BR112019027332A2 - sistemas e métodos para controlar a velocidade do motor de um instrumento cirúrgico de grampeamento e corte - Google Patents
sistemas e métodos para controlar a velocidade do motor de um instrumento cirúrgico de grampeamento e corte Download PDFInfo
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Abstract
A presente invenção refere-se a um instrumento cirúrgico motorizado. O instrumento cirúrgico inclui um membro de deslocamento. Um motor é acoplado ao membro de deslocamento. Um circuito de controle é acoplado ao motor. Um sensor de posição é acoplado ao circuito de controle. Um circuito temporizador é acoplado ao circuito de controle para medir o tempo decorrido. O circuito de controle é configurado para receber a posição do membro de deslocamento a partir do sensor de posição, receber o tempo decorrido do circuito temporizador e controlar a velocidade do motor com base na posição do membro de deslocamento e no tempo decorrido. Um método de controle de velocidade do motor do instrumento cirúrgico também é divulgado.
Description
Relatório Descritivo da Patente de Invenção para "SISTEMAS E MÉTODOS PARA CONTROLAR A VELOCIDADE DO
[001] A presente invenção refere-se 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 cirúrgico motorizado de grampeamento e corte, pode ser útil controlar a velocidade de um membro de corte ou controlar a velocidade de articulação de um atuador de extremidade. A velocidade de um membro de deslocamento pode ser determinada mediante a medição do tempo decorrido em intervalos de posição predeterminados do membro de deslocamento ou medição da posição do membro de deslocamento em intervalos de tempo predeterminados. O controle pode ser de circuito aberto ou de circuito fechado. Tais medições podem ser úteis para avaliar as condições do tecido, como espessura do tecido, e ajustar a velocidade do elemento de corte durante um curso de disparo para ter em conta as condições do tecido. A espessura do tecido pode ser determinada pela comparação da velocidade esperada do membro de corte com a velocidade real do membro de corte. Em algumas situações, pode ser útil articular o atuador de extremidade em uma velocidade de articulação constante. Em outras situações, pode ser útil acionar o atuador de extremidade em uma velocidade de articulação diferente da velocidade de articulação padrão em uma ou mais regiões dentro de uma faixa de varredura do atuador de extremidade.
[003] Durante o uso de um instrumento cirúrgico de grampeamento e corte motorizado, a força para disparar a carga em um membro de corte ou um membro de disparo pode variar como uma função da espessura do tecido. Em geral, a força para disparo exercida sobre o membro de corte ou sobre o membro de disparo aumentará conforme a espessura do tecido aumenta. Portanto, pode ser necessário no estágio inicial do membro de corte sobre uma rampa da fenda de bigorna de fechamento para determinar a espessura inicial do tecido e para ajustar a velocidade de disparo do membro de corte com base na espessura do tecido determinada para reduzir a força para disparar a carga sobre o membro de corte ou sobre o membro de disparo. Também pode ser desejável fornecer um controle de velocidade contínua do motor de disparo com base no curso do membro de corte ao longo de um intervalo de tempo fixo como intermediário para a força a fim de disparar a carga exercida sobre o membro de corte ou sobre o membro de disparo.
[004] Em um aspecto, o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, o circuito temporizador/contador configurado para medir o tempo decorrido; sendo que o circuito de controle é configurado para: receber a posição do membro de deslocamento a partir do sensor de posição; receber o tempo decorrido do circuito temporizador; e controlar a velocidade do motor com base na posição do membro de deslocamento e no tempo decorrido.
[005] Em um outro aspecto, o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo decorrido; sendo que o circuito de controle é configurado para: receber a posição do membro de deslocamento a partir do sensor de posição; receber o tempo decorrido do circuito temporizador; e controlar a velocidade do motor com base na posição do membro de deslocamento e no tempo decorrido.
[006] Em um outro aspecto, é fornecido um método de controle da velocidade do motor de um instrumento cirúrgico. O instrumento cirúrgico compreende um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico, um motor acoplado ao membro de deslocamento do membro de deslocamento para transladar o membro de deslocamento, um circuito de controle acoplado ao motor, um sensor de posição acoplado ao circuito de controle, o sensor de posição configurado para medir a posição do membro de deslocamento, um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo decorrido. O método compreende receber, por um circuito de controle, uma posição de um membro de deslocamento a partir de um sensor de posição; receber, pelo circuito de controle, o tempo decorrido de um circuito temporizador; e controlar, pelo circuito de controle, a velocidade de um motor com base na posição do membro de deslocamento e no tempo decorrido.
[007] As características inovadoras dos aspectos aqui descritos são apresentadas com particularidade nas reivindicações em anexo. Entretanto, esses aspectos, tanto com relação à organização quanto aos métodos de operação, podem ser mais bem compreendidos por referência à descrição a seguir, tomada em conjunto com os desenhos em anexo.
[008] A Figura 1 é uma vista em perspectiva de um instrumento cirúrgico que tem um conjunto de eixo de acionamento intercambiável operacionalmente acoplado ao mesmo, de acordo com um aspecto desta descrição.
[009] A Figura 2 ilustra uma vista do conjunto explodida de uma porção do instrumento cirúrgico ultrassônico da Figura 1, de acordo com um aspecto desta descrição.
[0010] A Figura 3 é uma vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável, de acordo com um aspeto desta descrição.
[0011] A Figura 4 é uma vista em perspectiva explodida de um atuador de extremidade do instrumento cirúrgico da Figura 1, de acordo com um aspecto desta descrição.
[0012] As Figuras 5A a 5B é um diagrama de blocos de um circuito de controle do instrumento cirúrgico da Figura 1 que abrange duas folhas de desenho, de acordo com um aspecto desta descrição.
[0013] A Figura 6 é um diagrama de bloco do circuito de controle do instrumento cirúrgico da Figura 1 que ilustra interfaces entre o conjunto de cabo, o conjunto de alimentação e o conjunto de cabo e o conjunto de eixo de acionamento intercambiável, de acordo com um aspecto da presente descrição.
[0014] A Figura 7 ilustra um circuito de controle configurado para controlar aspectos do instrumento cirúrgico da Figura 1, de acordo com um aspeto da presente descrição.
[0015] A Figura 8 ilustra um circuito lógico combinacional configurado para controlar aspectos do instrumento cirúrgico da Figura 1, de acordo com um aspecto da presente descrição.
[0016] A Figura 9 ilustra um circuito lógico sequencial configurado para controlar aspectos do instrumento cirúrgico da Figura 1, de acordo com um aspecto da presente descrição.
[0017] A Figura 10 é um diagrama de um sistema de posicionamento absoluto do instrumento cirúrgico da Figura 1, sendo que o sistema de posicionamento absoluto compreende uma disposição de circuito de acionamento controlado do motor que compreende uma disposição de sensor, de acordo com um aspecto da presente descrição.
[0018] A Figura 11 é uma vista em perspectiva explodida da disposição de sensor para um sistema de posicionamento absoluto, que mostra um conjunto de placa de circuito de controle e o alinhamento relativo dos elementos da disposição de sensor, de acordo com um aspecto da presente descrição.
[0019] A Figura 12 é um diagrama de um sensor de posição que compreende um sistema de posicionamento absoluto magnético giratório, de acordo com um aspecto da presente descrição.
[0020] A Figura 13 é uma vista em corte de um atuador de extremidade do instrumento cirúrgico da Figura 1, que mostra um curso do membro de disparo em relação ao tecido preso dentro do atuador de extremidade, de acordo com um aspecto da presente descrição.
[0021] A Figura 14 ilustra um diagrama de bloco de um instrumento cirúrgico programado para controlar a translação distal de um membro de deslocamento, de acordo com um aspecto da presente descrição.
[0022] A Figura 15 ilustra um diagrama que plota dois exemplos de cursos de membro de deslocamento executados, de acordo com um aspecto da presente descrição.
[0023] A Figura 16 é um gráfico que representa a corrente do motor (I) como uma função do percurso do membro de deslocamento (d), de acordo com um aspecto da descrição.
[0024] A Figura 17 é um diagrama de fluxo lógico que representa um processo de um programa de controle ou uma configuração lógica para controlar a taxa de um membro de deslocamento, de acordo com um aspecto desta descrição.
[0025] O requerente do presente pedido detém os seguintes pedidos de patente depositados simultaneamente com o mesmo e que estão, cada um, incorporados no presente documento a título de referência em suas respectivas totalidades:
[0026] N° do documento do procurador END8191USNP/170054, intitulado CONTROL OF MOTOR VELOCITY OF A SURGICAL
STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0027] N° do documento do procurador END8192USNP/170055, intitulado SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0028] N° do documento do procurador END8193USNP/170056, intitulado SYSTEMS AND METHODS FOR CONTROLLING
DISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. de Shelton, IV et al., depositado em 20 de junho de 2017.
[0029] N° do documento do procurador END8194USNP/170057, intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR
EFFECTOR, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0030] N° do documento do procurador END8196USNP/170059, intitulado SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY pelos inventores Frederick ES. Shelton, IV et al., depositado em 20 de junho de 2017.
[0031] N° do documento do procurador END8197USNP/170060, intitulado SYSTEMS AND METHODS FOR CONTROLLING VELOCITY
OF A DISPLACEMENT MEMBER OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0032] N° do documento do procurador END8198USNP/170061, intitulado SYSTEMS AND METHODS FOR CONTROLLING
DISPLACEMENT MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0033] N° do documento do procurador END8222USNP/170125, intitulado CONTROL OF MOTOR VELOCITY OF A SURGICAL
STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0034] N° do documento do procurador END8199USNP/170062M, intitulado TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0035] N° do documento do procurador END8275USNP/170185M, intitulado TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, pelos inventores Raymond E. Parfett, depositado em 20 de junho de 2017.
[0036] N° do documento do procurador END8268USNP/170186, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR
INSTRUMENT BASED ON MAGNITUDE OF VELOCITY ERROR MEASUREMENTS, pelos inventores Raymond E. Parfett et al., depositado em 20 de junho de 2017.
[0037] N° do documento do procurador END8276USNP/170187, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR
INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED DISPLACEMENT DISTANCE, pelos inventores Jason l. Harris et al., depositado em 20 de junho de 2017.
[0038] N° do documento do procurador END8266USNP/170188, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR
INSTRUMENT BASED ON MEASURED DISPLACEMENT DISTANCE TRAVELED OVER A SPECIFIED TIME INTERVAL, pelos inventeores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0039] N° do documento do procurador END8267USNP/170189, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR
INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED NUMBER OF SHAFT ROTATION, pelos inventores Frederick e. Shelton, IV et al., depositado em 20 de junho de 2017.
[0040] N° do documento do procurador END8269USNP/170190, intitulado SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, pelos inventores Jason L. Harris et al., depositado em 20 de junho de
2017.
[0041] N° do documento do procurador END8270USNP/170191,
intitulado SYSTEMS AND METHODS FOR CONTROLLING MOTOR
SPEED ACCORDING TO USER INPUT FOR A SURGICAL INSTRUMENT, pelos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0042] N° do documento do procurador END8271USNP/170192, intitulado CLOSED LOOP FEEDBACK CONTROL OF MOTOR
VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON SYSTEM CONDITIONS, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0043] O requerente do presente pedido detém os seguintes pedidos de patente de design depositados simultaneamente com o mesmo e que estão, cada um, incorporados no presente documento a título de referência em suas respectivas totalidades:
[0044] N° do documento do procurador END8274USDP/170193D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, pelos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0045] N° do documento do procurador END8273USDP/170194D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, pelos inventores Jason L. Harris et al., depositado em 20 de junho de 2017.
[0046] N° do documento do procurador END8272USDP/170195D, intitulado GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, pelos inventores Frederick E. Shelton, IV et al., depositado em 20 de junho de 2017.
[0047] Certos aspectos são mostrados e descritos para fornecer um entendimento da estrutura, função, fabricação e uso dos dispositivos e métodos descritos. 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.
[0048] Os termos "proximal" e "distal" são com referência a um médico que manipula o cabo do instrumento cirúrgico, sendo que termo "proximal" se refere à porção mais próxima ao médico e o termo "distal" se refere à porção localizada mais distante do médico. Para conveniência, os termos espaciais "vertical", "horizontal", "para acima" e "para baixo" usados com relação aos desenhos não se destinam a ser limitadores e/ou absolutos, porque os instrumentos cirúrgicos podem ser usados em muitas orientações e posições.
[0049] São fornecidos dispositivos e métodos exemplificadores para realização de procedimentos cirúrgicos laparoscópicos e minimamente invasivos. Tais dispositivos e métodos, entretanto, podem ser usados em outros procedimentos e aplicações cirúrgicas incluindo procedimentos cirúrgicos abertos, por exemplo. Os instrumentos cirúrgicos podem ser inseridos através de um orifício natural ou através de uma incisão ou perfuração formada no tecido. As porções funcionais ou porções do atuador de extremidade dos instrumentos podem ser inseridas diretamente no corpo ou através de um dispositivo de acesso que tem uma canaleta funcional através do qual podem ser avançados o atuador de extremidade e o eixo de acionamento alongado do instrumento cirúrgico.
[0050] A Figura 1 a 4 ilustra um instrumento cirúrgico acionado por motor 10 para corte e fixação que pode ou não ser reutilizado. Nos exemplos ilustrados, o instrumento cirúrgico 10 inclui um compartimento 12 que compreende um conjunto de cabo 14 que é configurado para ser pego, manipulado e atuado pelo médico. O compartimento 12 é configurado para fixação operacional a um conjunto de eixo de acionamento intercambiável 200 que tem um atuador de extremidade 300 operacionalmente acoplado ao mesmo que é configurado para executar uma ou mais tarefas ou procedimentos cirúrgicos. De acordo com a presente descrição, várias formas de conjuntos de eixo de acionamento intercambiáveis podem ser eficazmente usadas em conexão com sistemas cirúrgicos roboticamente controlados. O termo "compartimento" pode abranger um compartimento ou porção similar de um sistema robótico que aloja ou de outro modo suporta operacionalmente ao menos um sistema de acionamento configurado para gerar e aplicar ao menos um movimento de controle que possa ser usado para acionar os conjuntos de eixo de acionamento. O termo "estrutura" pode referir-se a uma porção de um instrumento cirúrgico de mão. O termo "estrutura" também pode representar uma porção de um instrumento cirúrgico controlado roboticamente e/ou uma porção do sistema robótico que pode ser usado para controlar operacionalmente o instrumento cirúrgico. Os conjuntos de eixo de acionamento intercambiáveis aqui descritos podem ser usados com vários sistemas robóticos, instrumentos, componentes e métodos descritos 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.
[0051] A Figura 1 é uma vista em perspectiva de um instrumento cirúrgico 10 que tem um conjunto de eixo de acionamento intercambiável 200 operacionalmente acoplado ao mesmo, de acordo com um aspeto desta descrição. O compartimento 12 inclui um atuador de extremidade 300 que compreende um dispositivo cirúrgico de corte e fixação configurado para suportar operacionalmente um cartucho de grampos cirúrgicos 304 no mesmo. O compartimento 12 pode ser configurado para uso em conexão com os conjuntos de eixo de acionamento intercambiáveis que incluem os atuadores de extremidade que são adaptados para sustentar diferentes tamanhos e tipos de cartuchos de grampos, e que têm diferentes comprimentos, tamanhos e tipos de eixo de acionamento. O compartimento 12 pode ser usado eficazmente com uma variedade de conjuntos de eixo de acionamento intercambiáveis incluindo conjuntos configurados para aplicar outros movimentos e formas de energia como, por exemplo, energia de radiofrequência (RF), energia ultrassônica e/ou movimento a disposições de atuadores de extremidade adaptados para uso em várias aplicações e procedimentos cirúrgicos. Os atuadores de extremidade, os conjuntos de eixo de acionamento, os cabos, os instrumentos cirúrgicos e/ou os sistemas de instrumento cirúrgico podem utilizar qualquer prendedor adequado, ou prendedores, para prender tecido. Por exemplo, um cartucho de prendedores que compreende uma pluralidade de prendedores nele armazenados de modo removível pode ser inserido de maneira removível dentro e/ou fixado ao atuador de extremidade de um conjunto de eixo de acionamento.
[0052] O conjunto de cabo 14 pode compreender um par de segmentos interconectáveis de compartimento de cabo 16 e 18 interconectados por parafusos, elementos de encaixe por pressão, adesivo, etc. Os segmentos de compartimento de cabo 16, 18 cooperam para formar uma porção da empunhadura da pistola 19 que pode ser empunhada e manipulada pelo clínico. O conjunto de cabo 14 suporta operacionalmente uma pluralidade de sistemas de acionamento configurados para gerar e aplicar movimentos de controle às porções correspondentes do conjunto de eixo de acionamento intercambiável que está operacionalmente fixado ao mesmo. Uma tela pode ser fornecida abaixo de uma cobertura 45.
