BR112016021943B1 - Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico - Google Patents
Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico Download PDFInfo
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- BR112016021943B1 BR112016021943B1 BR112016021943-0A BR112016021943A BR112016021943B1 BR 112016021943 B1 BR112016021943 B1 BR 112016021943B1 BR 112016021943 A BR112016021943 A BR 112016021943A BR 112016021943 B1 BR112016021943 B1 BR 112016021943B1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61B34/25—User interfaces for surgical systems
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- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H10/00—ICT specially adapted for the handling or processing of patient-related medical or healthcare data
- G16H10/60—ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
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- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
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- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
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- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A—HUMAN NECESSITIES
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
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- A—HUMAN NECESSITIES
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0804—Counting number of instruments used; Instrument detectors
- A61B2090/0805—Counting number of instruments used; Instrument detectors automatically, e.g. by means of magnetic, optical or photoelectric detectors
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus
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- A—HUMAN NECESSITIES
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- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
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- G—PHYSICS
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- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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Abstract
sistemas de interface para uso com instrumentos cirúrgicos. a presente invenção refere-se a um instrumento cirúrgico para uso por um operador em um procedimento cirúrgico e inclui um eixo alongado e um atuador de extremidade que se estende a partir do eixo alongado, e um sistema de controle. o atuador de extremidade é articulável em relação ao eixo alongado, entre uma posição de estado inicial e uma posição articulada. o sistema de controle inclui um processador e uma memória acoplada ao processador para armazenar instruções de programa. o processador pode alertar o operador sempre que o atuador de extremidade atingir a posição de estado inicial a partir da posição articulada.
Description
[0001] A presente invenção refere-se a instrumentos cirúrgicos e,em várias disposições, a instrumentos cirúrgicos para grampeamento e corte e a cartuchos de grampos para os mesmos, que são projetados para grampear e cortar tecido.
[0002] As características e vantagens desta invenção, e a maneira de obtê-las, se tornarão mais evidentes, e a invenção em si será mais bem compreendida, por referência à descrição das modalidades da invenção apresentada a seguir, considerada em conjunto com os desenhos anexos, nos quais:
[0003] a Figura 1 é uma vista em perspectiva de um instrument cirúrgico que compreende um conjunto de cabo e um conjunto de eixo incluindo um atuador de extremidade;
[0004] a Figura 2 é uma vista em perspectiva do conjunto de cabo do instrumento cirúrgico da Figura 1;
[0005] a Figura 3 é um diagrama de bloco esquemático de um sistema de controle do instrumento cirúrgico da Figura 1;
[0006] a Figura 4 é um diagrama de bloco esquemático de um módulo para uso com o instrumento cirúrgico da Figura 1;
[0007] a Figura 5 é um diagrama de bloco esquemático de um módulo para uso com o instrumento cirúrgico da Figura 1;
[0008] a Figura 6 é um diagrama de bloco esquemático de um módulo para uso com o instrumento cirúrgico da Figura 1;
[0009] a Figura 7 é uma ilustração esquemática de uma interface do instrumento cirúrgico da Figura 1 em uma configuração inativa ou neutra;
[0010] a Figura 8 é uma ilustração esquemática da interface da Figura 7 ativada para articular um atuador de extremidade;
[0011] a Figura 9 é uma ilustração esquemática da interface da Figura 7 ativada para retornar o atuador de extremidade para uma posição do estado inicial da articulação;
[0012] a Figura 10 é uma ilustração esquemática de uma vista parcial de um conjunto de cabo do instrumento cirúrgico da Figura 1 representando uma tela;
[0013] a Figura 11 representa um módulo do instrumento cirúrgico da Figura 1;
[0014] a Figura 12A é uma ilustração esquemática de uma orientação de exibição da tela da Figura 10;
[0015] a Figura 12B é uma ilustração esquemática de uma orientação de exibição da tela da Figura 10;
[0016] a Figura 12C é uma ilustração esquemática de uma orientação de exibição da tela da Figura 10;
[0017] a Figura 12D é uma ilustração esquemática de uma orientação de exibição da tela da Figura 10;
[0018] a Figura 13 representa um módulo do instrumento cirúrgico da Figura 1;
[0019] a Figura 14A é uma vista lateral do conjunto de cabo da Figura 10 em uma posição vertical;
[0020] a Figura 14B é uma vista lateral do conjunto de cabo da Figura 10 em uma posição invertida;
[0021] a Figura 15 é uma ilustração esquemática da tela da Figura 10 exibindo uma pluralidade de ícones;
[0022] a Figura 16 é uma ilustração esquemática da tela da Figura 10 exibindo o menu de navegação;
[0023] a Figura 17 é um diagrama de bloco esquemático de um sistema indicador do instrumento cirúrgico da Figura 1;
[0024] a Figura 18 é um módulo do instrumento cirúrgico da Figura 1;
[0025] a Figura 19 é uma vista em perspectiva do instrument cirúrgico da Figura 1 acoplado a uma unidade de operação remota;
[0026] a Figura 20 é uma vista em perspectiva do instrument cirúrgico da Figura 1 acoplado a uma unidade de operação remota;
[0027] a Figura 21 é um diagrama em bloco esquemático do instrumento cirúrgico da Figura 1 em comunicação sem fio com uma unidade de operação remota;
[0028] a Figura 22 é uma ilustração esquemática de um primeiro instrumento cirúrgico incluindo uma unidade de operação remota para controlar um segundo instrumento cirúrgico;
[0029] a Figura 23 é uma vista em perspectiva de um instrument cirúrgico modular, de acordo com várias modalidades da presente revelação;
[0030] a Figura 24 é uma vista em perspectiva explodida do instrumento cirúrgico modular da Figura 23;
[0031] a Figura 25 é um esquema representando os sistemas de controle de um sistema cirúrgico modular, de acordo com várias modalidades da presente revelação;
[0032] a Figura 26 é um fluxograma representando um método para atualizar um componente de um sistema cirúrgico modular, de acordo com várias modalidades da presente revelação;
[0033] a Figura 27 é um fluxograma representando um método para atualizar um componente de um sistema cirúrgico modular, de acordo com várias modalidades da presente revelação;
[0034] as Figuras 28(A) e 28(B) são esquemas representando um circuito de controle, de acordo com várias modalidades da presente revelação;
[0035] as Figuras 29(A) e 29(B) são esquemas representando um circuito de controle, de acordo com várias modalidades da presente revelação;
[0036] a Figura 30 é um fluxograma representando um método para processar dados registrados por um instrumento cirúrgico, de acordo com várias modalidades da presente revelação;
[0037] a Figura 31 é um fluxograma representando um método para processar dados registrados por um instrumento cirúrgico, de acordo com várias modalidades da presente revelação;
[0038] as Figuras 32(A) a 32(C) são fluxogramas representando vários métodos para processar dados registrados por um instrumento cirúrgico, de acordo com várias modalidades da presente revelação;
[0039] a Figura 33 é um esquema representando um sistema cirúrgico tendo capacidades de comunicação sem fio, de acordo com várias modalidades da presente revelação;
[0040] a Figura 34 é uma vista em elevação de uma tela externa representando um atuador de extremidade em um sítio cirúrgico, de acordo com várias modalidades da presente revelação;
[0041] a Figura 35 é uma vista em elevação da tela externa da Figura 34 representando uma notificação, de acordo com várias modalidades da presente revelação; e
[0042] a Figura 36 é uma vista em elevação da tela externa da Figura 34 representando um menu de seleção, de acordo com várias modalidades da presente revelação;
[0043] A requerente do presente pedido é a autora dos seguintes pedidos de patente que foram depositados em 01 de março de 2013 e que estão, todos, aqui incorporados por referência, em sua totalidade: - Pedido de patente US n° de série 13/782.295, intitulado ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION; - Pedido de patente US n° de série 13/782.323, intitulado ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/782.338, intitulado THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/782.499, intitulado ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT; - Pedido de patente US n° de série 13/782.460, intitulado MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/782.358, intitulado JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/782.481, intitulado SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR; - Pedido de patente US n° de série 13/782.518, intitulado CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS; - Pedido de patente US n° de série 13/782.375, intitulado ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM; e - Pedido de patente US n° de série 13/782.536, intitulado SURGICAL INSTRUMENT SOFT STOP, estão aqui incorporados, por referência, em sua totalidade.
[0044] A requerente do presente pedido também é a autora dos seguintes pedidos de patente que foram depositados em 14 de março de 2013 e que estão, cada um, aqui incorporados por referência em suas respectivas totalidades: - Pedido de patente US n° de série 13/803.097, intitulado ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN FIRING DRIVE; - Pedido de patente US n° de série 13/803.193, intitulado CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT; - Pedido de patente US n° de série 13/803.053, intitulado INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT; - Pedido de patente US n° de série 13/803.086, intitulado ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK; - Pedido de patente US n° de série 13/803.210, intitulado SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/803.148, intitulado MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT; - Pedido de patente US n° de série 13/803.066, intitulado DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/803.117, intitulado ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS; - Pedido de patente US n° de série 13/803.130, intitulado DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS; e - Pedido de patente US n° de série 13/803.159, intitulado METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT.
[0045] A requerente do presente pedido também é a autora dos seguintes pedidos de patente que foram depositados na mesma data do presente pedido e que estão, todos, aqui incorporados a título de referência, em sua totalidade: Pedido de patente US n° de série , intitulado SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM, Súmula do Advogado n° END7386USNP/130458; Pedido de patente US n° de série , intitulado POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, Súmula do Advogado n° END7387USNP/130459; Pedido de patente US n° de série , intitulado STERILIZATION VERIFICATION CIRCUIT, Súmula do Advogado n° END7388USNP/130460; Pedido de patente US n° de série , intitulado VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, Súmula do Advogado n° END7389USNP/130461; Pedido de patente US n° de série , intitulado POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, Súmula do Advogado END7390USNP/130462; Pedido de patente US n° de série , intitulado MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, Súmula do Advogado n° END7391USNP/130463; Pedido de patente US n° de série , intitulado FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, Súmula do Advogado n° END7392USNP/130464; Pedido de patente US n° de série , intitulado SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION, Súmula do Advogado n° END7393USNP/130465; Pedido de patente US n° de série , intitulado SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, Súmula do Advogado n° END7394USNP/130466; Pedido de patente US n° de série , intitulado SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, Súmula do Advogado n° END7395USNP/130467; Pedido de patente US n° de série , intitulado MODULAR SURGICAL INSTRUMENT SYSTEM, Súmula do Advogado n° END7397USNP/130469; Pedido de patente US n° de série , intitulado SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, Súmula do Advogado n° END7399USNP/130471; Pedido de patente US n° de série , intitulado POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, Súmula do Advogado n° END7400USNP/130472; Pedido de patente US n° de série , intitulado SURGICAL STAPLING INSTRUMENT SYSTEM, Súmula do Advogado n° END7401USNP/130473; e Pedido de patente US n° de série , intitulado SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, Súmula do Advogado n° END7402USNP/130474.
[0046] Certas modalidades exemplificadoras serão agora descritas para propiciar o entendimento geral dos princípios da estrutura, da função, da fabricação e do uso dos dispositivos e métodos aqui revelados. Um ou mais exemplos dessas modalidades estão ilustrados nos desenhos anexos. Os versados na técnica entenderão que os dispositivos e os métodos especificamente aqui descritos e ilustrados nos desenhos anexos são modalidades exemplificadoras não limitadoras. As características ilustradas ou descritas em relação a uma modalidade exemplificadora podem ser combinadas com as características de outras modalidades. Tais modificações e variações destinam-se a estar incluídas no escopo da presente invenção.
[0047] Ao longo de todo este relatório descritivo, os termos "várias modalidades", "algumas modalidades", "uma modalidade" ou "a modalidade", ou similares, significam que um recurso, uma estrutura ou uma característica específico(a) descrito(a) em conjunto com a modalidade está incluído(a) em pelo menos uma modalidade. Dessa forma, o aparecimento das expressões "em várias modalidades", "em algumas modalidades", "em uma modalidade" ou "na modalidade", ou similares, em lugares ao longo de todo o relatório descritivo não está necessariamente se referindo à mesma modalidade. Além disso, os recursos, estruturas ou características específico(a)s podem ser combinado(a)s de qualquer maneira adequada em uma ou mais modalidades. Portanto, os recursos, estruturas ou características específico(a)s ilustrado(a)s ou descrito(a)s em conjunto com uma modalidade podem ser combinado(a)s, no todo ou em parte, com as estruturas dos recursos ou as características de uma ou mais outras modalidades, sem limitação. Tais modificações e variações destinam- se a estar incluídas no escopo da presente invenção.
[0048] Os termos "proximal" e "distal" são usados na presente invenção com referência a um médico que manipula a porção de cabo do instrumento cirúrgico. O termo "proximal" refere-se à porção mais próxima ao médico, e o termo "distal" refere-se à porção situada na direção oposta ao médico. Também será entendido que, por uma questão de conveniência e clareza, termos espaciais como "vertical", "horizontal", "para cima" e "para baixo" podem ser usados na presente invenção com relação aos desenhos. Entretanto, instrumentos cirúrgicos podem ser usados em muitas orientações e posições, e esses termos não se destinam a ser limitadores e/ou absolutos.
[0049] São fornecidos vários dispositivos e métodos exemplificadores para a realização de procedimentos cirúrgicos laparoscópicos e minimamente invasivos. Entretanto, o versado na técnica entenderá prontamente que os vários métodos e dispositivos aqui revelados podem ser usados em inúmeros procedimentos e aplicações cirúrgicos inclusive, por exemplo, aqueles em conjunto com procedimentos cirúrgicos abertos. Com o avanço da presente Descrição Detalhada, aqueles versados na técnica apreciarão adicionalmente que os vários instrumentos aqui revelados podem ser inseridos em um corpo de qualquer maneira, como através de um orifício natural, através de uma incisão ou perfuração formada em tecido, etc. As porções de trabalho ou porções do atuador de extremidade dos instrumentos podem ser inseridas diretamente no corpo de um paciente ou podem ser inseridas através de um dispositivo de acesso que tenha uma canaleta de trabalho através da qual o atuador de extremidade e o eixo alongado de um instrumento cirúrgico podem ser avançados.
[0050] A Figura 1 representa, em geral, um instrumento cirúrgico equipado com motor 2200. Em certas circunstâncias, o instrumento cirúrgico 2200 pode incluir um conjunto de cabo 2202, um conjunto de eixo 2204 e um conjunto de alimentação 2206 (ou "fonte de alimentação" ou "conjunto de baterias"). O conjunto de eixo 2204 pode incluir um atuador de extremidade 2208 que, em certas circunstâncias, pode ser configurado para atuar como um endocortador para pinçar, separar e/ou grampear tecido, embora em outras circunstâncias, tipos diferentes de atuadores de extremidade possam ser usados, como atuadores de extremidade para outros tipos de dispositivos cirúrgicos como pinças, cortadores, grampeadores, aplicadores de presilha, dispositivos de acesso, dispositivos de aplicação de terapia farmacológica/genética, ultrassonografia, dispositivos de RF e/ou laser, etc. Vários dispositivos de RF podem ser encontrados na patente US n° 5.403.312, intitulada ELECTROSURGICAL HEMOSTATIC DEVICE, que foi concedida em 4 de abril de 1995, e no pedido de patente US n° de série 12/031.573, intitulado SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES, depositado em 14 de fevereiro de 2008. As revelações totais da patente US n° 5.403.312, intitulada ELECTROSURGICAL HEMOSTATIC DEVICE, que foi concedida em 4 de abril de 1995, e do pedido de patente US n° de série 12/031.573, intitulado SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES, depositado em 14 de fevereiro de 2008, estão aqui incorporadas a título de referência em sua totalidade.
[0051] Agora com referência à Figura 1, o conjunto de cabo 2202 pode compreender um alojamento 2210 que inclui um cabo 2212 que pode ser configurado para ser empunhado, manipulado e/ou atuado por um médico. Entretanto, será entendido que as várias disposições únicas e inovadoras do alojamento 2210 também podem ser efetivamente empregadas em conexão com os sistemas cirúrgicos controlados por robótica. Dessa forma, o termo "alojamento" também pode abranger um alojamento ou porção similar de um sistema robótico que aloja ou sustenta de qualquer modo pelo menos um sistema de acionamento configurado para gerar e aplicar pelo menos um movimento de controle que pode ser usado para acionar o conjunto de eixo 2204 descrito na presente invenção e seus respectivos equivalentes. Por exemplo, o alojamento 2210 aqui revelado pode ser empregado com vários sistemas robóticos, instrumentos, componentes e métodos revelados no pedido de patente US n° de série 13/118.241, intitulado SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, agora publicação de pedido de patente US n° 2012/0298719. A revelação do pedido patente US n° de série 13/118.241, intitulado SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, agora publicação de pedido de patente US n° 2012/0298719, está incorporada em sua totalidade à presente invenção para fins de referência.
[0052] Em certos casos, o instrumento cirúrgico 2200 pode incluir diversos sistemas operáveis que se estendem, pelo menos parcialmente, através do eixo 2204 e estão em engate operável com o atuador de extremidade 2208. Por exemplo, o instrumento cirúrgico 2200 pode incluir um conjunto de fechamento que pode alternar o atuador de extremidade 2208 entre uma configuração aberta e uma configuração fechada, um conjunto de articulação que pode articular o atuador de extremidade 2208 em relação ao eixo 2204 e/ou um conjunto de disparo que pode pinçar e/ou cortar o tecido capturado pelo atuador de extremidade 2208. Além disso, o alojamento 2210 pode ser acoplável de modo separável ao eixo 2204 e pode incluir fechamento, articulação e/ou sistemas de acionamento de disparo complementares para operar os conjuntos de fechamento, articulação e disparo, respectivamente.
[0053] Em uso, um operador do instrumento cirúrgico 2200 pode desejar reiniciar o instrumento cirúrgico 2200 e retornar um ou mais dos conjuntos do instrumento cirúrgico 2200 para uma posição predefinida. Por exemplo, o operador pode inserir o atuador de extremidade 2208 em um sítio cirúrgico em um paciente através de uma porta de acesso e pode, então, articular e/ou fechar o atuador de extremidade 2208 para capturar o tecido no interior da cavidade. O operador pode, então, escolher desfazer algumas ou todas as ações anteriores e pode escolher remover o instrumento cirúrgico 2200 da cavidade, por exemplo. O instrumento cirúrgico 2200 pode incluir um ou mais sistemas configurados para facilitar o retorno confiável de um ou mais dos conjuntos descritos acima para o estado inicial com o mínimo de entradas do operador, permitindo, assim, que o operador remova o instrumento cirúrgico da cavidade.
[0054] Com referência às Figuras 1 e 3, o instrumento cirúrgico 2200 pode incluir um sistema de controle 3000. Um operador cirúrgico pode usar o sistema de controle 3000 para articular o atuador de extremidade 2208 em relação ao eixo 2204 entre a posição de estado inicial de articulação e uma posição articulada, por exemplo. Em certos casos, o operador cirúrgico pode usar o sistema do controle 3000 para reiniciar ou retornar o atuador de extremidade articulado 2208 para a posição de estado inicial de articulação. O sistema de controle 3000 pode ser posicionado, pelo menos parcialmente, no alojamento 2210. Em certos casos, como ilustrado na Figura 3, o sistema de controle 3000 pode compreender um microcontrolador 3002 ("controlador") que pode ser configurado para receber um sinal de entrada e, em resposta, ativar um motor 2216 para fazer com que o atuador de extremidade 2208 seja articulado de acordo com tal sinal de entrada, por exemplo.
[0055] Além do exposto acima, o atuador de extremidade 2208 pode ser posicionado em alinhamento suficiente com o eixo 2204 na posição de estado inicial de articulação, também chamada de posição não articulada na presente invenção, de modo que o atuador de extremidade 2208 e pelo menos uma porção do eixo 2204 possam ser inseridos ou recolhidos de uma cavidade interna do paciente através de uma porta de acesso, como, por exemplo, um trocarte posicionado em uma parede da cavidade interna sem danificar a porta de acesso. Em certos casos, o atuador de extremidade 2208 pode ser alinhado, ou pelo menos substancialmente alinhado, com um eixo geométrico longitudinal "LL", que passa pelo eixo 2204 quando o atuador de extremidade 2208 está na posição de estado inicial de articulação, como ilustrado na Figura 1. Em pelo menos um caso, a posição de estado inicial de articulação pode estar em qualquer ângulo de até 5°, inclusive, por exemplo, com o eixo geométrico longitudinal "LL" em qualquer lado do eixo geométrico longitudinal "LL". Em um outro caso, a posição de estado inicial de articulação pode estar em qualquer ângulo de até 3°, inclusive, por exemplo, com o eixo geométrico longitudinal "LL" em qualquer lado do eixo geométrico longitudinal "LL". Em ainda um outro caso, a posição de estado inicial de articulação pode estar em qualquer ângulo de até 7°, inclusive, por exemplo, com o eixo geométrico longitudinal "LL" em qualquer lado do eixo geométrico longitudinal "LL".
[0056] O sistema de controle 3000 pode ser operado para articularo atuador de extremidade 2208 em relação ao eixo 2204 em um plano que se estende ao longo do eixo geométrico longitudinal "LL" em uma primeira direção, como, por exemplo, uma direção em sentido horário, e/ou uma segunda direção como, por exemplo, uma direção em sentido anti-horário. Em pelo menos um caso, o sistema de controle 3000 pode ser operado para articular o atuador de extremidade 2208 na direção em sentido horário da posição de estado inicial de articulação para uma posição articulada em 10°, para a direita do eixo geométrico longitudinal "LL", por exemplo. Em um outro exemplo, o sistema de controle 3000 pode ser operado para articular o atuador de extremidade 2208 na direção em sentido anti-horário da posição articulada a 10° para a direita do eixo geométrico longitudinal "LL", para a posição de estado inicial de articulação. Em ainda outro exemplo, o sistema de controle 3000 pode ser operado para articular o atuador de extremidade 2208 em relação ao eixo 2204 na direção do sentido anti-horário da posição de estado inicial de articulação para uma posição articulada 10 graus, para a esquerda do eixo geométrico longitudinal "LL", por exemplo. O leitor entenderá que o atuador de extremidade pode ser articulado em diferentes ângulos na direção em sentido horário e/ou na direção em sentido anti-horário.
[0057] Com referência às Figuras 1 e 2, o alojamento 2210 do instrumento cirúrgico 2200 pode compreender uma interface 3001 que pode incluir uma pluralidade de controles que pode ser usada pelo operador para operar o instrumento cirúrgico 2200. Em certos casos, a interface 3001 pode compreender uma pluralidade de chaves que podem ser acopladas ao controlador 3002 por meio de circuitos elétricos, por exemplo. Em certos casos, como ilustrado na Figura 3, a interface 3001 compreende três chaves 3004A a C, cada uma das chaves 3004A a C acoplada ao controlador 3002 por meio de circuitos elétricos, por exemplo os circuitos 3006A a C, respectivamente. O leitor entenderá que outras combinações de chaves e circuitos podem ser usadas com a interface 3001.
[0058] Com referência à Figura 3, o controlador 3002 pode, em geral, compreender um microprocessador 3008 ("processador") e uma ou mais unidades de memória 3010 acopladas de forma operacional ao processador 3008. Ao executar o código de instrução armazenado na memória 3010, o processador 3008 pode controlar vários componentes do instrumento cirúrgico 2200, como o motor 2216, vários sistemas de acionamento e/ou uma tela de usuário, por exemplo. O controlador 3002 pode ser implementado usando elementos de hardware integrados e/ou discretos, elementos de software e/ou uma combinação de ambas. Exemplos de elementos de hardware integrados podem incluir processadores,microprocessadores, microcontroladores, circuitos integrados, circuitos integrados de aplicação específica (ASIC), dispositivos lógicos programáveis (PLD), processadores de sinal digital (DSP), arranjos de portas programáveis em campo (FPGA), portas lógicas, registradores, dispositivos semicondutores, circuitos integrados, microcircuitos integrados, conjuntos de circuitos integrados, microcontroladores, sistema em circuito integrado (SoC, de "system-on-chip") e/ou sistema em pacote (SIP, de "system-in-package"). Exemplos de elementos de hardware distintos podem incluir circuitos e/ou elementos de circuito como portas lógicas, transistores de efeito de campo, transistores bipolares, resistores, capacitores, indutores e/ou relés. Em certos casos, o controlador 3002 pode incluir um circuito híbrido que compreende elementos ou componentes de circuitos integrados e distintos em um ou mais substratos, por exemplo.
