BR112020012955A2 - surgical systems with prioritized data transmission capabilities - Google Patents

Abstract

The present invention relates to a surgical system that can be used in a surgical procedure. The surgical system includes a central surgical controller; a surgical instrument equipped with an engine; and a communication module configured to: receive the first data referring to a first surgical activity of the surgical procedure; receive second data regarding a second surgical activity of the surgical procedure; select the transmission rates for the transmission of the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity; and transmitting the first data and the second data between the motor-powered surgical instrument and the central surgical controller at the selected transmission rates.

Description

Invention Patent Descriptive Report for "SURGICAL SYSTEMS WITH PRIORIZED DATA TRANSMISSION CAPACITIES".

REMISSIVE REFERENCE TO DEPOSIT REQUESTS CORRELATES

[0001] This application claims priority benefit under USC $ 119 (e) to US provisional patent application Serial No. 62 / 691.230, entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE, filed on June 28, 2018, the disclosure of which is incorporated herein by reference in its entirety. This application claims the priority benefit set forth in Title 35 of USC $ 119 (e) of US Provisional Patent Application Serial No. 62 / 691,228, entitled A METHOD OF USING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITH ELECTROSURGICAL DEVICES, filed on 28 June 2018, whose disclosure is hereby incorporated by reference in its entirety.

[0002] This application claims priority benefit under 35 US $ 119 (e) to US provisional patent application Serial No. 62 / 650.887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES, filed on March 30, 2018, to the Application for US Provisional Patent Serial No. 62 / 650,877, entitled SURGICAL SMOKE EVACUATION SENSING AND CONTROLS, filed on March 30, 2018, with US Provisional Patent Application Serial No. 62 / 650,882, entitled SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM, filed at March 30, 2018, and US Provisional Patent Application Serial No. 62 / 650,898, entitled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS, filed on March 30, 2018, the disclosure of which is incorporated herein into reference title in its entirety.

[0003] This application also claims priority benefit under US $ 119 (e) for US provisional patent application Serial No. 62 / 640,417, entitled TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR, filed on March 8, 2018 , and provisional patent application Serial No. 62 / 640,415, entitled ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR filed on March 8, 2018, the disclosure of which is incorporated herein by reference, in its wholeness.

[0004] The present application claims priority under 35 US $ 119 (e) to provisional patent application US Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, to provisional US patent application No. serial number 62 / 611.340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, and to US provisional patent application serial number 62 / 611.339, entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28, 2017, being the disclosure of each of which is incorporated herein by reference, in its entirety.

BACKGROUND

[0005] The present invention relates to various surgical systems.

SUMMARY

[0006] The present invention discloses a surgical system for use in a surgical procedure. The surgical system comprises a central surgical controller, a surgical instrument equipped with an engine and a communication module. The communication module is configured to receive the first data referring to a first surgical activity of the surgical procedure, receive the second data referring to a second surgical activity of the surgical procedure, select the transmission rates to transmit the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity, and transmit the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller at the selected transmission rates.

[0007] The present invention discloses a surgical system for use in a surgical procedure. The surgical system comprises a central surgical controller, a surgical instrument equipped with an engine and a communication module. The communication module is configured to receive the first data referring to a first surgical activity of the surgical procedure, receive the second data referring to a second surgical activity of the surgical procedure, and adjust the data transmission rates for the transmission of the first data and of the second data between the surgical instrument equipped with an engine and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity.

[0008] The present invention discloses a surgical system for use in a surgical procedure. The surgical system comprises a central surgical controller, a surgical instrument equipped with an engine and a communication module. The communication module is configured to receive the first data referring to a first surgical activity of the surgical procedure, receive the second data referring to a second surgical activity of the surgical procedure, transmit the first data and the second data between the surgical instrument equipped with a motor and the central surgical controller, detecting an irregularity in the second data and adjusting the transmission rates of the first data and the second data to prioritize the transmission of the irregularity in the second data.

FIGURES

[0009] The appeals of several aspects are presented with particularity in the attached claims. The various aspects, however, with regard to both the organization and the methods of operation, together with additional objects and advantages of the same, can be better understood in reference to the description presented below, considered together with the attached drawings, as follows.

[0010] Figure 1 is a block diagram of an interactive surgical system implemented by computer, in accordance with at least one aspect of the present disclosure.

[0011] Figure 2 is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present disclosure.

[0012] Figure 3 is a central device or surgical "hub" paired with a visualization system, a robotic system, and an intelligent instrument, in accordance with at least one aspect of the present disclosure.

[0013] Figure 4 is a partial perspective view of a casing of the surgical hub, and of a generator module in combination received slidingly in a casing of the surgical hub, in accordance with at least one aspect of the present disclosure.

[0014] Figure 5 is a perspective view of a generator module in combination with bipolar, ultrasonic and monopolar contacts and a smoke evacuation component, in accordance with at least one aspect of the present disclosure.

[0015] Figure 6 illustrates different power bus connectors for a plurality of side coupling ports of a side modular cabinet configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure.

[0016] Figure 7 illustrates a vertical modular housing configured to receive a plurality of modules, according to at least one aspect of the present disclosure.

[0017] Figure 8 illustrates a surgical data network comprising a modular communication hub configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a utility facility especially equipped for surgical operations, to the cloud, in accordance with at least one aspect of this disclosure.

[0018] Figure 9 illustrates an interactive surgical system implemented by computer, in accordance with at least one aspect of the present disclosure.

[0019] Figure 10 illustrates a surgical hub that comprises a plurality of modules coupled to the modular control tower, according to at least one aspect of the present disclosure.

[0020] Figure 11 illustrates an aspect of a universal serial bus (USB) network hub device, in accordance with at least one aspect of the present disclosure.