[0053] A Figura 2 ilustra uma vista do conjunto explodida de uma porção do instrumento cirúrgico 10 da Figura 1, de acordo com um aspecto desta descrição. O conjunto de cabo 14 pode incluir uma estrutura 20 que suporta operacionalmente uma pluralidade de sistemas de acionamento. A estrutura 20 pode suportar operacionalmente um "primeiro" sistema de acionamento ou sistema de acionamento de fechamento 30, que pode aplicar movimentos de fechamento e abertura ao conjunto de eixo de acionamento intercambiável 200. O sistema de acionamento de fechamento 30 pode incluir um atuador como um gatilho de fechamento 32 suportado de modo pivotante pela estrutura
20. O gatilho de fechamento 32 é acoplado de modo pivotante ao conjunto de cabo 14 por um pino de pivô 33 para permitir que o gatilho de fechamento 32 seja manipulado por um médico. Quando o médico segura a porção de empunhadura da pistola 19 do conjunto de cabo 14, o gatilho de fechamento 32 pode pivotar de uma posição inicial ou "não atuada" para uma posição "atuada" e, mais particularmente, para uma posição completamente comprimida ou completamente atuada.
[0054] O conjunto de cabo 14 e a estrutura 20 podem suportar operacionalmente um sistema de acionamento de disparo 80 configurado para aplicar movimentos de disparo às porções correspondentes do conjunto de eixo de acionamento intercambiável fixado ao mesmo. O sistema de acionamento de disparo 80 pode usar um motor elétrico 82 situado na porção da empunhadura da pistola 19 do conjunto de cabo 14. O motor elétrico 82 pode ser um motor de corrente contínua (CC) com escovas tendo uma rotação máxima de aproximadamente 25.000 rpm, por exemplo. Em outras disposições, o motor pode incluir um motor sem escovas, um motor sem fio, um motor síncrono, um motor de passo ou qualquer outro motor elétrico adequado. O motor elétrico 82 pode ser alimentado por uma fonte de alimentação 90 que pode compreender uma fonte de energia removível
92. A fonte de energia removível 92 pode compreender uma porção do compartimento proximal 94 que é configurada para fixação a uma porção do compartimento distal 96. A porção do compartimento proximal 94 e a porção do compartimento distal 96 são configuradas para suportar operacionalmente uma pluralidade de baterias 98. Cada uma das baterias 98 pode compreender, por exemplo, uma bateria de íons de lítio ("LI") ou outra bateria adequada. A porção de compartimento distal 96 está configurada para fixação operacional removível a uma placa de circuito de controle 100 que está operacionalmente acoplada ao motor elétrico 82. Várias baterias 98 conectadas em série podem alimentar o instrumento cirúrgico 10. A fonte de alimentação 90 pode ser substituível e/ou recarregável. Uma tela 43, que está situada abaixo da cobertura 45, está eletricamente acoplada à placa de circuito de controle 100. A cobertura 45 pode ser removida para expor a tela 43.
[0055] O motor elétrico 82 pode incluir um eixo de acionamento giratório (não mostrado), que, de modo operacional, faz interface com um conjunto redutor de engrenagem 84 montado em engate de acoplamento com um conjunto ou cremalheira, de dentes de acionamento 122 em um membro de acionamento longitudinalmente móvel 120. O membro de acionamento longitudinalmente móvel 120 tem uma cremalheira de dentes de acionamento 122 formada no mesmo para engate de acoplamento com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84.
[0056] Em uso, uma polaridade de tensão fornecida pela fonte de alimentação 90 pode operar o motor elétrico 82 no sentido horário, sendo que a polaridade de tensão aplicada ao motor elétrico pela bateria pode ser revertida de modo a operar o motor elétrico 82 no sentido anti- horário. Quando o motor elétrico 82 é girado em uma direção, o membro de acionamento longitudinalmente móvel 120 será axialmente ativado na direção distal "DD". Quando o motor elétrico 82 é acionado na direção giratória oposta, o membro de acionamento longitudinalmente móvel 120 será axialmente conduzido na direção proximal "DP". O conjunto de cabo 14 pode incluir uma chave que pode ser configurada para reverter a polaridade aplicada ao motor elétrico 82 pela fonte de alimentação 90. O conjunto de cabo 14 pode incluir um sensor configurado para detectar a posição do membro de acionamento longitudinalmente móvel 120 e/ou a direção em que o membro de acionamento longitudinalmente móvel 120 está sendo movido.
[0057] O acionamento do motor elétrico 82 pode ser controlado por um gatilho de disparo 130 que é suportado de modo pivotante sobre o conjunto de cabo 14. O gatilho de disparo 130 pode ser pivotado entre uma posição não atuada e uma posição atuada.
[0058] Retornando para a Figura 1, o conjunto de eixo de acionamento intercambiável 200 inclui um atuador de extremidade 300 que compreende uma canaleta alongada 302 configurada para suportar operacionalmente no seu interior um cartucho de grampos cirúrgicos
304. O atuador de extremidade 300 pode incluir uma bigorna 306 que é sustentada de modo pivotante em relação à canaleta alongada 302. O conjunto de eixo de acionamento intercambiável 200 pode incluir uma junta de articulação 270. A construção e a operação do atuador de extremidade 300 e da junta articulação 270 são apresentadas na publicação de pedido de patente US N° 2014/0263541, intitulada
ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, a qual está aqui incorporada a título de referência em sua totalidade. O conjunto de eixo de acionamento intercambiável 200 pode incluir um compartimento ou bocal proximal 201 compreendido de porções de bocal 202, 203. O conjunto de eixo de acionamento intercambiável 200 pode incluir um tubo de fechamento 260 que se estende ao longo de um eixo geométrico do eixo de acionamento SA que pode ser usado para fechar e/ou abrir a bigorna 306 do atuador de extremidade 300.
[0059] Voltando para a Figura 1, o tubo de fechamento 260 é transladado distalmente (direção "DD") para fechar a bigorna 306, por exemplo, em resposta à atuação do gatilho de fechamento 32 na maneira descrita na referência anteriormente mencionada da publicação de pedido de patente N° 2014/0263541. A bigorna 306 é aberta mediante a translação proximal do tubo de fechamento 260. Na posição aberta da bigorna, o tubo de fechamento 260 do eixo de acionamento é movido para sua posição proximal.
[0060] A Figura 3 é uma outra vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável 200, de acordo com um ou mais aspectos da presente descrição. O conjunto de eixo de acionamento intercambiável 200 pode incluir um membro de disparo 220 sustentado para realizar um deslocamento axial no interior da coluna central 210. O membro de disparo 220 inclui um eixo de acionamento de disparo intermediário 222 configurado para se conectar a uma porção de corte distal ou barra de corte 280. O membro de disparo 220 pode ser chamado de um "segundo eixo de acionamento" ou um "segundo conjunto de eixo de acionamento". O eixo de acionamento de disparo intermediário 222 pode incluir uma fenda longitudinal 223 em sua extremidade configurada para receber uma aba 284 na extremidade proximal 282 da barra de corte 280. A fenda longitudinal 223 e a extremidade proximal 282 podem ser configuradas para permitir o movimento relativo entre as mesmas e podem compreender uma junta deslizante 286. A junta deslizante 286 pode permitir que o eixo de acionamento de disparo intermediário 222 do membro de disparo 220 articule o atuador de extremidade 300 em torno da junta de articulação 270 sem mover, ou ao menos sem mover substancialmente, a barra de corte 280. Quando o atuador de extremidade 300 tiver sido adequadamente orientado, o eixo de acionamento de disparo intermediário 222 pode ser avançado distalmente até uma parede lateral proximal da fenda longitudinal 223 entrar em contato com a aba 284 para avançar a barra de corte 280 e disparar um cartucho de grampos posicionado no interior da canaleta
302. O dorso 210 tem uma abertura ou janela alongada 213 em seu interior para facilitar a montagem e a inserção do eixo de acionamento de disparo intermediário 222 no interior do dorso 210. Quando o eixo de acionamento de disparo intermediário 222 tiver sido inserido no mesmo, um segmento superior da estrutura 215 pode ser engatado na estrutura do eixo de acionamento 212 para encerrar em si o eixo de acionamento de disparo intermediário 222 e a barra de corte 280. A operação do membro de disparo 220 pode ser vista na publicação de pedido de patente US N° 2014/0263541. A coluna central 210 pode ser configurada para suportar de maneira deslizante um membro de disparo 220 e o tubo de fechamento 260 que se estende ao redor da coluna central 210. A coluna central 210 pode suportar de maneira deslizante um acionador de articulação 230.
[0061] O conjunto de eixo de acionamento intercambiável 200 pode incluir um conjunto de embreagem 400 configurado para acoplar de modo seletivo e liberável o acionador de articulação 230 ao membro de disparo 220. O conjunto de embreagem 400 inclui um anel ou luva de travamento 402 posicionado em torno do membro de disparo 220, sendo que a luva de travamento 402 pode ser girada entre uma posição engatada, em que a luva de travamento 402 acopla o acionador de articulação 230 ao membro de disparo 220, e uma posição desengatada, em que o acionador de articulação 230 não está acoplado de modo operável ao membro de disparo 220. Quando a luva de travamento 402 está na posição engatada, o movimento distal do membro de disparo 220 pode mover o acionador de articulação 230 em sentido distal e, correspondentemente, o movimento proximal do membro de disparo 220 pode mover o acionador de articulação 230 de maneira proximal. Quando a luva de travamento 402 está na posição desengatada, o movimento do membro de disparo 220 não é transmitido para o acionador de articulação 230 e, como resultado, o membro de disparo 220 pode mover-se independentemente do acionador de articulação 230. O bocal 201 pode ser usado 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.
[0062] O conjunto de eixo de acionamento intercambiável 200 pode compreender um conjunto de anel deslizante 600 que pode ser configurado para conduzir energia elétrica ao atuador de extremidade 300 e/ou a partir dele e/ou comunicar sinais ao atuador de extremidade 300 e/ou a partir dele, por exemplo. O conjunto de anel deslizante 600 pode compreender um flange de conector proximal 604 e um flange de conector distal 601 posicionado no interior de uma fenda definida nas porções de bocal 202, 203. O flange do conector proximal 604 pode compreender uma primeira face e o flange do conector distal 601 pode compreender uma segunda face posicionada adjacente e móvel em relação à primeira face. O flange de conector distal 601 pode girar em relação ao flange de conector proximal 604 ao redor do eixo geométrico do eixo de acionamento SA-SA (Figura 1). O flange de conector proximal 604 pode compreender uma pluralidade de condutores concêntricos ou ao menos substancialmente concêntricos 602, definidos na sua primeira face. Um conector 607 pode ser montado sobre o lado proximal do flange de conector distal 601 e pode ter uma pluralidade de contatos, sendo que cada contato corresponde e está em contato elétrico com um dos condutores 602. Essa disposição permite a rotação relativa entre o flange de conector proximal 604 e o flange de conector distal 601, enquanto o contato elétrico é mantido entre os mesmos. O flange de conector proximal 604 pode incluir um conector elétrico 606 que pode colocar os condutores 602 em comunicação de sinal com uma placa de circuito de eixo de acionamento, por exemplo. Em ao menos um caso, um chicote elétrico que compreende uma pluralidade de condutores pode se estender entre o conector elétrico 606 e a placa de circuito do eixo de acionamento. O conector elétrico
606 pode se estender proximalmente através de uma abertura do conector definida no flange de montagem do chassi. A publicação de pedido de patente US N° 2014/0263551, intitulada "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", está aqui incorporada a título de referência em sua totalidade. A publicação de pedido de patente US N° 2014/0263552, intitulada "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.
[0063] O conjunto de eixo de acionamento intercambiável 200 pode incluir uma porção proximal montada de forma fixável ao conjunto de cabo 14, e uma porção distal que é giratória em torno de um eixo geométrico longitudinal. A porção giratória distal do eixo de acionamento pode ser girada em relação à porção proximal ao redor do conjunto de anel de deslizamento 600. O flange de conector distal 601 do conjunto de anel deslizante 600 pode ser posicionado na porção de eixo de acionamento giratório distal.
[0064] A Figura 4 é uma vista explodida de um aspecto de um atuador de extremidade 300 do instrumento cirúrgico 10 da Figura 1, de acordo com um aspecto desta descrição. O atuador de extremidade 300 pode incluir a bigorna 306 e o cartucho de grampos cirúrgicos 304. A bigorna 306 pode ser acoplada a uma canaleta alongada 302. As aberturas 199 podem ser definidas na canaleta alongada 302 para receber pinos 152 que se estendem a partir da bigorna 306 para permitir que a bigorna 306 gire de uma posição aberta para uma posição fechada em relação à canaleta alongada 302 e cartucho de grampos cirúrgicos 304. Uma barra de disparo 172 é configurada para se transladar longitudinalmente para o interior do atuador de extremidade
300. A barra de disparo 172 pode ser construída em uma seção sólida ou pode incluir um material laminado que compreende, por exemplo, uma pilha de placas de aço. A barra de disparo 172 compreende uma haste com perfil em "I" 178 e um gume cortante 182 em uma extremidade distal do mesmo. Uma extremidade da barra de disparo 172 distalmente projetada pode ser fixada à haste com perfil em I 178 para auxiliar no espaçamento da bigorna 306 a partir de um cartucho de grampos cirúrgicos 304 posicionado na canaleta alongada 302 quando a bigorna 306 está em posição fechada. A haste com perfil em I 178 pode incluir um gume cortante afiado 182, que pode ser usado para separar o tecido, conforme a haste com perfil em I 178 é avançada distalmente pela barra de disparo 172. Em funcionamento, a haste com perfil em I 178 pode, ou disparar, o cartucho de grampos cirúrgicos 304. O cartucho de grampos cirúrgicos 304 pode incluir um corpo de cartucho moldado 194 que mantém uma pluralidade de grampos 191 que repousam sobre os acionadores de grampo 192 no interior das respectivas cavidades de grampos abertas para cima 195. Um deslizador em cunha 190 é acionado distalmente pela haste com perfil em I 178, deslizando sobre uma bandeja do cartucho 196 do cartucho de grampos cirúrgicos 304. O deslizador em cunha 190 desloca para cima, por came, os acionadores de grampo 192, para expelir os grampos 191 em contato de deformação com a bigorna 306, enquanto a borda de corte 182 da haste com perfil em I 178 corta o tecido apertado.
[0065] A haste com perfil em I 178 pode incluir pinos superiores 180 que engatam a bigorna 306 durante o disparo. A haste com perfil em I 178 pode incluir pinos intermediários 184 e uma base ("bottom foot") 186 para engatar porções do corpo do cartucho 194, da bandeja do cartucho 196 e da canaleta alongada 302. Quando um cartucho de grampos cirúrgicos 304 está posicionado no interior da canaleta alongada 302, uma fenda 193 definida no corpo de cartucho 194 pode ser alinhada com uma fenda longitudinal 197 definida na bandeja do cartucho 196 e uma fenda 189 definida na canaleta alongada 302. Em uso, a haste com perfil em I 178 pode deslizar através das fendas longitudinais alinhadas 193, 197 e 189, sendo que, como indicado na Figura 4, a base 186 da haste com perfil em I 178 pode engatar um sulco posicionado ao longo da superfície inferior da canaleta alongada 302 ao longo do comprimento da fenda 189, os pinos médios 184 podem engatar as superfícies superiores da bandeja de cartucho 196 ao longo do comprimento da fenda longitudinal 197, e os pinos superiores 180 podem engatar a bigorna 306. A haste com perfil em I 178 pode espaçar ou limitar o movimento relativo entre a bigorna 306 e o cartucho de grampos cirúrgicos 304, conforme a barra de disparo 172 é avançada distalmente de forma a disparar os grampos do cartucho de grampos cirúrgicos 304 e/ou fazer uma incisão no tecido capturado entre a bigorna 306 e o cartucho de grampos cirúrgicos 304. A barra de disparo 172 e a haste com perfil em I 178 podem ser retraídas proximalmente permitindo que a bigorna 306 seja aberta para liberar as duas porções de tecido grampeadas e cortadas.
