the above, the processor 3036 can be configured
to conclude that an installed motor cartridge 3012 has been removed
when one or more pressure readings detected by the pressure sensor
of the motor cartridge replacement feedback element 3058 are less
than or equal to the predetermined threshold. The processor 3036
can also be configured to conclude that a replacement motor
cartridge 3012 has been installed when subsequent pressure readings
detected by the pressure sensor of the motor cartridge replacement
feedback element 3058 become greater than or equal to the
predetermined threshold, for example.
[0492] Further to the above, still referring to FIG. 41, once it is
determined that the motor cartridge 3012 has been replaced, the
processor 3036 can be configured to instruct the user to reinstall
the motor access door 3013. Upon subsequent detection that the
motor access door 3013 has been installed, the processor 3036 can
be configured to allow power transmission to the installed
replacement motor cartridge 3012. In certain instances, the
processor 3036 is further configured to employ one or more of the
user feedback elements 3044 to alert the use of successful
installation of the replacement motor cartridge 3012 and/or that
the surgical instrument 3010 is now ready to continue with various
clinical algorithms.
[0493] In various instances, the motor access door 3013 can be
replaced with a motor access member or a motor securement member
configured to secure the motor cartridge 3012 to the handle housing
102. Alternatively, the motor access door 3013 can be removed
completely or integrated into the housing 3014 of the motor
cartridge 3012 such that the motor cartridge 3012 can be readily
removed or separated from the surgical instrument 3010 by pulling
or retracting the motor cartridge 3012 away from the handle housing
102, for example. In at least one instance, in the absence of a
motor access door, an outer wall 3059 (FIG. 37) of the housing 3014
of the motor cartridge 3012 can be configured to form a portion of
an outer wall of the handle housing 102 of the surgical instrument
3010 when the motor cartridge 3012 is installed with the surgical
instrument 3010. In such instances, the outer wall 3059 may include
an attachment portion (not shown) that can be grabbed by a user of
the surgical instrument and pulled to facilitate separating the
motor cartridge 3012 from the handle housing 102, for example.
[0494] FIG. 42 depicts an example module 3060 which can be stored
in the memory 38, for example. The module 3060 is similar in many
respects to the module 3050. For example, the module 3060 can also
be executed by the processor 3036, for example, to alert, guide,
and/or provide feedback to a user of the surgical instrument 3010
with regard to replacing a motor cartridge 3012; however, the
module 3060 is implemented when the a motor access door feature is
not used.
[0495] As illustrated in FIG. 41, the module 3050 is executed by
the processor 3036 to provide the user with instructions as to how
to replace a motor cartridge 3012, for example. In various
instances, the module 3050 may comprise one or more decision-making
steps such as, for example, a decision-making step 3052 with regard
to the detection of one or more errors requiring replacement of the
motor cartridge 3012. In at least one instance, as described above
in greater detail, the processor 3036 is configured to detect an
error requiring replacement of the motor cartridge 3012 when the
current draw of the motor cartridge 3012, while the actuator 3042
is activated, is outside a predetermined range, for example.
[0496] Like the module 3050, the module 3060 also includes one or
more decision-making steps such as, for example, the
decision-making step 3052 with regard to the detection of one or
more errors requiring replacement of the motor cartridge 3012. When
the processor 3036 detects an error in the decision-making step
3052, the processor 3036 may respond by stopping and/or disabling
the motor 3016, for example. In addition, in certain instances, the
processor 3036 also may store a damaged status of the motor
cartridge 3012 in the memory 3038 after detecting the motor
cartridge error, as illustrated in FIG. 42.
[0497] Further to the above, when the processor 3036 detects a
motor cartridge error, the processor 3036 can signal the user to
replace the motor cartridge 3012 by providing the user with a
visual, audio, and/or tactile feedback, for example. In certain
instances, the processor 3036 can signal the user of the surgical
instrument 3010 to replace the motor cartridge 3012 by flashing a
backlight of the feedback screen 3046. In any event, the processor
36 may provide the user with instructions to replace the motor
cartridge 3012, as illustrated in FIG. 42. Furthermore, the module
3060 includes the decision-making step 3056 for detecting whether
the motor cartridge 3012 has been replaced, as describe above in
greater detail. In addition, once it is determined that the motor
cartridge 3012 has been replaced, the processor 3036 can be
configured to allow power transmission to the installed replacement
motor cartridge 3012. The processor 3036 can be further configured
to employ one or more of the user feedback elements 3044 to alert
the user of successful installation of the replacement motor
cartridge 3012.
[0498] Referring to FIGS. 43-44, a surgical instrument 4010 is
depicted. The surgical instrument 4010 is similar in many respects
to the surgical instrument 100. For example, the surgical
instrument 4010 is configured for selective connection with the end
effector or single use loading unit or reload 300 via the adapter
200. Also, the surgical instrument 4010 includes a handle housing
102 that includes a lower housing portion 104, an intermediate
housing portion 106, and an upper housing portion 108.
[0499] Like the surgical instrument 100, the surgical instrument
4010 includes a drive mechanism 160 which is configured to drive
shafts and/or gear components in order to perform the various
operations of surgical instrument 4010. In at least one instance,
the drive mechanism 160 includes a rotation drivetrain 4012 (See
FIG. 44) configured to rotate end effector 300 about a longitudinal
axis "X" (see FIG. 2) relative to handle housing 102. The drive
mechanism 160 further includes a closure drivetrain 4014 (See FIG.
44) configured to move the anvil assembly 306 relative to the
cartridge assembly 308 of the end effector 300 to capture tissue
therebetween. In addition, the drive mechanism 160 includes a
firing drivetrain 4016 (See FIG. 44) configured to fire a stapling
and cutting cartridge within the cartridge assembly 308 of the end
effector 300.
[0500] As described above, referring primarily to FIGS. 7, 8, and
44, the drive mechanism 160 includes a selector gearbox assembly
162 that can be located immediately proximal relative to adapter
200. Proximal to the selector gearbox assembly 162 is the function
selection module 163 which includes the first motor 164 that
functions to selectively move gear elements within the selector
gearbox assembly 162 to selectively position one of the drivetrains
4012, 4014, and 4016 into engagement with the input drive component
165 of the second motor 166.
[0501] Referring to FIG. 44, the motors 164 and 166 are coupled to
motor control circuits 4018 and 4018', respectively, which are
configured to control the operation of the motors 164 and 166
including the flow of electrical energy from a power source 156 to
the motors 164 and 166. The power source 156 may be a DC battery
(e.g., rechargeable lead-based, nickel-based, lithium-ion based,
battery etc.), an AC/DC transformer, or any other power source
suitable for providing electrical energy to the surgical instrument
4010.
[0502] The surgical instrument 4010 further includes a
microcontroller 4020 ("controller"). In certain instances, the
controller 4020 may include a microprocessor 4036 ("processor") and
one or more computer readable mediums or memory units 4038
("memory"). In certain instances, the memory 4038 may store various
program instructions, which when executed may cause the processor
4036 to perform a plurality of functions and/or calculations
described herein. The power source 156 can be configured to supply
power to the controller 4020, for example.
[0503] The processor 4036 can be in communication with the motor
control circuit 4018. In addition, the memory 4038 may store
program instructions, which when executed by the processor 4036 in
response to a user input 4034, may cause the motor control circuit
4018 to motivate the motor 164 to generate at least one rotational
motion to selectively move gear elements within the selector
gearbox assembly 162 to selectively position one of the drivetrains
4012, 4014, and 4016 into engagement with the input drive component
165 of the second motor 166. Furthermore, the processor 4036 can be
in communication with the motor control circuit 4018'. The memory
4038 may also store program instructions, which when executed by
the processor 4036 in response to a user input 4034, may cause the
motor control circuit 4018' to motivate the motor 166 to generate
at least one rotational motion to drive the drivetrain engaged with
the input drive component 165 of the second motor 166, for
example.
[0504] The controller 4020 and/or other controllers of the present
disclosure 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, ASICs,
PLDs, DSPs, FPGAs, logic gates, registers, semiconductor devices,
chips, microchips, chip sets, microcontrollers, SoC, and/or 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 controller 4020 may include a
hybrid circuit comprising discrete and integrated circuit elements
or components on one or more substrates, for example.
[0505] In certain instances, the controller 4020 and/or other
controllers of the present disclosure 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 SRAM, internal ROM loaded with StellarisWare.RTM.
software, 2 KB EEPROM, one or more PWM modules, one or more QEI
analog, one or more 12-bit ADC with 12 analog input channels, among
other features that are readily available. Other microcontrollers
may be readily substituted for use with the present disclosure.
Accordingly, the present disclosure should not be limited in this
context.
[0506] In various instances, one or more of the various steps
described herein can be performed by a finite state machine
comprising either a combinational logic circuit or a sequential
logic circuit, where either the combinational logic circuit or the
sequential logic circuit is coupled to at least one memory circuit.
The at least one memory circuit stores a current state of the
finite state machine. The combinational or sequential logic circuit
is configured to cause the finite state machine to the steps. The
sequential logic circuit may be synchronous or asynchronous. In
other instances, one or more of the various steps described herein
can be performed by a circuit that includes a combination of the
processor 4036 and the finite state machine, for example.
[0507] In various instances, it can be advantageous to be able to
assess the state of the functionality of a surgical instrument to
ensure its proper function. It is possible, for example, for the
drive mechanism, as explained above, which is configured to include
various motors, drivetrain, and/or gear components in order to
perform the various operations of the surgical instrument 4010, to
wear out over time. This can occur through normal use, and in some
instances the drive mechanism can wear out faster due to abuse
conditions. In certain instances, a surgical instrument 4010 can be
configured to perform self-assessments to determine the state, e.g.
health, of the drive mechanism and it various components.
[0508] For example, the self-assessment can be used to determine
when the surgical instrument 4010 is capable of performing its
function before a re-sterilization or when some of the components
should be replaced and/or repaired. Assessment of the drive
mechanism and its components, including but not limited to the
rotation drivetrain 4012, the closure drivetrain 4014, and/or the
firing drivetrain 4016, can be accomplished in a variety of ways.
The magnitude of deviation from a predicted performance can be used
to determine the likelihood of a sensed failure and the severity of
such failure. Several metrics can be used including: Periodic
analysis of repeatably predictable events, Peaks or drops that
exceed an expected threshold, and width of the failure.
[0509] In various instances, a signature waveform of a properly
functioning drive mechanism or one or more of its components can be
employed to assess the state of the drive mechanism or the one or
more of its components. One or more vibration sensors can be
arranged with respect to a properly functioning drive mechanism or
one or more of its components to record various vibrations that
occur during operation of the properly functioning drive mechanism
or the one or more of its components. The recorded vibrations can
be employed to create the signature waveform. Future waveforms can
be compared against the signature waveform to assess the state of
the drive mechanism and its components.
[0510] In at least one aspect, the principles of acoustics can be
employed to assess the state of the drive mechanism and its
components. As used herein, the term acoustics refers generally to
all mechanical waves in gases, liquids, and solids including
vibration, sound, ultrasound (sound waves with frequencies higher
than the upper audible limit of human hearing), and infrasound
(low-frequency sound, lower in frequency than 20 Hz [hertz] or
cycles per second, hence lower than the "normal" limit of human
hearing). Accordingly, acoustic emissions from the drive mechanism
and its components may be detected with acoustic sensors including
vibration, sound, ultrasound, and infrasound sensors. In one
aspect, the vibratory frequency signature of a drive mechanism 160
can be analyzed to determine the state of one or more of the
drivetrains 4012, 4014, and/or 4016. One or more vibration sensors
can be coupled to one or more of the drivetrains 4012, 4014, and/or
4016 in order to record the acoustic output of the drivetrains when
in use.
[0511] Referring again to FIG. 44, the surgical instrument 4010
includes a drivetrain failure detection module 4040 configured to
record and analyze one or more acoustic outputs of one or more of
the drivetrains 4012, 4014, and/or 4016. The processor 4036 can be
in communication with or otherwise control the module 4040. As
described below in greater detail, the module 4040 can be embodied
as various means, such as circuitry, hardware, a computer program
product comprising a computer readable medium (for example, the
memory 4038) storing computer readable program instructions that
are executable by a processing device (for example, the processor
4036), or some combination thereof. In some aspects, the processor
4036 can include, or otherwise control the module 4040.
[0512] The module 4040 may include one or more sensors 4042 can be
employed by the module 4040 to detect drivetrain failures of the
surgical instrument 4010. In at least one instance, as illustrated
in FIG. 45, the sensors 4042 may comprise one or more acoustic
sensors or microphones, for example. In at least one instance, as
illustrated in FIG. 48, the sensors 4042 may comprise one or more
accelerometers.
[0513] Various types of filters and transforms can be used on the
output of a sensor 4042 to generate a waveform that represents the
operational state of a drivetrain, for example, of the surgical
instrument 4010. As illustrated in FIG. 45, a plurality of
Band-pass filters can be configured to communicate with a sensor
4042 in order to process an output thereof. In the example shown in
FIG. 45, there are four Band-pass filters, BPF1, BPF2, BPF3, and
BPF4, used to filter the output of the sensor 4042. These filters
are used to determine the various thresholds used to assess the
health of a surgical instrument 4010, including acceptable limits,
marginal limits, and critical limits, for example. In one example,
a series of low pass filters as illustrated in FIG. 48 can be used
on the output of the sensor 4042.
[0514] In one aspect, as illustrated in FIG. 45, logic gates can be
employed with the filters to process the output of the sensors
4042. Alternatively, a processor such as, for example, the
processor 4036 can be employed with the filters to process the
output of the sensors 4042, as illustrated in FIGS. 48 and 48A.
FIGS. 48B, 48C, and 48D depict an example structure and operational
details of a Band-pass filter used to filter the output of the
sensor 4042. In at least one instance, one or more of the filters
employed in filtering the output the sensor 4042 is a Dual
Low-Noise JFET-Input General-Purpose Operational Amplifier.
[0515] While various frequencies can be used, the exemplary
frequencies of the filters shown in FIG. 45 are 5 kHz, 1 kHz, 200
Hz, and 50 Hz. The output of each filter is shown in FIG. 49, which
illustrates the voltage amplitude at the frequency of each filter.
The peak amplitude of the output of each filter is shown in FIG.
50. These values can be used to determine the health of the
surgical instrument 4010 by comparison against threshold values
stored in the memory 4038, for example. As illustrated in FIG. 48,
a multiplexer 4044 and an analogue to digital converter 4046 can be
employed to communicate the output of the filters to the processor
4036.
[0516] In at least one instance, an output of a sensor 4042 can be
recorded when a motor is running during a known function having
repeatable movement. For example, the output can be recorded when
the motor 166 is running to retract or reset a drivetrain such as,
for example the firing drivetrain 4016 to an original or starting
position. The recorded output of the sensor 4042 can be used to
develop a signature waveform of that movement. In one example, the
recorded output of the sensor 4402 is run through a fast Fourier
transform to develop the signature waveform.
[0517] Further to the above, the amplitude of key regions of the
resulting signature waveform can be compared to predetermined
values stored in the memory 4038, for example. In at least one
instance, the memory 4038 may include program instructions which,
when executed by the processor 4036, may cause the processor 4036
to compare the amplitudes of the key regions to the predetermined
values stored in the memory 4038. When the amplitudes exceed those
stored values, the processor 4036 determines that one or more
components of the surgical instrument 4010 is no longer functioning
properly and/or that the surgical instrument 4010 has reached the
end of its usable life.
[0518] FIG. 46 illustrates a vibratory response from a drivetrain
that is functioning properly. The output in volts from a microphone
that is positioned on or in close proximity to the drivetrain is
recorded over time. The frequency response of that output is
determined using a fast Fourier transform, as shown in FIG. 46A, to
develop a signature waveform for a properly functioning drivetrain.
The signature waveform of the properly functioning drivetrain can
be employed to detect any malfunction in the same drivetrain or
other similar drivetrain. For example, FIG. 47 illustrates a
vibratory response from a drivetrain that is not functioning
properly. The microphone output is used to determine the frequency
response of the malfunctioning drivetrain, as illustrated in FIG.
47A. The deviation of the frequency response of the malfunctioning
drivetrain from the signature waveform of the properly functioning
drivetrain indicates a malfunction in the drivetrain.
[0519] In at least one instance, stored values of key regions of a
frequency response of a properly functioning drivetrain, as shown
in FIG. 47A, are compared against recorded values of corresponding
regions of a frequency response of an examined drivetrain, as shown
in FIG. 48A. In the event the stored values are exceeded by the
recorded values, it can be concluded that a malfunction is detected
in the examined drivetrain. In response, various safety and
remedial steps can be taken as described in greater detail in
commonly owned U.S. patent application Ser. No. 14/984,525, titled
MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED
SURGICAL INSTRUMENTS, and filed Dec. 30, 2015, which is
incorporated herein by reference in their entireties.
[0520] There can be various stages of operation of the surgical
instrument 4010 as the components are moved to effect a function at
an end effector of the surgical instrument 4010 such as, for
example capturing tissue, firing staples into the captured tissue,
and/or cutting the captured tissue. The vibrations generated by the
drive mechanism 160 of the surgical instrument 4010 can vary
depending on the stage of operation of the surgical instrument
4010. Certain vibrations can be uniquely associated with certain
stages of operation of the surgical instrument 4010. Accordingly,
taking into consideration the stage or zone of operation of the
surgical instrument 4010 allows for selectively analyzing the
vibrations that are associated with that stage or zone of operation
while ignoring other vibrations that are not relevant to that stage
or zone of operation. Various sensors such as, for example,
position sensors can be employed by the processor 4036 to determine
the stage of operation of the surgical instrument 4010.
[0521] In one example, various stages of operation of the
instrument 4010 are represented in the graph of FIG. 51, which
illustrates the force needed to fire (FTF) the surgical instrument
4010 in relation to a displacement position of the drive assembly
360 from a starting or original position during a firing sequence
or stroke of the surgical instrument 4010. In zone 1, an end
effector 300 of the surgical instrument 4010 has clamped onto
tissue, as described above, but has not affected the tissue. In
zone 2, a load is being applied to move an actuation sled of the
surgical instrument 4010 to allow the end effector 300 to affect
the tissue by, for example, cutting and stapling the tissue. In
zone 3, the tissue has been cut and stapled by the end effector 300
of the surgical instrument 4010. Depending on which zone the
surgical instrument 4010 is in during capture and processing of the
vibrations made by the various drivetrains, the vibrations can
either be compared to threshold frequency values or can be
disregarded or not considered. For vibrations captured by a sensor
4042 in block 4048 and block 4050 of FIG. 51, certain portions of
the captured vibrations can be disregarded or not considered for
the purposes of determining the health of the surgical instrument
4010.
[0522] In at least one instance, any vibrations captured below the
threshold line 4052 can be disregarded or not considered. In at
least one instance, the ratio of the minimum threshold 4052 to a
maximum FTF during a firing sequence or stroke of the surgical
instrument 4010 is any value selected from a range of about 0.001
to about 0.30, for example. In at least one instance, the ratio is
any value selected from a range of about 0.01 to about 0.20, for
example. In at least one instance, the ratio is any value selected
from a range of about 0.01 to about 0.10, for example.
[0523] In addition, any vibrations captured within the block 4048
and block 4050 can also be disregarded or not considered as long as
the events within those blocks are not a catastrophic event. In the
event of a catastrophic failure, a drive mechanism 160 is rendered
inoperable, and certain bailout steps are taken to ensure, among
other things, a safe detachment of the surgical instrument 4010
from the tissue being treated. Alternatively, In the event of an
acute drivetrain failure, the drivetrain may still be operated to
complete a surgical step or to reset the surgical instrument 4010;
however, certain precautionary and/or safety steps can be taken to
avoid or minimize additional damage to the drivetrain and/or other
components of the surgical instrument 4010.
[0524] Referring again to FIG. 51, in at least one instance,
vibrations detected at the beginning and/or the end of the firing
stroke of the surgical instrument 4010 are disregarded or not
considered for the purposes of assessing a damage/function status
of the surgical instrument 4010. In one example, only vibrations
detected at a central segment of the firing stroke of the surgical
instrument 4010 are considered for the purposes of assessing a
damage/function status of the surgical instrument 4010. In at least
one instance, vibrations detected at the beginning of zone 1 and/or
at the end of 2 one 2 of the firing stroke of the surgical
instrument 4010, as illustrated in FIG. 51, are disregarded or not
considered for the purposes of assessing a damage/function status
of the surgical instrument 4010.
[0525] A limited increase in noise could indicate increased wear or
a non-catastrophic failure of parts of the gears, for example. A
significant increase in the magnitude of the noise in chronic
fashion could indicate continuing erosion of the transmission but
could be used to predict the life of the instrument 4010 and it
performance degradation allowing the completion of certain jobs,
for example. An acute dramatic increase in magnitude or number of
peaks could indicate a substantial or catastrophic failure causing
the instrument to initiate more immediate and final reaction
options, for example.
[0526] FIG. 52 illustrates the velocity of the drive assembly 360
of the surgical instrument 4010 in relation to a displacement
position of the drive assembly 360 from a starting or original
position. Point A, shown in FIGS. 51 and 52, represents an initial
contact with tissue, increasing the force to advance the drive
assembly 360 of the surgical instrument 4010, as shown in FIG. 51,
and decreasing the velocity of drive assembly 360, as shown in FIG.