[0021] Figure 12 illustrates a logical diagram of a control system for an instrument or surgical tool, according to at least one aspect of the present disclosure.

[0022] Figure 13 illustrates a control circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.

[0023] Figure 14 illustrates a combinational logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.

[0024] Figure 15 illustrates a sequential logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.

[0025] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions, according to at least one aspect of the present disclosure.

[0026] Figure 17 is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described therein, in accordance with at least one aspect of the present disclosure.

[0027] Figure 18 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member, according to one aspect of the present disclosure.

[0028] Figure 19 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure.

[0029] Figure 20 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure.

[0030] Figure 21 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, in accordance with at least one aspect of the present disclosure.

[0031] Figure 22 is an exploded view of a portion of the surgical instrument of Figure 21, in accordance with at least one aspect of the present disclosure.

[0032] Figure 23 is an exploded view of portions of the interchangeable drive shaft assembly, in accordance with at least one aspect of the present disclosure.

[0033] Figure 24 is an exploded view of an end actuator of the surgical instrument of Figure 21, in accordance with at least one aspect of the present disclosure.

[0034] Figure 25A is a block diagram of a control circuit for the surgical instrument of Figure 21, comprising two drawing sheets, according to one aspect of the present disclosure.

[0035] Figure 25B is a block diagram of a control circuit for the surgical instrument of Figure 21, comprising two drawing sheets, in accordance with at least one aspect of the present disclosure.

[0036] Figure 26 is a block diagram of the control circuit of the surgical instrument of Figure 21 that illustrates the interfaces between the handle assembly, the feeding assembly and the handle assembly, and the interchangeable drive shaft assembly. accordance with at least one aspect of this disclosure.

[0037] Figure 27 illustrates a logic flow diagram of a process that represents a control program or a logical configuration for marking the tissue, according to at least one aspect of the present disclosure.

[0038] Figure 28 illustrates a claw member of an end actuator that includes a staple cartridge, in accordance with at least one aspect of the present disclosure.

[0039] Figure 29 illustrates a claw member of an end actuator of an ultrasonic surgical instrument, in accordance with at least one aspect of the present disclosure.

[0040] Figure 30 illustrates an end actuator of a surgical stapling and a cutting instrument, according to at least one aspect of the present disclosure.

[0041] Figure 31 illustrates a control system for a surgical instrument, in accordance with at least one aspect of the present disclosure.

[0042] Figure 32 illustrates tissue treatments applied to the tissue to remove a cancerous portion of a colon, in accordance with at least one aspect of the present disclosure.

[0043] Figure 33 is a graph illustrating the strength to hold

(FTC) and strength to perform (FTF) readings for a surgical instrument equipped with an engine during a surgical procedure, and the corresponding communication transmission rates of the readings to a central surgical controller, with the readings and communication rates plotted according to time, in accordance with at least one aspect of this disclosure.

[0044] Figure 34 illustrates the transmission rates of FTC data and FTF data at four example points in the graph of Figure 33, in accordance with at least one aspect of the present disclosure.

[0045] Figure 35 illustrates a logic flow diagram of a process that represents a control program or a logical configuration to coordinate data transmission between a surgical instrument equipped with an engine and a central surgical controller, according to at least one aspect of this disclosure.

[0046] Figure 36 is a control system for the surgical instrument equipped with the motor of Figure 33, according to at least one aspect of the present disclosure.

[0047] Figure 37 illustrates a logic flow diagram of a process that represents a control program or a logical configuration to coordinate data transmission between a surgical instrument equipped with an engine and a central surgical controller, according to at least one aspect of this disclosure.

DESCRIPTION

[0048] The applicant for the present application holds the following US patent applications, filed on June 29, 2018, the disclosure of which is incorporated herein by reference in its entirety: e Patent application Serial No., entitled

CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS, Attorney document number END8542USNP / 170755;

and US Patent Application Serial No., entitled

CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS, Attorney document number END8543USNP / 170760; and US Patent Application Serial No., entitled

SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE INFORMATION, Attorney Docket Attorney Docket Document No. END8543USNP1 / 170760-1; and US Patent Application Serial No., entitled SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING, Attorney Document No. END8543USNP2 / 170760-2; and US Patent Application Serial No., entitled SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING, Attorney Document No. END8543USNP3 / 170760-3; and US Patent Application Serial No., entitled

SURGICAL SYSTEMS FOR DETECTING END EFFECTOR TISSUE DISTRIBUTION IRREGULARITIES, Attorney document number END8543USNP4 / 170760-4; and US Patent Application Serial No., entitled

SYSTEMS FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE, Attorney document number END8543USNP5 / 170760-5; and US Patent Application Serial No., entitled SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES, Attorney Document No. END8543USNP6 / 170760-6; and US Patent Application Serial No., entitled VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY, Attorney Document No. END8543USNP7 / 170760-7; and US Patent Application Serial No., entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE, Attorney Document No. END8544USNP / 170761;

and US Patent Application Serial No., entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT, Attorney Document No. END8544USNP1 / 170761-1; and US Patent Application Serial No., entitled SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY, Attorney Document No. END8544USNP2 / 170761-2; and US Patent Application Serial No., entitled SURGICAL EVACUATION SENSING AND MOTOR CONTROL, Attorney Document No. END8545USNP / 170762; and US Patent Application Serial No., entitled SURGICAL EVACUATION SENSOR ARRANGEMENTS, Attorney Document No. END8545USNP1 / 170762-1; and US Patent Application Serial No., entitled SURGICAL EVACUATION FLOW PATHS, Attorney Document No. END8545USNP2 / 170762-2; and US Patent Application Serial No., entitled SURGICAL EVACUATION SENSING AND GENERATOR CONTROL, Attorney Document No. END8545USNP3 / 170762-3; and US Patent Application Serial No., entitled SURGICAL EVACUATION SENSING AND DISPLAY, Attorney Document No. END8545USNP4 / 170762-4; and US Patent Application Serial No., entitled

COMMUNICATION OF SMOKE EVACUATION SYSTEM

PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM, Attorney Document No. END8546USNP / 170763; and US Patent Application Serial No., entitled

SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM, Attorney document number END8546USNP1 / 170763-1;

and US Patent Application Serial No., entitled

SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION

CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE, Attorney document number END8547USNP / 170764; and e US Patent Application Serial No., entitled DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS, Attorney Document No. END8548USNP / 170765.