[0066] As Figuras 5A e 5B são um diagrama de blocos de um circuito de controle 700 do instrumento cirúrgico 10 da Figura 1 que abrange duas folhas de desenho, de acordo com um aspecto desta descrição. Com referência principalmente às Figuras 5A e 5B, um conjunto de empunhadura 702 pode incluir um motor 714, que pode ser controlado por um acionador do motor 715 e pode ser usado pelo sistema de disparo do instrumento cirúrgico 10. Em várias formas, o motor 714 pode ser um motor de acionamento de corrente contínua (CC) com escovas com uma velocidade de rotação máxima de aproximadamente 25.000 RPM. Em outras disposições, o motor 714 pode incluir um motor sem escovas, um motor sem fio, um motor síncrono, um motor de passo ou qualquer outro tipo de motor elétrico adequado. O acionador de motor 715 pode compreender um acionador de ponte H que compreende transístores de efeito de campo (FETs) 719, por exemplo. O motor 714 pode ser alimentado pelo conjunto de alimentação 706 montado de modo liberável ao conjunto de cabo 200 para fornecer energia de controle ao instrumento cirúrgico 10. O conjunto de alimentação 706 pode compreender uma bateria que pode incluir várias células de bateria conectadas em série, que 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 íons de lítio que podem ser acopláveis separadamente ao conjunto de energia 706.
[0067] O conjunto de eixo de acionamento 704 pode incluir um controlador do conjunto de eixo de acionamento 722 que pode se comunicar com um controlador de segurança e um controlador de gerenciamento de energia 716 através de uma interface, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. Por exemplo, a interface pode compreender uma primeira porção de interface 725 que pode incluir um ou mais conectores elétricos para engate de acoplamento com conectores elétricos de conjunto de eixo de acionamento correspondentes e uma segunda porção de interface 727 que pode incluir um ou mais conectores para engate de acoplamento com os conectores elétricos do conjunto de energia correspondentes para possibilitar a comunicação elétrica entre o controlador do conjunto de eixo de acionamento 722 e o controlador de gerenciamento de energia 716 enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. Um ou mais sinais de comunicação podem ser transmitidos através da interface para comunicar um ou mais dos requisitos de energia do conjunto de eixo de acionamento intercambiável 704 fixado ao controlador de gerenciamento de energia 716. Em resposta, o controlador de gerenciamento de energia pode modular a saída de energia da bateria do conjunto de alimentação 706, conforme descrito abaixo com mais detalhes, de acordo com as exigências de energia do conjunto de eixo de acionamento fixado 704. Os conectores podem compreender chaves que podem ser ativadas após o engate por acoplamento mecânico do conjunto de cabo 702 ao conjunto de eixo de acionamento 704 e/ou ao conjunto de energia 706 para permitir a comunicação elétrica entre o controlador de conjunto de eixo acionamento 722 e o controlador de gerenciamento de energia 716.
[0068] A interface pode facilitar a transmissão do um ou mais sinais de comunicação entre o controlador de gerenciamento de energia 716 e o controlador do conjunto de eixo de acionamento 722 mediante o roteamento destes sinais de comunicação através de um controlador principal 717 situado no conjunto de cabo 702, por exemplo. Em outras circunstâncias, a interface pode facilitar uma linha de comunicação direta entre o controlador de gerenciamento de energia 716 e o controlador do conjunto de eixo de acionamento 722 através do conjunto de cabo 702, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 estão acoplados ao conjunto de cabo 702.
[0069] 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 de 32 KB (SRAM), uma memória só de leitura interna (ROM) carregada com o programa StellarisWare®, memória só de leitura programável e apagável eletricamente (EEPROM) de 2 KB, um ou mais módulos de modulação por largura de pulso (PWM), uma ou mais análogos de entradas de codificador de quadratura (QEI), um ou mais conversores analógico para digital (ADC) de 12 bits com 12 canais de entrada analógica, detalhes dos quais estão disponíveis para a folha de dados do produto.
[0070] O controlador de segurança pode ser uma plataforma de controlador de segurança que compreende duas famílias baseadas em controladores, como TMS570 e RM4x, conhecidas sob o nome comercial de Hercules ARM Cortex R4, também pela Texas Instruments. O controlador de segurança pode ser configurado especificamente para as aplicações críticas de segurança IEC 61508 e ISO 26262, dentre outras, para fornecer recursos avançados de segurança integrada enquanto fornece desempenho, conectividade e opções de memória escalonáveis.
[0071] O conjunto de energia 706 pode incluir um circuito de gerenciamento de energia que pode compreender o controlador de gerenciamento de energia 716, um modulador de energia 738 e um circuito sensor de corrente 736. O circuito de gerenciamento de energia pode ser configurado para modular a energia de saída da bateria com base nas necessidades de energia do conjunto de eixo de acionamento 704, enquanto o conjunto de eixo de acionamento 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. O controlador de gerenciamento de energia 716 pode ser programado para controlar o modulador de energia 738 da saída de energia do conjunto de alimentação 706 e o circuito sensor de corrente 736 pode ser usado para monitorar a saída de energia do conjunto de alimentação 706 para fornecer realimentação ao controlador de gerenciamento de energia 716 sobre a saída de energia da bateria para que o controlador de gerenciamento de energia 716 possa ajustar a saída de energia do conjunto de alimentação 706 para manter uma saída desejada. O controlador de gerenciamento de energia 716 e/ou o controlador do conjunto de eixo de acionamento 722 podem compreender, cada um, um ou mais processadores e/ou unidades de memória que podem armazenar vários módulos de software.
[0072] O instrumento cirúrgico 10 (Figuras 1 a 4) pode compreender um dispositivo de saída 742 que pode incluir dispositivos para fornecer uma realimentação sensorial a um usuário. Esses dispositivos podem compreender, por exemplo, dispositivos de retroinformação visual (por exemplo, um monitor com tela de LCD, indicadores em LED), dispositivos de retroinformação auditiva (por exemplo, um alto-falante, uma campainha) ou dispositivos de retroinformação tátil (por exemplo, atuadores hápticos). Em determinadas circunstâncias, o dispositivo de saída 742 pode compreender uma tela 743 que pode estar incluída no conjunto de cabo 702. O controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 podem fornecer retroinformação a um usuário do instrumento cirúrgico 10 através do dispositivo de saída 742. A interface pode ser configurada para conectar o controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 ao dispositivo de saída 742. O dispositivo de saída 742 pode, em vez disso, ser integrado com o conjunto de alimentação 706. Nestas circunstâncias, a comunicação entre o dispositivo de saída 742 e o controlador do conjunto de eixo de acionamento 722 pode ser feita através da interface, enquanto o conjunto de eixo de acionamento 704 é acoplado ao conjunto de cabo 702.
[0073] O circuito de controle 700 compreende segmentos de circuito configurados para controlar as operações do instrumento cirúrgico energizado 10. Um segmento de controlador de segurança (segmento 1) compreende um controlador de segurança e o segmento de controlador principal 717 (segmento 2). O controlador de segurança e/ou o controlador principal 717 são configurados para interagir com um ou mais segmentos de circuito adicionais como um segmento de aceleração, um segmento de exibição, um segmento de eixo de acionamento, um segmento de codificador, um segmento de motor, e um segmento de alimentação. Cada um dos segmentos de circuito pode ser acoplado ao controlador de segurança e/ou ao controlador principal
717. O controlador principal 717 é também acoplado a uma memória flash. O controlador principal 717 também compreende uma interface de comunicação serial. O controlador principal 717 compreende uma pluralidade de entradas acopladas, por exemplo, a um ou mais segmentos de circuito, uma bateria, e/ou uma pluralidade de chaves. O circuito segmentado pode ser implementado por qualquer circuito adequado, como, por exemplo, um conjunto de placa de circuito impresso (PCBA) dentro do instrumento cirúrgico energizado 10. Deve- se compreender que o termo processador, conforme usado aqui, inclui qualquer microprocessador, processador, controlador, controladores ou outro dispositivo de computação básico que incorpora as funções de uma unidade de processamento central do computador (CPU) em um circuito integrado ou no máximo alguns circuitos integrados. O controlador principal 717 é um dispositivo programável multiuso que aceita dados digitais como entrada, processa-os de acordo com as instruções armazenadas em sua memória, e fornece resultados como saída. Este é um exemplo de lógica digital sequencial, já que ele tem memória interna. O circuito de controle 700 pode ser configurado para implementar um ou mais dos processos aqui descritos.
[0074] O segmento de aceleração (segmento 3) compreende um acelerômetro. O acelerômetro é configurado para detectar o movimento ou a aceleração do instrumento cirúrgico energizado 10. A entrada a partir do acelerômetro pode ser usada para fazer a transição para e a partir de um modo de suspensão, identificar a orientação do instrumento cirúrgico energizado, e/ou identificar quando o instrumento cirúrgico for deixado cair. Em alguns exemplos, o segmento de aceleração é acoplado ao controlador de segurança e/ou ao controlador principal 717.
[0075] O segmento de tela ou exibição (segmento 4) compreende um conector da tela acoplado ao controlador principal 717. O conector da tela acopla o controlador primário 717 a uma tela através de um ou mais acionadores dos circuitos integrados da tela. Os acionadores dos circuitos integrados da tela podem estar integrados com a tela e/ou podem estar situados separadamente da tela. A tela pode compreender qualquer tela adequada, como, por exemplo, uma tela de diodos emissores de luz orgânicos (OLED), uma tela de cristal líquido (LCD), e/ou qualquer outra tela adequada. Em alguns exemplos, o segmento de tela é acoplado ao controlador de segurança.
[0076] O segmento de eixo de acionamento (segmento 5) compreende controles para um conjunto de eixo de acionamento intercambiável 200 (Figuras 1 e 3) acoplados ao instrumento cirúrgico 10 (Figuras 1 a 4) e/ou um ou mais controles para um atuador de extremidade 300 acoplado ao conjunto de eixo de acionamento intercambiável 200. O segmento de eixo de acionamento compreende um conector do eixo de acionamento configurado para acoplar o controlador principal 717 a um PCBA de eixo de acionamento. O PCBA de eixo de acionamento compreende um microprocessador de baixa potência com uma memória de acesso aleatório ferroelétrico (FRAM), uma chave de articulação, uma chave de efeito Hall de liberação de eixo de acionamento, e uma memória EEPROM de PCBA do eixo de acionamento. A memória EEPROM de PCBA do eixo de acionamento compreende um ou mais parâmetros, rotinas, e/ou programas específicos para o conjunto de eixo de acionamento intercambiável 200 e/ou para o PCBA do eixo de acionamento. O PCBA do eixo de acionamento pode ser acoplado ao conjunto do eixo de acionamento intercambiável 200 e/ou pode ser integral com o instrumento cirúrgico
10. Em alguns exemplos, o segmento de eixo de acionamento compreende um segundo EEPROM do eixo de acionamento. O segundo EEPROM do eixo de acionamento compreende uma pluralidade de algoritmos, rotinas, parâmetros, e/ou outros dados que correspondem a um ou mais conjuntos de eixos de acionamento 200 e/ou atuadores de extremidade 300 que podem fazer interface com o instrumento cirúrgico energizado 10.
[0077] O segmento de codificador de posição (segmento 6) compreende um ou mais codificadores magnéticos da posição do ângulo de rotação. Um ou mais codificadores magnéticos da posição do ângulo de rotação são configurados para identificar a posição rotacional do motor 714, um conjunto de eixo de acionamento intercambiável 200 (Figuras 1 e 3) e/ou um atuador de extremidade 300 do instrumento cirúrgico 10 (Figuras 1 a 4). Em alguns exemplos, os codificadores magnéticos da posição do ângulo de rotação podem ser acoplados ao controlador de segurança e/ou ao controlador principal 717.
[0078] O segmento de circuito do motor (segmento 7) compreende um motor 714 configurado para controlar os movimentos do instrumento cirúrgico energizado 10 (Figuras 1 a 4). O motor 714 é acoplado ao processador do microcontrolador principal 717 por um acionador de ponte H que compreende um ou mais transístores de efeito de campo de ponte H (FETs) e um controlador de motor. O acionador de ponte H é também acoplado ao controlador de segurança. Um sensor de corrente do motor é acoplado em série com o motor para medir a drenagem de corrente do motor. O sensor de corrente do motor está em comunicação de sinal com o controlador principal 717 e/ou com o processador de segurança. Em alguns exemplos, o motor 714 é acoplado a um filtro de interferência eletromagnética (IEM) do motor.
[0079] 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.
[0080] O segmento de energia (segmento 8) compreende uma bateria acoplada ao controlador de segurança, o controlador principal 717, e segmentos de circuito adicionais. A bateria é acoplada ao circuito segmentado por um conector da bateria e um sensor de corrente. O sensor de corrente é configurado para medir a drenagem de corrente total do circuito segmentado. Em alguns exemplos, um ou mais conversores de tensão são configurados para fornecer valores de tensão predeterminados a um ou mais segmentos de circuito. Por exemplo, em alguns exemplos, o circuito segmentado pode compreender conversores de tensão de 3,3 V e/ou conversores de tensão de 5 V. Um conversor de amplificação de tensão é configurado para fornecer uma elevação da tensão até uma quantidade predeterminada, como, por exemplo, até 13 V. O conversor de amplificação de tensão é configurado para fornecer tensão e/ou corrente adicional durante as operações que exigem muita energia e evitar apagão ou condições de baixo fornecimento de energia.
[0081] Uma pluralidade de chaves é acoplada ao controlador de segurança e/ou ao controlador principal 717. As chaves podem ser configuradas para controlar as operações do instrumento cirúrgico 10 (Figuras 1 a 4), do circuito segmentado, e/ou indicar um estado do instrumento cirúrgico 10. Uma chave da porta de ejeção e uma chave de efeito Hall para ejeção são configuradas para indicar o estado de uma porta de ejeção. Uma pluralidade de chaves de articulação, como, por exemplo, uma chave do lado esquerdo de articulação para o lado esquerdo, uma chave do lado direito de articulação para o lado esquerdo, uma chave central de articulação para o lado esquerdo, uma chave do lado esquerdo de articulação para o lado direito, uma do lado direito de articulação para o lado direito, e uma chave central de articulação para o lado direito são configuradas para controlar a articulação de um conjunto de eixo de acionamento intercambiável 200 (Figuras 1 e 3) e/ou o atuador de extremidade 300 (Figuras 1 e 4). Uma chave reversa do lado esquerdo e uma chave reversa do lado direito são acopladas ao controlador principal 717. As chaves do lado esquerdo que compreendem a chave do lado esquerdo de articulação para o lado esquerdo, a chave do lado direito de articulação para o lado esquerdo, a chave central de articulação para o lado esquerdo e a chave reversa do lado esquerdo são acopladas ao controlador primário 717 por um conector de flexão à esquerda. As chaves do lado direito que compreendem a chave do lado esquerdo de articulação para o lado direito, a chave do lado direito de articulação para o lado direito, a chave central de articulação para o lado direito, e a chave reversa do lado direito são acopladas ao controlador principal 717 por um conector de flexão à direita. Uma chave de disparo, uma chave de liberação de aperto, e uma chave engatada ao eixo de acionamento são acopladas ao controlador principal 717.
[0082] Quaisquer chaves mecânicas, eletromecânicas, ou de estado sólido adequadas, podem ser usadas para implementar a pluralidade de chaves, em qualquer combinação. Por exemplo, as chaves podem limitar as chaves operadas pelo movimento de componentes associados ao instrumento cirúrgico 10 (Figuras 1 a 4) ou à presença de um objeto. Estas chaves podem ser usadas para controlar várias funções associadas ao instrumento cirúrgico 10. Uma chave de limite é um dispositivo eletromecânico que consiste em um atuador ligado mecanicamente a um conjunto de contatos. Quando um objeto entra em contato com o atuador, o dispositivo opera os contatos para fazer ou romper uma conexão elétrica. As chaves de limite são usadas em uma variedade de aplicações e ambientes por causa de sua robustez, facilidade de instalação e confiabilidade de funcionamento. Elas podem determinar a presença ou ausência, passagem, posicionamento e final de deslocamento de um objeto. Em outras implementações, as chaves podem ser chaves de estado sólido que funcionam sob a influência de um campo magnético como dispositivos de efeito Hall, dispositivos magnetorresistivos (MR), dispositivos magnetorresistivos gigantes (GMR), magnetômetros, dentre outros. Em outras implementações, as chaves podem ser chaves de estado sólido que operam sob a influência da luz, como sensores ópticos, sensores de infravermelho, sensores ultravioleta, dentre outros. Além disso, as chaves podem ser dispositivos de estado sólido como transístores (por exemplo, FET, FET de junção, FET semicondutor de óxido metálico (MOSFET), bipolares, e similares). Outras chaves podem incluir chaves sem fio, chaves ultrassônicas, acelerômetros, sensores de inércia, dentre outros.
