BR112019027206B1 - Instrumento cirúrgico de corte e grampeamento - Google Patents
Instrumento cirúrgico de corte e grampeamento Download PDFInfo
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- BR112019027206B1 BR112019027206B1 BR112019027206-2A BR112019027206A BR112019027206B1 BR 112019027206 B1 BR112019027206 B1 BR 112019027206B1 BR 112019027206 A BR112019027206 A BR 112019027206A BR 112019027206 B1 BR112019027206 B1 BR 112019027206B1
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- motor
- control circuit
- displacement member
- drive shaft
- surgical instrument
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- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
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- 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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- A61B17/0682—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
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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, um circuito de controle e um sensor de posição. o membro de deslocamento é configurado para trasladar. o motor é acoplado ao membro de deslocamento para trasladar o membro de deslocamento. o circuito de controle é acoplado ao motor. um sensor de posição é acoplado ao circuito de controle. o sensor de posição é configurado para medir a posição do membro de deslocamento e para medir um ângulo de articulação de um atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente. o circuito de controle é configurado para determinar o ângulo de articulação entre o atuador de extremidade e o eixo de acionamento que se estende longitudinalmente e ajustar a velocidade do motor com base no ângulo de articulação.
Description
[001] 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.
[002] Em um instrumento de grampeamento e corte cirúrgico mo torizado, 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 nos intervalos de posição predeterminados do membro de deslocamento ou a medição da posição do membro de deslocamento em intervalos de tempo predeterminados. O controle pode ser em circuito aberto ou circuito fechado. Tais medições podem ser úteis para avaliar as condições do tecido, como espessura do tecido, e ajustar a velocidade do membro de corte durante um curso de disparo para levar em consideração as condições do tecido. A espessura do tecido pode ser determinada mediante a 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 a uma velocidade de articulação constante. Em outras situações, pode ser útil acionar o atuador de extremidade a 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.
[003] Durante o uso de um instrumento de grampeamento e corte cirúrgico motorizado é possível que a força para disparar ou carregar do membro de corte ou do membro de disparo variem ou aumentem com base no ângulo de articulação do atuador de extremidade. Portanto, pode ser desejável variar a velocidade de disparo do membro de corte ou do membro de disparo como função do ângulo de articulação do atuador de extremidade para reduzir a força para disparar da carga sobre o membro de corte ou o membro de disparo devido a uma função do aumento do ângulo de articulação do atuador de extremidade.
[004] Em um aspecto, a presente invenção fornece um instru mento cirúrgico. O instrumento cirúrgico compreende um membro de deslocamento configurado para trasladar; um motor acoplado a uma extremidade proximal do membro de deslocamento para trasladar 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 medir a posição do membro de deslocamento e configurado para medir um ângulo de articulação de um atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente; em que o circuito de controle é configurado para: determinar o ângulo de articulação entre o atuador de extremidade e o eixo de acionamento que se estende longitudinalmente; selecionar uma força limite com base no ângulo de articulação; ajustar a velocidade do motor com base no ângulo de articulação; determinar a força sobre o membro de deslocamento e ajustar a velocidade do motor quando a força sobre o membro de deslocamento for maior que a força limite.
[005] Em um outro aspecto, o instrumento cirúrgico compreende:um membro de deslocamento configurado para trasladar; um motor acoplado ao membro de deslocamento para trasladar 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 medir a posição do membro de deslocamento em relação a um atuador de extremidade e é configurado para medir um ângulo de articulação do atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente; em que o circuito de controle é configurado para: determinar o ângulo de articulação entre o atuador de extremidade e o eixo de acionamento que se estende longitudinalmente e ajustar a velocidade do motor com base no ângulo de articulação.
[006] Em um outro aspecto, a presente descrição fornece um mé todo de controle de velocidade do motor em um instrumento cirúrgico, o instrumento cirúrgico compreendendo um membro de deslocamento configurado para trasladar, um motor acoplado ao membro de deslocamento para trasladar o membro de deslocamento, um circuito de controle acoplado ao motor e um sensor de posição acoplado ao circuito de controle, o sensor de posição configurado para medir a posição do membro de deslocamento e configurado para medir um ângulo de articulação de um atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente, em que o método compreende: determinar, por meio do circuito de controle, um ângulo de articulação entre o atuador de extremidade e o eixo de acionamento que se estende longitudinalmente; e definir, por meio do circuito de controle, a velocidade do motor com base no ângulo de articulação.
[007] As características inovadoras dos aspectos aqui descritos são apresentadas com particularidade nas concretizações. 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.
[008] A Figura 1 é uma vista em perspectiva de um instrument cirúrgico que tem um conjunto de eixo de acionamento intercambiável operacionalmente acoplado a ele, de acordo com um aspecto da pre- sente descrição.
[009] A Figura 2 é uma vista montada explodida de uma porção do instrumento cirúrgico da Figura 1, de acordo com um aspecto da presente descrição.
[0010] A Figura 3 é uma vista montada explodida de porções do conjunto de eixo de acionamento intercambiável, de acordo com um aspecto da presente descrição.
[0011] A Figura 4 é uma vista explodida de um atuador de extre midade do instrumento cirúrgico da Figura 1, de acordo com um aspecto da presente descrição.
[0012] As Figuras 5A e 5B são um diagrama de blocos de um cir cuito de controle do instrumento cirúrgico da Figura 1, que abrange duas folhas de desenho, de acordo com um aspecto da presente descrição.
[0013] A Figura 6 é um diagrama de blocos do circuito de controle do instrumento cirúrgico da Figura 1 ilustrando interfaces entre o conjunto de empunhadura e o conjunto de alimentação e o conjunto de empunhadura 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 aspecto da presente descrição.
[0015] A Figura 8 ilustra um circuito lógico combinacional configu rado 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 posiciona mento absoluto do instrumento cirúrgico da Figura 1, no qual o sistema de posicionamento absoluto compreende uma disposição do circuito de acionamento controlado por motor que compreende uma disposição do sensor, de acordo com um aspecto da presente descrição.
[0018] A Figura 11 é uma vista em perspectiva explodida da dis posição do sensor de um sistema de posicionamento absoluto, mostrando um conjunto de placa de circuito de controle e o alinhamento relativo dos elementos da disposição do sensor, de acordo com um aspecto da presente descrição.
[0019] A Figura 12 é um diagrama de um sensor de posição que compreende um sistema de posicionamento absoluto giratório magnético de acordo com um aspecto da presente descrição.
[0020] A Figura 13 é uma vista em corte de um atuador de extre midade do instrumento cirúrgico da Figura 1, mostrando 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 blocos de um instru mento cirúrgico programado para controlar a translação distal do membro de deslocamento de acordo com um aspecto da presente descrição.
[0022] A Figura 15 ilustra um diagrama mostrando dois exemplos de cursos de membro de deslocamento executados de acordo com um aspecto da presente descrição.
[0023] A Figura 16 é uma vista em perspectiva parcial de uma por ção de um atuador de extremidade de um instrumento cirúrgico mostrando um conjunto de eixo de acionamento alongado em uma orientação não articulada com porções dele omitidas para maior clareza, de acordo com um aspecto da presente descrição.
[0024] A Figura 17 é uma outra vista em perspectiva do atuador de extremidade da Figura 16 mostrando o conjunto de eixo de acionamento alongado em uma orientação não articulada, de acordo com um aspecto da presente descrição.
[0025] A Figura 18 é uma vista montada em perspectiva explodida do atuador de extremidade da Figura 16 mostrando o aspecto do conjunto de eixo de acionamento alongado, de acordo com um aspecto da presente descrição.
[0026] A Figura 19 é uma vista de topo do atuador de extremidade da Figura 16 mostrando o conjunto de eixo de acionamento alongado em uma orientação não articulada, de acordo com um aspecto da presente descrição.
[0027] A Figura 20 é uma outra vista de topo do atuador de extre midade da Figura 16 mostrando o conjunto de eixo de acionamento alongado em uma primeira orientação articulada, de acordo com um aspecto da presente descrição.
[0028] A Figura 21 é uma outra vista de topo do atuador de extre midade da Figura 16 mostrando o conjunto de eixo de acionamento alongado em uma segunda orientação articulada, de acordo com um aspecto da presente descrição.
[0029] A Figura 22 é um gráfico de uma taxa (velocidade) do membro de deslocamento como função do ângulo de articulação do atuador de extremidade, de acordo com um ou mais aspectos da presente descrição.
[0030] A Figura 23 é um gráfico de uma força do membro de des locamento como função do deslocamento do curso de disparo do membro de deslocamento, de acordo com um ou mais aspectos da presente descrição.
[0031] A Figura 24 é um gráfico de uma força do membro de des locamento como função do deslocamento do curso de disparo do membro de deslocamento, de acordo com um ou mais aspectos da presente descrição.
[0032] A Figura 25 é um gráfico de uma taxa do membro de deslo- camento como função do deslocamento do curso de deslocamento linear do membro de deslocamento, de acordo com um ou mais aspectos da presente descrição.
[0033] A Figura 26 é um diagrama de fluxo lógico representando um processo de um programa de controle ou uma configuração lógica para controlar a taxa de um membro de deslocamento como um membro da viga com perfil em i com base em um ângulo de articulação do atuador de extremidade, de acordo com um ou mais aspectos da presente descrição.
[0034] A Figura 27 é um diagrama de fluxo lógico representando um processo de um programa de controle ou uma configuração lógica para controlar a taxa de um membro de deslocamento como um membro da viga com perfil em i com base em um ângulo de articulação do atuador de extremidade, de acordo com um ou mais aspectos da presente descrição.
[0035] A requerente do presente pedido detém os seguintes pedi dos de patente depositados simultaneamente com o presente e que estão, cada um, aqui incorporados a título de referência em suas respectivas totalidades:
[0036] n° do documento de procuração END8191USNP/170054, intitulado CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0037] n° do documento de procuração END8192USNP/170055, intitulado SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0038] n° do documento de procuração END8193USNP/170056, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0039] n° do documento de procuração END8195USNP/170058, intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0040] n° do documento de procuração END8196USNP/170059, intitulado SURGICAL INSTRUMENT HAVING CONTROLLABLE AR-TICULATION VELOCITY, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0041] 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, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0042] n° do documento de procuração END8198USNP/170061, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENT MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0043] n° do documento de procuração END8222USNP/170125, intitulado CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0044] n° do documento de procuração END8199USNP/170062M, intitulado TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0045] n° do documento de procuração END8275USNP/170185M, intitulado TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, dos inventores Raymond E. Parfett et al., depositado em 20 de junho de 2017.
[0046] 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, dos inventores Raymond E. Parfett et al., depositado em 20 de junho de 2017.
[0047] n° do documento de procuração END8276USNP/170187, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED DISPLACEMENT DISTANCE, dos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0048] 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, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0049] 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 ROTATIONS, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0050] n° do documento de procuração END8269USNP/170190, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, dos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0051] n° do documento de procuração END8270USNP/170191, intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICAL INSTRUMENT, dos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0052] 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, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0053] A requerente do presente pedido detém os seguintes pedi dos de patente de design US depositados simultaneamente com ele e que estão, cada um, aqui incorporados a título de referência em suas respectivas totalidades:
[0054] n° do documento de procuração END8274USDP/170193D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, dos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0055] n° do documento de procuração END8273USDP/170194D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, dos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0056] n° do documento de procuração END8272USDP/170195D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, dos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0057] 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.
[0058] Os termos "proximal" e "distal" são relativos a um medico manipulando a empunhadura do instrumento cirúrgico em que "proximal" se refere à porção mais próxima ao médico e "distal" se refere à porção localizada na direção mais distante do médico. Para conveniência, os termos espaciais "vertical", "horizontal", "acima" e "embaixo" usados em relação aos desenhos não se destinam a ser limitadores e/ou absolutos, porque os instrumentos cirúrgicos podem ser usados em muitas orientações e posições.
[0059] 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 cirúrgicos incluindo procedimentos cirúrgicos abertos, por exemplo. Os instrumentos cirúrgicos podem ser inseridos em um orifício natural ou em uma incisão ou perfuração formada em tecidos. As porções funcionais ou porções do atuador de extremidade dos instrumentos podem ser inseridas diretamente no corpo de um paciente ou em um dispositivo de acesso que tenha um canal de trabalho através do qual o atuador de extremidade e o eixo de acionamento alongado de um instrumento cirúrgico podem ser avançados.
[0060] As Figuras 1 a 4 mostram um instrumento cirúrgico aciona do por motor 10 para cortar e prender, que pode ou não ser reutilizado.Nos exemplos ilustrados, o instrumento cirúrgico 10 inclui um compartimento 12 que compreende um conjunto de empunhadura 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 a ele 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 conjunto com sistemas cirúrgicos roboticamente controlados. Dessa forma, o termo "compartimento" pode abranger também 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 intercambiáveis. 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 podem ser utilizados 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.
[0061] A Figura 1 é uma vista em perspectiva de um instrument cirúrgico 10 que tem um conjunto de eixo de acionamento intercambi- ável 200 operacionalmente acoplado a ele, de acordo com um aspecto da presente descrição. O compartimento 12 inclui um atuador de ex- tremidade 300 que compreende um dispositivo cirúrgico de corte e fixação configurado para suportar operacionalmente em seu interior um cartucho de grampos cirúrgicos 304. O compartimento 12 pode ser configurado para uso em conjunto com os conjuntos de eixo de acionamento intercambiáveis que incluem atuadores de extremidade que são adaptados para sustentar diferentes tamanhos e tipos de cartuchos de grampos que têm diferentes comprimentos, tamanhos e tipos de eixo de acionamento. O compartimento 12 pode ser usado com uma variedade de conjuntos de eixo de acionamento intercambiáveis, inclusive conjuntos configurados para aplicar outros movimentos e formas de energia, como energia de radiofrequência (RF), energia ul- trassônica e/ou movimento a disposições de atuadores de extremidade adaptados para uso em conjunto com várias aplicações e procedimentos cirúrgicos. Os atuadores de extremidade, conjuntos de eixo de acionamento, empunhaduras, instrumentos cirúrgicos e/ou sistemas de instrumento cirúrgico podem utilizar qualquer prendedor ou prendedores adequados 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.
