BR112019026918B1 - Instrumento cirúrgico com controle de realimentação de circuito fechado da velocidade de motor - Google Patents
Instrumento cirúrgico com controle de realimentação de circuito fechado da velocidade de motor Download PDFInfo
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- 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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Abstract
a presente invenção se refere a um instrumento cirúrgico motorizado. o instrumento cirúrgico inclui um membro de deslocamento, um motor acoplado ao membro de deslocamento, um circuito de controle acoplado ao motor, um sensor de posição acoplado ao circuito de controle e um circuito temporizador acoplado ao circuito de controle. o circuito de controle é configurado para receber do sensor de posição uma posição do membro de deslocamento em uma zona de corrente definida por um intervalo de deslocamento ajustado, medir o tempo em uma posição ajustada do intervalo de deslocamento, em que o tempo medido é definido como o tempo que o membro de deslocamento leva para atravessar o intervalo de deslocamento, e ajustar uma velocidade de comando do membro de deslocamento para uma zona subsequente com base no tempo medido na zona de corrente predefinida.
Description
[0001] A presente invenção se refere a instrumentos cirúrgicos e, em várias circunstâncias, a instrumentos cirúrgicos de grampeamento e corte, e a cartuchos de grampos para os mesmos, que são projetados para grampear e cortar tecidos.
[0002] Em um instrumento cirúrgico motorizado de grampeamento e corte, pode ser útil controlar a velocidade de um membro de corte ou controlar a velocidade de articulação de um atuador de extremidade. A velocidade de um membro de deslocamento pode ser determinada mediante a medição do tempo decorrido em intervalos de posição predeterminados do membro de deslocamento ou medição da posição do membro de deslocamento em intervalos de tempo predeterminados. O controle pode ser de circuito aberto ou de circuito fechado. Tais medições podem ser úteis para avaliar as condições do tecido, como espessura do tecido, e ajustar a velocidade do elemento de corte durante um curso de disparo para ter em conta as condições do tecido. A espessura do tecido pode ser determinada pela comparação da velocidade esperada do membro de corte com a velocidade real do membro de corte. Em algumas situações, pode ser útil articular o atuador de extremidade em uma velocidade de articulação constante. Em outras situações, pode ser útil acionar o atuador de extremidade em uma velocidade de articulação diferente da velocidade de articulação padrão em uma ou mais regiões dentro de uma faixa de varredura do atuador de extremidade.
[0003] Durante o uso de um instrumento de grampeamento e corte cirúrgico motorizado, é possível que a velocidade do membro de corte ou do membro de disparo possa precisar ser medida e ajustada para compensar as condições do tecido. Em tecido espesso, a velocidade pode ser diminuída para diminuir a força para disparar experimentada pelo membro de corte ou pelo membro de disparo, se a força para disparar experimentada pelo membro de corte ou pelo membro de disparo for maior do que uma força-limite. No tecido fino, a velocidade pode ser aumentada se a força para disparar experimentada pelo membro de corte ou pelo membro de disparo for menor que um limite. Portanto, pode ser desejável fornecer um sistema de realimentação de circuito fechado que mede e ajusta a velocidade do membro de corte ou do membro de disparo com base em uma medição de tempo ao longo de uma distância específica. Pode ser desejável medir a velocidade do membro de corte pela medição de tempo em intervalos de deslocamento ajustados fixos.
[0004] Em um aspecto, a presente descrição fornece um instrumento cirúrgico. O instrumento cirúrgico compreende: um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico ao longo de uma pluralidade de zonas predefinidas; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para monitorar a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, em que o circuito temporizador/contador é configurado para medir o tempo decorrido; em que o circuito de controle é configurado para: receber, do sensor de posição, uma posição do membro de deslocamento em uma zona de corrente definida por um intervalo de deslocamento ajustado; medir o tempo em uma posição ajustada do intervalo de deslocamento, em que o tempo medido é definido como o tempo que o membro de deslocamento levou para atravessar o intervalo de deslocamento; e ajustar uma velocidade de comando do membro de deslocamento para uma zona subsequente com base no tempo medido na zona predefinida de corrente.
[0005] Em outro aspecto, o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico ao longo de uma pluralidade de zonas predefinidas; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para monitorar a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, em que o circuito temporizador/contador é configurado para medir o tempo decorrido; em que o circuito de controle é configurado para: receber, do sensor de posição, uma posição do membro de deslocamento em uma zona de corrente definida por um intervalo de deslocamento predeterminado; medir o tempo à medida que o membro de deslocamento se move de uma posição estacionária até uma posição-alvo; e ajustar uma velocidade de comando do membro de deslocamento para uma primeira zona dinâmica com base no tempo medido.
[0006] Em outro aspecto, a presente descrição fornece um método de controle de velocidade do motor em um instrumento cirúrgico, em que o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico ao longo de uma pluralidade de zonas predefinidas, um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento, um circuito de controle acoplado ao motor, um sensor de posição acoplado ao circuito de controle, em que o sensor de posição é configurado para monitorar a posição do membro de deslocamento, um circuito temporizador acoplado ao circuito de controle, em que o circuito temporizador/contador é configurado para medir o tempo decorrido, em que o método compreende: receber, de um sensor de posição, uma posição de um membro de deslocamento dentro de uma zona de corrente definida por um intervalo de deslocamento ajustado; medir, por meio de um circuito temporizador, um tempo em uma posição ajustada do membro de deslocamento, em que o tempo é definido pelo tempo que membro de deslocamento leva para atravessar o intervalo de deslocamento; e ajustar, por meio do circuito de controle, uma velocidade de comando do membro de deslocamento para uma zona subsequente com base no tempo medido na zona de corrente.
[0007] As características inovadoras dos aspectos aqui descritos são apresentadas com particularidade nas concretizações em anexo. Entretanto, esses aspectos, tanto com relação à organização quanto aos métodos de operação, podem ser mais bem compreendidos por referência à descrição a seguir, tomada em conjunto com os desenhos em anexo.
[0008] A Figura 1 é uma vista em perspectiva de um instrument cirúrgico que tem um conjunto de eixo de acionamento intercambiável operacionalmente acoplado ao mesmo, de acordo com um aspecto desta descrição.
[0009] A Figura 2 ilustra uma vista do conjunto explodida de uma porção do instrumento cirúrgico ultrassônico da Figura 1, de acordo com um aspecto desta descrição.
[0010] A Figura 3 é uma vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável, de acordo com um aspeto desta descrição.
[0011] A Figura 4 é uma vista em perspectiva explodida de um atuador de extremidade do instrumento cirúrgico da Figura 1, de acordo com um aspecto desta descrição.
[0012] As Figuras 5A a 5B são um diagrama de blocos de um circuito de controle do instrumento cirúrgico de 1 que abrange duas folhas de desenho, de acordo com um aspecto desta descrição.
[0013] A Figura 6 é um diagrama de bloco do circuito de controle do instrumento cirúrgico da Figura 1 que ilustra interfaces entre o conjunto de cabo, o conjunto de alimentação e o conjunto de cabo e o conjunto de eixo de acionamento intercambiável, de acordo com um aspecto da presente descrição.
[0014] A Figura 7 ilustra um circuito de controle configurado para controlar aspectos do instrumento cirúrgico da Figura 1, de acordo com um aspeto da presente descrição.
[0015] A Figura 8 ilustra um circuito lógico combinacional configurado para controlar aspectos do instrumento cirúrgico da Figura 1, de acordo com um aspecto da presente descrição.
[0016] A Figura 9 ilustra um circuito lógico sequencial configurado para controlar aspectos do instrumento cirúrgico da Figura 1, de acordo com um aspecto da presente descrição.
[0017] A Figura 10 é um diagrama de um sistema de posicionamento absoluto do instrumento cirúrgico da Figura 1, em que o sistema de posicionamento absoluto compreende uma disposição de circuito de acionamento controlado do motor que compreende uma disposição de sensor, de acordo com um aspecto da presente descrição.
[0018] A Figura 11 é uma vista em perspectiva explodida da disposição de sensor para um sistema de posicionamento absoluto, que mostra um conjunto de placa de circuito de controle e o alinhamento relativo dos elementos da disposição de sensor, de acordo com um ou mais aspectos da presente descrição.
[0019] A Figura 12 é um diagrama de um sensor de posição que compreende um sistema de posicionamento absoluto magnético giratório, de acordo com um aspecto da presente descrição.
[0020] A Figura 13 é uma vista em corte de um atuador de extremidade do instrumento cirúrgico da Figura 1, que mostra um curso do membro de disparo em relação ao tecido preso dentro do atuador de extremidade, de acordo com um aspecto da presente descrição.
[0021] A Figura 14 ilustra um diagrama de bloco de um instrument cirúrgico programado para controlar a translação distal de um membro de deslocamento, de acordo com um aspecto da presente descrição.
[0022] A Figura 15 ilustra um diagrama que plota dois cursos de membro de deslocamento executados, de acordo com um aspecto da presente descrição.
[0023] A Figura 16A Ilustra um atuador de extremidade que compreende um membro de disparo acoplado a uma haste com perfil em I que compreende um gume cortante de acordo com um aspecto da presente descrição.
[0024] A Figura 16B Ilustra um atuador de extremidade em que a haste com perfil em I está localizada em uma posição-alvo no topo de uma rampa com o pino de topo engatado na fenda com perfil em T de acordo com um aspecto da presente descrição.
[0025] A Figura 17 ilustra o curso de disparo da haste com perfil em I que é ilustrado por um gráfico alinhado com o atuador de extremidade de acordo com um aspecto da presente descrição.
[0026] A Figura 18 é uma representação gráfica comparando o deslocamento do curso da haste com perfil em I como uma função do tempo (gráfico superior) e a força para disparo esperada como uma função do tempo (gráfico inferior) de acordo com um aspecto da presente descrição.
[0027] A Figura 19 é uma representação gráfica que compara a espessura do tecido como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I (gráfico superior), a força para disparar como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I (segundo gráfico a partir de cima), controles de tempo dinâmicos como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I (terceiro gráfico a partir de cima) e a velocidade ajustada da haste com perfil em I como uma função do intervalo de deslocamento do curso da haste com perfil em I (gráfico inferior) de acordo com um aspecto desta descrição.
[0028] A Figura 20 é uma representação gráfica da força para disparo como uma função do tempo comparando velocidades de deslocamento lenta, média e alta da haste com perfil em I de acordo com um aspecto da presente descrição.
[0029] A Figura 21 é um diagrama de fluxo lógico de um processo que representa um programa de controle ou uma configuração lógica para controlar a velocidade de comando em um estágio de disparo inicial de acordo com um aspecto da presente descrição.
[0030] A Figura 22 é um diagrama de fluxo lógico de um processo que representa um programa de controle ou uma configuração lógica para controlar a velocidade de comando em um estágio de disparo dinâmico de acordo com um aspecto da presente descrição.
[0031] O requerente do presente pedido detém os seguintes pedidos de patente depositados simultaneamente com o mesmo e que estão, cada um, incorporados no presente documento a título de referência em suas respectivas totalidades:
[0032] N° do documento de procuração END8191USNP/170054, intitulado CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, pelos inventores Frederick E. Shelton, IV et al.,depositado em 20 de junho de 2017.
[0033] N° do documento de procuração END8192USNP/170055, intitulado SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0034] N° do documento de procuração END8193USNP/170056, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. de Shelton, IV et al., depositado em 20 de junho de 2017.
[0035] N° do documento de procuração END8194USNP/170057, intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT ACCORDING TO ARTICULATION ANGLE OF END EFFECTOR, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0036] N° do documento de procuração END8195USNP/170058, intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0037] N° do documento de procuração END8196USNP/170059, intitulado SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY pelos inventores Frederick ES. Shelton, IV et al., depositado em 20 de junho de 2017.
[0038] N° do documento de procuração END8197USNP/170060, intitulado SYSTEMS AND METHODS FOR CONTROLLING VELOCITY OF A DISPLACEMENT MEMBER OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0039] N° do documento de procuração END8198USNP/170061, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENT MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0040] N° do documento de procuração END8222USNP/170125, intitulado CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0041] N° do documento de procuração END8199USNP/170062M, intitulado ECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0042] N° do documento de procuração END8275USNP/170185M, intitulado TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Raymond E. Parfett, depositado em 20 de junho de 2017.
[0043] N° do documento de procuração END8268USNP/170186, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MAGNITUDE OF VELOCITY ERROR MEASUREMENTS, pelos inventores Raymond E. Parfett et al., depositado em 20 de junho de 2017.
[0044] N° do documento de procuração END8266USNP/170188, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED DISPLACEMENT DISTANCE TRAVELED OVER A SPECIFIED TIME INTERVAL, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0045] N° do documento de procuração END8267USNP/170189, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED NUMBER OF SHAFT ROTATION, pelos inventores Frederick e. Shelton, IV et al., depositado em 20 de junho de 2017.
[0046] N° do documento de procuração END8269USNP/170190, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, pelos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0047] N° do documento de procuração END8270USNP/170191, intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICAL INSTRUMENT, pelos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0048] N° do documento de procuração END8271USNP/170192, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON SYSTEM CONDITIONS, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0049] O requerente do presente pedido detém os seguintes pedidos de patente de design depositados simultaneamente com o mesmo e que estão, cada um, incorporados no presente documento a título de referência em suas respectivas totalidades:
[0050] N° do documento de procuração END8274USDP/170193D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, pelos inventores Jason L. Harris et al.,depositado em 20 de junho de 2017.
[0051] N° do documento de procuração END8273USDP/170194D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, pelos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0052] N° do documento de procuração END8272USDP/170195D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0053] Certos aspectos são mostrados e descritos para fornecer um entendimento da estrutura, função, fabricação e uso dos dispositivos e métodos revelados. Os recursos mostrados ou descritos em um exemplo podem ser combinados com os recursos de outros exemplos e as modificações e variações estão dentro do escopo desta descrição.
[0054] Os termos "proximal" e "distal" são com referência a um médico que manipula o cabo do instrumento cirúrgico, em que termo "proximal" se refere à porção mais próxima ao médico e o termo "distal" se refere à porção localizada mais distante do médico. Para conveniência, os termos espaciais "vertical", "horizontal", "para acima" e "para baixo" usados com relação aos desenhos não se destinam a ser limitadores e/ou absolutos, porque os instrumentos cirúrgicos podem ser usados em muitas orientações e posições.
[0055] São fornecidos dispositivos e métodos exemplificadores para realização de procedimentos cirúrgicos laparoscópicos e minimamente invasivos. Tais dispositivos e métodos, entretanto, podem ser usados em outros procedimentos e aplicações cirúrgicas incluindo procedimentos cirúrgicos abertos, por exemplo. Os instrumentos cirúrgicos podem ser inseridos através de um orifício natural ou um através de uma incisão ou perfuração formada no tecido. As porções funcionais ou porções do atuador de extremidade dos instrumentos podem ser inseridas diretamente no corpo ou através de um dispositivo de acesso que tem uma canaleta funcional através do qual podem ser avançados o atuador de extremidade e o eixo de acionamento alongado do instrumento cirúrgico.
[0056] A Figura 1 a 4 ilustra um instrumento cirúrgico acionado por motor 10 para corte e fixação que pode ou não ser reutilizado. Nos exemplos ilustrados, o instrumento cirúrgico 10 inclui um compartimento 12 que compreende um conjunto de cabo 14 que é configurado para ser pego, manipulado e atuado pelo médico. O compartimento 12 é configurado para fixação operacional a um conjunto de eixo de acionamento intercambiável 200 que tem um atuador de extremidade 300 operacionalmente acoplado ao mesmo que é configurado para executar uma ou mais tarefas ou procedimentos cirúrgicos. De acordo com a presente descrição, várias formas de conjuntos de eixo de acionamento intercambiáveis podem ser eficazmente usadas em conexão com sistemas cirúrgicos roboticamente controlados. O termo "compartimento" pode abranger um compartimento ou porção similar de um sistema robótico que aloja ou de outro modo suporta operacionalmente ao menos um sistema de acionamento configurado para gerar e aplicar ao menos um movimento de controle que possa ser usado para acionar os conjuntos de eixo de acionamento. O termo "estrutura" pode referir-se a uma porção de um instrumento cirúrgico de mão. O termo "estrutura" também pode representar uma porção de um instrumento cirúrgico controlado roboticamente e/ou uma porção do sistema robótico que pode ser usado para controlar operacionalmente o instrumento cirúrgico. Os conjuntos de eixo de acionamento intercambiáveis aqui revelados podem ser usados com vários sistemas robóticos, instrumentos, componentes e métodos revelados na Patente US n° 9.072.535, intitulada SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, a qual está aqui incorporada a título de referência, em sua totalidade.
[0057] A Figura 1 é uma vista em perspectiva de um instrument cirúrgico 10 que tem um conjunto de eixo de acionamento intercambiável 200 operacionalmente acoplado ao mesmo, de acordo com um aspeto desta descrição. O compartimento 12 inclui um atuador de extremidade 300 que compreende um dispositivo cirúrgico de corte e fixação configurado para suportar operacionalmente um cartucho de grampos cirúrgicos 304 no mesmo. O compartimento 12 pode ser configurado para uso em conexão com os conjuntos de eixo de acionamento intercambiáveis que incluem os atuadores de extremidade que são adaptados para sustentar diferentes tamanhos e tipos de cartuchos de grampos, e que têm diferentes comprimentos, tamanhos e tipos de eixo de acionamento. O compartimento 12 pode ser usado eficazmente com uma variedade de conjuntos de eixo de acionamento intercambiáveis incluindo conjuntos configurados para aplicar outros movimentos e formas de energia como, por exemplo, energia de radiofrequência (RF), energia ultrassônica e/ou movimento a disposições de atuadores de extremidade adaptados para uso em várias aplicações e procedimentos cirúrgicos. Os atuadores de extremidade, os conjuntos de eixo de acionamento, os cabos, os instrumentos cirúrgicos e/ou os sistemas de instrumento cirúrgico podem utilizar qualquer prendedor adequado, ou prendedores, para prender tecido. Por exemplo, um cartucho de prendedores que compreende uma pluralidade de prendedores nele armazenados de modo removível pode ser inserido de maneira removível dentro e/ou fixado ao atuador de extremidade de um conjunto de eixo de acionamento.
[0058] O conjunto de cabo 14 pode compreender um par de segmentos interconectáveis de compartimento de cabo 16 e 18 interconectados por parafusos, elementos de encaixe por pressão, adesivo, etc. Os segmentos de compartimento de cabo 16, 18 cooperam para formar uma porção da empunhadura da pistola 19 que pode ser empunhada e manipulada pelo clínico. O conjunto de cabo 14 suporta operacionalmente uma pluralidade de sistemas de acionamento configurados para gerar e aplicar movimentos de controle às porções correspondentes do conjunto de eixo de acionamento intercambiável que está operacionalmente fixado ao mesmo. Uma tela pode ser fornecida abaixo de uma cobertura 45.