[0083] A Figura 6 é um outro diagrama de blocos do circuito de controle 700 do instrumento cirúrgico da Figura 1 que ilustra as interfaces entre o conjunto de cabo 702 e o conjunto de alimentação 706 e entre o conjunto de cabo 702 e o conjunto de eixo de acionamento intercambiável 704, de acordo com um aspecto da presente descrição. O conjunto de cabo 702 pode compreender um controlador principal
717, um conector do conjunto de eixo de acionamento 726 e um conector do conjunto de alimentação 730. O conjunto de alimentação 706 pode incluir um conector do conjunto de alimentação 732, um circuito de gerenciamento de energia 734 que pode compreender o controlador de gerenciamento de energia 716, um modulador de energia 738, e um circuito sensor de corrente 736. Os conectores do conjunto de eixo de acionamento 730, 732 formam uma interface 727. O circuito de gerenciamento de energia 734 pode ser configurado para modular a energia de saída da bateria 707 com base nas necessidades de energia do conjunto de eixo de acionamento intercambiável 704 enquanto o conjunto de eixo de acionamento intercambiável 704 e o conjunto de alimentação 706 são acoplados ao conjunto de cabo 702. O controlador de gerenciamento de energia 716 pode ser programado para controlar o modulador de energia 738 da saída de energia do conjunto de alimentação 706 e o circuito sensor de corrente 736 pode ser usado para monitorar a saída de energia do conjunto de alimentação 706 para fornecer retroinformação ao controlador de gerenciamento de energia 716 sobre a saída de energia da bateria 707 para que o controlador de gerenciamento de energia 716 possa ajustar a saída de energia do conjunto de alimentação 706 para manter uma saída desejada. O conjunto de eixo de acionamento 704 compreende um processador de eixo de acionamento 719 acoplado a uma memória não volátil 721 e um conector de conjunto de eixo de acionamento 728 para acoplar eletricamente o conjunto de eixo de acionamento 704 ao conjunto de cabo 702. Os conectores do conjunto de eixo de acionamento 726, 728 formam uma interface 725. O controlador principal 717, o processador de eixo de acionamento 719 e/ou o controlador de gerenciamento de energia 716 podem ser configurados para implementar um ou mais dos processos aqui descritos.
[0084] O instrumento cirúrgico 10 (Figuras 1 a 4) pode compreender um dispositivo de saída 742 para uma retroinformação sensorial a um usuário. Esses dispositivos podem compreender dispositivos de retroinformação visual (por exemplo, um monitor com tela de LCD, indicadores em LED), dispositivos de retroinformação auditiva (por exemplo, um alto-falante, uma campainha) ou dispositivos de retroinformação tátil (por exemplo, atuadores hápticos). Em determinadas circunstâncias, o dispositivo de saída 742 pode compreender uma tela 743 que pode estar incluída no conjunto de cabo
702. O controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 podem fornecer retroinformação a um usuário do instrumento cirúrgico 10 através do dispositivo de saída 742. A interface 727 pode ser configurada para conectar o controlador do conjunto de eixo de acionamento 722 e/ou o controlador de gerenciamento de energia 716 ao dispositivo de saída
742. O dispositivo de saída 742 pode ser integrado com o conjunto de alimentação 706. A comunicação entre o dispositivo de saída 742 e o controlador do conjunto de eixo de acionamento 722 pode ser feita através da interface 725 enquanto o conjunto de eixo de acionamento intercambiável 704 é acoplado ao conjunto de cabo 702. Tendo descrito um circuito de controle 700 (Figuras 5A a 5B e 6) para controlar a operação do instrumento cirúrgico 10 (Figuras 1 a 4), a descrição se volta agora para várias configurações do instrumento cirúrgico 10 (Figuras 1 a 4) e ao circuito de controle 700.
[0085] A Figura 7 ilustra um circuito de controle 800 configurado para controlar aspectos do instrumento cirúrgico 10 (Figuras 1 a 4), de acordo com um aspecto da presente descrição. O circuito de controle 800 pode ser configurado para implementar vários processos aqui descritos. O circuito de controle 800 pode compreender um controlador que compreende um ou mais processadores 802 (por exemplo, microprocessador, microcontrolador) acoplado a ao menos um circuito de memória 804. O circuito de memória 804 armazena instruções executáveis em máquina que, quando executadas pelo processador 802, fazem com que o processador 802 execute instruções de máquina para implementar vários dos processos aqui descritos. O processador 802 pode ser qualquer um dentre vários processadores de núcleo simples ou processadores de múltiplos núcleos conhecidos na técnica. O circuito de memória 804 pode compreender mídia de armazenamento volátil e não volátil. O processador 802 pode incluir uma unidade de processamento de instruções 806 e uma unidade aritmética 808. A unidade de processamento de instruções pode ser configurada para receber instruções a partir do circuito de memória 804.
[0086] A Figura 8 ilustra um circuito lógico combinacional 810 configurado para controlar aspectos do instrumento cirúrgico 10 (Figuras 1 a 4), de acordo com um aspecto da presente descrição. O circuito lógico combinacional 810 pode ser configurado para implementar vários processos aqui descritos. O circuito 810 pode compreender uma máquina de estado finito que compreende um circuito lógico combinacional 812 configurado para receber dados associados ao instrumento cirúrgico 10 em uma entrada 814, processar os dados pela lógica combinacional 812 e fornecer uma saída 816.
[0087] A Figura 9 ilustra um circuito lógico sequencial 820 configurado para controlar aspectos do instrumento cirúrgico 10 (Figuras 1 a 4), de acordo com um aspecto da presente descrição. O circuito lógico sequencial 820 ou o circuito lógico combinacional 822 pode ser configurado para implementar o processo aqui descrito. O circuito 820 pode compreender uma máquina de estados finitos. O circuito lógico sequencial 820 pode compreender um circuito lógico combinacional 822, ao menos um circuito de memória 824 e um relógio 829, por exemplo. O ao menos um circuito de memória 820 pode armazenar um estado da corrente da máquina de estados finitos. Em certos casos, o circuito lógico sequencial 820 pode ser síncrono ou assíncrono. O circuito lógico combinacional 822 é configurado para receber os dados associados ao instrumento cirúrgico 10, uma entrada 826, processar os dados pelo circuito lógico combinacional 822, e fornecer uma saída 828. Em outros aspectos, o circuito pode compreender uma combinação de o processador 802 e a máquina de estados finitos para implementar vários processos da presente invenção. Em outros aspectos, a máquina de estados finitos pode compreender uma combinação do circuito lógico combinacional 810 e o circuito lógico sequencial 820.
[0088] Os aspectos podem ser implementados sob a forma de um artigo de manufatura. O artigo de manufatura pode incluir uma mídia de armazenamento legível por computador disposto de modo a armazenar lógica, instruções e/ou dados para a execução de várias operações de um ou mais aspectos. Por exemplo, o artigo de manufatura pode compreender um disco magnético, um disco óptico, memória flash ou firmware contendo instruções do programa de computador adequadas para execução por um processador de uso geral ou processador específico para a aplicação.
[0089] A Figura 10 é um diagrama de um sistema de posicionamento absoluto 1100 do instrumento cirúrgico 10 (Figuras 1 a 4), sendo que o sistema de posicionamento absoluto 1100 compreende uma disposição de circuito de acionamento controlado do motor que compreende uma disposição de sensor 1102, de acordo com um aspecto da presente descrição. O sensor de posição 1102 para um sistema de posicionamento absoluto 1100 fornece um sinal de posição único que corresponde à localização de um membro de deslocamento
1111. De volta, brevemente, às Figuras 2 a 4, em um aspecto, o membro de deslocamento 1111 representa um membro de acionamento longitudinalmente móvel 120 (Figura 2) que compreende uma cremalheira de dentes de acionamento 122 para engate de acoplamento com uma engrenagem de acionamento correspondente 86 de um conjunto redutor de engrenagem 84. Em outros aspectos, o membro de deslocamento 1111 representa o membro de disparo 220 (Figura 3), que poderia ser adaptado e configurado para incluir uma cremalheira de dentes de acionamento.
Em ainda um outro aspecto, o membro de deslocamento 1111 representa a barra de disparo 172 (Figura 4) ou a haste com perfil em I 178 (Figura. 4), cada uma das quais pode ser adaptada e configurada para incluir uma cremalheira de dentes de acionamento.
Consequentemente, como usado na presente invenção, o termo membro de deslocamento é usado genericamente para se referir a qualquer membro móvel do instrumento cirúrgico 10, como o membro de acionamento 120, o membro de disparo 220, a barra de disparo 172, a haste com perfil em I 178, ou qualquer elemento que possa ser deslocado.
Em um aspecto, o membro de acionamento longitudinalmente móvel 120 é acoplado ao membro de disparo 220, à barra de disparo 172 e à haste com perfil em I 178. Consequentemente, o sistema de posicionamento absoluto 1100 pode, com efeito, rastrear o deslocamento linear da haste com perfil em I 178 mediante o rastreamento do deslocamento linear do membro de acionamento longitudinalmente móvel 120. Em vários outros aspectos, o membro de deslocamento 1111 pode ser acoplado a qualquer sensor adequado para medir o deslocamento linear.
Dessa forma, o membro de acionamento longitudinalmente móvel 120, o membro de disparo 220, a barra de disparo 172, ou a haste com perfil em I 178, ou suas combinações, podem ser acoplados a qualquer sensor de deslocamento linear adequado.
Os sensores de deslocamento linear podem incluir sensores de deslocamento de contato ou sem contato.
Os sensores de deslocamento linear podem compreender transformadores lineares diferenciais variáveis (LVDT), transdutores diferenciais de relutância variável (DVRT), um potenciômetro deslizante, um sistema de detecção magnético que compreende um magneto móvel e uma série linearmente disposta em sensores de efeito Hall, um sistema de detecção magnético que compreende um magneto fixo e uma série de móveis, dispostos linearmente em sensores de efeito Hall, um sistema de detecção óptico móvel que compreende uma fonte de luz móvel e uma série de fotodiodos ou fotodetectores linearmente dispostos, um sistema de detecção óptico que compreende uma fonte de luz fixa e uma série móvel de fotodiodos ou fotodetectores linearmente dispostos, ou qualquer combinação dos mesmos.
[0090] Um motor elétrico 1120 pode incluir um eixo de acionamento giratório 1116 que, operacionalmente, faz interface com um conjunto de engrenagem 1114 que está montado em engate de acoplamento com um conjunto, ou cremalheira, de dentes de acionamento no membro de acionamento 1111. Um elemento sensor 1126 pode ser operacionalmente acoplado a um conjunto de engrenagem 1114 de modo que uma única revolução do elemento sensor 1126 corresponda a alguma translação longitudinal linear do membro de deslocamento
1111. Uma disposição de engrenagens e sensores 1118 pode ser conectada ao atuador linear por meio de uma disposição de cremalheira e pinhão, ou de um atuador giratório, por meio de uma roda dentada ou outra conexão. Uma fonte de energia 1129 fornece energia para o sistema de posicionamento absoluto 1100 e um indicador de saída 1128 pode mostrar a saída do sistema de posicionamento absoluto 1100. Na Figura 2, o membro de acionamento 1111 representa o membro de acionamento longitudinalmente móvel 120 que compreende uma cremalheira de dentes de acionamento 122 formada na mesma para engate de acoplamento com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84. O membro de deslocamento 1111 representa o membro de disparo longitudinalmente móvel 220, a barra de disparo 172, a haste com perfil em I 178, ou combinações dos mesmos.
[0091] Uma única revolução do elemento sensor 1126 associada ao sensor de posição 1112 é equivalente a um deslocamento linear longitudinal d1 do membro de deslocamento 1111, sendo que d1 representa a distância linear longitudinal pela qual o membro de deslocamento 1111 se move do ponto "a" ao ponto "b" depois de uma única revolução do elemento sensor 1126 acoplado ao membro de deslocamento 1111. A disposição do sensor 1102 pode ser conectada por meio de uma redução de engrenagem que resulta no sensor de posição 1112 completando uma ou mais revoluções para o curso completo do membro de deslocamento 1111. O sensor de posição 1112 pode completar múltiplas revoluções para o curso completo do membro de deslocamento 1111.
[0092] Uma série de chaves 1122a a 1122n, onde n é um número inteiro maior que um, pode ser usada sozinha ou em combinação com redução de engrenagem para fornecer um sinal de posição único por mais de uma revolução do sensor de posição 1112. O estado das chaves 1122a a 1122n é alimentado de volta para um controlador 1104 que aplica lógica para determinar um sinal de posição única que corresponde ao deslocamento linear longitudinal d1 + d2 + … dn do membro de acionamento 1111. A saída 1124 do sensor de posição 1112 é fornecida ao controlador 1104. O sensor de posição 1112 da disposição de sensor 1102 pode compreender um sensor magnético, um sensor giratório analógico, como um potenciômetro, uma série de elementos de efeito Hall analógicos, que emitem uma combinação única de posição de sinais ou valores.
[0093] O sistema de posicionamento absoluto 1100 fornece um posicionamento absoluto do membro de deslocamento 1111 com a energização do instrumento sem que seja preciso retrair ou avançar o membro de acionamento 1111 para a posição de reinício (zero ou inicial), como pode ser o caso de codificadores convencionais giratórios que meramente contam o número de passos progressivos ou regressivos que o motor 1120 percorreu para inferir a posição de um atuador dispositivo, barra de acionamento, bisturi, e similares.
[0094] O controlador 1104 pode ser programado para realizar várias funções, como o controle preciso da velocidade e da posição dos sistemas de articulação e bisturi. Em um aspecto, o controlador 1104 inclui um processador 1108 e uma memória 1106. O motor elétrico 1120 pode ser um motor de corrente contínua com escovas com uma caixa de câmbio e conexões mecânicas com um sistema de articulação ou bisturi. Em um aspecto, um acionador de motor 1110 pode ser um A3941 disponível junto à Allegro Microsystems, Inc. Outros acionadores de motor podem ser prontamente substituídos para uso no sistema de posicionamento absoluto 1100. Uma descrição mais detalhada do sistema de posicionamento absoluto 1100 é descrita no pedido de patente US N° 15/130.590, intitulado SYSTEMS AND METHODS FOR
CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, depositado em 15 de abril de 2016, cuja descrição está aqui incorporada a título de referência.
[0095] 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.
[0096] O sistema de posicionamento absoluto 1100 pode compreender e/ou ser programado para implementar um controlador de retroinformação, como um PID, uma realimentação de estado, e um controlador adaptável. Uma fonte de alimentação 1129 converte o sinal do controlador de realimentação em uma entrada física para o sistema, nesse caso a tensão. Outros exemplos incluem uma modulação por largura de pulso (PWM) de tensão, corrente e força. Outro(s) sensor(es) 1118 pode(m) ser fornecido(s) para mediar os parâmetros físicos do sistema físico além da posição medida pelo sensor de posição 1112. Em um sistema de processamento de sinal digital, um sistema de posicionamento absoluto 1100 é acoplado a um sistema de captura de dados digitais no qual a saída do sistema de posicionamento absoluto 1100 terá uma resolução e frequência de amostragem finitas. O sistema de posicionamento absoluto 1100 pode compreender um circuito de comparação e combinação para combinar uma resposta computada com uma resposta medida através do uso de algoritmos, como uma média ponderada e um circuito de controle teórico, que acionam a resposta calculada em direção à resposta medida. A resposta computada do sistema físico considera as propriedades como massa, inércia, atrito viscoso, resistência à indutância, etc., para prever pelo conhecimento da entrada quais serão os estados e saídas do sistema físico. O controlador 1104 pode ser um circuito de controle 700 (Figuras 5A e 5B).