[0062] O conjunto de empunhadura 14 pode compreender um par de segmentos interconectáveis do compartimento da empunhadura 16 e 18 interconectados por parafusos, elementos de encaixe por pressão, adesivo, etc. Os segmentos do compartimento da empunhadura 16, 18 cooperam para formar uma porção da empunhadura da pistola 19 que pode ser empunhada e manipulada pelo médico. O conjunto de empunhadura 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 aciona- mento intercambiável que está operacionalmente fixado a ele. Uma tela pode ser fornecida abaixo de uma tampa 45.
[0063] A Figura 2 é uma vista montada explodida de uma porção do instrumento cirúrgico 10 da Figura 1, de acordo com um aspecto da presente descrição. O conjunto de empunhadura 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 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 empunha- dura 14 por um pino de pivô 33 para possibilitar que o gatilho de fe-chamento 32 seja manipulado por um médico. Quando o médico empunha a porção da empunhadura da pistola 19 do conjunto de empu- nhadura 14, o gatilho de fechamento 32 pode girar de uma posição inicial ou "não atuada" para uma posição "atuada" e, mais particularmente, para uma posição completamente comprimida ou completamente atuada.
[0064] O conjunto de empunhadura 14 e a estrutura 20 podem su portar operacionalmente um sistema de acionamento de disparo 80, que é configurado para aplicar movimentos de disparo a porções correspondentes do conjunto de eixo de acionamento intercambiável que está fixado a ele. O sistema de acionamento de disparo 80 pode empregar um motor elétrico 82 situado na porção da empunhadura da pistola 19 do conjunto de empunhadura 14. O motor elétrico 82 pode ser um motor de corrente contínua CC escovado tendo uma velocidade de 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 energia 90 que pode compreender uma bateria removível 92. A bateria removível 92 pode compreender uma porção de compartimento proximal 94 configurada para ser fixada a uma porção de 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 é 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. Além disso, a fonte de energia 90 pode ser substituível e/ou recarregável. Uma tela 43, que está situada abaixo da tampa 45, está eletricamente acoplada à placa de circuito de controle 100. A tampa 45 pode ser removida para expor a tela 43.
[0065] 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, que está 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 nele para engate engrenado com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84.
[0066] 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 "PD". O conjunto de empunhadura 14 pode incluir uma chave que pode ser configurada para reverter a polaridade aplicada ao motor elétrico 82 pela fonte de energia 90. O conjunto de empunhadura 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.
[0067] 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 empunhadura 14. O gatilho de disparo 130 pode ser pivotado entre uma posição não atuada e uma posição atuada.
[0068] Voltando à Figura 1, o conjunto de eixo de acionamento in- tercambiável 200 inclui um atuador de extremidade 300 que compreende um canal alongado 302 que é configurado para suportar operacionalmente em 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 ao canal alongado 302. O conjunto de eixo de acionamento 200 pode compreender uma junta articulada 270. A construção e operação do atuador de extremidade 300 e da junta articulada 270 são apresentadas na Publicação de Pedido de Patente US n° 2014/0263541, intitulada ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", o qual está aqui incorporado 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 in- cluir adicionalmente um tubo de fechamento 260 que se estende ao longo do eixo de acionamento SA que pode ser usado para fechar e/ou abrir a bigorna 306 do atuador de extremidade 300.
[0069] Voltando à Figura 1, o tubo de fechamento 260 é trasladado 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.
[0070] A Figura 3 é uma outra vista montada explodida de porções do conjunto de eixo de acionamento intercambiável 200, de acordo com um aspecto da descrição. O conjunto de eixo de acionamento in- tercambiável 200 pode incluir um membro de disparo 220 sustentado para realizar um deslocamento axial no interior do dorso 210. O membro de disparo 220 inclui um de eixo de acionamento de disparo intermediário 222 configurado para se fixar a uma porção de corte distal ou barra de corte 280. O membro de disparo 220 pode também ser chamado de "segundo eixo de acionamento" e/ou "segundo conjunto de eixo de acionamento". O eixo de acionamento de disparo intermediário 222 pode incluir uma fenda longitudinal 223 em sua extremidade distal 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 dimensionadas e configuradas para possibilitar o movimento relativo entre elas e podem compreender uma junta deslizante 286. A junta deslizante 286 pode possibilitar que o eixo de acionamento de disparo intermediário 222 do membro de disparo 220 articule o atuador de extremidade 300 ao redor da junta articulada 270 sem mover, ou ao menos sem mover substancialmente, a barra de corte 280. Uma vez que o atuador de extremidade 300 tenha 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 do canal 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 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° US 2014/0263541. O dorso 210 pode ser configurado para suportar de maneira deslizante um membro de disparo 220 e o tubo de fechamento 260 que se estende ao redor do dorso 210. O dorso 210 pode suportar de maneira deslizante um acionador de articulação 230.
[0071] O conjunto de eixo de acionamento intercambiável 200 po de 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 colar 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 acio- nador 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.
[0072] O conjunto de eixo de acionamento intercambiável 200 po de compreender um conjunto de anel deslizante 600 que pode ser configurado para conduzir energia elétrica de e/ou para o atuador de extremidade 300 e/ou comunicar sinais de e/ou para o atuador de extremidade 300, 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 de conector proximal 604 pode compreender uma primeira face e o flange do conector distal 601 pode compreender uma segunda face, que está posicionada adjacente e que é 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 a e está em contato elétrico com um dos condutores 602. Essa disposição possibilita a rotação relativa entre o flange de conector proximal 604 e o flan ge de conector distal 601, enquanto o contato elétrico é mantido entre eles. 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 "STAPLE CARTRIDGE 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.
[0073] O conjunto de eixo de acionamento intercambiável 200 po de incluir uma porção proximal que é montada de modo fixável no conjunto de empunhadura 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 do 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.
[0074] A Figura 4 é uma vista explodida de um aspecto de um atu- ador 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 um canal alongado 302. Aberturas 199 podem ser definidas no canal alongado 302 para receber pinos 152 que se estendem a partir da bigorna 306 para possibilitar que a bigorna 306 gire de uma posição aberta para uma posição fechada em relação ao canal alongado 302 e o cartucho de grampos cirúrgicos 304. Uma barra de disparo 172 é configurada para trasladar longitudinalmente para o interior do atuador de extremidade 300. A barra de disparo 172 pode ser construída a partir de uma seção sólida ou pode incluir um material laminado compreendendo uma pilha de placas de aço. A barra de disparo 172 compreende uma viga com perfil em i 178 e um gume cortante 182 em uma extremidade distal dela. Uma extre-midade da barra de disparo 172 que se projeta distalmente pode ser fixada à viga com perfil em i 178 para auxiliar no espaçamento da bigorna 306 a partir de um cartucho de grampos cirúrgicos 304 posicionado no canal alongado 302, quando a bigorna 306 está em uma posição fechada. A viga com perfil em i 178 pode incluir um gume cortante afiado 182 para cortar tecido, à medida que a viga com perfil em i 178 é avançada distalmente pela barra de disparo 172. Em funcionamento, a viga com perfil em i 178 pode disparar, ou dispara, 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 viga 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 uma superfície de corte 182 da viga com perfil em i 178 separa o tecido pinçado.
[0075] A viga com perfil em i 178 pode incluir pinos superiores 180 que engatam a bigorna 306 durante o disparo. A viga com perfil em i 178 pode incluir pinos intermediários 184 e uma base 186 para engatar porções do corpo do cartucho 194, da bandeja do cartucho 196 e do canal alongado 302. Quando um cartucho de grampos cirúrgicos 304 é posicionado no interior do canal alongado 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 no canal alongado 302. Em uso, a viga 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 viga com perfil em i 178 pode engatar-se a um sulco posicionado ao longo da superfície inferior do canal alongado 302 ao longo do comprimento da fenda 189, os pinos médios 184 podem engatar-se às superfícies superiores da bandeja de cartucho 196 ao longo do comprimento da fenda longitudinal 197, e os pinos superiores 180 podem engatar-se à bigorna 306. Nessas circunstâncias, a viga com perfil em i 178 pode espaçar ou limitar o movimento relativo entre a bigorna 306 e o cartucho de grampos cirúrgicos 304, enquanto a barra de disparo 172 é movida 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 viga com perfil em i 178 podem ser retraídas proximalmente possibilitando que a bigorna 306 seja aberta para liberar as duas porções de tecido grampeadas e separadas.
[0076] 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 da presente descrição. Referindo-se 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 corrente contínua CC escovado, tendo 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" - field-effect transistors) 719, por exemplo. O motor 714 pode ser alimentado pelo conjunto de alimentação 706 montado de modo liberável ao conjunto de empunhadu- ra 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.
[0077] O conjunto de eixo de acionamento 704 pode incluir um controlador do conjunto de eixo de acionamento 722 que pode se comunicar com o controlador de segurança e o 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 empunhadura 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 elétricos para engate de acoplamento com os conectores elétricos do conjunto de alimentação 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 empunhadura 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 engate por acoplamento mecânico do conjunto de empunhadura 702 ao eixo de acionamento 704 e/ou o conjunto de alimentação 706 para possibilitar comunicação elétrica entre o controlador de conjunto de acionamento 722 e o controlador de gerenciamento de energia 716.
[0078] 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 desses sinais de comunicação através de um controlador principal 717 residente no conjunto de empunhadura 702, por exemplo. Em outros casos, 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 empunhadura 702, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 estão acoplados ao conjunto de empunhadura 702.
[0079] 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 da 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 ("SRAM" - serial random access memory) de 32 KB, uma memória só de leitura interna ("ROM" - read-only memory) carregada com o programa StellarisWare®, memória só de leitura programável e apa- gável eletricamente ("EEPROM" - electrically erasable programmable read-only memory) de 2 KB, um ou mais módulos de modulação por largura de pulso ("PWM" - pulse width modulation), um ou mais análogos de entradas de codificador de quadratura ("QEI" - quadrature encoder inputs), um ou mais conversores analógico para digital ("ADC" - analog-to-digital converters) de 12 bits com 12 canais de entrada analógica, cujos detalhes estão disponíveis na folha de dados do produto.
[0080] O controlador de segurança pode ser uma plataforma de controlador de segurança que compreende duas famílias à base de controladores, como TMS570 e RM4x conhecidas sob o nome comercial de Hercules ARM Cortex R4, também da 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.
[0081] 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 saída de energia 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 empunha- dura 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 con-junto 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.
[0082] O instrumento cirúrgico 10 (Figuras 1 a 4) pode compreender um dispositivo de saída 742 que pode incluir um ou mais dispositivos para fornecer uma realimentação sensorial a um usuário. Esses dispositivos podem compreender, por exemplo, dispositivos de reali- mentação 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 empunhadura 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 ao conjunto de alimentação 706. Nessas 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 empunhadura 702.
[0083] O circuito de controle 700 compreende segmentos configu rados para controlar as operações do instrumento cirúrgico energizado 10. Um segmento do controlador de segurança (Segmento 1) compreende um controlador de segurança e o segmento do 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 do eixo de acionamento, um segmento do codificador, um segmento do 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 também é acoplado a uma memória flash. O con-trolador principal 717 compreende também 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" - printed circuit board assembly) dentro do instrumento cirúrgico energi- zado 10. Deve-se compreender que o termo processador, conforme usado aqui, inclui qualquer microprocessador, processador, controlador, controladores ou outro dispositivo de computação básico que in corpora as funções de uma unidade de processamento central do computador ("CPU" - central processing unit) 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, as processa de acordo com instruções armazenadas na 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.
[0084] 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 do acelerômetro é utilizada para fazer transição para e de um modo de suspensão, identificar a orientação do instrumento cirúrgico energiza- do e/ou identificar quando o instrumento cirúrgico foi deixado cair. Em alguns exemplos, o segmento de aceleração é acoplado ao controlador de segurança e/ou ao controlador principal 717.
[0085] O segmento de tela (Segmento 4) compreende um conector de tela acoplado ao controlador principal 717. O conector de tela acopla o controlador principal 717 a uma tela através de um ou mais acio- nadores 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 orgânicos emissores de luz (OLED), uma tela de cristal líquido (LCD) e/ou qualquer outra tela adequada. Em alguns exemplos, o segmento de tela é acoplado ao processador de segurança.
[0086] O segmento de eixo de acionamento (Segmento 5) com preende controles para um conjunto de eixo de acionamento intercam- biável 200 (Figuras 1 e 3) acoplado ao instrumento cirúrgico 10 (Figu- ras 1 a 4) e/ou um ou mais controles para um atuador de extremidade 300 acoplado ao 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 do eixo de acionamento. O PCBA do eixo de acionamento compreende um microcontrolador de baixa potência com memória de acesso aleatório ferroelétrica ("FRAM" - ferroelectric random access memory), uma chave de articulação, uma chave de efeito Hall de liberação do eixo de acionamento e uma EEPROM de PCBA. A EEPROM de PCBA compreende um ou mais parâmetros, rotinas e/ou programas específicos para o 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 integral com o instrumento cirúrgico 10. Em alguns exemplos, o segmento de eixo de acionamento compreende uma segunda EEPROM do eixo de acionamento. A segunda 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.