[0059] A Figura 2 ilustra uma vista do conjunto explodida de uma porção do instrumento cirúrgico ultrassônico 10 da Figura 1, de acordo com um aspecto desta descrição. O conjunto de cabo 14 pode incluir uma estrutura 20 que suporta operacionalmente uma pluralidade de sistemas de acionamento. A estrutura 20 pode suportar operacionalmente um "primeiro" sistema de acionamento ou sistema de acionamento de fechamento 30, que pode aplicar movimentos de fechamento e abertura ao conjunto de eixo de acionamento intercambiável 200. O sistema de acionamento de fechamento 30 pode incluir um atuador como um gatilho de fechamento 32 suportado de modo pivotante pela estrutura 20. O gatilho de fechamento 32 é acoplado de modo pivotante ao conjunto de cabo 14 por um pino de pivô 33 para permitir que o gatilho de fechamento 32 seja manipulado por um médico. Quando o médico segura a porção de empunhadura da pistola 19 do conjunto de cabo 14, o gatilho de fechamento 32 pode pivotar de uma posição inicial ou "não atuada" para uma posição "atuada" e, mais particularmente, para uma posição completamente comprimida ou completamente atuada.
[0060] O conjunto de cabo 14 e a estrutura 20 podem suportar operacionalmente um sistema de acionamento de disparo 80 configurado para aplicar movimentos de disparo às porções correspondentes do conjunto de eixo de acionamento intercambiável fixado ao mesmo. O sistema de acionamento de disparo 80 pode empregar um motor elétrico 82 situado na porção da empunhadura da pistola 19 do conjunto de cabo 14. O motor elétrico 82 pode ser um motor de corrente contínua (CC) com escovas tendo uma rotação máxima de aproximadamente 25.000 rpm, por exemplo. Em outras disposições, o motor pode incluir um motor sem escovas, um motor sem fio, um motor síncrono, um motor de passo ou qualquer outro motor elétrico adequado. O motor elétrico 82 pode ser alimentado por uma fonte de alimentação 90 que pode compreender uma fonte de energia removível 92. A fonte de energia removível 92 pode compreender uma porção do compartimento proximal 94 que é configurada para fixação a uma porção do compartimento distal 96. A porção do compartimento proximal 94 e a porção do compartimento distal 96 são configuradas para suportar operacionalmente uma pluralidade de baterias 98. Cada uma das baterias 98 pode compreender, por exemplo, uma bateria de íons de lítio ("LI") ou outra bateria adequada. A porção de compartimento distal 96 está configurada para fixação operacional removível a uma placa de circuito de controle 100 que está operacionalmente acoplada ao motor elétrico 82. Várias baterias 98 conectadas em série podem alimentar o instrumento cirúrgico 10. A fonte de alimentação 90 pode ser substituível e/ou recarregável. Uma tela 43, que está situada abaixo da cobertura 45, está eletricamente acoplada à placa de circuito de controle 100. A cobertura 45 pode ser removida para expor a tela 43.
[0061] O motor elétrico 82 pode incluir um eixo de acionamento giratório (não mostrado), que, de modo operacional, faz interface com um conjunto redutor de engrenagem 84 montado em engate de acoplamento com um conjunto ou cremalheira, de dentes de acionamento 122 em um membro de acionamento longitudinalmente móvel 120. O membro de acionamento longitudinalmente móvel 120 tem uma cremalheira de dentes de acionamento 122 formada no mesmo para engate de acoplamento com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84.
[0062] Em uso, uma polaridade de tensão fornecida pela fonte de alimentação 90 pode operar o motor elétrico 82 no sentido horário, em que a polaridade de tensão aplicada ao motor elétrico pela bateria pode ser revertida de modo a operar o motor elétrico 82 no sentido anti- horário. Quando o motor elétrico 82 é girado em uma direção, o membro de acionamento longitudinalmente móvel 120 será axialmente ativado na direção distal "DD". Quando o motor elétrico 82 é acionado na direção giratória oposta, o membro de acionamento longitudinalmente móvel 120 será axialmente conduzido na direção proximal "DP". O conjunto de cabo 14 pode incluir uma chave que pode ser configurada para reverter a polaridade aplicada ao motor elétrico 82 pela fonte de alimentação 90. O conjunto de cabo 14 pode incluir um sensor configurado para detectar a posição do membro de acionamento longitudinalmente móvel 120 e/ou a direção em que o membro de acionamento longitudinalmente móvel 120 está sendo movido.
[0063] O acionamento do motor elétrico 82 pode ser controlado por um gatilho de disparo 130 que é suportado de modo pivotante sobre o conjunto de cabo 14. O gatilho de disparo 130 pode ser pivotado entre uma posição não atuada e uma posição atuada.
[0064] Retornando para a Figura 1, o conjunto de eixo de acionamento intercambiável 200 inclui um atuador de extremidade 300 que compreende uma canaleta alongada 302 configurada para suportar operacionalmente no seu interior um cartucho de grampos cirúrgicos 304. O atuador de extremidade 300 pode incluir uma bigorna 306 que é sustentada de modo pivotante em relação à canaleta alongada 302. O conjunto de eixo de acionamento intercambiável 200 pode incluir uma junta de articulação 270. A construção e a operação do atuador de extremidade 300 e da junta articulação 270 são apresentadas na Publicação de Pedido de Patente US n° 2014/0263541, intitulada ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, a qual está aqui incorporada a título de referência em sua totalidade. O conjunto de eixo de acionamento intercambiável 200 pode incluir um compartimento ou bocal proximal 201 compreendido de porções de bocal 202, 203. O conjunto de eixo de acionamento intercambiável 200 pode incluir um tubo de fechamento 260 que se estende ao longo de um eixo geométrico do eixo de acionamento SA que pode ser usado para fechar e/ou abrir a bigorna 306 do atuador de extremidade 300.
[0065] Voltando para a Figura 1, o tubo de fechamento 260 é transladado distalmente (direção "DD") para fechar a bigorna 306, por exemplo, em resposta à atuação do gatilho de fechamento 32 na maneira descrita na referência anteriormente mencionada da Publicação de Pedido de Patente n° 2014/0263541. A bigorna 306 é aberta mediante a translação proximal do tubo de fechamento 260. Na posição aberta da bigorna, o tubo de fechamento 260 do eixo de acionamento é movido para sua posição proximal.
[0066] A Figura 3 é uma outra vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável 200, de acordo com um ou mais aspectos da presente descrição. O conjunto de eixo de acionamento intercambiável 200 pode incluir um membro de disparo 220 sustentado para realizar um deslocamento axial no interior da coluna central 210. O membro de disparo 220 inclui um de eixo de acionamento de disparo intermediário 222 configurado para se conectar a uma porção de corte distal ou barra de corte 280. O membro de disparo 220 pode ser chamado de um "segundo eixo de acionamento" ou um "segundo conjunto de eixo de acionamento". O eixo de acionamento de disparo intermediário 222 pode incluir uma fenda longitudinal 223 em sua extremidade configurada para receber uma aba 284 na extremidade proximal 282 da barra de corte 280. A fenda longitudinal 223 e a extremidade proximal 282 podem ser configuradas para permitir o movimento relativo entre as mesmas e podem compreender uma junta deslizante 286. A junta deslizante 286 pode permitir que o eixo de acionamento de disparo intermediário 222 do membro de disparo 220 articule o atuador de extremidade 300 em torno da junta de articulação 270 sem mover, ou ao menos sem mover substancialmente, a barra de corte 280. Quando o atuador de extremidade 300 tiver sido adequadamente orientado, o eixo de acionamento de disparo intermediário 222 pode ser avançado distalmente até uma parede lateral proximal da fenda longitudinal 223 entrar em contato com a aba 284 para avançar a barra de corte 280 e disparar um cartucho de grampos posicionado no interior da canaleta 302. O dorso 210 tem uma abertura ou janela alongada 213 em seu interior para facilitar a montagem e a inserção do eixo de acionamento de disparo intermediário 222 no interior do dorso 210. Quando o eixo de acionamento de disparo intermediário 222 tiver sido inserido no mesmo, um segmento superior da estrutura 215 pode ser engatado na estrutura do eixo de acionamento 212 para encerrar em si o eixo de acionamento de disparo intermediário 222 e a barra de corte 280. A operação do membro de disparo 220 pode ser vista na Publicação de Pedido de Patente US n° 2014/0263541. A coluna central 210 pode ser configurada para suportar de maneira deslizante um membro de disparo 220 e o tubo de fechamento 260 que se estende ao redor da coluna central 210. A coluna central 210 pode suportar de maneira deslizante um acionador de articulação 230.
[0067] O conjunto de eixo de acionamento intercambiável 200 pode incluir um conjunto de embreagem 400 configurado para acoplar de modo seletivo e liberável o acionador de articulação 230 ao membro de disparo 220. O conjunto de embreagem 400 inclui um anel ou luva de travamento 402 posicionado em torno do membro de disparo 220, em que a luva de travamento 402 pode ser girada entre uma posição engatada, em que a luva de travamento 402 acopla o acionador de articulação 230 ao membro de disparo 220, e uma posição desengatada, em que o acionador de articulação 230 não está acoplado de modo operável ao membro de disparo 220. Quando a luva de travamento 402 está na posição engatada, o movimento distal do membro de disparo 220 pode mover o acionador de articulação 230 em sentido distal e, correspondentemente, o movimento proximal do membro de disparo 220 pode mover o acionador de articulação 230 de maneira proximal. Quando a luva de travamento 402 está na posição desengatada, o movimento do membro de disparo 220 não é transmitido para o acionador de articulação 230 e, como resultado, o membro de disparo 220 pode mover-se independentemente do acionador de articulação 230. O bocal 201 pode ser empregado para engatar e desengatar operacionalmente o sistema de acionamento de articulação com o sistema de acionamento de disparo nas várias formas descritas na Publicação de Pedido de Patente US n° 2014/0263541.
[0068] O conjunto de eixo de acionamento intercambiável 200 pode compreender um conjunto de anel deslizante 600 que pode ser configurado para conduzir energia elétrica ao atuador de extremidade 300 e/ou a partir dele e/ou comunicar sinais ao atuador de extremidade 300 e/ou a partir dele, por exemplo. O conjunto de anel deslizante 600 pode compreender um flange de conector proximal 604 e um flange de conector distal 601 posicionado no interior de uma fenda definida nas porções de bocal 202, 203. O flange do conector proximal 604 pode compreender uma primeira face e o flange do conector distal 601 pode compreender uma segunda face posicionada adjacente e móvel em relação à primeira face. O flange de conector distal 601 pode girar em relação ao flange de conector proximal 604 ao redor do eixo geométrico do eixo de acionamento SA-SA (Figura 1). O flange de conector proximal 604 pode compreender uma pluralidade de condutores concêntricos ou ao menos substancialmente concêntricos 602, definidos na sua primeira face. Um conector 607 pode ser montado sobre o lado proximal do flange de conector distal 601 e pode ter uma pluralidade de contatos, em que cada contato corresponde e está em contato elétrico com um dos condutores 602. Essa disposição permite a rotação relativa entre o flange de conector proximal 604 e o flange de conector distal 601, enquanto o contato elétrico é mantido entre os mesmos. O flange de conector proximal 604 pode incluir um conector elétrico 606 que pode colocar os condutores 602 em comunicação de sinal com uma placa de circuito de eixo de acionamento, por exemplo. Em ao menos um caso, um chicote elétrico que compreende uma pluralidade de condutores pode se estender entre o conector elétrico 606 e a placa de circuito do eixo de acionamento. O conector elétrico 606 pode se estender proximalmente através de uma abertura do conector definida no flange de montagem do chassi. A Publicação de Pedido de Patente US n° 2014/0263551, intitulada "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", está aqui incorporada a título de referência em sua totalidade. A Publicação de Pedido de Patente US n° 2014/0263552, intitulada "STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", está aqui incorporada a título de referência em sua totalidade. Detalhes adicionais com relação ao conjunto do anel de deslizamento 600 podem ser encontrados na Publicação de Pedido de Patente US n° 2014/0263541.
[0069] O conjunto de eixo de acionamento intercambiável 200 pode incluir uma porção proximal montada de forma fixável ao conjunto de cabo 14, e uma porção distal que é giratória em torno de um eixo geométrico longitudinal. A porção giratória distal do eixo de acionamento pode ser girada em relação à porção proximal ao redor do conjunto de anel de deslizamento 600. O flange de conector distal 601 do conjunto de anel deslizante 600 pode ser posicionado na porção de eixo de acionamento giratório distal.
[0070] A Figura 4 é uma vista explodida de um aspecto de um atuador de extremidade 300 do instrumento cirúrgico 10 da Figura 1, de acordo com um aspecto desta descrição. O atuador de extremidade 300 pode incluir a bigorna 306 e o cartucho de grampos cirúrgicos 304. A bigorna 306 pode ser acoplada a uma canaleta alongada 302. As aberturas 199 podem ser definidas na canaleta alongada 302 para receber pinos 152 que se estendem a partir da bigorna 306 para permitir que a bigorna 306 gire de uma posição aberta para uma posição fechada em relação à canaleta alongada 302 e cartucho de grampos cirúrgicos 304. Uma barra de disparo 172 é configurada para se transladar longitudinalmente para o interior do atuador de extremidade 300. A barra de disparo 172 pode ser construída em uma seção sólida ou pode incluir um material laminado que compreende, por exemplo, uma pilha de placas de aço. A barra de disparo 172 compreende uma haste com perfil em "I" 178 e um gume cortante 182 em uma extremidade distal do mesmo. Uma extremidade da barra de disparo 172 distalmente projetada pode ser fixada à haste com perfil em I 178 para auxiliar no espaçamento da bigorna 306 a partir de um cartucho de grampos cirúrgicos 304 posicionado na canaleta alongada 302 quando a bigorna 306 está em posição fechada. A haste com perfil em I 178 pode incluir um gume cortante afiado 182, que pode ser usado para separar o tecido, conforme a haste com perfil em I 178 é avançada distalmente pela barra de disparo 172. Em funcionamento, a haste com perfil em I 178 pode, ou disparar, o cartucho de grampos cirúrgicos 304. O cartucho de grampos cirúrgicos 304 pode incluir um corpo de cartucho moldado 194 que mantém uma pluralidade de grampos 191 que repousam sobre os acionadores de grampo 192 no interior das respectivas cavidades de grampos abertas para cima 195. Um deslizador em cunha 190 é acionado distalmente pela haste com perfil em I 178, deslizando sobre uma bandeja do cartucho 196 do cartucho de grampos cirúrgicos 304. O deslizador em cunha 190 desloca para cima, por came, os acionadores de grampo 192, para expelir os grampos 191 em contato de deformação com a bigorna 306, enquanto a borda de corte 182 da haste com perfil em I 178 corta o tecido apertado.
[0071] A haste com perfil em I 178 pode incluir pinos superiores 180 que engatam a bigorna 306 durante o disparo. A haste com perfil em I 178 pode incluir pinos intermediários 184 e uma base ("bottom foot") 186 para engatar porções do corpo do cartucho 194, da bandeja do cartucho 196 e da canaleta alongada 302. Quando um cartucho de grampos cirúrgicos 304 está posicionado no interior da canaleta alongada 302, uma fenda 193 definida no corpo de cartucho 194 pode ser alinhada com uma fenda longitudinal 197 definida na bandeja do cartucho 196 e uma fenda 189 definida na canaleta alongada 302. Em uso, a haste com perfil em I 178 pode deslizar através das fendas longitudinais alinhadas 193, 197 e 189, em que, como indicado na Figura 4, a base 186 da haste com perfil em I 178 pode engatar um sulco posicionado ao longo da superfície inferior da canaleta alongada 302 ao longo do comprimento da fenda 189, os pinos médios 184 podem engatar as superfícies superiores da bandeja de cartucho 196 ao longo do comprimento da fenda longitudinal 197, e os pinos superiores 180 podem engatar a bigorna 306. A haste com perfil em I 178 pode espaçar ou limitar o movimento relativo entre a bigorna 306 e o cartucho de grampos cirúrgicos 304, conforme a barra de disparo 172 é avançada distalmente de forma a disparar os grampos do cartucho de grampos cirúrgicos 304 e/ou fazer uma incisão no tecido capturado entre a bigorna 306 e o cartucho de grampos cirúrgicos 304. A barra de disparo 172 e a haste com perfil em I 178 podem ser retraídas proximalmente permitindo que a bigorna 306 seja aberta para liberar as duas porções de tecido grampeadas e cortadas.
[0072] As Figuras 5A e 5B são um diagrama de blocos de um circuito de controle 700 do instrumento cirúrgico 10 da Figura 1 que abrange duas folhas de desenho de acordo com um aspecto desta descrição. Com referência principalmente às Figuras 5A e 5B, um conjunto de empunhadura 702 pode incluir um motor 714, que pode ser controlado por um acionador do motor 715 e pode ser empregado pelo sistema de disparo do instrumento cirúrgico 10. Em várias formas, o motor 714 pode ser um motor de acionamento de corrente contínua (CC) com escovas com uma velocidade de rotação máxima de aproximadamente 25.000 RPM. Em outras disposições, o motor 714 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. O acionador de motor 715 pode compreender um acionador de ponte H que compreende transístores de efeito de campo (FETs) 719, por exemplo. O motor 714 pode ser alimentado pelo conjunto de alimentação 706 montado de modo liberável ao conjunto de cabo 200 para fornecer energia de controle ao instrumento cirúrgico 10. O conjunto de alimentação 706 pode compreender uma bateria que pode incluir várias células de bateria conectadas em série, as quais podem ser usadas como a fonte de energia para energizar o instrumento cirúrgico 10. Em determinadas circunstâncias, as células de bateria do conjunto de alimentação 706 podem ser substituíveis e/ou recarregáveis. Em ao menos um exemplo, as células de bateria podem ser baterias de íon de lítio que podem ser separavelmente acopláveis ao conjunto de alimentação 706.
[0073] O conjunto de eixo de acionamento 704 pode incluir um controlador do conjunto de eixo de acionamento 722 que pode se comunicar com um controlador de segurança e um controlador de gerenciamento de energia 716 através de uma interface, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. Por exemplo, a interface pode compreender uma primeira porção de interface 725 que pode incluir um ou mais conectores elétricos para engate de acoplamento com conectores elétricos de conjunto de eixo de acionamento correspondentes e uma segunda porção de interface 727 que pode incluir um ou mais conectores para engate de acoplamento com os conectores elétricos do conjunto de energia correspondentes para possibilitar a comunicação elétrica entre o controlador do conjunto de eixo de acionamento 722 e o controlador de gerenciamento de energia 716 enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. Um ou mais sinais de comunicação podem ser transmitidos através da interface para comunicar um ou mais dos requisitos de energia do conjunto de eixo de acionamento intercambiável fixado 704 ao controlador de gerenciamento de energia 716. Em resposta, o controlador de gerenciamento de energia pode modular a saída de energia da bateria do conjunto de alimentação 706, conforme descrito abaixo com mais detalhes, de acordo com as exigências de energia do conjunto de eixo de acionamento fixado 704. Os conectores podem compreender chaves que podem ser ativadas após o engate por acoplamento mecânico do conjunto de cabo 702 ao conjunto de eixo de acionamento 704 e/ou ao conjunto de energia 706 para permitir a comunicação elétrica entre o controlador de conjunto de eixo acionamento 722 e o controlador de gerenciamento de energia 716.
[0074] A interface pode facilitar a transmissão do um ou mais sinais de comunicação entre o controlador de gerenciamento de energia 716 e o controlador do conjunto de eixo de acionamento 722 mediante o roteamento destes sinais de comunicação através de um controlador principal 717 situado no conjunto de cabo 702, por exemplo. Em outras circunstâncias, a interface pode facilitar uma linha de comunicação direta entre o controlador de gerenciamento de energia 716 e o controlador do conjunto de eixo de acionamento 722 através do conjunto de cabo 702, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 estão acoplados ao conjunto de cabo 702.