52. Point B, also shown in FIGS. 51 and 52, represents a contact
with the thickest portion of the tissue during the stapling and
cutting. Accordingly, the FTF at point B is at maximum, as shown in
FIG. 51, and the velocity at point B is at its lowest point, as
shown in FIG. 52. One or more sensors such as, for example, force
sensors can be configured to measure the FTF as the drive assembly
360 is advanced. In addition, one or more position sensors can be
configured to detect the position of the drive assembly 360 during
a firing sequence of the surgical instrument 4010.
[0527] In at least one instance, the memory 4038 includes program
instructions which, when executed by the processor 4036, causes the
processor 4036 to employ one or more sensors 4042 positioned near
one or more components of the drive mechanism 160 of the surgical
instrument 4010 to selectively capture or record vibrations
generated by the one or more components of the drive mechanism 160
during a predetermined section of the firing sequence. In at least
one instance, the sensors 4042 are activated by the processor 4036
at a starting point of the predetermined section and deactivated at
an end point of the predetermined section of the firing sequence or
stroke so that the sensors 4042 may only capture or record
vibrations generated by during the predetermined section.
[0528] The predetermined section may have a starting point after
the firing sequence is begun and an end point before the firing
sequence is completed. Said another way, the processor 4036 is
configured to cause the sensors 4042 to only record vibrations at a
central section of the firing sequence. As illustrated in FIG. 52,
the processor 4036 can be configured to cause the sensors 4042 to
start capturing or recording vibrations during a downward slope of
the velocity of the drive assembly 360, and stop recording
vibrations during an upward slope of the velocity of the drive
assembly 360. Alternatively, the sensors 4042 can be active during
the entire firing sequence of the surgical instrument 4010 while
the processor 4036 ignores or excludes vibrations recorded outside
the predetermined section of the firing sequence or stroke.
[0529] FIG. 53 illustrates acceptable limit modifications based on
the zone of the stroke location. Limit profiles for both zone 1 and
zone 2 are shown. The threshold limits for zone 2 are higher than
zone 1 due to the load of the tissue on the surgical instrument
4010. As the velocity of the instrument decreases as the instrument
moves from zone 1 to zone 2, the power spectrum will shift down in
frequency. As shown in FIG. 54, which represents voltage amplitude
versus frequency at various bandwidth represented by the filters
shown in FIG. 48 for points A and B of FIGS. 51 and 52, the
frequency lines associated with point B for each filter bandwidth
are lower than the frequency lines associated with point A due to
the load on the instrument 4010 from the tissue at point B and the
velocity change due to the stroke zone.
[0530] Thus, these limits can be used to assess potential damage to
the surgical instrument 4010. Using the captured vibrations from
the various drivetrains of the surgical instrument 4010, the
vibrations can be processed using the processor 4036 shown in FIG.
45 to determine when the frequency of the vibrations is above
certain threshold values stored in memory 4038 associated with the
processor 4036 while taking into account the zone of operation of
the surgical instrument 4010 during the time of the capture of the
vibrations. When the surgical instrument 4010 is determined to be
defective in some way, the instrument 4010 can be repaired or
replaced before sterilization or its subsequent use. Various other
safety and/or remedial steps can also be taken.
[0531] In another aspect, the magnitude of the noise produced by
the surgical instrument 4010 can be compared to predefined system
harmonics to assess potential damage to the surgical instrument
4010, and the severity of that damage. As shown in FIG. 55, the
output from the sensor 4042 from one or more drivetrains of the
surgical instrument 4010 is presented as a voltage signal for zone
1, for example. Each frequency, as captured during the processing
of the signal through the filters, such as those shown in FIG. 48,
can have its own threshold profile.
[0532] For example, as shown in FIG. 55, each frequency may have
its own acceptable limit 4054, marginal limit 4056, and critical
limit 4058 for each zone of operation of the surgical instrument
4010. Based on the example shown in FIG. 55, all the frequencies
are acceptable and represent a properly functioning surgical
instrument 4010 except for the frequency represented by A'. In at
least one instance, this causes a processor, such as the processor
4036 shown in FIG. 48, to conclude that an acute but not
catastrophic drivetrain failure had occurred.
[0533] Further to the above, in at least one instance, the
processor 4036 is configured to conclude that a catastrophic
drivetrain failure had occurred when any one frequency is equal to
or exceeds the critical limit 4058. Alternatively, the processor
4036 may be configured to conclude that a catastrophic drivetrain
failure had occurred only when a plurality of frequencies is equal
to or exceeds the critical limit 4058, for example. Alternatively,
the processor 4036 may be configured to conclude that a
catastrophic drivetrain failure had occurred only when all
frequencies, as captured during the processing of the signal
through the filters, are equal to or exceed the critical limit
4058, for example.
[0534] Further to the above, in at least one instance, the
processor 4036 is configured to conclude that an acute drivetrain
failure had occurred when any one frequency is equal to or exceeds
the marginal limit 4056 but is below the critical limit 4058, as
illustrated in FIG. 55. Alternatively, the processor 4036 may be
configured to conclude that an acute drivetrain failure had
occurred only when a plurality of frequencies is equal to or
exceeds the marginal limit 4056 but below the critical limit 4058,
for example. Alternatively, the processor 4036 may be configured to
conclude that an acute drivetrain failure had occurred only when
all frequencies, as captured during the processing of the signal
through the filters, are equal to or exceed the marginal limit 4056
but below the critical limit 4058, for example.
[0535] Referring to FIG. 56, a logic diagram 4021 represents
possible operations that can be implemented by the surgical
instrument 4010 in response to detected drivetrain failures. The
memory 4038 may include program instructions, which when executed
by the processor 4036, may cause the processor 4036 to assess the
severity of a drivetrain failure based on input from the sensors
4042, and activate appropriate responses depending on the
determined severity. The memory 4038 may include program
instructions, which when executed by the processor 4036, may cause
the processor 4036 to respond to a detected 4023 acute drivetrain
failure by activating a safe mode 4022 of operation, for example.
In addition, the memory 4038 may include program instructions,
which when executed by the processor 4036, may cause the processor
4036 to respond to a detected catastrophic drivetrain failure by
activating a recovery or bailout mode 4022. When no drivetrain
failures are detected, the processor 4036 may permit the surgical
instrument 4010 to continue 4027 with normal operations until a
drivetrain failure is detected.
[0536] Referring again to FIG. 56, the safe mode 4022 may comprise
one or more steps such as, for example, a motor modulation step
which can be employed by the processor 4036 to limit the speed of
an active drivetrain. For example, when the firing drivetrain 4016
is being actively driven by the motor 166 during a firing sequence,
a detection of an acute drivetrain failure by the module 4040 may
cause the processor 4036 to communicate to the motor drive circuit
4018' (FIG. 44) instructions to cause the mechanical output of the
motor 166 to be reduced. A reduction in the mechanical output of
the motor 166 reduces the speed of the active drivetrain 4016 which
ensures safe completion of the firing sequence and/or resetting of
the active drivetrain 4016 to an original or starting positon.
[0537] In another aspect, a frequency comparison of a cumulative
magnitude of noise with respect to a predetermined minimum and/or
maximum threshold is used to assess potential damage to the
surgical instrument 4010. In at least one instance, a minimum
threshold defines an acceptable limit 4054. A cumulative magnitude
of noise that is below the minimum threshold is construed by the
processor 4036 as an acceptable limit 4054. In addition, a maximum
threshold can be employed to define a critical limit 4058. A
cumulative magnitude of noise that is above the minimum threshold
is construed by the processor 4036 as a critical limit 4058. A
marginal limit 4056 can be defined by the minimum and maximum
thresholds. In one example, a cumulative magnitude of noise that is
above the minimum threshold but below the maximum threshold is
construed by the processor 4036 as a marginal limit 4056.
[0538] FIG. 57 is a representation of a processed signal of the
output of a sensor 4042 that was filtered by four Band-pass
filters, BPF1, BPF2, BPF3, and BPF4. The processed signal is
represented within frequency bandwidths a.sub.1, a.sub.2, a.sub.3,
and a.sub.4 that correspond to the bandwidths of the four Band-pass
filters, BPF1, BPF2, BPF3, and BPF4.
[0539] FIG. 57 illustrates a graph of voltage amplitude versus
frequency of the processed signal. The peal voltage amplitudes of
the processed signal at the center frequencies of the Band-pass
filters, BPF1, BPF2, BPF3, and BPF4 are represented by solid
vertical lines A, A', A'', and A''', respectively. In addition, a
baseline threshold value 4060 is used to allow for a predictable
amount of noise to be disregarded or not considered. Additional
noise can be either taken into consideration or disregarded
depending on where it falls in the frequency spectrum.
[0540] In the example illustrated in FIG. 57, the voltage amplitude
Z2 is discounted as it is below the baseline threshold value 4060
that represented an acceptable level of noise, and Z4 is discounted
as it falls outside the predetermined bandwidths a.sub.1, a.sub.2,
a.sub.3, and a.sub.4. As Z, Z1, and Z3 fall above the baseline
threshold value 4060 and are within the predetermined bandwidths
a1, a2, a3, and a4, these voltage amplitudes are considered with A,
A', A'', and A''' in defining the cumulative magnitude of noise
and, in turn, determining the potential damage to the instrument
4010.
[0541] In at least one instance, the Voltage amplitude values at
the center frequencies A, A', A'', and A''' are summed to generate
the cumulative magnitude of noise, as represented by voltage
amplitude, that is then employed to assess whether a failure had
occurred, and when so, the severity of that failure. In another
instance, the Voltage amplitude values at the center frequencies A,
A', A'', and A''' and any voltage amplitude within the
predetermined bandwidths a1, a2, a3, and a4 are summed to generate
the cumulative magnitude of noise, as represented by voltage
amplitude, that is then employed to assess whether a failure had
occurred, and when so, the severity of that failure. In another
instance, the Voltage amplitude values at the center frequencies A,
A', A'', and A''' and any voltage amplitude values greater than the
baseline threshold value 4060 and within the predetermined
bandwidths a1, a2, a3, and a4 are summed to generate the cumulative
magnitude of noise, as represented by voltage amplitude, that is
then employed to assess whether a failure had occurred, and when
so, the severity of that failure.
[0542] In various instances, a comparison between a present noise
signal and a previously recorded noise signal, which may be stored
in the memory 4038, can be employed by the processor 4036 to
determine a damage/function status of the surgical instrument 4010.
A noise signal that is recorded by the sensor 4042 during a normal
operation of the surgical instrument 4010 can be filtered and
processed by the processor 4036 to generate normal processed signal
that is stored in the memory 4038. Any new noise signal recorded by
the sensor 4042 can be filtered and processed in the same manner as
the normal noise signal to generate a present processed signal
which can be compared to normal processed signal stored in the
memory 4038.
[0543] A deviation between the present processed signature and the
normal processed signal beyond a predetermined threshold can be
construed as potential damage to the surgical instrument 4010. The
normal processed signal can be set the first time the instrument is
used, for example. Alternatively, a present processed signal
becomes the normal processed signal against the next present
processed signal.
[0544] FIG. 58 is a representation of two processed signals of the
output of a sensor 4042 that was filtered by four Band-pass
filters, BPF1, BPF2, BPF3, and BPF4. The processed signals are
represented within frequency bandwidths a.sub.1, a.sub.z, a.sub.3,
and a.sub.4 that correspond to the bandwidths of the four Band-pass
filters, BPF1, BPF2, BPF3, and BPF4. FIG. 58 illustrates a graph of
voltage amplitude versus frequency of the processed signal.
[0545] The voltage amplitudes of the normal and present processed
signals are represented by solid vertical lines. The normal
processed signal is in the solid lines while the present processed
signal is in the dashed lines represents a present/current
processed signal, as described above. There is a baseline threshold
value 4060 that is used to allow for a predictable amount of noise
to be disregarded, similar to the baseline threshold 4060 of FIG.
57. The difference between the two iterations are calculated and
shown as .delta.1, .delta.2, and .delta.3 in FIG. 58. There are
various threshold values that are compared to the various .delta.
values to determine the damage of the surgical instrument 4010,
indicating an acceptable .delta., a marginal .delta., or a critical
.delta. that would indicate the need to replace or repair the
instrument 4010.
[0546] In at least one instance, one or more voltage amplitudes are
compared to corresponding voltage amplitudes in a previously
recorded noise pattern to assess any damage of the surgical
instrument 4010. The difference between a present voltage amplitude
and a previously-stored voltage amplitude can be compared against
one or more predetermined thresholds, which can be stored in the
memory 4038, to select an output of an acceptable, marginal, or
critical status.
[0547] In at least one instance, the differences between the
present voltage amplitudes and the previously stored voltage
amplitudes are summed and compared to one or more predetermined
thresholds stored in the memory 4038, for example, to select an
output of an acceptable, marginal, or critical status. Magnitude of
deviance could be compared range to range to indicate shear change
in a local event.
[0548] In various instances, one or more algorisms, which may be
stored in the memory 4038, can be employed by the processor 4036 to
determine a damage/function status of the surgical instrument 4010
based on the processed signal of the output of the sensor 4042.
Different noise signals that are recorded by the sensor 4042 can be
construed to represent different damage/function statuses of the
surgical instrument 4010. During normal operation, a normal or
expected noise signal is recorded by the sensor 4042. When an
abnormal noise signal is recorded by the sensor 4042, it can be
further evaluated by the processor 4036, using one or more of the
algorisms stored in the memory 4038, to determine a damage/function
status of the surgical instrument 4010. The abnormal signal may
comprise unique characteristics that can be used to assess the
nature of the damage to the surgical instrument 4010. For example,
the unique characteristics of the abnormal signal may be indicative
of damage to a particular component of the surgical instrument
4010, which can be readily replaced.
[0549] In certain instances, one or more algorisms are configured
to assess normal wear in one or more components of the surgical
instrument 4010 based on the processed signal of the output of the
sensor 4042. Normal wear can be detected by identifying a noise
signal indicative of potential debris, for example. When the
debris, as measured by its recorded noise signs, reaches or exceeds
a predetermined threshold stored in the memory 4038, for example,
the processor 4036 can be configured to issue an alert that
surgical instrument 4010 is nearing the end of its life or requires
maintenance, for example.
[0550] Furthermore, one or more algorisms can be configured to
determine potential damage to one or more gear mechanisms such as,
for example, a planet gear mechanism within the drive mechanism 160
based on the processed signal of the output of a sensor 4042.
During normal operation, the planet gear may produce a normal noise
signal as recorded by the sensor 4042. When the planet gear is
damaged due to a broken tooth, for example, an abnormal noise
signal is recorded by the sensor 4042. The abnormal signal may
comprise unique characteristics indicative of a damaged planet
gear, for example.
[0551] FIG. 59 is a representation of a processed signal of the
output of a sensor 4042 that was filtered by four Band-pass
filters, BPF1, BPF2, BPF3, and BPF4. The processed signal is
represented within frequency bandwidths a.sub.1, a.sub.2, a.sub.3,
and a.sub.1 that correspond to the bandwidths of the four Band-pass
filters, BPF1, BPF2, BPF3, and BPF4. Various algorisms, as
described above, can be applied to the processed signal of FIG. 59
to determine a damage/function status of the surgical instrument
4010.
[0552] Like FIG. 57, FIG. 59 illustrates a graph of voltage
amplitude versus frequency of the processed signal. The voltage
amplitudes of the processed signal are represented by solid
vertical lines. Within each of the bandwidths a.sub.1, a.sub.2,
a.sub.3, and a.sub.1, the processed signal is evaluated within an
expected range defined by an amplitude threshold and a
sub-bandwidth threshold. Expected ranges E.sub.1, E.sub.2, E.sub.3,
and E.sub.4 correspond to the bandwidths a.sub.1, a.sub.2, a.sub.3,
and a.sub.4, respectively.
[0553] In the example illustrated in FIG. 59, a first event
indicative of potential planet damage is observed. The observed
first event includes a processed signal that comprises two voltage
amplitude readings that are indicative of potential planet damage.
The two voltage amplitude readings are a first voltage amplitude
reading that exceeds the expected range E.sub.1 at the center
frequency of the bandwidth a.sub.1, and a second voltage amplitude
reading at a frequency that falls between but outside the
bandwidths a.sub.1 and a.sub.2. A first algorism may be configured
to recognize the observed event as indicative of potential planet
damage. The processor 4036 may employ the first algorism to
conclude that potential planet damage is detected.
[0554] Also, in the example illustrated in FIG. 59, a second event
indicative of a unique potential damage in connection with a hub of
the surgical instrument 4010 is observed. The second event includes
a processed signal that comprises a voltage amplitude reading that
falls below the expected voltage amplitude threshold at the center
frequency of the bandwidth a.sub.2. In addition, the processed
signal comprises voltage amplitude readings Z.sub.1 and Z.sub.2
that exceed the baseline threshold value 4060, and are within the
bandwidth a.sub.2, but fall outside the sub-bandwidth threshold of
the Expected range E.sub.2. A second algorism may be configured to
recognize the observed second event as indicative of a unique
potential damage. The processor 4036 may employ the second algorism
to conclude that potential damage in connection with a hub of the
surgical instrument 4010 is detected.
[0555] Also, in the example illustrated in FIG. 59, a third event
indicative of potential debris indicative of wear associated with
one or more components of the surgical instrument 4010 is observed.
The third event includes a processed signal that comprises a
voltage amplitude reading that exceeds the expected voltage
amplitude threshold at the center frequency of the bandwidth
a.sub.4. A third algorism may be configured to recognize the
observed third event as indicative of potential debris. The
processor 4036 may employ the third algorism to evaluate the
severity of the potential debris based on the difference between
the observed voltage amplitude and the expected voltage amplitude
threshold, for example.
[0556] Certain surgical stapling and cutting end effectors
described herein include an elongate channel configured to
removably receive a staple cartridge that has surgical staples
stored therein. The staple cartridge includes ejectors, or drivers,
movably supported within a cartridge body of the staple cartridge
which are each configured to support one or more staples thereon.
The staple supporting drivers are arranged in longitudinal rows
within the cartridge body located on each side of a
longitudinally-extending slot defined in the cartridge body. The
slot is configured to movably accommodate a firing member that may
have a tissue cutting edge thereon that serves to cut the tissue
that has been clamped between the anvil and the staple cartridge.
The drivers are urged upwardly in the cartridge body, i.e., toward
a deck of the cartridge body, when they are contacted by a sled
that is configured to be driven longitudinally through the
cartridge body by the firing member. The sled is movably supported
in the cartridge and includes a plurality of angled or wedge-shaped
cams that correspond to lines of staple drivers within the
cartridge body. In an unfired or "fresh" staple cartridge, the sled
is positioned in a starting position that is proximal to the first,
or proximal-most, staple drivers in each line. The sled is advanced
distally by the firing member during a firing stroke to eject the
staples from the cartridge body. Once the staple cartridge has been
at least partially fired, i.e., ejected from the cartridge body,
the firing member is retracted back to a beginning or unfired
position and the sled remains at a distal end of the now-spent
staple cartridge. Once the firing member has been returned to the
beginning or unfired position, the spent staple cartridge may be
removed from the channel of the end effector.
[0557] Further to the above, a surgical instrument system 19010 is
illustrated in FIG. 60. The surgical instrument system 19010
comprises a handle 19014 and a shaft assembly 19200 which is
removably attachable to the handle 19014. The shaft assembly 19200
comprises an end effector 19300 including a cartridge channel 19302
and an anvil 19306 movable relative to the cartridge channel 19302.
A staple cartridge 19304 is removably positioned in the cartridge
channel 19302.
[0558] Such cutting and stapling end effectors are mounted to a
distal end of an elongate shaft assembly that operably supports
various drive shafts and components configured to apply various
control motions to the end effector. In various instances, a shaft
assembly may include an articulation joint or can be otherwise
configured to facilitate the articulation of the end effector
relative to a portion of the elongate shaft when articulation
motions are applied to the end effector. The shaft assembly is
coupled to a housing that supports various drive systems that
operably interface with various components in the elongate shaft
assembly. In certain arrangements, the housing may comprise a
handheld housing or handle. In other arrangements, the housing may
comprise a portion of a robotic or automated surgical system. The
various drive systems of the housing may be configured to apply
axial drive motions, rotary drive motions, and/or combinations of
axial and rotary drive motions to the elongate shaft assembly. In
handheld arrangements, the axial motions may be generated by one or
more manually-actuated handcranks and/or generated by one more
electric motors. The robotic system may employ electric motors
and/or other automated drive arrangements that are configured to
generate and apply the necessary control motions to the elongate
shaft assembly and, in some cases, ultimately to the firing member
in the end effector.
[0559] For surgical end effectors that require rotary control
motions, the elongate shaft assembly may include a "proximal"
rotary drive shaft portion that is rotated by a corresponding motor
or other source of rotary motion that is supported in the housing.
The proximal rotary drive shaft is configured to apply the rotary
control motion to an end effector drive shaft that is supported in
the end effector. In such arrangements, the firing member
interfaces with the end effector drive shaft such that the firing
member may be longitudinally advanced through the end effector and
then returned to the unfired position.