[0087] O segmento codificador de posição (Segmento 6) compre ende um ou mais codificadores de posição de ângulos magnéticos giratórios. O um ou mais codificadores de posição de ângulos magnéticos giratórios 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 de posição de ângulos magnéticos giratórios podem ser acoplados ao controlador de segurança e/ou ao controlador principal 717.
[0088] O segmento do 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 primário 717 por um acionador de ponte H que compreende um ou mais transístores de efeito de campo de ponte H (FETs). O acionador de ponte H também é acoplado ao controlador de segurança. Um sensor de corrente do motor é acoplado em série ao 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 controlador de segurança. Em alguns exemplos, o motor 714 é acoplado a um filtro de interferência eletromagnética (IEM) do motor.
[0089] 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.
[0090] O segmento de alimentação (Segmento 8) compreende uma bateria acoplada ao controlador de segurança, o controlador principal 717 e aos segmentos adicionais do circuito. 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 do 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 operações que exigem muita energia e evitar apagão ou condições de baixo fornecimento de energia.
[0091] A pluralidade de chaves que são acopladas ao controlador de segurança e/ou o controlador principal 717. As chaves podem ser configuradas para controlar operações do instrumento cirúrgico 10 (Figuras 1 a 4) do circuito segmentado e/ou indicar um estado do instrumento cirúrgico 10. Uma chave de porta de ejeção e chave de efeito Hall para ejeção são configuradas para indicar o estado da 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 chave 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 200 (Figuras 1 e 3) e/ou um 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 principal 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 pa ra 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 garra e uma chave engatada ao eixo de acionamento são acopladas ao controlador principal 717.
[0092] Quaisquer chaves mecânicas, eletromecânicas ou de esta do sólido adequadas podem ser empregadas para implementar a pluralidade de chaves em qualquer combinação. Por exemplo, as chaves podem ser chaves limitadas operadas pelo movimento dos componentes associados ao instrumento cirúrgico 10 (Figuras 1 a 4) ou à presença de um objeto. Essas chaves podem ser empregadas 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 magne- torresistivos gigantes ("GMR" - giant magneto-resistive), magnetôme- tros, entre 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, entre 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" - metal-oxide semiconductor-FET), bipolares e similares). Outras chaves podem incluir chaves sem fio, chaves ultrassônicas, acelerômetros, sensores de inércia, dentre outros.
[0093] A Figura 6 é um diagrama de blocos do circuito de controle 700 do instrumento cirúrgico da Figura 1 ilustrando interfaces entre o conjunto de empunhadura 702 e o conjunto de alimentação 706 e entre o conjunto de empunhadura 702 e o conjunto de eixo de acionamento intercambiável 704, de acordo com um aspecto da presente descrição. O conjunto de empunhadura 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 alimenta-ção 732, um circuito de gerenciamento de energia 734 que pode compreender o controlador de gerenciamento de energia 716, um modula- dor 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 saída de energia da bateria 707 com base nas necessidades de energia do conjunto de eixo de acionamento inter- cambiável 704, enquanto o conjunto de eixo de acionamento inter- cambiável 704 e o conjunto de alimentação 706 são acoplados ao conjunto de empunhadura 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 acio- namento 704 compreende um processador de eixo de acionamento 719 acoplado a uma memória não volátil 721 e o conjunto de eixo de acionamento 728 para acoplar eletricamente o conector de conjunto de eixo de acionamento 704 ao conjunto de conjunto de empunhadura 702. Os conectores do conjunto de eixo de acionamento 726, 728 formam a 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.
[0094] O instrumento cirúrgico 10 (Figuras 1 a 4) pode compreen der 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 de áudio (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 empunhadura 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 ao 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 empunhadura 702. Tendo descrito um circuito de controle 700 (Figuras 5A e 5B e 6) para controlar a operação do ins- trumento 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.
[0095] 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 inúmeros processadores de núcleo simples ou processadores de múltiplos núcleos (multi-core) 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 instrução pode ser configurada para receber instruções a partir do circuito de memória 804.
[0096] A Figura 8 ilustra um circuito lógico combinacional 810 con figurado 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 combinacio- nal 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.
[0097] A Figura 9 ilustra um circuito lógico sequencial 820 configu rado 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 vários processos aqui descritos. O circuito 820 pode compreender uma máquina de estados finitos. O circuito lógico sequencial 820 pode compreender um circuito lógico combinacio- nal 822, ao menos um circuito de memória 824 e um relógio 829, por exemplo. O ao menos um circuito de memória 820 pode armazenar um estado atual 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 dados associados ao instrumento cirúrgico 10 de 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 do processador 802 e uma máquina de estados finitos para implementar vários processos na 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.
[0098] Os aspectos podem ser implementados sob a forma de umartigo de fabricação. O artigo de fabricação pode incluir um meio 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 fabricação pode compreender um disco magnético, um disco óptico, uma memória flash ou firmware contendo instruções de programa de computador adequadas para execução por um processador de uso geral ou processador específico para a aplicação.
[0099] A Figura 10 é um diagrama de um sistema de posiciona- mento absoluto 1100 do instrumento cirúrgico 10 (Figuras 1 a 4), no qual o sistema de posicionamento absoluto 1100 compreende uma disposição do circuito de acionamento controlado por motor que compreende uma disposição do sensor 1102, de acordo com um aspecto da presente descrição. A disposição do sensor 1102 de um sistema de posicionamento absoluto 1100 fornece um sinal de posição único que corresponde à localização de um membro de deslocamento 1111. Voltando brevemente às Figuras 2 a 4, em um aspecto, o membro de deslocamento 1111 representa um membro de acionamento longitudinalmente móvel 120 (Figura 2) que compreende uma cremalheira de dentes de acionamento 122 para engate engrenado com uma engrenagem de acionamento correspondente 86 do conjunto redutor de en-grenagem 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 viga 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 10, como o membro de acionamento 120, o braço de aperto 220, a barra de disparo 172, a viga 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 viga com perfil em i 178. Consequentemente, o sistema de posicionamento absoluto 1100 pode, com efeito, rastrear o deslocamento linear da viga 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 viga com perfil em i 178, ou 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. Sensores de deslocamento linear podem compreender transformadores lineares diferenciais variáveis ("LVDT" - linear variable differential transformers), transdutores diferenciais de relutância variável ("DVRT" - differential variable reluctance transducers), um potenciômetro deslizante, um sistema de detecção magnética que compreende um magneto móvel e uma série de sensores de efeito Hall linearmente dispostos, um sistema de detecção magnética que compreende um magneto fixo e uma série de sensores de efeito Hall linearmente dispostos móveis, 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 deles.
[00100] O motor elétrico 1120 pode incluir um eixo de acionamento giratório 1116, que faz interface de modo operacional com um conjunto de engrenagem 1114, que está montado em engate engrenado 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 à 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 da cremalheira e do 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 exibir 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 cre- malheira de dentes de acionamento 122 formada nele para engate engrenado com uma engrenagem de acionamento 86 correspondente 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 viga com perfil em i 178 ou combinações deles.
[00101] Uma única revolução do elemento sensor 1126 associada ao sensor de posição 1112 é equivalente a um deslocamento linear longitudinal de d1 do membro do deslocamento 1111, onde d1 é 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 na conclusão de uma ou mais revoluções por parte do sensor de posição 1112 do curso completo do membro de deslocamento 1111. O sensor de posição 1112 pode concluir múltiplas revoluções do curso completo do membro de deslocamento 1111.
[00102] Uma série de chaves 1122a a 1122n, onde n é um número inteiro maior que um, podem ser usadas sozinhas 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 fornecido de volta a um controlador 1104 que aplica lógica para determinar um sinal de posição único 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 do sensor 1102 pode compreender um sensor magnético, um sensor giratório analógico, como um potenciômetro, ou uma matriz de elementos de efeito Hall analógicos, que emitem uma combinação única de posição de sinais ou valores.
[00103] O sistema de posicionamento absoluto 1100 fornece um posicionamento absoluto do membro de deslocamento 1111 mediante a energização do instrumento sem que seja preciso recolher ou avançar o membro de deslocamento 1111 para uma posição de reiniciali- zação (zero ou inicial), conforme pode ser exigido pelos codificadores giratórios convencionais que meramente contam o número de etapas progressivas ou regressivas que o motor 1120 percorreu para inferir a posição de um atuador do dispositivo, uma barra de acionamento, faca, e similares.
[00104] O controlador 1104 pode ser programado para realizar várias funções, como o controle preciso da velocidade e da posição dos sistemas de articulação e corte. 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 escovado com uma caixa de câmbio e conexões mecânicas com um sistema de articulação ou corte. Em um aspecto, um acionador de motor 1110 pode ser um A3941 disponível junto à Allegro Microsystems, Inc. Outros acionado- res 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 15/130.590 intitulada 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, em sua totalidade.
[00105] O controlador 1104 pode ser programado para fornecer controle preciso da velocidade e da posição do membro 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.
[00106] O sistema de posicionamento absoluto 1100 pode compreender e/ou ser programado para implementar um controlador de reali- mentação, como um PID, realimentação do estado e 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 medir 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 em que 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 laço de controle teórico, que acionam 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 quais serão os estados e saídas do sis- tema físico, sabendo-se a entrada. O controlador 1104 pode ser um circuito de controle 700 (Figuras 5A e 5B).
[00107] O acionador de motor 1110 pode ser um A3941, disponível junto à Allegro Microsystems, Inc. O acionador A3941 1110 é um controlador de ponte inteira para uso com transístores de efeito de campo de semicondutor de óxido metálico (MOSFET) de potência externa de canal N, especificamente projetado para cargas indutivas, como motores CC escovados. O acionador 1110 compreende um regulador único de bomba de carga, fornece acionamento de porta completo (>10 V) para baterias com tensão até 7 V e possibilita que o A3941 opere com um acionamento de porta reduzido, até 5,5 V. Um capacitor de comando de entrada pode ser usado para fornecer a tensão ultrapassan- te 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, sobretempera- tura e falhas na ponte de energia, podendo ser configurado para proteger os MOSFETs de potência na maioria das condições de curto- circuito. Outros acionadores de motor podem ser imediatamente substituídos para uso no sistema de posicionamento absoluto 1100.
[00108] Tendo descrito uma arquitetura geral para implementar aspectos de um sistema de posicionamento absoluto 1100 para uma disposição do sensor 1102, a descrição agora se volta para as Figuras 11 e 12 para uma descrição de um aspecto de uma disposição do sensor 1102 para o sistema de posicionamento absoluto 1100. A Figura 11 é uma vista em perspectiva explodida da disposição do sensor 1102 para o sistema de posicionamento absoluto 1100, mostrando um circuito 1205 e o alinhamento relativo dos elementos da disposição do sensor 1102, de acordo com um aspecto. A disposição do sensor 1102 de 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 breve referência à Figura 2, o membro de acionamento 1111 pode representar o membro de acionamento longitudinalmente móvel 120 que compreende uma crema- lheira de dentes de acionamento 122 para engate engrenado com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84. Voltando 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 elementos de detecção magnética, como elementos de Hall, e está posicionado próximo ao magneto 1202. À medida que o magneto 1202 gira, os elementos de detecção magnética do sensor de posição 1200 determinam a posição angular absoluta do magneto 1202 durante uma revolução.
[00109] A disposição do sensor 1102 pode compreender qualquer número de elementos de detecção magnética, como, por exemplo, sensores magnéticos classificados de acordo com a possibilidade de eles medirem 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, magne- torresistência gigante, junções túnel magnéticas, magnetoimpedância gigante, compostos magnetostritivos/piezelétricos, magnetodiodo, transistor magnético, fibra óptica, magneto-óptica e sensores magnéticos baseados em sistemas microeletromecânicos, dentre outros.
[00110] Um conjunto de engrenagens compreende uma primeira engrenagem 1208 e uma segunda engrenagem 1210 em engate engrenado para proporcionar uma conexão com razão de engrenagem de 3:1. Uma terceira engrenagem 1212 gira ao redor de um eixo de acionamento 1214. A terceira engrenagem 1212 está em engate engrenado com o membro de deslocamento 1111 (ou 120 conforme mostrado na Figura 2) e gira em uma primeira direção, à medida que o membro de deslocamento 1111 avança em uma direção distal D e gira em uma segunda direção, à medida que o membro de deslocamento 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 deslocamento 1111. Dessa forma, um curso completo do membro de deslocamento 1111, em qualquer uma das direções distal D ou proximal 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 faz uma rotação com cada curso completo do membro de deslocamento 1111.
[00111] 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 dentro 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 uma parte central 1222 para se acoplar à primeira engrenagem 1208 e ao suporte de magneto 1204. A segunda engrenagem 1210 e a terceira engrenagem 1212 acopladas ao eixo de acionamento 1214 também são mostradas.
[00112] A Figura 12 é um diagrama de um sensor de posição 1200 de um sistema de posicionamento absoluto 1100, que compreende um sistema de posicionamento absoluto magnético giratório, de acordo com um aspecto desta descrição. O sensor de posição 1200 pode ser implementado como um sensor de posição giratório, magnético, de circuito integrado 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 localizada acima do magneto 1202 (Figuras 15 e 16). Um conversor ADC de alta resolução 1232 e um controlador de gerenciamento de potência inteligente 1238 são apresentados, também, no circuito integrado. Um processador "CORDIC" (Coordinate Rotation DIgital Computer - computador digital para rotação de coordenadas) 1236, também conhecido como método de 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 consulta. A posição angular, os bits de alarme e as 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 integrado AS5055 fornecido em uma pequena embalagem QFN de 16 pinos de 4x4x0,85 mm.