[0075] O controlador principal 717 pode ser qualquer processador de núcleo único ou de múltiplos núcleos, como aqueles conhecidos sob o nome comercial de ARM Cortex pela Texas Instruments. Em um aspecto, o controlador principal 717 pode ser um processador Core Cortex-M4F LM4F230H5QR ARM, disponível junto à Texas Instruments, por exemplo, que compreende uma memória integrada de memória flash de ciclo único de 256 KB, ou outra memória não volátil, até 40 MHz, um buffer de busca antecipada para otimizar o desempenho acima de 40 MHz, uma memória de acesso aleatório seriada de ciclo único de 32 KB (SRAM), uma memória só de leitura interna (ROM) carregada com o programa StellarisWare®, memória só de leitura programável e apagável eletricamente (EEPROM) de 2 KB, um ou mais módulos de modulação por largura de pulso (PWM), uma ou mais análogos de entradas de codificador de quadratura (QEI), um ou mais conversores analógico para digital (ADC) de 12 bits com 12 canais de entrada analógica, detalhes dos quais estão disponíveis para a folha de dados do produto.
[0076] O controlador de segurança pode ser uma plataforma de controlador de segurança que compreende duas famílias baseadas em controladores, como TMS570 e RM4x, conhecidas sob o nome comercial de Hercules ARM Cortex R4, também pela Texas Instruments. O controlador de segurança pode ser configurado especificamente para as aplicações críticas de segurança IEC 61508 e ISO 26262, dentre outras, para fornecer recursos avançados de segurança integrada enquanto fornece desempenho, conectividade e opções de memória escalonáveis.
[0077] O conjunto de alimentação 706 pode incluir um circuito de gerenciamento de energia que pode compreender o controlador de gerenciamento de energia 716, um modulador de energia 738 e um circuito sensor de corrente 736. O circuito de gerenciamento de energia pode ser configurado para modular a energia de saída da bateria com base nas necessidades de energia do conjunto de eixo de acionamento 704, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. O controlador de gerenciamento de energia 716 pode ser programado para controlar o modulador de energia 738 da saída de energia do conjunto de alimentação 706 e o circuito sensor de corrente 736 pode ser empregado para monitorar a saída de energia do conjunto de alimentação 706 para fornecer realimentação ao controlador de gerenciamento de energia 716 sobre a saída de energia da bateria para que o controlador de gerenciamento de energia 716 possa ajustar a saída de energia do conjunto de alimentação 706 para manter uma saída desejada. O controlador de gerenciamento de energia 716 e/ou o controlador do conjunto de eixo de acionamento 722 podem compreender, cada um, um ou mais processadores e/ou unidades de memória que podem armazenar vários módulos de software.
[0078] O instrumento cirúrgico 10 (Figuras 1 a 4) pode compreender um dispositivo de saída 742 que pode incluir dispositivos para fornecer uma realimentação sensorial a um usuário. Esses dispositivos podem compreender, por exemplo, dispositivos de realimentação visual (por exemplo, um monitor com tela de LCD, indicadores em LED), dispositivos de realimentação auditiva (por exemplo, um alto-falante, uma campainha) ou dispositivos de realimentação tátil (por exemplo, atuadores hápticos). Em determinadas circunstâncias, o dispositivo de saída 742 pode compreender uma tela 743 que pode estar incluída no conjunto de cabo 702. O controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 podem fornecer realimentação a um usuário do instrumento cirúrgico 10 através do dispositivo de saída 742. A interface pode ser configurada para conectar o controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 ao dispositivo de saída 742. O dispositivo de saída 742 pode, em vez disso, ser integrado com o conjunto de alimentação 706. Nestas circunstâncias, a comunicação entre o dispositivo de saída 742 e o controlador do conjunto de eixo de acionamento 722 pode ser feita através da interface, enquanto o conjunto de eixo de acionamento 704 é acoplado ao conjunto de cabo 702.
[0079] O circuito de controle 700 compreende segmentos de circuito configurados para controlar as operações do instrumento cirúrgico energizado 10. Um segmento de controlador de segurança (segmento 1) compreende um controlador de segurança e o segmento de controlador principal 717 (segmento 2). O controlador de segurança e/ou o controlador principal 717 são configurados para interagir com um ou mais segmentos de circuito adicionais como um segmento de aceleração, um segmento de exibição, um segmento de eixo de acionamento, um segmento de codificador, um segmento de motor, e um segmento de alimentação. Cada um dos segmentos de circuito pode ser acoplado ao controlador de segurança e/ou ao controlador principal 717. O controlador principal 717 é também acoplado a uma memória flash. O controlador principal 717 também compreende uma interface de comunicação serial. O controlador principal 717 compreende uma pluralidade de entradas acopladas, por exemplo, a um ou mais segmentos de circuito, uma bateria, e/ou uma pluralidade de chaves. O circuito segmentado pode ser implementado por qualquer circuito adequado, como, por exemplo, um conjunto de placa de circuito impresso (PCBA) dentro do instrumento cirúrgico energizado 10. Deve- se compreender que o termo processador, conforme usado aqui, inclui qualquer microprocessador, processador, controlador, controladores ou outro dispositivo de computação básico que incorpora as funções de uma unidade de processamento central do computador (CPU) em um circuito integrado ou no máximo alguns circuitos integrados. O controlador principal 717 é um dispositivo programável multiuso que aceita dados digitais como entrada, processa-os de acordo com as instruções armazenadas em sua memória, e fornece resultados como saída. Este é um exemplo de lógica digital sequencial, já que ele tem memória interna. O circuito de controle 700 pode ser configurado para implementar um ou mais dos processos aqui descritos.
[0080] O segmento de aceleração (segmento 3) compreende um acelerômetro. O acelerômetro é configurado para detectar o movimento ou a aceleração do instrumento cirúrgico energizado 10. A entrada a partir do acelerômetro pode ser usada para fazer a transição para e a partir de um modo de suspensão, identificar a orientação do instrumento cirúrgico energizado, e/ou identificar quando o instrumento cirúrgico for deixado cair. Em alguns exemplos, o segmento de aceleração é acoplado ao controlador de segurança e/ou ao controlador principal 717.
[0081] O segmento de tela ou exibição (segmento 4) compreende um conector da tela acoplado ao controlador principal 717. O conector da tela acopla o controlador primário 717 a uma tela através de um ou mais acionadores dos circuitos integrados da tela. Os acionadores dos circuitos integrados da tela podem estar integrados com a tela e/ou podem estar situados separadamente da tela. A tela pode compreender qualquer tela adequada, como, por exemplo, uma tela de diodos emissores de luz orgânicos (OLED), uma tela de cristal líquido (LCD), e/ou qualquer outra tela adequada. Em alguns exemplos, o segmento de tela é acoplado ao controlador de segurança.
[0082] O segmento de eixo de acionamento (segmento 5) compreende controles para um conjunto de eixo de acionamento intercambiável 200 (Figuras 1 e 3) acoplados ao instrumento cirúrgico 10 (Figuras 1 a 4) e/ou um ou mais controles para um atuador de extremidade 300 acoplado ao conjunto de eixo de acionamento intercambiável 200. O segmento de eixo de acionamento compreende um conector do eixo de acionamento configurado para acoplar o controlador principal 717 a um PCBA de eixo de acionamento. O PCBA de eixo de acionamento compreende um microprocessador de baixa potência com uma memória de acesso aleatório ferroelétrico (FRAM), uma chave de articulação, uma chave de efeito Hall de liberação de eixo de acionamento, e uma memória EEPROM de PCBA do eixo de acionamento. A memória EEPROM de PCBA do eixo de acionamento compreende um ou mais parâmetros, rotinas, e/ou programas específicos para o conjunto de eixo de acionamento intercambiável 200 e/ou para o PCBA do eixo de acionamento. O PCBA do eixo de acionamento pode ser acoplado ao conjunto do eixo de acionamento intercambiável 200 e/ou pode ser integral com o instrumento cirúrgico 10. Em alguns exemplos, o segmento de eixo de acionamento compreende um segundo EEPROM do eixo de acionamento. O segundo EEPROM do eixo de acionamento compreende uma pluralidade de algoritmos, rotinas, parâmetros, e/ou outros dados que correspondem a um ou mais conjuntos de eixos de acionamento 200 e/ou atuadores de extremidade 300 que podem fazer interface com o instrumento cirúrgico energizado 10.
[0083] O segmento de codificador de posição (segmento 6) compreende um ou mais codificadores magnéticos da posição do ângulo de rotação. Um ou mais codificadores magnéticos da posição do ângulo de rotação são configurados para identificar a posição rotacional do motor 714, um conjunto de eixo de acionamento intercambiável 200 (Figuras 1 e 3) e/ou um atuador de extremidade 300 do instrumento cirúrgico 10 (Figuras 1 a 4). Em alguns exemplos, os codificadores magnéticos da posição do ângulo de rotação podem ser acoplados ao controlador de segurança e/ou ao controlador principal 717.
[0084] O segmento de circuito do motor (segmento 7) compreende um motor 714 configurado para controlar os movimentos do instrumento cirúrgico energizado 10 (Figuras 1 a 4). O motor 714 é acoplado ao processador do microcontrolador principal 717 por um acionador de ponte H que compreende um ou mais transístores de efeito de campo de ponte H (FETs) e um controlador de motor. O acionador de ponte H é também acoplado ao controlador de segurança. Um sensor de corrente do motor é acoplado em série com o motor para medir a drenagem de corrente do motor. O sensor de corrente do motor está em comunicação de sinal com o controlador principal 717 e/ou com o processador de segurança. Em alguns exemplos, o motor 714 é acoplado a um filtro de interferência eletromagnética (IEM) do motor.
[0085] O controlador do motor controla um primeiro sinalizador do motor e um segundo sinalizador do motor para indicar o estado e a posição do motor 714 ao controlador principal 717. O controlador principal 717 fornece um sinal alto de modulação por largura de pulso (PWM), um sinal baixo de PWM, um sinal de direção, um sinal de sincronização, e um sinal de reinicialização do motor ao controlador do motor através de um buffer. O segmento de alimentação é configurado para fornecer uma tensão de segmento a cada um dos segmentos de circuito.
[0086] O segmento de energia (segmento 8) compreende uma bateria acoplada ao controlador de segurança, o controlador principal 717, e segmentos de circuito adicionais. A bateria é acoplada ao circuito segmentado por um conector da bateria e um sensor de corrente. O sensor de corrente é configurado para medir a drenagem de corrente total do circuito segmentado. Em alguns exemplos, um ou mais conversores de tensão são configurados para fornecer valores de tensão predeterminados a um ou mais segmentos de circuito. Por exemplo, em alguns exemplos, o circuito segmentado pode compreender conversores de tensão de 3,3 V e/ou conversores de tensão de 5 V. Um conversor de amplificação de tensão é configurado para fornecer uma elevação da tensão até uma quantidade predeterminada, como, por exemplo, até 13 V. O conversor de amplificação de tensão é configurado para fornecer tensão e/ou corrente adicional durante as operações que exigem muita energia e evitar apagão ou condições de baixo fornecimento de energia.
[0087] Uma pluralidade de chaves é acoplada ao controlador de segurança e/ou ao controlador principal 717. As chaves podem ser configuradas para controlar as operações do instrumento cirúrgico 10 (Figuras 1 a 4), do circuito segmentado, e/ou indicar um estado do instrumento cirúrgico 10. Uma chave da porta de ejeção e uma chave de efeito Hall para ejeção são configuradas para indicar o estado de uma porta de ejeção. Uma pluralidade de chaves de articulação, como, por exemplo, uma chave do lado esquerdo de articulação para o lado esquerdo, uma chave do lado direito de articulação para o lado esquerdo, uma chave central de articulação para o lado esquerdo, uma chave do lado esquerdo de articulação para o lado direito, uma do lado direito de articulação para o lado direito, e uma chave central de articulação para o lado direito são configuradas para controlar a articulação de um conjunto de eixo de acionamento intercambiável 200 (Figuras 1 e 3) e/ou o atuador de extremidade 300 (Figuras 1 e 4). Uma chave reversa do lado esquerdo e uma chave reversa do lado direito são acopladas ao controlador principal 717. As chaves do lado esquerdo que compreendem a chave do lado esquerdo de articulação para o lado esquerdo, a chave do lado direito de articulação para o lado esquerdo, a chave central de articulação para o lado esquerdo e a chave reversa do lado esquerdo são acopladas ao controlador primário 717 por um conector de flexão à esquerda. As chaves do lado direito que compreendem a chave do lado esquerdo de articulação para o lado direito, a chave do lado direito de articulação para o lado direito, a chave central de articulação para o lado direito, e a chave reversa do lado direito são acopladas ao controlador principal 717 por um conector de flexão à direita. Uma chave de disparo, uma chave de liberação de aperto, e uma chave engatada ao eixo de acionamento são acopladas ao controlador principal 717.
[0088] Quaisquer chaves mecânicas, eletromecânicas, ou de estado sólido adequadas, podem ser empregadas para implementar a pluralidade de chaves, em qualquer combinação. Por exemplo, as chaves podem limitar as chaves operadas pelo movimento de componentes associados ao instrumento cirúrgico 10 (Figuras 1 a 4) ou à presença de um objeto. Estas chaves podem ser usadas para controlar várias funções associadas ao instrumento cirúrgico 10. Uma chave de limite é um dispositivo eletromecânico que consiste em um atuador ligado mecanicamente a um conjunto de contatos. Quando um objeto entra em contato com o atuador, o dispositivo opera os contatos para fazer ou romper uma conexão elétrica. As chaves de limite são usadas em uma variedade de aplicações e ambientes por causa de sua robustez, facilidade de instalação e confiabilidade de funcionamento. Elas podem determinar a presença ou ausência, passagem, posicionamento e final de deslocamento de um objeto. Em outras implementações, as chaves podem ser chaves de estado sólido que funcionam sob a influência de um campo magnético como dispositivos de efeito Hall, dispositivos magnetorresistivos (MR), dispositivos magnetorresistivos gigantes (GMR), magnetômetros, dentre outros. Em outras implementações, as chaves podem ser chaves de estado sólido que operam sob a influência da luz, como sensores ópticos, sensores de infravermelho, sensores ultravioleta, dentre outros. Além disso, as chaves podem ser dispositivos de estado sólido como transístores (por exemplo, FET, FET de junção, FET semicondutor de óxido metálico (MOSFET), bipolares, e similares). Outras chaves podem incluir chaves sem fio, chaves ultrassônicas, acelerômetros, sensores de inércia, dentre outros.
[0089] A Figura 6 é um outro diagrama de blocos do circuito de controle 700 do instrumento cirúrgico da Figura 1 que ilustra as interfaces entre o conjunto de cabo 702 e o conjunto de alimentação 706 e entre o conjunto de cabo 702 e o conjunto de eixo de acionamento intercambiável 704, de acordo com um aspecto da presente descrição. O conjunto de cabo 702 pode compreender um controlador principal 717, um conector do conjunto de eixo de acionamento 726 e um conector do conjunto de alimentação 730. O conjunto de alimentação 706 pode incluir um conector do conjunto de alimentação 732, um circuito de gerenciamento de energia 734 que pode compreender o controlador de gerenciamento de energia 716, um modulador de energia 738, e um circuito sensor de corrente 736. Os conectores do conjunto de eixo de acionamento 730, 732 formam uma interface 727. O circuito de gerenciamento de energia 734 pode ser configurado para modular a energia de saída da bateria 707 com base nas necessidades de energia do conjunto de eixo de acionamento intercambiável 704 enquanto o conjunto de eixo de acionamento intercambiável 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. O controlador de gerenciamento de energia 716 pode ser programado para controlar o modulador de energia 738 da saída de energia do conjunto de alimentação 706 e o circuito sensor de corrente 736 pode ser empregado para monitorar a saída de energia do conjunto de alimentação 706 para fornecer realimentação ao controlador de gerenciamento de energia 716 sobre a saída de energia da bateria 707 para que o controlador de gerenciamento de energia 716 possa ajustar a saída de energia do conjunto de alimentação 706 para manter uma saída desejada. O conjunto de eixo de acionamento 704 compreende um processador de eixo de acionamento 719 acoplado a uma memória não volátil 721 e um conector de conjunto de eixo de acionamento 728 para acoplar eletricamente o conjunto de eixo de acionamento 704 ao conjunto de cabo 702. Os conectores do conjunto de eixo de acionamento 726, 728 formam uma interface 725. O controlador principal 717, o processador de eixo de acionamento 719 e/ou o controlador de gerenciamento de energia 716 podem ser configurados para implementar um ou mais dos processos aqui descritos.
[0090] O instrumento cirúrgico 10 (Figuras 1 a 4) pode compreender um dispositivo de saída 742 para uma realimentação sensorial a um usuário. Esses dispositivos podem compreender dispositivos de realimentação visual (por exemplo, um monitor com tela de LCD, indicadores em LED), dispositivos de realimentação auditiva (por exemplo, um alto-falante, uma campainha) ou dispositivos de realimentação tátil (por exemplo, atuadores hápticos). Em determinadas circunstâncias, o dispositivo de saída 742 pode compreender uma tela 743 que pode estar incluída no conjunto de cabo 702. O controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 podem fornecer realimentação a um usuário do instrumento cirúrgico 10 através do dispositivo de saída 742. A interface 727 pode ser configurada para conectar o controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 ao dispositivo de saída 742. O dispositivo de saída 742 pode ser integrado com o conjunto de alimentação 706. A comunicação entre o dispositivo de saída 742 e o controlador do conjunto de eixo de acionamento 722 pode ser feita através da interface 725 enquanto o conjunto de eixo de acionamento intercambiável 704 é acoplado ao conjunto de cabo 702. Tendo descrito um circuito de controle 700 (Figuras 5A a 5B e 6) para controlar a operação do instrumento cirúrgico 10 (Figuras 1 a 4), a descrição se volta agora para várias configurações do instrumento cirúrgico 10 (Figuras 1 a 4) e ao circuito de controle 700.
[0091] A Figura 7 ilustra um circuito de controle 800 configurado para controlar aspectos do instrumento cirúrgico 10 (Figuras 1 a 4), de acordo com um aspecto da presente descrição. O circuito de controle 800 pode ser configurado para implementar vários processos aqui descritos. O circuito de controle 800 pode compreender um controlador que compreende um ou mais processadores 802 (por exemplo, microprocessador, microcontrolador) acoplado a ao menos um circuito de memória 804. O circuito de memória 804 armazena instruções executáveis em máquina que, quando executadas pelo processador 802, fazem com que o processador 802 execute instruções de máquina para implementar vários dos processos aqui descritos. O processador 802 pode ser qualquer um dentre vários processadores de núcleo simples ou processadores de múltiplos núcleos conhecidos na técnica. O circuito de memória 804 pode compreender mídia de armazenamento volátil e não volátil. O processador 802 pode incluir uma unidade de processamento de instruções 806 e uma unidade aritmética 808. A unidade de processamento de instruções pode ser configurada para receber instruções a partir do circuito de memória 804.
[0092] A Figura 8 ilustra um circuito lógico combinacional 810 configurado para controlar aspectos do instrumento cirúrgico 10 (Figuras 1 a 4), de acordo com um aspecto da presente descrição. O circuito lógico combinacional 810 pode ser configurado para implementar vários processos aqui descritos. O circuito 810 pode compreender uma máquina de estado finito que compreende um circuito lógico combinacional 812 configurado para receber dados associados ao instrumento cirúrgico 10 em uma entrada 814, processar os dados pela lógica combinacional 812 e fornecer uma saída 816.