[0560] When using surgical instruments that are configured to cut
and staple tissue, measures should be taken to ensure that an
unspent surgical staple cartridge has been properly installed in
the end effector of the surgical instrument prior to actuating the
firing drive system of the surgical instrument. If a clinician were
to inadvertently actuate a tissue cutting member of the firing
drive system without first having installed an unspent staple
cartridge in the end effector, for instance, the tissue cutting
member may sever the tissue without stapling it Similar problems
could also arise if the clinician were to unwittingly install a
partially-spent staple cartridge into the end effector. A
partially-spent staple cartridge can be created when a staple
cartridge is used in a prior procedure, or a prior step in a
procedure, and then removed from the end effector before all of the
staples have been ejected therefrom. If such a partially-spent
cartridge were to be re-used in the surgical instrument, the tissue
cutting member may create an incision in the tissue that is longer
than the staple lines that are applied to the tissue. Thus, when
using surgical end effectors that are configured to cut and staple
tissue, it is desirable for the surgical end effector to be
configured to prevent the actuation of the tissue cutting member
unless an unspent "fresh" staple cartridge has been properly
installed in the end effector.
[0561] FIGS. 61 and 62 depict portions of a surgical cutting and
stapling end effector 20000 that may address such concerns. As can
be seen in FIGS. 61 and 62, the end effector 20000 includes a
rotary end effector drive shaft 20010. Although not shown, the
rotary end effector drive shaft 20010 is rotatably supported within
an elongate channel that is configured to removably support a
surgical staple cartridge therein. The rotary end effector drive
shaft 20010 is configured to receive rotary drive motions from a
proximal rotary drive shaft that is attached to the channel or
otherwise operably interfaces with the rotary end effector drive
shaft 20010. Rotary control motions may be applied to the proximal
rotary drive shaft through a corresponding drive arrangement that
may comprise a motor or motors that are manually actuated or
controlled by a robotic control system or other source(s) of rotary
control motions. In alternative arrangements, the rotary control
motions may be manually generated. Still referring to FIGS. 61 and
62, the surgical end effector 20000 comprises a firing assembly
20020 that is configured for longitudinal travel within the
channel. In the illustrated embodiment, the firing assembly 20020
comprises an upper firing body 20022 that has a distal firing lug
20024 and a proximal firing lug 20026. The distal firing lug 20024
has an unthreaded hole (not shown) therein that is configured to
receive the rotary end effector drive shaft 20010 therethrough. The
proximal firing lug 20026 is spaced from the distal firing lug
20024 to define a nut cavity 20028 therebetween. The proximal
firing lug 20026 has an unthreaded hole 20027 therethrough that is
configured to receive the rotary end effector drive shaft 20010
therethrough.
[0562] As can be seen in FIGS. 61 and 62, the rotary end effector
drive shaft 20010 is threaded. The firing assembly 20020 comprises
a travel nut 20030 that is threadably journaled on the rotary end
effector drive shaft 20010 and is located in the nut cavity 20028
between the distal firing lug 20026 and proximal firing lug 20027.
The travel nut 20040 is movable within the nut cavity 20028 between
a first position (FIG. 61) and a second position (FIG. 62). The
travel nut 20040 includes an upper notched portion 20042 that has a
distally extending retainer tab 20044 protruding therefrom. When
the travel nut 20040 is in the first position, the notched upper
portion 20042 is in vertical alignment with the upper firing body
20022 of the firing assembly 20020. As can be further seen in FIGS.
61 and 62, the distal firing lug 20024 may include a pair of
laterally protruding distal fins 20025 (only one can be seen in the
Figures) and the proximal firing lug 20026 may include a pair of
laterally protruding proximal fins 20027. Likewise, the travel nut
20040 may include a pair of nut fins 20046 that are configured to
align with the distal fins 20025 and the proximal fins 20027 when
the travel nut 20040 is in the first position. See FIG. 61. When in
that aligned position, the fins 20025, 20027 and 20046 are free to
pass within a channel provided in the body of the staple cartridge.
Also in the illustrated arrangement, the upper body portion 20022
of the firing assembly 20020 includes a pair of laterally
protruding upper fins 20030 that are configured to be slidably
received in corresponding channels in the anvil or otherwise
slidably engage the anvil as the firing assembly is distally driven
through the end effector. Thus, the fins 20025, 20027, 20046 and
upper fins 20030 serve to retain the anvil at a desired distance
from the staple cartridge during the firing process. The firing
assembly 20020 also includes a tissue cutting surface or tissue
cutting blade 20032 for cutting the tissue that has been clamped
between the anvil and the staple cartridge.
[0563] The channel of the surgical end effector 20000 is configured
to operably and removably support a surgical staple cartridge
therein that includes a sled 20050. The sled 20050 is movable from
a starting position located in the proximal end of the staple
cartridge to an ending position within the cartridge. The sled
20050 includes a central sled body 20052 that has a collection of
cam wedges 20054 formed therein. In the illustrated example, the
sled 20050 includes four cam wedges 20054 with two cam wedges 20054
being located on each side of the central sled body 20052. Each cam
wedge 20054 would correspond to a line of staple supporting drivers
located in the cartridge body. As the sled 20050 is driven distally
through the cartridge body, the cam wedges 20054 would sequentially
drive the staple drivers in the corresponding line upward within
the cartridge body to thereby drive the staples into forming
contact with the underside of the anvil.
[0564] In the illustrated example, the sled 20050 includes
retention cavity 20056 that is formed in the central sled body
20052 that is configured to retainingly engage the distally
extending retainer tab 20044 on the travel nut 20040 when the
travel nut is in the first position and the sled 20050 is in the
starting (pre-fired) position. See FIG. 61. In certain
arrangements, one or more biasing members 20060 may be provided in
the firing assembly 20020 to bias the travel nut 20040 into the
first position. For example, a torsion spring may be supported in
one or both of the proximal firing lug 20024 and distal firing lug
20026 to bias the travel nut 20040 into the first position
(direction D.sub.1) when the threaded end effector drive shaft
20020 is unactuated. However, when the threaded end effector drive
shaft 20020 is rotated in the firing direction (D.sub.2), the
rotating drive shaft 20020 overcomes the bias of the biasing
member(s) 20060 and will move the travel nut 20030 to the second
position shown in FIG. 62. When the travel nut 20030 is in the
second position, the retention tab 20044 is out of alignment with
the slot in the cartridge body that slidably accommodates the
central sled body 20052 and the nut fins 20046 are out of alignment
with the channels in the cartridge body. Thus, further rotation of
the rotary end effector drive rod 20010 will not drive the firing
assembly 20020 distally due to this misalignment of the tab 20044
and the fins 20046 with the corresponding portions of the cartridge
body. However, if the cartridge is unspent (never been fired), the
cartridge will have a sled 20050 in the starting position. When the
cartridge is properly seated in the end effector channel, the
retainer tab 20044 will be received in the retention cavity 20056
in the sled 20050 which will retain the travel nut 20030 in the
first position when the rotary end effector drive shaft 20010 is
rotated in the firing direction. Thus, such arrangement will
prevent the clinician from unwittingly advancing the firing
assembly 20020 (and tissue cutting surface 20044) when an unspent
cartridge has not been properly seated in the channel. If a spent
or even a partially spent cartridge is seated in the channel, the
sled will not be in the starting position and the clinician will
not be able to fire the firing assembly. If an unspent cartridge is
present in the channel, but has not bee properly seated therein so
that retention tab is received within the retention cavity in the
sled, the clinician will be unable to advance the firing
assembly.
[0565] Turning next to FIGS. 63-65, portions of another surgical
cutting and stapling end effector 20100 are shown. The end effector
20100 includes a channel 20110 that is configured to removably
receive therein a surgical staple cartridge 20200. In at least one
embodiment, the end effector 20100 includes a rotary end effector
drive shaft 20120 that is selectively movable or deflectable
between a first "locked" position and a second "drive" position.
The rotary end effector drive shaft 20120 is configured to receive
rotary drive motions from a proximal rotary drive shaft (not
shown). Rotary control motions may be applied to the proximal
rotary drive shaft through a corresponding drive arrangement that
may comprise a motor or motors that are manually actuated or
controlled by a robotic control system. In alternative
arrangements, the rotary control motions may be manually generated.
The rotary end effector drive shaft 20120 may be rotatably
supported on its proximal and distal ends by corresponding rotary
bearing arrangements or cradles that facilitate operational
rotation of the rotary end effector drive shaft 20120, yet enable a
portion of the rotary end effector drive shaft to deflect between
the first and second positions while remaining in rotational
operational engagement with the proximal rotary a drive shaft or
other source of rotary motion.
[0566] As can be seen in FIGS. 63-67, the surgical end effector
20100 comprises a firing assembly 20130 that is configured for
longitudinal travel within the channel 20110. In the illustrated
embodiment, the firing assembly 20130 comprises a firing body 20132
that is threadably journaled on the rotary end effector drive shaft
20120. The firing body 20132 includes a pair of laterally
protruding fins 20134 that are configured to pass within a passage
20112 in the channel 20110. The passage 20112 may be defined by two
inwardly extending spaced channel tabs 20114 (only one tab can be
seen in FIGS. 66 and 67) that have a slot 20116 therebetween to
accommodate the rotary end effector drive shaft 20120 as well as
passage of the firing body 20132 therebetween. See FIGS. 66 and 67.
Also in the illustrated arrangement, an upper body portion 20136 of
the firing assembly 20130 includes a pair of laterally protruding
upper fins 20138 that are configured to be slidably received in
corresponding channels 20152 in an anvil 20150 as the firing
assembly 20130 is distally driven through the end effector 20100.
Thus, the fins 20134 and 20138 serve to retain the anvil 20150 at a
desired distance from the staple cartridge 20200 during the firing
process. The firing assembly 20130 also includes a tissue cutting
surface or tissue cutting blade 20139 that is configured to cut the
tissue that has been clamped between the anvil and the staple
cartridge.
[0567] FIG. 63 illustrates installation of an unspent staple
cartridge 20200 into the surgical end effector 20100. As can be
seen in FIG. 63, the unspent staple cartridge 20200 includes a sled
20210 that is located in a starting position. The sled 20210 is
movable from the starting position located in the proximal end of
the staple cartridge 20200 to an ending position within the
cartridge 20200. As can be seen in FIG. 67, the sled 20210 includes
a central sled body 20212 that has a collection of cam wedges 20214
formed therein. In the illustrated example, the sled 20210 includes
four cam wedges 20214 with two cam wedges 20214 being located on
each side of the central sled body 20212. Each cam wedge 20214
corresponds to a line of staple supporting drivers that are
supported in the cartridge 20200. As the sled 20210 is driven
distally through the cartridge 20200, the cam wedges 20214
sequentially drive the staple drivers in the corresponding line
upward within the cartridge 20200 to thereby drive the staples into
forming contact with the underside of the anvil 2015. Prior to
seating the unspent staple cartridge 20200 in the channel 20110,
the rotary drive shaft 20120 is located in the first or up position
(represented by arrow "U"). FIG. 66 illustrates the position of the
rotary drive shaft 20120 and the firing assembly 20130 in a locked
position prior to installation of a staple cartridge within the end
effector. As can be seen in FIG. 66, the fins 20134 are aligned
with the channel tabs 20144 of the channel 20110 so that if the
clinician were to actuate the rotary drive shaft 20120 in an effort
to drive the firing assembly distally through the channel 20110,
the firing assembly 20130 would be prevented from moving distally
due to the contact between the fins 20134 and the channel tabs
20114. The distance that the rotary drive shaft 20120 as well as
the firing assembly 20130 may deflect downwardly is represented as
distance D.sub.f in FIG. 66.
[0568] In the illustrated example, a firing assembly engagement
notch 20216 is provided in the sled body 20212 that is configured
to engage a corresponding engagement notch 20137 in the upper body
portion 20136 of the firing assembly 20130. As the firing assembly
engagement notch 20216 of the sled 20210 initially engages the
engagement notch 20137 in the upper body portion 20136 of the
firing assembly 20130, the sled 20120 biases or deflects the firing
assembly 20130 and end effector rotary drive shaft 20120 downward
into the channel 20110 (represented by arrows "D" in FIG. 67). Such
movement aligns the fins 20134 of the firing assembly 20130 with
the passage 20112 in the channel 20110. The surgical staple
cartridge 20220 may be configured to be snapped into the channel
20100 and retained therein in a properly installed orientation.
FIGS. 64 and 67 illustrate the rotary drive shaft 20120 in the
"drive position" or "second position" wherein the firing assembly
20130 is vertically aligned with the channel 20110 so as to permit
the firing assembly 20130 to be distally driven through the staple
cartridge 20200 when the rotary drive shaft 20120 is rotated in a
firing direction.
[0569] FIG. 65 illustrates installation of a spent or partially
spent staple cartridge 20200' into the surgical end effector 20100.
As can be seen in FIG. 65, the sled 20210 has been distally moved
from the starting position within the staple cartridge 20200'.
Thus, when the staple cartridge 20200' is properly installed within
the channel 20110, the sled 20210 and, more particularly, the
firing assembly engagement notch 20126 in the sled 20210 is out of
engagement with the engagement notch 20137 in the firing assembly
20130. Thus, the firing assembly 20130 remains in the first or
locked position. Thus, if the clinician were to unwittingly actuate
the rotary end effector drive shaft 20120, the firing assembly
20130 would not be distally advanced into the cartridge 20200'.
[0570] FIGS. 68-73 illustrate portions of another lockable firing
assembly 20300 that is prevented from being advanced distally
unless an unspent surgical staple cartridge has been properly
seated within the end effector channel 20400. FIG. 68 illustrates
the threaded nut portion 20302 of the firing assembly 20300 that is
threadably journaled on a rotary end effector drive shaft in the
manner described herein. The rotary end effector drive shaft has
been omitted for clarity in FIGS. 68-73. In the illustrated
embodiment a locking lug 20304 and an actuator lug 20306 protrude
laterally from the threaded nut portion 20302. Although not shown,
the firing assembly 20300 includes an upper firing body with a
tissue cutting edge that may be similar to those disclosed herein.
FIGS. 69-73, illustrate the threaded nut portion 20302 in
connection with the channel 20400. It will be understood that the
channel 20400 is configured to operably and removably support a
surgical staple cartridge therein. Turning first to FIG. 69, the
channel 20400 includes a centrally disposed, longitudinal slot
20402 that is configured to operably support the rotary end
effector drive shaft as well as to permit longitudinal travel of
the threaded nut 20302 through the channel 20400. In addition, a
first longitudinal ledge 20404 and a second longitudinal ledge
20406 are provided on each side of the longitudinal slot 20402. The
ledges 20404, 20406 serve to define a longitudinal passage 20408
that permits passage of the lugs 20304 and 20306 therein when the
firing assembly 20300 is distally fired through the channel 20400.
In addition, the channel 20400 includes a longitudinal cavity 20410
for receiving the cartridge body therein. It will be understood
that the cartridge body may be configured to be snappingly and
removably retained within the cavity 20410.
[0571] In the illustrated embodiment, a locking notch 20412 is
provided in the ledge 20404. The locking notch 20412 is sized to
receive at least a portion of the locking lug 20304 therein when
the firing assembly 20300 is in a first or beginning position prior
to firing. A lock spring or biasing member 20414 is provided on the
ledge 20406 and is configured to engage and bias the actuator lug
20306 in the locking direction "L". Such rotation of the actuator
lug 20306 causes the locking lug 20304 to enter into the locking
notch 20412. When in that position, the firing assembly 20300
cannot be advanced distally when the rotary end effector drive
shaft is rotated in a firing direction.
[0572] FIG. 71 illustrates the position of the threaded nut portion
20302 of the firing assembly 20300 when the firing assembly has
been moved to a second or unlocked position. FIG. 72 illustrates
what happens when a surgical staple cartridge is initially
introduced into the channel 20400. In FIGS. 72 and 73, the
cartridge body has been omitted for clarity. However, it will be
understood that the surgical staple cartridge includes a sled
20500. The sled 20500 is movable from the starting position located
in the proximal end of the staple cartridge to an ending position
within the cartridge. As can be seen in FIGS. 72 and 73, the sled
20500 includes a central sled body 20502 that has a collection of
cam wedges 20504 formed therein. In the illustrated example, the
sled 20500 includes four cam wedges 20504 with two cam wedges 20504
being located on each side of the central sled body 20502. Each cam
wedge 20504 corresponds to a line of staple supporting drivers
located in the cartridge 20500. As the sled 20500 is driven
distally through the cartridge, the cam wedges 20504 sequentially
drive the staple drivers in the corresponding line upward within
the cartridge to thereby eject the staples into forming contact
with the underside of the anvil.
[0573] Still referring to FIG. 72, the sled 20500 is configured to
contact the actuator lug 20306 when the cartridge is properly
installed within the channel 20400 and the sled is in the starting
position. In the illustrated embodiment for example, a downwardly
extending actuator member 20506 is formed on or otherwise attached
to the sled 20500. When the cartridge is installed in the channel
20400, the actuator member 20506 on the sled 20500 contacts the
actuator lug 20306 and biases the firing assembly in the unlocking
direction "UL" (FIG. 72) to the position shown in FIG. 73. As can
be seen in FIG. 73, the locking lug 20304 is out of the locking
notch 20412 and the firing assembly 20300 can now be longitudinally
advanced through the channel and the staple cartridge. Thus, such
arrangement will prevent the clinician from unwittingly advancing
the firing assembly unless a cartridge with a sled in the starting
position has been properly installed in the channel. As used in
this context, the term "properly installed" means that the staple
cartridge has been retainingly seated into the channel in the
intended manner so as to permit the sled and other portions thereof
to interact with the firing assembly in the manners described
herein.
[0574] FIGS. 74-76 illustrate portions of an end effector 20500
that is configured to cut and staple tissue. The end effector 20500
comprises an elongate channel 20510 that is configured to operably
support a surgical staple cartridge 20600 therein. The end effector
includes an anvil assembly 20700 that operably supports an anvil
concentric drive member 20710 for operably driving a firing member
20720 through the end effector 20500. The anvil concentric drive
member 20710 may, for example, be centrally disposed within the
anvil frame 20712 and substantially extend the length thereof. The
anvil concentric drive member 20710 in the illustrated embodiment
comprises an anvil drive shaft that includes a distal bearing lug
20714 and a proximal bearing lug 20716. The distal bearing lug
20714 is rotatably housed in a distal bearing housing 20718 that is
supported in a bearing pocket in the anvil frame 20712. The
proximal bearing lug 20716 is rotatably supported in the anvil
assembly 20700 by a floating bearing housing 20720 that is movably
supported in a bearing pocket 20722 that is formed in the proximal
anvil portion 20724. See FIG. 75. The proximal and distal bearing
housing arrangements may serve to prevent or at least minimize an
occurrence of compressive forces on the anvil drive shaft 20710
which might otherwise cause the anvil drive shaft 20710 to buckle
under high force conditions. The anvil drive shaft 20710 further
includes a driven firing gear 20726, a proximal threaded or helix
section 20728 and a distal threaded or helix section 20730. In the
illustrated arrangement, the proximal threaded section 20728 has a
first length and the distal threaded section 20730 has a distal
length that is greater than the first length. In the illustrated
arrangement, the pitch of the distal threaded section 20730 is
greater than the pitch of the proximal threaded section 20728.
Stated another way, the lead of the distal threaded section 20730
is greater than the lead of the proximal threaded section 20728. In
one arrangement, the lead of the distal threaded section 20730 may
be approximately twice as large as the lead of the proximal
threaded section 20728. In addition, a dead space 20731 may be
provided between the proximal threaded section 20728 and the distal
threaded section 20730. In at least one example, the anvil drive
shaft 20710 may be fabricated in one piece from extruded gear
stock.
[0575] To facilitate assembly of the various anvil components, the
anvil assembly 20700 includes an anvil cap 20740 that may be
attached to the anvil frame 20712 by welding, snap features, etc.
In addition, the anvil assembly 20700 includes a pair of anvil
plates or staple forming plates 20742 that may contain various
patterns of staple forming pockets on the bottom surfaces thereof
that correspond to the staple arrangements in the surgical staple
cartridge 20600 that is supported in the elongate channel 20510.
The staple forming plates 20742 may be made of a metal or similar
material and be welded to or otherwise attached to the anvil frame
20712. In other arrangements, a single anvil plate that has a slot
therein to accommodate a firing member may also be employed. Such
anvil plate or combination of plates may serve to improve the
overall stiffness of the anvil assembly. The anvil plate(s) may be
flat and have the staple forming pockets "coined" therein, for
example.
[0576] As can be seen in FIGS. 74 and 77-79, the surgical end
effector 20500 includes a firing member 20800 that has a body
portion 20802 that has a knife nut portion 20804 formed thereon or
otherwise attached thereto. The knife nut portion 20804 is
configured to be received on the anvil drive shaft 20710. A distal
thread nodule 20806 and a proximal thread nodule 20808 that are
configured to engage the proximal threaded section 20728 and the
distal threaded section 20730 are formed in the knife nut portion
20804. The distal thread nodule 20806 is spaced from the proximal
thread nodule 20808 relative to the length of the dead space 20731
such that when the knife nut portion 20804 spans across the dead
space 20731, the distal thread nodule 20806 is in threaded
engagement with the distal threaded section 20730 and the proximal
thread nodule 20808 is in threaded engagement with the proximal
threaded section 20728. In addition, anvil engaging tabs 20810
protrude laterally from opposite lateral portions of the knife nut
20804 and are each oriented to engage the corresponding staple
forming plates 20742 that are attached to the anvil frame 20712.
The firing member 20800 further includes a channel engaging tab
20820 that protrudes from each lateral side of the body portion
20800 The firing member 20800 also includes a tissue cutting
surface 20822.