[0049] The applicant for this application holds the following provisional US patent applications, filed on June 28, 2018, the disclosure of which is incorporated herein by reference in its entirety: e US Provisional Patent Application No. series 62 / 691.228, entitled A METHOD OF USING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITH ELECTROSURGICAL DEVICES; and US Provisional Patent Application Serial No. 62 / 691,227, entitled CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS; and US Provisional Patent Application Serial No. 62 / 691,230, entitled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE; and US Provisional Patent Application Serial No. 62 / 691,219, entitled SURGICAL EVACUATION SENSING AND MOTOR CONTROL; and US Provisional Patent Application Serial No. 62 / 691,257, entitled COMMUNICATION OF SMOKE EVACUATION SYSTEM

PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM; and US Provisional Patent Application Serial No. 62 / 691,262, entitled - SURGICAL - EVACUATION SYSTEM WITH A

COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE; and e US Provisional Patent Application Serial No. 62 / 691,251, entitled DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS.

[0050] The applicant for this application holds the following US patent applications, filed on March 29, 2018, with the disclosure of each of which is incorporated herein by reference in its entirety: e US Patent Application Serial No. 15 / 940,641, entitled INTERACTIVE —SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; and US Patent Application Serial No. 15 / 940,648, entitled

INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES; and US Patent Application Serial No. 15 / 940,656, entitled

SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES; and US Patent Application Serial No. 15 / 940,666, entitled

SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS; and US Patent Application Serial No. 15 / 940,670, entitled

COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS; and US Patent Application Serial No. 15 / 940,677, entitled SURGICAL HUB CONTROL ARRANGEMENTS; and US Patent Application Serial No. 15 / 940,632, entitled

DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; and US Patent Application Serial No. 15 / 940,640, entitled

COMMUNICATION HUB AND STORAGE DEVICE FOR STORING

PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS; and US Patent Application Serial No. 15 / 940,645, entitled

SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT; and US Patent Application Serial No. 15 / 940,649, entitled

DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME; and US Patent Application Serial No. 15 / 940,654, entitled SURGICAL HUB SITUATIONAL AWARENESS; and US Patent Application Serial No. 15 / 940,663, entitled SURGICAL SYSTEM DISTRIBUTED PROCESSING; and US Patent Application Serial No. 15 / 940,668, entitled AGGREGATION AND REPORTING OF SURGICAL HUB DATA; and US Patent Application Serial No. 15 / 940,671, entitled

SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; and US Patent Application Serial No. 15 / 940,686, entitled

DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE; and US Patent Application Serial No. 15 / 940,700, entitled STERILE FIELD INTERACTIVE CONTROL DISPLAYS; and US Patent Application Serial No. 15 / 940,629, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; and US Patent Application Serial No. 15 / 940,704, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; and US Patent Application Serial No. 15 / 940,722, entitled

CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY; and e US Patent Application Serial No. 15 / 940,742, entitled DUAL CMOS ARRAY IMAGING.

[0051] The applicant for this application holds the following US patent applications, filed on March 29, 2018, the disclosure of which is incorporated herein by reference in its entirety: e US Patent Application Serial No. 15 / 940,636, entitled

ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; and US Patent Application Serial No. 15 / 940,653, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS; and US Patent Application Serial No. 15 / 940,660, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; and US Patent Application Serial No. 15 / 940,679, entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL

USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET; and US Patent Application Serial No. 15 / 940,694, entitled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION; and US Patent Application Serial No. 15 / 940,634, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; and US Patent Application Serial No. 15 / 940,706, entitled

DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and e US Patent Application Serial No. 15 / 940,675, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES.

[0052] The applicant for this application holds the following US patent applications, filed on March 29, 2018, the disclosure of which is incorporated herein by reference in its entirety: e US Patent Application Serial No. 15 / 940,627, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Patent Application Serial No. 15 / 940,637, entitled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Patent Application Serial No. 15 / 940,642, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Patent Application Serial No. 15 / 940,676, entitled AUTOMATIC. TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Patent Application Serial No. 15 / 940,680, entitled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Patent Application Serial No. 15 / 940,683, entitled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Patent Application Serial No. 15 / 940,690, entitled DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and e US Patent Application Serial No. 15 / 940,711, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

[0053] The applicant for this application holds the following provisional US patent applications, filed on March 28, 2018, the disclosure of which is incorporated herein by reference in its entirety: e US Provisional Patent Application No. 62 / 649,302 series,

titled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;

and US Provisional Patent Application Serial No. 62 / 649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;

and US Provisional Patent Application Serial No. 62 / 649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS;

and US Provisional Patent Application Serial No. 62 / 649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;

and US Provisional Patent Application Serial No. 62 / 649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;

and US Provisional Patent Application Serial No. 62 / 649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;

and US Provisional Patent Application Serial No. 62 / 649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;

and US Provisional Patent Application Serial No. 62 / 649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;

and US Provisional Patent Application Serial No. 62 / 649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;

and US Provisional Patent Application Serial No. 62 / 649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;

and US Provisional Patent Application Serial No. 62 / 649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;

and US Provisional Patent Application Serial No. 62 / 649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and US Provisional Patent Application Serial No. 62 / 649,307, entitled AUTOMATIC. TOOL ADJUSTMENTS FOR ROBOT- ASSISTED SURGICAL PLATFORMS; and e US Provisional Patent Application Serial No. 62 / 649,323, entitled SENSING. ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.