[0093] A Figura 9 ilustra um circuito lógico sequencial 820 configurado para controlar aspectos do instrumento cirúrgico 10 (Figuras 1 a 4), de acordo com um aspecto da presente descrição. O circuito lógico sequencial 820 ou o circuito lógico combinacional 822 pode ser configurado para implementar o processo aqui descrito. O circuito 820 pode compreender uma máquina de estados finitos. O circuito lógico sequencial 820 pode compreender um circuito lógico combinacional 822, ao menos um circuito de memória 824, um relógio 829 e, por exemplo. O ao menos um circuito de memória 820 pode armazenar um estado da corrente da máquina de estados finitos. Em certos casos, o circuito lógico sequencial 820 pode ser síncrono ou assíncrono. O circuito lógico combinacional 822 é configurado para receber os dados associados ao instrumento cirúrgico 10, uma entrada 826, processar os dados pelo circuito lógico combinacional 822, e fornecer uma saída 828. Em outros aspectos, o circuito pode compreender uma combinação de o processador 802 e a máquina de estados finitos para implementar vários processos da presente invenção. Em outros aspectos, a máquina de estados finitos pode compreender uma combinação do circuito lógico combinacional 810 e o circuito lógico sequencial 820.
[0094] Os aspectos podem ser implementados 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 um ou mais aspectos. Por exemplo, o artigo de manufatura pode compreender um disco magnético, um disco óptico, memória flash ou firmware contendo instruções do programa de computador adequadas para execução por um processador de uso geral ou processador específico para a aplicação.
[0095] A Figura 10 é um diagrama de um sistema de posicionamento absoluto 1100 do instrumento cirúrgico 10 (Figuras 1 a 4), em que o sistema de posicionamento absoluto 1100 compreende uma disposição de circuito de acionamento controlado do motor que compreende uma disposição de sensor 1102, de acordo com um aspecto da presente descrição. O sensor de posição 1102 para um sistema de posicionamento absoluto 1100 fornece um sinal de posição único que corresponde à localização de um membro de deslocamento 1111. De volta brevemente às Figuras 2 a 4, em um aspecto, o membro de deslocamento 1111 representa o membro de acionamento longitudinalmente móvel 120 (Figura 2) que compreende uma cremalheira de dentes de acionamento 122 para engate de acoplamento com uma engrenagem de acionamento correspondente 86 de um conjunto redutor de engrenagem 84. Em outros aspectos, o membro de deslocamento 1111 representa o membro de disparo 220 (Figura 3), que pode ser adaptado e configurado para incluir uma cremalheira de dentes de acionamento. Em ainda um outro aspecto, o membro de deslocamento 1111 representa a barra de disparo 172 (Figura 4) ou a haste com perfil em I 178 (Figura. 4), cada uma das quais pode ser adaptada e configurada para incluir uma cremalheira de dentes de acionamento. Consequentemente, como usado na presente invenção, o termo membro de deslocamento é usado genericamente para se referir a qualquer membro móvel do instrumento cirúrgico 10, como o membro de acionamento 120, o membro de disparo 220, a barra de disparo 172, a haste com perfil em I 178, ou qualquer elemento que possa ser deslocado. Em um aspecto, o membro de acionamento longitudinalmente móvel 120 é acoplado ao membro de disparo 220, à barra de disparo 172 e à haste com perfil em I 178. Consequentemente, o sistema de posicionamento absoluto 1100 pode, com efeito, rastrear o deslocamento linear da haste com perfil em I 178 mediante o rastreamento do deslocamento linear do membro de acionamento longitudinalmente móvel 120. Em vários outros aspectos, o membro de deslocamento 1111 pode ser acoplado a qualquer sensor adequado para medir o deslocamento linear. Dessa forma, o membro de acionamento longitudinalmente móvel 120, o membro de disparo 220, a barra de disparo 172, ou a haste com perfil em I 178, ou suas combinações, podem ser acoplados a qualquer sensor de deslocamento linear adequado. Os sensores de deslocamento linear podem incluir sensores de deslocamento de contato ou sem contato. Os sensores de deslocamento linear podem compreender transformadores lineares diferenciais variáveis (LVDT), transdutores diferenciais de relutância variável (DVRT), um potenciômetro, um sistema de detecção magnético que compreende um magneto móvel e uma série linearmente disposta em sensores de efeito Hall, um sistema de detecção magnético que compreende um magneto fixo e uma série de móveis, dispostos linearmente em sensores de efeito Hall, um sistema de detecção óptico móvel que compreende uma fonte de luz móvel e uma série de fotodiodos ou fotodetectores linearmente dispostos, um sistema de detecção óptico que compreende uma fonte de luz fixa e uma série móvel de fotodiodos ou fotodetectores linearmente dispostos, ou qualquer combinação dos mesmos.
[0096] Um motor elétrico 1120 pode incluir um eixo de acionamento giratório 1116, que, de modo operacional, faz interface com um conjunto de engrenagem 1114, que está montado em engate de acoplamento com um conjunto, ou cremalheira, de dentes de acionamento no membro de acionamento 1111. Um elemento sensor 1126 pode ser operacionalmente acoplado a um conjunto de engrenagem 1114 de modo que uma única revolução do elemento sensor 1126 corresponda a alguma translação longitudinal linear do membro de deslocamento 1111. Uma disposição de engrenagens e sensores 1118 pode ser conectada ao atuador linear por meio de uma disposição de cremalheira e pinhão, ou de um atuador giratório, por meio de uma roda dentada ou outra conexão. Uma fonte de alimentação 1129 fornece energia para o sistema de posicionamento absoluto 1100 e um indicador de saída 1128 pode mostrar a saída do sistema de posicionamento absoluto 1100. Na Figura 2, o membro de acionamento 1111 representa o membro de acionamento longitudinalmente móvel 120 que compreende uma cremalheira de dentes de acionamento 122 formada na mesma para engate de acoplamento com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84. O membro de deslocamento 1111 representa o membro de disparo longitudinalmente móvel 220, a barra de disparo 172, a haste com perfil em I 178, ou combinações dos mesmos.
[0097] Uma única revolução do elemento sensor 1126 associada ao sensor de posição 1112 é equivalente a um deslocamento linear longitudinal d1 do membro de deslocamento 1111, em que d1 representa a distância linear longitudinal pela qual o membro de deslocamento 1111 se move do ponto "a" ao ponto "b" depois de uma única revolução do elemento sensor 1126 acoplado ao membro de deslocamento 1111. A disposição do sensor 1102 pode ser conectada por meio de uma redução de engrenagem que resulta no sensor de posição 1112 completando uma ou mais revoluções para o curso completo do membro de deslocamento 1111. O sensor de posição 1112 pode completar múltiplas revoluções para o curso completo do membro de deslocamento 1111.
[0098] Uma série de chaves 1122a a 1122n, onde n é um número inteiro maior que um, pode ser empregada sozinha ou em combinação com redução de engrenagem para fornecer um sinal de posição único por mais de uma revolução do sensor de posição 1112. O estado das chaves 1122a a 1122n é alimentado de volta para um controlador 1104 que aplica lógica para determinar um sinal de posição única que corresponde ao deslocamento linear longitudinal dl + d2 + ... dn do membro de acionamento 1111. A saída 1124 do sensor de posição 1112 é fornecida ao controlador 1104. O sensor de posição 1112 da disposição de sensor 1102 pode compreender um sensor magnético, um sensor giratório analógico, como um potenciômetro, uma série de elementos de efeito Hall analógicos, que emitem uma combinação única de posição de sinais ou valores.
[0099] O sistema de posicionamento absoluto 1100 fornece um posicionamento absoluto do membro de deslocamento 1111 com a energização do instrumento sem que seja preciso retrair ou avançar o membro de acionamento 1111 para a posição de reinício (zero ou inicial), como pode ser o caso de codificadores convencionais giratórios que meramente contam o número de passos progressivos ou regressivos que o motor 1120 percorreu para inferir a posição de um atuador dispositivo, barra de acionamento, bisturi, e similares.
[0100] O controlador 1104 pode ser programado para realizar várias funções, como o controle preciso da velocidade e da posição dos sistemas de articulação e bisturi. Em um aspecto, o controlador 1104 inclui um processador 1108 e uma memória 1106. O motor elétrico 1120 pode ser um motor de corrente contínua com escovas com uma caixa de câmbio e conexões mecânicas com um sistema de articulação ou bisturi. Em um aspecto, um acionador de motor 1110 pode ser um A3941 disponível junto à Allegro Microsystems, Inc. Outros acionadores de motor podem ser prontamente substituídos para uso no sistema de posicionamento absoluto 1100. Uma descrição mais detalhada do sistema de posicionamento absoluto 1100 é descrita no pedido de patente US n° 15/130.590, intitulado SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, depositado em 15 de abril de 2016, cuja descrição está aqui incorporada a título de referência.
[0101] O controlador 1104 pode ser programado para fornecer controle preciso da velocidade e da posição dos membros de deslocamento 1111 e dos sistemas de articulação. O controlador 1104 pode ser configurado para computar uma resposta no software do controlador 1104. A resposta computada é comparada a uma resposta medida do sistema real para se obter uma resposta "observada", que é usada para as decisões reais baseadas na realimentação. A resposta observada é um valor favorável e ajustado, que equilibra a natureza uniforme e contínua da resposta simulada com a resposta medida, o que pode detectar influências externas no sistema.
[0102] O sistema de posicionamento absoluto 1100 pode compreender e/ou ser programado para implementar um controlador de realimentação, como um PID, uma realimentação de estado, e um controlador adaptável. Uma fonte de alimentação 1129 converte o sinal do controlador de realimentação em uma entrada física para o sistema, nesse caso a tensão. Outros exemplos incluem uma modulação por largura de pulso (PWM) de tensão, corrente e força. Outros sensores 1118 podem ser fornecidos para mediar os parâmetros físicos do sistema físico além da posição medida pelo sensor de posição 1112. Em um sistema de processamento de sinal digital, um sistema de posicionamento absoluto 1100 é acoplado a um sistema de captura de dados digitais no qual a saída do sistema de posicionamento absoluto 1100 terá uma resolução e frequência de amostragem finitas. O sistema de posicionamento absoluto 1100 pode compreender um circuito de comparação e combinação para combinar uma resposta computada com uma resposta medida através do uso de algoritmos, como uma média ponderada e um circuito de controle teórico, que acionam a resposta calculada em direção à resposta medida. A resposta computada do sistema físico considera as propriedades como massa, inércia, atrito viscoso, resistência à indutância, etc., para prever pelo conhecimento da entrada quais serão os estados e saídas do sistema físico. O controlador 1104 pode ser um circuito de controle 700 (Figuras 5A e 5B).
[0103] O acionador de motor 1110 pode ser um A3941, disponível junto à Allegro Microsystems, Inc. O acionador 1110 A3941 é um controlador de ponte inteira para uso com transístores de efeito de campo de óxido de metal semicondutor (MOSFET) de potência externa, de canal N, especificamente projetados para cargas indutivas, como motores de corrente contínua com escovas. O acionador 1110 compreende um regulador de bomba de carga único, fornece acionamento de porta completo (>10 V) para baterias com tensão até 7 V e permite que o A3941 opere com um acionamento de porta reduzido, até 5,5 V. Um capacitor de comando de entrada pode ser empregado para fornecer a tensão excedente à fornecida pela bateria necessária para os MOSFETs de canal N. Uma bomba de carga interna para o acionamento do lado de cima permite a operação em corrente contínua (100% ciclo de trabalho). A ponte inteira pode ser acionada nos modos de queda rápida ou lenta usando diodos ou retificação sincronizada. No modo de queda lenta, a recirculação da corrente pode se dar por meio de FET do lado de cima ou do lado de baixo. Os FET de potência são protegidos do efeito shoot-through por meio de resistores com tempo morto programável. O diagnóstico integrado fornece indicação de subtensão, sobretemperatura e falhas na ponte de energia, podendo ser configurado para proteger os MOSFETs de potência na maioria das condições de curto-circuito. Outros controladores de motor podem ser prontamente substituídos para uso no sistema de posicionamento absoluto 1100.
[0104] Tendo descrito uma arquitetura geral para implementar aspectos de um sistema de posicionamento absoluto 1100 para uma disposição de sensor 1102, a descrição agora se volta para as Figuras 11 a 12 para uma descrição de um aspecto de uma disposição de sensor 1102 para o sistema de posicionamento absoluto 1100. A Figura 11 é uma vista em perspectiva explodida da disposição de sensor 1102 para o sistema de posicionamento absoluto 1100, mostrando um circuito 1205 e o alinhamento relativo dos elementos da disposição de sensor 1102, de acordo com um aspecto. A disposição de sensor 1102 para um sistema de posicionamento absoluto 1100 compreende um sensor de posição 1200, um elemento sensor de magneto 1202, um suporte de magneto 1204, que dá uma volta a cada curso completo do membro de acionamento 1111, e um conjunto de engrenagens 1206 para fornecer uma redução de engrenagens. Com referência brevemente à Figura 2, o membro de acionamento 1111 pode representar o membro de acionamento longitudinalmente móvel 120 que compreende uma cremalheira de dentes de acionamento 122 para engate de acoplamento com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84. De volta à Figura 11, um elemento estrutural, como um bráquete 1216, é fornecido para sustentar o conjunto de engrenagens 1206, o suporte de magneto 1204 e o magneto 1202. O sensor de posição 1200 compreende um ou mais elementos magnéticos de detecção, como elementos de efeito Hall, e está posicionado próximo ao magneto 1202. Conforme o magneto 1202 gira, os elementos magnéticos de detecção do sensor de posição 1200 determinam a posição angular absoluta do magneto 1202 durante uma revolução.
[0105] A disposição de sensor 1102 pode compreender qualquer número de elementos de detecção magnética, como, por exemplo, sensores magnéticos classificados de acordo sua capacidade de medir o campo magnético total ou os componentes vetoriais do campo magnético. As técnicas usadas para produzir ambos os tipos de sensores magnéticos abrangem muitos aspectos da física e da eletrônica. As tecnologias usadas para a detecção de campo magnético incluem fluxômetro, fluxo saturado, bombeamento óptico, precessão nuclear, SQUID, efeito Hall, magnetorresistência anisotrópica, magnetorresistência gigante, junções túnel magnéticas,magnetoimpedância gigante, compostos magnetostritivos/piesoelétricos, magnetodiodo, transistor magnético, fibra óptica, magneto-óptica e sensores magnéticos baseados em sistemas microeletromecânicos, dentre outros.
[0106] Um conjunto de engrenagens compreende uma primeira engrenagem 1208 e uma segunda engrenagem 1210 em engate de acoplamento para fornecer uma conexão com uma relação de engrenagens de 3:1. Uma terceira engrenagem 1212 gira ao redor de um eixo de acionamento 1214. A terceira engrenagem 1212 está engrenada em acoplamento com o membro de acionamento 1111 (ou 120 conforme mostrado na Figura 2) e gira em uma primeira direção, à medida que o elemento de acionamento 1111 avança em uma direção distal D e gira em uma segunda direção à medida que o membro de acionamento 1111 se retrai em uma direção proximal P. A segunda engrenagem 1210 também gira em torno do eixo de acionamento 1214 e, portanto, a rotação da segunda engrenagem 1210 em torno do eixo de acionamento 1214 corresponde à translação longitudinal do membro de acionamento 1111. Dessa forma, um curso completo do membro de acionamento 1111, seja na direção distal, seja na proximal, D, P, corresponde a três rotações da segunda engrenagem 1210 e a uma única rotação da primeira engrenagem 1208. Como o suporte de magneto 1204 está acoplado à primeira engrenagem 1208, o suporte de magneto 1204 completa uma rotação com cada curso completo do membro de acionamento 1111.
[0107] O sensor de posição 1200 é sustentado por um suporte de sensor de posição 1218, definindo uma abertura 1220 adequada para conter o sensor de posição 1200 em alinhamento preciso com um magneto 1202 girando abaixo no interior do suporte de magneto 1204. O acessório é acoplado ao bráquete 1216 e ao circuito 1205 e permanece estacionário enquanto o magneto 1202 gira com o suporte de magneto 1204. É fornecido um cubo 1222 que se acopla à primeira engrenagem 1208 e ao suporte de magneto 1204. A segunda engrenagem 1210 e a terceira engrenagem 1212 acopladas ao eixo 1214 também são mostradas.
[0108] A Figura 12 é um diagrama de um sensor de posição 1200 para um sistema de posicionamento absoluto 1100, que compreende um sistema de posicionamento absoluto magnético giratório, de acordo com um aspecto da presente invenção. O sensor de posição 1200 pode ser implementado como um sensor de posição giratório, magnético, de chip único, AS5055EQFT, disponível junto à Austria Microsystems, AG. O sensor de posição 1200 faz interface com o controlador 1104 para fornecer um sistema de posicionamento absoluto 1100. O sensor de posição 1200 é um componente de baixa tensão e baixa potência e inclui quatro elementos de efeito Hall 1228A, 1228B, 1228C, 1228D em uma área 1230 do sensor de posição 1200 que está localizada acima do magneto 1202 (Figuras 15 e 16). Um ADC de alta resolução 1232 e um controlador inteligente de gerenciamento de potência 1238 são também fornecidos no circuito integrado. Um processador CORDIC 1236 (acrônimo de COordinate Rotation DIgital Computer), também conhecido como método dígito por dígito e algoritmo de Volder, é fornecido para implementar um algoritmo simples e eficiente para calcular funções hiperbólicas e trigonométricas que exigem apenas operações de adição, subtração, deslocamento de bits e tabela de pesquisa. A posição angular, bits de alarme e informações de campo magnético são transmitidos através de uma interface de comunicação serial padrão, como uma interface SPI 1234 para o controlador 1104. O sensor de posição 1200 fornece 12 ou 14 bits de resolução. O sensor de posição 1200 pode ser um circuito AS5055 fornecido em uma pequena embalagem QFN de 16 pinos cuja medida corresponde a 4x4x0,85 mm.
[0109] Os elementos de efeito Hall 1228A, 1228B, 1228C, 1228D estão localizados diretamente acima do magneto giratório 1202 (Figura 11). O efeito Hall é um efeito bem conhecido e por conveniência não será descrito em detalhes na presente invenção, no entanto, em geral, o efeito Hall produz uma diferença de tensão (a tensão de Hall) através de um condutor elétrico transversal a uma corrente elétrica no condutor e um campo magnético perpendicular à corrente. O coeficiente de Hall é definido como a razão entre o campo elétrico induzido e o produto da densidade de corrente pelo campo magnético aplicado. É uma característica do material a partir do qual o condutor é feito, pois seu valor depende do tipo, do número e das propriedades dos portadores de carga que constituem a corrente. No sensor de posição AS5055 1200, os elementos de efeito Hall 1228A, 1228B, 1228C, 1228D são capazes de produzir um sinal de tensão indicativo do posicionamento absoluto do magneto 1202 em termos do ângulo em relação a uma única revolução do magneto 1202. Esse valor do ângulo, que é um sinal de posição único, é calculado pelo processador CORDIC 1236 e armazenado integrado no sensor de posição AS5055 1200 em um registro ou uma memória. O valor do ângulo que é indicativo da posição do magneto 1202 durante uma revolução é fornecido ao controlador 1104 em uma variedade de técnicas, por exemplo, ao energizar ou mediante demanda do controlador 1104.