[0577] Rotation of the anvil drive shaft 20710 in a first rotary
direction will result in the axial movement of the firing member
20800 from a first position to a second position. Similarly,
rotation of the anvil drive shaft 20710 in a second rotary
direction will result in the axial retraction of the firing member
20800 from the second position back to the first position. The
anvil drive shaft 20710 ultimately obtains rotary motion from a
proximal drive shaft (not shown) that operably interfaces with a
distal power shaft 20830. In the illustrated arrangement, the
distal power shaft 20830 has a distal drive gear 20832 that is
configured for meshing engagement with the driven firing gear 20726
on the anvil drive shaft 20710 when the anvil assembly 20710 is in
the closed position. The anvil drive shaft 20710 is said to be
"separate and distinct" from the distal power shaft 20830. That is,
at least in the illustrated arrangement for example, the anvil
drive shaft 20710 is not coaxially aligned with the distal power
shaft 20830 and does not form a part of the distal power shaft
20830. In addition, the anvil drive shaft 20710 is movable relative
to the distal power shaft 20830, for example, when the anvil
assembly 20700 is moved between open and closed positions. The
proximal drive shaft may ultimately be rotated by a motor supported
in a housing that is attached to a shaft assembly coupled to the
surgical end effector 20500. The housing may comprise a handheld
assembly or a portion of a robotically controlled system.
[0578] In the illustrated arrangement, the anvil assembly 20700 is
closed by distally advancing a closure tube 20900. As can be seen
in FIG. 74, the closure tube 20900 includes an internally threaded
closure nut 20902 that is configured for threaded engagement with a
closure thread segment 20834 that is formed on the distal power
shaft 20830. Initial rotation of the distal power shaft 20830 will
drive the closure tube 20900 distally to cam the anvil assembly
20700 to the closed position. Rotation of the distal power shaft
20830 in an opposite direction will drive the closure tube 20900 in
the proximal direction to permit the anvil assembly 20700 to move
to an open position.
[0579] Turning to FIGS. 77-79, the channel includes a pair of
inwardly extending, longitudinal retention tabs 20512 that have a
slot space 20514 therebetween to accommodate the longitudinal
movement of the firing member 20800. In addition, the channel 20510
includes a proximal locking cavity 20516 that is proximal to the
retention tabs 20512. The locking cavity 20516 transitions to a
distal firing cavity that is coextensive with the tabs 20512 and
the space 20514 therebetween. The locking cavity 20516 is larger
than the distal firing cavity to permit the firing member 20800 to
pivot to the position shown in FIG. 77. When in that position, the
firing member body 20802 is out of alignment with the slot space
and the tabs 20820 are out of alignment with the distal firing
cavity 20518. When in that position, one of the tabs 20820 that
protrude from the firing member 20800 is in alignment with one of
the retention tabs 20512 and thus the firing member 20800 is
prevented from being longitudinally advanced through the channel
20510. The firing member 20800 will pivot to that "locked" position
when the anvil drive shaft 20710 is initially rotated and a
surgical staple cartridge with a sled in a starting position has
not been installed in the channel 20510. However, when a cartridge
that has a sled in a starting position has been installed in the
channel 20510, the sled will serve to contact or otherwise
interface with the firing member 20800 to position and retain the
firing member 20800 in alignment with the space 20514 between the
retention tabs 20512. See FIG. 78. Thus, continued rotation of the
anvil drive shaft 20710 will drive the firing member 20800 distally
through the channel 20510 as shown in FIG. 79. Such arrangement
will therefore, prevent the clinician from unwittingly actuating
the anvil drive shaft 20710 to drive the firing member 20800
distally through the channel 20510 unless an unspent surgical
staple cartridge that has a sled in a starting position has been
installed in the channel.
[0580] In still other arrangements, the detection of the sled in
the correct location within an unspent staple cartridge that has
been properly seated in the channel of a surgical cutting and
stapling end effector may be determined electrically. For example,
this may be accomplished with contacts on the sled that complete a
circuit when the sled is in a starting position in a cartridge that
has been properly seated in the channel. Upon firing, the circuit
is opened and further firing is not permitted until the circuit is
closed again.
[0581] As mentioned above, stapling assemblies for first grasping,
clamping, stapling, and/or cutting tissue are well known in the
art. Previous stapling assemblies, such as those disclosed in U.S.
Pat. No. 5,865,361, for example, have comprised a loading unit that
is operably connected to a handle assembly. The disclosure of U.S.
Pat. No. 5,865,361, entitled SURGICAL STAPLING APPARATUS, which
issued on Feb. 2, 1999, is incorporated by reference in its
entirety. While the handle assemblies of these previous stapling
assemblies were configured for multiple uses, the loading units
were configured for a single use. After each loading unit was
spent, or at least partially spent, the loading unit was removed
from the handle assembly and then replaced with a new, or unspent,
loading unit if desired. The configuration of these previous
loading units did not permit a cartridge portion of the loading
unit to be replaced so that a spent loading unit could be used once
again.
[0582] U.S. Patent Application Publication No. 2012/0286021
discloses an alternative stapling assembly comprising a first jaw
including an anvil and a second jaw including a staple cartridge.
The entire disclosure of U.S. Patent Application Publication No.
2012/0286021, entitled REPLACEABLE STAPLE CARTRIDGE, which
published on Nov. 15, 2012, is incorporated by reference herein.
Unlike the previous loading units, the second jaw of these stapling
assemblies can be completely removed from the loading unit and then
replaced with another second jaw, presumably after the previous
second jaw has been spent. Notably, the entire second jaw of these
stapling assemblies is replaced--not just a portion of the second
jaw as disclosed in U.S. Pat. No. 6,988,649, entitled SURGICAL
STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, which issued
on Jan. 24, 2006, the entire disclosure of which is incorporated by
reference herein.
[0583] The stapling assembly disclosed in U.S. Patent Application
Publication No. 2012/0286021, however, is defective. For instance,
the stapling assembly disclosed in U.S. Patent Application
Publication No. 2012/0286021 includes a cutting member which can be
advanced distally eventhough a second jaw is not attached to the
stapling assembly. As a result, the cutting member may be
unintentionally exposed to the tissue of a patient. Various
improvements to these stapling assemblies, among others, are
discussed further below.
[0584] Turning now to FIG. 80, a surgical instrument system 21000
comprises a handle 21010 and a stapling assembly, or loading unit,
21030 attached to a shaft 21020 of the handle 21010. Referring
primarily to FIG. 81, the loading unit 21030 comprises a proximal
end, or bayonet connector, 21032 configured to releasably attach
the loading unit 21030 to the shaft 21020. Similar to the stapling
assembly disclosed in U.S. Patent Application Publication No.
2012/0286021, the loading unit 21030 comprises an anvil 21040 and
an attachable cartridge jaw 21050. The cartridge jaw 21050, once
attached to the loading unit 21030, is pivotable between an open
position (FIG. 80) and a closed, or clamped, position.
[0585] The handle 21010 comprises an actuator, or trigger, 21014
which is rotatable toward a pistol grip 21012 of the handle 21010
to drive a firing bar of the loading unit 21030 distally. During a
first stroke of the trigger 21014, the firing bar engages the
cartridge jaw 21050 and moves the cartridge jaw 21050 into its
closed position. During one or more subsequent strokes of the
trigger 21014, the firing bar is advanced through the cartridge jaw
21050. The cartridge jaw 21050 comprises a plurality of staples
removably stored therein which are ejected from the cartridge jaw
21050 as the firing bar is advanced distally through the cartridge
jaw 21050. More particularly, as discussed in greater detail
elsewhere herein, the firing bar enters into the cartridge jaw
21050 and pushes a sled stored in the cartridge jaw 21060 distally
which, in turn, drives the staples out of the cartridge jaw
21050.
[0586] Referring primarily to FIG. 81, the loading unit 21030
further comprises an articulation joint 21036 about which the anvil
21040 and the cartridge jaw 21050 can be articulated. The loading
unit 21030 comprises an articulation driver configured to
articulate the anvil 21040 and the cartridge jaw 21050 about the
articulation joint 21036. The articulation driver is operably
coupled with an articulation actuator 21016 which is rotatable to
push or pull the articulation driver, depending on the direction in
which the articulation actuator 21016 is rotated.
[0587] An alternative surgical instrument system 21100 is
illustrated in FIGS. 82 and 83. The system 21100 comprises a handle
21110 and an attachable loading unit 21130. Similar to the above,
the loading unit 21130 comprises an anvil jaw 21040 and a removably
attached cartridge jaw 21050. The loading unit 21130 further
comprises an articulation joint 21138 and a flex joint 21136 which
are configured to permit the end effector to articulate relative to
a shaft portion 21120 of the loading unit 21130. The shaft portion
21120 comprises a proximal connector 21122 configured to attach the
loading unit 21130 to the handle 21110. Referring primarily to FIG.
84, the proximal connector 21122 comprises rotatable inputs 21128
which are operably engageable with rotatable outputs 21118 of the
handle 21110. Each rotatable input 21128 is part of a drive system
which articulates the loading unit 21130 about the flex joint 21136
and/or articulation joint 21128, closes the cartridge jaw 21050,
and/or fires the staples from the cartridge jaw 21050, for example.
The handle 21110 comprises controls 21114 and 21116 which can be
utilized to operate the drive systems of the loading unit 21130.
The disclosure of U.S. Patent Application Publication 2013/0282052,
entitled APPARATUS FOR ENDOSCOPIC PROCEDURES, which published on
Oct. 24, 2013, is incorporated by reference in its entirety.
[0588] Further to the above, the staple cartridge jaw 21050 is
removably attached to the anvil jaw 21040 of the loading unit
21030. Referring primarily to FIGS. 85 and 86, the proximal end of
the anvil jaw 21040 comprises attachment projections 21042
extending from opposite sides thereof. The proximal end of the
staple cartridge jaw 21050 comprises recesses 21052 defined therein
which are configured to receive the attachment projections 21042.
The anvil jaw 21040 is fixedly attached to the frame of the loading
unit 21030 and the attachment projections 21042 extend fixedly from
the anvil jaw 21040. In at least one instance, the anvil jaw 21040
and/or the attachment projections 21042 are integrally formed with
the frame of the anvil portion 21030.
[0589] The staple cartridge jaw 21050 further comprises clips 21056
configured to engage and grasp the attachment projections 21042.
Each clip 21056 is positioned within a slot 21055 defined in the
cartridge jaw 21050. When the cartridge jaw 21050 is attached to
the loading unit 21030, the clips 21056 flex around the attachment
projections 21042. When the cartridge jaw 21050 is fully attached
to the loading unit 21030, the clips 21056 resiliently snap or
return toward their unflexed configuration and hold the attachment
projections 21042 in the recesses 21052.
[0590] Further to the above, the cartridge jaw 21050 is properly
attached to the loading unit 21030 when the clips 21056 are engaged
with the attachment projections 21042 and the attachment
projections 21042 are fully seated in the recesses 21052. That
said, the loading unit 21030 does not include a sensing system
configured to detect whether or not the cartridge jaw 21050 is
properly attached to the loading unit 21030. Turning now to FIGS.
87-91, a loading unit 21130 comprises a system configured to detect
whether or not a staple cartridge jaw 21150 is properly attached to
an anvil jaw 21140 of the loading unit 21130, as described in
greater detail below.
[0591] The loading unit 21130 comprises an electrical circuit that
is completed, or closed, when the staple cartridge jaw 21150 is
properly attached to the loading unit 21130. The electrical circuit
is in communication with a microprocessor, or controller, of the
surgical instrument system. The controller is in the handle of the
surgical instrument system; however, the controller can be in any
suitable part of the surgical instrument system, such as the
loading unit 21130, for example. Alternatively, the controller can
be in a housing of a surgical instrument assembly that is attached
to a robotic surgical system and/or in the robotic surgical system
itself. In any event, the controller is in communication with an
electric motor which drives the staple firing system of the
surgical instrument system.
[0592] When the controller detects that a staple cartridge is not
properly attached to the loading unit 21130, further to the above,
the controller can prevent the electric motor from driving the
staple firing system through a staple firing stroke. In at least
one such instance, the controller can open a switch between a power
source, such as a battery, for example, and the electric motor to
prevent electrical power from being supplied to the electric motor.
When the controller detects that a staple cartridge 21150 is
properly attached to the loading unit 21130, the controller can
permit the electric motor to receive power from the battery and
drive the staple firing system through a staple firing stroke when
actuated by the user of the surgical instrument system. In at least
one such instance, the controller can close the switch between the
battery and the electric motor, for example.
[0593] The electrical circuit of the loading unit 21130 comprises
conductors 21147 (FIGS. 89 and 91) extending through a shaft
portion of the loading unit 21130 and, in addition, a contact 21146
positioned around each of the attachment projections 21142. Each of
the conductors 21147 is electrically coupled to the microprocessor
and a contact 21146. The staple cartridge 21150 comprises a portion
of the electrical circuit which completes the electrical circuit
when the staple cartridge 21150 is fully engaged with the
attachment projections 21142. The portion of the electrical circuit
in the staple cartridge 21150, referring to FIG. 90, comprises a
contact 21159 positioned in each of the recesses 21052 and a
conductor, or trace, 21157 extending between and electrically
coupled with the contacts 21159. The clips 21056 are configured to
hold the contacts 21159 of the staple cartridge jaw 21150 against
the contacts 21146 extending around the attachment portions 21142.
In at least one instance, the clips 21056 are comprised of a
conductive material and are in communication with the trace 21157.
In such instances, the clips 21056 are part of the electrical
circuit in the staple cartridge 21150. In any event, when the
staple cartridge jaw 21150 is detached from the loading unit 21130,
the electrical circuit is broken, or opened, and the microprocessor
can detect that a staple cartridge jaw 21150 is no longer attached
to the loading unit 21130.
[0594] Further to the above, the controller can determine that a
staple cartridge jaw 21150 is improperly attached to the loading
unit 21130 if only one of the contacts 21159 is engaged with its
respective contact 21146. In such instances, the electrical circuit
would be in an open condition and, as a result, the microprocessor
would treat an improperly assembled staple cartridge jaw 21150 as a
missing cartridge jaw 21150 and prevent the electric motor from
being actuated to perform the staple firing stroke. In various
instances, the surgical instrument system can include an indicator
light and/or feedback system that communicates to the user of the
surgical instrument system that the staple cartridge jaw detection
circuit has not been closed. In response thereto, the user can
investigate the condition and properly seat the staple cartridge
jaw 21150 to close the detection circuit.
[0595] As illustrated in FIG. 90, the conductor 21157 extends
laterally across the cartridge jaw 21150. When a firing member is
advanced distally through the cartridge jaw 21150, the firing
member can transect and/or break the conductor 21157 and open the
jaw detection circuit. At such point, the controller can permit the
electric motor to be operated to advance the firing member distally
until the firing member is retracted back to its unfired position.
After the firing member has been retracted to its unfired position,
the controller can then prevent the re-operation of the electric
motor until an unspent cartridge jaw 21150 is properly attached to
the loading unit 21130. As a result, the electrical circuit of the
loading unit 21130 can serve as a missing cartridge lockout, an
improperly attached cartridge lockout, and a spent cartridge
lockout.
[0596] In addition to or in lieu of the above, the sled 21170 can
comprise a conductive portion which electrically connects the
lateral jaw contacts 21159 and/or the electrically conductive clips
21056 when the sled 21170 is in its unfired position. In at least
one instance, the sled 21170 comprises a conductor and/or trace
extending from one lateral side of the sled 21170 to the other.
When the sled 21170 is advanced distally, the conductive portion of
the sled 21170 is no longer in electrical communication with the
contacts 21159 and/or clips 21056 and the jaw detection circuit is
opened. To the extent that the jaw assembly also comprises the
conductor 21157, the conductor 21157 can be cut or broken to open
the jaw detection circuit as described above. In various instances,
the sled 21170 can be displaced from the jaw detection circuit at
the same time that the conductor 21157 is cut or broken, for
example. In any event, the conductive sled 21170 can provide a
spent cartridge lockout.
[0597] In various alternative embodiments, the electrical circuit
lockout of the loading unit is not transected when the firing
member is advanced distally. Turning now to FIG. 93, a staple
cartridge jaw 21250 of a loading unit 21230 comprises a cartridge
body 21251, a plurality of staple cavities 21258 defined in the
cartridge body 21251, and a longitudinal slot 21259 defined in the
cartridge body 21251 which is configured to receive a portion of
the firing member Similar to the staple cartridge jaw 21150, the
staple cartridge jaw 21250 comprises a portion of the loading unit
electrical circuit. The portion of the electrical circuit in the
staple cartridge jaw 21250 comprises electrical contacts, such as
contacts 21159, for example, defined in the recesses 21052 and
compliant electrical contacts 21257 disposed on opposite sides of
the longitudinal slot 21251. Each compliant contact 21257 is in
electrical communication with a contact 21052 via a conductor, or
trace, for example, extending through the cartridge body 21251.
[0598] The compliant contacts 21257 are configured to engage an
anvil jaw 21240 of the loading unit 21230 when the staple cartridge
jaw 21250 is assembled to the loading unit 21250. More
specifically, the compliant contacts 21257 engage a conductive
pathway 21247 defined in the anvil jaw 21240 which electrically
connects the compliant contacts 21257 and, at such point, the
electrical circuit has been closed. The compliant contacts 21257
remain constantly engaged with the conductive pathway 21247, i.e.,
when the cartridge jaw 21250 is in an open position, when the
cartridge jaw 21250 is in a closed position, and when the cartridge
jaw 21250 is moved between its open and closed positions. When the
firing member is advanced distally, the firing member passes
through a gap defined between the contacts 21257 and, as a result,
the electrical jaw detection circuit is not transected. Such an
arrangement can provide a missing cartridge jaw lockout and/or an
improperly attached cartridge jaw lockout.
[0599] Further to the above, the compliant contacts 21257 can
comprise springs configured to bias the staple cartridge jaw 21250
into an open position. When the staple cartridge jaw 21250 is moved
into its closed position, the compliant contacts 21257 are
compressed between the staple cartridge jaw 21250 and the anvil
21240. The compliant contacts 21257, along with the other portions
of the electrical jaw detection circuit, are electrically insulated
from the metal, or conductive, portions of the stapling assembly so
as to maintain the integrity of the jaw detection circuit and
prevent the jaw detection circuit from shorting out.
[0600] In addition to or in lieu of an electrical or electronic
lockout such as the lockout described above, for example, a loading
unit can include a mechanical lockout that prevents the firing
system from performing a staple firing stroke if a staple cartridge
jaw is not properly attached to the loading unit. Turning now to
FIG. 92, the staple cartridge jaw 21150 comprises a sled 21170
which is pushed distally by the firing member 21160 (FIG. 89) when
the firing member 21160 is advanced distally during a staple firing
stroke. The staple cartridge jaw 21150 further comprises lockout
members 21172 which are pivotably engaged with the cartridge body
21151 of the cartridge jaw 21150. As described in U.S. Patent
Application Publication No. 2012/0286021, the lockout members 21172
are biased inwardly into a locked out position after the sled 21170
has been at least partially advanced distally during a firing
stroke which prevent the cartridge jaw 21150 from being
re-fired.
[0601] Although the lockout members 21172 can block the distal
advancement of the firing member 21160, as discussed above, the
firing member 21160 may be able to push through and slide between
the lockout members 21172 in certain instances. As an improvement,
one or both of the lockout members 21172 can comprise a latch or
hook extending inwardly toward the firing member 21160. When the
lockout members 21172 are biased inwardly after the sled 21170 has
been advanced distally, the latches or hooks can engage apertures
defined in the firing member 21160 when the firing member 21160 is
retracted back into its unfired position. Once the latches or hooks
are positioned in the firing member apertures, they can prevent the
firing member 21160 from being advanced distally through the
already spent cartridge. At such point, the staple cartridge would
have to be replaced to unlock the firing member 21160.
[0602] As described above, an attachable staple cartridge jaw can
be moved between open and closed positions to clamp tissue
therebetween. Other embodiments are envisioned in which the staple
cartridge jaw is removably attachable to a stapling instrument but
the anvil jaw is movable between open and closed positions. Turning
now to FIGS. 94-97, a stapling assembly 21530 comprises an
attachable staple cartridge jaw 21550 including a cartridge body
21551 and, in addition, a pivotable anvil jaw 21540. The stapling
assembly 21530 further comprises a firing member, such as firing
member 21160, for example, which is movable distally to engage the
anvil jaw 21540 and move the anvil jaw 21540 into a closed
position. More specifically, the firing member 21160 comprises a
first camming member 21162 configured to engage the cartridge jaw
21550 and a second camming member 21164 configured to engage the
anvil jaw 21540 and move the anvil jaw 21540 toward the cartridge
jaw 21550.
[0603] The stapling assembly 21530 further comprises a mechanical
lockout 21572. The lockout 21572 is mounted to a frame of the
stapling assembly 21530 at a frame pivot 21232. The lockout 21572
extends distally and is supported by a frame pin 21533. The lockout
21572 comprises a metal wire; however, the lockout 21572 can be
comprised of any suitable material. The lockout 21572 further
comprises an elongated recess track 21576 defined therein which is
configured to receive a lockout pin 21166 extending from the firing
member 21160. Referring primarily to FIG. 94, the elongated recess
track 21276 constrains or limits the longitudinal displacement of
the firing member 21160 when the lockout 21572 is in its locked
position. More specifically, the recess track 21576 is configured
to permit the firing member 21160 to be advanced distally to move
the anvil jaw 21540 between its open and closed positions but
prevent the firing member 21160 from being advanced distally to
perform a firing stroke unless the lockout 21572 is moved into its
unlocked position, as discussed below.