[0054] The applicant for this application holds the following provisional US patent applications, filed on April 19, 2018, the disclosure of which of which is incorporated herein by reference in its entirety: e US Provisional Patent Application No. serial number 62 / 659,900, entitled METHOD OF HUB COMMUNICATION.

[0055] The applicant for this application holds the following provisional US patent applications, filed on March 30, 2018, the disclosure of which is incorporated herein by reference in its entirety: e US Provisional Patent Application No. series 62 / 650.887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES; and US Provisional Patent Application Serial No. 62 / 650,877, entitled SURGICAL SMOKE EVACUATION SENSING AND CONTROLS; and US Provisional Patent Application Serial No. 62 / 650,882, entitled SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM; and e US Provisional Patent Application Serial No. 62 / 650,898, entitled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS.

[0056] The applicant for this application holds the following provisional US patent applications, filed on March 8, 2018, the disclosure of which is incorporated herein by reference in its entirety: e US Provisional Patent Application No. series 62 / 640.417, entitled TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR; and e US Provisional Patent Application Serial No. 62 / 640,415, entitled ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR.

[0057] The applicant for the present application holds the following provisional US patent applications, filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety: e US Provisional Patent Application No. series 62 / 611.341, entitled INTERACTIVE SURGICAL PLATFORM; and US Provisional Patent Application Serial No. 62 / 611,340, entitled CLOUD-BASED MEDICAL ANALYTICS; and e US Provisional Patent Application Serial No. 62 / 611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM.

[0058] Before explaining in detail the various aspects of surgical devices and systems in detail, it should be noted that the illustrative examples are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the drawings and in attached description. Illustrative examples can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or performed in a variety of ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing illustrative examples for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.

[0059] Aspects of the present disclosure feature various surgical instruments used in cancer treatment, which use various sensors and algorithms to assess proximity to cancerous tissue and / or to assist a user in navigating a safe distance from cancerous tissue. Surgical instruments can be used alone or as components of an interactive surgical system implemented by computer.

[0060] Referring to Figure 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (for example, cloud 104 which may include a remote server 113 coupled to a storage device 105). Each surgical system 102 includes at least one surgical hub 106 in communication with the cloud 104 which can include a remote server 113. In one example, as illustrated in Figure 1, surgical system 102 includes a visualization system 108, a robotic system 110 , a handheld and intelligent surgical instrument 112, which are configured to communicate with each other and / or hub 106. In some respects, a surgical system 102 may include a number of M 106 hubs, an N number of visualization 108, an O number of robotic systems 110, and a P number of smart, hand-held surgical instruments 112, where M, N, O, and P are whole numbers greater than or equal to one.

[0061] Figure 3 represents an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying on an operating table 114 in a surgical operating room 116. One or more of the Surgical Instruments of the present disclosure can be implemented as robotic tools for use with a robotic system. A robotic system 110 is used in the surgical procedure as a part of the surgical system

102. The robotic system 110 includes a surgeon console 118, a patient carriage 120 (surgical robot), and a surgical robotic hub 122. The patient carriage 120 can handle at least one removably attached surgical tool 117 via a minimally invasive incision in the patient's body while the surgeon views the surgical site through the surgeon's console 118. An image of the surgical site can be obtained by a medical imaging device 124, which can be manipulated by the patient's car 120 to orient the device Imaging 124. Robotic hub 122 can be used to process images of the surgical site for subsequent display to the surgeon via the surgeon's console 118.

[0062] Other types of robotic systems can be readily adapted for use with the surgical system 102. Various examples of robotic systems and surgical instruments that are suitable for use with the present disclosure are described in provisional patent application Serial No. 62 / 611.339 , entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28, 2017, whose disclosure is hereby incorporated by reference in its entirety.

[0063] Several examples of cloud-based analysis that are performed by the cloud 104, and are suitable for use with the present disclosure, are described in US provisional patent application Serial No. 62 / 611.340, entitled CLOUD-BASED MEDICAL ANALYTICS, filed on December 28, 2017, the disclosure of which is incorporated herein by reference, in its entirety.

[0064] In several respects, the imaging device 124 includes at least one Image sensor and one or more optical components. Suitable image sensors include, but are not limited to, load-coupled device (CCD) sensors and complementary metal oxide semiconductor (CMOS) sensors.

[0065] The optical components of the imaging device 124 may include one or more light sources and / or one or more lenses. One or more light sources can be directed to illuminate portions of the surgical field. The one or more image sensors can receive reflected or refracted light from the surgical field, including reflected or refracted light from tissue and / or surgical instruments.

[0066] The one or more light sources can be configured to radiate electromagnetic energy in the visible spectrum, as well as in the invisible spectrum. The visible spectrum, sometimes called the optical spectrum or light spectrum, is that portion of the electromagnetic spectrum that is visible to (that is, can be detected by) the human eye and can be called visible light or simply light. A typical human eye will respond to wavelengths in the air that are from about 380 nm to about 750 nm.