[0110] O sensor de posição AS5055 1200 exige apenas alguns componentes externos para operar quando conectado ao controlador 1104. Seis fios são necessários para uma aplicação simples usando uma única fonte de alimentação: dois fios para alimentação e quatro fios 1240 para a interface SPI 1234 com o controlador 1104. Uma sétima conexão pode ser adicionada de forma a enviar um sinal de interrupção ao controlador 1104 informando que um novo ângulo válido pode ser lido. Com a energização, o sensor de posição AS5055 1200 realiza uma sequência completa de energização, incluindo uma medição de ângulo. A conclusão desse ciclo é indicada como uma saída INT 1242, e o valor do ângulo é armazenado em um registro interno. Uma vez configurada essa saída, o sensor de posição AS5055 1200 entra no modo suspenso. O controlador 1104 pode responder à solicitação INT na saída INT 1242 pela leitura do valor do ângulo a partir do sensor de posição AS5055 1200 por intermédio da interface SPI 1234. Uma vez lido o valor do ângulo pelo controlador 1104, a saída INT 1242 é liberada novamente. Enviar um comando "ler ângulo" pela interface SPI 1234 por meio do controlador 1104 ao sensor de posição 1200 também energiza automaticamente o circuito integrado e inicia outra medição de ângulo. Assim que o controlador 1104 concluir a leitura do valor do ângulo, a saída INT 1242 é liberada e um novo resultado é armazenado no registro de ângulos. O término dessa medição de ângulo é indicado novamente pela configuração da saída INT 1242 e pela sinalizador correspondente no registro de estados.
[0111] Devido ao princípio de medição do sensor de posição AS5055 1200, apenas uma única medição de ângulo é realizada em tempo muito curto (~600 μs) depois de cada sequência de energização. Assim que a medição de um ângulo é concluída, o sensor de posição AS5055 1200 entra no estado desenergizado. Não há filtro do valor do ângulo por média digital implementado, pois isso exigiria mais de uma medição de ângulo e, consequentemente, um tempo de energização mais longo, o que não é desejado em aplicações de baixa potência. A variação de ângulo pode ser reduzida fazendo-se a média de várias amostras de ângulo no controlador 1104. Por exemplo, uma média de quatro amostras reduz a variação em 6 dB (50%).
[0112] A Figura 13 é uma vista em corte de um atuador de extremidade 2502 do instrumento cirúrgico 10 (Figuras 1 a 4) que mostra um curso de disparo da haste com perfil em I 2514 em relação ao tecido 2526 preso dentro do atuador de extremidade 2502, de acordo com um aspecto da presente descrição. O atuador de extremidade 2502 é configurado para operar com o instrumento cirúrgico 10 mostrado nas Figuras 1 a 4. O atuador de extremidade 2502 compreende uma bigorna 2516 e uma canaleta alongada 2503 com um cartucho de grampos 2518 posicionado na canaleta alongada 2503. Uma barra de disparo 2520 é transladável distalmente e proximalmente ao longo de um eixo geométrico longitudinal 2515 do atuador de extremidade 2502. Quando o atuador de extremidade 2502 não é articulado, o atuador de extremidade 2502 está em linha com o eixo de acionamento do instrumento. Uma haste com perfil em I 2514 que compreende um gume cortante 2509 é ilustrada em uma porção distal da barra de disparo 2520. Um deslizador em cunha 2513 está posicionado no cartucho de grampos 2518. Conforme a haste com perfil em I 2514 translada distalmente, o gume cortante 2509 entra em contato e pode cortar o tecido 2526 posicionado entre a bigorna 2516 e o cartucho de grampos 2518. Além disso, a haste com perfil em I 2514 entra em contato com o deslizador em cunha 2513 e o empurra distalmente, fazendo com que o deslizador em cunha 2513 entre em contato com os acionadores de grampos 2511. Os acionadores de grampo 2511 podem ser acionados para cima para dentro dos grampos 2505, fazendo com que os grampos 2505 avancem através do tecido e para dentro de bolsos 2507 definidos na bigorna 2516, que formam os grampos 2505.
[0113] Um curso de disparo exemplificador da haste com perfil em I 2514 é ilustrado por um gráfico 2529 alinhado com o atuador de extremidade 2502. O tecido exemplificador 2526 é também mostrado alinhado com o atuador de extremidade 2502. O curso do membro de disparo pode compreender uma posição de início de curso 2527 e uma posição de final de curso 2528. Durante um curso de disparo da haste com perfil em I 2514, a haste com perfil em I 2514 pode ser avançada distalmente da posição de início de curso 2527 até a posição de final de curso 2528. A haste com perfil de I 2514 é mostrada em um local exemplificador de uma posição de início de curso 2527. O gráfico 2529 do curso do membro de disparo da haste com perfil de I 2514 ilustra cinco regiões de curso do membro de disparo 2517, 2519, 2521, 2523 e 2525. Em uma primeira região do curso de disparo 2517, a haste com perfil em I 2514 pode começar a avançar distalmente. Na primeira região do curso de disparo 2517, a haste com perfil em I 2514 pode entrar em contato com o deslizador de cunha 2513 e começar a movê-lo distalmente. Enquanto na primeira região, entretanto, o gume cortante 2509 pode não entrar em contato com o tecido e o deslizador em cunha 2513 pode não entrar em contato com um acionador de grampo 2511. Depois do atrito estático ser superado, a força para acionar a haste com perfil em I 2514 na primeira região 2517 pode ser substancialmente constante.
[0114] Na segunda região de curso do membro de disparo 2519, o gume cortante 2509 pode começar a entrar em contato e cortar o tecido 2526. Além disso, o deslizador em cunha 2513 pode começar a entrar em contato com os acionadores de grampo 2511 para acionar os grampos 2505. A força para acionar a haste com perfil em I 2514 pode começar a aumentar gradualmente. Conforme mostrado, o tecido encontrado inicialmente pode ser comprimido e/ou ser mais fino devido à maneira como a bigorna 2516 gira em relação ao cartucho de grampos 2518. Na terceira região de curso do membro de disparo 2521, o gume cortante 2509 pode estar continuamente em contato e cortar o tecido 2526 e o deslizador em cunha 2513 pode repetidamente entrar em contato com os acionadores de grampos 2511. A força para acionar a haste com perfil em I 2514 pode estacionar na terceira região 2521. Perto da quarta região 2523 do curso de disparo, a força para acionar a haste com perfil em I 2514 pode começar a diminuir. Por exemplo, o tecido na porção do atuador de extremidade 2502 correspondente à quarta região de disparo 2523 pode ser menos comprimido que o tecido mais próximo ao ponto de pivô da bigorna 2516, exigindo menos força para cortar. Além disso, o gume cortante 2509 e o deslizador em cunha 2513 podem atingir a extremidade do tecido 2526 enquanto na região 2523 quarto. Quando a haste com perfil em I 2514 atingir a quinta região 2525, o tecido 2526 pode ser completamente separado. O deslizador em cunha 2513 pode entrar em contato com um ou mais acionadores de grampos 2511 no ou próximo ao final do tecido. A força para avançar a haste com perfil em I 2514 através da quinta região 2525 pode ser reduzida e, em alguns exemplos, pode ser similar à força para acionar a haste com perfil em I 2514 na primeira região 2517. Na conclusão do curso do membro de disparo, a haste com perfil em I 2514 pode alcançar a posição final do curso 2528. O posicionamento das regiões de curso do membro de disparo 2517, 2519, 2521, 2523 e 2525 na Figura 18 é apenas um exemplo. Em alguns exemplos, diferentes regiões podem começar em diferentes posições ao longo do eixo geométrico longitudinal de atuador de extremidade 2515, por exemplo, com base no posicionamento de tecido entre a bigorna 2516 e o cartucho de grampos 2518.
[0115] Como discutido acima e com referência agora às Figuras 10 a 13, o motor elétrico 1122 posicionado no interior do conjunto de cabo do instrumento cirúrgico 10 (Figuras 1 a 4) pode ser usado para avançar e/ou retrair o sistema de disparo do conjunto de eixo de acionamento, incluindo a haste com perfil em I 2514, em relação ao atuador de extremidade 2502 do conjunto de eixo de acionamento de forma a grampear e/ou incidir o tecido capturado no interior do atuador de extremidade 2502. A haste com perfil em I 2514 pode ser avançada ou retraída em uma velocidade desejada, ou dentro de uma faixa de velocidades desejadas. O controlador 1104 pode ser configurado para controlar a velocidade da haste com perfil em I 2514. O controlador 1104 pode ser configurado para prever a velocidade da haste com perfil em I 2514 com base em vários parâmetros da energia fornecida ao motor elétrico 1122, como tensão e/ou corrente, por exemplo, e/ou outros parâmetros operacionais do motor elétrico 1122 ou influências externas. O controlador 1104 pode ser configurado para prever a velocidade da corrente da haste com perfil em I 2514 com base nos valores anteriores da corrente e/ou da tensão fornecidos ao motor elétrico 1122 e/ou nos estados anteriores do sistema, como velocidade, aceleração e/ou posição. O controlador 1104 pode ser configurado para detectar a velocidade da haste com perfil em I 2514 com o uso do sistema de sensor de posicionamento absoluto aqui descrito. O controlador pode ser configurado para comparar a velocidade prevista da haste com perfil em I 2514 e a velocidade detectada da haste com perfil em I 2514 para determinar se a energia do motor elétrico 1122 precisa ser aumentada de forma a aumentar a velocidade da haste com perfil em I 2514 e/ou diminuída de forma a diminuir a velocidade da haste com perfil em I 2514. A patente US n° 8.210.411, intitulada MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, está aqui incorporada, a título de referência em sua totalidade. A patente US n° 7.845.537, intitulada SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, está aqui incorporada, a título de referência em sua totalidade.
[0116] A força que age sobre a haste com perfil em I 2514 pode ser determinada com o uso de várias técnicas. A força da haste com perfil em I 2514 pode ser determinada por medição da corrente do motor 2504, em que a corrente do motor 2504 se baseia na carga experimentada pela haste com perfil em I 2514 à medida que ela avança distalmente. A força da haste com perfil em I 2514 pode ser determinada mediante o posicionamento de um medidor de tensão no membro de acionamento 120 (Figura 2), no membro de disparo 220 (Figura 2), na haste com perfil em I 2514 (haste com perfil em I 178, Figura 20), na barra de disparo 172 (Figura 2), e/ou em uma extremidade proximal do gume cortante 2509. A força da haste com perfil em I 2514 pode ser determinada pelo monitoramento da posição real da haste com perfil em I 2514 que se move em uma velocidade esperada com base na velocidade da corrente ajustada do motor 2504 após um período decorrido predeterminado T1 e por comparação da posição real da haste com perfil em I 2514 em relação à posição esperada da haste com perfil em I 2514 com base na velocidade da corrente ajustada do motor 2504 no final do período T1. Dessa forma, se a posição real da haste com perfil em I 2514 for menor que a posição esperada da haste com perfil em I 2514, a força na haste com perfil em I 2514 é maior que uma força nominal. Por outro lado, se a posição real da haste com perfil em I 2514 for maior que a posição esperada da haste com perfil em I 2514, a força na haste com perfil em I 2514 é menor que a força nominal. A diferença entre as posições real e esperada da haste com perfil em I 2514 é proporcional ao desvio da força na haste com perfil em I 2514 a partir da força nominal. Essas técnicas são descritas no documento de procuração número END8195USNP, o qual está aqui incorporado por referência em sua totalidade.
[0117] A Figura 14 ilustra um diagrama de bloco de um instrument cirúrgico 2500 programado para controlar a translação distal de um membro de deslocamento de acordo com um aspecto da presente descrição. Em um aspecto, o instrumento cirúrgico 2500 é programado para controlar a translação distal de um membro de deslocamento 1111 como a haste com perfil em I 2514. O instrumento cirúrgico 2500 compreende um atuador de extremidade 2502 que pode compreender uma bigorna 2516, uma haste com perfil em I 2514 (incluindo um gume cortante afiado 2509), e um cartucho de grampos removível 2518. O atuador de extremidade 2502, a bigorna 2516, a haste com perfil em I 2514 e o cartucho de grampos 2518 podem ser configurados conforme descrito aqui, por exemplo, em relação às Figuras 1 a 13.
[0118] A posição, o movimento, o deslocamento, e/ou a translação de um membro de deslocamento 1111, como a haste com perfil em I 2514, podem ser medidos pelo sistema de posicionamento absoluto 1100, pela disposição de sensor 1102, e pelo sensor de posição 1200 conforme mostrado nas Figuras 10 a 12 e representado como o sensor de posição 2534 na Figura 14. Devido à haste com perfil em I 2514 ser acoplada a um membro de acionamento longitudinalmente móvel 120, a posição da haste com perfil em I 2514 pode ser determinada mediante a medição da posição do membro de acionamento longitudinalmente móvel 120 com o uso do sensor de posição 2534. Consequentemente, na descrição a seguir, a posição, o deslocamento e/ou a translação do membro de fechamento 2514 podem ser obtidos pelo sensor de posição 2534, conforme descrito na presente invenção. Um circuito de controle 2510, como o circuito de controle 700 descrito nas Figuras 5A e 5B, pode ser programado para controlar a translação do membro de deslocamento 1111, como a haste com perfil em I 2514, conforme descrito em conexão com as Figuras 10 a 12. O circuito de controle 2510, em alguns exemplos, pode compreender um ou mais microcontroladores, microprocessadores, ou outros processadores adequados para executar as instruções que fazem com que o processador ou processadores controlem o membro de deslocamento, por exemplo, a haste com perfil em I 2514, da maneira descrita. Em um aspecto, um temporizador/contador 2531 fornece um sinal de saída, como o tempo decorrido ou uma contagem digital, ao circuito de controle 2510 para correlacionar a posição da haste com perfil em I 2514, conforme determinado pelo sensor de posição 2534, com a saída do temporizador/contador 2531 de modo que o circuito de controle 2510 possa determinar a posição da haste com perfil em I 2514 em um momento específico (t) em relação a uma posição inicial. O temporizador/contador 2531 pode ser configurado para medir o tempo decorrido, contar eventos externos, ou medir eventos externos.
[0119] O circuito de controle 2510 pode gerar um sinal de ponto de ajuste do motor 2522. O sinal do ponto de ajuste do motor 2522 pode ser fornecido a um controlador do motor 2508. O controlador do motor 2508 pode compreender um ou mais circuitos configurados para fornecer um sinal de acionamento do motor 2524 ao motor 2504 para acionar o motor 2504, conforme descrito na presente invenção. Em alguns exemplos, o motor 2504 pode ser um motor elétrico de corrente contínua (CC) com escovas, como o motor 82, 714, 1120 mostrado nas Figuras 1, 5B, 10. Por exemplo, a velocidade do motor 2504 pode ser proporcional ao sinal de acionamento do motor 2524. Em alguns exemplos, o motor 2504 pode ser um motor elétrico CC sem escovas e o sinal de acionamento do motor 2524 pode compreender um sinal modulado por largura de pulso (PWM) fornecido a um ou mais enrolamentos do estator do motor 2504. Além disso, em alguns exemplos, o controlador do motor 2508 pode ser omitido, e o circuito de controle 2510 pode gerar o sinal de acionamento do motor 2524 diretamente.
[0120] O motor 2504 pode receber energia de uma fonte de energia 2512. A fonte de energia 2512 pode ser ou incluir uma bateria, um super capacitor, ou qualquer outra fonte de energia adequada 2512. O motor 2504 pode ser mecanicamente acoplado à haste com perfil em I 2514 por meio de uma transmissão 2506. A transmissão 2506 pode incluir uma ou mais engrenagens ou outros componentes de ligação para acoplar o motor 2504 à haste com perfil em I 2514. Um sensor de posição 2534 pode detectar uma posição da haste com perfil em I 2514. O sensor de posição 2534 pode ser ou pode incluir qualquer tipo de sensor que seja capaz de gerar dados de posição que indicam uma posição da haste com perfil em I 2514. Em alguns exemplos, o sensor de posição 2534 pode incluir um codificador configurado para fornecer uma série de pulsos ao circuito de controle 2510 conforme a haste com perfil em I 2514 translada distalmente e proximalmente. O circuito de controle 2510 pode rastrear os pulsos para determinar a posição da haste com perfil em I 2514. Outro sensor de posição adequado pode ser usado, incluindo, por exemplo, um sensor de proximidade. Outros tipos de sensores de posição podem fornecer outros sinais que indiquem o movimento da haste com perfil em I 2514. Além disso, em alguns exemplos, o sensor de posição 2534 pode ser omitido. Quando o motor 2504 for um motor de passo, o circuito de controle 2510 pode rastrear a posição da haste com perfil em I 2514 ao agregar o número e a orientação das etapas que o motor 2504 foi instruído a executar. O sensor de posição 2534 pode estar situado no atuador de extremidade 2502 ou em qualquer outra porção do instrumento.
[0121] O circuito de controle 2510 pode estar em comunicação com um ou mais sensores 2538. Os sensores 2538 podem ser posicionados no atuador de extremidade 2502 e adaptados para funcionar com o instrumento cirúrgico 2500 para medir os vários parâmetros derivados como a distância do vão em relação ao tempo, a compressão do tecido em relação ao tempo, e a tensão da bigorna em relação ao tempo. Os sensores 2538 podem compreender, por exemplo, um sensor magnético, um sensor de campo magnético, um medidor de tensão, um sensor de pressão, um sensor de força, um sensor indutivo como, por exemplo, um sensor de correntes parasitas, um sensor resistivo, um sensor capacitivo, um sensor óptico, e/ou quaisquer outros sensores adequados para a medição de um ou mais parâmetros do atuador de extremidade 2502. Os sensores 2538 podem incluir um ou mais sensores.
[0122] O um ou mais sensores 2538 podem compreender um medidor de tensão como, por exemplo, um medidor de microtensão, configurado para medir a magnitude da tensão na bigorna 2516 durante uma condição apertada. O medidor de tensão fornece um sinal elétrico cuja amplitude varia com a magnitude da tensão. Os sensores 2538 podem compreender um sensor de pressão configurado para detectar uma pressão gerada pela presença de tecido comprimido entre a bigorna 2516 e o cartucho de grampos 2518. Os sensores 2538 podem ser configurados para detectar a impedância de uma seção de tecido situada entre a bigorna 2516 e o cartucho de grampos 2518 que é indicativa da espessura e/ou da completude do tecido situado entre os mesmos.
[0123] Os sensores 2538 podem ser configurados para medir as forças exercidas sobre a bigorna 2516 pelo sistema de acionamento de fechamento 30. Por exemplo, um ou mais sensores 2538 podem estar em um ponto de interação entre o tubo de fechamento 260 (Figura 3) e a bigorna 2516 para detectar as forças de fechamento aplicadas pelo tubo de fechamento 260 à bigorna 2516. As forças exercidas sobre a bigorna 2516 podem ser representativas da compressão do tecido experimentada pela seção do tecido capturada entre a bigorna 2516 e o cartucho de grampos 2518. O um ou mais sensores 2538 podem ser posicionados em vários pontos de interação ao longo do sistema de acionamento de fechamento 30 (Figura 2) para detectar as forças de fechamento aplicadas à bigorna 2516 pelo sistema de acionamento de fechamento 30. O um ou mais sensores 2538 podem ser amostrados em tempo real durante uma operação de preensão por um processador conforme descrito nas Figuras 5A e 5B. O circuito de controle 2510 recebe medições de amostra em tempo real para fornecer e analisar informações baseadas em tempo e avaliar, em tempo real, as forças de fechamento aplicadas à bigorna 2516.