[0059] Em determinadas circunstâncias, o microcontrolador 3002 pode ser um LM4F230H5QR, disponível junto à Texas Instruments, por exemplo. Em certos casos, o LM4F230H5QR da Texas Instruments é um núcleo de processamento ARM Cortex-M4F que compreende uma memória flash em circuito integrado de ciclo único de 256 KB, ou outra memória não volátil, de até 40 MHz, um armazenamento temporário com pré-busca para otimizar o desempenho acima de 40 MHz, uma memória de acesso aleatório em série de ciclo único (SRAM) de 32 KB, memória somente de leitura interna (ROM), carregada com software StellarisWare®, memória somente de leitura programável apagável eletricamente (EEPROM) de 2 KB, um ou mais módulos de modulação da largura de pulso (PWM), uma ou mais entradas de codificadores de quadratura (QEI) analógicos, um ou mais conversores analógico-digital (ADC) de 12 bits com 12 canais de entrada analógicos, dentre outros recursos que estão prontamente disponíveis. Outros microcontroladores podem ser prontamente substituídos para uso na presente revelação. Consequentemente, a presente revelação não deve ser limitada nesse contexto.
[0060] Em várias formas, o motor 2216 pode ser um motor de acionamento com escovas de corrente contínua, com uma rotação máxima de, aproximadamente, 25.000 RPM, por exemplo. Em outras disposições, o motor 2216 pode incluir um motor sem escovas, um motor sem fio, um motor síncrono, um motor de passo ou qualquer outro tipo de motor elétrico adequado. Uma bateria 2218 (ou "fonte de alimentação" ou "conjunto de baterias"), como uma bateria de íons de Li, por exemplo, pode ser acoplada ao alojamento 2212 para fornecer energia ao motor 2216, por exemplo.
[0061] Novamente com referência à Figura 3, o instrument cirúrgico 2200 pode incluir um controlador de motor 3005 em comunicação operável com o controlador 3002. O controlador de motor 3005 pode ser configurado para controlar uma direção de rotação do motor 2216. Em certos casos, o controlador do motor 3005 pode ser configurado para determinar a polaridade da tensão aplicada ao motor 2216 pela bateria 2218 e, por sua vez, determinar a direção da rotação do motor 2216 com base na entrada do controlador 3002. Por exemplo, o motor 2216 pode inverter a direção de sua rotação de uma direção em sentido horário para uma direção em sentido anti- horário quando a polaridade da tensão aplicada ao motor 2216 pela bateria 2218 é invertida pelo controlador de motor 3005 com base na entrada do controlador 3002. Adicionalmente, o motor 2216 pode ser acoplado de modo operável a um acionador de articulação que pode ser acionado pelo motor 2216 distal ou proximalmente, dependendo da direção em que o motor 2216 gira, por exemplo. Além disso, o acionador de articulação pode ser acoplado de modo operável ao atuador de extremidade 2208, de modo que, por exemplo, a translação axial do acionador de articulação proximalmente possa fazer com que o atuador de extremidade 2208 seja articulado na direção em sentido anti-horário, por exemplo, e/ou a translação axial do acionador de articulação distalmente possa fazer com que o atuador de extremidade 2208 seja articulado na direção em sentido horário, por exemplo.
[0062] Em vários casos, com referência às Figuras 1 a 3, a interface 3001 pode ser configurada de modo que a chave 3004A possa ser dedicada à articulação em sentido horário do atuador de extremidade 2208, e a chave 3004B possa ser dedicada à articulação em sentido anti-horário do atuador de extremidade 2208, por exemplo. Em tais casos, o operador pode articular o atuador de extremidade 2208 na direção em sentido horário fechando a chave 3004A e pode articular o atuador de extremidade 2208 na direção em sentido anti- horário fechando a chave 3004B. Em vários casos, as chaves 3004A a C podem compreender chaves de cúpula arqueadas em posição aberta, como ilustrado na Figura 7. Outros tipos de chaves também podem ser empregados, por exemplo chaves capacitivas.
[0063] Com referência à Figura 7, as chaves de cúpula 3004A e 3004B podem ser controladas por um oscilador 3012. Outros meios para controlar as chaves 3004A e 3004B também são contemplados pela presente descrição. Na posição neutra, conforme ilustrado na Figura 7, ambas as chaves 3004A e 3004B estão arqueadas na posição aberta. O operador pode, por exemplo, articular o atuador de extremidade 2208 na direção em sentido horário inclinando o oscilador para frente, pressionando, dessa forma, a chave de cúpula 3004A, como ilustrado na Figura 8. Como resultado, o circuito 3006A (Figura 3) pode ser fechado, sinalizando ao controlador 3002 que ative o motor 2216 para articular o atuador de extremidade 2208 na direção em sentido horário, como descrito acima. O motor 2216 pode continuar a articular o atuador de extremidade 2208 até que o operador libere o oscilador 3012, permitindo, assim, que a chave de cúpula 3004A retorne à posição aberta e o oscilador 3012 à posição neutra. Em algumas circunstâncias, o controlador 3002 pode ser capaz de identificar quando o atuador de extremidade 2208 alcançou um grau máximo de articulação predeterminado e, nesse ponto, interromper a alimentação do motor 2216, independentemente de a chave de cúpula 3004A estar pressionada. Em uma modalidade, o controlador 3002 pode ser configurado para sobrepor a entrada do operador e parar o motor 2216 quando um grau máximo de articulação segura for alcançado. Alternativamente, o operador pode articular o atuador de extremidade 2208 na direção em sentido anti-horário inclinando o oscilador 3012 para trás, pressionando a chave de cúpula 3004B, por exemplo. Como resultado, o circuito 3006B pode ser fechado, sinalizando ao controlador 3002 que ative o motor 2216 para articular o atuador de extremidade 2208 na direção em sentido anti-horário, como descrito acima. O motor 2216 pode continuar a articular o atuador de extremidade 2208 até que o operador libere o oscilador 3012, permitindo, assim, que a chave de cúpula 3004B volte para a posição aberta e o oscilador 3012, para a posição neutra. Em algumas circunstâncias, o controlador 3002 pode ser capaz de identificar quando o atuador de extremidade 2208 alcançou um grau máximo de articulação predeterminado e, nesse ponto, interromper a alimentação do motor 2216, independentemente de a chave de cúpula estar pressionada 3004B. Em uma modalidade, o controlador 3002 pode ser configurado para sobrepor a entrada do operador e parar o motor 2216 quando um grau máximo de articulação segura for alcançado.
[0064] Conforme descrito acima com maiores detalhes, um operador pode desejar retornar o atuador de extremidade 2208 para a posição de estado inicial de articulação para alinhar ou pelo menos substancialmente alinhar, o atuador de extremidade 2208 com o eixo 2204 para retrair o instrumento cirúrgico 2200 de uma cavidade interna do paciente, por exemplo. Em vários casos, o sistema de controle 3000 pode incluir um detentor virtual capaz de alertar o operador quando o atuador de extremidade 2208 alcançar a posição do estado inicial da articulação. Em certos casos, o sistema de controle 3000 pode estar configurado para interromper a articulação do atuador de extremidade 2208 quando atingir a posição do estado inicial da articulação, por exemplo. Em certos casos, o sistema de controle 3000 pode estar configurado para fornecer retroinformação ao operador quando o atuador de extremidade 2208 atinge a posição do estado inicial da articulação, por exemplo.
[0065] Em certos casos, o sistema de controle 3000 pode compreender vários módulos executáveis, como software, programas, dados, acionadores e/ou interfaces de programa de aplicação (API, de "application program interfaces"), por exemplo. A Figura 4 representa um módulo de retenção virtual exemplificador 10000 que pode ser armazenado na memória 3010, por exemplo. O módulo 10000 pode incluir instruções de programa que, quando executadas, podem fazer com que o processador 3008, por exemplo, alerte o operador do instrumento cirúrgico 2200 quando o atuador de extremidade 2208 atinge a posição do estado inicial da articulação durante a articulação do atuador de extremidade 2208 a partir de uma posição articulada, por exemplo.
[0066] Conforme descrito acima, referindo-se principalmente às Figuras 3, 7 e 8, o operador pode usar o oscilador 3012 para articular o atuador de extremidade 2208, por exemplo. Em certos casos, o operador pode pressionar a chave de cúpula 3004A do oscilador 3012 para articular o atuador de extremidade 2208 em uma primeira direção, como uma direção em sentido horário, para a direita, por exemplo, e pode pressionar a chave de cúpula 3004B para articular o atuador de extremidade 2208 em uma segunda direção, como uma direção em sentido anti-horário, para a esquerda, por exemplo. Em vários casos, como ilustrado na Figura 4, o módulo 10000 pode modular a resposta do processador 3008 para os sinais de entrada a partir das chaves de cúpula 3004A e/ou 3004B. Por exemplo, o processador 3008 pode ser configurado para ativar o motor 2216 para articular o atuador de extremidade 2208 para a direita, por exemplo, enquanto a chave de cúpula 3004A é pressionada; e o processador 3008 pode ser configurado para ativar o motor 2216 para articular o atuador de extremidade 2208 para a esquerda, por exemplo, enquanto a chave de cúpula 3004B é pressionada. Além disso, o processador 3008 pode ser configurado para parar a articulação do atuador de extremidade 2208 fazendo o motor 2216 parar, por exemplo, quando os sinais de entrada das chaves de cúpula 3004A e/ou 3004B são interrompidos, como quando o operador libera as chaves de cúpula 3004A e/ou 3004B, respectivamente.
[0067] Em vários casos, conforme descrito acima, a posição do estado inicial da articulação pode compreender uma faixa de posições. Em certos casos, o processador 3008 pode ser configurado para detectar quando o atuador de extremidade 2208 entra na faixa de posições, definindo a posição do estado inicial da articulação. Em certos casos, o instrumento cirúrgico 2200 pode compreender um ou mais sistemas de posicionamento (não mostrado) para detectar e registrar a posição de articulação do atuador de extremidade 2208. O processador 3008 pode ser configurado para empregar um ou mais sistemas de posicionamento para detectar quando o atuador de extremidade 2208 entra na posição de estado inicial da articulação.
[0068] Conforme ilustrado na Figura 4, em certos casos, quando a posição do estado inicial da articulação é atingida, o processador 3008 pode interromper a articulação do atuador de extremidade 2208 para alertar o operador que a posição do estado inicial de articulação foi atingida; o processador 3008, em certos casos, pode interromper a articulação na posição do estado inicial da articulação mesmo se o operador continuar a pressionar o oscilador 3012. Em certos casos, de forma a continuar a articulação além da posição do estado inicial da articulação, o operador pode liberar o oscilador 3012 e, então, incliná- lo de novo para reiniciar a articulação. Em pelo menos um caso, o operador pode pressionar o oscilador 3012 para pressionar a chave de cúpula 3004A, por exemplo, para girar o atuador de extremidade 2208 em direção à sua posição do estado inicial até o atuador de extremidade 2208 atingir sua posição do estado inicial e o processador 3008 interromper a articulação do atuador de extremidade 2208, sendo que o operador pode, então, liberar o oscilador 3012 e, em seguida, pressionar o oscilador 3012 para pressionar a chave de cúpula 3004A mais uma vez para continuar a articulação do atuador de extremidade 2208 na mesma direção.
[0069] Em certos casos, conforme ilustrado na Figura 5, o modulo 10000 pode compreender um mecanismo de retroinformação para alertar o operador quando a posição do estado inicial da articulação é atingida. Vários dispositivos de retroinformação 2248 (Figura 3) podem ser empregados pelo processador 3008 para fornecer retroinformação sensorial para o operador. Em certos casos, os dispositivos 2248 podem compreender, por exemplo, dispositivos de retroinformação visual, como telas de visualização e/ou indicadores de LED, por exemplo. Em certos casos, os dispositivos 2248 podem compreender dispositivos de retroinformação de áudio, como alto-falantes e/ou campainhas, por exemplo. Em certos casos, os dispositivos 2248 podem compreender dispositivos de retroinformação tátil, como detenção mecânica, por exemplo, que pode fornecer retroinformação háptica, por exemplo. Em alguns casos, a retroinformação háptica pode ser fornecida por um motor com vibração, por exemplo, que pode fornecer um pulso de vibrações ao cabo do instrumento cirúrgico, por exemplo. Em certos casos, os dispositivos 2248 podem compreender combinações de dispositivos de retroinformação visual, dispositivos de retroinformação de áudio e/ou dispositivos de retroinformação tátil, por exemplo.
[0070] Em certos casos, o processador 3008 pode ser configurado para interromper a articulação do atuador de extremidade 2208 e fornecer retroinformação ao operador quando atingir a posição do estado inicial da articulação, por exemplo. Em certos casos, o processador 3008 pode fornecer retroinformação ao operador, mas não pode interromper a articulação do atuador de extremidade 2208 quando a posição do estado inicial da articulação é atingida. Em pelo menos um caso, o atuador de extremidade 2208 pode ser movido de uma posição em um primeiro lado da posição do estado inicial em direção à posição do estado inicial, passar através da posição do estado inicial e continuar se movendo na mesma direção no outro lado da posição do estado inicial. Durante tal movimento, o operador pode receber alguma forma de retroinformação no momento em que o atuador de extremidade 2208 passa pela posição do estado inicial. Em certos casos, o processador 3008 pode interromper a articulação do atuador de extremidade 2208, mas não pode fornecer retroinformação ao operador quando a posição do estado inicial da articulação é atingida, por exemplo. Em certos casos, o processador 3008 pode fazer uma pausa no atuador de extremidade 2208 à medida que o mesmo passar através de sua posição central e, então, continuar além de sua posição central. Em pelo menos um caso, o atuador de extremidade 2208 pode permanecer temporariamente em sua posição central por cerca de 2 segundos, por exemplo, e em seguida continuar sua articulação desde que a chave de articulação 3012 permaneça pressionada.
[0071] Em vários casos, o operador do instrumento cirúrgico 2200 pode tentar articular o atuador de extremidade 2208 de volta para sua posição não articulada usando a chave oscilante 3012. Como o leitor entenderá, o operador pode não ser capaz de alinhar precisa e/ou repetidamente o atuador de extremidade 2208 com o eixo geométrico longitudinal do eixo do instrumento cirúrgico. Em vários casos, entretanto, o operador pode prontamente posicionar o atuador de extremidade 2208 dentro de uma certa faixa da posição central. Por exemplo, o operador pode pressionar a chave oscilante 3012 para girar o atuador de extremidade 2208 em direção à sua posição central e então liberar a chave oscilante 3012 quando ele achar que o atuador de extremidade 2208 atingiu sua posição central ou está perto de sua posição central. O processador 3008 pode interpretar tais circunstâncias como uma tentativa de recentralizar o atuador de extremidade 2208 e, caso o atuador de extremidade 2208 não esteja em sua posição central, o processador 3008 pode centralizar automaticamente o atuador de extremidade 2208. Em pelo menos um exemplo, se o operador do instrumento cirúrgico soltar a chave oscilante 3012 quando o atuador de extremidade 2208 estiver dentro de cerca de 10 graus em cada lado da posição central, por exemplo, o processador 3008 pode automaticamente recentralizar o atuador de extremidade 2208.
[0072] Em vários casos, referindo-se principalmente às Figuras 3,6 e 9, o módulo 10000 pode compreender um mecanismo de reinício ou centralização da articulação. Em certos casos, o sistema de controle 3000 pode incluir uma entrada de reinício, que pode reiniciar ou retornar o atuador de extremidade 2208 para a posição do estado inicial da articulação se o atuador de extremidade 2208 estiver em uma posição articulada. Por exemplo, ao receber um sinal de entrada de reinício, o processador 3008 pode determinar a posição de articulação do atuador de extremidade 2208 e, se o atuador de extremidade 2208 estiver na posição do estado inicial da articulação, o controlador 3008 não fará nada para alterar a posição da articulação do atuador de extremidade 2208. Entretanto, se o atuador de extremidade 2208 estiver em uma posição articulada quando o processador 3008 recebe um sinal de entrada de reinício, o processador 3008 pode ativar o motor 2216 para retornar o atuador de extremidade 2208 para a posição do estado inicial da articulação. Como ilustrado na Figura 9, o operador pode pressionar a chave oscilante 3012 para baixo de forma a fechar as chaves de cúpula 3004A e 3004B simultaneamente, ou pelo menos em um breve intervalo de tempo entre elas, o que pode transmitir o sinal de entrada de reinício para o processador 3008 para que ele reinicie ou retorne o atuador de extremidade 2208 para a posição do estado inicial da articulação. O operador pode, então, liberar a chave oscilante 3012, permitindo que ela retorne à posição neutra e as chaves 3004A e 3004B retornem para as posições abertas. Alternativamente, a interface 3001 do sistema de controle 3000 pode incluir uma chave de reinício separada, por exemplo outra chave de cúpula que possa ser fechada independentemente pelo operador e transmitir o sinal de entrada de reinício da articulação para o processador 3008.
[0073] Com referência novamente à Figura 1, o atuador de extremidade 2208 do instrumento cirúrgico 2200 pode incluir uma primeira mandíbula que compreende uma bigorna 10002 e uma segunda mandíbula que compreende uma canaleta 10004, configurada para receber um cartucho de grampos 10006, que pode incluir uma pluralidade de grampos. Em certos casos, o atuador de extremidade 2208 pode ser alternado entre uma configuração aberta e uma configuração fechada para capturar tecido entre a bigorna 10002 e o cartucho de grampos 10006, por exemplo. Além disso, o instrumento cirúrgico 2200 pode incluir um elemento de disparo que pode ser movido axialmente entre uma posição de estado inicial de disparo e uma posição disparada para implantar os grampos do cartucho de grampos 10006 e/ou cortar o tecido capturado entre a bigorna 10002 e o cartucho de grampos 10006 quando o atuador de extremidade 2208 está na configuração fechada.
[0074] Conforme discutido acima, o atuador de extremidade 2208 pode ser alternado entre uma configuração aberta e uma configuração fechada para prender o tecido no mesmo. Em pelo menos uma modalidade, a bigorna 10002 pode ser movida entre uma posição aberta e uma posição fechada para pressionar o tecido contra o cartucho de grampos 10006. Em várias instâncias, a pressão ou força que a bigorna 10002 pode aplicar ao tecido pode depender da espessura do tecido. Para uma determinada distância de vão entre a bigorna 10002 e o cartucho de grampos 10006, a bigorna 10002 pode aplicar uma pressão ou força de compressão maior ao tecido mais espesso do que o tecido mais delgado. O instrumento cirúrgico pode incluir um sensor, como uma célula de carga, por exemplo, que pode detectar a pressão ou força que está sendo aplicada ao tecido. Em certos casos, a espessura e/ou composição do tecido podem ser alteradas enquanto a pressão ou a força está sendo aplicada. Por exemplo, o fluido, como sangue, por exemplo, contido dentro do tecido comprimido pode fluir para fora para o tecido adjacente. Em tais circunstâncias, o tecido pode se tornar mais delgado e/ou a pressão ou força de compressão aplicada ao tecido pode ser reduzida. O sensor configurado para detectar a pressão ou força sendo aplicada ao tecido pode detectar esta alteração. O sensor pode estar em comunicação de sinais com o processador 3008, em que o processador 3008 pode monitorar a pressão ou a força sendo aplicada ao tecido e/ou a alteração na pressão da força sendo aplicada ao tecido. Em pelo menos um caso, o processador 3008 pode avaliar a alteração na pressão ou força e comunicar ao operador do instrumento cirúrgico quando a pressão ou força atingiu uma condição de estado estável e não está mais em alteração. O processador 3008 também pode determinar quando a alteração da pressão ou força está no e/ou abaixo do valor ou taxa de limite. Por exemplo, quando a alteração na pressão ou força está acima de cerca de 10 por cento por segundo, o processador 3008 pode iluminar um indicador de atenção associado ao atuador de disparo, por exemplo, e quando a alteração na pressão ou força está em ou abaixo de cerca de 10 por cento por segundo, o processador pode iluminar um indicador de pronto para disparar associado ao atuador de disparo, por exemplo. Em algumas circunstâncias, o instrumento cirúrgico pode proibir o membro de disparo de ser avançado distalmente através do atuador de extremidade 2208 até que a alteração da pressão ou força esteja na e/ou abaixo da taxa limite, por exemplo.
[0075] Em certos casos, o operador do instrumento cirúrgico pode escolher implantar apenas alguns dos grampos armazenados dentro do atuador de extremidade 2208. Após o membro de disparo ter sido avançado o suficiente, em tais circunstâncias, o membro de disparo pode ser retraído. Em vários outros casos, o operador do instrumento cirúrgico pode escolher implantar todos os grampos armazenados dentro do atuador de extremidade 2208. Em qualquer caso, o operador do instrumento cirúrgico pode pressionar um atuador de disparo estendendo-se a partir do conjunto do cabo 2210 para ativar o motor 2216 e avançar o membro de disparo distalmente. O motor 2216 pode ser ativado assim que o atuador de disparo tenha sido pressionado o suficiente. Em pelo menos um modo de operação, pressionar adicionalmente o atuador de disparo pode não afetar a operação do motor 2216. O motor 2216 pode ser operado da maneira indicada pelo processador 3008 até que o atuador de disparo seja liberado. Em pelo menos um outro modo de operação, o grau ou quantidade em que o atuador de disparo é pressionado pode afetar a maneira pela qual o motor 2216 é operado. Por exemplo, um pressionamento inicial do atuador de disparo pode ser detectado pelo processador 3008 e, em resposta a isto, o processador 3008 pode operar o motor 2216 em uma primeira velocidade, em que o pressionamento adicional do atuador de disparo pode ser detectado pelo processador 3008 e, em resposta a isto, o processador 3008 pode operar o motor 2216 em uma segunda velocidade, como uma velocidade mais rápida, por exemplo. Em certos casos, a alteração no pressionamento do atuador de disparo pode ser proporcional à alteração na velocidade do motor. Em pelo menos um caso, a alteração no pressionamento do atuador de disparo pode ser linearmente proporcional à alteração na velocidade do motor. Em várias circunstâncias, quanto mais o atuador de disparo é puxado, mais rápido o motor 2216 é operado. Em certas modalidades, a quantidade de pressão ou força aplicada ao atuador de disparo pode afetar a maneira pela qual o motor 2216 é operado. Por exemplo, uma pressão ou força inicial aplicada ao atuador de disparo pode ser detectada pelo processador 3008 e, em resposta a isto, o processador 3008 pode operar o motor 2216 em uma primeira velocidade, em que a pressão ou força adicional aplicada ao atuador de disparo pode ser detectada pelo processador 3008 e, em resposta a isto, o processador 3008 pode operar o motor 2216 em uma segunda velocidade, como uma velocidade mais rápida, por exemplo. Em certos casos, a alteração na pressão ou força aplicada ao atuador de disparo pode ser proporcional à alteração na velocidade do motor. Em pelo menos um caso, a alteração na pressão ou força aplicada ao atuador de disparo pode ser linearmente proporcional à alteração na velocidade do motor. A revelação da patente US n° 7.845.537, intitulada SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, concedida em 7 de dezembro de 2010, está aqui incorporada, por referência em sua totalidade.