[0604] When the staple cartridge jaw 21550 is attached to the
stapling assembly 21530, as illustrated in FIG. 95, the sled 21270
of the cartridge jaw 21550 contacts a distal arm 21574 of the
lockout 21572 and deflects the lockout 21572 downwardly into its
unlocked position. At such point, the lockout 21572 has been
displaced below the lockout pin 21166 of the firing member 21160
and, as a result, the firing member 21160 can be advanced distally
to perform a staple firing stroke, as illustrated in FIG. 96.
During the staple firing stroke, the firing member 21160 pushes the
sled 21270 distally off of the lockout arm 21574 and the lockout
21572 can return back to its unflexed, or locked, configuration.
When the firing member 21160 is retracted, as illustrated in FIG.
97, the lockout pin 21166 can engage the lockout 21572 and flex the
lockout 21572 downwardly to permit the firing member 21160 to
return to its unfired position. Notably, the sled 21270 is not
retracted with the firing member 21160 and, as a result, cannot
re-unlock the lockout 21572 even though the firing member 21160 has
been retracted. As a result of the above, the lockout 21572 can
serve as a missing cartridge lockout and a spent cartridge
lockout.
[0605] Turning now to FIGS. 98-102, a stapling assembly 21330
comprises an attachable staple cartridge jaw 21350 including a
cartridge body 21351 and, in addition, an anvil jaw 21340. The
stapling assembly 21330 further comprises a firing member, such as
firing member 21160, for example, which is movable distally to
engage the anvil jaw 21340 and the cartridge jaw 21350. More
specifically, the firing member 21160 comprises a first camming
member 21162 configured to engage the cartridge jaw 21350 and a
second camming member 21164 configured to engage the anvil jaw
21340 which close the jaws 21340 and 21350 when the firing member
21160 is advanced distally.
[0606] The stapling assembly 21330 further comprises a mechanical
lockout 21372. The lockout 21372 is mounted to a frame of the
stapling assembly 21330 at a frame pivot 21232. The lockout 21372
extends distally and is constrained by a frame pin 21333. The
lockout 21372 comprises a metal wire; however, the lockout 21372
can be comprised of any suitable material. The lockout 21372
further comprises an elongate recess track 21376 defined therein
which is configured to receive the lockout pin 21166 extending from
the firing member 21160. Referring primarily to FIG. 98, the
elongate recess track 21376 constrains or limits the longitudinal
displacement of the firing member 21160 when the lockout 21372 is
in its locked position. More specifically, the recess track 21376
is configured to permit the firing member 21160 to be advanced
distally to close the stapling assembly 21330 but prevent the
firing member 21160 from being advanced distally to perform a
firing stroke.
[0607] When the staple cartridge jaw 21550 is attached to the
stapling assembly 21530, as illustrated in FIG. 99, the sled 21370
of the cartridge jaw 21350 contacts distal arms 21374 of the
lockout 21372 and deflects the lockout 21372 upwardly into an
unlocked position. At such point, the lockout 21372 has been
displaced above the lockout pin 21166 of the firing member 21160
and, as a result, the firing member 21160 can be advanced distally
to perform a staple firing stroke, as illustrated in FIG. 100.
During the staple firing stroke, the firing member 21160 pushes the
sled 21370 distally out from under the lockout arms 21374 and the
lockout 21372 can return back to its unflexed, or locked,
configuration. When the firing member 21160 is retracted, as
illustrated in FIG. 101, the lockout pin 21166 can engage the
lockout 21372 and flex the lockout 21372 upwardly to permit the
firing member 21160 to return to its unfired position. Notably, the
sled 21370 does not return with the firing member 21160. As a
result of the above, the lockout 21372 can serve as a missing
cartridge lockout and a spent cartridge lockout.
[0608] Referring to FIG. 102, the arms 21374 of the lockout 21372
are laterally spaced apart on opposite sides of the longitudinal
slot 21359 such that the firing member 21160 can slide between the
arms 21374. In such instances, the arms are not transected by the
firing member 21160.
[0609] During a surgical procedure, several loading units can be
used with a handle of a surgical stapling system. In at least one
instance, a first loading unit can be used which is configured to
apply a 30 mm staple line, a second loading unit can be used which
is configured to apply a 45 mm staple line, and a third loading
unit can be used which is configured to apply a 60 mm staple line,
for example. In the event that each of these loading units
comprises a replaceable cartridge jaw, it is possible that the
wrong staple cartridge jaw can be attached to a loading unit. For
instance, a clinician may attempt to attach a 60 mm staple
cartridge jaw to a loading unit configured to apply a 30 mm staple
line. As a result, it is possible that some of the staples ejected
from the 60 mm staple cartridge jaw may not be deformed by the
anvil and/or that the tissue incision line may be longer than the
staple lines. The stapling assemblies and/or loading units
disclosed herein can include means for preventing the wrong staple
cartridge jaw from being attached thereto, as discussed in greater
detail below.
[0610] Referring to FIGS. 103 and 105, further to the above, the
recesses 21052 defined in the cartridge jaw 21250 are configured to
closely receive the attachment projections 21142 of the loading
unit 21130 such that there is a snug fit therebetween. The
attachment projections 21242' (FIG. 104) of a second loading unit
21130', in at least one instance, are smaller than the attachment
projections 21142 and, correspondingly, the recesses of a second
cartridge jaw for use with the second loading unit 21130' are
smaller than the recesses 21052. In order to provide a form of
error proofing, the recesses of the second cartridge jaw are too
small to receive the attachment projections 21142 of the loading
unit 21130 and, as a result, the second cartridge jaw cannot be
attached to the loading unit 21130. Similarly, turning now to FIG.
104, the recesses 21052 of the cartridge jaw 21250 are larger than
the attachment projections 21242' of the second loading unit 21130'
such that the clips 21056 of the cartridge jaw 21250 cannot hold
the attachment projections 21242' in the recesses 21052 and, as a
result, cannot hold the cartridge jaw 21250 to the loading unit
21130'. In such instances, the interconnection between the
cartridge jaw 21250 and the loading unit 21130' would be too loose
for the cartridge jaw 21250 to be used with the loading unit
21130'.
[0611] In the instances described above, the attachment projections
of a loading unit, the recesses of a staple cartridge jaw, and the
spring clips holding the staple cartridge jaw to the loading unit
have the same configuration on both sides of the stapling assembly.
In other instances, the attachment projection, the recess, and/or
the spring clip on one side of the stapling assembly is different
than the attachment projection, the recess, and/or the spring clip
on the other side of the stapling assembly. For example, a large
attachment projection, recess, and spring clip are disposed on one
side of the stapling assembly while a smaller attachment
projection, recess, and spring clip are disposed on the other side.
Such arrangements can increase the permutations available to
prevent an incorrect staple cartridge jaw from being attached to a
loading unit.
[0612] In the instances described above, the attachment projections
of a loading unit, the recesses of a staple cartridge jaw, and the
spring clips are aligned with respect to a common lateral axis. In
other instances, the attachment projection, the recess, and/or the
spring clip on one side of the stapling assembly are not aligned
with the attachment projection, the recess, and/or the spring clip
on the other side. Stated another way, one side is offset from the
other. Such arrangements can also increase the permutations
available to prevent an incorrect staple cartridge jaw from being
attached to a loading unit.
[0613] Further to the above, it is contemplated that a kit of
loading units can be provided wherein each loading unit of the kit
can be configured such that only a cartridge jaw intended to be
used with the loading unit can be properly attached to the loading
unit.
[0614] Turning now to FIGS. 106 and 107, the staple cartridge jaw
21050 comprises a proximal shoulder 21058 which is positioned in
close proximity to the frame of the loading unit 21030 when the
cartridge jaw 21050 is attached to the loading unit 21030. Owing to
the snug fit between the projections 21042, the recesses 21052, and
the clips 21056, the cartridge jaw 21050 is held in position such
that the shoulder 21058 of the cartridge jaw 21050 does not
interfere with the distal progression of the firing member 21160,
for example. More particularly, the shoulder 21058 does not
interfere with the first camming member 21162 of the firing member
21160. In the event that an incorrect staple cartridge were
attached to the cartridge jaw 21050, in certain instances, the
proximal shoulder of the incorrect cartridge jaw may interfere with
the distal progression of the first camming member and, as a
result, prevent the firing member 21160 from performing a firing
stroke with the incorrect staple cartridge. Turning now to FIG.
108, a staple cartridge jaw 21450 is an incorrect staple cartridge
jaw for use with the loading unit 21030. Eventhough the staple
cartridge jaw 21450 has been attached to the loading unit 21030,
the proximal shoulder 21458 prevents the firing member 21060 from
being advanced distally.
[0615] Further to the above, the proximal shoulder of a staple
cartridge jaw can comprise a sharp or abrupt corner. In at least
one such instance, the proximal shoulder does not comprise a
chamfer or lead-in, for example.
[0616] In various instances, a proximal shoulder of a staple
cartridge jaw can be configured to block the distal advancement of
a staple firing member if the tissue clamped between the staple
cartridge jaw and an opposing anvil jaw is too thick. In such
instances, the staple cartridge jaw would not close completely and
the proximal shoulder of the staple cartridge jaw would be
positioned in front of the staple firing member. Such an
arrangement would comprise a tissue thickness lockout; however,
such an arrangement could also serve as a tissue clamping lockout
in the event that the staple cartridge jaw had not yet been moved
into its clamped position.
[0617] In addition to or in lieu of the above, an electronic or
software lockout of a surgical instrument system can be utilized to
prevent a firing drive from performing a staple firing stroke in
the event that an incorrect staple cartridge jaw is attached to the
surgical instrument system. In various instances, as discussed
above, a portion of a jaw detection circuit can extend through a
staple cartridge jaw and, in at least one instance, a controller of
the surgical instrument system can be configured to evaluate the
portion of the jaw detection circuit extending through the staple
cartridge jaw to determine whether the staple cartridge attached to
the surgical instrument system jaw is an appropriate staple
cartridge jaw for use with the surgical instrument system. In at
least one instance, the clips 21056 of a first staple cartridge jaw
have detectably different electrical properties, such as resistance
or impedance, for example, than the clips 21056 of a second staple
cartridge jaw.
[0618] Referring again to FIGS. 81, 85, and 87, a cartridge jaw
removal tool 21090 can be used to detach a cartridge jaw from a
loading unit. U.S. Patent Application Publication No. 2012/0286021
discusses a cartridge removal tool in greater detail.
[0619] It is desirable to employ lockout systems with surgical
stapling instruments having replaceable staple cartridge
assemblies. For example, in the event that a user forgets to
install a staple cartridge into an instrument without such a
lockout system, the firing member of the surgical instrument could
be used to cut the tissue of a patient without stapling it. Such
circumstances are undesirable. In yet another example, in the event
that a user installs a spent, or partially-spent, staple cartridge
into an instrument and without a lockout system, the firing member
of the surgical instrument would, similarly, cut but not staple, or
just partially staple, the tissue of a patient. Such circumstances
are also undesirable. As a result, surgical instruments which can
automatically lock out the firing member to prevent the firing
member from being advanced within an end effector are
desirable.
[0620] Turning now to FIGS. 109 and 110, a surgical instrument
system 25100 comprising a missing cartridge and spent cartridge
lockout system is depicted. The system 25100 comprises a firing
member 25110, a staple cartridge assembly 25120, and an anvil jaw
25130. The firing member 25110 comprises a distally-presented
cutting portion 25111 configured to cut tissue when advanced
through an end effector portion of the surgical instrument system
25100. The firing member 25110 is configured to deploy a plurality
of staples from the staple cartridge assembly 25120 toward the
anvil jaw 25130 by advancing a sled 25121 longitudinally through
the staple cartridge assembly 25120. The sled 25121 is movable from
a proximal unfired position to a distal fully-fired position during
a staple firing stroke. After the staple firing stroke has been
completed, the firing member 25110 is retracted. The sled 25121
does not retract with the firing member 25110. However, embodiments
are envisioned in which the sled 25121 is at least partially
retracted.
[0621] The surgical instrument system 25100 further comprises a
lockout member 25140. The lockout member 25140 is configured to
prevent the firing member 25110 from being advanced through the
staple firing stroke when a cartridge is not present in the
surgical instrument system 25100 or a spent, or partially spent,
cartridge is present in the surgical instrument system 25100. The
lockout member 25140 comprises a proximal portion 25141 pivotably
mounted to a spine pin 25101 of a frame portion of the system
25100. The lockout member 25140 further comprises a lock face, or
shoulder, 25142 configured to catch the firing member 25110, and a
deflectable portion 25143. The lockout member 25140 is movable, or
deflectable, between a locked position (FIG. 109) and an unlocked
position (FIG. 110) when a staple cartridge assembly is installed
within the system 25100. The lockout member 25140 is spring-biased
into the locked position when a staple cartridge assembly is not
installed within the system 25100, as discussed in greater detail
below. The lockout member 25140 is also spring-biased into the
locked position when a spent, or partially spent, staple cartridge
assembly is installed within the system 25100, as also discussed in
greater detail below.
[0622] When the lockout member 25140 is in its locked position as
illustrated in FIG. 109, a firing member pin 25113 mounted on the
firing member 25110 is configured to abut the lock face 25142 of
the lockout member 25140 which prevents the firing member 25110
from being advanced distally. To move the lockout member 25140 from
the locked position to the unlocked position, an unspent,
ready-to-fire staple cartridge assembly must be properly installed
within in the system 25100. More specifically, the sled 25121 of an
unspent, ready-to-fire staple cartridge assembly is in its proximal
unfired position and, when such a staple cartridge assembly is
installed into the system 25100, the sled 25121 deflects, or bends,
the deflectable portion 25143 downwardly into its unlocked
position. When the lockout member 25140 is in its unlocked position
referring to FIG. 110, the firing member pin 25113 is clear to
advance beyond the lock face 25142 thus permitting the firing
member 25110 to be advanced distally to deploy staples and cut
tissue during a firing stroke.
[0623] As can be seen in FIGS. 109 and 110, some longitudinal
movement of the firing member 25110 is permitted when the lockout
member 25140 is in its locked position. This freedom of
longitudinal movement when the lockout member 25140 is in its
locked position allows the firing member 25110 to be advanced
distally to close the jaws of the system 25100 and moved proximally
to prevent the jaws to be re-opened Manipulating the jaws of the
system 25100 may be necessary for loading and/or unloading staple
cartridges, for example.
[0624] As mentioned above, the sled 25121 does not return with the
firing member 25110 when the firing member 25110 is retracted after
the firing stroke. When the firing member 25110 is retracted, the
firing member pin 25113 deflects, or bends, the deflectable portion
25143 to its unlocked position permitting the pin 25113 to pass the
lock face 25142 and return to a home position. Once the pin 25113
is retracted past the lock face 25142, the lockout member 25140
springs back, or returns, to its locked position to prevent a
repeat firing with a spent staple cartridge installed within the
system 25100. The firing member 25110 can be retracted even further
such that the jaws of the system 25100 can then be unclamped from
the stapled tissue.
[0625] Referring now to FIGS. 111-113, another surgical instrument
system 25200 is depicted. The system 25200 comprises another type
of a missing cartridge and spent cartridge lockout arrangement. The
system 25200 comprises a firing member 25210 and a staple cartridge
assembly 25220. The firing member 25210 comprises a
distally-presented cutting portion 25211 configured to cut tissue
when advanced through the system 25200. The firing member is
configured to deploy a plurality of staples from the staple
cartridge assembly 25220 by advancing a sled 25221 longitudinally
through the staple cartridge assembly 25220. The sled 25221 is
movable from a proximal unfired position to a distal fully-fired
position during a staple firing stroke. The sled 25221 does not
retract with the firing member 25210; however, embodiments are
envisioned in which the sled 25221 is at least partially
retracted.
[0626] The surgical instrument system 25200 further comprises a
lockout member 25240. The lockout member 25240 is configured to
prevent the firing member 25210 from being advanced through its
staple firing stroke when a cartridge is not present within the
system 25200 or a spent, or partially spent, cartridge is present
within the system 25200. The lockout member 25240 comprises a
first, or proximal, portion 25241 rotatably mounted to a first
spine pin 25201 of the system 25200. The spine pin 25201 may extend
from a shaft frame, or spine, of the system 25200, for example. The
lockout member 25240 further comprises a second portion 25242, a
third, or catch, portion 25243, and a fourth, or distal, portion
25245. The lockout member 25240 is movable between a locked
position (FIGS. 111 and 113) and an unlocked position (FIG. 112).
The lockout member 25240 is spring-biased into the locked position
when a staple cartridge assembly is not properly installed within
the system 25200. The lockout member 25240 is also biased into the
locked position when a spent, or partially spent, staple cartridge
assembly is installed within the system 25200.
[0627] When the lockout member 25240 is in its locked position as
illustrated in FIG. 111, a firing member pin 25213 mounted on the
firing member 25210 is configured to abut a lock face, or shoulder,
25244 of the lockout member 25240. As a result of the lock face
25244, distal advancement of the firing member 25210 is blocked
beyond this position. To move the lockout member 25240 from its
locked position to its unlocked position, an unspent, ready-to-fire
staple cartridge assembly must be installed within the system
25200. An unspent, ready-to-fire staple cartridge assembly
comprises a sled 25221 in a proximal unfired position.
[0628] The sled 25221 comprises a magnet 25226 oriented with one of
its poles "P1" facing the distal portion 25245 of the lockout
member 25240 and another pole "P2" facing away from the distal
portion 25245 of the lockout member 25240. The distal portion 25245
of the lockout member 25240 comprises a magnet 25246 disposed
thereon. The magnet 25246 is orientated with a pole "P1" facing the
like pole "P1" of the sled magnet 25226 and another pole "P2"
facing away from the sled magnet 25226. The pole P1 of the magnet
25226 and the pole P1 of the magnet 25246 repel each other. This
relationship creates a levitational effect when the sled 25221 is
in its proximal unfired position (FIG. 112) which pushes, or
repels, the lockout member 25240 upward into its unlocked position,
lifting the lock face 25244 away from the pin 25213 of the firing
member 25210 to permit the pin 25213 to advance beyond the lock
face 25142. The firing member 25210 can then be advanced distally
to deploy staples and cut tissue during a firing stroke.
[0629] When the firing member 25210 is retracted after its firing
stroke, the pin 25213 is configured to contact an angled face of
the distal portion 25245 to push the distal portion 25245 and,
thus, the lockout member 25240 toward its unlocked position
permitting the pin 25213 to pass the lock face 25244 when returning
to a home position. Once the pin 25213 passes the lock face 25244,
the lockout member 25240 springs back, or returns, to its locked
position to prevent to prevent the firing stroke from being
repeated with a spent, or partially spent, staple cartridge
installed within the system 25100.
[0630] Similar to the system 25100 illustrated in FIGS. 109 and
110, the lockout member 25240 is configured to permit the firing
member 25210 to move within a distance "y" to permit the clamping
and unclamping of the jaws when the firing member 25210 is relied
on for the clamping and unclamping functions. The pin 25213 and,
thus, the firing member 25210 can be moved proximally and distally
within the catch portion 25243 of the lockout member 25240 even
though a staple cartridge is missing from and/or a spent staple
cartridge is positioned within the system 25100.
[0631] Another surgical instrument system 25300 is depicted in
FIGS. 114-119. The system 25300 comprises another type of lockout
arrangement where the system 25300 is configured to be locked out
when a cartridge is not installed within the system 25300. The
system is further configured to be locked out when a spent, or
partially spent, cartridge is installed within the system 25300.
The system 25300 comprises a firing member 25310 and a staple
cartridge assembly 25320. The firing member 25310 comprises a
distally-presented cutting portion 25311 configured to cut tissue
when advanced through the system 25300. The firing member 25310 is
configured to deploy a plurality of staples from the staple
cartridge assembly 25320 by advancing a sled 25330 (FIG. 115)
longitudinally through the staple cartridge assembly 25320. The
sled 25330 is movable between a proximal unfired position to a
distal fully-fired position during a firing stroke. In various
instances, the sled 25230 does not retract with the firing member
25310; however, embodiments are envisioned in which the sled 25230
is at least partially retracted.
[0632] The surgical instrument system 25300 further comprises a
lockout member 25340. The lockout member 25340 is configured to
prevent the firing member 25310 from being advanced through a
staple firing stroke when a cartridge is not present within the
system 25300 or a spent, or partially spent, cartridge is present
within the system 25300. The lockout member 25340 is similar to the
lockout members 25140, 25240 in many respects. Referring to FIGS.
117-119, the lockout member 25340 comprises a first, or proximal,
portion 25341 rotatably mounted to a first spine pin 25301 of the
system 25300. Alternatively, the proximal portion 25341 can be
fixedly mounted to the spine 25301 of the system 25300. The lockout
member 25340 further comprises a second portion 25342, a third, or
catch, portion 25343, and a fourth, or distal, portion 25345. The
lockout member 25340 is movable between a locked position (FIGS.
117 and 119) and an unlocked position (FIG. 118). The lockout
member 25340 is spring-biased into its locked position when a
staple cartridge assembly is not installed within the system 25300.