[0124] Um sensor de corrente 2536 pode ser usado para medir a corrente drenada pelo motor 2504. A força necessária para avançar a haste com perfil em I 2514 corresponde à corrente drenada pelo motor 2504. A força é convertida em um sinal digital e fornecida ao circuito de controle 2510.
[0125] Usando as propriedades físicas dos instrumentos aqui revelados, juntamente com às Figuras 1 a 14, e com referência à Figura 14, o circuito de controle 2510 pode ser configurado para simular a resposta do sistema real do instrumento no software do controlador. Um membro de deslocamento pode ser atuado para mover uma haste com perfil em I 2514 no atuador de extremidade 2502 em ou próximo a uma velocidade-alvo. O instrumento cirúrgico 2500 pode incluir um controlador de realimentação, que pode ser um ou qualquer dos controladores de realimentação, incluindo, mas não se limitando a, um PID, uma realimentação de estado, LQR, e/ou um controlador adaptável, por exemplo. O instrumento cirúrgico 2500 pode incluir uma fonte de energia para converter o sinal do controlador de realimentação para uma entrada física como tensão do estojo, tensão PWM, tensão modulada por frequência, corrente, torque e/ou força, por exemplo.
[0126] O sistema de acionamento real do instrumento cirúrgico 2500 é configurado para acionar o membro de deslocamento, o membro de corte ou a haste com perfil em I 2514, por um motor CC com escovas com caixa de câmbio e ligações mecânicas a um sistema de articulação e/ou bisturi. Um outro exemplo é o motor elétrico 2504 que opera o membro de deslocamento e o acionador de articulação, por exemplo, de um conjunto de eixo de acionamento intercambiável. Uma influência externa é uma influência desmedida e imprevisível de coisas como tecido, corpos circundantes, e atrito no sistema físico. Essa influência externa pode ser chamada de arrasto, que age em oposição ao motor elétrico 2504. A influência externa, como o arrasto, pode fazer com que o funcionamento do sistema físico se desvie de uma operação desejada do sistema físico.
[0127] Antes de explicar com detalhes os aspectos do instrument cirúrgico 2500, deve-se observar que os aspectos exemplificadores não estão limitados, em termos de aplicação ou uso, aos detalhes de construção e disposição das partes ilustradas nos desenhos e na descrição em anexo. Os aspectos exemplificadores podem ser implementados ou incorporados em outros aspectos, variações e modificações, e podem ser praticados ou executados de várias maneiras. Além disso, exceto onde indicado em contrário, os termos e expressões usados na presente invenção foram escolhidos com o propósito de descrever os aspectos exemplificadores para a conveniência do leitor e não para o propósito de limitar a mesma. Além disso, deve-se entender que um ou mais dentre os aspectos, expressões de aspectos, e/ou exemplos descritos a seguir podem ser combinados com qualquer um ou mais dentre os outros aspectos, expressões de aspectos e/ou exemplos descritos a seguir.
[0128] Vários aspectos exemplificadores são direcionados a um instrumento cirúrgico 2500 que compreende um atuador de extremidade 2502 com implementos cirúrgicos de grampeamento e corte acionados por motor. Por exemplo, um motor 2504 pode acionar um membro de deslocamento distalmente e proximalmente ao longo de um eixo geométrico longitudinal do atuador de extremidade 2502. O atuador de extremidade 2502 pode compreender uma bigorna articulável 2516 e, quando configurada para o uso, uma lâmina ultrassônica 2518 posicionada no lado oposto da bigorna 2516. Um médico pode segurar o tecido entre a bigorna 2516 e o cartucho de grampos 2518, conforme descrito na presente invenção. Quando pronto para usar o instrumento 2500, o médico pode fornecer um sinal de disparo, por exemplo, pressionando um gatilho do instrumento 2500. Em resposta ao sinal de disparo, o motor 2504 pode acionar o membro de deslocamento distalmente ao longo do eixo geométrico longitudinal do atuador de extremidade 2502 partir de uma posição proximal de início de curso para uma posição de fim de curso distal da posição de início de curso. À medida que o membro de deslocamento se desloca distalmente, a haste com perfil em I 2514 com um elemento de corte posicionado em uma extremidade distal, pode cortar o tecido entre o cartucho de grampos 2518 e a bigorna 2516.
[0129] Em vários exemplos, o instrumento cirúrgico 2500 pode compreender um circuito de controle 2510 programado para controlar a translação distal do membro de deslocamento, como a haste com perfil em I 2514, por exemplo, com base em uma ou mais condições do tecido. O circuito de controle 2510 pode ser programado para detectar direta ou indiretamente as condições do tecido, como espessura, conforme descrito aqui. O circuito de controle 2510 pode ser programado para selecionar um programa de controle baseado nas condições do tecido. Um programa de controle de disparo pode descrever o movimento distal do membro de deslocamento. Diferentes programas de controle de disparo podem ser selecionados para melhor tratar as diferentes condições do tecido. Por exemplo, quando um tecido mais espesso está presente, o circuito de controle 2510 pode ser programado para transladar o membro de deslocamento a uma velocidade inferior e/ou com potência mais baixa. Quando um tecido mais fino está presente, o circuito de controle 2510 pode ser programado para transladar o membro de deslocamento a uma velocidade mais alta e/ou com maior potência.
[0130] Em um aspecto, o circuito de controle 2510 pode, inicialmente, operar o motor 2504 em uma configuração de circuito aberto para uma primeira porção de circuito aberto de um curso do membro de deslocamento. Com base em uma resposta do instrumento 2500 durante a porção de circuito aberto do curso, o circuito de controle 2510 pode selecionar um programa de controle de disparo. A resposta do instrumento pode incluir uma translação da distância do membro de deslocamento durante a porção de circuito aberto, um tempo decorrido durante a porção de circuito aberto, a energia fornecida ao motor 2504 durante a porção de circuito aberto, uma soma de larguras de pulso de um sinal de acionamento do motor, etc. Após a porção de circuito aberto, o circuito de controle 2510 pode implementar o programa de controle de disparo selecionado para uma segunda porção do curso do membro de deslocamento. Por exemplo, durante a porção de circuito fechado do curso, o circuito de controle 2510 pode modular o motor 2504 com base nos dados de translação que descrevem uma posição do membro de deslocamento em uma maneira de circuito fechado para transladar o membro de deslocamento em uma velocidade constante.
[0131] A Figura 15 ilustra um diagrama 2580 que plota dois cursos exemplificadores do membro de deslocamento executados de acordo com um aspecto da presente descrição. O diagrama 2580 compreende dois eixos geométricos. Um eixo geométrico horizontal 2584 indica o tempo decorrido. Um eixo geométrico vertical 2582 indica a posição da haste com perfil em I 2514 entre uma posição inicial do curso 2586 e uma posição final do curso 2588. No eixo geométrico horizontal 2584, o circuito de controle 2510 pode receber o sinal de disparo e começar a fornecer a configuração inicial do motor em t0. A porção de circuito aberto do curso do membro de deslocamento é um período de tempo inicial que pode decorrer entre t0 e t1.
[0132] Um primeiro exemplo 2592 mostra uma resposta do instrumento cirúrgico 2500 quando um tecido espesso é posicionado entre a bigorna 2516 e o cartucho de grampos 2518. Durante a porção de circuito aberto do curso do membro de deslocamento, por exemplo, o período de tempo inicial entre t0 e t1, a haste com perfil em I 2514 pode se mover da posição inicial do curso 2586 para a posição 2594. O circuito de controle 2510 pode determinar que essa posição 2594 corresponde a um programa de controle de disparo que avança a haste com perfil em I 2514 em uma velocidade selecionada constante (Vlenta), indicada pela inclinação do exemplo 2592 após t1 (por exemplo, na porção do circuito fechado). O circuito de controle 2510 pode acionar a haste com perfil em I 2514 para a velocidade Vlenta mediante o monitoramento da posição da haste com perfil em I 2514 e modulação do ponto de ajuste do motor 2522 e/ou do sinal de acionamento do motor 2524 para manter a Vlenta. Um segundo exemplo 2590 mostra uma resposta do instrumento cirúrgico 2500 quando um tecido fino é posicionado entre a bigorna 2516 e o cartucho de grampos 2518.
[0133] Durante o período de tempo inicial (por exemplo, o period de circuito aberto) entre t0 e t1, a haste com perfil em I 2514 pode se mover da posição inicial do curso 2586 para a posição 2596. O circuito de controle pode determinar que a posição 2596 corresponde a um programa de controle de disparo que avança o membro de deslocamento em uma velocidade selecionada constante (Vrápida). Porque o tecido no exemplo 2590 é mais fino do que o tecido no exemplo 2592, ele pode fornecer menos resistência ao movimento da haste com perfil em I 2514. Como resultado, a haste com perfil em I 2514 pode mover uma porção maior do curso durante o período de tempo inicial. Além disso, em alguns exemplos, um tecido mais fino (por exemplo, uma porção maior do curso do membro deslocamento percorrido durante o período de tempo inicial) pode corresponder a velocidades maiores do membro de deslocamento após o período de tempo inicial.
[0134] A descrição se volta agora a um sistema de realimentação de circuito fechado para fornecer controle de velocidade de um membro de deslocamento. O sistema de realimentação de circuito fechado ajusta a velocidade do membro de deslocamento com base em uma medição de tempo real ao longo de uma distância ou de um intervalo de deslocamento específicos do membro de deslocamento. Em um aspecto, o sistema de realimentação de circuito fechado compreende duas fases. Uma fase de Início definida como o início de um curso de disparo seguido de uma fase de disparo dinâmica, enquanto a haste com perfil em I 2514 avança distalmente durante o curso de disparo. As Figuras 16A e 16B mostram a haste com perfil em I 2514 posicionada na fase inicial do curso de disparo. A Figura 16A Ilustra um atuador de extremidade 2502 que compreende um membro de disparo 2520 acoplada a uma haste com perfil em I 2514 que compreende um gume cortante 2509. A bigorna 2516 está na posição fechada e a haste com perfil em I 2514 está situada em uma posição proximal ou estacionária 9002 no fundo da rampa de fechamento 9006. A posição estacionária 9002 é a posição da haste com perfil em I 2514 antes do deslocamento até a rampa de fechamento 9006 da bigorna 2516 para o topo da rampa 9006 para a fenda com perfil em T 9008. Um pino de topo 9080 é configurado para engatar uma fenda com perfil em T 9008, e um pino de bloqueio 9082 é configurado para engatar um recurso de fecho 9084.
[0135] Na Figura 16B, a haste com perfil em I 2514 está situada em uma posição-alvo 9004 no topo da rampa 9006 com o pino de topo 2580 engatado na fenda com perfil em T 9008. Conforme mostrado nas Figuras 16A e 16B, ao se deslocar da posição estacionária 9002 para a posição-alvo 9004, a haste com perfil em I 2514 percorre uma distância indicada como Xo na direção distal horizontal. Durante a fase inicial, a velocidade da haste com perfil em I 2514 é ajustada a uma velocidade inicial predeterminada Vo. Um circuito de controle 2510 mede o tempo real to que a haste com perfil em I 2514 leva para se deslocar até a rampa 9006 a partir da posição estacionária 9002 até a posição-alvo 9004 na velocidade inicial Vo. Em um aspecto, a distância horizontal é 4,1 mm e a velocidade inicial Vo é 12 mm de/s. Conforme descrito em mais detalhes abaixo, o tempo real to é usado para ajustar a velocidade de comando da haste com perfil em I 2514 para lento, médio ou rápido na zona Z de cartucho de grampos subsequente, à medida que a haste com perfil em I 2514 Z avança distalmente. O número de zonas pode depender do comprimento/tamanho do cartucho de grampos (por exemplo, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm, >60 mm). A velocidade de comando ou a velocidade ajustada é a velocidade do motor 2504 que é aplicada ao motor 2504 pelo circuito de controle 2510 e ao controle de motor 2508 a fim de efetuar uma velocidade desejada da haste com perfil em I 2514. A velocidade real da haste com perfil em I 2514 é determinada pelo circuito de controle 2510 medindo-se, com o circuito temporizador/contador 2531, o tempo real to que a haste com perfil em I 2514 leva para atravessar uma distância específica ou fixa fornecida pelo sensor de posição 2534. De acordo com um aspecto da presente descrição, o sistema de controle de realimentação de circuito fechado do instrumento cirúrgico mede o tempo real tn que a haste com perfil em I 2514, ou um membro de deslocamento, leva para percorrer uma distância fixa ou um intervalo de deslocamento Xn predeterminados. A distância fixa ou o intervalo de deslocamento Xn predeterminado é definido para cada zona (por exemplo, Zi, Z2, Z3...Zn).
[0136] A Figura 17 ilustra o curso de disparo da haste com perfil em I 2514 é ilustrado por um gráfico 9009 alinhado com o atuador de extremidade 2502 de acordo com um aspecto da presente descrição. Conforme mostrado, a zona inicial (Zo), ou zona-base, é definida como a distância percorrida pela haste com perfil em I 2514 da posição estacionária 9002 até a posição-alvo 9004. O tempo medido To é o tempo que a haste com perfil em I 2514 leva para se deslocar pela rampa de fechamento 9006 até a posição-alvo 9004 em uma velocidade ajustada inicial Vo. Os tempos medidos T1 a T5 são períodos de tempo de referência para a travessia das zonas Z1 a Z5 correspondentes, respectivamente. O deslocamento da haste com perfil em I 2514 na zona Z0 é X0. O período To, o tempo que a haste com perfil em I 2514 leva para percorrer uma distância Xo, é usado para ajustar a velocidade de comando na zona Z1 subsequente.
[0137] Agora com referência às Figuras 14 a 17, na fase inicial, por exemplo, no início de um curso de disparo, o circuito de controle 2510 é configurado para iniciar o disparo do membro de deslocamento, como a haste com perfil em I 2514, a uma velocidade V0 predeterminada (por exemplo, 12 mm/s). Durante a fase inicial, o circuito de controle 2510 é configurado para monitorar a posição da haste com perfil em I 2514 e medir o tempo to (segundos) que a haste com perfil em I 2514 leva para se deslocar da posição estacionária 9002 da haste com perfil em I 2514 até a posição-alvo 9004 da haste com perfil em I 2514, seja para o topo da rampa de fechamento 9006, da bigorna 2516 ou no fim de um modo de baixa potência de operação. O tempo to na zona inicial 9010 é usado pelo circuito de controle 2510 para determinar a velocidade de disparo da haste com perfil em I 2514 através da primeira zona Z1. Por exemplo, em um aspecto, se o tempo to é < 0,9 s, a velocidade V1 pode ser ajustada como rápida e, se o tempo to > 0,9 s, a velocidade pode ser ajustada como média. Tempos mais rápidos ou mais lentos podem ser selecionados com base no comprimento do cartucho de grampos 2518. O tempo real t1 a t5 que a haste com perfil em I 2514 leva para percorrer uma zona Z1 a Z5 correspondente é medido em um deslocamento δ1 a δ5 ajustado correspondente e é comparado a um período de tempo T1 a T5 de referência correspondente. Em vários aspectos, se uma condição de bloqueio for encontrada, o motor 2504 irá parar antes que a haste com perfil em I 2514 atinja a posição-alvo 9004. Quando essa condição ocorrer, a tela do instrumento cirúrgico indica a situação do instrumento e pode emitir um aviso de parada. A tela também pode indicar uma seleção de velocidade.
[0138] Durante a fase de disparo dinâmica, o instrumento cirúrgico entra na fase de disparo dinâmica, em que o circuito de controle 2510 é configurado para monitorar o intervalo de deslocamento δn da haste com perfil em I 2514 e medir o tempo tn que a haste com perfil em I 2514 leva para se deslocar do início de uma zona para o fim de uma zona (por exemplo, uma distância total de 5 mm ou 10 mm). Na Figura 17, o tempo de referência T1 é o tempo que a haste com perfil em I 2514 leva para se deslocar do início da zona Z1 para o fim da zona Z1 em uma velocidade ajustada V1. De modo semelhante, o tempo de referência T2 é o tempo que a haste com perfil em I 2514 leva para se deslocar do início da zona Z2 para o fim da zona Z2 a uma velocidade ajustada V2, e assim por diante. A Tabela 1 mostra as zonas que podem ser definidas para cartuchos de grampos 2518 de vários tamanhos.Tabela 1 - Zonas definidas para cartuchos de grampos de vários tamanhos
[0139] Para cartuchos de grampos 2518 ao longo de 60 mm, o padrão continua, mas os últimos 10 a 15 mm continuam em um comando ou velocidade indicada da zona anterior, enquanto se aguarda outras intervenções para o fim do curso, entre outros. No fim de cada zona, o tempo real tn que a haste com perfil em I 2514 levou para passar pela zona é comparado aos valores em outras tabelas (por exemplo, Tabelas 2 a 5 abaixo) para determinar como ajustar a velocidade de comando para a próxima zona. A velocidade de comando é atualizada para a próxima zona e o processo continua. Sempre que a velocidade de comando é atualizada, a próxima zona não será avaliada. O fim do curso é tratado de acordo com o protocolo/algoritmo predeterminado do instrumento cirúrgico, inclusive alternâncias de limite, desaceleração controlada etc. Ao fim do curso, a haste com perfil em I 2514 volta à posição estacionária inicial 9002 da haste com perfil em I na velocidade rápida. O fim do curso de retorno (de volta à posição estacionária 9002) é tratado de acordo com o protocolo/algoritmo do instrumento cirúrgico. Outras zonas podem ser definidas sem limitação.Tabela 2 - Tempo para percorrer as zonas em velocidade de comando especificada para várias zonas de disparo dinâmicoTabela 3 - Exemplos não limitadores de tempo para percorrer as zonas em velocidade de comando especificada para várias zonas de disparo dinâmicoTabela 4 - Algoritmo para ajustar a velocidade com base no tempo para percorrer a rampa para cima
Tabela 5 - Exemplos não limitadores de algoritmo para ajustar a velocidade com base no tempo para percorrer a rampa para cima
[0140] Em um aspecto, as Tabelas 1 a 5 podem ser armazenadas na memória do instrumento cirúrgico. As Tabelas 1 a 5 podem ser armazenadas na memória sob a forma de uma tabela de consulta (LUT), de modo que o circuito de controle 2510 possa recuperar os valores e controlar a velocidade de comando da haste com perfil em I 2514 em cada zona com base nos valores armazenados na LUT.