[0067] The invisible spectrum (that is, the non-luminous spectrum) is that portion of the electromagnetic spectrum located below and above the visible spectrum (that is, wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the visible red spectrum, and they become invisible infrared (IR), microwaves, radio and electromagnetic radiation. Wavelengths shorter than about 380 nm are shorter than the ultraviolet spectrum, and they become invisible ultraviolet, x-ray, and electromagnetic gamma-ray radiation.

[0068] In several respects, the imaging device 124 is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, an arthroscope, angioscope, bronchoscope, choledocoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagus-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngoscope neproscope, sigmoidoscope, thoracoscope and ureteroscope.

[0069] In one aspect, the imaging device uses multi-spectrum monitoring to discriminate topography and underlying structures. A multi-spectral image is one that captures image data within wavelength bands across the electromagnetic spectrum. Wavelengths can be separated by filters or using instruments that are sensitive to specific wavelengths, including light from frequencies beyond the visible light range, for example, IR and ultraviolet light. Spectral images can allow the extraction of additional information that the human eye cannot capture with its receivers for the colors red, green and blue. The use of multispectral imaging is described in more detail under the heading "Advanced Imaging Acquisition Module" in US provisional patent application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein as a reference in its entirety. Multispectral monitoring can be a useful tool for relocating a surgical field after a surgical task is completed to perform one or more of the tests previously described on the treated tissue.

[0070] It is axiomatic that strict sterilization of the operating room and surgical equipment is necessary during any surgery. Strict hygiene and the necessary sterilization conditions in a

"operating room", that is, an operating or treatment room, justify the highest possible sterilization of all medical devices and equipment. Part of this sterilization process is the need to sterilize anything that comes into contact with the patient or enters the sterile field, including imaging device 124 and its connectors and components. It will be understood that the sterile field can be considered a specified area, such as inside a tray or on a sterile towel, which is considered free of microorganisms, or the sterile field can be considered an area, immediately around a patient, who was prepared to perform a surgical procedure. The sterile field may include members of the brushing team, who are properly dressed, and all furniture and accessories in the area.

[0071] In various aspects, the visualization system 108 includes one or more imaging sensors, one or more image processing units, one or more storage arrays and one or more screens that are strategically arranged in relation to the sterile field, as shown in Figure 2. In one aspect, the display system 108 includes an interface for HL7, PACS and EMR. Various components of the visualization system 108 are described under the heading "Advanced Imaging Acquisition Module" in US provisional patent application Serial No. 62 / 611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein reference title in its entirety.

[0072] As shown in Figure 2, a primary screen 119 is positioned in the sterile field to be visible to the operator on the operating table 114. In addition, a viewing tower 111 is positioned outside the sterile field. The display tower 111 includes a first non-sterile screen 107 and a second non-sterile screen 109, which are opposite each other. Visualization system 108, guided by hub 106, is configured to use screens 107, 109, and 119 to coordinate the flow of information to operators inside and outside the sterile field. For example, hub 106 can have the visualization system 108 display a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile screen 107 or 109, while maintaining a live transmission from the site surgical on main screen 119. Snapshot on non-sterile screen 107 or 109 may allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.

[0073] In one aspect, hub 106 is also configured to route a diagnostic input or feedback by a non-sterile operator in the viewing tower 111 to the primary screen 119 within the sterile field, where it can be seen by a sterile operator in the operating table. In one example, the entry may be in the form of a modification of the snapshot displayed on the non-sterile screen 107 or 109, which can be routed to the main screen 119 by the hub ("central device")

106.

[0074] With reference to Figure 2, a 112 surgical instrument is being used in the surgical procedure as part of the surgical system

102. Hub 106 is also configured to coordinate the flow of information to a screen of surgical instrument 112. For example, in provisional US patent application Serial No. 62 / 611.341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017 , whose disclosure is hereby incorporated as a reference in its entirety. An entry or diagnostic feedback inserted by a non-sterile operator in the viewing tower 111 can be routed through hub 106 to the screen of the surgical instrument 115 in the sterile field, where it can be seen by the operator of the surgical instrument 112. Exemplary surgical instruments that are suitable for use with surgical system 102 are described under the title "Surgical Instrument Hardware" and in provisional patent application Serial No. 62 / 611.341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein reference in its entirety, for example.

[0075] Now with reference to Figure 3, a hub 106 is shown in communication with a visualization system 108, a robotic system 110 and a smart handheld surgical instrument 112. Hub 106 includes a screen from hub 135, a module from imaging 138, a generator module 140, a communication module 130, a processor module 132 and a storage array 134. In certain respects, as shown in Figure 3, hub 106 additionally includes a smoke evacuation module 126 and / or a suction / irrigation module 128.

[0076] During a surgical procedure, the application of energy to the tissue, for sealing and / or cutting, is generally associated with the evacuation of smoke, suction of excess fluid and / or irrigation of the tissue. Fluid, power, and / or data lines from different sources are often intertwined during the surgical procedure. Valuable time can be wasted in addressing this issue during a surgical procedure. To untangle the lines, it may be necessary to disconnect the lines from their respective modules, which may require a restart of the modules. The modular enclosure of hub 136 provides a unified environment for managing power, data and fluid lines, which reduces the frequency of entanglement between such lines.

[0077] Aspects of the present disclosure feature a surgical hub for use in a surgical procedure that involves applying energy to tissue at a surgical site. The surgical hub includes a hub housing and a combination generator module received slidably at a hub housing docking station. The docking station includes data and power contacts. The combined generator module includes two or more of an ultrasonic energy generating component, a bipolar RF radio frequency energy generating component and a monopolar RF energy generating component which are housed in a single unit. In one aspect, the combined generator module also includes a smoke evacuation component, at least one power application cable to connect the combined generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid , and / or particulates generated by applying therapeutic energy to the tissue, and a fluid line that extends from the remote surgical site to the smoke evacuation component.