The lockout member 25340 is also biased into its locked position
when a spent, or partially spent, staple cartridge assembly is
installed within the system 25300.
[0633] The staple cartridge assembly 25320 comprises a sled 25330
and plurality of drivers 25328 configured to eject a staple upon
being driven by the ramps 25330A, 25330B, 25330C, and 25330D of the
sled 25330 during a staple firing stroke. The staple cartridge
assembly 25320 further comprises a control member movable between
an unspent position and a spent position by the sled 25330 when the
sled 25330 is advanced distally during its staple firing stroke.
The control member is in its unspent position when a staple
cartridge 25320 is loaded into the surgical instrument system 25300
and is configured to move the lockout member 25340 from its locked
position to its unlocked position when the unspent staple cartridge
assembly 25320 is loaded into the surgical instrument system 25300.
A first configuration of a proximal driver 25325 is illustrated in
FIGS. 114 and 116. The proximal driver 25325 comprises a driver
wedge portion 25326 and a magnetic portion 25327. When the proximal
driver 25325 is in its unspent position and the sled 25330 is in
its unfired position (FIG. 118), the driver wedge portion 25326 is
positioned within a sled notch 25331 and the magnetic portion 25327
is in close enough proximity to the distal portion 25327 to attract
the distal portion 25327 to move, or lift, the lockout member 25340
into its unlocked position.
[0634] A similar proximal driver configuration is depicted in FIGS.
118 and 119. A proximal driver 25325' comprises a driver wedge
portion 25326' and a magnetic portion 25327'. The wedge portion
25326' of the proximal driver 25325' is positioned on the side of
the proximal driver 25325'. When the proximal driver 25325' is in
its unspent position and the sled 25330 is in its unfired position
(FIG. 118), the driver wedge portion 25326' is positioned within
the sled notch 25331 and the magnetic portion 25327' is in close
enough proximity to the distal portion 25327' to attract the distal
portion 25327' to move the lockout member 25340 into its unlocked
position. When the driver wedge portion 25326' is positioned within
the sled notch 25331, the magnetic portion 25327' is configured to
retain the lockout member 25340 in its unlocked position. When the
sled 25330 is advanced distally from its unfired position, the sled
25330 drives the proximal driver 25325' so that the driver wedge
portion 25326' is driven out of the sled notch 25331. As a result,
the magnetic portion 25327' is no longer in close enough proximity
to the lockout member 25340 to hold the lockout member in its
unlocked position and, therefore, the lockout member is
spring-biased into its locked position (FIG. 119). A datum "D" is
defined as a top surface of the sled 25330 and, when the bottom of
the wedge portion 25326' is aligned with or above the datum D, the
magnetic relationship between the distal portion 25345 and the
magnetic portion 25327' is insufficient to hold the lockout member
25340 in its unlocked position thus releasing the lockout member
25340.
[0635] Once the lockout member 25340 has been released to its
locked position (FIG. 119) and the installed cartridge assembly
25320 has been at least partially spent (FIG. 119), the system
25300 is prevented from re-firing the same cartridge assembly
25320. When the firing member 25310 is retracted, the lockout pin
25312 rides underneath the distal portion to move the lockout
member 25340 temporarily out of the way until the lockout pin 25312
reaches the catch portion 25343. When the lockout pin 25312 reaches
the catch portion 25343, the lockout member 25340 springs back, or
returns, to its locked position. When in its spent position, the
magnetic portion 25327' does not pull the lockout member 25340 into
its unlocked position. In various instances, the proximal driver
25325' may engage the staple cartridge assembly 25320 in a
press-fit manner when the proximal driver 25325' is moved into its
spent position by the sled 25330 to prevent the proximal driver
25325' from falling toward its unspent position. Such an
arrangement may prevent the lockout member 25340 from being falsely
unlocked. In addition to a spent cartridge assembly, not having a
cartridge installed within the system 25300 urges the lockout
member into its locked position. The mere absence of a proximal
driver altogether prevents the lockout member 25340 from moving to
its unlocked position.
[0636] The control members 25325, 25325' are driven by the sled
25330 and can be referred to as drivers; however, they do not drive
staples. In this way, the control members 25325, 25325' comprise
"false" drivers. That said, it is contemplated that the proximal
most staple driver of a staple cartridge assembly could be used as
a control member.
[0637] Another surgical instrument system is depicted in FIGS.
120-122. The system 25400 comprises a staple cartridge assembly
25410, a lockout circuit system 25420, and a lockout member 25430.
The lockout member 25440 is fixedly attached to a spine portion
25401 of the system 25400. The lockout member 25430 further
comprises a spring member, for example, and is biased toward its
locked position (FIG. 122). When the lockout member 25430 is in its
locked position, a hook portion 25431 of the lockout member 25430
is configured to catch a firing member in the event that the
surgical instrument or clinician tries to advance the firing member
beyond the lockout member 25440 without an unspent staple cartridge
assembly installed within the system 25400.
[0638] To move the lockout member 25440 to its unlocked position so
that a firing member can be advanced through the staple cartridge
assembly 25410 during a staple firing stroke, an electromagnet
25421 is employed. The electromagnet 25421 is disposed on the spine
portion 25401 of the system 25400 but may be disposed at any
suitable location within the system 25400. Conductors are
positioned within the system 25400 along the spine portion 25401,
for example, to power the electromagnet 25421. The lockout circuit
system 25420 which encompasses the electromagnet 25421 and its
power source extends through the staple cartridge assembly 25410.
As discussed below, when the circuit 25420 is complete, or closed,
the electromagnet 25421 is powered. When the circuit is not
complete, or open, the electromagnet 25421 is not powered. As also
discussed below, the presence of a spent, or partially-spent,
cartridge in the system 25400 is a scenario where the circuit 25420
is open. The absence of a cartridge in the system 25400 is another
scenario where the circuit 25420 is open.
[0639] The lockout circuit system 25420 comprises conductors 25422
extending from the electromagnet 25421 to a pair of electrical
contacts 25423 positioned within the system 25400. The electrical
contacts 25423 are positioned within a jaw of the system 25400 such
as a channel portion which receives the staple cartridge assembly
25410, for example. The staple cartridge assembly 25410 further
comprises conductor legs 25425 configured to engage the contacts
25423 when the staple cartridge assembly 25410 is fully seated in
the channel portion of the jaw. The conductor legs 25425 are part
of an electrical trace 25424 defined within the staple cartridge
assembly 25410. The conductor legs 25425 are disposed on a proximal
face 25412 of the cartridge assembly 25410. Also disposed on the
proximal face 25412 is a severable portion 25426 of the electrical
trace 25424 which extends across a slot 25411 of the staple
cartridge assembly 25410. A cutting edge of a firing member is
configured to sever, or incise, the severable portion 25426 during
a staple firing stroke of the firing member.
[0640] When a cartridge assembly is installed and is unspent,
further to the above, the severable portion 25426 is not severed
and the lockout circuit 25420 is complete, or closed. When the
lockout circuit 25420 is complete (FIG. 121), the electromagnet
25421 receives power urging the lockout member 25430 to its
unlocked position permitting the firing member to pass thereby.
After the severable portion 25426 is severed, or cut, during a
firing stroke of the firing member, the surgical instrument detects
an incomplete circuit. An incomplete, or open, circuit indicates
that the staple cartridge assembly 25410 is in a false
configuration. This may be due to having a spent, or partially
spent, cartridge installed or to not having a cartridge installed
within the system 25400. When the circuit 25420 is incomplete (FIG.
122), for example, in a false configuration, the electromagnet
25421 loses power and releases the lockout member 25430 to its
locked position (FIG. 122).
[0641] When the spent staple cartridge assembly 25410 is removed
from the surgical instrument system 25400, the lockout circuit
25420 remains in an open state and the electromagnet 25421 remains
unpowered. When an unspent staple cartridge assembly 25410 is fully
seated in the system 25400, the lockout circuit 25420 is once again
closed and the electromagnet 25421 is repowered to unlock the
lockout member 25430. Notably, if a staple cartridge assembly 25410
is not fully seated in the system 25400, the legs 25425 will not be
engaged with the contacts 25423 and the lockout circuit 25420 will
remain in an open, unpowered state.
[0642] Another surgical instrument system 25500 is depicted in
FIGS. 123 and 124. The system 25500 comprises a staple cartridge
25501 comprising a sled 25510 movable between an unfired position
and a fired position. A firing member 25503 is configured to move
the sled 25510 from its the unfired position to its fired position
to deploy a plurality of staples (not shown) stored within the
cartridge 25501 via ramps 25511. The system 25500 further comprises
a circuit 25520 configured to indicate to the surgical instrument
and/or the user of the system 25500 whether the cartridge installed
within the system 25500 is spent, or partially spent, or whether
the cartridge installed within the system 25500 is unspent and
ready-to-fire. When the sled 25510 is in its unfired position, the
sled 25510 completes the circuit 25520 and when the sled 25510 is
in its fired, or partially-fired, position, the sled 25510 does not
complete the circuit 25520 and the circuit 25520 is open.
[0643] The lockout circuit 25520 comprises a pair of conductors
25521 in electrical communication with a surgical instrument
handle, for example, and a pair of electrical contacts 25522
positioned within a jaw portion of the surgical instrument system
25500 configured to support the staple cartridge 25501. The
electrical contacts 25522 are positioned such that corresponding
pads, or contacts, 25523 disposed on a proximal face 25512 of the
sled 25510 contact the electrical contacts 25522 when the staple
cartridge 25501 is fully seated in the system 25500 and the sled
25510 is in its unfired position (FIG. 124). A tether portion, or
conductor, 25524 connects, or electrically couples, the contacts
25523 and is attached to a proximal middle face 25513 of the sled
25510. The contacts 25522 extend to a bottom face of the sled in
addition to the proximal face 25512. When the sled 25510 is in its
unfired position, the contacts 25523 are engaged with the lockout
circuit 25520 and the lockout circuit 25520 is complete indicating
an unfired, ready-to-fire staple cartridge. When the lockout
circuit 25520 is incomplete, the surgical instrument can be locked
out using software and/or a mechanical feature such as those
disclosed herein, for example. In at least one instance, the
lockout circuit 25520 is in signal communication with a controller
of the surgical instrument system 255500 which supplies power to an
electric motor of the firing drive when the lockout circuit 25520
is in a closed state and prevents power from being supplied to the
electric motor when the lockout circuit 25520 is open.
[0644] A firing member lockout arrangement of a system 25600 is
depicted in FIGS. 125-129. The system 25600 comprises a firing
member 25610, a lockout 25620, and a shaft spine 25601. The shaft
spine 25601 houses the lockout 25620 and the firing member 25610.
The firing member 25610 comprises a distally-presented cutting edge
25611 configured to incise tissue during a staple firing stroke of
the firing member 25610. The lockout 25620 is configured to catch
the firing member 25610 when the lockout 25620 is activated and
permit the firing member 25610 to pass thereby. Further to the
above, the lockout 25620 can be activated by a controller of the
system 25600 when an unspent staple cartridge is not positioned in
the system 25600.
[0645] The lockout 25620 comprises a solenoid 25621 and a
mechanical linkage comprising a first link 25623 and a second link
25624. The links 25623, 25624 are attached at a pivot 25622. The
solenoid 25621 is positioned within the spine 25601 such that the
solenoid 25621 can apply a force to the linkage near the pivot
25622. The lockout 25620 is illustrated in its biased, locked
position in FIGS. 125 and 126. The lockout 25620 further comprises
a lock body, or cam plate, 25625 pivotably coupled with an end of
the second link 25624. The cam plate 25625 is biased into a knife
band window 25612 to catch the firing member 25610 when the
solenoid 25621 is in its unactuated configuration as illustrated in
FIGS. 125 and 126.
[0646] In various instances, multiple windows are provided in the
firing member 25610. Another window, such as the window 25614, may
comprise another proximal surface. The window 25614 may act as an
intermediate lockout to lock the firing member 25610 in the midst
of an operation. An event such as knife binding, for example, may
trigger the solenoid 25621 to release the lockout 25620 into its
locked position to prevent further actuation of the firing member
25610. In various instances, distal surfaces of the windows in the
firing member 25610 may be configured such that when the firing
member 25610 is retracted proximally, the cam plate 25625 may glide
over the distal surfaces to prevent the locking of the firing
member 25610 as the firing member 25610 is moved proximally. In
other instances, locking the firing member 25610 as it moves
proximally may be desirable.
[0647] In some instances, a lockout can be configured to permit
movement in one direction but prevent movement in another
direction. For example, slight retraction of the firing member
25610 may be desirable when the distal movement of the firing
member 25610 has been locked out. When retracted proximally in such
instances, the tissue in the area that caused the firing member
25610 to bind up may naturally decompress and, after a defined time
period of waiting for the tissue to decompress, the solenoid 25621
may be activated to move the lockout 25620 into its unlocked
position (FIGS. 127 and 128) thus permitting the firing member
25610 to be advanced distally again.
[0648] FIGS. 127-129 illustrate the lockout 25620 in its unlocked
position. Upon comparing FIGS. 125 and 126 to FIGS. 127-129, it can
be seen that, when actuated, the solenoid 25621 moves the
mechanical linkage into a collinear configuration to slide, or
urge, the cam plate 25625 out of the window 25612 to unlock the
firing member 25610. Slider supports 25603 are provided within the
spine 25601 to guide the cam plate 25625 as the solenoid 25621
moves the mechanical linkage. The slider supports 25603, in at
least one instance, control the movement of the cam plate 25625 to
a linear path, for example.
[0649] Various embodiments are disclosed herein which comprise a
lockout configured to prevent a firing member from being advanced
distally in certain instances. In many instances, the lockout is
more than adequate to block the distal advancement of the firing
member. In some instances, it may be desirable to have more than
one lockout configured to block the distal advancement of the
firing member. In such instances, a primary lockout and a secondary
lockout can block the distal advancement of the firing member. As
described in greater detail below, the secondary lockout can be
actuated as a result of the primary lockout being actuated. For
example, the primary lockout can block the distal advancement of
the firing member because a staple cartridge jaw is missing from
the loading unit, the staple cartridge jaw is improperly attached
to the loading unit, and/or the staple cartridge jaw has previously
been at least partially fired and, when the distal displacement of
the firing member is impeded by the primary lockout, the secondary
lockout can be actuated to assist the primary lockout in blocking
the distal advancement of the firing member.
[0650] Turning now to FIGS. 141 and 142, a loading unit comprises a
shaft 21730 and a firing member system extending through the shaft
21730. The firing member system comprises a first, or proximal,
firing member 21760 and a second, or distal, firing member 21762.
During a staple firing stroke of the firing member system, the
proximal firing member 21760 is pushed distally by an electric
motor and/or hand crank, for example. Likewise, the distal firing
member 21762 is pushed distally by the proximal firing member
21760. The firing member system further comprises a lockout 21780
positioned intermediate the proximal firing member 21760 and the
distal firing member 21762. The lockout 21780 is configured to
transmit a firing force from the proximal firing member 21760 to
the distal firing member 21762 during a staple firing stroke. In
the event that the force transmitted through the lockout 21780
exceeds the firing force expected during the staple firing stroke,
and/or exceeds a predetermined threshold force, the lockout 21780
moves into a locked configuration as illustrated in FIG. 142 and as
described in greater detail further below.
[0651] The lockout 21780 comprises lock arms 21782 pivotably
mounted to the proximal firing member 21760 at a pivot 21784. The
lock arms 21782 are configured to abut drive surfaces 21768 defined
on the proximal end of the firing member 21762 and push the firing
member 21762 distally. In at least one instance, the drive surfaces
21768 form a conical surface, for example. The lockout 21780
further comprises a biasing member, or spring, 21785 configured to
bias the lockout arms 21782 inwardly toward an unlocked
configuration, as illustrated in FIG. 141, against the drive
surfaces 21768. Each lock arm 21782 comprises a pin 21783 extending
therefrom which is configured to mount an end of the spring 21785
thereto. When the lockout 21780 moves into a locked configuration,
further to the above, the lock arms 21782 slide relative to the
drive surfaces 21768 and splay, or rotate, outwardly into
engagement with the shaft 21730. The shaft 21730 comprises a rack,
or racks, of teeth 21781 defined therein which are engaged by the
lock arms 21782 and prevent the proximal firing member 21760 from
being advanced distally.
[0652] Further to the above, the spring 21785 is resiliently
stretched when the lock arms 21782 are displaced outwardly. The
stiffness of the spring 21785 is selected such that the spring
21785 can hold the lock arms 21782 in their unlocked configuration
against the drive surfaces 21768 when the force transmitted from
the proximal firing member 21760 to the distal firing member 21762
is below the threshold force yet permit the lock arms 21782 to
displace outwardly when the force transmitted from the proximal
firing member 21760 to the distal firing member 21762 exceeds the
threshold force. The force transmitted between the proximal firing
member 21760 and the distal firing member 21762 is below the
threshold force when the firing system is firing the staples from a
staple cartridge and above the threshold force when the distal
firing member 21760 is blocked by a missing cartridge and/or spent
cartridge lockout, for example. In such instances, the lockout
21780 is deployed in response to another lockout blocking the
advancement of the staple firing system. Stated another way, the
lockout 21780 can comprise a secondary lockout which co-operates
with a primary lockout to block the advancement of the staple
firing system.
[0653] In various instances, further to the above, the lockout
21780 can provide overload protection to the staple firing system.
For instance, the staple firing system can become jammed during a
firing stroke and the lockout 21780 can deploy to stop the staple
firing stroke. In such instances, the lockout 21780 can transfer
the firing force, or at least a portion of the firing force, to the
shaft 21730 instead of the staple cartridge. As a result, the
lockout 21780 can prevent the firing system and/or staple cartridge
from being damaged, or at least further damaged. In such instances,
the lockout 21780 is deployed in response to a condition of the
stapling assembly other than a predefined lockout. Referring again
to FIGS. 141 and 142, the teeth racks 21781 are the same length as,
or longer than, the firing stroke of the staple firing system such
that the lockout 21780 can engage the teeth racks 21781 at any
point during the firing stroke.
[0654] When the force being transmitted from the proximal firing
member 21760 to the distal firing member 21762 drops below the
force threshold, the spring 21785 can resiliently return the lock
arms 21782 to their unlocked configuration and into engagement with
the drive surfaces 21768 of the distal firing member 21762. At such
point, the firing stroke can be completed if the condition that
caused the second lockout 21780 to actuate has abated. Otherwise,
the proximal firing member 21760 can be retracted.
[0655] Turning now to FIGS. 151-154, a loading unit comprises a
shaft 24530 and a staple firing system extending through the shaft
24530. The staple firing system comprises a proximal firing member
24560 and a distal firing member 24562. During a staple firing
stroke of the staple firing system, the proximal firing member
24560 is pushed distally by an electric motor and/or hand crank,
for example. Likewise, the distal firing member 24562 is pushed
distally by the proximal firing member 24560. The staple firing
system further comprises a lockout 24580 positioned intermediate
the proximal firing member 24560 and the distal firing member
24562. The lockout 24580 is configured to transmit a firing force
from the proximal firing member 24560 to the distal firing member
24562 during a staple firing stroke. In the event that the force
transmitted through the lockout 24580 exceeds the firing force
expected during the staple firing stroke, and/or exceeds a
predetermined threshold force, the lockout 24580 moves into a
locked configuration as illustrated in FIGS. 153 and 154.
[0656] Referring primarily to FIGS. 152 and 154, the lockout 24580
comprises a substantially C-shaped configuration, for example,
which extends around a portion of the distal firing member 24562.
The lockout 24580 comprises lock arms 24584 which grip the distal
firing member 24562 when the lockout 24580 is in its unactuated, or
unlocked, configuration, as illustrated in FIGS. 151 and 152. The
lockout 24580 further comprises a drive tab 24582 which is
contacted by the proximal firing member 24560 when the proximal
firing member 24560 is driven distally during a staple firing
stroke of the staple firing system. When the lockout 24580 is
pushed distally by the proximal firing member 24560, the lockout
24580 abuts a drive surface 24564 defined on the distal firing
member 24562 and pushes the distal firing member 24562 distally. As
a result, the lockout 24580 transmits a pushing force from the
proximal firing member 24560, through the lock arms 24584, and into
the drive surface 24564.
[0657] Referring primarily to FIG. 151, the drive tab 24582 is not
co-planar with the lock arms 24584; rather, the drive tab 24582
extends laterally from a plane defined by the lock arms 24584. More
particularly, the drive tab 24582 comprises an elevated portion
which is upset from the lock arms 24584, at least when the lockout
24580 is in its unactuated configuration. The lockout 24580 is
configured to remain in its unactuated configuration so as long as
the pushing force being transmitted through the lockout 24580 is
below a threshold force. The pushing force required to complete the
firing stroke is below this threshold force. When the pushing force
transmitted through the lockout 24580 exceeds the threshold force,
the lockout 24580 collapses into its actuated configuration as
illustrated in FIGS. 153 and 154. The pushing force can exceed the
threshold force when the distal firing member 24562 abuts a missing
cartridge and/or spent cartridge lockout in the staple cartridge,
for example.