[00113] 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 aqui em detalhes, no entanto, de modo 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 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, mediante a energização ou mediante a demanda do controlador 1104.
[00114] 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 modo 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 mediante leitura do valor do ângulo no 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. O envio de 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 tiver concluído a leitura do valor do ângulo, a saída INT 1242 é liberada e um novo resultado é armazenado no registro de ângulos. A conclusão dessa medição de ângulo é indicada novamente pela definição da saída INT 1242 e pela identificação correspondente no registro de estados.
[00115] 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 energiza- ção. 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 no circuito integrado, 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 obtendo-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%).
[00116] A Figura 13 é uma vista seccional de um atuador de extremidade 2502 do instrumento cirúrgico 10 (Figuras 1 a 4) mostrando um curso de disparo da viga 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 o instrumento cirúrgico 10 mostrado nas Figuras 1 a 4. O atuador de extremidade 2502 compreende uma bigorna 2516, um canal alongado 2503 com um cartucho de grampos 2518 posicionado no canal alongado 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 viga 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. À medida que a viga com perfil em i 2514 traslada 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 viga com perfil em i 2514 entra em contato com o deslizador em cunha 2513 e o empurra distalmente, fazendo com que o desliza- dor em cunha 2513 entre em contato com os acionadores de grampos 2511. Os acionadores de grampo 2511 podem ser conduzidos 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 formata os grampos 2505.
[00117] Um curso de disparo da viga com perfil em i 2514 exempli- ficador é ilustrado por um gráfico 2529 alinhado com o atuador de extremidade 2502. O tecido 2526 exemplificador também é mostrado alinhado com o atuador de extremidade 2502. O curso do membro de disparo pode compreender uma posição inicial do curso 2527 e uma posição final do curso 2528. Durante um curso de disparo da viga com perfil em i 2514, a viga com perfil em i 2514 pode ser avançada distal- mente a partir da posição inicial do curso 2527 para a posição final do curso 2528. A viga com perfil em i 2514 é mostrada em um local de exemplo de uma posição inicial do curso 2527. O gráfico 2529 de curso do membro de disparo da viga com perfil em i 2514 ilustra cinco regiões de curso do membro de disparo 2517, 2519, 2521, 2523, 2525. Em uma primeira região de curso de disparo 2517, a viga com perfil em i 2514 pode começar a avançar distalmente. Na primeira região de curso de disparo 2517, a viga com perfil em i 2514 pode entrar em contato com o deslizador de cunha 2513 e começar a movê-lo distal- mente. Enquanto na primeira região, no entanto, 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 que o atrito estático é soprepujado, a força necessária para acionar a viga com perfil em i 2514 na primeira região 2517 pode ser substancialmente constante.
[00118] Na segunda região do 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 necessária para acionar a viga com perfil em i 2514 pode começar a aumentar gradualmente. Conforme mostrado, o tecido encontrado inicialmente pode ser comprimido e/ou mais delgado devido à maneira como a bigorna 2516 gira em relação ao cartucho de grampos 2518. Na terceira região do curso do membro de disparo 2521, o gume cortante 2509 pode entrar continuamente em contato e cortar o tecido 2526 e o deslizador em cunha 2513 pode entrar repetidamente em contato com os acionadores de grampos 2511. A força necessária para acionar a viga com perfil em i 2514 pode atingir o pla- tô na terceira região 2521. Na quarta região do curso de disparo 2523, a força necessária para acionar a viga 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 alcançar o final do tecido 2526 enquanto na quarta região 2523. Quando a viga com perfil em i 2514 atinge 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 viga 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 viga com perfil em i 2514 na primeira região 2517. Na conclusão do curso do membro de disparo, a viga 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, 2525 na Figura 18 é apenas um exemplo. Em alguns exemplos, as diferentes regiões podem começar em diferentes posições ao longo do eixo geométrico longitudinal do atuador de extremidade 2515, por exemplo, com base no posicionamento de tecido entre a bigorna 2516 e o cartucho de grampos 2518.
[00119] Conforme discutido acima e com referência agora às Figuras 10 a 13, o motor elétrico 1122 posicionado no interior do conjunto de empunhadura do instrumento cirúrgico 10 (Figuras 1 a 4) pode ser usado para avançar e/ou recolher o sistema de disparo do conjunto de eixo de acionamento 1200, incluindo a viga com perfil em i 2514, em relação ao atuador de extremidade 2502 do conjunto de eixo de acionamento de modo a grampear e/ou cortar o tecido capturado no interior do atuador de extremidade 2502. A viga 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 viga com perfil em i 2514. O controlador 1104 pode ser configurado para prever a velocidade da viga 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 também pode ser configurado para prever a velocidade atual da viga com perfil em i 2514 com base nos valores anteriores da corrente e/ou da tensão fornecidos ao motor elétrico 1122 e/ou os estados anteriores do sistema, como velo-cidade, aceleração e/ou posição. O controlador 1104 pode ser configurado para detectar a velocidade da viga 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 viga com perfil em i 2514 e a velocidade detectada da viga com perfil em i 2514 para determinar se a energia do motor elétrico 1122 deve ser aumentada de modo a aumentar a velocidade da viga com perfil em i2514 e/ou diminuída de modo a diminuir a velocidade da viga 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.
[00120] A força que atua sobre a viga com perfil em i 2514 pode ser determinada com o uso de várias técnicas. A força sobre a viga com perfil em i 2514 pode ser determinada mediante a medição da corrente do motor 2504, em que a corrente do motor 2504 se baseia na carga sobre a viga com perfil em i 2514 à medida que ela avança distalmen- te. A força da viga com perfil em i 2514 pode ser determinada posicionando-se um medidor de esforço sobre o membro de acionamento 120 (Figura 2), o membro de disparo 220 (Figura 2), a viga com perfil em i 2514 (viga com perfil em i 178, Figura 20), a barra de disparo 172 (Figura 2) e/ou em uma extremidade proximal do gume cortante 2509. A viga com perfil em i 2514 pode ser determinada pelo monitoramento da posição real da viga com perfil em i 2514 se movendo a uma velocidade esperada com base na velocidade ajustada atual do motor 2504 após um período de tempo predeterminado T1 decorrido e pela comparação da posição real da viga com perfil em i 2514 em relação à posição esperada da viga com perfil em i 2514 com base na velocidade ajustada atual do motor 2504 no final do período T1. Dessa forma, se a posição real da viga com perfil em i 2514 for menor que a posição esperada da viga com perfil em i 2514, a força na viga com perfil em i 2514 é maior que uma força nominal. Por outro lado, se a posição real da viga com perfil em i 2514 for maior que a posição esperada da viga com perfil em i 2514, a força na viga com perfil em i 2514 é menor que a força nominal. A diferença entre as posições real e esperada da viga com perfil em i 2514 é proporcional ao desvio da força na viga com perfil em i 2514 a partir da força nominal. Essas técnicas são descritas no n° do documento de procuração END8195USNP, que está aqui incorporado a título de referência em sua totalidade.
[00121] A Figura 14 ilustra um diagrama de blocos de um instrumento cirúrgico 2500 programado para controlar a translação distal do 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 viga com perfil em i 2514. O instrumento cirúrgico 2500 compreende um atuador de extremidade 2502 que pode compreender uma bigorna 2516, uma viga 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 viga 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.
[00122] A posição, o movimento, o deslocamento e/ou a translação de um membro de deslocamento linear 1111, como a viga com perfil em i 2514, podem ser medidos pelo sistema de posicionamento absoluto 1100, a disposição do sensor 1102 e o sensor de posição 1200, conforme mostrado nas Figuras 10 a 12 e representado como sensor de posição 2534 na Figura 14. Como a viga com perfil em i 2514 é acoplada a um membro de acionamento longitudinalmente móvel 120, a posição da viga com perfil em i 2514 pode ser determinada mediante a medição da posição do membro de acionamento longitudinalmente móvel 120 empregando o sensor de posição 2534. Consequentemente, na descrição a seguir, a posição, o deslocamento e/ou a translação da viga com perfil em i 2514 podem ser obtidos pelo sensor de posição 2534, conforme descrito na presente invenção. O 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 viga com perfil em i 2514, conforme descrito em relação às 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 instruções que fazem com que o processador ou processadores controlem o membro de deslocamento, por exemplo, a viga com perfil em i 2514, da maneira descrita. Em um aspecto, um circuito temporiza- dor/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 viga com perfil em i 2514 conforme determinado pelo sensor de posição 2534 com a saída do circuito temporizador/contador 2531 de modo que o circuito de controle 2510 possa determinar a posição da viga com perfil em i 2514 em um momento específico (t) em relação a uma posição inicial. O circuito temporizador/contador 2531 pode ser configurado para medir o tempo decorrido, contar eventos externos ou medir eventos eternos.
[00123] O circuito de controle 2510 pode gerar um sinal de ponto de ajuste do motor 2522. O sinal de 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 escovado, 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 de modulação por largura de pulso (PWM) fornecido a um ou mais enrolamentos de 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 de motor 2524 diretamente.
[00124] O motor 2504 pode receber energia de uma fonte de alimentação 2512. A fonte de alimentação 2512 pode ser ou incluir uma bateria, um supercapacitor ou qualquer outra fonte de energia adequada 2512. O motor 2504 pode ser mecanicamente acoplado à viga 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 viga com perfil em i 2514. Um sensor de posição 2534 pode detectar uma posição da viga com perfil em i 2514. O sensor de posição 2534 pode ser ou incluir qualquer tipo de sensor que seja capaz de gerar dados de posição que indicam uma posição da viga 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 à medida que a viga com perfil em i 2514 traslada distalmente e proximalmente. O circuito de controle 2510 pode rastrear os pulsos para determinar a posição da viga 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 indicam o movimento da viga com perfil em i 2514. Além disso, em alguns exemplos, o sensor de posição 2534 pode ser omitido. Quando o motor 2504 é um motor de passo, o circuito de controle 2510 pode rastrear a posição da viga 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.
[00125] 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 distância de vão em relação ao tempo, compressão do tecido em relação ao tempo e deformação da bigorna em relação ao tempo. Os sensores 2538 podem compreender, por exemplo, um sensor magnético, um sensor de campo magnético, um medidor de esforço, um sensor de pressão, um sensor de força, um sensor indutivo como, por exemplo, um sensor de correntes parasitas, um sensor re- sistivo, um sensor capacitivo, um sensor óptico e/ou quaisquer outros sensores adequados para medição de um ou mais parâmetros do atu- ador de extremidade 2502. Os sensores 2538 podem incluir um ou mais sensores.
[00126] O um ou mais sensores 2538 podem compreender um medidor de esforço, como um medidor de microesforço configurado para medir a magnitude do esforço na bigorna 2516 durante uma condição apertada. O medidor de esforço fornece um sinal elétrico cuja amplitude varia com a magnitude do esforço. 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 eles.
[00127] 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 de tecido capturado 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 acio-namento 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.
[00128] Um sensor de corrente 2536 pode ser usado para medir a corrente drenada pelo motor 2504. A força necessária para avançar a viga com perfil em i 2514 corresponde à corrente drenada pelo motor 2504. A força medida é convertida em um sinal digital e fornecida ao circuito de controle 2510.
[00129] Usando as propriedades físicas dos instrumentos aqui revelados, agora com referência 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 viga 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 controlador PID, uma realimentação de estado, LQR e/ou um controlador adaptável, por exemplo. O instrumento cirúrgico 2500 pode incluir uma fonte de alimentação para converter o sinal do controlador de rea- limentação em uma entrada física, como tensão da caixa, tensão mo-dulada por largura de pulso (PWM), tensão modulada por frequência, corrente, torque e/ou força, por exemplo.
[00130] O sistema de acionamento real do instrumento cirúrgico 2500 é configurado para acionar o membro de deslocamento, o membro de corte ou a viga com perfil em i 2514, por um motor CC escovado com caixa de câmbio e ligações mecânicas a um sistema de articulação e/ou faca. 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.
[00131] Antes de explicar com detalhes os aspectos do instrumento cirúrgico 2500, deve-se observar que os aspectos exemplificadores não estão limitados, em termos de aplicação ou uso, aos detalhes de construção e disposição de 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 limitá-la. Além disso, será reconhecido 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.
[00132] 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 pivotante 2516 e, quando configurado para uso, um cartucho de grampos 2518 posicionado do lado oposto à 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 dis- talmente ao longo do eixo geométrico longitudinal do atuador de ex- tremidade 2502 a partir de uma posição proximal de início de curso até uma posição de fim de curso distal da posição de início do curso. À medida que o membro de deslocamento traslada distalmente, uma viga 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.
[00133] 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 viga 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 de disparo com base nas condições do tecido. Um programa de controle de disparo pode des-crever 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 trasladar o membro de deslocamento a uma velocidade inferior e/ou com potência mais baixa. Quando um o tecido mais fino está presente, o circuito de controle 2510 pode ser programado para trasladar o membro de deslocamento a uma velocidade mais alta e/ou com potência mais alta.
[00134] Em alguns exemplos, o circuito de controle 2510 pode operar inicialmente o motor 2504 em uma configuração de circuito aberto para uma primeira porção de circuito aberto do 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 distância de translação 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 de 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 em dados de translação que descrevem uma posição do membro de deslocamento em uma maneira de circuito fechado, para trasladar o membro de deslocamento a uma velocidade constante.