[0076] Conforme discutido acima, o operador do instrument cirúrgico pode escolher implantar todos os grampos armazenados dentro do atuador de extremidade 2208. Em tais circunstâncias, o operador pode pressionar o atuador de disparo e, em seguida, liberar o atuador quando acreditar que todos os grampos foram implantados durante um curso de disparo do membro de disparo. Em alguns casos, o instrumento cirúrgico pode incluir um indicador que pode ser iluminado pelo processador 3008 quando o curso de disparo foi concluído. Um indicador adequado pode compreender um diodo emissor de luz (LED), por exemplo. Em certos casos, o operador pode acreditar que um curso de disparo foi totalmente concluído apesar de o mesmo apenas estar quase concluído. O instrumento cirúrgico pode compreender pelo menos um sensor configurado para detectar a posição do membro de disparo dentro de seu curso de disparo, em que o sensor pode estar em comunicação de sinais com o processador 3008. No caso em que o curso de disparo tenha terminado em uma posição de quase concluído, o processador 3008 pode comandar o motor 2216 para terminar o curso de disparo do membro de disparo. Por exemplo, se o membro de disparo completou praticamente os 5 mm finais do curso de disparo, por exemplo, o processador 3008 pode assumir que o operador queria completar o curso de disparo e completa automaticamente o curso de disparo.
[0077] Com referência novamente à Figura 1, a interface 3001 do instrumento cirúrgico 2200 pode incluir uma entrada de estado inicial 3014. O operador pode usar a entrada de estado inicial para transmitir um sinal de entrada de estado inicial para o processador 3008 para retornar o instrumento cirúrgico 2200 para o estado inicial, o que pode incluir voltar o atuador de extremidade 2208 para a posição de estado inicial de articulação e/ou o elemento de disparo para a posição do estado inicial de disparo. Como ilustrado nas Figuras 3 e 7, a entrada de estado inicial 3014 pode incluir uma capa ou tampa, por exemplo, que pode ser pressionada pelo operador para fechar a chave 3004C e transmitir o sinal de entrada de estado inicial através do circuito 3006C para o processador 3008. Em certos casos, a entrada do estado inicial 3014 pode ser configurada para retornar o atuador de extremidade 2208 para a posição de estado inicial de articulação e uma entrada separada pode ser utilizada para retornar o membro de disparo para a posição de estado inicial de disparo. Em certos casos, a entrada do estado inicial 3014 pode ser configurada para retornar o membro de disparo para a posição de estado inicial de disparo e uma entrada separada pode ser utilizada para retornar o atuador de extremidade 2208 para a posição de estado inicial de articulação como, por exemplo, o oscilador 3012.
[0078] Em vários casos, o processador 3008 pode ser configurado para fazer com que o membro de disparo retorne para a posição de estado inicial de disparo e o atuador de extremidade 2208 retorne para a posição de estado inicial de articulação mediante o recebimento do sinal de entrada do estado inicial da entrada de estado inicial 3014. Em certos casos, a resposta do processador 3008 ao sinal de entrada do estado inicial pode depender de se o instrumento cirúrgico 2200 está em um modo de disparo ou em um modo de articulação; se o processador 3008 determina que o instrumento cirúrgico 2200 está no modo de articulação, o processador 3008 pode fazer com que o atuador de extremidade 2208 retorne para a posição de estado inicial de articulação em resposta ao sinal de entrada de estado inicial, por exemplo; e se o processador 3008 determina que o instrumento cirúrgico 2200 está no modo de disparo, o processador 3008 pode fazer com que o membro de disparo retorne para a posição de estado inicial de disparo em resposta ao sinal de entrada de estado inicial, por exemplo; Em certos casos, o membro de disparo pode ser avançado axialmente para disparar os grampos do cartucho de grampos 10006 apenas quando o atuador de extremidade 2208 estiver na configuração fechada. Em tais casos, o instrumento cirúrgico 2200 pode estar no modo de disparo apenas quando o atuador de extremidade 2208 estiver na configuração fechada. Em certos casos, o atuador de extremidade 2208 pode ser articulado apenas quando o atuador de extremidade 2208 estiver na configuração aberta. Em tais casos, o instrumento cirúrgico 2200 pode estar no modo de articulação apenas quando o atuador de extremidade 2208 estiver na configuração aberta. Consequentemente, em certos casos, o processador 3008 pode ser configurado para determinar se o instrumento cirúrgico 2200 está no modo de articulação ou no modo de disparo através da determinação de se o atuador de extremidade 2208 está na configuração aberta ou na configuração fechada. Em certos casos, um ou mais sensores 3016 (Figura 3) podem ser empregados pelo processador 3008 para determinar se o atuador de extremidade 2208 está na configuração aberta ou na configuração fechada.
[0079] Com referência agora às Figuras 1 e 10, o instrument cirúrgico 2200 pode compreender uma tela 2251 que pode ser incluída no conjunto do cabo 2202, por exemplo. A tela 2251 pode ser empregada por um ou mais microcontroladores aqui descritos para alertar, guiar e/ou fornecer retroinformação ao operador do instrumento cirúrgico 2200, por exemplo. A tela 2251 pode produzir uma tela de saída 2250. Em uso, o operador pode inclinar, articular e/ou girar o conjunto de cabo 2202, por exemplo, e, em resposta, o microcontrolador pode alterar a orientação da tela de saída 2250 para aprimorar, alinhar e/ou ajustar a orientação da tela de saída 2250 com relação à vista do operador do instrumento cirúrgico 2200 e/ou qualquer estrutura adequada de referência, como uma estrutura de referência inercial ou pelo menos substancialmente inercial, por exemplo. Uma estrutura fixa de referência pode ser definida, pelo menos em parte, pela gravidade. Em alguns casos, a aceleração para baixo da gravidade da Terra pode ser representada pelo vetor -g na Figura 10. Em certos casos, um processador, como o processador 3008, por exemplo, pode ser configurado para detectar as alterações na posição do conjunto de cabo 2202 com relação à estrutura de referência e adotar uma dentre uma pluralidade de orientações da tela 2251, de acordo com a posição relativa da tela 2251 com relação à estrutura de referência.
[0080] Em certos casos, conforme ilustrado na Figura 10, a tela 2251 pode ser disposta em uma superfície de topo 10008 do conjunto de cabo 2202. Em vários casos, a superfície 10008 pode se estender em um primeiro plano definido pelas coordenadas X1 e Y1 de um primeiro conjunto de coordenadas cartesianas representando o conjunto de cabo 2202. Em vários casos, a tela 2251 pode estar posicionada dentro do primeiro plano. Em alguns casos, a tela 2251 pode estar posicionada dentro de um plano que se estende paralelo ao primeiro plano e/ou qualquer plano adequado em uma relação fixa em relação ao primeiro plano. Por questão de conveniência na presente invenção, será assumido que o primeiro conjunto de coordenadas cartesianas representando o conjunto de cabo está alinhado com a tela 2251 e, dessa forma, é referido como um conjunto de tela de coordenadas cartesianas. A tela de saída 2250 pode residir em um segundo plano definido por coordenadas X2 e Y2 de um segundo ou tela de coordenadas cartesianas. Em certos casos, conforme ilustrado na Figura 10, o primeiro plano pode ser coplanar com o segundo plano, por exemplo. Além disso, o primeiro conjunto ou tela de coordenadas cartesianas pode estar alinhado com o segundo conjunto ou tela de coordenadas cartesianas, em pelo menos alguns casos. Por exemplo, +X1 pode estar alinhado com ou paralelo a +X2, +Y1 pode estar alinhado com ou paralelo a +Y2 e +Z1 pode estar alinhado com ou paralelo a +Z2. De forma correspondente, em tais casos, -X1 pode estar alinhado com ou paralelo a -X2, -Y1 pode estar alinhado com ou paralelo a -Y2 e -Z1 pode estar alinhado com ou paralelo a -Z2. Conforme será descrito com mais detalhes abaixo, o segundo conjunto ou tela de coordenadas cartesianas pode estar alinhado em relação ao primeiro conjunto ou tela de coordenadas cartesianas em certos casos. Em vários casos, uma determinada disposição das coordenadas cartesianas da tela pode ser preferencial. Por exemplo, uma posição neutra do instrumento cirúrgico 2200 pode coincidir com o eixo geométrico +Z1 das coordenadas da tela que estão sendo alinhadas com o vetor +g. Conforme será descrito com mais detalhes abaixo, o processador 3008 pode tolerar uma certa quantidade de desvio entre as coordenadas da tela na estrutura de referência sem alterar o alinhamento das coordenadas da tela; entretanto, além de um certo desvio entre as coordenadas da tela na estrutura de referência, o processador pode alterar o alinhamento das coordenadas da tela em relação às coordenadas da tela.
[0081] Com referência às Figuras 11 a 12D, um módulo 10010 pode ser configurado para alterar ou mudar a orientação da tela de saída 2250 dentre uma pluralidade de orientações em resposta às alterações na posição do conjunto de cabo 2202 que pode ser monitorada através da entrada de um ou mais acelerômetros (não mostrado) que podem ser acomodados dentro do conjunto de cabo 2202, por exemplo. Conforme discutido acima, e conforme ilustrado na Figura 12A, a tela de saída 2250 pode adotar uma primeira orientação em que os vetores +X2 e +Y2 do conjunto de tela de coordenadas cartesianas estão alinhados, ou pelo menos substancialmente alinhados, com os vetores +X1 e +Y1, respectivamente, do conjunto de tela de coordenadas cartesianas quando o instrumento cirúrgico está em sua posição neutra. Em certos casos, conforme ilustrado na Figura 12B, a tela de saída 2250 pode adotar uma segunda orientação em que os vetores +Y2 e +X2 do conjunto de tela de coordenadas cartesianas estão alinhados, ou pelo menos substancialmente alinhados, com os vetores +Y1 e +X1, respectivamente, do conjunto de tela de coordenadas cartesianas, por exemplo. Em certos casos, conforme ilustrado na Figura 12C, a tela de saída 2250 pode adotar uma terceira orientação em que os vetores +X2 e +Y2 do conjunto de tela de coordenadas cartesianas estão alinhados, ou pelo menos substancialmente alinhados, com os vetores -X1 e -Y1, respectivamente, do conjunto de tela de coordenadas cartesianas, por exemplo. Em certos casos, conforme ilustrado na Figura 12D, a tela de saída 2250 pode adotar uma quarta orientação em que os vetores +X2 e +Y2 do segundo conjunto de coordenadas cartesianas estão alinhados, ou pelo menos substancialmente alinhados, com os vetores -Y1 e +X1, respectivamente, do conjunto de tela de coordenadas cartesianas, por exemplo. Outras orientações são possíveis.
[0082] Com referência às Figuras 11 a 12D, o processador 3008 pode estar configurado para alternar a orientação da tela de saída 2250 dentre uma pluralidade de orientações incluindo a primeira orientação, a segunda orientação, a terceira orientação e/ou a quarta orientação, por exemplo, para acomodar as alterações na posição do conjunto de cabo 2202, por exemplo. Em certos casos, o módulo 10010 pode incluir um algoritmo de controle de histerese para evitar a hesitação da orientação quando da alternância entre a primeira, segunda, terceira e/ou quarta orientações, por exemplo. Um algoritmo de controle de histerese pode produzir uma defasagem entre uma detecção inicial de um evento que poderia resultar em uma alteração de orientação de tela e o comando do processador para alterar a orientação da tela. Como tal, o algoritmo de controle de histerese pode ignorar eventos que resultariam em uma orientação potencialmente transiente e otimamente esperar para orientar a tela até uma condição de estado estável ou estado suficientemente estável seja atingida. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na primeira orientação quando um ângulo entre o vetor +Z1 do eixo geométrico Z1 e o vetor -g do eixo geométrico de gravidade g for menor ou igual a um ângulo máximo, por exemplo. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na segunda orientação quando um ângulo entre o vetor +X1 do eixo geométrico X1 e o vetor +g do eixo geométrico de gravidade g for menor ou igual a um ângulo máximo, por exemplo. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na terceira orientação quando um ângulo entre o vetor +Y1 do eixo geométrico Y1 e o vetor +g do eixo geométrico de gravidade g for menor ou igual a um ângulo máximo, por exemplo. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na quarta orientação quando um ângulo entre o vetor +X1 do eixo geométrico X1 e o vetor -g do eixo geométrico de gravidade g for menor ou igual a um ângulo máximo, por exemplo. Em certos casos, o ângulo máximo pode ser qualquer ângulo selecionado a partir de uma faixa de cerca de 0 grau, por exemplo, até cerca de 10 graus, por exemplo. Em certos casos, o ângulo máximo pode ser qualquer ângulo selecionado a partir de uma faixa de cerca de 0 grau, por exemplo, até cerca de 5 graus, por exemplo. Em certos casos, o ângulo máximo pode ser de cerca de 5 graus, por exemplo. Os ângulos máximos descritos acima são exemplos e não pretendem limitar o escopo da presente revelação.
[0083] Com referência às Figuras 11 a 12D, em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na primeira orientação quando o vetor +Z1 do eixo geométrico Z1 e o vetor -g do eixo geométrico de gravidade g estiverem alinhados ou pelo menos substancialmente alinhados um com o outro, por exemplo. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na segunda orientação quando o vetor +X1 do eixo geométrico X1 e o vetor +g do eixo geométrico de gravidade g estiverem alinhados ou pelo menos substancialmente alinhados um com o outro, por exemplo. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na terceira orientação quando o vetor +Y1 do eixo geométrico Y1 e o vetor +g do eixo geométrico de gravidade g estiverem alinhados ou pelo menos substancialmente alinhados um com o outro, por exemplo. Em certos casos, o processador 3008 pode estar configurado para orientar a tela de saída 2250 na quarta orientação quando o vetor +X1 do eixo geométrico X1 e o vetor -g do eixo geométrico de gravidade g estiverem alinhados ou pelo menos substancialmente alinhados um com o outro, por exemplo.
[0084] Com referência às Figuras 11 a 12D, em certos casos, o processador 3008 pode estar configurado para girar a tela de saída 2250 da primeira orientação para a segunda orientação se o cabo 2212 for girado no sentido horário ao redor do eixo geométrico longitudinal LL (Figura 1) em um ângulo selecionado a partir de uma faixa de cerca de 80 graus, por exemplo, a cerca de 100 graus, por exemplo. Se o cabo 2212 for girado no sentido horário ao redor do eixo geométrico longitudinal LL em menos do que 80 graus, o processador 3008 pode não reorientar a tela de saída 2250, neste exemplo. Em certos casos, o processador 3008 pode estar configurado para girar a tela de saída 2250 da primeira orientação para a quarta orientação se o cabo 2212 for girado no sentido anti- horário ao redor do eixo geométrico longitudinal LL em um ângulo selecionado a partir de uma faixa de cerca de 80 graus, por exemplo, a cerca de 100 graus, por exemplo. Se o cabo 2212 for girado no sentido anti-horário ao redor do eixo geométrico longitudinal LL em menos do que 80 graus, o processador 3008 pode não reorientar a tela de saída 2250, neste exemplo.
[0085] Conforme descrito acima, o operador pode usar o oscilador 3012 para articular o atuador de extremidade 2208, por exemplo. Em certos casos, o operador pode mover o dedo em uma primeira direção para inclinar o oscilador 3012 e pressionar a chave de cúpula 3004A para articular o atuador de extremidade 2208 no sentido horário para a direita, por exemplo; e o operador pode mover o dedo em uma segunda direção oposta à primeira direção, para pressionar a chave de cúpula 3004B e articular o atuador de extremidade 2208 no sentido anti-horário para a esquerda, por exemplo.
[0086] Dependendo da posição e/ou orientação do oscilador 3012 com relação à interface 3001 e/ou ao conjunto de cabo 2202, em certos casos, em uma primeira posição ou posição neutra do conjunto de cabo 2202, a primeira direção pode ser uma direção para cima, por exemplo, e a segunda direção pode ser uma direção para baixo, por exemplo, como ilustrado nas Figuras 1 e 14A. Em tais casos, o operador do instrumento cirúrgico 2200 pode se acostumar a mover seu dedo para cima, por exemplo, para articular o atuador de extremidade 2208 para a direita, por exemplo; e o operador pode se acostumar a mover seu dedo para baixo, por exemplo, para articular o atuador de extremidade 2208 para a esquerda, por exemplo; Em certos casos, entretanto, o operador pode alterar a posição do conjunto de cabo 2202 para uma segunda posição, como uma posição invertida, por exemplo, conforme ilustrado na Figura 14B. Em tais casos, se o operador não se lembrar de reverter a direção do movimento de seu dedo, ele pode articular de maneira não intencional o atuador de extremidade 2208 em uma direção oposta à direção pretendida pelo operador.
[0087] Com referência à Figura 13, o instrumento cirúrgico 2200 pode compreender um módulo 10012 que pode permitir que o operador mantenha as direções de movimento às quais o cirurgião pode ter se acostumado em relação à operação do instrumento cirúrgico 2200. Conforme discutido acima, o processador 3008 pode estar configurado para alternar entre uma pluralidade de configurações em resposta às alterações na posição e/ou orientação do conjunto de cabo 2202, por exemplo. Em certos casos, conforme ilustrado na Figura 13, o processador 3008 pode estar configurado para alternar entre uma primeira configuração da interface 3001 associada a uma primeira posição e/ou orientação do conjunto de cabo 2202 e uma segunda configuração da interface 3001 associada a uma segunda posição e/ou orientação do conjunto de cabo 2202.
[0088] Em certos casos, na primeira configuração, o processador 3008 pode estar configurado para comandar um motor de articulação para articular o atuador de extremidade 2208 para a direita quando a chave de cúpula 3004A é pressionada, por exemplo, e o processador 3008 pode estar configurado para comandar um motor de articulação para articular o atuador de extremidade 2208 para a esquerda quando a chave de cúpula 3004B é pressionada, por exemplo. Na segunda configuração, o processador 3008 pode estar configurado para comandar um motor de articulação para articular o atuador de extremidade 2208 para a esquerda quando a chave de cúpula 3004A é pressionada, por exemplo, e o processador 3008 pode comandar um motor de articulação para articular o atuador de extremidade 2208 para a direita quando a chave de cúpula 3004B é pressionada, por exemplo. Em várias modalidades, um instrumento cirúrgico pode compreender um motor para articular o atuador de extremidade 2208 em ambas as direções, ao mesmo tempo, em outras modalidades, o instrumento cirúrgico pode compreender um primeiro motor configurado para articular o atuador de extremidade 2208 em uma primeira direção e um segundo motor configurado para articular o atuador de extremidade 2208 em uma segunda direção.
[0089] Com referência às Figuras 13 a 14B, o processador 3008 pode estar configurado para adotar a primeira configuração ao mesmo tempo em que o conjunto de cabo 2202 está na primeira posição e/ou orientação, por exemplo, e adota a segunda configuração enquanto o conjunto de cabo 2202 está na segunda posição e/ou orientação, por exemplo. Em certos casos, o processador 3008 pode estar configurado para detectar a orientação e/ou posição do conjunto de cabo 2202 através da entrada de um ou mais acelerômetros (não mostrado) que podem ser alojados dentro do conjunto de cabo 2202, por exemplo. Tais acelerômetros, em vários casos, podem detectar a orientação do conjunto de cabo 2202 em relação à gravidade, ou seja, para cima e/ou para baixo.
[0090] Em certos casos, o processador 3008 pode estar configurado para adotar a primeira configuração enquanto um ângulo entre um vetor D (Figura 1) se estende através do conjunto de cabo 2202 e o vetor de gravidade g está em qualquer ângulo na faixa de cerca de 0 grau, por exemplo, a cerca de 100 graus, por exemplo. Em certos casos, o processador 3008 pode estar configurado para adotar a primeira configuração enquanto o ângulo entre um vetor D e o vetor de gravidade g está em qualquer ângulo na faixa de cerca de 0 grau, por exemplo, a cerca de 90 graus, por exemplo. Em certos casos, o processador 3008 pode estar configurado para adotar a primeira configuração enquanto o ângulo entre um vetor D e o vetor de gravidade g é menor que ou igual a cerca de 80 graus, por exemplo.
[0091] Em certos casos, o processador 3008 pode estar configurado para adotar a segunda configuração enquanto o ângulo entre um vetor D e o vetor de gravidade g é maior que ou igual a cerca de 80 graus, por exemplo. Em certos casos, o processador 3008 pode estar configurado para adotar a segunda configuração enquanto o ângulo entre um vetor D e o vetor de gravidade g é maior que ou igual a cerca de 90 graus, por exemplo. Em certos casos, o processador 3008 pode estar configurado para adotar a segunda configuração enquanto o ângulo entre um vetor D e o vetor de gravidade g é maior que ou igual a cerca de 100 graus, por exemplo.
[0092] O leitor entenderá que as orientações e/ou posições descritas do conjunto de cabo 2202 e suas configurações correspondentes que são adotadas pelo processador 3008 são exemplificativas por natureza e não pretendem limitar o escopo da presente invenção. O processador 3008 pode estar configurado para adotar várias outras configurações em conexão a várias outras orientações e/ou posições do conjunto de cabo 2202.
[0093] Com referência à Figura 15, em certos casos, o instrument cirúrgico 2200 pode ser controlado e/ou operado ou, pelo menos, parcialmente controlado e/ou operado, pela entrada de um operador recebida através de uma tela como, por exemplo, a tela 2250; a tela 2250 pode compreender uma tela sensível ao toque adaptada para receber a entrada do operador que pode estar na forma de um ou mais gestos de toque. Em vários casos, a tela 2250 pode ser acoplada a um processador como, por exemplo, o processador 3008 que pode estar configurado para fazer com que o instrumento cirúrgico 2200 realize várias funções em resposta aos gestos de toque fornecidos pelo operador. Em certos casos, a tela 2250 pode compreender uma tela sensível ao toque capacitiva, uma tela sensível ao toque resistiva ou qualquer tela sensível ao toque adequada, por exemplo.
[0094] Com referência novamente à Figura 15, a tela 2250 pode compreender uma pluralidade de ícones que podem estar associados a uma pluralidade de funções que podem ser executadas pelo instrumento cirúrgico 2200. Em certos casos, o processador 3008 pode estar configurado para fazer com que o instrumento cirúrgico 2200 realize uma função quando um ícone representando tal função é selecionado, tocado e/ou pressionado pelo operador do instrumento cirúrgico 2200. Em certos casos, uma memória, como, por exemplo, a memória 3010 pode compreender um ou mais módulos para associar a pluralidade de ícones à pluralidade de funções.
[0095] Em certos casos, conforme ilustrado na Figura 15, a tela 2250 pode incluir um ícone de disparo 10014, por exemplo. O processador 3008 pode ser configurado para detectar um sinal de entrada de disparo quando o operador toca e/ou pressiona o ícone de disparo 10014. Em resposta à detecção do sinal de entrada de disparo, o processador 3008 pode ser configurado para ativar o motor 2216 para motivar um membro de disparo do instrumento cirúrgico 2200 a disparar grampos do cartucho de grampos 10006 e/ou cortar o tecido capturado entre a bigorna 10002 e o cartucho de grampos 10006, por exemplo. Em certos casos, conforme ilustrado na Figura 15, a tela 2250 pode incluir um ícone de articulação 10016 para articular o atuador de extremidade 2208 em uma primeira direção como, por exemplo, uma direção em sentido horário; a tela 2250 também pode incluir um ícone de articulação 10018 para articular o atuador de extremidade 2208 em uma segunda direção como, por exemplo, uma direção em sentido anti-horário; O leitor entenderá que a tela 2250 pode compreender vários outros ícones associados a várias outras funções que o processador 3008 pode fazer com que o instrumento cirúrgico 2200 realize quando tais ícones são selecionados, tocados e/ou pressionados pelo operador do instrumento cirúrgico 2200, por exemplo.
[0096] Em certos casos, um ou mais ícones da tela 2250 pode compreender palavras, símbolos e/ou imagens representando a função que pode ser executada ao tocar ou pressionar os ícones, por exemplo. Em certos casos, o ícone de articulação 10016 pode mostrar uma imagem do atuador de extremidade 2208 articulado na direção em sentido horário. Em certos casos, o ícone de articulação 10018 pode mostrar uma imagem do atuador de extremidade 2208 articulado na direção em sentido anti-horário. Em certos casos, o ícone de disparo 10014 pode mostrar uma imagem dos grampos sendo disparados do cartucho de grampos 10006.