[0097] O acionador de motor 1110 pode ser um A3941, disponível junto à Allegro Microsystems, Inc. O acionador 1110 A3941 é um controlador de ponte inteira para uso com transístores de efeito de campo de óxido de metal semicondutor (MOSFET) de potência externa, de canal N, especificamente projetados para cargas indutivas, como motores de corrente contínua com escovas. O acionador 1110 compreende um regulador de bomba de carga único, fornece acionamento de porta completo (>10 V) para baterias com tensão até 7 V e permite que o A3941 opere com um acionamento de porta reduzido, até 5,5 V. Um capacitor de comando de entrada pode ser usado para fornecer a tensão excedente à fornecida pela bateria necessária para os MOSFETs de canal N. Uma bomba de carga interna para o acionamento do lado de cima permite a operação em corrente contínua (100% ciclo de trabalho). A ponte inteira pode ser acionada nos modos de queda rápida ou lenta usando diodos ou retificação sincronizada. No modo de queda lenta, a recirculação da corrente pode se dar por meio de FET do lado de cima ou do lado de baixo. Os FET de potência são protegidos do efeito shoot-through por meio de resistores com tempo morto programável. O diagnóstico integrado fornece indicação de subtensão, sobretemperatura e falhas na ponte de energia, podendo ser configurado para proteger os MOSFETs de potência na maioria das condições de curto-circuito. Outros controladores de motor podem ser prontamente substituídos para uso no sistema de posicionamento absoluto 1100.
[0098] Tendo descrito uma arquitetura geral para implementar aspectos de um sistema de posicionamento absoluto 1100 para uma disposição de sensor 1102, a descrição agora se volta para as Figuras 11 a 12 para uma descrição de um aspecto de uma disposição de sensor 1102 para o sistema de posicionamento absoluto 1100. A Figura 11 é uma vista em perspectiva explodida da disposição de sensor 1102 para o sistema de posicionamento absoluto 1100 que mostra um circuito 1205 e o alinhamento relativo dos elementos da disposição de sensor 1102, de acordo com um aspecto. A disposição de sensor 1102 para um sistema de posicionamento absoluto 1100 compreende um sensor de posição 1200, um elemento sensor de magneto 1202, um suporte de magneto 1204, que dá uma volta a cada curso completo do membro de acionamento 1111, e um conjunto de engrenagens 1206 para fornecer uma redução de engrenagens. Com breve referência à Figura 2, o membro de deslocamento 1111 pode representar o membro de acionamento longitudinalmente móvel 120 que compreende uma cremalheira de dentes de acionamento 122 para engate de acoplamento com uma engrenagem de acionamento correspondente 86 do conjunto redutor de engrenagem 84. 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 um ou mais elementos magnéticos de detecção, como elementos de efeito Hall, e está posicionado próximo ao magneto 1202. Conforme o magneto 1202 gira, os elementos magnéticos de detecção do sensor de posição 1200 determinam a posição angular absoluta do magneto 1202 durante uma revolução.
[0099] A disposição de sensor 1102 pode compreender qualquer número de elementos de detecção magnética, como, por exemplo, sensores magnéticos classificados de acordo com sua capacidade de medir o campo magnético total ou os componentes vetoriais do campo magnético. As técnicas usadas para produzir ambos os tipos de sensores magnéticos abrangem muitos aspectos da física e da eletrônica. As tecnologias usadas para a detecção de campo magnético incluem fluxômetro, fluxo saturado, bombeamento óptico, precessão nuclear, SQUID, efeito Hall, magnetorresistência anisotrópica, magnetorresistência gigante, junções túnel magnéticas, magneto- impedância gigante, compostos magnetostritivos/piesoelétricos, magnetodiodo, transistor magnético, fibra óptica, magneto-óptica e sensores magnéticos baseados em sistemas microeletromecânicos, dentre outros.
[00100] Um conjunto de engrenagens compreende uma primeira engrenagem 1208 e uma segunda engrenagem 1210 em engate de acoplamento para fornecer uma conexão com uma relação de engrenagens de 3:1. Uma terceira engrenagem 1212 gira ao redor de um eixo de acionamento 1214. A terceira engrenagem 1212 está engrenada em acoplamento com o membro de acionamento 1111 (ou 120 conforme mostrado na Figura 2) e gira em uma primeira direção, à medida que o elemento de acionamento 1111 avança em uma direção distal D e gira em uma segunda direção à medida que o membro de acionamento 1111 se retrai em uma direção proximal P. A segunda engrenagem 1210 também gira em torno do eixo de acionamento 1214 e, portanto, a rotação da segunda engrenagem 1210 em torno do eixo de acionamento 1214 corresponde à translação longitudinal do membro de acionamento 1111. Dessa forma, um curso completo do membro de acionamento 1111, seja na direção distal, seja na proximal, D, P, corresponde a três rotações da segunda engrenagem 1210 e a uma única rotação da primeira engrenagem 1208. Como o suporte de magneto 1204 está acoplado à primeira engrenagem 1208, o suporte de magneto 1204 completa uma rotação com cada curso completo do membro de acionamento 1111.
[00101] O sensor de posição 1200 é sustentado por um suporte de sensor de posição 1218, definindo uma abertura 1220 adequada para conter o sensor de posição 1200 em alinhamento preciso com um magneto 1202 girando abaixo no interior do suporte de magneto 1204. O acessório é acoplado ao bráquete 1216 e ao circuito 1205 e permanece estacionário enquanto o magneto 1202 gira com o suporte de magneto 1204. É fornecido um ponto central 1222 que se acopla à primeira engrenagem 1208 e ao suporte de magneto 1204. A segunda engrenagem 1210 e a terceira engrenagem 1212 acopladas ao eixo 1214 também são mostradas.
[00102] A Figura 12 é um diagrama de um sensor de posição 1200 para um sistema de posicionamento absoluto 1100, que compreende um sistema de posicionamento absoluto magnético giratório, de acordo com um aspecto da presente invenção. O sensor de posição 1200 pode ser implementado como um sensor de posição giratório, magnético, de chip único AS5055EQFT, disponível junto à Austria Microsystems, AG. O sensor de posição 1200 está em interface com o controlador 1104 para fornecer um sistema de posicionamento absoluto 1100. O sensor de posição 1200 é um componente de baixa tensão e baixa potência e inclui quatro elementos de efeito Hall 1228A, 1228B, 1228C, 1228D em uma área 1230 do sensor de posição 1200 que está localizada acima do magneto 1202 (Figuras 15 e 16). Um ADC de alta resolução 1232 e um controlador inteligente de gerenciamento de potência 1238 são também fornecidos no circuito integrado. Um processador CORDIC 1236 (acrônimo de Coordinate Rotation Digital Computer), também conhecido como método dígito por dígito e algoritmo de Volder, é fornecido para implementar um algoritmo simples e eficiente para calcular funções hiperbólicas e trigonométricas que exigem apenas operações de adição, subtração, deslocamento de bits e pesquisa de tabela. A posição angular, bits de alarme e informações de campo magnético são transmitidos através de uma interface de comunicação serial padrão, como uma interface SPI 1234 para o controlador 1104. O sensor de posição 1200 fornece 12 ou 14 bits de resolução. O sensor de posição 1200 pode ser um circuito integrado AS5055 fornecido em uma pequena embalagem QFN de 16 pinos cuja medida corresponde a 4 x 4 x 0,85 mm.
[00103] Os elementos de efeito Hall 1228A, 1228B, 1228C, 1228D estão localizados diretamente acima do magneto giratório 1202 (Figura 11). O efeito Hall é um efeito bem conhecido e por conveniência não será descrito em detalhes na presente invenção, no entanto, em geral, o efeito Hall produz uma diferença de tensão (a tensão de Hall) através de um condutor elétrico transversal a uma corrente elétrica no condutor e um campo magnético perpendicular à corrente. O coeficiente de Hall é definido como a razão entre o campo elétrico induzido e o produto da densidade de corrente pelo campo magnético aplicado. É uma característica do material a partir do qual o condutor é feito, pois seu valor depende do tipo, do número e das propriedades dos portadores de carga que constituem a corrente. No sensor de posição AS5055 1200, os elementos de efeito Hall 1228A, 1228B, 1228C, 1228D são capazes de produzir um sinal de tensão indicativo do posicionamento absoluto do magneto 1202 em termos do ângulo em relação a uma única revolução do magneto 1202. Esse valor do ângulo, que é um sinal de posição único, é calculado pelo processador CORDIC 1236, que é armazenado integrado no sensor de posição AS5055 1200 em um registro ou uma memória. O valor do ângulo que é indicativo da posição do magneto 1202 durante uma revolução é fornecido ao controlador 1104 em uma variedade de técnicas, por exemplo, ao energizar ou mediante demanda do controlador 1104.
[00104] 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 energia e quatro fios 1240 para a interface SPI 1234 com o controlador 1104. Uma sétima conexão pode ser adicionada de forma a enviar um sinal de interrupção ao controlador 1104 para informar 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. Quando essa saída é configurada, o sensor de posição AS5055 1200 fica suspenso para entrar no modo suspenso. O controlador 1104 pode responder à solicitação INT na saída INT 1242 pela leitura do valor do ângulo a partir do sensor de posição AS5055 1200 por intermédio da interface SPI
1234. Uma vez lido o valor do ângulo pelo controlador 1104, a saída INT 1242 é liberada novamente. Enviar um comando "ler ângulo" pela interface SPI 1234 por meio do controlador 1104 ao sensor de posição 1200 também energiza automaticamente o circuito integrado e inicia outra medição de ângulo. Assim que o controlador 1104 concluir a leitura do valor do ângulo, a saída INT 1242 é liberada e um novo resultado é armazenado no registro de ângulos. O término dessa medição de ângulo é indicado novamente pela configuração da saída INT 1242 e pela sinalizador correspondente no registro de estados.
[00105] Devido ao princípio de medição do sensor de posição AS5055 1200, apenas uma única medição de ângulo é realizada em tempo muito curto (~600 µs) depois de cada sequência de energização. Assim que a medição de um ângulo é concluída, o sensor de posição AS5055 1200 é suspenso para entrar no estado desenergizado. Não há filtro do valor do ângulo por média digital implementado, pois isso exigiria mais de uma medição de ângulo e, consequentemente, um tempo de energização mais longo, o que não é desejado em aplicações de baixa potência. A instabilidade do ângulo pode ser reduzida fazendo- se a média de várias amostras de ângulo no controlador 1104. Por exemplo, uma média de quatro amostras reduz a variação em 6 dB (50%).
[00106] A Figura 13 é uma vista em corte de um atuador de extremidade 2502 do instrumento cirúrgico 10 (Figuras 1 a 4) que mostra um curso de disparo da haste com perfil em I 2514 em relação ao tecido 2526 preso dentro do atuador de extremidade 2502, de acordo com um aspecto da presente descrição. O atuador de extremidade 2502 é configurado para operar com o instrumento cirúrgico 10 mostrado nas Figuras 1 a 4. O atuador de extremidade 2502 compreende uma bigorna 2516 e uma canaleta alongada 2503 com um cartucho de grampos 2518 posicionado na canaleta alongada 2503. Uma barra de disparo 2520 é transladável distalmente e proximalmente ao longo de um eixo geométrico longitudinal 2515 do atuador de extremidade 2502. Quando o atuador de extremidade 2502 não é articulado, o atuador de extremidade 2502 está em linha com o eixo de acionamento do instrumento. Uma haste com perfil em I 2514 que compreende um gume cortante 2509 é ilustrada em uma porção distal da barra de disparo
2520. Um deslizador em cunha 2513 está posicionado no cartucho de grampos 2518. Conforme a haste com perfil em I 2514 translada distalmente, o gume cortante 2509 entra em contato e pode cortar o tecido 2526 posicionado entre a bigorna 2516 e o cartucho de grampos
2518. Além disso, a haste com perfil em I 2514 entra em contato com o deslizador em cunha 2513 e o empurra distalmente, fazendo com que o deslizador em cunha 2513 entre em contato com os acionadores de grampos 2511. Os acionadores de grampo 2511 podem ser acionados para cima para dentro dos grampos 2505, fazendo com que os grampos 2505 avancem através do tecido e para dentro de bolsos 2507 definidos na bigorna 2516, que formam os grampos 2505.
[00107] Um curso de disparo exemplificador da haste com perfil em I 2514 é ilustrado por um gráfico 2529 alinhado com o atuador de extremidade 2502. O tecido exemplificador 2526 é também mostrado alinhado com o atuador de extremidade 2502. O curso do membro de disparo pode compreender uma posição de início de curso 2527 e uma posição de final de curso 2528. Durante um curso de disparo da haste com perfil em I 2514, a haste com perfil em I 2514 pode ser avançada distalmente da posição de início de curso 2527 até a posição de final de curso 2528. A haste com perfil de I 2514 é mostrada em um local exemplificador de uma posição de início de curso 2527. O gráfico 2529 do curso do membro de disparo da haste com perfil de I 2514 ilustra cinco regiões de curso do membro de disparo 2517, 2519, 2521, 2523 e 2525. Em uma primeira região do curso de disparo 2517, a haste com perfil em I 2514 pode começar a avançar distalmente. Na primeira região do curso de disparo 2517, a haste com perfil em I 2514 pode entrar em contato com o deslizador de cunha 2513 e começar a movê-lo distalmente. Enquanto na primeira região, entretanto, o gume cortante 2509 pode não entrar em contato com o tecido e o deslizador em cunha 2513 pode não entrar em contato com um acionador de grampo 2511. Depois do atrito estático ser superado, a força para acionar a haste com perfil em I 2514 na primeira região 2517 pode ser substancialmente constante.
[00108] Na segunda região de curso do membro de disparo 2519, o gume cortante 2509 pode começar a entrar em contato e cortar o tecido
2526. Além disso, o deslizador em cunha 2513 pode começar a entrar em contato com os acionadores de grampo 2511 para acionar os grampos 2505. A força para acionar a haste com perfil em I 2514 pode começar a aumentar gradualmente. Conforme mostrado, o tecido encontrado inicialmente pode ser comprimido e/ou ser mais fino devido à maneira como a bigorna 2516 gira em relação ao cartucho de grampos
2518. Na terceira região de curso do membro de disparo 2521, o gume cortante 2509 pode estar continuamente em contato e cortar o tecido 2526 e o deslizador em cunha 2513 pode repetidamente entrar em contato com os acionadores de grampos 2511. A força para acionar a haste com perfil em I 2514 pode estacionar na terceira região 2521. Perto da quarta região 2523 do curso de disparo, a força para acionar a haste com perfil em I 2514 pode começar a diminuir. Por exemplo, o tecido na porção do atuador de extremidade 2502 correspondente à quarta região de disparo 2523 pode ser menos comprimido que o tecido mais próximo ao ponto de pivô da bigorna 2516, exigindo menos força para cortar. Além disso, o gume cortante 2509 e o deslizador em cunha 2513 podem atingir a extremidade do tecido 2526 enquanto na quarta região 2523. Quando a haste com perfil em I 2514 atingir a quinta região 2525, o tecido 2526 pode ser completamente separado. O deslizador em cunha 2513 pode entrar em contato com um ou mais acionadores de grampos 2511 no ou próximo ao final do tecido. A força para avançar a haste com perfil em I 2514 através da quinta região 2525 pode ser reduzida e, em alguns exemplos, pode ser similar à força para acionar a haste com perfil em I 2514 na primeira região 2517. Na conclusão do curso do membro de disparo, a haste com perfil em I 2514 pode alcançar a posição final do curso 2528. O posicionamento das regiões de curso do membro de disparo 2517, 2519, 2521, 2523 e 2525 na Figura 18 é apenas um exemplo. Em alguns exemplos, diferentes regiões podem começar em diferentes posições ao longo do eixo geométrico longitudinal de atuador de extremidade 2515, por exemplo, com base no posicionamento de tecido entre a bigorna 2516 e o cartucho de grampos 2518.
[00109] Como 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 retrair o sistema de disparo do conjunto de eixo de acionamento, incluindo a viga com perfil em I 2514, em relação ao atuador de extremidade 2502 do conjunto de eixo de acionamento de forma a grampear e/ou cortar o tecido capturado no interior do atuador de extremidade 2502. A viga com perfil em I 2514 pode ser avançado ou retraído 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 pode ser configurado para prever a velocidade da corrente 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 nos estados anteriores do sistema, como velocidade, 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 para o motor elétrico 1122 deve ser aumentada a fim de aumentar a velocidade da viga com perfil em I 2514 e/ou diminuída a fim de 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.