[00135] A Figura 15 ilustra um diagrama 2580 mostrando dois exemplos de cursos de membro de deslocamento executados de acordo com um aspecto da presente descrição. O diagrama 2580 compreende dois eixos. Um eixo horizontal 2584 indica tempo decorrido. Um eixo vertical 2582 indica a posição da viga com perfil em i 2514 entre uma posição inicial do curso 2586 e uma posição final do curso 2588. No eixo horizontal 2584, o circuito de controle 2510 pode receber o sinal de disparo e começar a fornecer a configuração de motor inicial em t0. A porção de circuito aberto do curso do membro de deslo-camento é um período de tempo inicial que pode decorrer entre t0 e t1.
[00136] Um primeiro exemplo 2592 mostra uma resposta do instrumento cirúrgico 2500 quando o 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 viga com perfil em i 2514 pode atravessar da posição inicial do curso 2586 para a posição 2594. O circuito de controle 2510 pode determinar que a posição 2594 corresponde a um programa de controle de disparo que avança a viga com perfil em i 2514 em uma velocidade constante selecionada (Vlenta), indicada pela inclinação do exemplo 2592 após t1 (por exemplo, na porção de circuito fechado). O circuito de controle 2510 pode acionar a viga com perfil em i 2514 para a velocidade Vlenta mediante o monitoramento da posição da viga com perfil em i 2514 e a modulação do ponto de ajuste do motor 2522 e/ou sinal de acionamento de motor 2524 para manter a Vlenta. Um segundo exemplo 2590 mostra uma resposta do instrumento cirúrgico 2500 quando o tecido delgado é posicionado entre a bigorna 2516 e o cartucho de grampos 2518.
[00137] Durante o período de tempo inicial (por exemplo, o período de circuito aberto) entre t0 e t1, a viga com perfil em i 2514 pode atravessar 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 a uma velocidade constante selecionada (Vrápida). Como o tecido no exemplo 2590 é mais delgado do que o tecido no exemplo 2592, ele pode proporcionar menos resistência ao movimento da viga com perfil em i 2514. Como resultado, a viga com perfil em i 2514 pode percorrer uma porção maior do curso durante o período de tempo inicial. Além disso, em alguns exemplos, o tecido mais delgado (por exemplo, uma porção maior do membro de deslocamento do curso do elemento percorrida durante o período de tempo inicial) pode corresponder a velocidades mais altas do membro de deslocamento após o período de tempo inicial.
[00138] As Figuras 16 a 21 ilustram um atuador de extremidade 2300 de um instrumento cirúrgico 2010 mostrando como o atuador de extremidade 2300 pode ser articulado em relação ao conjunto de eixo de acionamento alongado 2200 em torno de uma junta articulada 2270, de acordo com um aspecto da presente descrição. A Figura 16 é uma vista em perspectiva parcial de uma porção do atuador de extre- midade 2300 mostrando um conjunto de eixo de acionamento alongado 2200 em uma orientação não articulada, com algumas de suas porções omitidas para fins de clareza. A Figura 17 é uma vista em perspectiva do atuador de extremidade 2300 da Figura 16 mostrando o conjunto de eixo de acionamento alongado 2200 em uma orientação não articulada. A Figura 18 é uma vista em perspectiva de conjunto explodida do atuador de extremidade 2300 da Figura 16 mostrando o conjunto de eixo de acionamento alongado 2200. A Figura 19 é uma vista de topo do atuador de extremidade 2300 da Figura 16 mostrando o conjunto de eixo de acionamento alongado 2200 em uma orientação não articulada. A Figura 20 é uma vista de topo do atuador de extremidade 2300 da Figura 16 mostrando o conjunto de eixo de acionamento alongado 2200 em uma primeira orientação articulada. A Figura 21 é uma vista de topo do atuador de extremidade 2300 da Figura 16 mostrando o conjunto de eixo de acionamento alongado 2200 em uma segunda orientação articulada.
[00139] Com referência agora às Figuras 16 a 21, o atuador de extremidade 2300 está adaptado para cortar e grampear tecido e inclui uma primeira garra sob a forma de um canal alongado 2302 que é configurado para suportar operacionalmente em seu interior um cartucho de grampos cirúrgicos 2304. O atuador de extremidade 2300 inclui adicionalmente uma segunda garra sob a forma de uma bigorna 2310 que é suportada no canal alongado 2302 para movimento em relação a ele. O conjunto de eixo de acionamento alongado 2200 inclui um sistema de articulação 2800 que usa uma trava de articulação 2810. A trava de articulação 2810 pode ser configurada e operada para travar seletivamente o atuador de extremidade cirúrgico 2300 em várias posições articuladas. Essa disposição possibilita que o atuador de extremidade cirúrgico 2300 seja girado, ou articulado, em relação à luva de fechamento do eixo de acionamento 260, quando a trava de articula- ção 2810 estiver em seu estado destravado. Especificamente com referência à Figura 18, o conjunto de eixo de acionamento alongado 2200 inclui um dorso 210 que é configurado para (1) suportar de maneira deslizante um membro de disparo 220 em seu interior e (2) suportar de maneira deslizante a luva de fechamento 260 (Figura 16) que se estende ao redor do dorso 210. A luva de fechamento do eixo de acionamento 260 é fixada a uma luva de fechamento do atuador de extremidade 272 que é fixada de modo pivotante à luva de fechamento 260 por um conjunto de luva de fechamento com dupla articulação 271.
[00140] O dorso 210 também suporta de maneira deslizante um acionador de articulação proximal 230. O acionador de articulação proximal 230 tem uma extremidade distal 231 que é configurada para se engatar operacionalmente à trava de articulação 2810. A trava de articulação 2810 compreende adicionalmente uma estrutura do eixo de acionamento 2812 que é fixada ao dorso 210 nas várias maneiras aqui reveladas. A estrutura do eixo de acionamento 2812 é configurada para suportar nela, de modo móvel, uma porção proximal 2821 de um acionador de articulação distal 2820. O acionador de articulação distal 2820 é suportado de modo móvel dentro do conjunto de eixo de acionamento alongado 2200 para deslocamento longitudinal seletivo em uma direção distal DD e uma direção proximal PD, ao longo de um eixo geométrico de atuação de articulação AAA que é deslocado lateralmente e paralelo ao eixo geométrico SA-SA do eixo de acionamento, em resposta a movimentos de controle de articulação aplicados a ele.
[00141] Nas Figuras 17 e 18, a estrutura de eixo de acionamento 2812 inclui uma porção de extremidade distal 2814 que tem um pino de pivô 2818 formado sobre ela. O pino de pivô 2818 é adaptado para ser recebido de modo articulado dentro de um orifício de pivô 2397 formado na porção de base de pivô 2395 de um conjunto de montagem do atuador de extremidade 2390. O conjunto de montagem do atuador de extremidade 2390 é fixado à extremidade proximal 2303 do canal alongado 2302 por meio de um pino de mola 2393 ou equivalente. O pino de pivô 2818 define um eixo geométrico de articulação B-B transversal ao eixo geométrico do eixo de acionamento SA-SA para facilitar o deslocamento pivotante (isto é, a articulação) do atuador de extremidade 2300 ao redor do eixo geométrico de articulação B-B em relação à estrutura do eixo de acionamento 2812.
[00142] Conforme mostrado na Figura 18, um pino de elo 2825 é formado em uma extremidade distal 2823 do elo de articulação distal 2820 e é configurado para ser recebido no interior de um orifício 2904 em uma extremidade proximal 2902 de um elo transversal 2900. O elo transversal 2900 se estende transversalmente através do eixo geométrico SA-SA do eixo de acionamento e inclui uma porção de extremidade distal 2906. Um orifício de elo distal 2908 é fornecido através da porção de extremidade distal 2906 do elo transversal 2900 e é configurado para receber em seu interior, de modo pivotante, um pino de base 2398 que se estende a partir do fundo da porção de base de pivô 2395 do conjunto de montagem do atuador de extremidade 2390. O pino de base 2395 define um eixo geométrico do elo LA que é paralelo ao eixo geométrico de articulação B-B. As Figuras 17 e 20 ilustram o atuador de extremidade cirúrgico 2300 em uma posição não articulada. O eixo geométrico EA do atuador de extremidade, que é definido pelo canal alongado 2302, está alinhado ao eixo geométrico SA-SA do eixo de acionamento. O termo "alinhado a" pode significar "alinhado coaxialmente" ao eixo geométrico SA-SA do eixo de acionamento ou paralelo ao eixo geométrico SA-SA do eixo de acionamento. O movimento do acionador de articulação distal 2820 na direção proximal DD fará com que o elo transversal 2900 mova o atuador de extremidade cirúrgico 2300 no sentido horário CW em torno do eixo geométrico de articulação B-B, conforme mostrado na Figura 19. O movimento do acionador de articulação distal 2820 na direção distal DD fará com que o elo transversal 2900 mova o atuador de extremidade cirúrgico 2300 no sentido anti-horário CCW em torno do eixo geométrico de articulação B-B, conforme mostrado na Figura 21. Como pode ser visto na Figura 21, o elo transversal 2900 tem um formato curvo que possibilita que o elo transversal 2900 se curve em torno do pino de articulação 2818, quando o atuador de extremidade cirúrgico 2300 é articulado nessa direção. Quando o atuador de extremidade cirúrgico 2300 está em uma posição completamente articulada em cada lado do eixo geométrico SA-SA do eixo de acionamento, o ângulo de articulação 2700 entre o eixo geométrico EA do atuador de extremidade e o eixo geométrico SA-SA do eixo de acionamento é de aproximadamente sessenta e cinco graus (65°). Dessa forma, a faixa de articulação em cada um dos lados do eixo geométrico do eixo de acionamento é entre um grau (1°) e sessenta e cinco graus (65°).
[00143] A Figura 19 mostra a junta articulada 2270 em uma posição reta, isto é, em um ângulo zero θ0 em relação à direção longitudinal mostrada como eixo de acionamento SA, de acordo com um aspecto. A Figura 20 mostra a junta articulada 2270 da Figura 19 articulada em uma direção de em um primeiro ângulo θ1 definido entre o eixo geométrico SA do eixo de acionamento e o eixo geométrico EA do atuador de extremidade, de acordo com um aspecto. A Figura 21 ilustra a junta articulada 2270 da Figura 19 articulada em uma outra direção em um segundo ângulo θ2 definida entre o eixo geométrico SA do eixo de acionamento e o eixo geométrico EA do atuador de extremidade.
[00144] O atuador de extremidade cirúrgico 2300 nas Figuras 16 a 21 compreende um dispositivo de corte e grampeamento cirúrgico que usa um membro de disparo 220 dentre os vários tipos e configurações aqui descritos. Entretanto, o atuador de extremidade cirúrgico 2300 pode compreender outras formas de atuadores de extremidade cirúrgicos que não cortam e/ou grampeiam tecido. Um membro de suporte intermediário 2950 é suportado de modo pivotante e deslizante em relação ao dorso 210. Na Figura 18, o membro de suporte intermediário 2950 inclui uma fenda 2952 que é adaptada para receber em seu interior um pino 2954 que se projeta a partir do dorso 210. Isso possibilita que o membro de suporte intermediário 2950 gire e traslade em relação ao pino 2954, quando o atuador de extremidade cirúrgico 2300 é articulado. Um pino de pivô 2958 se projeta a partir do lado inferior do membro de suporte intermediário 2950 para ser recebido de forma articulada dentro de um orifício de pivô correspondente 2399 fornecido na porção de base 2395 do conjunto de montagem do atuador de extremidade 2390. O membro de suporte intermediário 2950 inclui adicionalmente uma fenda 2960 para receber um membro de disparo 220 através dela. O membro de suporte intermediário 2950 serve para fornecer suporte lateral ao membro de disparo 220 à medida que este se flexiona para acomodar a articulação do atuador de extremidade cirúrgico 2300.
[00145] O instrumento cirúrgico pode adicionalmente ser configurado para determinar o ângulo no qual o atuador de extremidade 2300 é orientado. Em várias modalidades, o sensor de posição 1112 da disposição do sensor 1102 pode compreender um ou mais sensores magnéticos, sensores giratórios analógicos (como um potenciômetro), matrizes de sensores de efeito Hall analógicos, que emitem uma combinação única de sinais ou valores, dentre outros, por exemplo. Em um aspecto, a junta articulada 2270 do aspecto ilustrado nas Figuras 16 a 21 pode adicionalmente compreender uma disposição do sensor de articulação que é configurada para determinar a posição angular, isto é, ângulo de articulação, do atuador de extremidade 2300 e fornecer um sinal de posição único correspondente a ela.
[00146] A disposição do sensor de articulação pode ser similar à disposição do sensor 1102 descrita acima e ilustrada nas Figuras 10 a 12. Nesse aspecto, a disposição do sensor de articulação pode compreender um sensor de posição e um magneto que é acoplado de modo operacional à junta articulada 2270 de modo que gire de uma maneira consistente com a rotação da junta articulada 2270. O magneto pode, por exemplo, ser acoplado ao pino de pivô 2818. O sensor de posição compreende um ou mais elementos de detecção magnética, como sensores de efeito Hall e é colocado próximo ao magneto, dentro ou adjacente à junta articulada 2270. Consequentemente, à medida que o magneto gira, os elementos de detecção magnética do sensor de posição determinam a posição angular absoluta do magneto. À medida que o magneto é acoplado à junta articulada 2270, a posição angular do magneto em relação ao sensor de posição corresponde à posição angular do atuador de extremidade 2300. Portanto, a disposição do sensor de articulação é capaz de determinar a posição angular do atuador de extremidade à medida que o atuador de extremidade é articulado.