[0097] Com referência às Figuras 1 e 16, a interface 3001 do instrumento cirúrgico 2200 pode compreender uma pluralidade de controles operacionais como, por exemplo, um gatilho de fechamento 10020, um botão giratório 10022, o oscilador de articulação 3012 e/ou uma entrada de disparo 3017 (Figura 17). Em certos casos, vários controles operacionais da interface 3001 do instrumento cirúrgico 2200 podem servir, além de suas funções operacionais, como controles de navegação. Em certos casos, o instrumento cirúrgico 2200 pode compreender um modo operacional e um modo de navegação. No modo operacional, alguns ou todos os controles do instrumento cirúrgico 2200 podem ser configurados para realizar funções operacionais; e no modo de navegação, alguns ou todos os controles do instrumento cirúrgico 2200 podem ser configurados para executar funções de navegação. Em vários casos, as funções de navegação executadas por alguns ou todos os controles do instrumento cirúrgico 2200 podem estar relacionadas, associadas e/ou conectadas às funções operacionais executadas pelos controles. Em outras palavras, as funções operacionais executadas pelos controles do instrumento cirúrgico 2200 podem definir as funções de navegação executadas por tais controles.
[0098] Com referência às Figuras 1 e 16, em certos casos, um processador, como, por exemplo, o processador 3008 pode ser configurado para alternar entre uma configuração de interface primária ao mesmo tempo em que o instrumento cirúrgico 2200 está no modo operacional e uma configuração de interface secundária ao mesmo tempo em que o instrumento cirúrgico 2200 está no modo de navegação; o processador 3008 pode ser configurado para designar funções operacionais a alguns ou todos os controles da interface 3001 no modo operacional e designar funções de navegação para tais controles no modo de navegação, por exemplo. Em certos casos, as funções de navegação dos controles na configuração da interface secundária são definidas pelas funções operacionais dos controles na configuração de interface primária, por exemplo.
[0099] Com referência à Figura 16, em certos casos, o operador do instrumento cirúrgico 2200 pode ativar o modo de navegação pela abertura ou ativação de um menu de navegação 10024 na tela 2250, por exemplo. Em certos casos, o instrumento cirúrgico 2200 pode compreender um botão ou uma chave de modo de navegação (não mostrada) para ativar o modo de navegação. Em qualquer caso, o processador 3008 pode passar os controles da interface 3001 da configuração primária para a configuração secundária mediante o recebimento de um sinal de entrada de modo de navegação.
[0100] Conforme ilustrado na Figura 16, o menu de navegação 10024 pode compreender várias categorias selecionáveis, menus e/ou pastas e/ou várias subcategorias, submenus e/ou subpastas. Em certos casos, o menu de navegação 10024 pode compreender uma categoria de articulação, uma categoria de disparo, uma categoria de fechamento, uma categoria de bateria e/ou uma categoria de rotação,por exemplo.
[0101] Em certos casos, o oscilador de articulação 3012 pode ser utilizado para articular o atuador de extremidade 2208, no modo operacional, conforme descrito acima, e pode ser utilizado para selecionar a categoria de articulação e/ou lançar e/ou navegar em um menu de articulação, no modo de navegação, por exemplo. Em certos casos, a entrada de disparo 3017 (Figura 17) pode ser utilizada para disparar os grampos, no modo operacional, conforme descrito acima, e pode ser utilizada para selecionar a categoria de disparo e/ou lançar e/ou navegar em um menu de disparo, no modo de navegação, por exemplo. Em certos casos, o gatilho de fechamento 10020 pode ser utilizado para alternar o atuador de extremidade 2208 entre uma configuração aberta e uma configuração aproximada no modo operacional, conforme descrito acima, e pode ser utilizado para selecionar a categoria de fechamento e/ou lançar e/ou navegar em um menu de fechamento, no modo de navegação, por exemplo. Em certos casos, o botão de rotação 10022 pode ser utilizado para girar o atuador de extremidade 2208 em relação ao eixo alongado 2204, no modo operacional, e pode ser utilizado para selecionar a categoria de rotação e/ou lançar e/ou navegar em um menu de rotação, no modo de navegação, por exemplo.
[0102] Com referência principalmente às Figuras 1 e 17, a operação do instrumento cirúrgico 2200 pode envolver uma série ou uma sequência de etapas, ações, eventos e/ou combinações dos mesmos. Em várias circunstâncias, conforme ilustrado na Figura 17, o instrumento cirúrgico 2200 pode incluir um sistema indicador 10030 que pode ser configurado para guiar, alertar e/ou fornecer retroinformação ao operador do instrumento cirúrgico 2200 em relação às várias etapas, ações e/ou eventos.
[0103] Em vários casos, o sistema indicador 10030 pode incluir uma pluralidade de indicadores 10032. Em certos casos, os indicadores 10032 podem compreender, por exemplo, indicadores visuais como telas de exibição, luzes de fundo e/ou LEDs, por exemplo. Em certos casos, os indicadores 10032 podem compreender indicadores de áudio como alto-falantes e/ou campainhas, por exemplo. Em certos casos, os indicadores 10032 podem compreender indicadores táteis como indicadores hápticos, por exemplo. Em certos casos, os indicadores 10032 podem compreender combinações de indicadores visuais, indicadores de áudio e/ou indicadores táteis, por exemplo.
[0104] Com referência à Figura 17, o sistema indicador 10030 pode incluir um ou mais microcontroladores como, por exemplo, o microcontrolador 3002 que pode compreender um ou mais processadores como, por exemplo, o processador 3008 e/ou uma ou mais unidades de memória como, por exemplo, a memória 3010. Em vários casos, o processador 3008 pode ser acoplado a vários sensores 10035 e/ou sistemas de retroinformação que podem ser configurados para fornecer retroinformação ao processador 3008 com relação ao status do instrumento cirúrgico 2200 e/ou o progresso das etapas, ações e/ou eventos pertencentes à operação do instrumento cirúrgico 2200, por exemplo.
[0105] Em vários casos, a operação do instrumento cirúrgico 2200 pode incluir várias etapas, incluindo uma etapa de articulação, uma etapa de fechamento, uma etapa de disparo, uma etapa de reajuste de disparo, uma etapa de reajuste de fechamento, uma etapa de reajuste de articulação e/ou combinações das mesmas, por exemplo. Em vários casos, a etapa de articulação pode envolver a articulação do atuador de extremidade 2208 em relação ao eixo alongado 2204 para uma posição articulada, por exemplo; e a etapa de reajuste de articulação pode envolver o retorno do atuador de extremidade 2208 para uma posição de estado inicial de articulação, por exemplo. Em vários casos, a etapa de fechamento pode envolver a alternação do atuador de extremidade 2208 para uma configuração fechada, por exemplo; e a etapa de reajuste de fechamento pode envolver a alternação do atuador de extremidade 2208 para uma configuração aberta, por exemplo. Em vários casos, a etapa de disparo pode envolver o avanço de um membro de disparo para implantar os grampos do cartucho de grampos 10006 e/ou cortar o tecido capturado pelo atuador de extremidade 2208, por exemplo. Em vários casos, a etapa de reajuste de disparo pode envolver a retração do membro de disparo para uma posição de estado inicial de disparo, por exemplo.
[0106] Com referência à Figura 17, um ou mais indicadores 10032 do sistema indicador 10030 podem estar associados a uma ou mais de várias etapas executadas em conexão à operação das várias etapas do instrumento cirúrgico 2200. Em vários casos, conforme ilustrado na Figura 17, os indicadores 10032 podem incluir um indicador de ejeção 10033 associado ao conjunto de ejeção 2228, um indicador de articulação 10034, associado à etapa de articulação, um indicador de fechamento 10036 associado à etapa de fechamento, um indicador de disparo 10038 associado à etapa de disparo, um indicador de reajuste de articulação 10040 associado à etapa de reajuste de articulação, um indicador de reajuste de fechamento 10042 associado à etapa de reajuste de fechamento e/ou um indicador de reajuste de disparo 10044 associado à etapa de reajuste de disparo, por exemplo. O leitor entenderá que as etapas e/ou indicadores descritos acima são exemplificativos por natureza e não pretendem limitar o escopo da presente revelação. Várias outras etapas e/ou indicadores são contemplados pela presente revelação.
[0107] Com referência à Figura 1, em vários casos, um ou mais dos controles da interface 3001 podem ser empregados em uma ou mais etapas de operação do instrumento cirúrgico 2200. Em certos casos, o gatilho de fechamento 10020 pode ser empregado na etapa de fechamento, por exemplo. Em certos casos, a entrada de disparo 3017 (Figura 17) pode ser empregada na etapa de disparo, por exemplo. Em certos casos, o oscilador de articulação 3012 pode ser empregado na etapa de articulação e/ou etapa de reajuste de articulação, por exemplo. Em certos casos, a entrada do estado inicial 3014 pode ser empregada na etapa de reajuste de disparo, por exemplo.
[0108] Com referência à Figura 17, em vários casos, os indicadores 10032 associados a uma das etapas da operação do instrumento cirúrgico 10030 também podem estar associados aos controles empregados em tais etapas, Por exemplo, o indicador de articulação 10034 pode estar associado ao oscilador de articulação 3012, o indicador de fechamento 10036 pode estar associado ao gatilho de fechamento 10020, o indicador de disparo 10038 pode estar associado à entrada de disparo 3017 e/ou o indicador de reajuste de disparo 10044 pode ser associado à entrada do estado inicial 3014. Em certos casos, associar um indicador a um controle de interface 3001 pode incluir inserir ou posicionar o indicador sobre, dentro, parcialmente dentro, perto e/ou em proximidade ao controle, por exemplo, para auxiliar o operador na associação do indicador ao controle. O leitor entenderá que os controles e/ou indicadores descritos acima associados a tais controles são exemplificativos por natureza e não pretendem limitar o escopo da presente revelação. Várias outros controles e indicadores associados a tais controles são contemplados pela presente revelação.
[0109] Em vários casos, o processador 3008 pode ser configurado para ativar os indicadores 10032 em uma ou mais sequências definidas pela ordem das etapas associadas aos indicadores 10032. Por exemplo, o operador pode precisar operar o instrumento cirúrgico 2200 em uma série de etapas, começando com a etapa de articulação, seguida pela etapa de fechamento, e, adicionalmente, seguida pela etapa de disparo. Em tal exemplo, o processador 3008 pode ser configurado para guiar o operador através da sequência de etapas pela ativação do indicador de articulação correspondente 10034, do indicador de fechamento 10036 e do indicador de disparo 10038 na mesma ordem das etapas. Em outras palavras, o processador 3008 pode ser configurado para primeiramente ativar o indicador de articulação 10034, seguido pelo indicador de fechamento 10036, e, adicionalmente, seguido pelo indicador de disparo 10038, por exemplo. Em certos casos, o instrumento cirúrgico 2200 pode compreender uma chave de desvio (não mostrada) que pode ser configurada para permitir que o operador pule uma etapa que é recomendada mas não obrigatória, por exemplo. Em tais casos, pressionar a chave de desvio pode sinalizar o processador 3008 para ativar o próximo indicador na sequência.
[0110] Em vários casos, o processador 3008 pode ser configurado para alternar os indicadores 10032 entre uma pluralidade de configurações de indicador para guiar, alertar e/ou fornecer retroinformação ao operador do instrumento cirúrgico 2200. Em vários casos, o processador 3008 pode fornecer indicações visuais ao operador do instrumento cirúrgico 2200 pela alternância dos indicadores 10032 dentre a pluralidade de configurações de indicador que pode incluir configurações ativadas e/ou desativadas, por exemplo. Em certos casos, um ou mais dos indicadores 10032 pode compreender uma fonte de luz que pode ser ativada em uma primeira configuração de indicador, por exemplo, para alertar o operador para realizar uma etapa associada aos indicadores 10032, por exemplo; e a fonte de luz pode ser desativada em uma segunda configuração de indicador, por exemplo, para alertar o operador quando a etapa está completa, por exemplo.
[0111] Em certos casos, a fonte de luz pode ser uma luz piscante que pode ser alternada pelo processador 3008 entre uma configuração piscante e uma configuração não piscante. Em certos casos, a luz piscante, na configuração não piscante, pode ser alternada para a iluminação sólida ou desligada, por exemplo. Em certos casos, a luz piscante, na configuração piscante, pode representar um período de espera ao mesmo tempo que uma etapa está em progresso, por exemplo. Em certos casos, a frequência piscante da luz piscante pode ser alterada para fornecer várias indicações visuais. Por exemplo, a frequência piscante da luz piscante que representa um período de espera pode ser aumentada ou diminuída quando o período de espera se aproxima de sua conclusão. O leitor entenderá que o período de espera pode ser um período de espera forçada e/ou um período de espera recomendada, por exemplo. Em certos casos, os períodos de espera forçadas podem ser representados por uma configuração piscante diferente dos períodos de espera recomendados. Em certos casos, a luz piscante pode compreender uma primeira cor representando um período de espera forçada e uma segunda cor representando um período de espera recomendado, em que a primeira cor é diferente da segunda cor. Em certos casos, a primeira cor pode ser uma cor vermelha, por exemplo, e a segunda cor pode ser uma cor amarela, por exemplo.
[0112] Em vários casos, um ou mais dos indicadores 10032 podem ser alternados pelo processador 3008 entre uma primeira configuração de indicador representando os controles que estão disponíveis para uso em uma próxima etapa padrão das etapas de operação do instrumento cirúrgico 2200, uma segunda configuração de indicador representando os controles que estão disponíveis para uso em uma próxima etapa não padrão das etapas de operação do instrumento cirúrgico 2200 e/ou uma terceira configuração de indicador representando os controles que não estão disponíveis para uso em uma próxima etapa das etapas da operação do instrumento cirúrgico 2200, por exemplo. Por exemplo, quando o atuador de extremidade 2208 do instrumento cirúrgico 2000 está em uma configuração aberta, o indicador de articulação 10034 e o indicador de fechamento 10036 podem ser iluminados, indicando ao operador do instrumento cirúrgico 2200 que aquelas duas funções, ou seja, a articulação do atuador de extremidade e o fechamento do articulador de extremidade, estão disponíveis para o operador naquele momento. Em tal estado, o indicador de disparo 10038 pode não estar iluminado, indicando ao operador que a função de disparo não está disponível para o operador naquele momento. Assim que o atuador de extremidade 2208 é colocado em uma configuração fechada e/ou presa, o indicador de articulação 10034 pode estar apagado, indicando ao operador que a função de articulação não está mais disponível naquele momento. Em tal estado, a iluminação do indicador de fechamento 10036 pode ser reduzida, indicando ao operador que a função de fechamento pode ser revertida naquele momento. Além disso, em tal estado, o indicador de disparo 10038 pode ficar iluminado, indicando ao operador que a função de disparo está disponível para o operador naquele momento. Assim que o elemento de disparo tiver sido pelo menos parcialmente avançado, o indicador de fechamento 10036 pode estar apagado, indicando que a função de fechamento não pode ser revertida naquele momento. Quando o membro de disparo é retraído de volta para sua posição de não disparo, a iluminação do indicador de disparo 10038 pode ser reduzida, indicando ao operador que o membro de disparo pode ser avançado novamente, se necessário. Alternativamente, assim que o membro de disparo foi retraído, o indicador de disparo 10038 pode estar apagado, indicando ao operador que o membro de disparo não pode ser avançado novamente naquele momento. Em qualquer caso, o indicador de fechamento 10036 pode ser iluminado novamente após o membro de disparo ter sido retraído de volta à sua posição não disparado, indicando ao operador que a função de fechamento pode ser revertida naquele momento. O indicador de articulação 10034 pode permanecer não iluminado, indicando que a função de articulação não está disponível naquele momento. Assim que o atuador de extremidade 2208 for aberto, o indicador de disparo 10038 pode estar apagado, se já não estiver apagado, indicando ao operador que a função de disparo não está disponível naquele momento, o indicador de fechamento 10036 pode permanecer iluminado ou sua iluminação pode ser reduzida, indicando ao operador que a função de fechamento ainda está disponível naquele momento, e o indicador de articulação 10034 pode ser iluminado novamente, indicando ao operador que a função de articulação está disponível naquele momento. O exemplo fornecido acima é exemplificador e outras modalidades são possíveis.
[0113] Em certos casos, os um ou mais indicadores 10032 podem incluir uma fonte de luz que pode ser alternada pelo processador 3008 entre uma primeira cor na primeira configuração de indicador, uma segunda cor na segunda configuração de indicador e/ou uma terceira cor na terceira configuração de indicador, por exemplo. Em certos casos, os indicadores 10032 podem ser alternados pelo processador 3008 entre a primeira configuração de indicador, a segunda configuração de indicador e/ou a terceira configuração de indicador pela alteração de intensidade da luz da fonte de luz ou pela varredura através do espectro de cor, por exemplo. Em certos casos, a primeira configuração de indicador pode compreender uma primeira intensidade de luz, por exemplo, a segunda configuração de indicador pode compreender uma segunda intensidade de luz, por exemplo, e/ou a terceira configuração de indicador pode compreender uma terceira configuração de indicador, por exemplo.
[0114] Em vários casos, na etapa de disparo de operação do instrumento cirúrgico 2200, o membro de disparo pode ser motivado a implantar a pluralidade de grampos do cartucho de grampos 10006 no tecido capturado entre a bigorna 10002 e o cartucho de grampos 10006 e avançar um membro de corte (não mostrado) para cortar o tecido capturado. O leitor entenderá que o avanço do membro de corte para cortar o tecido capturado na ausência de um cartucho de grampos ou na presença de um cartucho de grampos gasto pode ser indesejável. Consequentemente, em vários casos, o instrumento cirúrgico 2200 pode compreender um mecanismo de travamento (não mostrado) que pode ser ativado para evitar o avanço do membro de corte na ausência de um cartucho de grampos ou na presença de um cartucho de grampos gasto, por exemplo.
[0115] Com referência à Figura 18, um módulo 10046 pode ser empregado por um sistema indicador como, por exemplo, o sistema indicador 10030 (Figura 17). Em vários casos, o módulo 10046 pode compreender instruções do programa armazenadas em uma ou mais unidades de memória como, por exemplo, a memória 3010 que, quando executadas, podem fazer com que o processador 3008 empregue os indicadores 10032 para alertar, guiar e/ou fornecer retroinformação ao operador do instrumento cirúrgico 2200 durante a etapa de disparo de operação do instrumento cirúrgico 2200, por exemplo. Em certos casos, um ou mais dos indicadores 10032, como o indicador de disparo 10038 e/ou o indicador de reajuste de disparo 10044, por exemplo, podem ser alternados pelo processador 3008 entre a primeira configuração de indicador, a segunda configuração de indicador e/ou a terceira configuração de indicador para alertar, guiar e/ou fornecer retroinformação ao operador do instrumento cirúrgico 2200 durante a etapa de disparo de operação do instrumento cirúrgico 2200, por exemplo.
[0116] Com referência às Figuras 17 e 18, o operador do instrumento cirúrgico 2200 pode atuar a entrada de disparo 3017 para fazer com que o processador 3008 ative o motor 2216, por exemplo, para motivar o membro de disparo a implantar a pluralidade de grampos do cartucho de grampos 10006 no tecido capturado e avançar o membro de corte para cortar o tecido capturado. Em certos casos, o indicador de disparo 10038 pode ser ajustado para a primeira configuração de indicador para alertar o operador que a entrada de disparo 3017 está disponível para uso e/ou é uma das opções de controle padrão disponíveis para a conclusão da etapa de disparo.
[0117] Em certos casos, conforme ilustrado nas Figuras 17 e 18, se o processador 3008 detectar que o mecanismo de travamento está ativo, o processador 3008 pode parar o avanço do membro de corte parando e/ou desativando o motor 2216, por exemplo. Além disso, o processador 3008 pode ser configurado para alternar o indicador de disparo 10038 da primeira configuração de indicador para a terceira configuração de indicador para avisar ao operador se a entrada de disparo 3017 não estiver disponível para uso. Em certos casos, o processador 3008 também pode ser configurado para iluminar a tela 2250 e apresentar uma imagem da falta de um cartucho de grampos, por exemplo. Em certos casos, o processador 3008 também pode ajustar o indicador de reajuste de disparo 10044 para a primeira configuração de indicador, por exemplo, para informar o operador de que a entrada do estado inicial 3014 está disponível para uso para motivar o membro de disparo a retrair o membro de corte para a posição de estado inicial de disparo, por exemplo. Em certos casos, o processador 3008 pode ser configurado para detectar a instalação de um novo cartucho de grampos, através de sensores 10035, por exemplo, e em resposta, retornar o indicador de disparo 10038 para a primeira configuração de indicador, por exemplo.
[0118] Em certos casos, conforme ilustrado na Figura 18, se o operador liberar a entrada de disparo 3017 antes da conclusão da etapa de disparo, o processador 3008 pode ser configurado para parar o motor 2216. Em certos casos, o processador 3008 também pode manter o indicador de disparo 10038 na primeira configuração de indicador, por exemplo, para alertar o operador de que a entrada de disparo 3017 está disponível para uso como opção de controle padrão disponível para conclusão da etapa de disparo de operação do instrumento cirúrgico 2200, por exemplo. Em certos casos, o processador 3008 também pode ajustar o indicador de reajuste de disparo 10044 para a segunda configuração de indicador, por exemplo, para informar ao operador que a entrada do estado inicial 3014 está disponível como uma opção de controle não padrão disponível para uso para retrair o membro de corte para a posição de estado inicial de disparo, por exemplo, se o operador decidir abortar a etapa de disparo da operação do instrumento cirúrgico 2200, por exemplo.
[0119] Adicionalmente ao exposto acima, conforme ilustrado na Figura 18, se a entrada de disparo 3017 for reatuada pelo operador, o processador 3008 pode, em resposta, reativar o motor 2216 para continuar a avançar o membro de corte até o membro de corte estar totalmente avançado. Em certos casos, o processador 3008 pode empregar os sensores 10035 para detectar quando o membro de corte está totalmente avançado; o processador 3008 pode, então, reverter a direção da rotação do motor 2216, por exemplo, para motivar o membro de disparo para retrair o membro de corte para posicionar o estado inicial de disparo, por exemplo. Em certos casos, o processador 3008 pode ser configurado para parar o motor 2216, por exemplo, e/ou ajustar o indicador de reajuste de fechamento 10042 para a primeira configuração de indicador, por exemplo, se o processador detectar que o membro de corte alcançou a posição de estado inicial de disparo, por exemplo.
[0120] Conforme descrito na presente invenção, um instrument cirúrgico entra em vários estados, modos e/ou configurações operacionais. Em certos casos, o instrumento pode entrar em um estado, modo e/ou configuração operacionais que é indesejado pelo operador, que pode não estar seguro quanto a como remover o instrumento daquele estado, modo e/ou configuração indesejados. Em pelo menos um caso, o instrumento cirúrgico pode incluir um botão de reajuste que, quando atuado, pode colocar o instrumento em um estado, modo e/ou configuração padrão. Por exemplo, o estado, modo e/ou configuração padrão pode compreender um modo operacional e não um modo de navegação. Em pelo menos um caso, o estado e/ou a configuração padrão podem compreender uma determinada orientação da saída da tela 2250, por exemplo. O botão de reajuste pode estar em comunicação de sinais com o processador 3008, o que pode colocar o instrumento cirúrgico no estado, modo e/ou configuração padrão. Em certos casos, o processador 3008 pode ser configurado para manter o instrumento cirúrgico no estado, modo e/ou configuração padrão. Em pelo menos um caso, o instrumento cirúrgico pode incluir um botão de travamento que, quando ativado, pode travar o instrumento em seu estado, modo e/ou configuração padrão. Em certos casos, um botão de travamento pode travar o instrumento cirúrgico em seu estado, modo e/ou configuração atual. O estado, modo e/ou configuração operacional pode ser destravado pela ativação do botão de travamento novamente. Em várias modalidades, o instrumento cirúrgico pode incluir pelo menos um acelerômetro em comunicação de sinais com o processador 3008 que pode determinar quando o cabo do instrumento está sendo agitado ou movido para frente e para trás rapidamente. Quando tal agitação é detectada, o processador 3008 pode colocar o instrumento cirúrgico em um estado, modo e/ou configuração de operação padrão.