[0078] In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module received in a sliding manner in the hub housing. In one aspect, the hub housing comprises a fluid interface.

[0079] Certain surgical procedures may require the application of more than one type of energy to the tissue. One type of energy may be more beneficial for cutting the fabric, while another type of energy may be more beneficial for sealing the fabric. For example, a bipolar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution in which a modular housing of central controller 136 is configured to accommodate different generators and facilitate interactive communication between them. One of the advantages of the central modular housing 136 is that it allows quick removal and / or replacement of several modules.

[0080] Aspects of the present disclosure present a modular surgical wrap for use in a surgical procedure that involves applying energy to the tissue. The modular surgical enclosure includes a first energy generator module, configured to generate a first energy for application to the tissue, and a first docking station that comprises a first docking port that includes first data and power contacts, the first being The power generator module is slidingly movable in an electrical coupling with the data and power contacts and the first power generator module is slidingly movable out of the electric coupling with the first data and power contacts.

[0081] In addition to the above, the modular surgical enclosure also includes a second energy generator module configured to generate a second energy, different from the first energy, for application to the tissue, and a second docking station comprising a second docking port which includes second data and power contacts, the second power generating module being slidably movable in an electrical coupling with the power and data contacts, and the second power generating module being slidingly movable outwards electrical coupling with the second power and data contacts.

[0082] In addition, the modular surgical cabinet also includes a communication bus between the first coupling port and the second coupling port, configured to facilitate communication between the first power generator module and the second power generator module.

[0083] With reference to Figures 3 to 7, aspects of the present disclosure are presented for a modular housing of hub 136 that allows the modular integration of a generator module 140, a smoke evacuation module 126, and a suction / irrigation module 128. The central modular housing 136 further facilitates interactive communication between modules 140, 126, 128. As illustrated in Figure 5, generator module 140 can be a generator module with integrated monopolar, bipolar and ultrasonic components, supported in a single cabinet unit 139 slidably insertable into the central modular housing 136. As shown in Figure 5, generator module 140 can be configured to connect to a monopolar device 146, a bipolar device 147 and an ultrasonic device 148. Alternatively, the module generator 140 can comprise a series of monopoly, bipolar and / or ultrasonic generator modules that interact through the central modular housing 136. The central modular enclosure 136 can be configured to facilitate the insertion of multiple generators and interactive communication between generators anchored in the central modular enclosure 136 so that the generators would act as a single generator.

[0084] One or more of the monopolar device 146, the bipolar device 147 and the ultrasonic device 148 can be equipped with sensors and algorithms to assess proximity to cancerous tissue and / or to assist a user in navigating a safe distance from the tissue cancerous, as described in more detail below.

[0085] In one aspect, the central modular housing 136 comprises a modular power and a rear communication board 149 with external and wireless communication heads to allow removable fixing of modules 140, 126, 128 and interactive communication between them.

[0086] In one aspect, the central modular housing 136 includes docking stations, or drawers, 151, here also called drawers, which are configured to receive modules 140, 126, 128 in a sliding manner. Figure 4 illustrates a view in partial perspective of a central surgical controller housing 136, and a combined generator module 145 that can be slidably received at a docking station 151 of the central surgical controller housing 136. A docking port 152 with power and data contacts on a rear side of the combined generator module 145 it is configured to engage a corresponding docking port 150 with the power and data contacts of a corresponding docking station 151 of the modular housing of hub 136 as the combined generator module 145 is slid into position at the corresponding docking station 151 of the modular housing of hub 136. In one aspect, the combined generator module 145 includes a bipolar module, ul sonic and monopolar, and a smoke evacuation module integrated into a single 139 compartment unit, as shown in Figure 5.

[0087] In several respects, the smoke evacuation module 126 includes a fluid line 154 that carries captured / collected fluid smoke away from a surgical site and to, for example, the smoke evacuation module 126. Suction a vacuum that originates from the smoke evacuation module 126 can pull the smoke into an opening of a utility conduit at the surgical site. The utility conduit, coupled to the fluid line, can be in the form of a flexible tube that ends in the smoke evacuation module 126. The utility conduit and the fluid line define a fluid path that extends towards the smoke evacuation module 126 which is received in the hub housing 136.

[0088] In several aspects, the suction / irrigation module 128 is coupled to a surgical tool comprising a fluid suction line and a fluid suction line. In one example, the suction and suction fluid lines are in the form of flexible tubes that extend from the surgical site towards the suction / irrigation module 128. One or more drive systems can be configured to cause irrigation and aspiration of fluids to and from the surgical site.

[0089] In one aspect, the surgical tool includes a drive shaft that has an end actuator at a distal end thereof and at least an energy treatment associated with the end actuator, a suction tube, and a suction tube. irrigation. The suction tube can have an inlet port at a distal end of it and the suction tube extends through the drive shaft. Similarly, an irrigation pipe can extend through the drive shaft and may have an entrance port close to the power application implement. The power application implement is configured to deliver ultrasonic and / or RF energy to the surgical site and is coupled to the generator module 140 by a cable that initially extends through the drive shaft.

[0090] The irrigation tube can be in fluid communication with a fluid source, and the suction tube can be in fluid communication with a vacuum source. The fluid source and / or the vacuum source can be housed in the suction / irrigation module 128. In one example, the fluid source and / or the vacuum source can be housed in the hub housing 136 separately from the suction module /irrigation

128. In such an example, a fluid interface can be configured to connect the suction / irrigation module 128 to the fluid source and / or the vacuum source.