[00147] Em um outro aspecto, o instrumento cirúrgico é configurado para determinar o ângulo no qual o atuador de extremidade 2300 é posicionado de forma indireta pelo monitoramento da posição absoluta do acionador de articulação 230 (Figura 3). À medida que a posição do acionador de articulação 230 corresponde ao ângulo no qual o atuador de extremidade 2300 é orientado de maneira conhecida, a posição absoluta do acionador de articulação 230 pode ser rastreado e, então, trasladado para a posição angular do atuador de extremidade 2300. Nesse aspecto, o instrumento cirúrgico compreende uma disposição do sensor de articulação que é configurada para determinar a posição linear absoluta do acionador de articulação 230 e fornecer um sinal de posição único correspondendo a ela. Em alguns aspectos, a disposição do sensor de articulação ou o controlador operacionalmente acoplado à disposição do sensor de articulação disposição é configurada adicionalmente para trasladar ou calcular a posição angular do atuador de extremidade 2300 de um sinal de posição único.
[00148] A disposição do sensor de articulação nesse aspecto pode, de modo semelhante, ser similar à disposição do sensor 1102 descrita acima e ilustrada nas Figuras 10 a 12. Em um aspecto similar ao aspecto ilustrado na Figura 10 em relação ao membro de deslocamento 1111, a disposição do sensor de articulação compreende um sensor de posição e um magneto que gira uma vez a cada curso completo do acionador de articulação longitudinalmente móvel 230. O sensor de posição compreende um ou mais elementos de detecção magnética, como sensores de efeito Hall, e está posicionado próximo ao magneto. Consequentemente, à medida que o magneto gira, os elementos de detecção magnética do sensor de posição determinam a posição angular absoluta do magneto durante uma revolução.
[00149] Em um aspecto, uma única revolução do elemento sensor associado ao sensor de posição é equivalente a um deslocamento linear longitudinal d1 do acionador de articulação longitudinalmente móvel 230. Em outras palavras, d1 é a distância linear longitudinal pela qual o acionamento de articulação longitudinalmente móvel 230 se move do ponto "a" até o ponto "b" depois de uma única revolução de um elemento sensor acoplado ao acionador de articulação longitudinalmente móvel 230. A disposição do sensor de articulação pode ser conectada por meio de uma redução de engrenagem que resulta no sensor de posição completando apenas uma única revolução do curso completo do acionador de articulação longitudinalmente móvel 230. Em outras palavras, d1 pode ser igual ao curso completo do acionador de articulação 230. O sensor de posição é configurado para, então,transmitir um sinal de posição único correspondente à posição absoluta do acionador de articulação 230 ao controlador 1104, como naqueles aspectos representados na Figura 10 mediante o recebimento de um sinal de posição único, o controlador 1104 é, então, configurado para executar uma lógica para determinar a posição angular do atua- dor de extremidade correspondente à posição linear do acionador de articulação 230, por exemplo, consultando uma tabela de consulta que retorna o valor da posição angular pré-calculada do atuador de extremidade 2300, calculando por meio de um algoritmo a posição angular do atuador de extremidade 2300 com o uso da posição linear do acio- nador de articulação 230 como entrada, ou realizando qualquer outro método conforme é conhecido na técnica.
[00150] Em vários aspectos, qualquer número de elementos de detecção magnética pode ser empregado na disposição do sensor de articulação, como, por exemplo, sensores magnéticos classificados de acordo com sua capacidade de medir o campo magnético total ou os componentes vetoriais do campo magnético. O número de elementos de detecção magnética utilizado corresponde à resolução desejada a ser detectada pela disposição do sensor de articulação. Em outras palavras, quanto maior número de elementos de detecção magnética usados, maior o grau de articulação que pode ser detectado pela disposição do sensor de articulação. 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 aniso- trópica, magnetorresistência gigante, junções túnel magnéticas, mag- netoimpedância gigante, compostos magnetostritivos/piesoelétricos, magnetodiodo, transistor magnético, fibra óptica, magneto-óptica e sensores magnéticos baseados em sistemas microeletromecânicos,dentre outros.
[00151] Em um aspecto, o sensor de posição dos vários aspectos da disposição do sensor de articulação pode ser implementado de maneira similar ao sistema de posicionamento ilustrado na Figura 12 para rastrear a posição do membro de deslocamento 1111. Em um aspecto, a disposição do sensor de articulação pode ser implementada como um sensor de posição giratório magnético de circuito integrado único AS5055EQFT, disponível junto à Austria Microsystems, AG. O sensor de posição faz interface com o controlador para fornecer um sistema de posicionamento absoluto para determinar a posição angular absoluta do atuador de extremidade 2300, seja diretamente ou indi-retamente. O sensor de posição 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 localizada acima do magneto 1202 (Figura 11). Um conversor A-D de alta resolução 1232 e um controlador de gerenciamento de potência inteligente 1238 são apresentados, também, no circuito integrado. Um processador CORDIC (Coordinate Rotation DIgital Computer) 1236, também conhecido como método de dígito por dígito e algoritmo de Vol- der, 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 consulta. A posição angular, os bits de alarme e as 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 integrado AS5055 fornecido em uma pequena embalagem QFN de 16 pinos de 4x4x0,85 mm.
[00152] Com referência às Figuras 1 a 4 e 10 a 21, a posição da junta articulada 2270 e a posição da viga com perfil em i 178 (Figura 4) podem ser determinadas com o sinal/valor de realimentação de posição absoluta do sistema de posicionamento absoluto 1100. Em um aspecto, o ângulo de articulação θ pode ser determinado com precisão razoável com base no membro de acionamento 120 do instrumento cirúrgico 10. Conforme descrito acima, o movimento do membro de acionamento longitudinalmente móvel 120 (Figura 2) pode ser rastrea- do pelo sistema de posicionamento absoluto 1100 em que, quando o acionador de articulação é operacionalmente acoplado ao membro de disparo 220 (Figura 3) pelo conjunto de embreagem 400 (Figura 3), por exemplo, o sistema de posicionamento absoluto 1100 pode, com efeito, rastrear o movimento do sistema de articulação por meio do membro de acionamento 120. Como resultado de rastrear o movimento do sistema de articulação, o controlador do instrumento cirúrgico pode registrar o ângulo de articulação θ do atuador de extremidade 2300, como o atuador de extremidade 2300, por exemplo. Em várias circunstâncias, como resultado, o ângulo de articulação θ pode ser determinado como função do deslocamento longitudinal DL do membro de acionamento 120. Como o deslocamento longitudinal DL do membro de acionamento 120 pode ser determinado com precisão com base no sinal/valor de posição absoluto fornecido pelo sistema de posicionamento absoluto 1100, o ângulo de articulação θ pode ser determinado como função do deslocamento longitudinal LD.
[00153] Em um outro aspecto, o ângulo de articulação θ pode ser determinado pelos sensores de localização na junta articulada 2270. Os sensores podem ser configurados para detectar a rotação da junta articulada 2270 com o uso do sistema de posicionamento absoluto 1100 adaptado para medir a rotação absoluta da junta articulada 2270. Por exemplo, a disposição do sensor 1102 compreende um sensor de posição 1200, um magneto 1202 e um suporte de magneto 1204 adap- tado para detectar a rotação da junta articulada 2270. O sensor de posição 1200 compreende um ou mais elementos de detecção magnética, como elementos de Hall, e está posicionado próximo ao magneto 1202. O sensor de posição 1200 descrito na Figura 12 pode ser adaptado para medir o ângulo de rotação da junta articulada 2270. Consequentemente, à medida que o magneto 1202 gira, os elementos de detecção magnética do sensor de posição 1200 determinam a posição angular absoluta do magneto 1202 localizado na junta articulada 2270. Essas informações são fornecidas ao microcontrolador 1104 para calcular o ângulo de articulação da junta articulada 2270. Consequente-mente, o ângulo de articulação do atuador de extremidade 2300 pode ser determinado pelo sistema de posicionamento absoluto 1100 adaptado para medir a rotação absoluta da junta articulada 2270.
[00154] Em um aspecto, a taxa ou velocidade de disparo da viga com perfil em i 178 pode ser variada como uma função do ângulo de articulação do atuador de extremidade 2300 para diminuir a força para disparar no sistema de acionamento de disparo 80 e, em particular, a força para disparar da viga com perfil em i 178, entre outros componentes do sistema de acionamento de disparo 80 aqui discutido. Para adaptar a força de disparo variável da viga com perfil em i 178 como função do ângulo de articulação do atuador de extremidade 2300, uma tensão de controle de motor variável pode ser aplicada ao motor 82 para controlar a velocidade do motor 82. A velocidade do motor 82 pode ser controlada mediante a comparação da força de disparo da viga com perfil em i 178 com diferentes limites máximos com base no ângulo de articulação do atuador de extremidade 2300. A velocidade do motor elétrico 82 pode ser variada através do ajuste da tensão, da corrente, da modulação por largura de Pulso (PWM) ou do ciclo de trabalho (0 a 100%) aplicados ao motor 82, por exemplo.
[00155] Tendo descrito as técnicas para medir o ângulo de articula- ção da junta articulada 2270 e o acionamento do membro de acionamento longitudinalmente móvel 120, o membro de disparo 220, a barra de disparo 172 ou a viga com perfil em i 178 que usam o sistema de acionamento de disparo 80 do instrumento cirúrgico 10 (Figuras 1 a 4), a descrição agora se volta para as Figuras 13, 14 e 22 a 27 para uma descrição de várias técnicas para controlar a taxa ou velocidade de disparo da viga com perfil em i 2514, ou da barra de disparo 2520, com base no ângulo de articulação do atuador de extremidade 2502.
[00156] A Figura 22 é um gráfico 4500 da taxa (velocidade) de disparo da viga com perfil em i 2514 como função do ângulo de articulação do atuador de extremidade 2502, de acordo com um ou mais aspectos da presente descrição. O eixo horizontal 4502 representa o ângulo de articulação do atuador de extremidade 2502 na faixa entre -65° e +65°, por exemplo, e o eixo vertical 4504 representa a taxa de disparo da viga com perfil em i 2514 de 0 a 1,0Y mm/s, onde Y é um fator de escala. Por exemplo, quando Y = 20, o eixo vertical 4504 está na escala de 0 a 20 mm/s. A curva 4506 mostra que, à medida que o ângulo de articulação do atuador de extremidade 2502 varia entre -65° e +65°, a taxa de disparo da viga com perfil em i 2514 varia de forma não linear e é simétrica em torno de 0°. A taxa de disparo máxima da viga com perfil em i 2514 de 1,0Y ocorre em um ângulo de articulação do atuador de extremidade 2300 de 0°, em outras palavras, quando o eixo geométrico EA do atuador de extremidade e o eixo geométrico SA do atuador de extremidade estão alinhados. À medida que o atuador de extremidade 2502 é articulado de 0° para +65° ou de 0° para -65°, a taxa de disparo da viga com perfil em i 2514 diminui de modo não linear de 1,0Y para 0,5Y.
[00157] A Figura 23 é um gráfico 4510 da força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514, de acordo com um ou mais aspectos da presente descrição. O eixo horizontal 4512 representa o deslocamento do curso de disparo da viga com perfil 2514 em i de 0 mm (o início do curso de disparo) para 1,0X mm de (o final do curso de disparo), onde X é um fator de escala associado ao comprimento nominal de um cartucho do grampeador. Os comprimentos nominais dos cartuchos de grampeador situam-se na faixa de 10 a 60 mm, por exemplo. O eixo vertical 4514 representa a força de disparo da viga com perfil em i 2514 de 0 a 1,00Y N (Newtons), onde Y é um fator de escala. Em um aspecto, a força do membro de disparo 2520 varia de 0 a 900 N (0 a 202,328 libras-peso). O gráfico 4510 mostra três curvas 4516, 4518, 4520. A primeira curva 4516 representa a força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514 em um ângulo de articulação do atuador de extremidade 2502 de 0° (o eixo geométrico EA do atuador de extremidade e o eixo geométrico SA do eixo de acionamento estão alinhados) à medida que a viga com perfil em i 2514 avança distalmente a uma velocidade constante. A segunda curva 4518 representa a força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514 em um ângulo de articulação do atuador de extremidade 2502 de ±65°, à medida que a viga com perfil em i 2514 avança distalmente a uma velocidade constante. Em outras palavras, sem a variação da velocidade do motor 2504 como função do ângulo de articulação do atuador de extremidade 2502. Conforme mostrado pela segunda curva 4520 em relação à primeira curva 4516, a força da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514 é maior quando a viga com perfil em i 2514 avança distalmente a uma velocidade constante em um ângulo de articulação do atuador de extremidade 2502 de ±65°. A terceira curva 4520 mostra uma força de disparo da viga com perfil em i 2514 inferior total como função do deslocamen- to do curso de disparo da viga com perfil em i 2514 que é obtido mediante a variação da velocidade do motor 2504 como função do ângulo de articulação do atuador de extremidade 2502 de ±65°, conforme mostrado na Figura 22, por exemplo.