[0121] Com referência à Figura 19, em vários casos, um conjunto cirúrgico 10050 pode incluir um instrumento cirúrgico como, por exemplo, o instrumento cirúrgico 2200 e uma unidade de operação remota 10052. Em certos casos, o instrumento cirúrgico 2200 pode compreender uma interface primária como, por exemplo, a interface 3001 que pode residir no conjunto do cabo 2202, conforme ilustrado na Figura 1. Em certos casos, a interface 3001 pode incluir uma pluralidade de controles primários como, por exemplo, o gatilho de fechamento 10020 (Figura 1), o botão giratório 10022, o oscilador de articulação 3012, a entrada de estado inicial 3014 e/ou a entrada de disparo 3017 (Figura 17).
[0122] Em vários casos, um operador de instrumento cirúrgico 2200 pode operar manualmente os controles primários da interface 3001 para realizar um procedimento cirúrgico, por exemplo. Conforme descrito acima, o operador pode atuar o oscilador de articulação 3012 para ativar o motor 2216 para articular o atuador de extremidade 2208 entre uma posição não articulada e uma posição articulada, por exemplo. Em certos casos, o operador pode atuar o gatilho de fechamento 10020 para alternar o atuador de extremidade 2208 entre uma configuração aberta e uma configuração fechada, por exemplo. Em certos casos, o operador pode atuar a entrada de disparo 3017 para ativar o motor 2216 para motivar o membro de disparo do instrumento cirúrgico 2200 a disparar os grampos do cartucho de grampos 10006 e/ou cortar o tecido capturado entre a bigorna 10002 e o cartucho de grampos 10006, por exemplo.
[0123] Em vários casos, o operador do instrumento cirúrgico 2200 pode não estar suficientemente em proximidade ao conjunto de cabo 2202 para ser capaz de operar manualmente a interface 3001. Por exemplo, o operador pode operar o instrumento cirúrgico 2200 junto com um sistema cirúrgico controlado roboticamente, que pode ser controlado a partir de um local remoto. Em certos casos, o operador pode precisar operar o instrumento cirúrgico 2200 a partir do local remoto onde o operador opera o sistema cirúrgico controlado roboticamente, por exemplo; o operador pode empregar a unidade de operação remota 10052 para operar o instrumento cirúrgico 2200 remotamente, por exemplo. Vários sistemas robóticos, instrumentos, componentes e métodos são revelados no pedido de patente US n° de série 13/118.241, intitulado SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, agora publicação do pedido de patente US n° 2012/0298719, que é aqui incorporada em sua totalidade, a título de referência.
[0124] Com referência às Figuras 19 e 20, a unidade de operação remota 10052 pode incluir uma interface secundária 3001', uma tela 2250' e/ou um conjunto de energia 2206' (ou "fonte de energia" ou "conjunto de baterias"), por exemplo. Em vários casos, a interface secundária 3001' pode incluir uma pluralidade de controles secundários que pode corresponder aos controles primários da interface primária 3001'. Em certos casos, a unidade de operação remota 10052 pode incluir um oscilador de articulação remoto 3012' correspondendo ao oscilador de articulação 3012, por exemplo. Em certos casos, a unidade de operação remota 10052 pode incluir uma entrada de disparo remota 3017' correspondendo à entrada de disparo 3017 do instrumento cirúrgico 2200, por exemplo. Em certos casos, a unidade de operação remota 10052 pode incluir uma entrada de estado inicial remota 3014' correspondendo à entrada de estado inicial 3014 do instrumento cirúrgico 2200, por exemplo.
[0125] Em certos casos, conforme ilustrado na Figura 19, a unidade de operação remota 10052, a interface 3001' e/ou a pluralidade de controles secundários podem compreender um formato e/ou design diferentes do conjunto de cabo 2202, da interface 3001 e/ou da pluralidade de controles primários, respectivamente. Em certos casos, conforme ilustrado na Figura 20, a unidade de operação remota 10052, a interface 3001' e/ou a pluralidade de controles secundários podem compreender o mesmo, ou pelo menos substancialmente o mesmo, formato e/ou design do conjunto de cabo 2202, da interface 3001 e/ou da pluralidade de controles primários, respectivamente.
[0126] Em vários casos, conforme ilustrado nas Figuras 19 e 20, a unidade de operação remota 10052 pode ser acoplada ao conjunto de cabo 2202 do instrumento cirúrgico 2200 através de um cabo flexível alongado 10054, por exemplo, que pode ser configurado para transmitir vários sinais de atuação para o processador 3008 do instrumento cirúrgico 2200, por exemplo; os vários sinais de atuação podem ser gerados pela atuação da pluralidade de controles secundário da interface 3001', por exemplo. Em certos casos, conforme ilustrado na Figura 21, a unidade de operação remota 10052 pode compreender um transmissor 10056 que pode ser configurado para transmitir, sem fio, os sinais de atuação gerados pelos controles secundários da interface secundária 3001' a partir da unidade de operação remota 10052 para o processador 3001, por exemplo, através de um receptor 10058 que pode estar localizado no conjunto de cabo 2202, por exemplo.
[0127] Em vários casos, o instrumento cirúrgico 2200 e/ou a unidade de operação remota 10052 pode incluir entradas de ativação de comunicação (não mostradas). Em certos casos, atuar as entradas de ativação de comunicação pode ser uma etapa precursora para estabelecer a comunicação entre o instrumento cirúrgico 2200 e a unidade de operação remota 10052, por exemplo; assim que a comunicação é estabelecida, o operador pode empregar a unidade de operação remota 10052 para controlar o instrumento cirúrgico 2200 remotamente, por exemplo.
[0128] Em vários casos, a memória 3010 pode incluir instruções de programa para um modo do tipo marionete que, quando executadas, podem fazer com que o processador 3008 responda aos sinais de atuação gerados pela pluralidade de controles secundários da interface secundária 3001', de maneira idêntica, ou pelo menos similar, à resposta do processador 3008 aos sinais de atuação gerados pela pluralidade de controles primários da interface primária 3001. Em outras palavras, as respostas do processador 3008 aos sinais de atuação gerados pela pluralidade de controles secundários podem ser configuradas para imitar as respostas do processador 3008 aos sinais de atuação gerados pela pluralidade de controles primários, por exemplo.
[0129] Em certos casos, a atuação da entrada de disparo remota 3017' pode solicitar a mesma resposta, ou pelo menos uma resposta similar, do processador 3008 quando da atuação da entrada de disparo 3017; a resposta solicitada pode incluir a ativação do motor 2216 para motivar o membro de disparo a disparar os grampos do cartucho de grampos 10006 e/ou cortar o tecido capturado entre a bigorna 10002 e o cartucho de grampos 10006, por exemplo. Em certos casos, a atuação do oscilador de articulação remoto 3012' pode solicitar a mesma resposta, ou pelo menos uma resposta similar, do processador 3008 quando da atuação do oscilador de articulação 3012; a resposta solicitada pode incluir a ativação do motor 2216 para articular o atuador de extremidade 2208 em relação ao eixo alongado 2204, por exemplo.
[0130] Em certos casos, o processador 3008 pode ser configurado para exigir sinais de atuação de entrada dos controles primários da interface primária 3001 e dos controles secundários correspondentes da interface secundária 3001' para executar a função solicitada por tais controles. Em tais casos, o operador remoto da unidade de operação remota 10052 pode precisar da assistência de um operador adicional que pode ser empregado para atuar manualmente os controles primários da interface primária 3001 ao mesmo tempo em que o operador remoto atua os controles secundários da interface secundária 3001', por exemplo.
[0131] Em vários casos, conforme descrito acima, um operador pode operar o instrumento cirúrgico 2200 junto com um sistema cirúrgico controlado roboticamente, que pode ser controlado por um sistema de controle robótico a partir de um local remoto. Em certos casos, a unidade de operação remota 10052 pode ser configurada para funcionar em paralelo ao sistema de controle robótico. Em certos casos, o sistema de controle robótico pode incluir uma ou mais portas de controle; e a unidade de operação remota 10052 pode compreender meios de conexão para engatar por acoplamento as portas de controle do sistema de controle robótico. Em tais casos, o operador pode operar o instrumento cirúrgico 2200 através de uma interface do sistema de controle robótico, por exemplo. Em vários casos, as portas de controle podem compreender configurações mecânicas e/ou elétricas únicas que podem exigir o uso de componentes do fabricante do equipamento original para assegurar qualidade e desempenho consistentes, por exemplo.
[0132] Em vários casos, a unidade de operação remota 10052 pode incluir vários indicadores 10032' que podem ser similares em muitos aspectos aos indicadores 10032 do conjunto de cabo 2202. Em certos casos, os indicadores 10032' da unidade de operação remota 10052 podem ser empregados pelo processador 3008 da mesma, ou pelo menos substancialmente da mesma, maneira que os indicadores 10032 para guiar, alertar e/ou fornecer retroinformação ao operador com relação às várias etapas de operação do instrumento cirúrgico 2200.
[0133] Em vários casos, a unidade de operação remota 10052 pode incluir vários dispositivos de retroinformação 2248' que podem ser similares em muitos aspectos aos dispositivos de retroinformação 2248 do conjunto de cabo 2202. Em certos casos, os dispositivos de retroinformação 2248' da unidade de operação remota 10052 podem ser empregados pelo processador 3008 da mesma, ou pelo menos substancialmente da mesma, maneira que os dispositivos de retroinformação 2248 para fornecer retroinformação sensorial ao operador com relação às várias etapas de operação do instrumento cirúrgico 2200. Similar aos dispositivos de retroinformação 2248, os dispositivos de retroinformação 2248' podem incluir, por exemplo, dispositivos de retroinformação visual, dispositivos de retroinformação de áudio, dispositivos de retroinformação tátil e/ou combinações dos mesmos.
[0134] Em vários casos, conforme ilustrado na Figura 22, a unidade de operação remota 10052 pode ser incluída ou integrada ao primeiro instrumento cirúrgico 10060 e pode ser utilizada para operar um segundo instrumento cirúrgico 10062, por exemplo. Em certos casos, o primeiro instrumento cirúrgico 10060 pode residir em um campo cirúrgico 10065 e pode ser manualmente operado pelo operador de dentro do campo cirúrgico 10065, por exemplo; e o segundo instrumento cirúrgico 10062 pode residir fora do campo cirúrgico 10065. Em certos casos, para evitar a saída do campo cirúrgico 10065, o operador pode usar a unidade de operação remota 10052 para operar remotamente o segundo instrumento cirúrgico 10062 de dentro do campo cirúrgico 10065, por exemplo. Em certos casos, o segundo instrumento cirúrgico 10062 pode ser um grampeador circular, por exemplo. A revelação da patente US n° 8.360.297, intitulada SURGICAL CUTTING AND STAPLING INSTRUMENT WITH SELF ADJUSTING ANVIL, concedida em 29 de janeiro de 2013, está aqui incorporada, por referência em sua totalidade.
[0135] Em vários casos, o primeiro instrumento cirúrgico 10060 e/ou o segundo instrumento cirúrgico 10062 podem incluir entradas de ativação de comunicação (não mostradas). Em certos casos, atuar as entradas de ativação de comunicação pode ser uma etapa precursora para estabelecer a comunicação entre o primeiro instrumento cirúrgico 10060 e o segundo instrumento cirúrgico 10062, por exemplo; assim que a comunicação é estabelecida, o operador pode empregar a unidade de operação remota 10052 para controlar o segundo instrumento cirúrgico 10062 remotamente, por exemplo.
[0136] Em vários casos, um sistema cirúrgico pode incluir componentes modulares que podem ser fixados e/ou combinados para formar um instrumento cirúrgico. Em certos casos, os componentes modulares podem ser projetados, fabricados, programados e/ou atualizados em diferentes momentos e/ou de acordo com diferentes revisões e atualizações de software e/ou firmware. Por exemplo, com referência principalmente às Figuras 23 e 24, um instrumento cirúrgico 100 pode incluir um primeiro componente modular 110, como um cabo, por exemplo, e um segundo componente modular 120, como um eixo 122 e um atuador de extremidade 124, por exemplo, que são descritos com mais detalhes na presente invenção. Em várias circunstâncias, o primeiro componente modular 110 e o segundo componente modular 120 podem ser montados em conjunto para formar um instrumento cirúrgico 100 ou pelo menos uma porção do mesmo. Opcionalmente, um componente modular diferente pode ser acoplado ao primeiro componente modular 110, como um eixo tendo dimensões e/ou recursos diferentes daqueles do segundo componente modular 120, por exemplo. Em vários casos, o instrumento cirúrgico pode incluir componentes modulares adicionais, como uma bateria modular, por exemplo. Os componentes do instrumento cirúrgico modular 100 pode incluir um sistema de controle que é projetado e configurado para controlar vários elementos e/ou funções do instrumento cirúrgico 100. Por exemplo, o primeiro componente modular 110 e o segundo componente modular 120 podem, cada um, compreender um sistema de controle, e os sistemas de controle de cada componente modular 110, 120 podem se comunicar e cooperar entre si. Em vários casos, o primeiro componente modular 110 pode ser projetado, fabricado, programado e/ou atualizado em um momento diferente e/ou com software e/ou firmware diferentes daqueles do segundo componente modular 120, por exemplo.
[0137] Com referência agora à Figura 25, o sistema cirúrgico montado pode incluir um primeiro sistema de controle 150' e um segundo sistema de controle 150. Os sistemas de controle 150', 150 podem estar em comunicação de sinais, por exemplo. Em vários casos, o segundo componente modular 120 pode compreender o sistema de controle 150, por exemplo, que pode incluir uma pluralidade de módulos de controle 152. Os módulos de controle 152 podem afetar uma função cirúrgica com e/ou por um elemento ou subsistema de instrumento cirúrgico 100, por exemplo. Os módulos de controle 152 podem afetar uma função cirúrgica com base em uma rotina pré-programada, entrada do operador e/ou retroinformação do sistema, por exemplo. Em vários casos, o primeiro componente modular 110 também pode compreender um sistema de controle 150', por exemplo, que pode incluir uma pluralidade de módulos de controle 152'. O sistema de controle 150' e/ou um dos módulos de controle 152' do primeiro componente modular 110 podem ser diferentes do sistema de controle 150 e/ou um dos módulos de controle 152 do segundo componente modular 120. Embora os sistemas de controle 150 e 150' possam ser diferentes, os sistemas de controle 150 e 150' podem ser configurados para controlar funções correspondentes. Por exemplo, o módulo de controle 152(a) e o módulo de controle 152(a)' podem, ambos, emitir comandos para módulos de firmware 158 para implementar um curso de disparo, por exemplo. Em vários casos, um dos sistemas de controle 150, 150' e/ou um módulo de controle 152, 152' do mesmo pode incluir software e/ou firmware atualizado e/ou pode ter uma data efetiva mais recente, conforme descrito com mais detalhes na presente invenção.
[0138] Um módulo de controle 152, 152' pode compreender software, firmware, um programa, um módulo e/ou uma rotina, por exemplo, e/ou pode incluir múltiplos softwares, firmwares, programas, módulos de controle e/ou rotinas, por exemplo. Em várias circunstâncias, os sistemas de controle 150, 150' podem incluir múltiplas camadas e/ou níveis de comando. Por exemplo, o sistema de controle 150 pode incluir uma primeira camada 144 de módulos de controle 152, uma segunda camada 146 de módulos de controle 152 e/ou uma terceira camada 148 de módulos de controle 152. Os módulos de controle 152 da primeira camada 144 podem ser configurados para emitir comandos para os módulos de controle 152 da segunda camada 146, por exemplo, e os módulos de controle 152 da segunda camada 146 podem ser configurados para emitir comandos para os módulos de controle 152 da terceira camada 148. Em vários casos, os sistemas de controle 150, 150' podem incluir menos do que três camadas e/ou mais que três camadas, por exemplo.
[0139] Ainda com referência à Figura 25, o(s) módulo(s) de controle 152 na primeira camada 144 pode(m) compreender software de alto nível ou um algoritmo clínico 154. O algoritmo clínico 154 pode controlar as funções de alto nível do instrumento cirúrgico 100, por exemplo. Em certos casos, o(s) módulo(s) 152 na segunda camada 146 pode(m) compreender software intermediário ou módulo(s) de estrutura 156, que pode(m) controlar as funções de nível intermediário do instrumento cirúrgico 100, por exemplo. Em certos casos, o algoritmo clínico 154 da primeira camada 144 pode emitir comandos abstratos para o(s) módulo(s) de estrutura 156 da segunda camada 146 para controlar o instrumento cirúrgico 100. Além disso, os módulos de controle 152 na terceira camada 148 podem compreender módulos de firmware 158, por exemplo, que podem ser específicos para um componente de hardware 160 específico, ou componentes, do instrumento cirúrgico 100. Por exemplo, os módulos de firmware 158 podem corresponder a um elemento de corte em particular, barra de disparo, gatilho, sensor e/ou motor do instrumento cirúrgico 100 e/ou podem corresponder a um subsistema específico do instrumento cirúrgico 100, por exemplo. Em vários casos, um módulo de estrutura 156 pode emitir comandos para um módulo de firmware 158 para implementar uma função cirúrgica com o componente de hardware correspondente 160. Consequentemente, os vários módulos de controle 152 do sistema cirúrgico 100 podem se comunicar e/ou cooperar entre si durante um procedimento cirúrgico.
[0140] Ainda com referência à Figura 25, o sistema de controle 150 do segundo componente 120 pode corresponder ao sistema de controle 150' do primeiro componente 110, e os vários módulos de controle 152 do segundo componente 120 podem corresponder aos módulos de controle 152' do primeiro componente 110. Colocado de outro modo, cada módulo de controle 152 pode incluir um módulo de controle 152' paralelo ou correspondente, e ambos os módulos de controle 152 e 152' podem ser configurados para realizar funções idênticas, similares e/ou relacionadas e/ou fornecer comandos idênticos, similares e/ou relacionados. Ainda com referência à Figura 25, o módulo de controle 152a pode corresponder ao módulo de controle 152a'. Por exemplo, os módulos de controle 152a e 152a' podem, ambos, controlar o curso de disparo de um elemento de corte; entretanto, o módulo de controle 152a pode ser configurado para controlar o design ou número de modelo de um primeiro elemento de corte e o módulo de controle 152a' pode ser configurado para controlar o design ou número de modelo de um elemento de corte diferente, por exemplo. Em outros casos, o módulo de controle 152a' pode compreender um programa de software e o módulo de controle 152a pode compreender uma versão atualizada ou revisada do programa de software, por exemplo.
[0141] Em vários casos, o primeiro componente 110 do instrumento cirúrgico 100 pode incluir um algoritmo clínico 154' que é diferente do algoritmo clínico 154 do segundo componente 120. Adicional e/ou alternativamente, o primeiro componente 110 pode incluir um módulo de estrutura 156' que é diferente do módulo de estrutura correspondente 156 do segundo componente 120, e/ou o primeiro componente 110 pode incluir um módulo de firmware 158' que é diferente do módulo de firmware correspondente 158 do segundo componente 120.
[0142] Em vários casos, módulos de controle correspondents 152, 152' podem compreender datas efetivas diferentes. O versado na técnica entenderá que a data efetiva de um módulo de controle 152, 152' pode corresponder a uma data em que o módulo de controle 152, 152' foi designado, criado, programado e/ou atualizado, por exemplo. A data efetiva de um módulo de controle pode ser registrada ou armazenada no código de programa do módulo de controle, por exemplo. Em certos casos, um módulo de controle do instrumento cirúrgico 100 pode estar desatualizado. Além disso, um módulo de controle desatualizado ou não recentemente atualizado, pode ser incompatível com, desunido de e/ou desconectado de um módulo de controle atualizado e/ou atualizado mais recentemente. Consequentemente, em certos casos, pode ser desejável atualizar módulos de controle desatualizados para assegurar a operação adequada e eficaz do instrumento cirúrgico 100.
[0143] Em vários casos, um componente modular do sistema cirúrgico pode incluir um sistema de controle padrão ou mestre predeterminado. Em tais casos, se os sistemas de controle dos componentes modulares montados são diferentes, o sistema de controle padrão pode atualizar, sobrescrever, revisar e/ou substituir os sistemas de controle não padrão. Em outras palavras, se os módulos controles correspondentes são diferentes, incompatíveis ou inconsistentes, por exemplo, o módulo de controle não padrão pode ser atualizado e o módulo de controle padrão pode ser preservado. Por exemplo, se o cabo 110 compreende o sistema de controle 150', que é o sistema de controle não padrão, e o eixo 120 compreende o sistema de controle 150, que é o sistema de controle mestre, o sistema de controle 150' do cabo 110 pode ser atualizado com base no sistema de controle 150 do eixo 120.
[0144] Pode ser desejável programar um componente de eixo 120 do instrumento cirúrgico para incluir o sistema de controle padrão nas circunstâncias em que os componentes do eixo são atualizados e/ou modificados mais frequentemente do que os componentes dos cabos. Por exemplo, se novas gerações e/ou iterações dos componentes do eixo 120 forem introduzidas mais frequentemente do que as novas gerações e/ou interações dos componentes do cabo 110, pode ser vantajoso incluir um sistema de controle padrão ou mestre no componente do eixo 120 do instrumento cirúrgico modular 100. Várias circunstâncias descritas na presente revelação referem-se à atualização dos módulos de controle de um componente de cabo com base nos módulos de controle do componente do eixo; entretanto, um versado na técnica prontamente entenderá que, em outras circunstâncias contempladas, os módulos de controle do componente do eixo e/ou um componente modular diferente pode ser atualizado em vez dos ou além dos módulos de controle do componente do cabo.
[0145] Em vários casos, o instrumento cirúrgico 100 (Figuras 23 e 24) pode comparar o(s) módulo(s) de controle 152' em cada camada ou nível no sistema de controle 150' ao(s) módulo(s) de controle 152 em cada camada ou nível correspondente no sistema de controle 150. Se os módulos de controle 152 e 152' nas camadas correspondentes forem diferentes, um sistema de controle 150, 150' pode atualizar o(s) módulo(s) de controle não padrão, por exemplo. Com referência à Figura 26, na etapa 201, o sistema de controle 150 e/ou o sistema de controle 150' podem comparar o(s) módulo(s) 152' da primeira camada 144' do primeiro componente 110 ao(s) módulo(s) de controle 152 da primeira camada 144 do segundo componente 120. Quando as primeiras camadas 144, 144' compreendem algoritmos clínicos de alto nível 154, 154', respectivamente, o sistema de controle 150 e/ou o sistema de controle 150' podem comparar os algoritmos clínicos 154 e 154', por exemplo. Além disso, na etapa 203, se os módulos de controle 152, 152' nas primeiras camadas 144, 144' forem diferentes, o sistema de controle 150 e/ou o sistema de controle 150' podem atualizar o(s) módulo(s) 152' da primeira camada 144' com o(s) módulo(s) padrão 152 da primeira camada 144, por exemplo. Em vários casos, o sistema de controle 150 pode comparar e/ou atualizar um sistema de controle e/ou módulos de controle e, em outras circunstâncias, o sistema de controle 150' pode comparar e atualizar um sistema de controle e/ou módulos de controle, por exemplo. Em vários casos, os sistemas de controle 150, 150' podem ser configurados para comparar e/ou atualizar um sistema de controle e/ou módulos de controle e, em outros casos, ambos os sistemas de controle 150, 150' podem ser configurados para comparar e/ou atualizar um sistema de controle e/ou módulos de controle.
[0146] Na etapa 205, o sistema de controle 150 e/ou o sistema de controle 150' podem comparar os módulos de controle 152' da segunda camada 146' do primeiro componente 110 aos módulos de controle 152 da segunda camada 146 do segundo componente 120. Por exemplo, quando as segundas camadas 146, 146' compreendem algoritmos de estrutura de nível médio 156, 156', os sistemas de controle 150, 150' podem comparar os algoritmos de estrutura 156 e 156', por exemplo. Na etapa 207, se os módulos 152, 152' nas segundas camadas 146, 146' forem diferentes, os sistemas de controle 150, 150' podem atualizar os módulos 152' da segunda camada 146' com os módulos de controle padrão 152 da segunda camada 146. Em vários casos, embora um ou mais dos módulos de controle 152' na segunda camada 146' possam ser iguais a um módulo 152 correspondente na segunda camada 146, todos os módulos de controle 152' da segunda camada 146' podem ser atualizados se quaisquer módulos correspondentes da segunda camada 152, 152' forem diferentes. Em outros casos, conforme descrito com mais detalhes na presente invenção, apenas o(s) módulo(s) de controle 152' que é(são) diferente(s) do(s) módulo(s) correspondente(s) 152 pode(m) ser atualizado(s).