[0091] In one aspect, modules 140, 126, 128 and / or their corresponding docking stations in the central modular housing 136 may include alignment features that are configured to align the docking ports of the modules in engagement with their counterparts at the stations coupling of the central modular housing

136. For example, as shown in Figure 4, the combined generator module 145 includes side brackets 155 that are configured to slide the corresponding brackets 156 of the corresponding docking station 151 of the central modular housing 136 slidably. The brackets cooperate to guide the coupling port contacts of the combined generator module 145 in an electrical coupling with the coupling port contacts of the central modular housing

136.

[0092] In some respects, the drawers 151 of the central modular housing 136 are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers

151. For example, side brackets 155 and / or 156 can be larger or smaller depending on the size of the module. In other respects, drawers 151 are different in size and are each designed to accommodate a specific module.

[0093] In addition, the contacts of a specific module can be switched to engage with the contacts of a specific drawer to avoid inserting a module in a drawer with unpaired contacts.

[0094] As shown in Figure 4, the coupling port 150 of one drawer 151 can be coupled to the coupling port 150 of another drawer 151 via a communication link 157 to facilitate interactive communication between the modules housed in the modular housing central 136. The coupling ports 150 of the central modular housing 136 can, alternatively or additionally, facilitate interactive wireless communication between modules housed in the central modular housing 136. Any suitable wireless communication can be used, such as Air Titan-Bluetooth.

[0095] Figure 6 illustrates individual power bus connectors for a plurality of side coupling ports of a side modular compartment 160 configured to receive a plurality of modules from a surgical hub 206. Side modular compartment 160 is configured to receive and laterally interconnect modules 161. Modules 161 are slidably inserted into docking stations 162 of side modular compartment 160, which includes a back plate for interconnecting modules 161. As shown in Figure 6, modules 161 are arranged - laterally = in the side modular cabinet 160. Alternatively, modules 161 can be arranged vertically in a side modular cabinet.

[0096] Figure 7 illustrates a vertical modular cabinet 164 configured to receive a plurality of modules 165 from surgical hub 106. Modules 165 are slidably inserted into docking stations, or drawers, 167 of the vertical modular cabinet 164, which includes a rear panel for interconnecting modules 165. Although the drawers 167 of the vertical modular cabinet 164 are arranged vertically, in certain cases, a vertical modular cabinet 164 may include drawers that are arranged laterally. In addition, modules 165 can interact with each other through the coupling ports of the vertical modular cabinet 164. In the example in Figure 7, a screen 177 is provided to show data relevant to the operation of modules 165. In addition, the vertical modular compartment 164 includes a master module 178 that houses a plurality of submodules that are received slidingly in the master module

178.

[0097] In several respects, the imaging module 138 comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular compartment that can be mounted with a light source module and a camera module. The compartment can be a disposable compartment. In at least one example, the disposable compartment is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and / or the camera module can be selected selectively depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for imaging the scanned beam. Similarly, the light source module can be configured to provide a white light or a different light, depending on the surgical procedure.

[0098] During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a different camera or other light source may be inefficient. Temporarily losing sight of the surgical field can lead to undesirable consequences. The imaging device module of the present disclosure is configured to allow the replacement of a light source module or a "midstream" camera module during a surgical procedure, without the need to remove the imaging device from the surgical field.

[0099] In one aspect, the imaging device comprises a tubular compartment that includes a plurality of channels. A first channel is configured to receive the Camera module in a sliding way, which can be configured for a snap-fit fit (pressure fit) with the first channel. A second channel is configured to slide the camera module,

which can be configured for a snap-fit fit (pressure fit) with the first channel. In another example, the camera module and / or the light source module can be rotated to an end position within their respective channels. A threaded coupling can be used instead of a pressure fitting.

[0100] In several examples, multiple imaging devices are placed in different positions in the surgical field to provide multiple views. Imaging module 138 can be configured to switch between imaging devices to provide an ideal view. In several respects, imaging module 138 can be configured to integrate images from different imaging devices.

[0101] Various image processors and imaging devices suitable for use with the present disclosure are described in US patent No. 7,995,045 entitled COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, granted on August 9, 2011 which is incorporated herein by reference in its entirety. In addition, US Patent No. 7,982,776, entitled SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, issued July 19, 2011, which is incorporated herein by reference in its entirety, describes various systems for removing motion artifacts from the data of image. Such systems can be integrated with the imaging module 138. In addition to these, the publication of US patent application No. 2011/0306840, entitled CONTROLLABLE

MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS, published on December 15, 2011, and the publication of US patent application No. 2014/0243597, entitled SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, published on August 28, 2014, the disclosures of which are here incorporated by reference, in their entirety.

[0102] Figure 8 illustrates a surgical data network 201 comprising a modular communication hub 203 configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a utility facility specially equipped for surgical operations, to a cloud-based system (for example, cloud 204 which may include a remote server 213 coupled to a storage device 205). In one aspect, the modular communication hub 203 comprises a network hub 207 and / or a network key 209 in communication with a network router. The modular communication hub 203 can also be coupled to a local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 can be configured as a passive, intelligent, or switching network. A passive surgical data network serves as a conduit for the data, allowing the data to be transmitted from one device (or segment) to another and to cloud computing resources. An intelligent surgical data network includes features to allow traffic to pass through the surgical data network to be monitored and to configure each port on the network hub 207 or network key 209. An intelligent surgical data network can be called a controllable hub or key. A switching hub reads the destination address of each packet and then forwards the packet to the correct port.