[00110] A força que age sobre a haste com perfil em I 2514 pode ser determinada com o uso de várias técnicas. A força da haste com perfil em I 2514 pode ser determinada por medição da corrente do motor 2504, sendo que a corrente do motor 2504 se baseia na carga experimentada pela haste com perfil em I 2514 à medida que ela avança distalmente. A força da haste com perfil em I 2514 pode ser determinada mediante o posicionamento de um medidor de tensão no membro de acionamento 120 (Figura 2), no membro de disparo 220 (Figura 2), na haste com perfil em I 2514 (haste com perfil em I 178, Figura 20), na barra de disparo 172 (Figura 2), e/ou em uma extremidade proximal do gume cortante 2509. A força da haste com perfil em I 2514 pode ser determinada pelo monitoramento da posição real da haste com perfil em I 2514 que se move em uma velocidade esperada com base na velocidade da corrente ajustada do motor 2504 após um período decorrido predeterminado T1 e por comparação da posição real da haste com perfil em I 2514 em relação à posição esperada da haste com perfil em I 2514 com base na velocidade da corrente ajustada do motor 2504 no final do período T1. Dessa forma, se a posição real da haste com perfil em I 2514 for menor que a posição esperada da haste com perfil em I 2514, a força na haste com perfil em I 2514 é maior que uma força nominal. Por outro lado, se a posição real da haste com perfil em I 2514 for maior que a posição esperada da haste com perfil em I 2514, a força na haste com perfil em I 2514 é menor que a força nominal. A diferença entre as posições real e esperada da haste com perfil em I 2514 é proporcional ao desvio da força na haste com perfil em I 2514 a partir da força nominal. Essas técnicas são descritas no documento do procurador número END8195USNP, o qual está aqui incorporado por referência em sua totalidade.
[00111] A Figura 14 ilustra um diagrama de bloco de um instrumento cirúrgico 2500 programado para controlar a translação distal de um membro de deslocamento de acordo com um aspecto da presente descrição. Em um aspecto, o instrumento cirúrgico 2500 é programado para controlar a translação distal de um membro de deslocamento 1111 como a haste com perfil em I 2514. O instrumento cirúrgico 2500 compreende um atuador de extremidade 2502 que pode compreender uma bigorna 2516, uma haste com perfil em I 2514 (incluindo um gume cortante afiado 2509), e um cartucho de grampos removível 2518. O atuador de extremidade 2502, a bigorna 2516, a haste com perfil em I 2514 e o cartucho de grampos 2518 podem ser configurados conforme descrito aqui, por exemplo, em relação às Figuras 1 a 13.
[00112] A posição, o movimento, o deslocamento, e/ou a translação de um membro de deslocamento 1111, como a haste com perfil em I 2514, podem ser medidos pelo sistema de posicionamento absoluto
1100, pela disposição de sensor 1102, e pelo sensor de posição 1200 conforme mostrado nas Figuras 10 a 12 e representado como o sensor de posição 2534 na Figura 14. Devido à haste com perfil em I 2514 ser acoplada a um membro de acionamento longitudinalmente móvel 120, a posição da haste com perfil em I 2514 pode ser determinada mediante a medição da posição do membro de acionamento longitudinalmente móvel 120 com o uso do sensor de posição 2534. Consequentemente, na descrição a seguir, a posição, o deslocamento e/ou a translação do membro de fechamento 2514 podem ser obtidos pelo sensor de posição 2534, conforme descrito na presente invenção. Um circuito de controle 2510, como o circuito de controle 700 descrito nas Figuras 5A e 5B, pode ser programado para controlar a translação do membro de deslocamento 1111, como a viga com perfil em I 2514, conforme descrito em conexão com as Figuras 10 a 12. O circuito de controle 2510, em alguns exemplos, pode compreender um ou mais microcontroladores, microprocessadores, ou outros processadores adequados para executar as instruções que fazem com que o processador ou processadores controlem o membro de deslocamento, por exemplo, a haste com perfil em I 2514, da maneira descrita. Em um aspecto, um temporizador/contador 2531 fornece um sinal de saída, como o tempo decorrido ou uma contagem digital, ao circuito de controle 2510 para correlacionar a posição da haste com perfil em I 2514, conforme determinado pelo sensor de posição 2534, com a saída do temporizador/contador 2531 de modo que o circuito de controle 2510 possa determinar a posição da haste com perfil em I 2514 em um momento específico (t) em relação a uma posição inicial. O temporizador/contador 2531 pode ser configurado para medir o tempo decorrido, contar eventos externos, ou medir eventos externos.
[00113] O circuito de controle 2510 pode gerar um sinal de ponto de ajuste do motor 2522. O sinal do ponto de ajuste do motor 2522 pode ser fornecido a um controlador do motor 2508. O controlador do motor 2508 pode compreender um ou mais circuitos configurados para fornecer um sinal de acionamento do motor 2524 ao motor 2504 para acionar o motor 2504, conforme descrito na presente invenção. Em alguns exemplos, o motor 2504 pode ser um motor elétrico de corrente contínua (CC) com escovas, como o motor 82, 714, 1120 mostrado nas Figuras 1, 5B, 10. Por exemplo, a velocidade do motor 2504 pode ser proporcional ao sinal de acionamento do motor 2524. Em alguns exemplos, o motor 2504 pode ser um motor elétrico CC sem escovas e o sinal de acionamento do motor 2524 pode compreender um sinal modulado por largura de pulso (PWM) fornecido a um ou mais enrolamentos do estator do motor 2504. Além disso, em alguns exemplos, o controlador do motor 2508 pode ser omitido, e o circuito de controle 2510 pode gerar o sinal de acionamento do motor 2524 diretamente.
[00114] O motor 2504 pode receber energia de uma fonte de energia
2512. A fonte de energia 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 haste com perfil em I 2514 por meio de uma transmissão 2506. A transmissão 2506 pode incluir uma ou mais engrenagens ou outros componentes de ligação para acoplar o motor 2504 à haste com perfil em I 2514. Um sensor de posição 2534 pode detectar uma posição da haste com perfil em I 2514. O sensor de posição 2534 pode ser ou pode incluir qualquer tipo de sensor que seja capaz de gerar dados de posição que indicam uma posição da haste com perfil em I 2514. Em alguns exemplos, o sensor de posição 2534 pode incluir um codificador configurado para fornecer uma série de pulsos ao circuito de controle 2510 conforme a haste com perfil em I 2514 translada distalmente e proximalmente. O circuito de controle 2510 pode rastrear os pulsos para determinar a posição da haste com perfil em I 2514. Outro sensor de posição adequado pode ser usado, incluindo, por exemplo, um sensor de proximidade. Outros tipos de sensores de posição podem fornecer outros sinais que indiquem o movimento da haste com perfil em I 2514. Além disso, em alguns exemplos, o sensor de posição 2534 pode ser omitido. Quando o motor 2504 for um motor de passo, o circuito de controle 2510 pode rastrear a posição da haste com perfil em I 2514 ao agregar o número e a orientação das etapas que o motor 2504 foi instruído a executar. O sensor de posição 2534 pode estar situado no atuador de extremidade 2502 ou em qualquer outra porção do instrumento.
[00115] O circuito de controle 2510 pode estar em comunicação com um ou mais sensores 2538. Os sensores 2538 podem ser posicionados no atuador de extremidade 2502 e adaptados para funcionar com o instrumento cirúrgico 2500 para medir os vários parâmetros derivados, como a distância do vão em relação ao tempo, a compressão do tecido em relação ao tempo e a tensão da bigorna em relação ao tempo. Os sensores 2538 podem compreender, por exemplo, um sensor magnético, um sensor de campo magnético, um medidor de tensão, um sensor de pressão, um sensor de força, um sensor indutivo como, por exemplo, um sensor de correntes parasitas, um sensor resistivo, um sensor capacitivo, um sensor óptico, e/ou quaisquer outros sensores adequados para a medição de um ou mais parâmetros do atuador de extremidade 2502. Os sensores 2538 podem incluir um ou mais sensores.
[00116] O um ou mais sensores 2538 podem compreender um medidor de tensão, como um medidor de microtensão, configurado para medir a magnitude da tensão na bigorna 2516 durante uma condição apertada. O medidor de tensão fornece um sinal elétrico cuja amplitude varia com a magnitude da tensão. Os sensores 2538 podem compreender um sensor de pressão configurado para detectar uma pressão gerada pela presença de tecido comprimido entre a bigorna 2516 e o cartucho de grampos 2518. Os sensores 2538 podem ser configurados para detectar a impedância de uma seção de tecido situada entre a bigorna 2516 e o cartucho de grampos 2518 que é indicativa da espessura e/ou da completude do tecido situado entre os mesmos.
[00117] Os sensores 2538 podem ser configurados para medir as forças exercidas sobre a bigorna 2516 pelo sistema de acionamento de fechamento 30. Por exemplo, um ou mais sensores 2538 podem estar em um ponto de interação entre o tubo de fechamento 260 (Figura 3) e a bigorna 2516 para detectar as forças de fechamento aplicadas pelo tubo de fechamento 260 à bigorna 2516. As forças exercidas sobre a bigorna 2516 podem ser representativas da compressão do tecido experimentada pela seção do tecido capturada entre a bigorna 2516 e o cartucho de grampos 2518. O um ou mais sensores 2538 podem ser posicionados em vários pontos de interação ao longo do sistema de acionamento de fechamento 30 (Figura 2) para detectar as forças de fechamento aplicadas à bigorna 2516 pelo sistema de acionamento de fechamento 30. O um ou mais sensores 2538 podem ser amostrados em tempo real durante uma operação de preensão por um processador conforme descrito nas Figuras 5A a 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.
[00118] Um sensor de corrente 2536 pode ser usado para medir a corrente drenada pelo motor 2504. A força necessária para avançar a haste com perfil em I 2514 corresponde à corrente drenada pelo motor
2504. A força medida é convertida em um sinal digital e fornecida ao circuito de controle 2510.
[00119] Usando as propriedades físicas dos instrumentos aqui descritos, 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 haste com perfil em I 2514 no atuador de extremidade 2502 em ou próximo a uma velocidade-alvo. O instrumento cirúrgico 2500 pode incluir um controlador de retroinformação, que pode ser um ou qualquer dos controladores de retroinformação, incluindo, mas não se limitando a, um PID, uma retroinformação de estado, LQR, e/ou um controlador adaptável, por exemplo. O instrumento cirúrgico 2500 pode incluir uma fonte de energia para converter o sinal do controlador de retroinformação para uma entrada física como tensão do estojo, tensão PWM, tensão modulada por frequência, corrente, torque e/ou força, por exemplo.
[00120] O sistema de acionamento real do instrumento cirúrgico 2500 é configurado para acionar o membro de deslocamento, o membro de corte ou a haste com perfil em I 2514, por um motor CC com escovas com caixa de câmbio e ligações mecânicas a um sistema de articulação e/ou bisturi. Um outro exemplo é o motor elétrico 2504 que opera o membro de deslocamento e o acionador de articulação, por exemplo, de um conjunto de eixo de acionamento intercambiável. Uma influência externa é uma influência desmedida e imprevisível de coisas como tecido, corpos circundantes, e atrito no sistema físico. Essa influência externa pode ser chamada de arrasto, que age em oposição ao motor elétrico 2504. A influência externa, como o arrasto, pode fazer com que o funcionamento do sistema físico se desvie de uma operação desejada do sistema físico.
[00121] 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 das partes ilustradas nos desenhos e na descrição em anexo. Os aspectos exemplificadores podem ser implementados ou incorporados em outros aspectos, variações e modificações, e podem ser praticados ou executados de várias maneiras. Além disso, exceto onde indicado em contrário, os termos e expressões usados na presente invenção foram escolhidos com o propósito de descrever os aspectos exemplificadores para a conveniência do leitor e não para o propósito de limitar a mesma. Além disso, deve-se entender que um ou mais dentre os aspectos, expressões de aspectos, e/ou exemplos descritos a seguir podem ser combinados com qualquer um ou mais dentre os outros aspectos, expressões de aspectos e/ou exemplos descritos a seguir.
[00122] 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 distal e proximalmente ao longo de um eixo geométrico longitudinal do atuador de extremidade 2502. O atuador de extremidade 2502 pode compreender uma bigorna articulável 2516 e, quando configurada para o uso, uma lâmina ultrassônica 2518 posicionada no lado oposto da bigorna 2516. Um médico pode segurar o tecido entre a bigorna 2516 e o cartucho de grampos 2518, conforme descrito na presente invenção. Quando pronto para usar o instrumento 2500, o médico pode fornecer um sinal de disparo, por exemplo, pressionando um gatilho do instrumento 2500. Em resposta ao sinal de disparo, o motor 2504 pode acionar o membro de deslocamento distalmente ao longo do eixo geométrico longitudinal do atuador de extremidade 2502 a partir de uma posição de início de curso proximal para uma posição final de curso distal da posição inicial do curso. À medida que o membro de deslocamento se desloca distalmente, a haste com perfil em I 2514 com um elemento de corte posicionado em uma extremidade distal, pode cortar o tecido entre o cartucho de grampos 2518 e a bigorna 2516.
[00123] Em vários exemplos, o instrumento cirúrgico 2500 pode compreender um circuito de controle 2510 programado para controlar a translação distal do membro de deslocamento, como a haste com perfil em I 2514, por exemplo, com base em uma ou mais condições do tecido. O circuito de controle 2510 pode ser programado para detectar as condições do tecido, como espessura, direta ou indiretamente, conforme descrito aqui. O circuito de controle 2510 pode ser programado para selecionar um programa de controle baseado nas condições do tecido. Um programa de controle de disparo pode descrever o movimento distal do membro de deslocamento. Diferentes programas de controle de disparo podem ser selecionados para melhor tratar as diferentes condições do tecido. Por exemplo, quando um tecido mais espesso está presente, o circuito de controle 2510 pode ser programado para transladar o membro de deslocamento a uma velocidade mais baixa e/ou com potência mais baixa. Quando um tecido mais fino está presente, o circuito de controle 2510 pode ser programado para transladar o membro de deslocamento a uma velocidade mais alta e/ou com maior potência.
[00124] Em alguns exemplos, o circuito de controle 2510 pode, inicialmente, operar o motor 2504 em uma configuração de circuito aberto para uma primeira porção de circuito aberto de um curso do membro de deslocamento. Com base em uma resposta do instrumento 2500 durante a porção de circuito aberto do curso, o circuito de controle 2510 pode selecionar um programa de controle de disparo. A resposta do instrumento pode incluir uma translação da distância do membro de deslocamento durante a porção de circuito aberto, um tempo decorrido durante a porção de circuito aberto, a energia fornecida ao motor 2504 durante a porção de circuito aberto, uma soma de larguras de pulso de um sinal de acionamento do motor, etc. Após a porção de circuito aberto, o circuito de controle 2510 pode implementar o programa de controle de disparo selecionado para uma segunda porção do curso do membro de deslocamento. Por exemplo, durante a porção de circuito fechado do curso, o circuito de controle 2510 pode modular o motor 2504 com base nos dados de translação que descrevem uma posição do membro de deslocamento em uma maneira de circuito fechado para transladar o membro de deslocamento em uma velocidade constante.
[00125] A Figura 15 ilustra um diagrama 2580 que plota dois cursos exemplificadores do membro de deslocamento executados de acordo com um aspecto da presente descrição. O diagrama 2580 compreende dois eixos geométricos. Um eixo geométrico horizontal 2584 indica o tempo decorrido. Um eixo geométrico vertical 2582 indica a posição da haste com perfil em I 2514 entre uma posição inicial do curso 2586 e uma posição final do curso 2588. No eixo geométrico horizontal 2584, o circuito de controle 2510 pode receber o sinal de disparo e começar a fornecer a configuração inicial do motor em t0. A porção de circuito aberto do curso do membro de deslocamento é um período de tempo inicial que pode decorrer entre t0 e t1.
[00126] Um primeiro exemplo 2592 mostra uma resposta do instrumento cirúrgico 2500 quando um tecido espesso é posicionado entre a bigorna 2516 e o cartucho de grampos 2518. Durante a porção de circuito aberto do curso do membro de deslocamento, por exemplo, o período de tempo inicial entre t0 e t1, a haste com perfil em I 2514 pode se mover da posição inicial do curso 2586 para a posição 2594. O circuito de controle 2510 pode determinar que essa posição 2594 corresponde a um programa de controle de disparo que avança a haste com perfil em I 2514 em uma velocidade selecionada constante (Vlenta), indicada pela inclinação do exemplo 2592 após t1 (por exemplo, na porção do circuito fechado). O circuito de controle 2510 pode acionar a haste com perfil em I 2514 para a velocidade Vlenta mediante o monitoramento da posição da haste com perfil em I 2514 e modulação do ponto de ajuste do motor 2522 e/ou do sinal de acionamento do motor 2524 para manter a Vlenta. Um segundo exemplo 2590 mostra uma resposta do instrumento cirúrgico 2500 quando um tecido fino é posicionado entre a bigorna 2516 e o cartucho de grampos 2518.