[0141] A Figura 18 é uma representação gráfica 9100 comparando o intervalo de deslocamento δn de curso da haste com perfil em I 2514 como uma função do tempo 9102 (gráfico superior) e a força para disparo esperada da haste com perfil em I 2514 como uma função do tempo 9104 (gráfico inferior) de acordo com um aspecto desta descrição. Com referência ao gráfico superior 9102, o eixo geométrico horizontal 9106 representa o tempo (t) em segundos (s) de 0-1.00X, em que X é um fator de escala. Por exemplo, em um aspecto, X=6 e o eixo geométrico horizontal 9106 representam o tempo de 0 a 6 s. O eixo geométrico vertical 9108 representa o deslocamento (δ) da haste com perfil em I 2514 em milímetros (mm). O intervalo de deslocamento δ1 representa o curso 9114 ou o deslocamento 2615 da haste com perfil em I no topo da rampa 9006 (Figuras 16A, 16B) para tecido fino e tecido espesso médio. O tempo para que a haste com perfil em I 2514 alcance o topo de um curso de rampa 9114 para o tecido fino é t1 e o tempo para que a haste com perfil em I 2514 alcance o topo do curso de rampa 9114 para o tecido espesso médio é t2. Conforme mostrado, t1 < t2, de modo que leve menos tempo para que haste com perfil em I 2514 alcance o topo do curso de rampa 9114 para um tecido fino do que do que para um tecido médio ou grosso. Em um exemplo, o topo do intervalo de deslocamento δ1 do curso da rampa 9114 é de cerca de 4,1 mm (01,60 polegadas) e o tempo t1 é menor que 0,9 s (t1 < 0,9 s) e o tempo t2 é maior que 0,9 s porém menor que 1,8 s (0,9 < t2 < 1,8 s). Consequentemente, com referência também à Tabela 5, a velocidade para alcançar o topo do curso da rampa 9114 é rápida para tecido fino e média para tecido espesso médio.
[0142] Agora com referência ao gráfico inferior 9104, o eixo geométrico horizontal 9110 representa o tempo (t) em segundos (s) e tem a mesma escala do eixo geométrico horizontal 9106 do gráfico superior 9102. O eixo geométrico vertical 9112, no entanto, representa a força para disparo esperada (F) da haste com perfil em I 2514 em newtons (N) para força para o gráfico de força de disparo de tecido fino 9116 e para gráfico de força de disparo de tecido espesso médio 9118. O gráfico de força para disparo de tecido fino 9116 é inferior ao gráfico de força para disparo de tecido espesso médio 9118. A força de pico F1 para o gráfico de força para disparo de tecido fino 9116 é menor que a força de pico F2 para o gráfico de força para disparo de tecido espesso médio 9118. Além disso, com referência aos gráficos superior e inferior 9102, 9104, a velocidade inicial da haste com perfil em I 2514 na zona Zo pode ser determinada com base na espessura de tecido esperada. Conforme mostrado pelo gráfico de força para disparo de tecido fino 9116, a haste com perfil em I 2514 alcança o curso de topo de rampa 9114 de força de pico F1 em uma velocidade inicial (por exemplo, 30 mm/s) e, conforme mostrado pelo gráfico de força para disparo de tecido espesso médio 9118, a haste com perfil em I 2514 alcança o curso de topo de rampa 9114 de força de pico F2 a uma velocidade inicial média (por exemplo, 12 mm/s). Uma vez que a velocidade inicial na zona Zo é determinada, o circuito de controle 2510 pode ajustar a velocidade estimada da haste com perfil em I 2514 na zona Z1, e assim por diante.
[0143] A Figura 19 é uma representação gráfica 9200 que compara a espessura do tecido como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I 9202 (gráfico superior), a força para disparar como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I 9204 (segundo gráfico a partir de cima), verificações dinâmicas de tempo como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I 9206 (terceiro gráfico a partir de cima) e a velocidade ajustada da haste com perfil em I como uma função do intervalo de deslocamento ajustado do curso da haste com perfil em I 9208 (gráfico inferior) de acordo com um aspecto desta descrição. O eixo geométrico horizontal 9210 para cada um dos gráficos 9202, 9204, 9206, 9208 representa intervalo de deslocamento ajustado de curso de haste com perfil em I 2514 para um cartucho de grampos de 60 mm, por exemplo. Com referência à Tabela 1, o eixo geométrico horizontal 9210 foi marcado para identificar as zonas definidas Z1-Z6 para um cartucho de grampos de 60 mm. Conforme indicado na Tabela 1, as zonas definidas podem ser marcadas para cartuchos de grampos de vários tamanhos. Com referência também à Figura 14, de acordo com a presente descrição, o circuito de controle 2510 realiza amostragens ou mede o tempo decorrido do circuito temporizador/contador 2531 na haste com perfil em de ajuste 2514, ou outro membro de deslocamento, intervalos de deslocamento ao longo do cartucho de grampos 2518 durante o curso de disparo. Em intervalos de deslocamento ajustados δn recebidos do sensor de posição 2534, o circuito de controle 2510 realiza amostragens ou mede o tempo decorrido tn que a haste com perfil em I 2514 para percorrer intervalos de deslocamento fixos δn. Dessa maneira, o circuito de controle 2510 pode determinar a velocidade real da haste com perfil em I 2514 e comparar a velocidade real à velocidade esperada e fazer os ajustes necessários à velocidade de motor 2504.
[0144] O gráfico de espessura de tecido 9202 mostra um perfil de espessura de tecido 9220 ao longo de um cartucho de grampos 2518 e uma espessura indicada 9221, conforme mostrado pela linha tracejada horizontal. O gráfico de força para disparo 9204 mostra o perfil de força para disparo 9228 ao longo do cartucho de grampos 2518. A força para disparo 9230 permanece relativamente constante enquanto a espessura do tecido 9222 permanece abaixo da espessura indicada 9221 à medida que a haste com perfil em I 2514 atravessa as zonas Z1 e Z2. À medida que a haste com perfil em I 2514 entra na zona Z3, a espessura de tecido 9224 aumenta e a força para disparo também aumenta enquanto a haste com perfil em I 2514 atravessa o tecido mais espesso nas zonas Z3, Z4 e Z5. À medida que a haste com perfil em I 2514 sai da zona Z5 e entra na zona Z6, a espessura de tecido 9226 diminui e a força para disparo 9234 também diminui.
[0145] Com referência às Figuras 14, 17 a 19 e às Tabelas 2 e 3, a velocidade V1 na zona Z1 é ajustada à velocidade de comando Vo determinada pelo circuito de controle 2510 na zona Zo, que é baseada no tempo que a haste com perfil em I 2514 leva para se deslocar até o topo da rampa 9006 na zona Zo conforme discutido em relação às Figuras 16A, 16B e 18. Em relação aos gráficos 9206, 9208 na Figura 19, a velocidade ajustada inicial Vo foi ajustada como média e, assim, a velocidade ajustada V1 na zona Z1 é ajustada como média, de modo que V1 = Vo.
[0146] Na posição de deslocamento ajustada δ1 (por exemplo, 5 mm para um cartucho de grampos de 60 mm), à medida que a haste com perfil em I 2514 sai da zona Z1 e entra na zona Z2, o circuito de controle 2510 mede o tempo real t1 que a haste com perfil em I 2514 leva para atravessar o intervalo de deslocamento ajustado X1 (5 mm de comprimento) e determina a velocidade real da haste com perfil em I 2514. Com referência aos gráficos 9206 e 9208 na Figura 19, na posição de deslocamento ajustada δ1, o tempo real t1 que a haste com perfil em I 2514 leva para percorrer o intervalo de deslocamento ajustado X1 é t1 = 0,55 s. De acordo com a Tabela 3, um tempo de percurso real t1 = 0,55 s na zona Z1 requer que a velocidade de comando ou ajustada V2 na zona Z2 seja ajustada como média. Consequentemente, o circuito de controle 2510 não redefine a velocidade de comando para a zona Z2 e mantém a mesma como média.
[0147] Na posição de deslocamento ajustada δ2 (por exemplo, 15 mm para um cartucho de grampos de 60 mm), à medida que a haste com perfil em I 2514 sai da zona Z2 e entra na zona Z3, o circuito de controle 2510 mede o tempo real t2 que a haste com perfil em I 2514 leva para atravessar o intervalo de deslocamento ajustado X2 (10 mm de comprimento) e determina a velocidade real da haste com perfil em I 2514. Com referência aos gráficos 9606 e 9608 na Figura 19, na posição de deslocamento ajustada δ2, o tempo real t2 que a haste com perfil em I 2514 leva para percorrer o intervalo de deslocamento ajustado X2 é t2 = 0,95 s. De acordo com a Tabela 3, um tempo de percurso real t2 = 0,95 s na zona Z2 requer que a velocidade de comando ou ajustada V3 na zona Z3 seja ajustada como média.Consequentemente, o circuito de controle 2510 não redefine a velocidade de comando para a zona Z3 e mantém a mesma como média.
[0148] Na posição de deslocamento ajustada δ3 (por exemplo, 25 mm para um cartucho de grampos de 60 mm), à medida que a haste com perfil em I 2514 sai da zona Z3 e entra na zona Z4, o circuito de controle 2510 mede o tempo real t3 que a haste com perfil em I 2514 leva para atravessar o intervalo de deslocamento ajustado X3 (10 mm de comprimento) e determina a velocidade real da haste com perfil em I 2514. Com referência aos gráficos 9606 e 9608 na Figura 19, na posição de deslocamento ajustada δ3, o tempo real t3 que a haste com perfil em I 2514 leva para percorrer o intervalo de deslocamento ajustado X3 é t3 = 1,30 s. De acordo com a Tabela 3, um tempo de percurso real t3 = 1,30 s na zona Z3 requer que a velocidade de comando ou ajustada V4 na zona Z4 seja ajustada como média. Isto é porque o tempo de percurso real de 1,3 s é maior que 1,10 s e está fora da faixa anterior. Consequentemente, o circuito de controle 2510 determina que a velocidade real da haste com perfil em I 2514 na zona Z3 foi menor que o esperado devido a influências externas, como tecido mais espesso que o esperado, conforme mostrado na região de tecido 9224 no gráfico 9202. Consequentemente, o circuito de controle 2510 redefine a velocidade de comando V4 na zona Z4 de média para lenta.
[0149] Em um aspecto, o circuito de controle 2510 pode ser configurado para desabilitar a redefinição de velocidade em uma zona posterior a uma zona em que a velocidade foi redefinida. Em outras palavras, sempre que a velocidade é atualizada em uma zona atual, a zona subsequente não será avaliada. Visto que a velocidade foi atualizada na zona Z4, o tempo que a haste com perfil em I 2514 leva para atravessar a zona Z4 não será medido no fim da zona Z4 na distância de deslocamento ajustada δ4 (por exemplo, 35 mm para um cartucho de grampos de 60 mm). Consequentemente, a velocidade na zona Z5 permanecerá igual à velocidade na zona Z4 e as medições de tempo dinâmicas recomeçam na posição de deslocamento ajustada δ5 (por exemplo, 45 mm para um cartucho de grampos de 60 mm).
[0150] Na posição de deslocamento ajustada δ5 (por exemplo, 45 mm para um cartucho de grampos de 60 mm), à medida que a haste com perfil em I 2514 sai da zona Z5 e entra na zona Z6, o circuito de controle 2510 mede o tempo real t5 que a haste com perfil em I 2514 leva para atravessar o intervalo de deslocamento ajustado X5 (10 mm de comprimento) e determina a velocidade real da haste com perfil em I 2514. Com referência aos gráficos 9606 e 9608 na Figura 19, na posição de deslocamento ajustada δ5, o tempo real t5 que a haste com perfil em I 2514 leva para percorrer o intervalo de deslocamento ajustado X5 é t5 = 0,95 s. De acordo com a Tabela 3, um tempo de percurso real t5 = 0,95 s na zona Z5 requer que a velocidade de comando ou ajustada V6 na zona Z6 seja ajustada como alta. Isto é porque o tempo de percurso real de 0,95 s é menor que 1,00 s e está fora da faixa anterior. Consequentemente, o circuito de controle 2510 determina que a velocidade real da haste com perfil em I 2514 na zona Z5 foi maior que o esperado devido a influências externas, como tecido mais fino que o esperado, conforme mostrado na região de tecido 9626 no gráfico 9602. Consequentemente, o circuito de controle 2510 redefine a velocidade de comando V6 na zona Z6 de lenta para alta.
[0151] A Figura 20 é uma representação gráfica 9300 da força para disparo como uma função do tempo comparando velocidades de deslocamento lenta, média e alta da haste com perfil em I 2514 de acordo com um aspecto da presente descrição. O eixo geométrico horizontal 9302 representa o tempo t (s) que uma haste com perfil em I leva para atravessar um cartucho de grampos. O eixo geométrico vertical 9304 representa a força para disparo F (N). A representação gráfica mostra três curvas de força para disparo separadas em função do tempo. Uma primeira curva de força para disparo 9312 representa uma haste com perfil em I 2514 (Figura 14) que atravessa o tecido fino 9306 a uma velocidade rápida e atinge uma força para disparo máxima F1 no topo da rampa 9006 (Figura 16B) em t1. Em um exemplo, uma velocidade rápida de travessia para a haste com perfil em I 2514 é ~30 mm/s. Uma segunda curva de força para disparo 9314 representa uma haste com perfil em I 2514 que atravessa um tecido médio 9308 a uma velocidade média e alcança uma força para disparo máxima F2 no topo da rampa 9006 em t2, que é maior que t1. Em um exemplo, uma velocidade média de travessia para a haste com perfil em I 2514 é ~12 mm/s. Uma terceira curva de força para disparo 9316 representa uma haste com perfil em I 2514 que atravessa um tecido espesso 9310 em uma velocidade lenta e alcança uma força para disparo máxima F3 no topo da rampa 9006 em t3, que é maior que t2. Em um exemplo, uma velocidade de travessia lenta para a haste com perfil em I 2514 é ~9 mm/s.
[0152] A Figura 21 é um diagrama de fluxo lógico de um processo 9400 que representa um programa de controle ou uma configuração lógica para controlar a velocidade de comando em um estágio de disparo inicial de acordo com um aspecto da presente descrição. Com referência às Figuras 14 e 16 a 20, o circuito de controle 2510 determina 9402 a posição de referência do membro de deslocamento, como a haste com perfil em I 2514, por exemplo, com base nas informações de posição fornecidas pelo sensor de posição 2534. No exemplo de haste com perfil em I 2514, a posição de referência é a posição proximal ou estacionária 9002 no fundo da rampa de fechamento 9006 conforme mostrado na Figura 16B. Quando a posição de referência é determinada 9402, o circuito de controle 2510 e o controle de motor 2508 ajustam a velocidade de comando do motor 2504 a uma velocidade de comando predeterminada Vo e iniciam 9404 o disparo do membro de deslocamento (por exemplo, haste com perfil em I 2514) na velocidade de comando predeterminada Vo para a zona inicial ou de base Zo. Em um exemplo, a velocidade de comando predeterminada inicial Vo é ~12 mm/s, entretanto, outra velocidade de comando predeterminada inicial Vo pode ser empregada. O circuito de controle 2510 monitora 9406 a posição do membro de deslocamento com informações de posição recebidas do sensor de posição 2534 até que a haste com perfil em I 2514 alcance uma posição-alvo no topo da rampa 9006, conforme mostrado na Figura 16B. O período de deslocamento predeterminado To é o período de deslocamento esperado do membro de deslocamento que se desloca na velocidade de comando ajustada atual Vo. O desvio entre o período de deslocamento real Tn e o período de deslocamento predeterminado To se deve, pelo menos em parte, a influências internas que agem sobre o membro de deslocamento, como a espessura de tecido que age sobre o gume cortante 2509 da haste com perfil em I 2514.
[0153] Com informações de temporização recebidas do circuito temporizador/contador 2531 e informações de posição recebidas do sensor de posição 2534, o circuito de controle 2510 mede 9408 o tempo to que o membro de deslocamento leva para se deslocar da posição de referência 9002 para a posição-alvo 9004. O circuito de controle 210 ajusta 9410 a velocidade de comando V1 para a primeira zona Z1 com base no tempo medido to. Conforme indicado na Tabela 1, as zonas definidas podem ser marcadas para cartuchos de grampos de vários tamanhos. Outras zonas, no entanto, podem ser definidas. O circuito de controle 2510 ajusta 9410 a velocidade de comando V1 para a primeira zona Z1 comparando-se 9412 o tempo medido to a valores armazenados na memória, como, por exemplo, armazenados em uma tabela de consulta (LUT). Em um exemplo, conforme indicado na Tabela 4 de forma genérica e na Tabela 5 a título de exemplo específico, se o tempo to que a haste com perfil em I 2514 para se deslocar para cima da rampa 9006 a partir da posição de referência 9002 até a posição-alvo 9004 estiver entre 0,0 e 0,9 s (0,0 s < to < 0,9 s), a velocidade de comando para a primeira zona Z1 será ajustada 9414 como RÁPIDA (por exemplo, 30 mm/s). Caso contrário, se o tempo to (s) para a haste com perfil em I 2514 se deslocar para cima da rampa 9006 a partir da posição de referência 9002 até a posição-alvo 9004 for maior que 0,9 s a 1,8 s (to > 0,9 s a 1,8 s), a velocidade de comando para a primeira zona Z1 é ajustada 9416 como MÉDIA (por exemplo, 12 mm/s). Subsequentemente, o circuito de controle 2510 controla 9418 os bloqueios e paradas 9420 do motor 2504 se houver uma condição de bloqueio. Caso contrário, o circuito de controle entra 9422 na fase de disparo dinâmico, conforme descrito abaixo, em relação ao processo 9450 na Figura 22.
[0154] A Figura 22 é um diagrama de fluxo lógico de um processo 9450 que representa um programa de controle ou uma configuração lógica para controlar a velocidade de comando em um estágio de disparo dinâmico de acordo com um aspecto da presente descrição. Com referência às Figuras 14 e 16 a 20, o circuito de controle 2510 ajusta 9452 a velocidade de comando inicial do motor 2504 para a primeira zona Z1 com base no tempo inicial to, conforme descrito em referência ao processo 9400 na Figura 21. À medida que o membro de deslocamento atravessa o cartucho de grampos 2518, o circuito de controle 2510 recebe a posição do membro de deslocamento do sensor de posição 2534 e informações de temporização do circuito temporizador/contador 2531 e monitora 9454 a posição do membro de deslocamento ao longo da zona predefinida Zn. No final da zona Zn, o circuito de controle 2510 mede 9456 o tempo real tn que membro de deslocamento levou para se deslocar do início da zona Zn até o fim da zona Zn e compara 9458 o tempo real tn a um tempo predeterminado para uma zona específica, conforme mostrado genericamente na Tabela 2 e como exemplo específico na Tabela 3. O período de deslocamento predeterminado Tn é o período de deslocamento esperado do membro de deslocamento que se desloca na velocidade de comando ajustada atual Vn. O desvio entre o período de deslocamento real Tn e o período de deslocamento predeterminado Tn se deve, pelo menos em parte, a influências internas que agem sobre o membro de deslocamento, como a espessura do tecido que age sobre o gume cortante 2509 da haste com perfil em I 2514.
[0155] Por exemplo, com referência à Tabela 3 o tempo de percurso por uma zona na velocidade de comando especificada é fornecido para várias zonas de disparo dinâmico. Por exemplo, se a zona de disparo dinâmico for a zona Z1 (5 mm de comprimento) e tn < 0,5 s, a velocidade de comando para a próxima zona Z2 é ajustada como RÁPIDA; se 0,5 < tn < 0,6 s, a velocidade de comando para a próxima zona Z2 é ajustada como MÉDIA; e se tn > 0,6 s, a velocidade de comando para a próxima zona Z2 é ajustada como LENTA.