[00158] A força que atua sobre o membro de disparo 2520 pode ser determinada com o uso de várias técnicas. Em um aspecto, a força do membro de disparo pode ser determinada mediante a medição da corrente do motor 2504, onde a corrente do motor 2504 se baseia na carga sobre o membro de disparo 2520 à medida que ele avança distal- mente. Em um outro aspecto, a força de disparo da viga com perfil em i 2514 pode ser determinada posicionando-se um medidor de esforço no membro de acionamento 120 (Figura 2), o membro de disparo 220 (Figura 2), o membro de disparo 2520, a barra de disparo 172 (Figura 2) e/ou a viga com perfil em i 2514, 178 (Figura 4). Em ainda um outro aspecto, a viga com perfil em i 2514 pode ser determinada pelo monitoramento da posição real da viga com perfil em i 2514 se movendo a uma velocidade esperada com base na velocidade ajustada atual do motor 2504 após um período de tempo predeterminado T1 decorrido e pela comparação da posição real da viga com perfil em i 2514 em relação à posição esperada da viga com perfil em i 2514 com base na velocidade ajustada atual do motor 2504 no final do período T1. Dessa forma, se a posição real da viga com perfil em i 2514 for menor que a posição esperada da viga com perfil em i 2514, a força na viga com perfil em i 2514 é maior que uma força nominal. Por outro lado, se a posição real da viga com perfil em i 2514 for maior que a posição esperada da viga com perfil em i 2514, a força na viga com perfil em i 2514 é menor que a força nominal. A diferença entre as posições real e esperada da viga com perfil em i 2514 é proporcional ao desvio da força na viga com perfil em i 2514 a partir da força nominal. A última técnica é descrita em detalhes no n° do documento de procuração de propriedade comum END8195USNP depositado na mesma data, que está aqui incorporado a título de referência em sua totalidade. À medida que a força de disparo da viga com perfil em i 2514 varia como função do ângulo de articulação do atuador de extremidade 2502, a variação da tensão de controle aplicada ao motor 2504 para controlar a velocidade do motor 2504 através de diferentes limites de corrente máxima relacionados ao ângulo de articulação do atuador de extremidade 2502 pode ser empregada para reduzir a força de disparo na viga com perfil em i 2514 e a força para disparar a viga com perfil em i 2514, de modo geral. Essa é a técnica descrita abaixo em conjunto com a Figura 23.
[00159] A Figura 24 é um gráfico 4530 da força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514, de acordo com um ou mais aspectos da presente descrição. O eixo horizontal 4532 representa o deslocamento do curso de disparo de 0 a 1,0X mm de, onde X é um fator de escala associado ao comprimento nominal de um cartucho de grampeador. Os comprimentos nominais dos cartuchos de grampeador situam-se na faixa de 10 a 60 mm, por exemplo. O eixo vertical 4534 representa a força de disparo da viga com perfil em i 2514 de 0 a 1,00Y N, onde Y é um fator de escala. Em um aspecto, a força de disparo da viga com perfil em i 2514 varia de 0 a 900 N (0 a 202,328 li- bras-peso). O gráfico 4530 mostra três curvas 4536, 4538, 4540 e dois limites 4542, 4544 com base no ângulo de articulação do atuador de extremidade 2502 para reduzir a força de disparo e a força para disparar sobre a viga com perfil em i 2514. A primeira curva 4536 representa a força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo em um ângulo de articulação do atua- dor de extremidade 2502 de 0° (o eixo geométrico EA do atuador de extremidade e o eixo geométrico SA do eixo de acionamento estão alinhados) à medida que a viga com perfil em i 2514 avança distalmen- te a uma velocidade constante. A segunda curva 4538 representa a força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514 em um ângulo de articulação do atuador de extremidade 2502 de 65°, à medida que o atuador de extremidade avança distalmente a uma velocidade variável definida pelo ângulo de articulação. A terceira curva 4540 representa a força de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514 em um ângulo de articulação do atuador de extremidade 2502 de 65°, à medida que a viga com perfil em i 2514 avança a uma velocidade constante com limitações da capacidade de bateria (V-A) real.
[00160] O gráfico 4530 mostra também os limites variáveis da força do gatilho de disparo 4542, 4544 da viga com perfil em i 2514 com base no ângulo de articulação do atuador de extremidade 2502, o que resulta em uma taxa de disparo variável da viga com perfil em i 2514 durante todo o curso de disparo da viga com perfil em i 2514. O limite superior 4542 é de um ângulo de articulação do atuador de extremidade 2502 de 65° e o limite inferior 4544 é de um ângulo de articulação do atuador de extremidade 2502 de 0°. Com o ângulo de articulação do atuador de extremidade 2502 ajustado para 65°, a viga com perfil em i 2514 avança a uma velocidade variável até que a força de disparo da viga com perfil em i 2514 atravesse o limite superior 4542 e, nesse momento, um algoritmo ajusta a velocidade do motor 2504 para uma velocidade desejada até que a força de disparo da viga com perfil em i 2514 caia abaixo do limite superior 4542 da força de disparo da viga com perfil em i 2514 e, então, mantém a velocidade do motor 2054 constante. A viga com perfil em i 2514, então, avança distalmen- te na velocidade constante desejada. Com o ângulo de articulação do atuador de extremidade 2502 ajustado para 0°, a viga com perfil em i 2514 avança a uma velocidade variável até que a força de disparo da viga com perfil em i 2514 atravesse o limite inferior 4544 e, nesse momento, um algoritmo ajusta a velocidade do motor 2504 a uma velocidade constante desejada. A viga com perfil em i 2514 avança distal- mente na velocidade constante desejada. Essa operação é adicionalmente descrita abaixo em conjunto com a Figura 24. O limite superior 4542 e o limite inferior 4544 bem como o limite intermediário entre eles, que varia com base no ângulo de articulação do atuador de extremidade 2502, são não lineares ao longo do deslocamento do curso de disparo do cartucho de grampeador 2518. Em outros aspectos, os limites 4542, 4544 podem ser uma linha reta constante ou podem ser uma linha reta com um coeficiente angular. Os limites 4542, 4544 representam a força de disparo da viga com perfil em i 2514 indepen-dentemente de como a força de disparo da viga com perfil em i 2514 é determinada.
[00161] Conforme discutido acima, a força de disparo da viga com perfil em i 2514 pode ser determinada pela corrente do motor 2504, pelo medidor de esforço ou representada pela comparação da posição real da viga com perfil em i 2514 ao longo de um período predeterminado t1 em relação à posição esperada da viga com perfil em i 2514 avançando distalmente a uma velocidade definida do motor 2504. Na última configuração, com referência também à Figura 25, o instrumento cirúrgico compreende adicionalmente um circuito temporiza- dor/contador 2531 acoplado ao circuito de controle 2510, onde o circuito temporizador/contador 2531 é configurado para medir o tempo decorrido. O circuito de controle 2510 é configurado para definir a velocidade do motor 2504, receber uma posição inicial da viga com perfil em i 2514 do sensor de posição 2534, receber um tempo de referência t1 do circuito temporizador/contador 2531, que corresponde à posição inicial da viga com perfil em i 2514, e determinar uma posição espera- da da viga com perfil em i 2514 em um tempo t2 com base na velocidade definida do motor 2504. O circuito de controle 2510 é adicionalmente configurado para receber uma posição real da viga com perfil em i 2514 no tempo t2 do sensor de posição 2534, comparar a posição real da viga com perfil em i 2514 no tempo t2 com a posição esperada da viga com perfil em i 2514 no tempo t2 e determinar a força de disparo sobre a viga com perfil em i 2514 com base em uma diferença entre a posição real da viga com perfil em i 2514 no tempo t2 com a posição esperada da viga com perfil em i 2514 no tempo t2.
[00162] A Figura 25 é um gráfico 4550 da taxa de disparo da viga com perfil em i 2514 como função do deslocamento do curso de disparo da viga com perfil em i 2514, de acordo com um ou mais aspectos da presente descrição. O eixo horizontal 4552 representa curso de disparo do deslocamento da viga com perfil em i 2514 de 0 a 1,0X mm, onde X é um Fator de escala associado ao comprimento nominal de um cartucho de grampeador. Os comprimentos nominais dos cartuchos de grampeador situam-se na faixa de 10 a 60 mm, por exemplo. O eixo vertical 4554 representa a taxa de disparo da viga com perfil em i 2514 de 0 a 1,00Y N, onde Y é um fator de escala. Em um aspecto, a força da viga com perfil em i 2514 varia de 0 a 20 mm/s. O gráfico 4550 mostra três curvas 4556, 4558, 4559. A primeira curva 4556 é a taxa da viga com perfil em i 2514 definida em um ângulo de articulação do atuador de extremidade de 0°. A taxa de disparo da viga com perfil em i 2514 aumenta em relação ao deslocamento inicial e permanece constante durante o curso restante com o motor 2504 ajustado para uma velocidade constante. A segunda curva 4558 é a taxa da viga com perfil em i 2514 definida em um ângulo de articulação do atuador de extremidade 2502 de 65°. A taxa de disparo da viga com perfil em i 2514 aumenta em relação ao deslocamento inicial e permanece constante durante o curso restante com o motor 2504 ajustado para uma velocidade variável com base no ângulo de articulação do atuador de extremidade 2502. A terceira curva 4559 é a taxa da viga com perfil em i 2514 definida em um ângulo de articulação do atuador de extremidade 2502 de 65°. A viga com perfil em i 2514 aumenta durante o deslocamento inicial e varia durante o curso restante com o motor 2504 ajustado a uma velocidade desejada constante com as limitações da capacidade de bateria (V-A) real.
[00163] A Figura 26 é um diagrama de fluxo lógico representando um processo 4560 de um programa de controle ou uma configuração lógica para controlar a taxa de um membro de deslocamento como uma viga com perfil em i 2514, por exemplo, com base em um ângulo de articulação do atuador de extremidade 2502, de acordo com um ou mais aspectos da presente descrição. Na descrição a seguir do processo 4560 na Figura 26, referência também deve ser feita às Figuras 15 a 25. Consequentemente, o circuito de controle 2510 determina 4562 o ângulo de articulação atual do atuador de extremidade 2502 com base nas informações recebidas do sensor de posição 2534. O circuito de controle 2510 ajusta 4564 a velocidade do motor 2504 com base no ângulo de articulação. O circuito de controle 2510 compara 4565 o ângulo de articulação atual com o ângulo de articulação anterior. Se não houver alteração no ângulo de articulação, o processo 4560 continua ao longo da ramificação "não" (N) e o circuito de controle 2510 determina o ângulo de articulação 4562 mantendo, ao mesmo tempo, a velocidade do motor 2504 constante. Se houver uma altera-ção no ângulo de articulação do atuador de extremidade 2502, o processo 4560 continua ao longo da ramificação "sim" (Y) e o circuito de controle 2501 ajusta 4566 a velocidade do motor 2504 com base no novo ângulo de articulação. O circuito de controle 2510 compara 4567 a posição real da viga com perfil em i 2514 e a posição do curso de disparo. Se a viga com perfil em i 2514 estiver no final do curso de disparo, o processo 4560 continua ao longo da ramificação "sim" (Y) e termina 4568. Se a viga com perfil em i 2514 não alcançou o final do curso de disparo, o processo 4560 continua ao longo da ramificação "não" (N) e determina 4562 o ângulo de articulação. O processo 4560 continua até a posição da viga com perfil em i 2514 atingir 4569 o final do curso de disparo da viga com perfil em i 2514.
[00164] A Figura 27 é um diagrama de fluxo lógico representando um processo 4570 de um programa de controle ou uma configuração lógica para controlar a taxa de um membro de deslocamento como uma viga com perfil em i 2514, por exemplo, com base em um ângulo de articulação do atuador de extremidade 2502, de acordo com um ou mais aspectos da presente descrição. Na descrição a seguir do processo 4570 na Figura 27, referência também deve ser feita às Figuras 15 a 25. Consequentemente, o circuito de controle 2510 determina 4572 o ângulo de articulação do atuador de extremidade 2502 com base nas informações recebidas do sensor de posição 2534. No exemplo em que o membro de deslocamento é a viga com perfil em i 2514, o circuito de controle 2510 seleciona 4574 um limite de força da viga com perfil em i 2514 com base no ângulo de articulação do atua- dor de extremidade 2502. O circuito de controle 2510 fornece um sinal de ponto de ajuste do motor 2522 ao controlador do motor 2508, que fornece o sinal de acionamento de motor 2524 para ajustar 4576 a velocidade do motor 2504 com base no ângulo de articulação do atuador de extremidade 2502. O circuito de controle 2510 determina 4578 a posição real da viga com perfil em i 2514 e determina 4580 a força de disparo da viga com perfil em i 2514 e compara 4582 a força de dispa-ro da viga com perfil em i 2514 ao limite. Se a força de disparo da viga com perfil em i 2514 excede o limite, o processo continua ao longo da ramificação "sim" (Y) e reduz 4584 a velocidade do motor 2504 até a força de disparo da viga com perfil em i 2514 cair abaixo do limite da força de disparo da viga com perfil em i 2514. Se a força de disparo da viga com perfil em i 2514 for menor que o limite, o processo continua ao longo da ramificação "não" (N) e continua para determinar 4578 a posição real da viga com perfil em i 2514, determinar 4580 a força de disparo da viga com perfil em i 2514 e comparar 4582 a força de disparo da viga com perfil em i 2514 com o limiar até a força de disparo da viga com perfil em i 2514 exceder o limiar. O sinal de acionamento do motor 2524 pode ser um sinal de tensão ou corrente variável, um sinal modulado por largura de pulso (PWM) e/ou um sinal de ciclo de trabalho variável. O circuito de controle 2510 compara a posição real da viga com perfil em i 2514 à posição do curso de disparo da viga com perfil em i 2514. Se a viga com perfil em i 2514 estiver no final do curso de disparo, o processo 4570 continua ao longo da ramificação "sim" (Y) e termina 4588. Se a viga com perfil em i 2514 não alcançou o final do curso de disparo, o processo 4570 continua ao longo da ramificação "não" (N) e determina 4572 o ângulo de articulação do atua- dor de extremidade 2502. O processo 4570 continua até a posição da viga com perfil em i 2514 atingir o final do curso de disparo.