[00127] Durante o período de tempo inicial (por exemplo, o período de circuito aberto) entre t0 e t1, a haste com perfil em I 2514 pode se mover da posição inicial do curso 2586 para a posição 2596. O circuito de controle pode determinar que a posição 2596 corresponde a um programa de controle de disparo que avança o membro de deslocamento em uma velocidade selecionada constante (Vrápida). Porque o tecido no exemplo 2590 é mais fino do que o tecido no exemplo 2592, ele pode fornecer menos resistência ao movimento da haste com perfil em I 2514. Como resultado, a haste com perfil em I 2514 pode mover uma porção maior do curso durante o período de tempo inicial. Além disso, em alguns exemplos, um tecido mais fino (por exemplo, uma porção maior do curso do membro de deslocamento percorrido durante o período de tempo inicial) pode corresponder a velocidades maiores do membro de deslocamento após o período de tempo inicial.
[00128] A Figura 16 é um gráfico 5000 que mostra a corrente do motor (I) como uma função do trajeto do membro de deslocamento (d), de acordo com um aspecto da presente descrição. A Figura 16 será agora descrita com referência também às Figuras 10 a 15. No exemplo ilustrado na Figura 16, o eixo geométrico horizontal 5002 representa o deslocamento da viga com perfil em I 2514 ao longo do comprimento de um cartucho do grampeador 2518. O eixo geométrico horizontal 5002 é dimensionado para representar o deslocamento da viga com perfil em I 2514 ao longo do comprimento X do cartucho de grampeador 2518,
como cartuchos de grampeador de 10 a 60 mm, por exemplo. O eixo geométrico horizontal 5002 do gráfico 5000 representa o trajeto da viga com perfil em I 2514, e o eixo geométrico vertical 5004 representa a corrente (I) drenada pelo motor 2504.
[00129] Em um aspecto, o instrumento cirúrgico 2500 é programado para controlar a corrente do motor de disparo (I) como uma função da posição, do deslocamento ou do trajeto do membro de deslocamento, por exemplo, da viga com perfil em I 2514, conforme ela atravessa o cartucho de grampeador 2518. O circuito de controle 2510 monitora a saída do sensor de posição 2534 para determinar o local da viga com perfil em I 2514. O sensor de posição 2534 usa um sistema de posicionamento absoluto 1100 descrito em conexão com as Figuras 10 a 15. O deslocamento da viga com perfil em I 2514 é determinado ao longo de um intervalo de tempo predeterminado, conforme medido pelo temporizador/contador 2531, pode ser usado como um intermediário para a força aplicada à viga com perfil em I 2514 para controlar a taxa de deslocamento ou a velocidade da viga com perfil em I 2514 para controlar a força para disparo na viga com perfil em I 2514. Consequentemente, o tempo (t) que leva para que a viga com perfil em I 2514 obtenha uma distância conhecida é determinado pelo temporizador/contador 2531, e a distância percorrida durante esse tempo (t) é determinada pelo sensor de posição 2534, conforme descrito em conexão com o sistema de posicionamento absoluto 1100. O tempo (t) que leva para a viga com perfil em I 2514 atingir uma distância conhecida e a distância percorrida durante esse tempo (t) pode ser usado por um algoritmo ou processo de controle para maximizar a corrente do motor (i) sem elevar excessivamente a carga de força na viga com perfil em I 2514. Isso permite a formação adequada do grampo através do tecido.
[00130] Consequentemente, o instrumento cirúrgico 2500 é configurado para fazer medições contínuas do deslocamento esperado da viga com perfil em I 2514, na sua velocidade programada de corrente, contra um intervalo de tempo predeterminado para ser um intermediário para a força aplicada à viga com perfil em I 2514. A diferença entre a distância medida percorrida pela viga com perfil em I 2514 e a distância antecipada percorrida pela viga com perfil em I 2514 multiplicada por uma função (por exemplo, coeficiente de atrito do gume cortante 2509, ângulo de articulação, localização do gume cortante 2509 dentro do curso) pode ser usada para calcular a carga na viga com perfil em I 2514 e fornecer a carga como retroinformação para o circuito de controle 2510 e o controle do motor 2508 a fim de ajustar o ciclo de trabalho corrente do sinal de acionamento do motor 2524 (por exemplo, PWM) para controlar a velocidade do motor 2504. Consequentemente, o motor 2504 pode ser controlado por um intermediário da carga experimentada pelo motor 2504.
[00131] Novamente com referência ao gráfico 5000 mostrado na Figura 16 e com referência também à Figura 13, a Figura 16 mostra três curvas de força para disparo diferentes com base na corrente do motor (I) como uma função do deslocamento da viga com perfil em I 2514. A primeira curva 5006 é uma curva de força para disparo ideal (mostrada na forma de linha tracejada) que é característica de uma boa formação de grampo através do tecido, tendo uma espessura nominal de tecido. Inicialmente, a corrente do motor (I) aumenta rapidamente para uma corrente de pico Imax1 à medida que o membro de deslocamento avança distalmente através da primeira e da segunda regiões de curso 2517, 2519 (Figura 13) de cerca de 0,1X a cerca de 0,25X e atravessa a rampa de fechamento da bigorna 2516. À medida que a viga com perfil em I 2514 faz a transição para a terceira região de curso do membro de deslocamento 2521 (Figura 13), a viga com perfil em I 2514 pode entrar em contato continuamente e cortar o tecido 2526, e o deslizador em cunha 2513 pode entrar em contato repetidamente com os acionadores de grampo 2511. À medida que a viga com perfil em I 2514 avança distalmente e encontra uma carga de resistência de tecido na terceira região de curso do membro de deslocamento 2521, a corrente do motor (I) diminui de maneira constante a partir da corrente de pico Imax1 uma vez que a carga de resistência de menos tecido diminui. Durante a terceira região de curso do membro de deslocamento 2521, a corrente do motor (I) exibe ondulações 5012 indicativas de grampos acionados através do tecido e formados pela bigorna 2516. Pela quarta região de curso de disparo 2523 (Figura 13), a força para acionar a viga com perfil em I 2514 começa a declinar de forma constante até zero e a corrente do motor (I) diminui para zero.
[00132] A segunda curva 5008 é uma curva de força para disparo (mostrada na forma de linha tracejada) que é característica da formação de grampos através do tecido que é mais espesso que a espessura de tecido nominal mostrada na primeira curva 5006. A corrente do motor (I) aumenta rapidamente e atinge um pico de corrente Imax2 conforme avança distalmente através da primeira e da segunda regiões de curso do membro de deslocamento 2517, 2519 (Figura 13). A corrente do motor (I) ondula 5014 à medida que a viga com perfil em I 2514 avança através da terceira região de curso do membro de deslocamento 2521 (Figura 13) e eventualmente cai para zero quando a viga com perfil em I 2514 atinge a extremidade do curso.
[00133] A terceira curva 5010 é uma curva força para disparo (mostrada na forma de linha contínua) que é característica da formação de grampos através do tecido que é mais fino que a espessura de tecido nominal mostrada na primeira curva 5006. A corrente do motor (I) aumenta rapidamente e atinge um pico de corrente Imax3 conforme avança distalmente através da primeira e da segunda regiões de curso do membro de deslocamento 2517, 2519 (Figura 13). A corrente do motor (I) ondula 5016 à medida que a viga com perfil em I 2514 avança através da terceira região de curso do membro de deslocamento 2521 (Figura 13) e eventualmente cai para zero quando a viga com perfil em I 2514 atinge a extremidade do curso.
[00134] Agora com referência às Figuras 13, 14 e 16, um processo para controlar a taxa do membro de deslocamento, como a viga com perfil em I 2514, será descrito, de acordo com um aspecto da presente descrição. Em um aspecto, o instrumento cirúrgico 2500 é configurado para tornar as medições da posição esperada A1, A2 da viga com perfil em I 2514 ou do gume cortante 2509 contínuas, em sua velocidade programada corrente VEXP, por um intervalo de tempo predefinido (t2 - t1) para ser um intermediário para a força aplicada ao gume cortante 2509 da viga com perfil em I 2514 e, consequentemente, à viga com perfil em I 2514. A diferença entre a distância medida B, B’ percorrida pela viga com perfil em I 2514 e a posição antecipada A1, A2 percorrida pela viga com perfil em I 2514 durante o período predeterminado (t2 - t1) multiplicada por uma função (por exemplo, coeficiente de atrito do gume cortante 2509, ângulo de articulação, localização da viga com perfil em I 2514 dentro do curso) pode ser usada para calcular a carga na viga com perfil em I 2514 e fornecer a carga como retroinformação para ajustar o ciclo de trabalho corrente (por exemplo, PWM) para controlar o motor 2504. Consequentemente, o motor 2504 pode ser controlado por um intermediário da carga experimentada pelo motor 2504.
[00135] Uma velocidade inicial Vi do motor 2504 é determinada durante as regiões de curso iniciais da viga com perfil em I 2514 pelo circuito de controle 2510 e é definida pelo controlador do motor 2508 para ajustar a velocidade inicial do motor 2504 que, em um aspecto, pode ser baseada na espessura do tecido ou na resistência do tecido à viga com perfil em I 2514. Uma posição inicial Ao(t1) da viga com perfil em I 2514 é determinada no tempo t1 com base na saída do sensor de posição 2534 e na saída do circuito do temporizador/contador 2531. O circuito de controle 2510 pode determinar uma posição antecipada A 1 ou A2, dependendo da espessura do tecido, por um período predeterminado (t2 - t1) com base na velocidade programada corrente VEXP como segue: A1 = Ao + VEXP(t2 - t1); em que a diferença entre a posição inicial Ao e a posição antecipada A1 é: A1 - Ao = δ = VEXP(t2 - t1).
[00136] Se o deslocamento real B1 ou B2, dependendo da espessura do tecido, desvia do deslocamento antecipado A1 ou A2’, o circuito de controle 2510 determina um fator de ajuste de velocidade do motor para aumentar a velocidade ou diminuir o motor 2504. O controlador do motor 2508 aplica o sinal de acionamento de motor 2524 ajustado para acelerar ou diminuir a velocidade do motor 2504. O valor da velocidade programada da corrente VEXP muda com base na espessura do tecido à medida que a viga com perfil em I 2514 avança distalmente.
[00137] Com referência primeiramente ao caso apresentado pela segunda curva 5008 onde o tecido é mais espesso do que o esperado (por exemplo, em relação a uma espessura nominal mostrada na curva 5006), a posição real B1(t2) da viga com perfil em I 2514 conforme medida pelo sensor de posição 2534 no tempo t2 conforme medido pelo circuito temporizador/contador 2531 é menor do que a posição A1(t2) antecipada calculada pelo circuito de controle 2510 com base na velocidade inicial esperada VEXP. O circuito de controle 2510 determina que se a posição real da viga com perfil em I 2514 B 1(t2) for menor do que a posição A1(t2) antecipada, o tecido é mais espesso do que o esperado e ajusta o ponto de ajuste da velocidade do motor 2522 para reduzir a corrente (I) do sinal de acionamento do motor 2524 fornecido ao motor 2504 pelo controlador do motor 2508 e, consequentemente, reduz a velocidade da viga com perfil em I 2514. A quantidade que a corrente (I) do sinal de acionamento do motor 2524 é reduzida é proporcional à diferença entre a posição real B1(t2) da viga com perfil em I 2514 e δ1 = VEXP(t2 - t1). Em notação curta: Se B1(t2) < A1(t2), o tecido é maior que o esperado; Reduzir a corrente do motor (I) por uma quantidade proporcional a B1(t2) - δ1.
[00138] Com referência agora ao caso apresentado pela terceira curva 5010 em que o tecido é mais fino do que o esperado (por exemplo, em relação a uma espessura nominal mostrada na curva 5006), a posição real B2(t2) da viga com perfil em I 2514, conforme medida pelo sensor de posição 2534 no tempo t2, conforme medido pelo circuito temporizador/ contador 2531, é maior do que a posição A2(t2) antecipada calculada pelo circuito de controle 2510 com base na velocidade inicial esperada VEXP. O circuito de controle 2510 determina que se a posição real da viga com perfil em I 2514 B2(t2) for maior do que a posição A2(t2) antecipada, o tecido é mais fino do que o esperado e ajusta o ponto de ajuste da velocidade do motor 2522 para aumentar a corrente (I) do sinal de acionamento do motor 2524 fornecido ao motor 2504 pelo controlador do motor 2508 e, consequentemente, aumenta a velocidade da viga com perfil em I 2514. A quantidade que a corrente (I) do sinal de acionamento do motor 2524 é aumentada é proporcional à diferença entre a posição real B2(t2) da viga com perfil em I 2514 e δ2 = VEXP(t2 - t1). Em notação curta: Se B2(t2) > A2(t2), o tecido é maior que o esperado; Aumentar a corrente do motor (I) em uma quantidade proporcional a B2(t2) - δ2.
[00139] A Figura 17 é um diagrama de fluxo lógico que apresenta um processo 5100 de um programa de controle ou uma configuração lógica para controlar a taxa de um membro de deslocamento, como a viga com perfil em I 2514, de acordo com um aspecto desta descrição. Na seguinte dessorção do processo 5100 na Figura 17, referência também deve ser feita às Figuras 13, 14 e 16. Inicialmente, o circuito de controle 2510 ajusta 5102 a velocidade inicial VEXP do motor 2504. O circuito de controle 2510 fornece, então, o ponto de ajuste do motor 2522 ao controlador do motor 2508 que, por sua vez, aplica o sinal de acionamento do motor 2524 ao motor 2504. Assim que a velocidade do motor VEXP é ajustada, o circuito de controle 2510 determina 5104 a posição inicial Ao de um membro de deslocamento, por exemplo, a viga com perfil em I 2514, com base no sensor de posição 2534 no tempo tn e com base no circuito temporizador/contador 2531. No exemplo em que o membro de deslocamento é a viga com perfil em I 2514, mediante a determinação 5104 da posição inicial Ao da viga com perfil em I 2514, o circuito de controle 2510 determina 5106 a posição antecipada A da viga com perfil em I 2514 no tempo tn+1 com base na velocidade do motor corrente VEXP. No tempo tn+1, o circuito de controle 2510 determina 5108 a posição real B da viga com perfil em I 2514 com base nas informações do circuito temporizador/contador 2531 e o sensor de posição 2534. O circuito de controle 2510 compara 5110 a posição real B da viga com perfil em I 2514 em tn+1 e a posição antecipada A da viga com perfil em I 2514 em tn+1.
[00140] Se a posição real B da viga com perfil em I 2514 em tn+1 for maior que a posição antecipada A da viga com perfil em I 2514 em tn+1, o processo 5100 continua ao longo da ramificação "Yes" (Y) e o circuito de controle 2510 aumenta o ponto de ajuste da velocidade 2522 do motor 2504. O ponto de ajuste da velocidade do motor 2522 é aumentado proporcionalmente em relação à diferença entre a posição real B e a posição antecipada A. O circuito de controle 2510 fornece o novo ponto de ajuste da velocidade do motor 2522 para o controlador do motor 2508, que aplica um novo sinal de acionamento do motor 2524 ao motor 2504 para aumentar a velocidade do motor 2504.
[00141] Se a posição real B da viga com perfil em I 2514 em t n+1 é menor que a posição A antecipada da viga com perfil em I 2514 em tn+1, o processo 5100 continua ao longo da ramificação "No" (N) e o circuito de controle 2510 diminui o ponto de ajuste da velocidade 2522 do motor
2504. O ponto de ajuste da velocidade do motor 2522 é diminuído proporcionalmente em relação à diferença entre a posição real B e a posição antecipada A. O circuito de controle 2510 fornece o novo ponto de ajuste da velocidade do motor 2522 para o controlador do motor 2508, que aplica um novo sinal de acionamento do motor 2524 ao motor 2504 para diminuir a velocidade do motor 2504.
[00142] A velocidade do motor 2504 pode ser mantida na velocidade ajustada da corrente caso a posição real B da viga com perfil em I 2514 em tn+1 seja igual à posição antecipada A da viga com perfil em I 2514 em tn+1. Além disso, será entendido que, uma vez que a viga com perfil em I 2514 é um elemento integral de uma viga com perfil em I rígida 2514, a determinação da posição e/ou da translação da viga com perfil em I 2514 pode ser usada para determinar a posição e/ou a translação da viga com perfil em I 2514. Consequentemente, o processo 5100 pode ser implementado mediante a determinação da posição e/ou da translação da viga com perfil em I 2514.
[00143] Quando a nova velocidade do motor é ajustada para cima ou para baixo, a posição da viga com perfil em I 2514 é comparada 5116 ao final do curso. Se a viga com perfil em I 2514 alcançou o final do curso, o processo 5100 termina 5118. Se a viga com perfil em I 2514 não tiver atingido o fim do curso, o processo 5100 incrementa 5120 o índice do contador e continua até que a viga com perfil em I 2514 atinja o final do curso.