[0147] Na etapa 209, os sistemas de controle 150 e/ou o sistema de controle 150' podem comparar os módulos de controle 152' da terceira camada 148' do primeiro componente 110 aos módulos de controle 152 da terceira camada 148 do segundo componente 120. Por exemplo, quando as terceiras camadas 148, 148' compreendem módulos de firmware 158 e 158', o sistema de controle 150 e/ou o sistema de controle 150' podem comparar os módulos de firmware 158 e 158', por exemplo. Se os módulos 152, 152' nas terceiras camadas 148, 148' forem diferentes, o sistema de controle 150 e/ou o sistema de controle 150' podem atualizar os módulos de controle 152' da terceira camada 148' com os módulos de controle padrão 152 da terceira camada 148 na etapa 211. Em vários casos, embora um ou mais dos módulos de controle 152' na terceira camada 148' possam ser iguais a um módulo de controle 152 correspondente na terceira camada 148, todos os módulos 152' da terceira camada 148' podem ser atualizados se quaisquer módulos correspondentes da terceira camada 152, 152' forem diferentes. Em outros casos, apenas o(s) módulo(s) de controle 152' que é(são) diferente(s) do(s) módulo(s) de controle correspondente(s) 152 pode(m) ser atualizado(s), conforme descrito com mais detalhes aqui. Ainda com referência à Figura 26, os módulos de controle da primeira camada 154, 154' podem ser atualizados antes dos módulos de controle da segunda camada 156, 156', por exemplo, e os módulos de controle da segunda camada 156, 156' podem ser atualizados antes dos módulos de controle da terceira camada 158, 158', por exemplo. Em outros casos, conforme descrito com mais detalhes aqui, os módulos de controle da terceira camada 158, 158' podem ser atualizados antes dos módulos de controle da segunda camada 156, 156', por exemplo, e os módulos de controle da segunda camada 156, 156' podem ser atualizados antes dos módulos de controle da primeira camada 154, 154', por exemplo.
[0148] Conforme descrito acima, o sistema de controle 150 e/ou o sistema de controle 150' podem comparar o sistema de controle 150, 150' e/ou os módulos de controle 152, 152' dos mesmos antes de atualizar, substituir e/ou sobrescrever um módulo de controle desatualizado 152, 152' e/ou sistemas de controle 150, 150'. Um leitor entenderá que esta etapa pode reduzir o tempo de inicialização do instrumento quando atualizações e/ou melhoramentos do software são desnecessários ou indevidos. Alternativamente, as etapas de comparação 201, 205 e 209 poderiam ser eliminadas, e os sistemas de controle 150, 150' podem atualizar, substituir, revisar e/ou sobrescrever automaticamente o(s) módulo(s) de controle 152' do primeiro componente modular 110 e/ou módulo(s) de controle predeterminado(s) 152 do primeiro componente modular 110, por exemplo.
[0149] Em vários casos, os módulos de controle 152, 152' podem ser comparados e atualizados camada a camada e, em outros casos, os sistemas de controle 150, 150' podem ser comparados e atualizados sistema a sistema. Em ainda outros casos, os módulos de controle 152, 152' podem ser atualizados módulo a módulo. Por exemplo, agora com referência à Figura 27, na etapa 221, um módulo da terceira camada 158' do primeiro sistema de controle 150' pode ser comparado a um módulo da terceira camada 158 correspondente do segundo sistema de controle 150. Em vários casos, a data efetiva do módulo da terceira camada 158' pode ser comparada à data efetiva do módulo da terceira camada correspondente 158. Além disso, o sistema de controle 150 e/ou o sistema de controle 150' podem determinar se a data efetiva do módulo da terceira camada 158' é posterior à data efetiva do módulo da terceira camada 158. Se o módulo da terceira camada 158' for mais novo do que o módulo da terceira camada 158, por exemplo, o módulo da terceira camada 158' pode ser preservado na etapa 225. Por outro lado, se o módulo da terceira camada 158' não for mais novo do que o módulo da terceira camada 158, ou seja, o módulo da terceira camada 158 é anterior ao módulo da terceira camada correspondente 158 ou o módulo da terceira camada 158' correspondente têm a mesma data efetiva, o módulo da terceira camada 158' pode ser atualizado, substituído, revisado e/ou sobrescrito pelo módulo da terceira camada 158 correspondente, por exemplo. Além disso, em vários casos, as etapas 221 e tanto a 223 como a 225 podem ser repetidas para cada módulo 158, 158' na terceira camada dos sistemas de controle 150, 150'.Consequentemente, os módulos 158' na terceira camada 148' podem ser atualizados módulo a módulo e em vários casos, apenas os módulos desatualizados 158' podem ser atualizados e/ou sobrescritos, por exemplo.
[0150] Ainda com referência à Figura 27, após todos os módulos da terceira camada 158, 158' terem sido comparados e possivelmente atualizados, os sistemas de controle 150, 150' podem prosseguir para a etapa 227. Na etapa 227, o sistema de controle 150 e/ou o sistema de controle 150' podem confirmar que um módulo da terceira camada 158' do primeiro sistema de controle 150' está conectado e/ou em comunicação adequada com um módulo da segunda camada 156' do sistema de controle 150'. Por exemplo, em circunstâncias em que o módulo da terceira camada 158' foi atualizado na etapa 223, o módulo da segunda camada 156' pode ser desconectado do módulo da terceira camada atualizado 158'. Se o módulo da terceira camada 158' estiver desconectado do módulo da segunda camada 156', por exemplo, o módulo da segunda camada 156' pode ser atualizado, substituído, revisado e/ou sobrescrito na etapa 229. O módulo da segunda camada 156' pode ser substituído pelo módulo da segunda camada 156 correspondente do segundo sistema de controle, 150, por exemplo. Por outro lado, se o módulo da terceira camada 158' for adequadamente conectado e/ou estiver em comunicação com o módulo da segunda camada 156', o módulo da segunda camada 156' pode ser preservado. Além disso, em vários casos, as etapas 227 e tanto a 229 como 231 podem ser repetidas para cada módulo 158, 158' na terceira camada dos sistemas de controle 150, 150'.Consequentemente, os módulos 156' na segunda camada 146' podem ser atualizados módulo a módulo e em vários casos, apenas os módulos desconectados 156' podem ser atualizados ou sobrescritos, por exemplo.
[0151] Após a atualização de quaisquer módulos desatualizados da terceira camada 158' (etapas 221 e 223) e assegurar que todos os módulos atualizados da terceira camada 158', se houver, estão conectados ao módulo da segunda camada 156' adequado no primeiro componente modular 110 (etapas 227, 229 e 231), os sistemas de controle 150, 150' podem prosseguir para a etapa 233, em que o módulo da primeira camada 154' do primeiro sistema de controle 150' pode ser comparado a um módulo da primeira camada 154 correspondente do segundo sistema de controle 150. Se os módulos da primeira camada 154, 154' forem iguais, o processo de atualização e/ou revisão pode ser concluído. Por outro lado, se os módulos da primeira camada 154, 154' forem diferentes, o módulo da primeira camada 154' do primeiro sistema de controle 150' pode ser atualizado, substituído, revisto e/ou sobrescrito pelo módulo da primeira camada 154 do segundo sistema de controle 150.
[0152] Conforme aqui descrito, os módulos de software e/ou firmware dos componentes modulares 110, 120 podem ser atualizados, revisados e/ou substituídos módulo a módulo, camada a camada e/ou sistema a sistema. Em certos casos, o processo de atualização e/ou revisão pode ser automático quando os componentes modulares são fixados e/ou acoplados operacionalmente. Em outras circunstâncias, um operador do instrumento cirúrgico 100 pode iniciar ou disparar o processo de atualização e/ou revisão aqui descritos.
[0153] Em vários casos, um instrumento cirúrgico modular, como o instrumento cirúrgico modular 100 (Figuras 23 e 24), por exemplo, pode incluir um microcontrolador em comunicação de sinais com um sensor de engate e uma tela. Em vários casos, o sensor de engate pode detectar o posicionamento relativo dos componentes modulares do sistema cirúrgico. Com referência novamente às Figuras 23 e 24, quando o primeiro componente modular 110 compreende um cabo e o segundo componente modular 120 compreende um eixo, por exemplo, um sensor de engate pode detectar se o eixo 120 está engatado e/ou operacionalmente engatado ao cabo 110. Em vários casos, o eixo 120 pode ser movido entre o engate com o cabo 110 (Figura 23) e o desengate do cabo 110 (Figura 24).
[0154] Com referência principalmente às Figuras 28(A) e 28(B),um sensor de engate, como um sensor de engate 602, por exemplo, pode estar em comunicação de sinais com um microcontrolador, como o microcontrolador 604, por exemplo, de um sistema cirúrgico. Em vários casos, o sensor de engate 602 pode detectar se os componentes modulares 110, 120 estão engatados ou desengatados, por exemplo, e pode comunicar o engate ou a falta do mesmo ao microcontrolador 604, por exemplo. Quando o sensor de engate 602 indica que o eixo 120 é engatado ao cabo 110, por exemplo, o microcontrolador 604 pode permitir uma função cirúrgica pelo instrumento cirúrgico modular 100 (Figura 23). Se os componentes modulares 110, 120 são acoplados operacionalmente, por exemplo, uma atuação do gatilho de disparo 112 (Figura 23) no cabo 110 pode afetar, ou pelo menos tentar afetar, um movimento de disparo no eixo 120, por exemplo. Por outro lado, se o sensor de engate 602 indica que o eixo 120 está desengatado do cabo 110, o microcontrolador 604 pode evitar uma função cirúrgica. Por exemplo, se os componentes modulares 110, 120 são desconectados, uma atuação do gatilho de disparo 612 pode não afetar, ou não tentar afetar, um movimento de disparo no eixo 120, por exemplo.
[0155] Em vários casos, o instrumento cirúrgico modular 100 pode incluir uma tela, como a tela 606 (Figura 28(B)), por exemplo. A tela 606 pode ser integrada em um dos componentes modulares 110, 120 do instrumento cirúrgico 100 e/ou pode ser externa aos componentes modulares 110, 120 e estar em comunicação de sinais com o microcontrolador 604 do instrumento cirúrgico 100. Em vários casos, o microcontrolador 604 pode comunicar as informações detectadas pelo sensor de engate 602 à tela 606. Por exemplo, a tela 606 pode demonstrar o engate e/ou o não engate dos componentes modulares 110, 120. Além disso, em vários casos, a tela 606 pode fornecer instruções e/ou orientação relacionadas a como (a) fixar, acoplar e/ou engatar adequadamente os componentes desengatados 110, 120 do instrumento cirúrgico 100 e/ou como (b) desafixar, desacoplar e/ou desengatar adequadamente os componentes engatados 110, 120 do instrumento cirúrgico 100. Com referência novamente à Figura 28(A), em vários casos o sensor de engate 604 pode compreender uma chave de efeito Hall e, em outros casos, o sensor de engate pode compreender um sensor e/ou uma chave diferente e/ou adicional, por exemplo.
[0156] Em certas circunstâncias, o sensor de engate 604 pode detectar o grau de engate entre os componentes modulares de um instrumento cirúrgico. Nos casos em que o primeiro componente compreende o cabo 110, por exemplo, e o segundo componente compreende o eixo 120, por exemplo, o cabo 110 e o eixo 120 podem se mover entre uma posição desengatada, uma posição parcialmente engatada e uma posição engatada, A posição parcialmente engatada pode ser intermediária à posição desengatada e à posição engatada, por exemplo, e pode haver múltiplas posições parcialmente engatadas intermediárias à posição engatada e à posição desengatada, por exemplo. Em vários casos, o sensor de engate 604 pode incluir uma pluralidade de sensores que pode detectar a(s) posição(ões) parcialmente engatada(s) dos componentes 110, 120. Por exemplo, o sensor de engate 606 pode compreender uma pluralidade de sensores e/ou contatos elétricos, por exemplo, que podem ser desalinhados ao longo de uma porção de fixação de pelo menos um dos componentes modulares 110, 120, por exemplo. Em certos casos, o(s) sensor(es) de engate 604 pode(m) compreender um sensor de efeito Hall, por exemplo.
[0157] Em certos casos, com referência principalmente às Figuras 29(A) e 29(B), o sistema cirúrgico 100 pode incluir múltiplos sensores em comunicação de sinais com um microcontrolador, como o microcontrolador 614, por exemplo. Os sensores múltiplos podem incluir um primeiro sensor 612 (Figura 29(A)), que pode detectar a presença do primeiro componente 120 e pode comunicar a presença do primeiro componente 120 ao microcontrolador 614, por exemplo. Em vários casos, o primeiro sensor 612 pode não detectar e/ou comunicar o grau de engate entre o primeiro componente 110 e o segundo componente 120, por exemplo. Em vários casos, um segundo sensor 613 (Figura 29(A)) pode também estar em comunicação de sinais com o microcontrolador 614. O segundo sensor 613 pode detectar o grau de engate entre os componentes modulares 110, 120, por exemplo.
[0158] Similar ao sistema de controle demonstrado nas Figuras 28(A) e 28(B), o microcontrolador 614 pode emitir comandos com base na retroinformação recebida dos sensores 612 e 613 e/ou pode estar em comunicação de sinais com uma tela para exibir a retroinformação e/ou de outra forma comunicar-se com um operador do sistema cirúrgico. Por exemplo, o microcontrolador 614 pode evitar uma função cirúrgica até os componentes modulares 110, 120 estarem em posição engatada e pode evitar uma função cirúrgica quando os componentes modulares 110, 120 estão parcialmente engatados, por exemplo. Além disso, o microcontrolador 614 pode comunicar as informações detectadas pelo sensor de engate a uma tela. Por exemplo, a tela pode demonstrar o engate, o engate parcial e/ou o não engate dos componentes modulares 110, 120. Além disso, em vários casos, a tela pode fornecer instruções e/ou orientação com relação a como fixar, acoplar e/ou engatar adequadamente componentes desengatados e/ou parcialmente desengatados 110, 120 do instrumento cirúrgico, por exemplo.
[0159] Em vários casos, um instrumento cirúrgico pode incluir um microprocessador como o microprocessador 604 (Figuras 28(A) e 28(B)) ou 614 (Figuras 29(A) e 29(B)), por exemplo, que pode estar em comunicação de sinais com um circuito integrado de memória ou unidade de memória. O microprocessador pode comunicar dados e/ou retroinformação detectados e/ou calculados por vários sensores, programas e/ou circuitos do instrumento cirúrgico ao circuito integrado de memória, por exemplo. Em vários casos, os dados registrados podem relacionar-se com o tempo e/ou duração do procedimento cirúrgico, bem como o tempo e/ou duração de várias funções e/ou porções do procedimento cirúrgico, por exemplo. Adicional ou alternativamente, os dados registrados podem se relacionar com as condições no sítio e/ou as condições de tratamento dentro do instrumento cirúrgico, por exemplo. Em certos casos, o registro dos dados pode ser automático e, em outros casos, o microprocessador pode não registrar os dados a menos e/ou até que isso seja instruído. Por exemplo, pode ser preferível registrar os dados durante um procedimento cirúrgico, manter ou armazenar os dados registrados no circuito integrado de memória e/ou transferir os dados registrados para um site seguro. Em outras circunstâncias, pode ser preferível registrar os dados durante um procedimento cirúrgico e apagar os dados registrados depois disso, por exemplo.
[0160] Um instrumento cirúrgico e/ou o microcontrolador do mesmo pode compreender um protocolo de armazenamento de dados. O protocolo de armazenamento de dados pode fornecer regras para registrar, processar, armazenar, transferir e/ou apagar os dados, por exemplo. Em vários casos, o protocolo de armazenagem de dados pode ser pré-programado e/ou atualizado durante o ciclo de vida do instrumento cirúrgico. Em vários casos, o protocolo de armazenamento de dados pode estipular o apagamento dos dados registrados após a conclusão de uma função cirúrgica e/ou cirurgia e, em outros casos, o protocolo de armazenamento de dados pode estipular o apagamento dos dados registrados após um período de tempo predefinido. Por exemplo, os dados registrados podem ser apagados, de acordo com o protocolo de armazenamento de dados, um minuto, uma hora, um dia, uma semana, um mês ou um ano após a função cirúrgica. O período de tempo predefinido pode ser qualquer período adequado permitido pelas circunstâncias.
[0161] Em certas circunstâncias, o protocolo de armazenamento de dados pode estipular o apagamento dos dados registrados após um número predefinido de funções cirúrgicas, como cursos de disparo, por exemplo. Em ainda outros casos, o protocolo de armazenamento de dados pode estipular o apagamento dos dados registrados quando o instrumento cirúrgico é desligado. Por exemplo, com referência à Figura 31, se o instrumento cirúrgico for desligado, o microcontrolador pode prosseguir para a etapa 709, em que o microcontrolador pode determinar se um erro ou questão importante, como uma falha no instrumento, componente ou subsistema, por exemplo, ocorrida durante o procedimento cirúrgico. Em vários casos, se um erro for detectado, o microcontrolador pode prosseguir para a etapa 713, em que os dados podem ser armazenados no circuito integrado de memória, por exemplo. Além disso, em certos casos, se não for detectado nenhum erro, o microcontrolador pode ir para a etapa 711, em que os dados podem ser apagados, por exemplo. Em outros casos, o protocolo de armazenamento de dados pode não compreender a etapa 709 e o protocolo de armazenamento de dados pode continuar sem verificar um erro ou falha importante, por exemplo.
[0162] Em ainda outros casos, o protocolo de armazenamento de dados pode estipular o apagamento dos dados registrados após um período predefinido de inatividade ou de imobilidade do instrumento cirúrgico. Por exemplo, se o instrumento cirúrgico estiver assentado e/ou colocado no armazenamento, o protocolo de armazenamento de dados pode estipular o apagamento dos dados registrados após o instrumento cirúrgico estar parado ou inativo por um período de tempo predefinido. O período necessário de imobilidade pode ser um minuto, uma hora, um dia, uma semana, um mês ou um ano, por exemplo. O período de imobilidade predefinido pode ser qualquer período adequado permitido pelas circunstâncias. Em vários casos, o instrumento cirúrgico pode incluir um acelerômetro, por exemplo, que pode detectar o movimento e a imobilidade do instrumento cirúrgico. Com referência novamente à Figura 31, quando o instrumento cirúrgico não foi desligado na etapa 701, o acelerômetro pode ser ajustado para detectar o movimento do instrumento cirúrgico. Se o movimento for detectado na etapa 703, antes do lapso do período de inatividade predefinido na etapa 707, a contagem de tempo do período de inatividade predeterminado pode ser reiniciada na etapa 705. Por outro lado, se o movimento não for detectado pelo acelerômetro antes do lapso do período de inatividade predefinido na etapa 707, o microprocessador pode prosseguir para a etapa 709, por exemplo. Em outras circunstâncias, o microprocessador pode prosseguir diretamente para a etapa 711 ou 713, dependendo do protocolo de armazenamento de dados, sem verificar se houve um erro ou falha do instrumento, por exemplo.
[0163] Conforme aqui descrito, o protocolo de armazenamento de dados pode incluir uma ou mais regras padrão para apagar os dados registrados. Em certos casos, entretanto, pode ser desejável sobrepor a regra ou procedimento padrão. Por exemplo, para propósitos de pesquisa e/ou desenvolvimento, pode ser desejável armazenar os dados registrados por um período de tempo mais longo. Adicional ou alternativamente, pode ser desejável armazenar os dados registrado para propósitos de ensino e/ou investigativos. Além disso, em vários casos, o protocolo de armazenamento de dados pode não incluir uma etapa de verificação de erro e, em tais casos, pode ser desejável sobrepor o protocolo de armazenamento de dados e assegurar o armazenamento de dados quando o operador detecta ou suspeita de um erro e/ou anomalia durante um procedimento cirúrgico, por exemplo. Os dados recuperados podem facilitar a revisão do procedimento e/ou uma determinação da causa do erro, por exemplo. Em vários casos, uma chave ou uma entrada de dados pode ser exigida para superar ou sobrepor o protocolo de armazenamento de dados padrão. Em vários casos, a chave pode ser digitada no instrumento cirúrgico e/ou um dispositivo de armazenamento remoto e pode ser digitada por um operador e/ou usuário do instrumento cirúrgico, por exemplo.
[0164] Em vários casos, um sistema cirúrgico pode solicitar que o usuário ou o operador do instrumento selecione o apagamento de dados ou o armazenamento de dados para cada procedimento ou função cirúrgica. Por exemplo, o protocolo de armazenamento de dados pode estipular a solicitação de instruções do usuário e pode comandar a ação subsequente de acordo com as instruções do usuário. O sistema cirúrgico pode solicitar instruções do usuário mediante a ocorrência de um evento de gatilho específico, como o desligamento do instrumento, o lapso de um período de tempo predefinido ou a conclusão de uma função cirúrgica específica, por exemplo.
[0165] Em certos casos, o sistema cirúrgico pode exigir a entrada de um usuário quando o instrumento cirúrgico é desligado, por exemplo. Com referência à Figura 30, quando um usuário inicia o desligamento de um instrumento cirúrgico na etapa 801, por exemplo, o sistema cirúrgico pode solicitar, ao usuário, instruções de armazenamento de dados. Por exemplo, na etapa 803, uma tela do sistema cirúrgico pode perguntar "MANTER OS DADOS S/N?". Em vários casos, o microcontrolador do sistema cirúrgico pode ler a entrada do usuário na etapa 805. Se o usuário exigir o armazenamento dos dados, o microcontrolador pode prosseguir para a etapa 809, em que os dados são armazenados em uma unidade de memória ou circuito integrado de memória do sistema cirúrgico. Se o usuário exigir o apagamento dos dados, o microcontrolador pode ir para a etapa 811, em que os dados são apagados. Em vários casos, o usuário pode não inserir nenhum dado. Em tais casos, o protocolo de armazenamento de dados pode estipular um processo específico na etapa 813. Por exemplo, o protocolo de armazenamento de dados pode estipular "Processo I", "Processo II" ou um processo alternativo, por exemplo. Em certos casos, o "Processo I" pode comandar o apagamento dos dados na etapa 813(a) e o "Processo II" pode comandar o armazenamento de dados na etapa 813(b), por exemplo. Em várias circunstâncias, o usuário pode fornecer instruções ao instrumento cirúrgico antes da instrução ter sido solicitada, por exemplo. Adicional ou alternativamente, uma tela associada ao sistema cirúrgico pode solicitar a instrução do usuário antes de iniciar a função cirúrgica e/ou em diferente(s) tempo(s) durante o uso do instrumento, por exemplo.
[0166] Se os dados forem armazenados na memória do instrumento cirúrgico, os dados podem ser armazenados de forma segura. Por exemplo, pode ser necessário o uso de um código ou uma chave para acessar os dados armazenados. Em certos casos, a chave de acesso pode compreender um código de identificação. Por exemplo, o código de identificação pode ser específico para o operador, usuário ou proprietário do instrumento cirúrgico. Em tais casos, apenas uma pessoa autorizada pode obter um código de identificação licenciado e, assim, apenas pessoal autorizado pode acessar os dados armazenados. Adicional ou alternativamente, a chave de acesso pode ser específica para o instrumento e/ou pode ser um código do fabricante, por exemplo. Em certos casos, a chave de acesso pode compreender um servidor seguro e os dados podem ser transferidos e/ou acessados por uma transmissão por Bluetooth aprovado e/ou radiofrequência (RF), por exemplo. Em ainda outras circunstâncias, a chave de acesso pode compreender uma chave física, como chave de memória e/ou um conector de porta de troca de dados, que pode ser fisicamente acoplada para uma porta de troca de dados do instrumento cirúrgico. Em tais casos, a chave de acesso pode ser pré-programada para obter acesso aos dados seguros e para armazenar de forma segura e/ou transferir os dados, por exemplo. Em várias circunstâncias, uma chave de acesso pode corresponder a um instrumento cirúrgico específico, por exemplo.