[0658] Referring again to FIGS. 153 and 154, the lock arms 24584
splay radially outwardly to engage the shaft 24530 when the lockout
24580 moves into its actuated configuration. In at least one
instance, the shaft 24530 can comprise a recess 24534 defined
therein which is configured to receive the lock arms 24584. The
recess 24534 is defined in the shaft 24530 such that the lock arms
24584 are aligned with the recess 24534 when the distal advancement
of the firing system is blocked by a missing cartridge and/or spent
cartridge lockout. Once the lock arms 24584 are in the recess
24534, the lockout 24580 can also block the distal advancement of
the firing system. In various instances, the recess 24534 is
positioned and arranged to stop the firing member 24560 before a
cutting member of the firing drive incises tissue. When the
proximal firing member 24560 is retracted and the pushing load
being applied to the lockout 24580 drops below the threshold force,
the lockout 24580 can resiliently return back to its unactuated
configuration. At such point, an unspent cartridge can be placed in
the loading unit to defeat the missing cartridge and/or spent
cartridge lockout such that the firing system can be advanced
distally through its staple firing stroke. At any point, however,
the proximal firing member 24560 can be retracted to retract the
distal firing member 24562.
[0659] The threshold force of the lockouts described above can be
actuated if the staple firing system is accelerated too quickly.
Stated another way, an acceleration spike in a staple firing system
can cause a force spike which exceeds a threshold force of the
lockout which causes the lockout to stop the staple firing system.
Such instances can arise when a firing trigger mechanically coupled
to the staple firing system is squeezed too quickly and or a power
supply is suddenly applied to an electric motor of the staple
firing system, for example. In at least one instance, an
acceleration spike can occur when the power applied to the
electrical motor is improperly modulated and/or when a software
fault has occurred in the motor controller, for example. Such
acceleration spikes and force spikes are typically transient and
the firing stroke can be completed once the force being transmitted
through the staple firing system drops back below the threshold
force.
[0660] Turning now to FIG. 143, a stapling assembly comprises a
shaft 21830 and a firing member 21860 extending therethrough. The
stapling assembly further comprises a lockout system 21880. The
lockout system 21880 comprises lock arms 21882 rotatably mounted to
the staple firing member 21860 about pivots 21884. Each lock arm
21882 is rotatable between an unactuated position, which is shown
in solid lines in FIG. 143, and an actuated position, which is
shown in phantom lines in FIG. 143. The lockout system 21880
further comprises cantilever springs 21885 mounted to the staple
firing member 21860 configured to bias the lock arms 21882 into
their unactuated positions. The stapling assembly further comprises
an actuator 21862 mounted to the firing member 21860 which is
configured to slide, or drag, against the housing of the shaft
21830 when the firing member 21860 is moved distally. When the
firing member 21860 is accelerated too quickly, or above a
threshold level, the drag force between the actuator 21862 and the
shaft 21830 will slow or grip the actuator 21862 and allow the
firing member 21860 to slide relative to the actuator 21862. In
such instances, the relative movement between the actuator 21862
and the firing member 21860 drives the lock arms 21882 outwardly
into engagement with racks of teeth 21881 defined in the shaft
21830 to stop, impeded, or slow the distal progression of the
staple firing system.
[0661] Turning now to FIG. 144, a stapling assembly comprises a
shaft 21930 and a firing member 21960 configured to be translated
within the shaft 21930. The stapling assembly further comprises a
lockout system 21980 including a lock arm 21982 rotatably mounted
to the staple firing member 21960 about a pivot 21984. The lock arm
21982 is rotatable between an unactuated position, which is shown
in solid lines in FIG. 144, and an actuated position, which is
shown in phantom lines in FIG. 144. The lockout system 21980
further comprises a coil spring 21985 mounted to the staple firing
member 21960 and the lock arm 21982 which is configured to bias the
lock arm 21982 into its unactuated position. The lockout system
21980 further comprises an actuator, or weight, 21989 mounted to
the lock arm 21982 which is configured to inertially rotate the
lock arm 21982 when the firing member 21960 is accelerated
distally. When the firing member 21960 is accelerated too quickly,
or above a threshold level, the inertial force generated by the
weight 21989 is sufficient to overcome the biasing force of the
spring 21985 and rotate the lock arm 21982 into engagement with a
rack of teeth 21981 defined in the shaft 21930. In such instances,
the lockout system 21890 will stop, impede, or slow the distal
progression of the staple firing system until the acceleration of
the firing member 21960 drops below the threshold and the spring
21985 can pull the lock arm 21982 out of engagement with the rack
of teeth 21981.
[0662] In addition to or in lieu of the above, a stapling assembly
can comprise means for regulating the speed of a staple firing
system which can, in various instances, reduce or smooth
acceleration spikes generated within the staple firing system.
Turning now to FIG. 155, a stapling assembly can comprise a shaft
22030 and a staple firing member 22060 configured to be translated
within the shaft 22030. The stapling assembly further comprises a
dampening system 22080 including a dampening member, or bumper,
22081 configured to slow the distal translation and/or proximal
translation of the staple firing member 22060. The dampening member
22081 is comprised of a compliant and/or elastomeric material, such
as rubber, for example, which is configured to generate a dampening
force opposing the pushing force being applied to the firing member
22060 when the firing member 22060 contacts the dampening member
22081. The firing member 22060 extends through an aperture defined
in the dampening member 22081 and comprises an annular ridge 22082
configured to engage the dampening member 22081. Although only one
dampening member 22081 and shaft ridge 22082 are illustrated in
FIG. 155, the stapling assembly can comprise any suitable number of
dampening members 22081 and/or shaft ridges 22082, for example.
[0663] Further to the above, the bumper 22081 is positioned within
the shaft 22030 such that the ridge 22082 contacts the bumper 22081
just before the firing member 22060 reaches a missing cartridge
and/or spent cartridge lockout. In such instances, the dampening
system 22080 can reduce the speed of the firing member 22060 before
the firing member 22060 reaches a lockout and, as a result, reduce
the possibility that the firing member 22060 crashes through, or
unintentionally defeats, the lockout.
[0664] Turning now to FIG. 156, a stapling assembly can comprise a
shaft 22130 and a staple firing member 22160 configured to be
translated within the shaft 22130. The stapling assembly further
comprises a hydraulic dampening system 22180 including a cylinder
assembly configured to slow the firing member 22160 during its
staple firing stroke. The cylinder assembly comprises an input
piston 22181 slidably positioned in a chamber 22183 which is
sealingly engaged with the sidewalls of the chamber 22183. The
cylinder assembly further comprises an output piston 22184 slidably
positioned in a chamber 22185 which is sealingly engaged with the
sidewalls of the chamber 22185. As illustrated in FIG. 156, a
portion of the chamber 22183 is in fluid communication with a
portion of the chamber 22185 via a restricted orifice 22189. An
incompressible, or substantially incompressible, fluid 22182 is
contained in the chambers 22183 and 22185 between the input piston
22181 and the output piston 22184. In at least one instance, the
fluid 22182 comprises hydraulic fluid, for example. In certain
instances, the fluid 22182 comprises salt water, for example. When
the firing member 22160 is advanced distally, the firing member
22160, or a shoulder defined on the firing member 22160, contacts a
cam, or angled, surface defined on the input piston 22181 and
drives the input piston downwardly into the chamber 22183. In such
instances, the input piston 22181 displaces the fluid 22182 into
the chamber 22185 which, in turn, displaces the output piston 22184
within the chamber 22185. The movement of the output piston 22184,
the fluid 22182, and the input piston 22181 is resisted by a spring
22186 positioned in the chamber 22185. As a result of the above,
the dampening system 22180 applies a drag force to the firing
member 22160 which increases proportionately with an increase in
the speed of the firing member 22160 and can limit the maximum
speed of the firing member 22160. Similar to the above, the
dampening system 22180 can be positioned in the shaft 22130 so that
the firing member 22160 contacts the dampening system 22180 just
before, or at least before, the firing member 22160 reaches a
lockout.
[0665] Turning now to FIG. 158, a stapling assembly can comprise a
shaft 22330 and a firing member 22360 slidable within the shaft
22330. The stapling assembly further comprises a pneumatic piston
arrangement 22380 configured to apply a drag force to the firing
member 22360. The firing member 22360 comprises a cylindrical, or
at least substantially cylindrical, rod extending through a support
defined in the shaft 22330 and an integrally-formed piston 22362
slideably positioned in a cylinder 22383 defined in the shaft
22330. The piston arrangement 22380 comprises one or more piston
seals 22382 seated within seal grooves extending around the piston
22362. The piston seals 22382 are sealingly engaged with the piston
22362 and a cylinder wall 22381 of the cylinder 22383. The piston
arrangement 22380 further comprises one or more seals 22361, seated
in seal grooves defined in the shaft support, which are sealingly
engaged with the shaft 22330 and the firing member 22360. In
various instances, the seals 22361 and 22383 comprise compliant
O-rings, for example. In any event, the distal displacement of the
firing member 22360 compresses air in the cylinder 22383 and forces
the compressed air through a vent 22363 defined in the shaft 22330.
This arrangement applies a drag force to the firing member 22360
which increases proportionately with the speed of the firing member
22360.
[0666] Further to the above, the diameter and/or length of the vent
22363 can be selected to limit the speed of the firing member 22360
in a desired manner. Moreover, the seals 22382 are sealingly
engaged with the shaft 22330 when the firing member 22360 is
advanced distally and retracted proximally and, as a result, the
piston arrangement 22380 applies a drag force to the firing member
22360 when the firing member 22360 is advanced distally and
retracted proximally. In at least one embodiment, a valve, such as
a one-way valve, for example, can be positioned and arranged
relative to the vent 22363. The valve can provide an orifice having
a smaller diameter when the firing member 22360 is being advanced
distally and an orifice having a larger diameter when the firing
member 22360 is retracted proximally. In such instances, the vent
can apply a larger drag force to the firing member 22360 when the
firing member 22360 is being advanced distally as compared to when
the firing member 22360 is being retracted proximally for a given
speed. As a result, the valve can provide different directional
speed limits.
[0667] Turning now to FIG. 147, a stapling assembly can comprise a
staple firing shaft 22060 which is displaced distally to eject
staples from a staple cartridge. The stapling assembly further
comprises means for applying an electromagnetic drag force and/or
magnetic drag force to the staple firing shaft 22260. In at least
one instance, the stapling assembly comprises a wound conductor
coil 22280 which is energized by a power source, such as a battery,
for example, such that a current flows through the coil 22280. The
wound conductor coil 22280, once energized, creates a magnetic
field which interacts with magnetic elements 22282 defined in
and/or attached to the shaft 22260. In at least one instance, the
magnetic elements 22282 comprise permanent magnets, for example.
The polarity of the power source is applied to the coil 22280 such
that coil 22280 generates a magnetic field which applies a
repulsive force to the ferromagnetic elements 22282 as the firing
member 22260 approaches the coil 22280 and, as a result, applies a
drag force to the firing member 22360 during the staple firing
stroke. The intensity or strength of the magnetic field created by
the coil 22280 is stronger near the coil 22280 and, as a result,
the drag force applied to the firing member 22360 will be greater
near the coil 22280.
[0668] In view of the above, the coil 22280, when energized, can
act as a brake and, in certain instances, stop, or at least assist
in stopping, the longitudinal movement of the firing member 22360
at the end of the staple firing stroke, for example. In certain
instances, the voltage polarity applied to the coil 22280 can be
reversed to reverse the flow of current through the coil 22280
during the retraction stroke of the firing member 22360. In such
instances, the coil 22280 can apply a braking force to the firing
member 22360 as the firing member 22360 is retracted away from the
coil 22280. Although only one coil 22280 is illustrated in FIG.
147, a stapling assembly can comprise any suitable number of
energizable coils. In addition to or in lieu of the above, a
stapling assembly can comprise one or more permanent magnets
mounted to the shaft of the stapling assembly which can apply a
magnetic braking force to the staple firing member.
[0669] In at least one embodiment, referring again to FIG. 147, a
power source is not applied to the coil 22280 and the coil 22280
can act as electric/inductive brake. In such embodiments, the
movement of the magnetic elements 22282 through the coil 22280
generates a current in the coil 22280 which, in turn, generates a
magnetic field which opposes the movement of the magnetic elements
22282. When the magnetic elements 22282 are moved slowly relative
to the coil 22280, the opposing magnetic field exerts a negligible
braking force on the firing member 22260. When the magnetic
elements 22282 are moved quickly relative to the coil 22280, the
opposing magnetic field is much stronger and applies a much
stronger braking force to the firing member 22260. The coil 22280
and the magnetic elements 22282 can be positioned and arranged such
that the braking force is applied to the firing member 22260 just
before, or at least before, the firing member 22260 reaches a
missing cartridge and/or spent cartridge lockout.
[0670] As discussed above, the firing member of a staple firing
system can be driven by an electric motor. A motor controller, that
may include a processor, and which can be implemented as a
microcontroller, can be utilized to control the voltage supplied to
the electric motor and, as a result, control the speed of the
staple firing member. In certain instances, the motor controller
can utilize pulse width modulation (PWM) and/or frequency
modulation (FM), for example, to control the speed of the electric
motor. In other instances, the motor controller may not modulate
the power supplied to the electric motor. In either event, a
stapling assembly can comprise a sensor system in communication
with the motor controller which is configured to detect whether or
not an unspent staple cartridge, or an unspent staple cartridge
jaw, has been attached to the stapling assembly. In the event that
the sensor system detects that an unspent staple cartridge is
attached to the stapling assembly, the motor controller can
recognize a signal from the sensor system indicating the presence
of an unspent staple cartridge and operate the electric motor of
the staple firing system when the user of the stapling assembly
actuates the staple firing system. In the event that the sensor
system does not detect an unspent staple cartridge attached to the
stapling assembly, the motor controller receives a signal from the
sensor system indicating that an unspent cartridge is not attached
to the stapling assembly and prevents the electric motor from
operating the staple firing system. Such an arrangement can
comprise an electronic or software lockout.
[0671] In addition to or in lieu of the above, a stapling system
can comprise a sensor system configured to track the displacement
of a staple firing member. Referring to FIG. 149, a staple firing
member 22460 of a stapling assembly 22400 is movable between a
proximal, unfired position and a distal, fired position along a
staple firing path 22463. A detectable magnetic element 22461, for
example, is mounted to the staple firing member 22460 which moves
along, or at least substantially along, the staple firing path
22463. In at least one instance, the magnetic element 22461 is a
permanent magnet, for example, which is comprised of iron, nickel,
and/or any other suitable material. The sensor system comprises a
first, or proximal, sensor 22401' and a second, or distal, sensor
22401 which are configured to detect the magnetic element 22461 as
it moves along the staple firing path 22463 with the translatable
member 22460. The first sensor 22401' and the second sensor 22401
each comprise a Hall Effect sensor; however, the sensors 22401' and
22401 can comprise any suitable sensor. The sensors 22401' and
22401 output a voltage that varies depending on their respective
distances from the magnetic element 22461 (a higher voltage is
output when the distance is small and a lesser voltage is output
when the distance is great).
[0672] Further to the above, the sensor system comprises a sensor
circuit including, among other things, a voltage source 22403, for
example, in communication with the sensors 22401' and 22401 which
supplies power to the sensors 22401' and 22401. The sensor circuit
further comprises a first switch 22405' in communication with the
first sensor 22401' and a second switch 22405 in communication with
the second sensor 22401. In at least one instance, the switches
22401' and 22401 each comprise a transistor, such as a FET, for
example. The outputs of the sensors 22401', 22401 are connected to
the central (gate) terminal of the switches 22405', 22405,
respectively. Prior to the firing stroke of the staple firing
member 22460, the output voltages from the sensors 22401', 22401
are high so that the first switch 22405' and the second switch
22405 are in closed conditions.
[0673] When the magnetic element 22461 passes by the first sensor
22401', the voltage output of the first sensor 22401' is sufficient
to change the first switch between a closed condition and an open
condition. Similarly, the voltage output of the second sensor 22401
is sufficient to change the second switch 22405 between a closed
condition and an open condition when the magnetic element 22461
passes by the second sensor 22401. When both of the switches 22405'
and 22405 are in an open condition, a ground potential is applied
to an operational amplifier circuit 22406. The operational
amplifier circuit 22406 is in signal communication with an input
channel of a microcontroller 22490 of the motor controller and,
when a ground potential is applied to the operational amplifier
circuit 22406, the microcontroller 22490 receives a ground signal
from the circuit 22406.
[0674] When the microcontroller 22490 receives a ground signal from
the circuit 22406, the microcontroller 22490 can determine that the
staple firing stroke has been completed and that the staple
cartridge positioned in the stapling assembly 22400 has been
completely spent. Other embodiments are envisioned in which the
sensor system is configured to detect a partial firing stroke of
the staple firing member 22460 and supply a signal to the
microcontroller 22490 that indicates that the staple cartridge has
been at least partially spent. In either event, the motor
controller can be configured to prevent the firing member 22460
from performing another firing stroke until the staple cartridge
has been replaced with an unspent cartridge. In at least one
instance, further to the above, the sensor system comprises a
sensor configured to detect whether the spent cartridge has been
detached from the stapling assembly and/or whether an unspent
cartridge has been assembled to the stapling assembly.
[0675] Further to the above, the sensor system can be configured to
detect whether the firing member 22460 has been retracted along a
retraction path 22462. In at least one instance, the magnetic
element 22461 can be detected by the sensor 22401 as the magnetic
element 22461 is retracted along the path 22462 and change the
second switch 22405 back into a closed condition. Similarly, the
magnetic element 22461 can be detected by the sensor 22401' as the
magnetic element 22461 is retracted along the path 22463 and change
the first switch 22405' back into a closed condition. By closing
the switches 22405 and 22405', the voltage polarity from the
battery 22403 is applied to the circuit 22406 and, as a result, the
microprocessor 22490 receives a Vcc signal from the circuit 22406
on its input channel. In various instances, the motor controller
can be configured to prevent the electric motor from being operated
to perform another staple firing stroke until the firing member
22460 has been fully retracted.
[0676] A stapling assembly 25700 comprising a staple cartridge
25730, a firing member 25760, and a lockout 25780 is illustrated in
FIGS. 130-133. The staple cartridge 25730 comprises a sled 25770
which is pushed distally by the firing member 25760 during a staple
firing stroke of the firing member 25760. During the staple firing
stroke, the firing member 25760 pushes the sled 25770 distally from
a proximal, unfired position (FIGS. 130 and 131) toward a distal,
fired position (FIGS. 132 and 133). The sled 25770 is configured to
slide under staples removably stored in staple cavities defined in
the staple cartridge 25730 and eject the staples from the staple
cavities. In various instances, the staple cartridge 25730
comprises staple drivers which, one, support the staples in the
staple cartridge and, two, are driven by the sled 25770 to eject
the staples from the staple cavities. After the staple firing
stroke of the firing member 25760 has been completed, the firing
member 25760 is retracted proximally. Notably, the sled 25770 is
not retracted proximally with the firing member 25760.
[0677] Further to the above, the lockout 25780 comprises lock arms
25782. Each lock arm 25782 comprises a cantilever beam including a
first end mounted to a shaft of the stapling assembly 25700 and a
movable second end configured to engage the firing member 25760.
The firing member 25760 comprises lock apertures 25762 defined
therein which are configured to receive the second ends of the lock
arms 25782. When the sled 25770 is in its proximal, unfired
position (FIGS. 130 and 131), however, the sled 25770 deflects the
lock arms 25782 laterally away from the firing member 25760 and
holds the lock arms 25782 out of the lock apertures 25762. As a
result, the lockout 25780 does not prevent the firing member 25760
from performing a staple firing stroke when a staple cartridge
25730 is positioned in the stapling assembly 25700 and the sled
25770 of that staple cartridge 25730 is in its unfired position.
When the firing member 25760 is advanced distally during its staple
firing stroke, the lock apertures 25762 defined in the firing
member 25760 are no longer aligned with the lock arms 25782 and, as
a result, the lock arms 25782 do not interfere with the stapling
firing stroke once it has begun. After the staple firing stroke of
the firing member 25760, the firing member 25760 is retracted
proximally to its unfired position, as illustrated in FIGS. 132 and
133. At such point, the lock apertures 25762 are re-aligned with
the lock arms 25782 and, as the sled 25770 was not returned to its
unfired position, the lock arms 25782 can enter into the lock
apertures 25762 and lockout the firing member 25760.
[0678] As a result of the above, the lockout 25780 comprises a
missing cartridge lockout and a spent cartridge lockout.
Alternative embodiments are envisioned in which the staple
cartridge 25730 is not removable from the stapling assembly 25700.
In such embodiments, the lockout 25780 would comprise a spent
cartridge lockout.
[0679] Referring to FIGS. 134 and 135, a stapling assembly 25800
comprises a staple cartridge 25830 including a cartridge body
25831, a sled 25870 movable distally within the cartridge body
25831, and staple drivers 25880. The cartridge body comprises
staple cavities 25832 defined therein and staples removably stored
in the staple cavities 25832. The sled 25870 is translatable
distally between a proximal, unfired position (FIG. 134) and a
distal, fired position during a staple firing stroke. During the
staple firing stroke, the sled 25870 contacts the staple drivers
25880 and drives the staple drivers 25880 upwardly within the
staple cavities 25832, as illustrated in FIG. 135. Notably, the
cartridge body 25831 comprises several longitudinal rows of staple
cavities 25832 defined therein and the staple drivers 25880 are
arranged in longitudinal rows which are aligned with the
longitudinal rows of staple cavities 25832. During the staple
firing stroke of the sled 25870, the staple drivers 25880 and the
staples are driven sequentially as the sled 25870 is advanced
distally. Stated another way, the proximal-most staples drivers
25880 and staples are fired before the distal-most drivers 25880
and staples are fired. In various instances, the firing of the
proximal-most staple drivers 25880 marks the beginning of the
staple firing stroke.