[0156] Se, no entanto, a zona de disparo dinâmico for uma zona intermediária Z2 a Z5 (10 mm de comprimento), por exemplo, localizada entre a primeira zona Z1 e a última zona Z6 e se tn < 0,9 s, a velocidade de comando para a próxima zona Z2 é ajustada como RÁPIDA; Se 0,9 < tn < 1,1 s, a velocidade de comando para a próxima zona Z3 a Z5 é ajustada como MÉDIA; e se tn > 1,1 s, a velocidade de comando para a próxima zona Z3 a Z5 é ajustada como LENTA.
[0157] Finalmente, se a zona de disparo dinâmico for a última zona medida Z5 (10 mm de comprimento) e tn < 1,0 s, a velocidade de comando para a última zona Z6 é ajustada como RÁPIDA; se 1,0 < tn < 1,3 s, a velocidade de comando para a última zona Z6 é ajustada como MÉDIA; e se tn > 1,3 s, a velocidade de comando para a última zona Z6 é ajustada como LENTA. Outros parâmetros podem ser empregados não apenas para definir as zonas de disparo dinâmico, mas também para definir o tempo de deslocamento por uma zona a uma velocidade de comando especificada para várias zonas de disparo dinâmico.
[0158] Com base nos resultados do algoritmo de comparação 9458,o circuito de controle 2510 continuará o processo 9450. Por exemplo, se os resultados da comparação 9458 indicarem que a velocidade real (RÁPIDA, MÉDIA, LENTA) na zona anterior Zn é igual a velocidade de comando anterior V1 (RÁPIDA, MÉDIA, LENTA), o circuito de controle 2510 mantém 9460 a velocidade de comando V1 para a próxima zona Zn+1 igual à velocidade de comando anterior V1. O processo 9450 continua a monitorar 9454 a posição do membro de deslocamento ao longo da próxima zona predefinida Zn+1. No final da próxima zona Zn+1, o circuito de controle 2510 mede 9456 o tempo tn+1 que o membro de deslocamento levou para se deslocar do início da próxima zona Zn+1 até o fim da próxima zona Zn1 e compara 9458 o tempo real tn+1 a um tempo predeterminado para uma zona específica, conforme mostrado genericamente na Tabela 2 e como exemplo específico na Tabela 3. Se não houver alterações necessárias à velocidade de comando, o processo 9450 até o membro de deslocamento, por exemplo, a haste com perfil em I 2514, alcança o fim do curso 9466 e devolve 9468 o membro de deslocamento à posição de referência 9002.
[0159] Se os resultados da comparação 9458 indicarem que a velocidade real (RÁPIDA, MÉDIA, LENTA) na zona anterior Zn é diferente da velocidade de comando V1 (RÁPIDA, MÉDIA, LENTA), o circuito de controle 2510 redefine 9462 ou atualiza a velocidade de comando para Vnova para a próxima zona Zn+1 de acordo com o algoritmo resumido nas Tabelas 2 e 3. Se a velocidade de comando for redefinida 9462 ou atualizada, o circuito de controle 2510 mantém 9464 a velocidade de comando Vnova para uma zona adicional Zn+2. Em outras palavras, no fim da próxima zona Zn+1, o circuito de controle 2510 não avalia ou mede o tempo. O processo 9450 continua a monitorar 9454 a posição do membro de deslocamento ao longo da próxima zona predefinida Zn+1 até que o membro de deslocamento, por exemplo, a haste com perfil em I 2514, atinja o fim do curso 9466 e devolva 9468 o membro de deslocamento à posição de referência 9002.
[0160] As funções ou os processos 9400, 9450 aqui descritos podem ser executados por qualquer um dos circuitos de processamento descritos aqui, como o circuito de controle 700 descrito juntamente com as Figuras 5 e 6, os circuitos 800, 810, 820 descritos nas Figuras 7 a 9, o microcontrolador 1104 descrito juntamente com as Figuras 10 e 12 e/ou o circuito de controle 2510 descrito na Figura 14.
[0161] Os aspectos do instrumento cirúrgico motorizado podem ser praticados sem os detalhes específicos revelados na presente invenção. Alguns aspectos foram mostrados como diagramas de bloco em vez de detalhes. Partes desta descrição podem ser apresentadas em termos de instruções que operam em dados armazenados em uma memória do computador. Um algoritmo se refere à sequência autoconsistente de etapas que levam ao resultado desejado, em que uma "etapa" se refere à manipulação de quantidades físicas que podem assumir a forma de sinais elétricos ou magnéticos capazes de serem armazenados, transferidos, combinados, comparados e manipulados de qualquer outra forma. Esses sinais podem ser chamados de bits, valores, elementos, símbolos, caracteres, termos, números. Esses termos e termos semelhantes podem ser associados às grandezas físicas adequadas e são identificações meramente convenientes aplicadas a essas grandezas.
[0162] De modo geral, os aspectos aqui descritos, os quais podem ser implementados, individual e/ou coletivamente, por uma ampla gama de hardware, software, firmware, ou qualquer combinação dos mesmos, podem ser vistos como sendo compostos por vários tipos de "circuitos elétricos". Consequentemente, "circuito elétrico" inclui, mas não se limita aos, circuitos elétricos que tenham ao menos um circuito elétrico distinto, circuitos elétricos que tenham ao menos um circuito integrado, circuitos elétricos que tenham ao menos um circuito integrado para aplicação específica, circuitos elétricos que formem um dispositivo de computação para finalidades gerais configurado por um programa de computador (por exemplo, um computador ou processador para finalidades gerais configurado por um programa de computador que ao menos parcialmente execute os processos e/ou dispositivos aqui descritos), circuitos elétricos que formem um dispositivo de memória (por exemplo, formas de memória de acesso aleatório), e/ou circuitos elétricos que formem um dispositivo de comunicações (por exemplo, um modem, roteadores ou equipamento óptico-elétrico). Esses aspectos podem ser implementados em forma analógica ou digital, ou combinações dos mesmos.
[0163] A descrição anteriormente mencionada apresentou aspectos dos dispositivos e/ou processos por meio do uso de diagramas de blocos, fluxogramas, e/ou exemplos, que pode conter uma ou mais funções e/ou operação. Cada função e/ou operação dentro de tais diagramas de blocos, fluxogramas ou exemplos pode ser implementada, individualmente e/ou coletivamente, por uma ampla gama de hardware, software, firmware ou virtualmente qualquer combinação dos mesmos. Em um aspecto, várias porções do assunto aqui descrito podem ser implementadas por meio de circuitos integrados de aplicação específica (ASICs), arranjos de portas programáveis em campo (FPGAs), processadores de sinais digitais (DSPs), dispositivos lógicos programáveis (PLDs), circuitos, registradores e/ou componentes de software, por exemplo, programas, sub-rotinas, lógica e/ou combinações de componentes de hardware e software, portas lógicas, ou outros formatos integrados. Alguns aspectos aqui revelados, no todo ou em parte, podem ser implementados de modo equivalente em circuitos integrados, como um ou mais programas de computador executando em um ou mais computadores (por exemplo, como um ou mais programas operando em um ou mais sistemas de computador), como um ou mais programas operando em um ou mais processadores (por exemplo, como um ou mais programas operando em um ou mais microprocessadores), como firmware, ou virtualmente como qualquer combinação dos mesmos, e que projetar o conjunto de circuitos e/ou escrever o código para o software e firmware estaria dentro do âmbito de prática de uma pessoa versada na técnica à luz desta descrição.
[0164] Os mecanismos do assunto revelado podem ser distribuídos como um produto de programa em uma variedade de formas, e um aspecto ilustrativo do assunto aqui descrito é aplicável independentemente do tipo específico da mídia de transmissão de sinais usado para efetivamente executar a distribuição. Exemplos de uma mídia de transmissão de sinais incluem, mas não se limitam aos seguintes: uma mídia do tipo gravável como um disquete, uma unidade de disco rígido, um disco compacto (CD), um disco de vídeo digital (DVD), uma fita digital, uma memória de computador, etc.; e uma mídia do tipo de transmissão, como uma mídia de comunicação digital e/ou analógica (por exemplo, um cabo de fibra óptica, um guia de onda, um enlace de comunicação com fio, um enlace de comunicação sem fio (por exemplo, transmissor, receptor, lógica de transmissão, lógica de recepção, etc.).
[0165] A descrição anteriormente mencionada de um ou mais aspectos foi apresentada para propósitos de ilustração e descrição. Essa descrição não pretende ser exaustiva nem limitar a invenção à forma precisa revelada. Modificações ou variações são possíveis à luz dos ensinamentos acima. Esses aspectos foram escolhidos e descritos com a finalidade de ilustrar os princípios e a aplicação prática para, assim, permitir que a pessoa versada na técnica use os vários aspectos e com várias modificações, conforme sejam convenientes ao uso específico contemplado. Pretende-se que as concretizações apresentadas em anexo definam o escopo global.
[0166] Vários aspectos da matéria descrita no presente documento são definidos nos seguintes exemplos numerados:
[0167] Exemplo 1. Um instrumento cirúrgico que compreende: um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico ao longo de uma pluralidade de zonas predefinidas; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para monitorar a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, em que o circuito temporizador/contador é configurado para medir o tempo decorrido; em que o circuito de controle é configurado para: receber, do sensor de posição, uma posição do membro de deslocamento em uma zona de corrente definida por um intervalo de deslocamento ajustado; medir o tempo em uma posição ajustada do intervalo de deslocamento, em que o tempo medido é definido como o tempo que o membro de deslocamento levou para atravessar o intervalo de deslocamento; e ajustar uma velocidade de comando do membro de deslocamento para uma zona subsequente com base no tempo medido na zona predefinida de corrente.
[0168] Exemplo 2. Instrumento cirúrgico do Exemplo 1, em que o circuito de controle é configurado para: determinar o intervalo de deslocamento ajustado em que o membro de deslocamento está situado, em que o intervalo de deslocamento ajustado é definido por uma posição inicial e uma posição final; e medir o tempo em que o membro de deslocamento atinge a posição final do intervalo de deslocamento.
[0169] Exemplo 3. Instrumento cirúrgico do Exemplo 1 ao Exemplo 2, em que o circuito de controle é configurado para: comparar o tempo medido a um tempo predeterminado armazenado em uma memória acoplada ao circuito de controle. e determinar a possibilidade de ajustar ou manter a velocidade de comando com base na comparação.
[0170] Exemplo 4. Instrumento cirúrgico do Exemplo 3, em que o circuito de controle é configurado para manter a velocidade de comando para a zona subsequente igual à velocidade de comando da zona de corrente quando o tempo medido está dentro de uma faixa predeterminada de tempos.
[0171] Exemplo 5. Instrumento cirúrgico dos Exemplos 3 ao 4, em que o circuito de controle é configurado para ajustar a velocidade de comando para a zona subsequente diferente da velocidade de comando da zona de atual quando o tempo medido está fora de uma faixa predeterminada de tempos.
[0172] Exemplo 6. Instrumento cirúrgico do Exemplo 5, em que o circuito de controle é configurado para ignorar uma medição de tempo para uma zona subsequente quando a velocidade de comando é ajustada.
[0173] Exemplo 7. Instrumento cirúrgico dos Exemplos 1 ao 6, em que múltiplas zonas são definidas por um cartucho de grampos configurado para operar com o instrumento cirúrgico.
[0174] Exemplo 8. Instrumento cirúrgico do Exemplo 7, em que ao menos duas zonas têm um comprimento diferente.
[0175] Exemplo 9. Um instrumento cirúrgico que compreende: um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico ao longo de uma pluralidade de zonas predefinidas; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para monitorar a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, em que o circuito temporizador/contador é configurado para medir o tempo decorrido; em que o circuito de controle é configurado para: receber, do sensor de posição, uma posição do membro de deslocamento em uma zona de corrente definida por um intervalo de deslocamento predeterminado; medir o tempo à medida que o membro de deslocamento se move de uma posição estacionária até uma posição-alvo; e ajustar uma velocidade de comando do membro de deslocamento para uma primeira zona dinâmica com base no tempo medido.
[0176] Exemplo 10. Instrumento cirúrgico do Exemplo 9, em que o circuito de controle é configurado para comparar o tempo medido a um tempo predeterminado armazenado em uma memória acoplada ao circuito de controle.
[0177] Exemplo 11. Instrumento cirúrgico do Exemplo 10, em que o circuito de controle é configurado para ajustar a velocidade de comando para a zona inicial a uma primeira velocidade quando o tempo medido está dentro de uma primeira faixa de tempos e ajustar a velocidade de comando para a zona inicial a uma segunda velocidade quando o tempo medido está dentro de um segundo intervalo de tempo.
[0178] Exemplo 12. Instrumento cirúrgico dos Exemplos 9 ao 11, em que o circuito de controle é configurado para determinar uma condição de bloqueio e parar o motor.
[0179] Exemplo 13. Método de controle de velocidade do motor em um instrumento cirúrgico, em que o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico ao longo de uma pluralidade de zonas predefinidas, um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento, um circuito de controle acoplado ao motor, um sensor de posição acoplada ao circuito de controle, em que o sensor de posição é configurado para monitorar a posição do membro de deslocamento, um circuito temporizador acoplado ao circuito de controle, em que o circuito temporizador/contador é configurado para medir o tempo decorrido, em que o método compreende: receber, de um sensor de posição, uma posição de um membro de deslocamento dentro de uma zona de corrente definida por um intervalo de deslocamento ajustado; medir, por meio de um circuito temporizador, um tempo em uma posição ajustada do membro de deslocamento, em que o tempo é definido pelo tempo que membro de deslocamento leva para atravessar o intervalo de deslocamento; e ajustar, por meio do circuito de controle, uma velocidade de comando do membro de deslocamento para uma zona subsequente com base no tempo medido na zona de corrente.
[0180] Exemplo 14. Método do Exemplo 13 que compreende adicionalmente: determinar, por meio do circuito de controle e do circuito temporizador, o intervalo de deslocamento ajustado em que o membro de deslocamento está situado, em que o intervalo de deslocamento ajustado é definido por uma posição inicial e uma posição final; e medir, por meio do circuito de controle, o tempo em que o membro de deslocamento atinge a posição final do intervalo de deslocamento
[0181] Exemplo 15. Método dos Exemplos 13 ao 14 que compreende adicionalmente: comparar, por meio do circuito de controle, o tempo medido a um tempo predeterminado armazenado em uma memória acoplada ao circuito de controle; e determinar, por meio do circuito de controle, a possibilidade de ajustar ou manter a velocidade de comando com base na comparação.
[0182] Exemplo 16. Método do Exemplo 15 que compreende adicionalmente a manutenção, por meio do circuito de controle, da velocidade de comando para a zona subsequente igual à velocidade de comando da zona de corrente quando a tempo medido está dentro de uma faixa predeterminada de tempos.
[0183] Exemplo 17. Método dos Exemplos 15 ao 16 que compreende adicionalmente o ajuste, por meio do circuito de controle, da velocidade de comando para a zona subsequente diferente da velocidade de comando da zona de corrente quando o tempo medido está fora de uma faixa de tempos predeterminados.
[0184] Exemplo 18. Método do Exemplo 17 que compreende adicionalmente ignorar, por meio do circuito de controle, uma medição de tempo para uma zona subsequente quando a velocidade de comando é ajustada.
[0185] Exemplo 19. Método dos Exemplos 13 ao 18 que compreende adicionalmente a definição, por meio do circuito de controle, de múltiplas zonas que são definidas para um cartucho de grampos configurado para operar com o instrumento cirúrgico.
[0186] Exemplo 20. Método do Exemplo 19 que compreende adicionalmente a definição, por meio do circuito de controle, de pelo menos duas zonas que têm um comprimento diferente.
Claims (9)
1. Instrumento cirúrgico (2500), caracterizado pelo fato de que compreende: um elemento de deslocamento configurado para transladar dentro do instrumento cirúrgico (2500) ao longo de uma pluralidade de zonas predefinidas; um motor (2504) acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle (2510) acoplado ao motor (2504); um sensor de posição (2534) acoplado ao circuito de controle (2510), o sensor de posição (2534) configurado para monitorar a posição do elemento de deslocamento; um circuito temporizador (2531) acoplado ao circuito de controle (2510), o circuito temporizador (2531) configurado para medir tempo decorrido; em que o circuito de controle (2510) é configurado para: receber, do sensor de posição (2534), uma posição do elemento de deslocamento em uma zona de corrente definida por um intervalo de deslocamento definido; e medir tempo em uma posição definida do intervalo de deslocamento, em que o tempo medido é definido como o tempo gasto pelo elemento de deslocamento para atravessar o intervalo de deslocamento; comparar o tempo medido com um tempo predeterminado armazenado em uma memória acoplada ao circuito de controle (2510); determinar se deve-se ajustar ou manter a velocidade de comando com base na comparação; e definir a velocidade de comando do membro de deslocamento para uma zona subsequente com base no tempo medido na zona predefinida atual.
2. Instrumento cirúrgico (2500), de acordo com a reivindicação 1, caracterizado pelo fato de que o circuito de controle (2510) é configurado para: determinar o intervalo de deslocamento definido no qual o membro de deslocamento está localizado, em que o intervalo de deslocamento definido é definido por uma posição inicial e uma posição final; e meça o tempo quando o elemento de deslocamento atingir a posição final do intervalo de deslocamento.
3. Instrumento cirúrgico (2500), de acordo com a reivindicação 1, caracterizado pelo fato de que o circuito de controle (2510) é configurado para manter a velocidade de comando para a zona subsequente igual à velocidade de comando da zona atual quando o tempo medido estiver dentro de um intervalo de tempos predeterminados.
4. Instrumento cirúrgico (2500), de acordo com a reivindicação 1, caracterizado pelo fato de que o circuito de controle (2510) é configurado para definir a velocidade de comando para a zona subsequente diferente da velocidade de comando da zona atual quando o tempo medido estiver fora de um intervalo de tempos predeterminados.
5. Instrumento cirúrgico (2500), de acordo com a reivindicação 4, caracterizado pelo fato de que o circuito de controle (2510) é configurado para pular uma medição de tempo para uma zona subsequente quando a velocidade de comando for ajustada.
6. Instrumento cirúrgico (2500), de acordo com qualquer uma das reivindicações 1 a 5, caracterizado pelo fato de que múltiplas zonas são definidas para um cartucho de grampos configurado para operar com o instrumento cirúrgico (2500).
7. Instrumento cirúrgico (2500), de acordo com a reivindicação 6, caracterizado pelo fato de que pelo menos duas zonas têm um comprimento diferente.
8. Instrumento cirúrgico (2500), de acordo com a reivindicação 1, caracterizado pelo fato de que o circuito de controle (2510) é configurado para definir a velocidade de comando para a zona subsequente para uma primeira velocidade quando o tempo medido estiver dentro de um primeiro intervalo de tempos e definir a velocidade de comando para a zona subsequente para uma segunda velocidade quando o tempo medido estiver dentro de um segundo intervalo de tempos.
9. Instrumento cirúrgico (2500), de acordo com qualquer uma das reivindicações 1 a 8, caracterizado pelo fato de que o circuito de controle (2510) é configurado para determinar uma condição de bloqueio e parar o motor (2504).
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US15/628,060 | 2017-06-20 | ||
PCT/IB2018/053489 WO2018234890A1 (en) | 2017-06-20 | 2018-05-17 | CLOSED-LOOP RETROACTIVE CONTROL OF THE MOTOR SPEED OF A STAPLING AND SURGICAL CUTTING INSTRUMENT BASED ON A MEASURED TIME OVER A SPECIFIED MOVEMENT DISTANCE |
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EP3417803A1 (en) | 2018-12-26 |
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