[0167] Em vários casos, a extração de dados do dispositivo de memória de um instrumento cirúrgico pode ser restrita por várias medidas de segurança. Em certos casos, o dispositivo de memória do instrumento cirúrgico pode compreender uma conexão de dados seguros ou porta de troca de dados. Por exemplo, a porta de troca de dados pode ter uma geometria ou formato proprietário e apenas pessoal autorizado pode obter uma chave de porta correspondente projetada e estruturada para adaptar a geometria ou formato proprietário, por exemplo. Em vários casos, a porta de troca de dados pode compreender uma trava mecânica, que pode compreender um plugue, uma pluralidade de pinos e/ou uma pluralidade de molas, por exemplo. Em vários casos, uma chave física ou dispositivo de extração pode destravar a trava mecânica da porta de troca de dados. Por exemplo, a chave física pode entrar em contato com a pluralidade de pinos, deformar a pluralidade de molas e/ou inclinar o plugue de uma orientação travada para uma orientação destravada para destravar a porta de troca de dados, por exemplo.
[0168] Em vários casos, a porta de troca de dados pode compreender pelo menos um pino de conexão, que pode ser inclinado e/ou mantido em uma primeira posição. Quando uma chave física é inserida e/ou engatada na porta de troca de dados, a chave física pode inclinar o pino de conexão da primeira posição para uma segunda posição, por exemplo. Em vários casos, a primeira cor pode compreender uma posição retraída, por exemplo, e a segunda posição pode compreender uma posição estendida, por exemplo. Além disso, quando o pino de conexão é movido para a segunda posição, o pino de conexão pode fazer interface operacionalmente com uma porta de conexão de dados na chave física, por exemplo. Consequentemente, a porta de troca de dados do dispositivo de memória pode se mover em comunicação de sinais com a porta de troca de dados da chave física através do pino de conexão, por exemplo, de forma que os dados possam ser trocados e/ou transferidos entre os mesmos. Em vários casos, a chave física pode compreender um componente modular, por exemplo, que pode estar configurado para se fixar de forma removível ao instrumento cirúrgico modular. Em certos casos, a chave física pode substituir ou imitar um componente modular 110, 120 de um instrumento cirúrgico 100 (Figuras 23 e 24). Por exemplo, a chave física pode se fixar a uma porção de fixação do cabo 110 no lugar de uma fixação ao eixo 120, por exemplo, para a transferência de dados de um dispositivo de memória no cabo 120.
[0169] Adicional ou alternativamente, a chave ou dispositivo de extração pode compreender um token de segurança. Em vários casos, a porta de troca de dados pode ser criptografada, por exemplo, e/ou a chave pode fornecer informações ou códigos para a porta de dados para verificar que a chave é autorizada e/ou aprovada para extrair os dados da porta de troca de dados. Em certas circunstâncias, a chave pode compreender um leitor de dados especializados, por exemplo, e os dados podem ser transferidos através de uma disposição de transmissão de dados ópticos, por exemplo.
[0170] Com referência agora às Figuras 32(A) a 32(C), antes que o acesso dos dados seja concedido a um leitor de dados proposto, o leitor de dados pode precisar ser verificado e/ou confirmado pelo instrumento cirúrgico. Por exemplo, o leitor de dados proposto pode solicitar e ler um valor de soma de verificação do instrumento cirúrgico na etapa 821. Conforme descrito no fluxograma do instrumento cirúrgico representado na Figura 32(C), o instrumento cirúrgico pode primeiramente receber a solicitação do leitor de dados proposto na etapa 841 e pode, então, enviar o valor de soma de verificação para o leitor de dados proposto na etapa 843. Com referência novamente à Figura 32(A), na etapa 823, o leitor de dados proposto pode calcular ou determinar um código de retorno adequado com base no valor da soma de verificação fornecido pelo instrumento cirúrgico. O leito de dados proposto pode ter acesso a uma tabela de códigos, por exemplo, e se o leitor de dados proposto estiver tentando de forma adequada acessar os dados, o código de retorno adequado pode estar disponível na tabela de códigos. Em tais casos, o leitor de dados proposto pode puxar ou calcular o código de retorno na etapa 823 e pode enviar o código de retorno ao instrumento cirúrgico na etapa 825. Com referência novamente à Figura 32(C), mediante o recebimento do código de retorno do leitor de dados proposto na etapa 845, o instrumento cirúrgico pode verificar se o código de retorno está correto na etapa 847. Se o código estiver incorreto, o microprocessador do instrumento cirúrgico pode prosseguir para a etapa 849, por exemplo, e o instrumento cirúrgico pode ser desligado ou o acesso aos dados armazenados pode ser negado de outra forma. Entretanto, se o código estiver correto, o microprocessador pode prosseguir para a etapa 851, por exemplo, e o instrumento cirúrgico pode fornecer acesso aos dados para o leitor de dados propostos. Por exemplo, os dados podem ser transferidos de forma segura para o leitor de dados na etapa 851. Daí em diante, na etapa 827 (Figura 32(A)), o leitor de dados proposto pode ler os dados do instrumento cirúrgico, por exemplo. Em vários casos, os dados transferidos podem ser criptografados, por exemplo, e o leitor de dados pode precisar descriptografar os dados ininteligíveis antes de lê-los, por exemplo.
[0171] Com referência principalmente à Figura 32(B), um método de segurança de extração de dados alternativo pode ser similar ao método representado na Figura 32(A), por exemplo, e também pode exigir o uso de um código específico para o leitor. Embora o leitor possa ler a soma de verificação do dispositivo na etapa 831, e o código de retorno possa se basear na soma de verificação, em várias circunstâncias, o leitor de dados proposto pode ter um código específico para o leitor, e o código de retorno adequado da tabela de código pode se basear no código específico para o leitor. Por exemplo, o leitor de dados proposto pode considerar o código específico para o leitor na etapa 832 e pode determinar o código de retorno adequado na etapa 833 com base no código específico para o leitor e a tabela de código, por exemplo. O leitor de dados proposto pode fornecer o código específico para o leitor e o código de retorno para o instrumento cirúrgico na etapa 835, por exemplo. Em tais casos, com referência novamente à Figura 32(C), o microcontrolador do instrumento cirúrgico pode verificar o código de retorno e o código específico para o leitor, na etapa 845. Além disso, se esses códigos estiverem corretos, o instrumento cirúrgico pode fornecer acesso ao leitor de dados proposto. Daí em diante, na etapa 827, o leitor de dados proposto pode ler os dados do instrumento cirúrgico, por exemplo. Se um ou ambos os códigos estiverem incorretos, o instrumento cirúrgico pode evitar que o leitor leia os dados. Por exemplo, o instrumento cirúrgico pode desligar ou de outra forma restringir a transferência de dados para o leitor.
[0172] Com referência agora à Figura 33, em vários casos, um sistema cirúrgico pode compreender um instrumento cirúrgico 1600, que pode ser formado por uma pluralidade de componentes modulares. Conforme descrito com mais detalhes aqui, um componente de cabo pode ser compatível com uma pluralidade de componentes de eixo diferentes, por exemplo, e o componente do cabo e/ou os componentes de eixo podem ser reutilizáveis, por exemplo. Além disso, um microcontrolador do instrumento cirúrgico 1600 pode incluir um circuito de travamento, por exemplo. Em vários casos, o circuito de travamento pode evitar a atuação do instrumento cirúrgico até o circuito de travamento ter sido destravado, por exemplo. Em várias circunstâncias, o operador pode digitar um código de acesso temporário no sistema cirúrgico para destravar o circuito de travamento do microcontrolador, por exemplo.
[0173] Em várias circunstâncias, o operador pode comprar ou obter de outra forma o código de acesso temporário para entrar no sistema cirúrgico. Por exemplo, o fabricante ou distribuidor do instrumento pode oferecer códigos de acesso para venda e tais códigos de acesso podem ser necessários para destravar, e portanto usar, o instrumento cirúrgico 1660. Em vários casos, o código de acesso pode destravar o circuito de travamento para um período de tempo predefinido, O fabricante ou distribuidor do instrumento pode oferecer durações de uso diferentes para compra e o usuário pode selecionar e comprar ou adquirir uma duração de uso desejada ou preferível. Por exemplo, o usuário pode adquirir dez minutos de uso, uma hora de uso ou um dia de uso. Em outros casos, períodos de uso adicionais e/ou diferentes adequados podem ser oferecidos para a venda ou autorização. Em vários casos, após o período adquirido de uso expirar, o circuito de travamento pode ser travado novamente. Em outros casos, o código de acesso pode destravar o circuito de travamento para um número predeterminado de funções cirúrgicas. Por exemplo, um usuário pode comprar ou de outra forma obter um disparo único do instrumento ou múltiplos disparos, por exemplo. Além disso, após o usuário ter disparado o número de vezes comprado ou autorizado do instrumento, o circuito de travamento pode ser travado novamente. Em ainda outros casos, um código de acesso pode destravar permanentemente o circuito de travamento, por exemplo.
[0174] Em vários casos, o operador pode digitar o código de acesso temporário diretamente no sistema cirúrgico através de um bloco de teclas ou outra disposição de entrada adequada. Em outros casos, o circuito de travamento pode ser destravado pelo acoplamento de uma unidade de memória não volátil ao instrumento cirúrgico 1600, em que a unidade de memória não volátil compreende um código de acesso pré-programado. Em vários casos, a unidade de memória não volátil pode ser carregada em uma bateria 1650 do instrumento cirúrgico 1660, por exemplo. Além disso, a unidade de memória não volátil pode ser recarregada e/ou substituída. Por exemplo, o usuário pode comprar unidades de memória não volátil de substituição. Adicional ou alternativamente, novos códigos podem ser comprados e carregados na unidade de memória não volátil, por exemplo, após os códigos de acesso previamente obtidos expirarem ou acabarem. Em vários casos, novos códigos podem ser carregados na unidade de memória não volátil quando a bateria 1650 é acoplada a uma fonte de energia e/ou computador externo 1670, por exemplo.
[0175] Em outros casos, o código de acesso temporário pode ser digitado na entrada do código de acesso externo ou remoto, como uma tela de exibição, computador e/ou tela de atenção. Por exemplo, um código de acesso temporário pode ser comprado através de um computador 1660 e pode ser transmitido para um dispositivo de radiofrequência (RF) 1680 acoplado ao computador 1660. Em vários casos, o instrumento cirúrgico 1600 pode compreender um receptor ou antena que pode estar em comunicação de sinais com o dispositivo de radiofrequência 1680, por exemplo. Em tais casos, o dispositivo de radiofrequência 1680 pode transmitir o(s) código(s) de acesso temporário adquirido(s) ao receptor do instrumento cirúrgico 1600, por exemplo. Consequentemente, o circuito de travamento pode ser destravado e o operador pode usar o instrumento cirúrgico 1600 para o período de tempo comprado e/ou o número de funções cirúrgicas, por exemplo.
[0176] Em vários casos, um instrumento cirúrgico modular pode ser compatível com uma tela externa para representar os dados e/ou a retroinformação do instrumento cirúrgico. Por exemplo, o instrumento cirúrgico pode compreender uma tela de instrumento para exibir a retroinformação do procedimento cirúrgico. Em vários casos, a tela do instrumento pode estar posicionada no cabo do instrumento, por exemplo. Em certos casos, a tela do instrumento pode representar uma alimentação de vídeo visualizada a partir de um endoscópio, por exemplo. Adicional ou alternativamente, a tela pode detectar características detectadas, medidas, aproximadas e/ou calculadas do instrumento cirúrgico, operação cirúrgica e/ou sítio cirúrgico, por exemplo. Em vários casos, pode ser desejável transmitir a retroinformação para uma tela externa. A tela externa pode fornecer uma vista ampliada da retroinformação duplicada e/ou reproduzida, por exemplo, que pode permitir que múltiplos operadores e/ou assistentes visualizem simultaneamente a retroinformação. Em vários casos, pode ser desejável selecionar o instrumento cirúrgico para a conexão à tela externa, por exemplo, e, em outros casos, a seleção de um instrumento cirúrgico pode ser automática.
[0177] Com referência à Figura 34, uma tela externa 1700 pode representar um atuador de extremidade 1720 de um instrumento cirúrgico e/ou o sítio cirúrgico, por exemplo. A tela externa 1700 também pode representar a retroinformação e/ou dados detectados e/ou medidos pelo instrumento cirúrgico, por exemplo. Em vários casos, a tela externa 1700 pode duplicar a retroinformação fornecida na tela do instrumento cirúrgico. Em certas circunstâncias, o instrumento cirúrgico pode automaticamente se conectar à tela externa 1700 e/ou um receptor sem fio em comunicação de sinais com a tela da sala externa ou de operação, por exemplo. Em tais casos, um operador pode ser notificado se múltiplos instrumentos cirúrgicos estiverem tentando se conectar à tela externa 1700. Conforme descrito aqui, o operador pode selecionar o(s) instrumento(s) cirúrgico(s) a partir de um menu na tela externa 1700, por exemplo. Em ainda outros casos, o operador pode selecionar o instrumento cirúrgico desejado fornecendo uma entrada ao instrumento cirúrgico. Por exemplo, o operador pode emitir um comando, sequência de controle ou inserir um código para selecionar o instrumento cirúrgico. Em vários casos, o operador pode completar uma sequência de controle específica com o instrumento cirúrgico para selecionar aquele instrumento cirúrgico. Por exemplo, o operador pode ligar o instrumento cirúrgico e, dentro de um período de tempo predefinido, apertar o botão reverso por um período de tempo predefinido, por exemplo, para selecionar o instrumento cirúrgico. Quando um instrumento é selecionado, a retroinformação na tela do instrumento selecionado pode ser retransmitida ou duplicada na tela externa 1700, por exemplo.
[0178] Em certos casos, o instrumento cirúrgico pode incluir um sensor de proximidade. Por exemplo, a tela externa e/ou o receptor sem fio podem compreender um sensor de proximidade que pode detectar quando um instrumento cirúrgico é colocado dentro de uma faixa predeterminada do mesmo. Com referência principalmente às Figuras 35 e 36, quando a tela 1700 e/ou o receptor sem fio detectam um instrumento cirúrgico, a tela pode notificar o usuário. Em certas circunstâncias, a tela e/ou o receptor sem fio podem detectar múltiplos instrumentos cirúrgicos. Com referência à Figura 35, a tela 1700 pode incluir uma notificação discreta 1704, por exemplo, que pode comunicar ao usuário que um instrumento cirúrgico ou múltiplos instrumentos cirúrgicos foram detectados na proximidade da tela 1700. Consequentemente, usando os controles da tela 1700, como um computador, por exemplo, o usuário pode clicar na notificação 1704 para abrir o menu 1706 das seleções de instrumento (Figura 36). O menu 1706 pode representar os instrumentos cirúrgicos disponíveis, por exemplo, e o usuário pode selecionar o instrumento cirúrgico preferido para transmitir na tela 1700. Por exemplo, o menu 1706 pode mostrar os números de série e/ou nomes dos instrumentos cirúrgicos disponíveis.
[0179] Em certos casos, o instrumento cirúrgico selecionado pode fornecer retroinformação para o operador para confirmar sua seleção. Por exemplo, o instrumento cirúrgico selecionado pode fornecer retroinformação auditiva ou háptica, por exemplo. Adicionalmente, o instrumento cirúrgico selecionado pode transmitir pelo menos uma porção de sua retroinformação para a tela externa 1700. Em certos casos, o operador pode selecionar múltiplos instrumentos cirúrgicos e a tela 1700 pode ser compartilhada pelos instrumentos cirúrgicos selecionados. Adicional ou alternativamente, a sala de cirurgia pode incluir múltiplas telas e pelo menos um instrumento cirúrgico pode ser selecionado para cada tela, por exemplo. Vários recursos e/ou componentes de sistema cirúrgico são adicionalmente descritos no pedido de patente US n° 13/974.166, depositado em 23 de agosto de 2013, e intitulado FIRING MEMBER RETRACTION DEVICES FOR POWERED SURGICAL INSTRUMENTS, que está aqui incorporado a título de referência em sua totalidade.
[0180] A totalidade das revelações de: Patente US n° 5.403.312, intitulada ELECTROSURGICAL HEMOSTATIC DEVICE, que foi concedida em 4 de abril de 1995; Patente US n° 7.000.818, intitulada SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, que foi concedida em 21 de fevereiro de 2006; Patente US n° 7.422.139, intitulada MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, que foi concedida em 9 de setembro de 2008; Patente US n° 7.464.849, intitulada ELECTROMECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, que foi concedida em 16 de dezembro de 2008; Patente US n° 7.670.334, intitulada SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, que foi concedida em 2 de março de 2010; Patente US n° 7.753.245, intitulada SURGICAL STAPLING INSTRUMENTS, que foi concedida em 13 de julho de 2010; Patente US n° 8.393.514, intitulada SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, que foi concedida em 12 de março de 2013; Pedido de patente US n° de série 11/343.803, intitulado SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; Pedido de patente US n° de série 12/031.573, intitulado SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, depositado em 14 de fevereiro de 2008; Pedido de Patente n° de série US 12/031.873, intitulado END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, depositado em 15 de fevereiro de 2008, agora patente US n° 7.980.443; Pedido de patente US n° de série 12/235.782, intitulado MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, agora patente US n° 8.210.411; Pedido de patente US n° de série 12/249.117, intitulado POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, agora publicação de pedido de patente US n° 2010/0089970; Pedido de patente US n° de série 12/647.100, intitulado MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, depositado em 24 de dezembro de 2009; Pedido de Patente n° de série US 12/893.461, intitulado STAPLE CARTRIDGE, depositado em 29 de setembro de 2012, agora publicação de pedido de patente US n° 2012/0074198; Pedido de Patente n° de série US 13/036.647, intitulado SURGICAL STAPLING INSTRUMENT, depositado em 28 de fevereiro de 2011, agora publicação de pedido de patente US n° 2011/0226837; Pedido de patente US n° de série 13/118.241, intitulado SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, agora publicação de pedido de patente US n° 2012/0298719; Pedido de patente US n° de série 13/524.049, intitulado ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, depositado em 15 de junho de 2012; Pedido de patente US n° de série 13/800.025, intitulado STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, depositado em 13 de março de 2013; Pedido de patente US n° de série 13/800.067, intitulado STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, depositado em 13 de março de 2013; Publicação de pedido de patente US n° 2007/0175955, intitulada SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, depositada em 31 de janeiro de 2006; e Publicação de pedido de patente US n° 2010/0264194, intitulada SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, depositada em 22 de abril de 2010, estão aqui incorporadas, por referência.
[0181] De acordo com várias modalidades, os instrumentos cirúrgicos aqui descritos podem compreender um ou mais processadores (por exemplo, microprocessador, microcontrolador) acoplados a vários sensores. Além do(s) processador(es), interfaces de armazenamento (tendo lógica operacional) e de comunicação são acopladas uma à outra.
[0182] Conforme descrito anteriormente, os sensores podem ser configurados para detectar e coletar dados associados ao dispositivo cirúrgico. O processador processa os dados de sensor recebidos pelo(s) sensor(es).
[0183] O processador pode ser configurado para executar a lógica de operação. O processador pode ser um dentre inúmeros processadores de único núcleo ou de múltiplos núcleos conhecidos na técnica. O armazenamento pode compreender mídias de armazenamento voláteis e não voláteis configurados para armazenar cópia (de trabalho) temporal e persistente da lógica de operação.
[0184] Em várias modalidades, a lógica de operação pode ser configurada para processar a biometria associada aos dados de movimento do usuário, conforme descrito acima. Em várias modalidades, a lógica de funcionamento pode ser configurada para realizar o processamento inicial, e transmitir os dados para o computador que aloja o aplicativo para determinar e gerar instruções. Para estas modalidades, a lógica de operação pode ser ainda configurada para receber informações e fornecer retroinformação a um computador hospedeiro. Em modalidades alternativas, a lógica de operação pode ser configurada para assumir um papel maior em receber informações e determinar a retroinformação. Em ambos os casos, se determinada por si só ou responsiva a instruções de um computador hospedeiro, a lógica de operação pode ser ainda configurada para controlar e fornecer a retroinformação ao usuário.
[0185] Em várias modalidades, a lógica de operação pode ser implementada em instruções suportadas pela arquitetura do conjunto de instruções (ISA, de "instruction set architecture") do processador, ou linguagens de alto nível e compilada no ISA suportado. A lógica de operação pode compreender uma ou mais unidades ou módulos lógicos. A lógica de operação pode ser implementada em um modo orientado por objetos. A lógica de operação pode ser configurada para ser executada em um modo de múltiplas tarefas e/ou o múltiplas cadeias. Em outras modalidades, a lógica de operação pode ser implementada em hardware, como uma matriz de portas.
[0186] Em várias modalidades, a interface de comunicação pode ser configurada para facilitar a comunicação entre um dispositivo periférico e o sistema de computação. A comunicação pode incluir a transmissão dos dados biométricos coletados associados a dados de posição, postura, e/ou de movimento da(s) parte(s) do corpo do usuário para um computador hospedeiro, e a transmissão de dados associados à retroinformação tátil do computador hospedeiro para o dispositivo periférico. Em várias modalidades, a interface de comunicação pode ser uma interface de comunicação com fio ou sem fio. Um exemplo de uma interface de comunicação com fios pode incluir, mas não se limita a, um Barramento Serial Universal (USB, de "Universal Serial Bus"). Um exemplo de uma interface de comunicação sem fios pode incluir, mas não se limita a, uma interface de Bluetooth.
[0187] Para várias modalidades, o processador pode ser empacotado em conjunto com a lógica de operação. Em várias modalidades, o processador pode ser embalado em conjunto com a lógica de operação para formar um Sistema em Pacote (SIP, de "System in Package"). Em várias modalidades, o processador pode ser integrado na mesma matriz com a lógica de operação. Em várias modalidades, o processador pode ser empacotado em conjunto com a lógica de operação para formar um sistema em circuito integrado (SoC, de "System on Chip").
[0188] Várias modalidades podem ser descritas aqui, no context geral de instruções executáveis por computador, como software, módulos de programa e/ou motores sendo executados por um processador. De modo geral, software, módulos de programa e/ou motores incluem qualquer elemento de software disposto de modo a executar operações específicas ou implementar tipos de dados abstratos específicos. Software, módulos de programa e/ou motores podem incluir rotinas, programas, objetos, componentes, estruturas de dados e similares, que realizam tarefas específicas ou implementam tipos de dados abstratos específicos. Uma implementação dos componentes e das técnicas de software, dos módulos de programa e/ou de mecanismos pode ser armazenada em, e/ou transmitida por, alguma forma de mídias legíveis por computador. Nesse sentido, as mídias legíveis por computador podem ser qualquer mídias disponíveis, que podem ser usadas para armazenar informações e que possam ser acessadas por um dispositivo de computação. Algumas modalidades podem, também, ser praticadas em ambientes de computação distribuída, onde as operações são executadas por um ou mais dispositivos de processamento remoto, que estão ligados através de uma rede de comunicações. Em um ambiente de computação distribuída, o software, os módulos de programa e/ou os mecanismos podem estar em mídias de armazenamento computacional tanto locais como remotas, inclusive em dispositivos de armazenamento de memória. Uma memória, como uma memória de acesso aleatório (RAM) ou outro dispositivo de armazenamento dinâmico, pode ser usada para armazenar informações e instruções a serem executadas pelo processador. A memória também pode ser usada para armazenar variáveis temporárias ou outras informações intermediárias durante a execução de instruções a serem executadas pelo processador.