[0680] Referring again to FIGS. 134 and 135, the staple cartridge
25830 comprises a lockout circuit configured to detect when the
staple cartridge 25830 has been at least partially fired. A portion
of the lockout circuit extends through the cartridge body 25831 and
includes electrical contacts 25834. Another portion of the lockout
circuit extends through the proximal-most staple driver 25880 and
includes electrical contacts 25884 which are aligned with the
electrical contacts 25834. When the staple cartridge 25830 is in
its unfired condition (FIG. 134), the driver contacts 25884 abut
the cartridge body contacts 25834 and, as a result, the lockout
circuit is in a closed condition. When the proximal-most staple
driver 25880 is lifted upwardly by the sled 25870, the driver
contacts 25884 are disengaged from the cartridge body contacts
25834 and the lockout circuit is opened. The lockout circuit is in
signal communication with a controller of the stapling assembly
25800 which is configured to interpret that the opening of the
lockout circuit means that the staple cartridge 25830 in the
stapling assembly 25800 has been at least partially fired and that
the staple firing system should not be operated a second, or
additional, time without the staple cartridge 25830 being replaced
with an unspent staple cartridge 25830. Once an unspent staple
cartridge 25830 has been positioned in the stapling assembly 25800
and the lockout circuit is closed by the unspent staple cartridge
25830, the controller can permit the staple firing system to be
operated once again.
[0681] In various instances, referring again to FIG. 135, the
proximal-most staple driver 25880 is in a slight friction-fit
engagement with the sidewalls of a staple cavity 25832. As a
result, the proximal-most staple driver 25880 stays in its fired
position after it has been lifted upwardly by the sled 25870 and,
as such, the driver contacts 25884 are held out of contact with the
cartridge body contacts 25834 once the lockout circuit is opened
and the possibility of the lockout circuit re-closing is
reduced.
[0682] As described above, the staple firing stroke of the staple
cartridge 25830 opens the lockout circuit. In alternative
embodiments, the staple firing stroke of a staple cartridge can
close a lockout circuit. In such embodiments, the controller of the
stapling assembly can interpret that the closing of the lockout
circuit means that the staple cartridge has been at least partially
fired and that the staple firing system should not be operated a
second, or additional, time without the staple cartridge being
replaced with an unspent staple cartridge.
[0683] In addition to or in lieu of the above, a stapling assembly
can include a detection circuit configured to detect when the
distal-most staple driver 25880 and staple have been fired. In at
least one such instance, the distal-most staple driver 25880 can
have the contact arrangement described above, and/or any other
suitable arrangement, which changes the condition of the detection
circuit. The controller of the stapling assembly can interpret that
the change in condition of the detection circuit means that the
staple cartridge has been completely fired and that the staple
firing system should be retracted, for instance.
[0684] Turning now to FIGS. 136 and 137, a stapling assembly 25900
comprises a shaft 25910, an anvil jaw 25920, and a staple cartridge
jaw which is removably attachable to a frame of the shaft 25910.
The stapling assembly 25900 further comprises an articulation joint
25940 configured to permit the anvil jaw 25920 and the staple
cartridge jaw to articulate relative to the shaft 25910. Similar to
the embodiments described herein, the staple cartridge jaw is
movable between an open position and a closed position to clamp the
tissue of a patient against the anvil jaw 25920.
[0685] The stapling assembly 25900 further comprises a lockout
circuit 25980 configured to detect when the staple cartridge jaw is
in its closed position. The lockout circuit 25980 comprises
conductors 25984 extending through the shaft 25910 and an electrode
pad 25982 positioned in the anvil jaw 25920. The conductors 25984
place the electrode pad 25982 in communication with a controller of
the stapling assembly 25900 and, in various instances, the
controller can apply a voltage potential across the conductors
25984 to create a monitoring current within the lockout circuit
25980. As described in greater detail below, the controller is
configured to evaluate the impedance and/or resistivity of the
lockout circuit 25980 and monitor for changes in the impedance
and/or resistivity of the lockout circuit 25980 via the monitoring
current.
[0686] Further to the above, referring primarily to FIG. 137, the
staple cartridge jaw comprises a pin 25932 configured to puncture
and/or deform the electrode pad 25982 when the staple cartridge jaw
is moved into its closed position. The pin 25932 is comprised of
stainless steel, for example, and disrupts the impedance and/or
resistivity of the lockout circuit 25980 which is detected by the
controller. Such a disruption can inform the controller that, one,
a staple cartridge jaw has been attached to the stapling assembly
25900 and, two, the staple cartridge jaw has been closed. At such
point, the controller can electronically unlock the staple firing
system and permit the staple firing system to perform its staple
firing stroke. In at least one such instance, the staple firing
system comprises an electric motor and a battery, wherein the
controller comprises an electronic or software lockout that
prevents the battery from supplying sufficient power to the
electric motor to perform the staple firing stroke until the
controller detects that a sufficient change in a parameter of the
lockout circuit 25980 has occurred. As a result, the staple firing
system of the stapling assembly 25900 cannot be operated until the
staple cartridge jaw has been closed.
[0687] Referring again to FIG. 136, the lockout circuit 25980
extends through the shaft 25910 and the anvil jaw 25920, but not
the staple cartridge jaw. While the pin 25932 of the staple
cartridge jaw disrupts the lockout circuit 25980, as described
above, the pin 25932 is electrically insulated within the staple
cartridge jaw and does not close or open the lockout circuit
25980.
[0688] Alternatively, referring again to FIGS. 136 and 137, the pin
25932 is part of the lockout circuit 25980 and the electrode pad
25982 comprises a contact which is punctured by the pin 25932. In
such embodiments, the pin 25932 closes the lockout circuit when the
pin 25932 engages the electrode pad 25982 such that a sensing
current can flow between the pin 25932 and the electrode pad 25982.
In at least one instance, the electrode pad 25982 can be comprised
of a self-healing material, such as a conductive gel, for example.
In various instances, the pin 25932 may puncture tissue before
entering into the electrode pad 25982. Referring again to FIG. 136
the electrode pad 25982 can comprise a wipe pad 25983 configured to
at least partially clean the pin 25932 before the pin 25932 enters
into the electrode pad 25982.
[0689] Referring to FIGS. 138 and 139, the shaft 25910 comprises an
outer housing 25911 including a longitudinal slot 25912 defined
therein which is configured to slidably receive a firing member
25960. The longitudinal slot 25912 extends through the articulation
joint 25940 and into the anvil jaw 25920 and the staple cartridge
jaw. When the anvil jaw 25920 and the staple cartridge jaw are in
an unarticulated orientation, the longitudinal slot 25912 is
straight, or does not include a change in direction. When the anvil
jaw 25920 and the staple cartridge jaw are in an articulated
orientation, the longitudinal slot 25912 comprises a change in
direction. As a result, the firing member 25960 needs to be
sufficiently flexible to pass through the articulation joint 25940.
Such flexibility of the firing member 25960, however, may cause the
firing member 25960 to buckle during the staple firing stroke. To
prevent or reduce such buckling, the stapling assembly 25900
further comprises anti-buckling, or anti-blowout, plates 25944
positioned on opposite sides of the firing member 25960 which are
configured to support the firing member 25960 within and/or
adjacent to the articulation joint 25940. In at least one instance,
the anti-buckling plates 25944 are positioned in the shaft 25910
proximally with respect to the articulation joint 25940.
[0690] Further to the above, the shaft 25910 and the articulation
joint 25940 include routing channels defined therein configured to
receive the conductors 25984 of the lockout circuit 25980. For
instance, the shaft 25910 comprises channels 25915 defined in the
outer housing 25911 of the shaft 25910. In at least one such
instance, a first conductor 25984 extends through a first channel
25915 and a second conductor 25984 extends through a second channel
25915. Moreover, each anti-buckling plate 25984 comprises a channel
25945 defined therein configured to receive a conductor 25984. The
channels 25945 are aligned, or at least substantially aligned, with
the channels 25915.
[0691] Referring to FIG. 140, a staple cartridge 26230 comprises a
longitudinal slot 26231 and longitudinal rows of staple cavities
26232 defined therein. During a staple firing stroke, a firing
member, such as the firing member 25960, for example, is configured
to slide within the longitudinal slot 26231 to push a sled, such as
sled 25770, for example, distally to eject staples from the staple
cavities 26232. Similar to the above, the firing member 25960 and
the sled 25770 sequentially eject the staples from the staple
cavities 26232 and, as a result, sequentially deform the staples
against an anvil, such as the anvil 25920, for example. The pushing
force transmitted through the firing member 25960 to sequentially
deform the staples is rarely, if ever, constant. Rather, the
pushing force typically includes a series of spikes which are
coincident with the staples being deformed against the anvil. FIG.
141A illustrates such force spikes. More particularly, FIG. 141A
illustrates a typical force profile 26260 of the pushing force (F)
experienced by the firing member 25960 over the length (L) of the
staple firing stroke. The force profile 26260 comprises peaks 26261
and valleys 26262 between the peaks 26261.
[0692] In various instances, further to the above, the controller
of a stapling assembly can be configured to monitor the pushing
force being applied to the firing member 25960. In at least one
instance, the staple firing system comprises an electric motor
configured to drive the firing member 25960 and, in such instances,
the current drawn by the electric motor during the staple firing
stroke can be monitored as a proxy for the pushing force being
applied to the firing member 25960. In fact, a chart comparing the
current drawn by the electric motor over the staple firing stroke
may look very similar to the force profile 26260 illustrated in
FIG. 140A. In certain embodiments, a force transducer can be
utilized to monitor the pushing force. In any event, the controller
can count the peaks 26261 of the force profile 26260 during the
firing stroke and stop the staple firing stroke after a
predetermined count threshold has been reached. In at least one
such instance, a staple cartridge can comprise 100 staples
removably stored therein and, after the controller has counted 100
force and/or current spikes, the controller can interrupt the power
to the electric motor, for example, as it can be assumed that the
staple firing stroke has been completed.
[0693] In various instances, further to the above, a stapling
assembly can be configured for use with staple cartridges having
different lengths and/or different quantities of staples stored
therein. For example, the stapling assembly can be usable with a
first staple cartridge configured to apply an approximately 45 mm
staple line and a second staple cartridge configured to apply an
approximately 60 mm staple line. The first staple cartridge
comprises a first quantity of staples removably stored therein and
the second staple cartridge comprises a second quantity of staples
removably stored therein which is more than the first quantity.
When the first staple cartridge is being used with the stapling
assembly, the controller is configured to stop the staple firing
stroke after the controller identifies a first number of force
spikes and, similarly, the controller is configured to stop the
staple firing stroke after the controller identifies a second
number of force spikes when the second staple cartridge is being
used with the stapling assembly. Stated another way, the controller
can be configured to evaluate the force profile of the first
cartridge, such as force profile 26260, for example, and the force
profile of the second cartridge, such as force profile 26260', for
example. Moreover, the controller can be configured to monitor the
force profiles of any suitable number of staple cartridges.
[0694] Further to the above, the staple cartridges that can be used
with a stapling assembly can comprise unique identifiers that can
assist the controller of the stapling assembly in identifying the
type of staple cartridge that is attached to the stapling assembly.
In at least one instance, the staple cartridges have unique RFID
tags which can communicate with the controller of the stapling
assembly, for example. In certain instances, the staple cartridges
have bar codes thereon which can be scanned before they are used
with the stapling assembly, for example. Once the controller
identifies the type of staple cartridge attached to the stapling
assembly, the controller can determine the appropriate length of
the staple firing stroke. In at least one instance, information
regarding the appropriate firing stroke length for a staple
cartridge can be stored in a memory device, for example, in
communication with a microprocessor of the controller.
[0695] In addition to or in lieu of the above, a staple cartridge,
such as the staple cartridge 26230, for example, can be configured
to create detectable force spikes in the pushing force and/or
current spikes being drawn by the electric motor at the end of the
staple firing stroke. Referring to FIG. 140, the staple cartridge
26230 comprises one or more bridges 26233 extending across the
longitudinal slot 26231 near the distal end of the longitudinal
slot 26231, i.e., near the distal end of the staple firing stroke.
As the firing member 26260 is advanced distally, the firing member
26260 contacts the bridges 26233 and breaks and/or incises the
bridges 26233 which creates spikes in the pushing force and/or
supply current which are different that the spikes created when the
staples are deformed. In at least one instance, the spikes created
by defeating the bridges 26233 are much larger than the spikes
created by deforming the staples and the controller is configured
to discern the difference in such spikes. Once the controller
identifies that certain spikes have been created by the bridges,
the controller can stop the staple firing stroke. As the reader
should appreciate, such an arrangement would allow the controller
to stop the staple firing system at the appropriate moment
regardless of the length of the staple cartridge attached to the
stapling assembly and/or regardless of the number of staples stored
in the staple cartridge, for example.
[0696] While various details have been set forth in the foregoing
description, it will be appreciated that the various aspects of the
mechanisms for compensating for drivetrain failure in powered
surgical instruments may be practiced without these specific
details. For example, for conciseness and clarity selected aspects
have been shown in block diagram form rather than in detail. Some
portions of the detailed descriptions provided herein may be
presented in terms of instructions that operate on data that is
stored in a computer memory. Such descriptions and representations
are used by those skilled in the art to describe and convey the
substance of their work to others skilled in the art. In general,
an algorithm refers to a self-consistent sequence of steps leading
to a desired result, where a "step" refers to a manipulation of
physical quantities which may, though need not necessarily, take
the form of electrical or magnetic signals capable of being stored,
transferred, combined, compared, and otherwise manipulated. It is
common usage to refer to these signals as bits, values, elements,
symbols, characters, terms, numbers, or the like. These and similar
terms may be associated with the appropriate physical quantities
and are merely convenient labels applied to these quantities.
[0697] Unless specifically stated otherwise as apparent from the
foregoing discussion, it is appreciated that, throughout the
foregoing description, discussions using terms such as "processing"
or "computing" or "calculating" or "determining" or "displaying" or
the like, refer to the action and processes of a computer system,
or similar electronic computing device, that manipulates and
transforms data represented as physical (electronic) quantities
within the computer system's registers and memories into other data
similarly represented as physical quantities within the computer
system memories or registers or other such information storage,
transmission or display devices.
[0698] It is worthy to note that any reference to "one aspect" or
"an aspect," means that a particular feature, structure, or
characteristic described in connection with the aspect is included
in at least one aspect. Thus, appearances of the phrases "in one
aspect" or "in an aspect" in various places throughout the
specification are not necessarily all referring to the same aspect.
Furthermore, the particular features, structures or characteristics
may be combined in any suitable manner in one or more aspects.
[0699] Although various aspects have been described herein, many
modifications, variations, substitutions, changes, and equivalents
to those aspects may be implemented and will occur to those skilled
in the art. Also, where materials are disclosed for certain
components, other materials may be used. It is therefore to be
understood that the foregoing description and the appended claims
are intended to cover all such modifications and variations as
falling within the scope of the disclosed aspects. The following
claims are intended to cover all such modification and
variations.
[0700] Some or all of the aspects described herein may generally
comprise technologies for mechanisms for compensating for
drivetrain failure in powered surgical instruments, or otherwise
according to technologies described herein. In a general sense,
those skilled in the art will recognize that the various aspects
described herein which can be implemented, individually and/or
collectively, by a wide range of hardware, software, firmware, or
any combination thereof can be viewed as being composed of various
types of "electrical circuitry." Consequently, as used herein
"electrical circuitry" includes, but is not limited to, electrical
circuitry having at least one discrete electrical circuit,
electrical circuitry having at least one integrated circuit,
electrical circuitry having at least one application specific
integrated circuit, electrical circuitry forming a general purpose
computing device configured by a computer program (e.g., a general
purpose computer configured by a computer program which at least
partially carries out processes and/or devices described herein, or
a microprocessor configured by a computer program which at least
partially carries out processes and/or devices described herein),
electrical circuitry forming a memory device (e.g., forms of random
access memory), and/or electrical circuitry forming a
communications device (e.g., a modem, communications switch, or
optical-electrical equipment). Those having skill in the art will
recognize that the subject matter described herein may be
implemented in an analog or digital fashion or some combination
thereof.
[0701] The foregoing detailed description has set forth various
aspects of the devices and/or processes via the use of block
diagrams, flowcharts, and/or examples. Insofar as such block
diagrams, flowcharts, and/or examples contain one or more functions
and/or operations, it will be understood by those within the art
that each function and/or operation within such block diagrams,
flowcharts, or examples can be implemented, individually and/or
collectively, by a wide range of hardware, software, firmware, or
virtually any combination thereof. In one aspect, several portions
of the subject matter described herein may be implemented via
Application Specific Integrated Circuits (ASICs), Field
Programmable Gate Arrays (FPGAs), digital signal processors (DSPs),
or other integrated formats. Those skilled in the art will
recognize, however, that some aspects of the aspects disclosed
herein, in whole or in part, can be equivalently implemented in
integrated circuits, as one or more computer programs running on
one or more computers (e.g., as one or more programs running on one
or more computer systems), as one or more programs running on one
or more processors (e.g., as one or more programs running on one or
more microprocessors), as firmware, or as virtually any combination
thereof, and that designing the circuitry and/or writing the code
for the software and or firmware would be well within the skill of
one of skill in the art in light of this disclosure. In addition,
those skilled in the art will appreciate that the mechanisms of the
subject matter described herein are capable of being distributed as
a program product in a variety of forms, and that an illustrative
aspect of the subject matter described herein applies regardless of
the particular type of signal bearing medium used to actually carry
out the distribution. Examples of a signal bearing medium include,
but are not limited to, the following: a recordable type medium
such as a floppy disk, a hard disk drive, a Compact Disc (CD), a
Digital Video Disk (DVD), a digital tape, a computer memory, etc.;
and a transmission type medium such as a digital and/or an analog
communication medium (e.g., a fiber optic cable, a waveguide, a
wired communications link, a wireless communication link (e.g.,
transmitter, receiver, transmission logic, reception logic, etc.),
etc.).
[0702] Many of the surgical instrument systems described herein are
motivated by an electric motor; however, the surgical instrument
systems described herein can be motivated in any suitable manner.
In various instances, the surgical instrument systems described
herein can be motivated by a manually-operated trigger, for
example. In certain instances, the motors disclosed herein may
comprise a portion or portions of a robotically controlled system.
Moreover, any of the end effectors and/or tool assemblies disclosed
herein can be utilized with a robotic surgical instrument system.
U.S. patent application Ser. No. 13/118,241, entitled SURGICAL
STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,
now U.S. Pat. No. 9,072,535, for example, discloses several
examples of a robotic surgical instrument system in greater detail.
The entire disclosure of U.S. patent application Ser. No.
13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE
STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535 is
incorporated by reference herein.
[0703] The entire disclosures of:
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STAPLER WITH IMPROVED FIRING STROKE, which was filed on Mar. 12,
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[0707] U.S. Patent Application Publication No. 2005/0246881,
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[0708] U.S. Patent Application Publication No. 2007/0208359,
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SURGICAL INSTRUMENT COMPRISING SEPARATE TISSUE SECURING AND TISSUE
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[0736] U.S. Patent Application Publication No. 2010/0264194,
entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END
EFFECTOR, filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are
hereby incorporated by reference herein.
[0737] The surgical instrument systems described herein have been
described in connection with the deployment and deformation of
staples; however, the embodiments described herein are not so
limited. Various embodiments are envisioned which deploy fasteners
other than staples, such as clamps or tacks, for example. Moreover,
various embodiments are envisioned which utilize any suitable means
for sealing tissue. For instance, an end effector in accordance
with various embodiments can comprise electrodes configured to heat
and seal the tissue. Also, for instance, an end effector in
accordance with certain embodiments can apply vibrational energy to
seal the tissue.
[0738] All of the above-mentioned U.S. patents, U.S. patent
application publications, U.S. patent applications, foreign
patents, foreign patent applications, non-patent publications
referred to in this specification and/or listed in any Application
Data Sheet, or any other disclosure material are incorporated
herein by reference, to the extent not inconsistent herewith. 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.
[0739] 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.
[0740] 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.
[0741] 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 exemplary, 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
can also 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 can also 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.
[0742] 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.
[0743] 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.
[0744] While particular aspects of the 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 spirit and 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 if 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.
[0745] In addition, even if 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."
[0746] 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.
[0747] In certain cases, use of a system or method may occur in a
territory even if components are located outside the territory. For
example, in a distributed computing context, use of a distributed
computing system may occur in a territory even though parts of the
system may be located outside of the territory (e.g., relay,
server, processor, signal-bearing medium, transmitting computer,
receiving computer, etc. located outside the territory).
[0748] A sale of a system or method may likewise occur in a
territory even if components of the system or method are located
and/or used outside the territory. Further, implementation of at
least part of a system for performing a method in one territory
does not preclude use of the system in another territory.
[0749] Although various aspects have been described herein, many
modifications, variations, substitutions, changes, and equivalents
to those aspects may be implemented and will occur to those skilled
in the art. Also, where materials are disclosed for certain
components, other materials may be used. It is therefore to be
understood that the foregoing description and the appended claims
are intended to cover all such modifications and variations as
falling within the scope of the disclosed aspects. The following
claims are intended to cover all such modification and
variations.
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