[00144] A função ou o processo 5100 aqui descritos podem ser executados por qualquer dos circuitos de processamento aqui descritos, como o circuito de controle 700 descrito em conexão com as Figuras 5 a 6, os circuitos 800, 810, 820 descritos nas Figuras 7 a 9, o microcontrolador 1104 descrito em conexão com as Figuras 10 e 12 e/ou o circuito de controle 2510 descrito na Figura 14.
[00145] Vários aspectos da matéria descrita no presente documento são definidos nos seguintes exemplos numerados:
[00146] Exemplo 1. Um instrumento cirúrgico, que compreende: um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo decorrido; sendo que o circuito de controle é configurado para: receber a posição do membro de deslocamento a partir do sensor de posição; receber o tempo decorrido do circuito temporizador; e controlar a velocidade do motor com base na posição do membro de deslocamento e no tempo decorrido.
[00147] Exemplo 2. O instrumento cirúrgico de acordo com o Exemplo 1, em que o circuito de controle é configurado para: ajustar a velocidade do motor para uma primeira velocidade; receber uma posição inicial Ao do membro de deslocamento a partir do sensor de posição; receber um tempo de referência t1 do circuito temporizador correspondente à posição inicial Ao do membro de deslocamento; e determinar uma posição antecipada A1 do membro de deslocamento em um tempo t2 com base na primeira velocidade.
[00148] Exemplo 3. O instrumento cirúrgico de acordo com o
Exemplo 2, em que o circuito de controle é configurado para: receber uma posição real B1 do membro de deslocamento no tempo t2 a partir do sensor de posição; comparar a posição real B1 do membro de deslocamento no tempo t2 com a posição antecipada A1 do sensor de deslocamento linear no tempo t2; e ajustar a velocidade do motor para uma segunda velocidade com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
[00149] Exemplo 4. O instrumento cirúrgico de acordo com o Exemplo 3, em que o circuito de controle é configurado para: aumentar a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
[00150] Exemplo 5. O instrumento cirúrgico de acordo com o Exemplo 3 até o Exemplo 4, em que o circuito de controle é configurado para: diminuir a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
[00151] Exemplo 6. O instrumento cirúrgico de acordo com o Exemplo 3 até o Exemplo 5, em que o circuito de controle é configurado para: determinar o ajuste de espessura do tecido real com base na diferença entre a posição real B 1 do membro de deslocamento no tempo t2 e a posição antecipada A 1 do membro de deslocamento no tempo t2.
[00152] Exemplo 7. O instrumento cirúrgico de acordo com o Exemplo 6, em que o circuito de controle é configurado para: determinar que a espessura do tecido real é menor que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
[00153] Exemplo 8. O instrumento cirúrgico de acordo com o
Exemplo 6 até o Exemplo 7, em que o circuito de controle é configurado para: determinar que a espessura do tecido real é maior do que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
[00154] Exemplo 9. Um instrumento cirúrgico, que compreende: um membro de viga com perfil em I configurado para transladar dentro de um atuador de extremidade do instrumento cirúrgico; um motor acoplado ao membro de viga com perfil em I para transladar o membro de viga com perfil em I dentro do atuador de extremidade; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de viga com perfil em I; um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo decorrido; sendo que o circuito de controle é configurado para: receber a posição do membro de viga com perfil em I a partir do sensor de posição; receber o tempo decorrido do circuito temporizador; e controlar a velocidade do motor com base na posição do membro de viga com perfil em I e no tempo decorrido.
[00155] Exemplo 10. Instrumento cirúrgico de acordo com o Exemplo 9, em que o circuito de controle é configurado para: ajustar a velocidade do motor para uma primeira velocidade; receber uma posição inicial Ao do membro de viga com perfil em I a partir do sensor de posição; receber um tempo de referência t1 do circuito temporizador correspondente à posição inicial Ao do membro de viga com perfil em I; e determinar uma posição antecipada A1 do membro de viga com perfil em I em um tempo t2 com base na primeira velocidade.
[00156] Exemplo 11. Instrumento cirúrgico de acordo com o Exemplo 10, em que o circuito de controle é configurado para: receber uma posição real B1 do membro de viga com perfil em I em um tempo t2 a partir do sensor de posição; comparar a posição real B 1 do membro de viga com perfil em I no tempo t 2 com a posição antecipada A1 do membro de viga com perfil em I no tempo t 2; e ajustar a velocidade do motor para uma segunda velocidade com base em uma diferença entre a posição real B 1 do membro de viga com perfil em I no tempo t2 e a posição antecipada A 1 do membro de viga com perfil em I no tempo t2.
[00157] Exemplo 12. O instrumento cirúrgico de acordo com o Exemplo 11, em que o circuito de controle é configurado para: aumentar a velocidade do motor quando a posição real B1 do membro de viga com perfil em I no tempo t2 é maior que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
[00158] Exemplo 13. O instrumento cirúrgico de acordo com o Exemplo 11 até o Exemplo 12, em que o circuito de controle é configurado para: diminuir a velocidade do motor quando a posição real B1 do membro de viga com perfil em I no tempo t2 é menor que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
[00159] Exemplo 14. O instrumento cirúrgico de acordo com o Exemplo 11 até o Exemplo 13, sendo que o circuito de controle é configurado para: determinar o ajuste de espessura do tecido real com base na diferença entre a posição real B1 do membro de viga com perfil em I no tempo t2 e a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
[00160] Exemplo 15. O instrumento cirúrgico de acordo com o Exemplo 14, em que o circuito de controle é configurado para: determinar que a espessura do tecido real é menor que a antecipada quando a posição real B1 do membro de viga com perfil em I no tempo t2 é maior que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
[00161] Exemplo 16. O instrumento cirúrgico de acordo com o
Exemplo 14 até o Exemplo 15, em que o circuito de controle é configurado para: determinar que a espessura do tecido real é maior que a antecipada quando a posição real B1 do membro de viga com perfil em I no tempo t2 é menor que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
[00162] Exemplo 17. Um método para controlar a velocidade do motor de um instrumento cirúrgico, sendo que o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar, um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento, um circuito de controle acoplado ao motor, um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de deslocamento, um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo percorrido, sendo que o método compreende: receber, por meio de um circuito de controle, uma posição de um membro de deslocamento a partir de um sensor de posição; receber, pelo circuito de controle, o tempo decorrido de um circuito temporizador; e controlar, pelo circuito de controle, a velocidade de um motor com base na posição do membro de deslocamento e no tempo decorrido.
[00163] Exemplo 18. O método de acordo com o Exemplo 17, que compreende: ajustar, por meio do circuito de controle, a velocidade do motor para uma primeira velocidade; receber, por meio do circuito de controle, uma posição inicial Ao do membro de deslocamento a partir do sensor de posição; receber, por meio do circuito de controle, um tempo de referência t1 do circuito temporizador correspondente à posição inicial Ao do membro de deslocamento; e determinar, por meio do circuito de controle, uma posição antecipada A1 do membro de deslocamento em um tempo t2 com base na primeira velocidade.
[00164] Exemplo 19. O método de acordo com o Exemplo 18, que compreende receber, por meio do circuito de controle, uma posição real B1 do membro de deslocamento no tempo t2 a partir do sensor de posição; comparar, por meio do circuito de controle, a posição real B1 do membro de deslocamento no tempo t2 com a posição antecipada A1 do membro de deslocamento no tempo t2; e ajustar, por meio do circuito de controle, a velocidade do motor para uma segunda velocidade com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
[00165] Exemplo 20. O método de acordo com o Exemplo 19, que compreende: aumentar, por meio do circuito de controle, a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de destocamento no tempo t2.
[00166] Exemplo 21. O método de acordo com o Exemplo 19 até o Exemplo 20, que compreende: diminuir, por meio do circuito de controle, a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
[00167] Exemplo 22. O método de acordo com o Exemplo 19 até o Exemplo 21, que compreende: determinar, por meio do circuito de controle, o ajuste de espessura do tecido real com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
[00168] Exemplo 23. O método de acordo com o Exemplo 22, que compreende: determinar, por meio do circuito de controle, que a espessura de tecido real é menor que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
[00169] Exemplo 24. O método de acordo com o Exemplo 22 até o
Exemplo 23, que compreende: determinar, por meio do circuito de controle, que a espessura do tecido real é maior que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
Claims (24)
1. Instrumento cirúrgico, caracterizado pelo fato de que compreende: um membro de deslocamento configurado para transladar dentro do instrumento cirúrgico; um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de deslocamento; um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo decorrido; em que o circuito é configurado para: receber a posição do membro de deslocamento a partir do sensor de posição; receber o tempo decorrido do circuito temporizador; e controlar a velocidade do motor com base na posição do membro de deslocamento e no tempo decorrido.
2. Instrumento cirúrgico, de acordo com a reivindicação 1, caracterizado pelo fato de que o circuito de controle é configurado para: ajustar a velocidade do motor para uma primeira velocidade; receber uma posição inicial Ao do membro de deslocamento a partir do sensor de posição; receber um tempo de referência t1 do circuito temporizador correspondente à posição inicial Ao do membro de deslocamento; e determinar uma posição antecipada A1 do membro de deslocamento em um tempo t2 com base na primeira velocidade.
3. Instrumento cirúrgico, de acordo com a reivindicação 2, caracterizado pelo fato de que o circuito de controle é configurado para: receber uma posição real B1 do membro de deslocamento em um tempo t2 a partir do sensor de posição; comparar a posição real B1 do membro de deslocamento no tempo t2 com a posição antecipada A1 do sensor de deslocamento linear no tempo t2; e ajustar a velocidade do motor para uma segunda velocidade com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
4. Instrumento cirúrgico, de acordo com a reivindicação 3, caracterizado pelo fato de que o circuito de controle é configurado para: aumentar a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
5. Instrumento cirúrgico, de acordo com a reivindicação 3, caracterizado pelo fato de que o circuito de controle é configurado para: diminuir a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
6. Instrumento cirúrgico, de acordo com a reivindicação 3, caracterizado pelo fato de que o circuito de controle é configurado para: determinar o ajuste da espessura de tecido real com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
7. Instrumento cirúrgico, de acordo com a reivindicação 6, caracterizado pelo fato de que o circuito de controle é configurado para:
determinar que a espessura de tecido real é menor do que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
8. Instrumento cirúrgico, de acordo com a reivindicação 6, caracterizado pelo fato de que o circuito de controle é configurado para: determinar que a espessura de tecido real é maior do que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
9. Instrumento cirúrgico, caracterizado pelo fato de que compreende: um membro de viga com perfil em I configurado para transladar dentro do atuador de extremidade do instrumento cirúrgico; um motor acoplado ao membro de viga com perfil em I para transladar o membro de viga com perfil em I dentro do atuador de extremidade; um circuito de controle acoplado ao motor; um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de viga com perfil em I; um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo decorrido; em que o circuito é configurado para: receber a posição do membro de viga com perfil em I a partir do sensor de posição; receber o tempo decorrido do circuito temporizador; e controlar a velocidade do motor com base na posição do membro de viga com perfil em I e no tempo decorrido.
10. Instrumento cirúrgico, de acordo com a reivindicação 9, caracterizado pelo fato de que o circuito de controle é configurado para: ajustar a velocidade do motor para uma primeira velocidade; receber uma posição inicial Ao do membro de viga com perfil em I a partir do sensor de posição; receber um tempo de referência t1 do circuito temporizador correspondente à posição inicial Ao do membro de viga com perfil em I; e determinar uma posição antecipada A1 do membro de viga com perfil em I em um tempo t2 com base na primeira velocidade.
11. Instrumento cirúrgico, de acordo com a reivindicação 10, caracterizado pelo fato de que o circuito de controle é configurado para: receber uma posição real B1 do membro de viga com perfil em I em um tempo t2 a partir do sensor de posição; comparar a posição real B1 do membro de viga com perfil em I no tempo t2 com a posição antecipada A1 do membro de viga com perfil em I no tempo t2; e ajustar a velocidade do motor a uma segunda velocidade com base em uma diferença entre a posição real B1 do membro de viga com perfil em I no tempo t2 e a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
12. Instrumento cirúrgico, de acordo com a reivindicação 11, caracterizado pelo fato de que o circuito de controle é configurado para: aumentar a velocidade do motor quando a posição real B1 do membro de viga com perfil em I no tempo t 2 é maior que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
13. Instrumento cirúrgico, de acordo com a reivindicação 11, caracterizado pelo fato de que o circuito de controle é configurado para:
diminuir a velocidade do motor quando a posição real B1 do membro de viga com perfil em I no tempo t2 é menor que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
14. Instrumento cirúrgico, de acordo com a reivindicação 11, caracterizado pelo fato de que o circuito de controle é configurado para: determinar o ajuste da espessura de tecido real com base em uma diferença entre a posição real B1 do membro de viga com perfil em I no tempo t2 e a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
15. Instrumento cirúrgico, de acordo com a reivindicação 14, caracterizado pelo fato de que o circuito de controle é configurado para: determinar que a espessura de tecido real é menor do que a antecipada quando a posição real B1 do membro de viga com perfil em I no tempo t2 é maior que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
16. Instrumento cirúrgico, de acordo com a reivindicação 14, caracterizado pelo fato de que o circuito de controle é configurado para: determinar que a espessura de tecido real é maior do que a antecipada quando a posição real B1 do membro de viga com perfil em I no tempo t2 é menor que a posição antecipada A1 do membro de viga com perfil em I no tempo t2.
17. Método para controlar a velocidade do motor de um instrumento cirúrgico, caracterizado pelo fato de que o instrumento cirúrgico compreende um membro de deslocamento configurado para transladar, um motor acoplado ao membro de deslocamento para transladar o membro de deslocamento, um circuito de controle acoplado ao motor, um sensor de posição acoplado ao circuito de controle, sendo o sensor de posição configurado para medir a posição do membro de deslocamento, um circuito temporizador acoplado ao circuito de controle, sendo o circuito temporizador/contador configurado para medir o tempo percorrido, sendo que o método compreende: receber, por meio de um circuito de controle, uma posição de um membro de deslocamento a partir do sensor de posição; receber, pelo circuito de controle, o tempo decorrido de um circuito temporizador; e controlar, pelo circuito de controle, a velocidade de um motor com base na posição do membro de deslocamento e no tempo decorrido.
18. Método, de acordo com a reivindicação 17, caracterizado pelo fato de que compreende: ajustar, por meio do circuito de controle, a velocidade do motor para uma primeira velocidade; receber, por meio do circuito de controle, uma posição inicial Ao do membro de deslocamento a partir do sensor de posição; receber, por meio do circuito de controle, um tempo de referência t1 do circuito temporizador correspondente à posição inicial Ao do membro de deslocamento; e determinar, por meio do circuito de controle, uma posição antecipada A1 do membro de deslocamento em um tempo t2 com base na primeira velocidade.
19. Método, de acordo com a reivindicação 18, caracterizado pelo fato de que compreende: receber, por meio do circuito de controle, uma posição real B1 do membro de deslocamento em um tempo t2 a partir do sensor de posição; comparar, por meio do circuito de controle, a posição real B1 do membro de deslocamento no tempo t2 com a posição antecipada A1 do membro de deslocamento no tempo t2; e ajustar, por meio do circuito de controle, a velocidade do motor para uma segunda velocidade com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
20. Método, de acordo com a reivindicação 19, caracterizado pelo fato de que compreende: aumentar, por meio do circuito de controle, a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
21. Método, de acordo com a reivindicação 19, caracterizado pelo fato de que compreende: diminuir, por meio do circuito de controle, a velocidade do motor quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
22. Método, de acordo com a reivindicação 19, caracterizado pelo fato de que compreende: determinar, por meio do circuito de controle, o ajuste da espessura de tecido real com base em uma diferença entre a posição real B1 do membro de deslocamento no tempo t2 e a posição antecipada A1 do membro de deslocamento no tempo t2.
23. Método, de acordo com a reivindicação 22, caracterizado pelo fato de que compreende: determinar, por meio do circuito de controle, que a espessura de tecido real é menor do que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é maior que a posição antecipada A1 do membro de deslocamento no tempo t2.
24. Método, de acordo com a reivindicação 22, caracterizado pelo fato de que compreende:
determinar, por meio do circuito de controle, que a espessura de tecido real é maior do que a antecipada quando a posição real B1 do membro de deslocamento no tempo t2 é menor que a posição antecipada A1 do membro de deslocamento no tempo t2.
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