[0189] Embora algumas modalidades possam ser ilustradas e descritas como compreendendo componentes funcionais, software, motores e/ou módulos executando várias operações, pode ser entendido que esses componentes ou módulos podem ser implementados por um ou mais componentes de hardware, componentes de software e/ou uma combinação dos mesmos. Os componentes funcionais, software, motores e/ou módulos podem ser implementados, por exemplo, por lógica (por exemplo, instruções, dados e/ou código) a ser executada por um dispositivo lógico (por exemplo, processador). Essa lógica pode ser armazenada interna ou externamente em um dispositivo lógico, em um ou mais tipos de mídias de armazenamento legíveis por computador. Em outras modalidades, os componentes funcionais, como software, motores e/ou módulos podem ser implementados por elementos de hardware que podem incluir processadores, microprocessadores, circuitos, elementos de circuito (por exemplo, transístores, resistores, capacitores, indutores e assim por diante), circuitos integrados, circuitos integrados para aplicações específicas (ASIC, de "application specific integrated circuits"), dispositivos lógicos programáveis (PLD, de "programmable logic devices"), processadores de sinal digital (DSP, de "digital signal processors"), matriz de portas lógicas programável em campo (FPGA, de "field programmable gate array"), portas lógicas, registros, dispositivo semicondutor, circuitos integrados, microchips, chipsets e assim por diante.
[0190] Os exemplos de software, motores e/ou módulos podem incluir componentes de software, programas, aplicativos, programas de computador, programas aplicativos, programas de sistema, programas de máquina, software de sistema operacional, middleware, firmware, módulos de software, rotinas, sub-rotinas, funções, métodos, procedimentos, interfaces de software, interfaces de programa de aplicação (API), conjuntos de instrução, código de computação, código de computador, segmentos de código, segmentos de código de computador, palavras, valores, símbolos ou qualquer combinação dos mesmos. A determinação quanto a se uma modalidade é implementada mediante o uso de elementos de hardware e/ou elementos de software pode variar de acordo com qualquer número de fatores, como velocidade computacional desejada, níveis de potência, tolerâncias a calor, provisão do ciclo de processamento, taxas de dados de entrada, taxas de dados de saída, recursos de memória, velocidades de barramento de dados e outras restrições de design ou desempenho.
[0191] Um ou mais dos módulos aqui descritos podem compreender uma ou mais aplicações incorporadas implementadas como firmware, software, hardware, ou qualquer combinação dos mesmos. Um ou mais dos módulos descritos aqui podem incluir vários módulos executáveis, como software, programas, dados, drivers, interfaces de programação de aplicativos (APIs), e assim por diante. O firmware pode ser armazenado em uma memória do processador 3008 que pode compreender uma memória não volátil (NVM, "nonvolatile memory"), como uma memória somente de leitura com bits mascarados (ROM, de "bit-masked read-only memory") ou memória flash. Em várias implementações, o armazenamento do firmware na ROM pode preservar a memória flash. A memória não volátil (NVM) pode compreender outros tipos de memória, incluindo, por exemplo, ROM programável (PROM, de "programmable ROM"), ROM programável apagável (EPROM, de "erasable programmable ROM"), ROM programável eletricamente apagável (EEPROM, de "electrically erasable programmable ROM"), ou memória de acesso aleatório (RAM, de "random-access memory") suportada em bateria como RAM dinâmica (DRAM, de "dynamic RAM"), DRAM com dupla taxa de dados (DDRAM, de "Double-Data-Rate DRAM"), e/ou DRAM síncrona (SDRAM, de "synchronous DRAM").
[0192] Em alguns casos, várias modalidades podem ser implementadas sob a forma de um artigo de manufatura. O artigo de manufatura pode incluir uma mídia de armazenamento legível por computador disposto de modo a armazenar lógica, instruções e/ou dados para a execução de várias operações de uma ou mais modalidades. Em várias modalidades, por exemplo, o artigo de manufatura pode compreender um disco magnético, um disco óptico, memória flash ou firmware contendo instruções do programa de computador adequado para execução por um processador de uso geral ou processador específico para a aplicação. As modalidades, entretanto, não estão limitadas neste contexto.
[0193] As funções dos vários elementos funcionais, blocos lógicos, módulos e os elementos de circuitos descritos em conexão com as modalidades aqui reveladas podem ser implementadas no contexto geral de instruções executáveis por computador, como software, módulos de controle, lógica e/ou módulos de lógica executados pela unidade de processamento. Em geral, software, módulos de controle, lógica e/ou módulos de lógica compreendem qualquer elemento de software preparado para realizar operações específicas. Software, módulos de controle, lógica e/ou módulos de lógica podem compreender rotinas, programas, objetos, componentes, estruturas de dados e similares, que realizam tarefas específicas ou implementam tipos de dados abstratos específicos. Uma implementação dos componentes e das técnicas de software, dos módulos de programa e/ou de mecanismos pode ser armazenada em, e/ou transmitida por, alguma forma de mídias legíveis por computador. Nesse sentido, as mídias legíveis por computador podem ser qualquer mídias disponíveis, que podem ser usadas para armazenar informações e que possam ser acessadas por um dispositivo de computação. Algumas modalidades podem, também, ser praticadas em ambientes de computação distribuída, onde as operações são executadas por um ou mais dispositivos de processamento remoto, que estão ligados através de uma rede de comunicações. Em um ambiente de computação distribuída, o software, os módulos de controle lógica e/ou módulos de lógica podem estar em mídias de armazenamento computacional tanto locais como remotas, inclusive em dispositivos de armazenamento de memória.
[0194] Além disso, deve ser apreciado que as modalidades aqui descritas ilustram exemplos de implementações, e que os elementos funcionais, blocos de lógica, módulos e os elementos de circuitos podem ser implementados de várias outras maneiras que são consistentes com as modalidades descritas. Ademais, as operações executadas por esses elementos funcionais, blocos de lógica, módulos e os elementos de circuitos podem ser combinadas e/ou separadas por uma dada aplicação e podem ser executadas por um número maior ou número menor de componentes ou módulos. Como ficará evidente aos versados na técnica, após a leitura da presente revelação, cada uma das modalidades individuais descritas e ilustradas aqui tem componentes e características que podem ser facilmente separados de, ou combinados com, as características de qualquer um dos outros vários aspectos sem que se afaste do escopo da presente revelação. Qualquer método recitado pode ser executado na ordem dos eventos recitados ou em qualquer outra ordem que seja logicamente possível.
[0195] É importante notar que qualquer referência a "uma modalidade" ou "a modalidade" significa que um recurso, estrutura ou característica específica descrita em relação à modalidade estão incluída em pelo menos uma modalidade. O aparecimento da frase "em uma modalidade" ou "em um aspecto" no relatório descritivo não se refere necessariamente à mesma modalidade.
[0196] Exceto quando especificamente declarado em contrário, deve ser entendido que os termos como "processamento", "computação", "calcular", "determinação", ou similares, referem-se à ação e/ou aos processos de um sistema de computação ou computador, ou dispositivo de computação eletrônica semelhante, como um processador de propósito geral, um DSP, ASIC, FPGA ou outro dispositivo lógico programável, porta discreta ou lógica de transistor, componentes de hardware discretos, ou qualquer combinação dos mesmos projetados para executar as funções aqui descritas que manipule e/ou transforme dados representados como grandezas físicas (por exemplo, eletrônica) em registros e/ou memórias em outros dados representados de modo similar como quantidades físicas no interior das memórias, registros ou outros tais dispositivos de armazenamento, transmissão ou exibição de informações.
[0197] É importante notar que algumas modalidades podem ser descritas usando a expressão "acoplado" e "conectado" junto aos seus derivados. Estes termos não são concebidos como sinônimos entre si. Por exemplo, algumas modalidades podem ser descritas com o uso dos termos "conectado" e/ou acoplado para indicar que dois ou mais elementos estão em contato físico direto ou em contato elétrico um com o outro. O termo "acoplado", entretanto, também pode significar que dois ou mais elementos não estão em contato direto um com o outro, mas ainda assim cooperam ou interagem entre si. Com respeito aos elementos de software, por exemplo, o termo "acoplado" pode se referir a interfaces, interfaces de mensagens, interface de programa de aplicativo (API), troca de mensagens, e assim por diante.
[0198] Deve-se compreender que qualquer patente, publicação, ou outro material de revelação tidos como incorporados à presente invenção a título de referência, total ou parcialmente, estão incorporados à presente invenção somente na medida em que o material incorporado não entrar em conflito com as definições, declarações ou outro material revelado apresentados nesta revelação. Desse modo, e na medida em que for necessário, a revelação como explicitamente aqui apresentada substitui qualquer material conflitante incorporado à presente invenção a título de referência. Qualquer material, ou porção do mesmo, tido como aqui incorporado a título de referência, mas que entre em conflito com as definições, declarações, ou outros materiais de revelação existentes aqui apresentados estará aqui incorporado apenas na medida em que não haja conflito entre o material incorporado e o material de revelação existente.
[0199] Modalidades reveladas têm aplicação na instrumentação para cirurgias abertas e endoscópicas convencionais, bem como aplicação em cirurgia auxiliada por robótica.
[0200] As modalidades dos dispositivos aqui revelados podem também ser projetadas para serem descartadas após um único uso, ou para serem usadas múltiplas vezes. As modalidades podem, em qualquer um ou em ambos os casos, ser recondicionadas para reuso após ao menos um uso. O recondicionamento pode incluir qualquer combinação das etapas de desmontagem do dispositivo, seguida de limpeza ou substituição de peças específicas e a subsequente remontagem. Em particular, as modalidades do dispositivo podem ser desmontadas, em qualquer número de peças ou partes específicas do dispositivo pode ser seletivamente substituído ou removido em qualquer combinação. Com a limpeza e/ou substituição de partes específicas, as modalidades do dispositivo podem ser remontadas para uso subsequente em uma instalação de recondicionamento, ou por uma equipe cirúrgica imediatamente antes de um procedimento cirúrgico. Os versados na técnica compreenderão que o recondicionamento de um dispositivo pode utilizar uma variedade de técnicas de desmontagem, limpeza/substituição e remontagem. O uso de tais técnicas e o dispositivo recondicionado resultante estão dentro do escopo do presente pedido.
[0201] Apenas a título de exemplo, as modalidades aqui descritas podem ser processadas antes da cirurgia. Primeiro, um instrumento novo ou usado pode ser obtido e, se necessário, limpo. O instrumento pode ser, então, esterilizado. Em uma técnica de esterilização, o instrumento é disposto em um recipiente fechado e selado, como uma bolsa plástica ou de TYVEK. O recipiente e o instrumento podem, então, ser colocados em um campo de radiação que possa penetrar no recipiente, como radiação gama, raios X ou elétrons de alta energia. A radiação pode exterminar as bactérias no instrumento e no recipiente. O instrumento esterilizado pode, então, ser armazenado em um recipiente estéril. O recipiente vedado pode manter o instrumento estéril até que seja aberto na instalação médica. O dispositivo pode também ser esterilizado com o uso de qualquer outra técnica conhecida, incluindo, mas não se limitando a, radiação beta ou gama, óxido de etileno ou vapor d'água.
[0202] Os versados na técnica reconhecerão que os componentes (por exemplo, operações), dispositivos e objetivos descritos na presente invenção, e a discussão que os acompanha, são usados como exemplos tendo em vista a clareza conceitual, e que são contempladas várias modificações de configuração.Consequentemente, como usado na presente invenção, os exemplares específicos apresentados e a discussão que os acompanha pretendem ser representativos de suas classes mais gerais. Em geral, o uso de qualquer exemplar específico pretende ser representativo de sua classe, e a não inclusão de componentes (por exemplo, operações), dispositivos e objetos específicos não deve ser considerada limitadora.
[0203] Com respeito ao uso de substancialmente quaisquer termos plurais e/ou singulares na presente invenção, os versados na técnica podem mudar do plural para o singular e/ou do singular para o plural conforme seja adequado ao contexto e/ou aplicação. As várias permutações singular/plural não estão expressamente apresentadas na presente invenção por motivos de clareza.
[0204] O assunto descrito na presente invenção ilustra por vezes componentes distintos contidos em outros componentes distintos, ou a eles relacionados. É necessário compreender que essas arquiteturas representadas são meramente exemplos, e que, de fato, podem ser implementadas muitas outras arquiteturas que alcancem a mesma funcionalidade. No sentido conceitual, qualquer disposição de componentes para alcançar a mesma funcionalidade está efetivamente "associada" se a funcionalidade desejada for alcançada. Assim, quaisquer dos dois componentes mencionados na presente invenção que sejam combinados para alcançar uma funcionalidade específica podem ser vistos como "associados" um ao outro se a funcionalidade desejada é alcançada, independentemente das arquiteturas ou dos componentes intermediários. De modo semelhante, quaisquer desses dois componentes assim associados também podem ser vistos como estando "conectados de modo operável" ou "acoplados de modo operável" um ao outro para alcançar a funcionalidade desejada, e quaisquer desses dois componentes capazes de serem associados dessa forma podem ser vistos como sendo "acopláveis de modo operável" um ao outro para alcançar a funcionalidade desejada. Exemplos específicos de componentes acopláveis de modo operável incluem, mas não se limitam a, componentes fisicamente encaixáveis e/ou em interação física, e/ou os que podem interagir por conexão sem fio, e/ou que interajam por lógica, e/ou podem interagir por lógica.
[0205] Alguns aspectos podem ser descritos usando a expressão "acoplado" e "conectado" junto aos seus derivados. Deve-se compreender que esses termos não são concebidos como sinônimos entre si. Por exemplo, alguns aspectos podem ser descritos com o uso do termo "conectado" para indicar que dois ou mais elementos estão em contato físico direto ou em contato elétrico um com o outro. Em outro exemplo, alguns aspectos podem ser descritos com o uso do termo "acoplado" para indicar que dois ou mais elementos estão em contato físico direto ou em contato elétrico. O termo "acoplado", entretanto, também pode significar que dois ou mais elementos não estão em contato direto um com o outro, mas ainda assim cooperam ou interagem entre si.
[0206] Em alguns casos, um ou mais componentes podem ser chamados na presente invenção de "configurado para", "configurável para", "operável/operacional para", "adaptado/adaptável para", "capaz de", "conformável/conformado para", etc. Os versados na técnica reconhecerão que "configurado para" pode, de modo geral, abranger componentes em estado ativo, e/ou componentes em estado inativo, e/ou componentes em estado de espera, exceto quando o contexto determinar em contrário.
[0207] Embora aspectos específicos do presente assunto aqui descrito tenham sido mostrados e descritos, ficará evidente aos versados na técnica que, com base nos ensinamentos na presente invenção, mudanças e modificações podem ser produzidas sem se afastar do assunto aqui descrito e de seus aspectos mais amplos e, portanto, as reivindicações anexas se destinam a abranger em seu escopo todas essas alterações e modificações que estão no verdadeiro escopo do assunto aqui descrito. Será compreendido pelos versados na técnica que, em geral, os termos usados aqui, e principalmente nas reivindicações anexas (por exemplo, corpos das reivindicações anexas) destinam-se geralmente como termos "abertos" (por exemplo, o termo "incluindo" deve ser interpretado como "incluindo mas não se limitando a", o termo "tendo" deve ser interpretado como "tendo, pelo menos", o termo "inclui" deve ser interpretado como "inclui, mas não se limita a", etc.). Será ainda entendido pelos versados na técnica que, quando um número específico de uma recitação de reivindicação introduzida é destinado, tal intenção será expressamente recitada na reivindicação e, na ausência de tal recitação, nenhuma intenção está presente. Por exemplo, como uma ajuda para a compreensão, as seguintes reivindicações anexas podem conter o uso das frases introdutórias "pelo menos um" e "um ou mais" para introduzir recitações de reivindicação. Entretanto, o uso de tais frases não deve ser interpretado como implicando que a introdução de uma recitação da reivindicação pelos artigos indefinidos "um, uns" ou "uma, umas" limita qualquer reivindicação específica contendo tal recitação da reivindicação introduzida a reivindicações que contêm apenas uma tal recitação, mesmo quando a mesma reivindicação inclui as frases introdutórias "um ou mais" ou "pelo menos um" e artigos indefinidos, como "um, uns" ou "uma, umas" (por exemplo, "um, uns" e/ou "uma, umas" deve tipicamente ser interpretado para significar "pelo menos um" ou "um ou mais"); o mesmo vale para o uso de artigos definidos usados para introduzir as recitações de reivindicação.
[0208] Além disso, mesmo quando um número específico de uma recitação de reivindicação introduzida é expressamente recitado, os versados na técnica reconhecerão que a recitação deve, tipicamente, ser interpretada como significando, pelo menos, o número recitado (por exemplo, a mera recitação de "duas recitações", sem outros modificadores, tipicamente significa pelo menos duas recitações, ou duas ou mais recitações). Além disso, nos casos em que uma convenção análoga a "pelo menos um dentre A, B e C, etc." é usada, em geral, essa construção é destinada no sentido de que um versado na técnica compreenderá a convenção (por exemplo, "um sistema que tem pelo menos um dentre A, B e C" pode incluir, mas não se limita a sistemas que têm A sozinho, B sozinho, C sozinho, A e B, em conjunto, A e C em conjunto, B e C em conjunto, e/ou A, B e C em conjunto, etc.). Naqueles casos em que uma convenção análoga a "pelo menos um dentre A, B ou C, etc." é usada, em geral, essa construção é destinada no sentido de que um versado na técnica compreenderá a convenção (por exemplo, "um sistema que tem pelo menos um dentre A, B ou C" pode incluir, mas não se limita a sistemas que têm A sozinho, B sozinho, C sozinho, A e B, em conjunto, A e C em conjunto, B e C em conjunto, e/ou A, B e C em conjunto, etc.). Será adicionalmente entendido pelos versados na técnica que tipicamente uma palavra e/ou frase disjuntiva apresentando dois ou mais termos alternativos, quer na descrição, reivindicações ou desenhos, deve ser entendida para contemplar a possibilidade de incluir um dos termos, qualquer um dos termos, ou ambos os termos, exceto quando o contexto determinar em contrário. Por exemplo, a frase "A ou B" será tipicamente entendida como incluindo as possibilidades de "A" ou "B" ou "A e B".
[0209] Com respeito às reivindicações anexas, os versados na técnica entenderão que as operações referidas nas mesmas podem, de modo geral, ser executadas em qualquer ordem. Ainda, embora vários fluxos operacionais sejam apresentados em alguma(s) sequência(s), deve-se compreender que as várias operações podem ser executadas em outras ordens diferentes daquelas ilustradas, ou podem ser feitas concomitantemente. Exemplos de tais ordenações alternativas podem incluir ordenações sobrepostas, intercaladas, interrompidas, reordenadas, incrementais, preparatórias,suplementares, simultâneas, inversas ou outras ordenações variadas, exceto quando o contexto determinar em contrário. Ademais, termos como "responsivo a", "relacionado a" ou outros particípios adjetivos não pretendem de modo geral excluir essas variantes, exceto quando o contexto determinar em contrário.
[0210] Em resumo, foram descritos inúmeros benefícios que resultam do emprego dos conceitos descritos no presente documento. A descrição anteriormente mencionada de uma ou mais modalidades foi apresentada para propósitos de ilustração e descrição. Esta descrição não pretende ser exaustiva ou limitar a invenção à forma precisa apresentada. Modificações e variações são possíveis à luz dos ensinamentos acima. Uma ou mais modalidades foram escolhidas e descritas com a finalidade de ilustrar os princípios e a aplicação prática para, assim, permitir que o versado na técnica use as diversas modalidades e com inúmeras modificações, conforme sejam convenientes ao uso específico contemplado. Pretende-se que as reivindicações apresentadas em anexo definam o escopo global.
Claims (10)
1. Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico, o instrumento cirúrgico caracterizado pelo fato de que compreende: um eixo alongado (2204); um atuador de extremidade (2208) que se estende a partir do eixo alongado, sendo que o atuador de extremidade (2208) é articulável em relação ao eixo alongado (2204) entre uma posição de estado inicial e uma posição articulada; e um sistema de controle (3000), que compreende: um processador (3008); e uma memória (3010) acoplada ao processador (3008) para armazenar instruções de programa que, quando executadas a partir da memória, fazem o processador: alertar o operador quando o atuador de extremidade atinge a posição de estado inicial a partir da posição articulada; fornecer retroinformação háptica ao operador quando o atuador de extremidade atinge a posição de estado inicial a partir da posição articulada; e pausar o atuador de extremidade (2208) à medida que ele passa por sua posição de estado inicial e depois continua sua posição de estado inicial.
2. Instrumento cirúrgico, de acordo com a reivindicação 1, caracterizado pelo fato de que ainda compreende um motor (2216) operável para articular o atuador de extremidade (2208) entre a posição de estado inicial e a posição articulada, sendo que as instruções de programa, quando executadas a partir da memória, fazem com que o processador pare o motor quando o atuador de extremidade atinge a posição de estado inicial a partir da posição articulada.
3. Instrumento cirúrgico, de acordo com a reivindicação 1, caracterizado pelo fato de que as instruções de programa, quando executadas a partir da memória (3010), fazem com que o processador forneça retroinformação visual ao operador, quando o atuador de extremidade atinge a posição de estado inicial a partir da posição articulada.
4. Instrumento cirúrgico, de acordo com a reivindicação 1, caracterizado pelo fato de que o instrumento cirúrgico ainda compreende uma interface (3001), uma primeira chave (3004A) e uma segunda chave (3004B), em que a interface (3001) é configurada de modo que a primeira chave (3004A) é dedicada à articulação no sentido horário do atuador de extremidade (2208) e a segunda chave (3004B) é dedicada à articulação no sentido anti-horário do atuador de extremidade (2208), sendo que, em uso, o operador articula o atuador de extremidade (2208) no sentido horário fechando a primeira chave (3004A) e articula o atuador de extremidade (2208) no sentido anti- horário fechando a segunda chave (3004A).
5. Instrumento cirúrgico, de acordo com a reivindicação 4, caracterizado pelo fato de que a primeira chave (3004A) e a segunda chave (3004B) compreendem chaves de cúpula arqueadas em posição aberta.
6. Instrumento cirúrgico, de acordo com a reivindicação 5, caracterizado pelo fato de que as chaves de cúpula (3004A, 3004B) são controladas por um oscilador (3012).
7. Instrumento cirúrgico, de acordo com a reivindicação 6, caracterizado pelo fato de que o processador é configurado para centralizar automaticamente o atuador de extremidade (2208) quando ele determina que um operador do instrumento cirúrgico está tentando posicionar o atuador de extremidade (2208) na posição de estado inicial pressionando o oscilador (3012) para mover o atuador de extremidade (2208) em direção à posição de estado inicial e liberando o oscilador quando o atuador de extremidade (2208) estiver dentro de uma certa faixa da posição do estado inicial.
8. Instrumento cirúrgico, de acordo com a reivindicação 7, caracterizado pelo fato de que a certa faixa está dentro de 10 graus em ambos os lados da posição de estado inicial.
9. Instrumento cirúrgico, de acordo com a reivindicação 4, 5 ou 6, caracterizado pelo fato de que o processador está configurado para identificar quando o atuador de extremidade (2208) atingiu um grau máximo de articulação predeterminado e, nesse ponto, interromper a alimentação de um motor (2216) que articula o atuador de extremidade, independentemente se a primeira chave (3004A) estiver sendo pressionada.
10. Instrumento cirúrgico, de acordo com a reivindicação 1, caracterizado pelo fato de que o atuador de extremidade (2208) permanece temporariamente em sua posição central por 2 segundos e depois continua sua articulação enquanto uma chave de articulação (3012) permanece pressionada.
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US14/226,126 US10004497B2 (en) | 2014-03-26 | 2014-03-26 | Interface systems for use with surgical instruments |
PCT/US2015/020083 WO2015148135A2 (en) | 2014-03-26 | 2015-03-12 | Interface systems for use with surgical instruments |
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2015
- 2015-03-12 BR BR112016021943-0A patent/BR112016021943B1/pt active IP Right Grant
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2019
- 2019-09-27 US US16/585,883 patent/US11259799B2/en active Active
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- 2022-02-01 US US17/590,525 patent/US20220323067A1/en active Pending
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US11259799B2 (en) | 2022-03-01 |
US20220323067A1 (en) | 2022-10-13 |
US20200178958A1 (en) | 2020-06-11 |
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