[00165] As funções ou processos 4560, 4570 aqui descritos podem ser executados por qualquer um dos circuitos de processamento aqui descritos, como o circuito de controle 700 descrito em relação às Figuras 5 e 6, os circuitos 800, 810, 820 descritos nas Figuras 7 a 9, o mi- crocontrolador 1104 descrito nas Figuras 10 e 12 e/ou o circuito de controle 2510 descrito na Figura 14.
[00166] Aspectos do instrumento cirúrgico motorizado podem ser praticados sem os detalhes específicos aqui revelados. Alguns aspectos foram mostrados como diagramas de blocos 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 a uma 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 que possam ser 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.
[00167] De modo geral, os aspectos aqui descritos, os quais podem ser implementados, individual e/ou coletivamente, por meio de uma ampla gama de hardware, software, firmware ou qualquer combinação destes, podem ser vistos como sendo compostos por vários tipos de "circuitos elétricos". Consequentemente, o termo "circuito elétrico" inclui circuitos elétricos que tenham ao menos um circuito elétrico isolado, 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 para finalidades gerais ou processador configurado por um programa de computador que ao menos parcialmente execute 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 delas.
[00168] A descrição anterior apresentou aspectos de dispositivos e/ou processos por meio do uso de diagramas de blocos, fluxogramas e/ou exemplos, que podem conter uma ou mais funções e/ou opera- ção. 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 deles. Em um aspecto, várias porções do assunto aqui descrito podem ser implementadas por meio de circuitos integrados de aplicação específica ("ASIC" - application specific integrated circuits), matrizes de portas programável em campo ("FPGA" - field programmable gate arrays), processadores de sinal digital ("DSPs" - digital signal processors), dispositivos de lógica programáveis ("PLD" - programmable logic devices), 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 executados em um ou mais computadores (por exemplo, como um ou mais programas executados em um ou mais sistemas de computador), como um ou mais programas executados em um ou mais processadores (por exemplo, como um ou mais programas executados em um ou mais microprocessadores), como firmware, ou virtualmente como qualquer combinação deles, e que projetar o conjunto de circuitos e/ou escrever o código para o software e firmware estaria dentro do âmbito de prática de um versado na técnica à luz desta descrição.
[00169] Os mecanismos do assunto aqui descrito podem ser distribuídos como um produto de programa em uma variedade de formas e que um aspecto ilustrativo do assunto aqui descrito é aplicável independentemente do tipo específico de meio de transmissão de sinais usado para efetivamente executar a distribuição. Exemplos de um meio de transmissão de sinais incluem os seguintes: um meio 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.).
[00170] A descrição anteriormente mencionada desses 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, possibilitar que o versado na técnica use os vários aspectos e com várias modificações, conforme sejam convenientes ao uso específico contemplado. Pretende-se que as concretizações apresentadas definam o escopo global.
[00171] Vários aspectos da matéria descrita no presente documento são definidos nos seguintes exemplos numerados:
[00172] Exemplo 1. Um instrumento cirúrgico que compreende: um membro de deslocamento; um motor acoplado ao membro de deslocamento para trasladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, o sensor de posição configurado para medir a posição do membro de deslocamento e configurado para medir um ângulo de articulação de um atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente; em que o circuito de controle é configurado para: determinar o ângulo de articulação entre o atuador de extremidade e o eixo de acionamento; selecionar uma força limite com base no ângulo de articulação; ajustar a velocidade do mo tor com base no ângulo de articulação; determinar a força sobre o membro de deslocamento e ajustar a velocidade do motor quando a força sobre o membro de deslocamento for maior que a força limite.
[00173] Exemplo 2. O instrumento cirúrgico do Exemplo 1, em que o circuito de controle é configurado para determinar a posição real do membro de deslocamento.
[00174] Exemplo 3. O instrumento cirúrgico do Exemplo 1 ao Exemplo 2, em que o circuito de controle é configurado para determinar o final do curso de disparo do membro de deslocamento.
[00175] Exemplo 4. O instrumento cirúrgico do Exemplo 1 ao Exemplo 3, em que o circuito de controle é configurado para comparar a força sobre o membro de deslocamento à força limite.
[00176] Exemplo 5. O instrumento cirúrgico do Exemplo 1 ao Exemplo 4, que compreende adicionalmente um circuito temporiza- dor/contador acoplado ao circuito de controle, o circuito temporiza- dor/contador configurado para medir o tempo decorrido; em que o circuito de controle é configurado para: ajustar a velocidade do motor; receber uma posição inicial do membro de deslocamento do sensor de posição; receber um tempo de referência t1 do circuito temporiza- dor/contador correspondente à posição inicial do membro de deslocamento; e determinar uma posição esperada do membro de deslocamento em um tempo t2 com base na velocidade do motor.
[00177] Exemplo 6. O instrumento cirúrgico do Exemplo 5, em que o circuito de controle é configurado para: receber uma posição real do membro de deslocamento no tempo t2 a partir do sensor de posição; comparar a posição real do membro de deslocamento no tempo t2 com a posição esperada do membro de deslocamento no instante t2; e determinar a força sobre o membro de deslocamento com base em uma diferença entre a posição real do membro de deslocamento no tempo t2 e a posição esperada do membro de deslocamento no tempo t2.
[00178] Exemplo 7. O instrumento cirúrgico do Exemplo 1 ao Exemplo 6, em que o circuito de controle é configurado para reduzir a velocidade do motor até que a força sobre o membro de deslocamento seja menor que a força limite.
[00179] Exemplo 8. Um instrumento cirúrgico que compreende: um membro de deslocamento; um motor acoplado a uma extremidade proximal do membro de deslocamento para trasladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, o sensor de posição configurado para medir a posição do membro de deslocamento em relação a um atuador de extremidade e configurado para medir um ângulo de articulação do atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente; em que o circuito de controle é configurado para: determinar o ângulo de articulação entre o atuador de extremidade e o eixo de acionamento que se estende longitudinalmente; e ajustar a velocidade do motor com base no ângulo de articulação.
[00180] Exemplo 9. O instrumento cirúrgico do Exemplo 8, em que o circuito de controle é configurado para determinar a posição real do membro de deslocamento.
[00181] Exemplo 10. O instrumento cirúrgico do Exemplo 8 ao Exemplo 9, em que o circuito de controle é configurado para determinar o final do curso de disparo do membro de deslocamento.
[00182] Exemplo 11. O instrumento cirúrgico do Exemplo 8 ao Exemplo 10, em que o circuito de controle é configurado para comparar o ângulo de articulação a um ângulo de articulação anterior.
[00183] Exemplo 12. O instrumento cirúrgico do Exemplo 11, em que o circuito de controle é configurado para ajustar a velocidade do motor com base em um novo ângulo de articulação.
[00184] Exemplo 13. O instrumento cirúrgico do Exemplo 8 ao Exemplo 12, que compreende adicionalmente um circuito temporiza- dor/contador acoplado ao circuito de controle, o circuito temporiza- dor/contador configurado para medir o tempo decorrido; em que o circuito de controle é configurado para: ajustar a velocidade do motor; receber uma posição inicial do membro de deslocamento do sensor de posição; receber um tempo de referência t1 do circuito temporiza- dor/contador correspondente à posição inicial do membro de deslocamento; e determinar uma posição esperada do membro de deslocamento em um tempo t2 com base na velocidade ajustada do motor.
[00185] Exemplo 14. O instrumento cirúrgico do Exemplo 13, em que o circuito de controle é configurado para: receber uma posição real do membro de deslocamento no tempo t2 a partir do sensor de posição; comparar a posição real do membro de deslocamento no tempo t2 com a posição esperada do membro da viga com perfil em i no tempo t2; e determinar uma força sobre o membro de deslocamento com base em uma diferença entre a posição real do membro de deslocamento no tempo t2 e a posição esperada do membro de deslocamento no tempo t2.
[00186] Exemplo 15. Um método de controle de velocidade do motor em um instrumento cirúrgico, o instrumento cirúrgico compreendendo um membro de deslocamento, um motor acoplado ao membro de deslocamento para trasladar o membro de deslocamento, um circuito de controle acoplado ao motor e um sensor de posição acoplado ao circuito de controle, o sensor de posição configurado para medir a posição do membro de deslocamento e configurado para medir um ângulo de articulação de um atuador de extremidade em relação a um eixo de acionamento que se estende longitudinalmente, método que compreende: determinar, por meio do circuito de controle, um ângulo de articulação entre o atuador de extremidade e o eixo de acionamento que se estende longitudinalmente; e definir, por meio do circuito de controle, a velocidade do motor com base no ângulo de articulação.
[00187] Exemplo 16. O método do Exemplo 15, que compreende adicionalmente: selecionar, por meio do circuito de controle, uma força limite com base no ângulo de articulação; determinar, por meio do circuito de controle, a força sobre o membro de deslocamento e ajustar, por meio do circuito de controle, a velocidade do motor quando a força sobre o membro de deslocamento for maior que a força limite.
[00188] Exemplo 17. O método do Exemplo 15 ao Exemplo 16, que compreende adicionalmente determinar, por meio do circuito de controle, a posição real do membro de deslocamento.
[00189] Exemplo 18. O método do Exemplo 15 ao Exemplo 17, que compreende adicionalmente determinar, por meio do circuito de controle, o final do curso de disparo do membro de deslocamento.
[00190] Exemplo 19. O método do Exemplo 15 ao Exemplo 18, que compreende adicionalmente comparar, por meio do circuito de controle, o ângulo de articulação com um ângulo de articulação anterior.
[00191] Exemplo 20. O método do Exemplo 19, que compreende adicionalmente ajustar, por meio do circuito de controle, a velocidade do motor com base em um novo ângulo de articulação.
Claims (9)
1. Instrumento cirúrgico (10) de corte e grampeamento, compreendendo: um membro de deslocamento (1111); um motor (1120) acoplado a uma extremidade proximal do membro de deslocamento (1111) para transladar o membro de deslocamento (1111); um circuito de controle (1104) acoplado ao motor (1120); um sensor (1200, 1202, 1204) acoplado ao circuito de controle (1104), em que o sensor (1200, 1202, 1204) é configurado para medir um ângulo de articulação de um atuador de extremidade (300) em relação a um eixo de acionamento (200) que se estende longitudinalmente; em que o circuito de controle (1104) é configurado para determinar o ângulo de articulação entre o atuador de extremidade (300) e o eixo de acionamento (200); caracterizado pelo fato de que o circuito de controle (1104) é ainda configurado para ajustar a velocidade do motor (1120) com base no ângulo de articulação.
2. Instrumento cirúrgico (10), de acordo com a reivindicação 1, caracterizado pelo fato de que compreende meios para determinar a força sobre o membro de deslocamento (1111), sendo que o circuito de controle (1104) é configurado para: selecionar uma força limite com base no ângulo de articulação; determinar uma força sobre o membro de deslocamento (1111); comparar a força sobre o membro de deslocamento (1111) à força limite; e ajustar a velocidade do motor (1120) quando a força sobre o membro de deslocamento (1111) for maior que a força limite.
3. Instrumento cirúrgico (10), de acordo com a reivindicação 2, caracterizado pelo fato de que compreende ainda um sensor de posição (1112) acoplado ao circuito de controle (1104), em que o sensor de posição (1112) é configurado para medir uma posição do membro de deslocamento (1111) em relação ao atuador de extremidade (300).
4. Instrumento cirúrgico (10), de acordo com a reivindicação 3, caracterizado pelo fato de que o circuito de controle (1104) é configurado para determinar a posição atual do membro de deslocamento (1111).
5. Instrumento cirúrgico (10), de acordo com a reivindicação 3 ou 4, caracterizado pelo fato de que o circuito de controle (1104) é configurado para determinar um final do curso de disparo do membro de deslocamento (1111).
6. Instrumento cirúrgico (10), de acordo com qualquer uma das reivindicações 3 a 5, caracterizado pelo fato de que compreende adicionalmente um circuito temporizador/contador acoplado ao circuito de controle (1104), o circuito temporizador/contador configurado para medir o tempo decorrido; em que o circuito de controle (1104) é configurado para: ajustar a velocidade do motor (1120); receber uma posição inicial do membro de deslocamento (1111) a partir do sensor de posição (1112); receber um tempo de referência t1 do circuito temporiza- dor/contador correspondente à posição inicial do membro de deslocamento (1111); e determinar uma posição esperada do membro de deslocamento (1111) em um tempo t2 com base na velocidade do motor (1120).
7. Instrumento cirúrgico (10), de acordo com a reivindicação 2, caracterizado pelo fato de que o circuito de controle (1104) é configurado para reduzir a velocidade do motor (1120) até que a força sobre o membro de deslocamento (1111) seja menor que a força limite.
8. Instrumento cirúrgico (10), de acordo com a reivindicação 2, caracterizado pelo fato de que o circuito de controle (1104) é configurado para comparar um novo ângulo de articulação a um ângulo de articulação anterior.
9. Instrumento cirúrgico (10), de acordo com a reivindicação 8, caracterizado pelo fato de que o circuito de controle (1104) é configurado ajustar a velocidade do motor (1120) com base no novo ângulo de articulação.
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2017
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- 2017-12-21 EP EP17209260.3A patent/EP3417794B1/en active Active
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US20180360446A1 (en) | 2018-12-20 |
EP3417794A1 (en) | 2018-12-26 |
CN110785128B (zh) | 2023-04-18 |
JP2020524054A (ja) | 2020-08-13 |
EP3417794B1 (en) | 2023-09-13 |
US11653914B2 (en) | 2023-05-23 |
EP3417794C0 (en) | 2023-09-13 |
CN110785128A (zh) | 2020-02-11 |
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