[0103] Modular devices 1a to 1n located in the operating room can be coupled to the modular communication center 203. The central controller of the network 207 and / or the network key 209 can be coupled to a network router 211 to connect the devices 1a to 1n to the cloud 204 or to the local computer system 210. The data associated with devices 1a to 1n can be transferred to cloud-based computers through the router for remote data processing and manipulation. The data associated with devices 1a to 1h can also be transferred to the local computer system 210 for processing and manipulation of the local data. Modular devices 2a to 2m located in the same operating room can also be attached to a network switch 209. The network switch 209 can be attached to network hub 207 and / or to network router 211 to connect devices 2a to 2m to the cloud

204. Data associated with devices 2a to 2n can be transferred to cloud 204 through network router 211 for data processing and manipulation. The data associated with devices 2a to 2m can also be transferred to the local computer system 210 for processing and manipulation of the local data.

[0104] It will be understood that the surgical data network 201 can be expanded by interconnecting multiple network hubs 207 and / or multiple network keys 209 with multiple network routers 211. The modular communication center 203 may be contained in one modular control tower configured to receive multiple devices 1a to 1n / 2a to 2m. The local computer system 210 can also be contained in a modular control tower. The modular communication center 203 is connected to a screen 212 to display the images obtained by some of the devices 1a to 1n / 2a to 2m, for example, during surgical procedures. In several respects, devices 1a to 1n / 2a to 2m may include, for example, several modules, such as an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, an smoke evacuation 126, a suction / irrigation module 128, a communication module 130, a processor module 132, a storage matrix 134, a surgical device attached to a screen and / or a non-contact sensor module, among others modular devices that can be connected to the modular communication center 203 of the surgical data network 201.

[0105] In one aspect, the surgical data network 201 may comprise a combination of network controller (s), network switch (s) and network router (s) that connect devices 1a to 1n / 2a 2m to the cloud. Any or all of the devices 1a to 1n / 2a to 2m coupled to the central network controller can collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be understood that cloud computing depends on sharing computing resources instead of having local servers or personal devices to handle software applications. The word "cloud" can be used as a metaphor for "the Internet", although the term is not limited as such. Consequently, the term "cloud computing" can be used here to refer to "a type of Internet-based computing", in which different services - such as servers, storage, and applications - are applied to the modular communication hub 203 and / or to computer system 210 located in the operating room (for example, a fixed, mobile, temporary, or operating field or space) and devices connected to modular communication hub 203 and / or computer system 210 over the Internet . The cloud infrastructure can be maintained by a cloud service provider. In this context, the cloud service provider may be the entity that coordinates the use and control of devices 1a to 1n / 2a to 2m located in one or more operating rooms. Cloud computing services can perform a large number of calculations based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. The hub's hardware allows multiple devices or connections to be connected to a computer that communicates with cloud computing and storage resources.

[0106] By applying cloud computer data processing techniques to the data collected by the devices at 1n / 2a to 2m, the surgical data network provides better surgical results, reduced costs and better patient satisfaction. At least some of the devices 1a to 1n / 2a to 2m can be used to view tissue status to assess leakage or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices 1a to 1n / 2a to 2m can be used to identify pathology, such as disease effects, using cloud-based computing to examine data, including images of body tissue samples for diagnostic purposes. This includes confirmation of the location and margin of the tissue and phenotypes. At least some of the devices 1a to 1n / 2a to 2m can be used to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques, such as overlaying images captured by multiple imaging devices. The data collected by devices 1a to 1n / 2a to 2m, including the image data, can be transferred to the cloud 204 or the local computer system 210 or both for data processing and manipulation, including image processing and manipulation. The data can be analyzed to improve the results of the surgical procedure by determining whether additional treatment, such as application of endoscopic intervention, emerging technologies, targeted radiation, targeted intervention, accurate robotics at specific tissue sites and conditions, can be followed. This data analysis can additionally use analytical processing of the results, and with the use of standardized approaches they can provide beneficial standardized feedback both to confirm surgical treatments and the surgeon's behavior or to suggest changes to surgical treatments and the surgeon's behavior.

[0107] In an implementation, operating room devices 1a to 1n can be connected to the modular communication center 203 via a wired channel or a wireless channel, depending on the configuration of devices 1a to 1h on a central controller of network. The network hub 207 can be implemented, in one aspect, as a local network transmission device that acts on the physical layer of the OSI model ("open system interconnection"). The central network controller provides connectivity to devices 1a to 1n located on the same network as the operating room. The central network controller 207 collects data in the form of packets and sends it to the router in half-duplex mode. The network hub 207 does not store any Internet protocol / media access control (MAC / IP) to transfer data from the device. Only one of the devices 1a to 1n at a time can send data through the central network controller 207. The network hub 207 has no routing tables or intelligence about where to send information and transmits all data on the network through each connection and the a remote server 213 (Figure 9) in the cloud 204. Network hub 207 can detect basic network errors, such as collisions, but having all (admit that) information transmitted to multiple input ports can be a security risk and cause bottlenecks.

[0108] In another implementation, operating room devices 2a to 2m can be connected to a network switch 209 via a wired or wireless channel. The network key 209 works in the data connection layer of the OSI model. The network switch 209 is a multicast device for connecting devices 2a to 2m located in the same operation center to the network. The network key 209 sends data in frame form to the network router 211 and works in full duplex mode. Multiple devices 2a to 2m can send data at the same time via network key 209. Network key 209 stores and uses MAC addresses of devices 2a to 2m to transfer data.

[0109] Network hub 207 and / or network key 209 are coupled to network router 211 for connection to cloud 204. Network router 211 works on the network layer of the OSI model. The network router 211 creates a route to transmit data packets received from the central network controller 207 and / or the network key 211 to a computer with cloud resources for future processing and manipulation of the data collected by any among or all of the devices 1a to 1n / 2a to 2m. The network router 211 can be used to connect two or more different networks located in different locations, such as different operating rooms in the same health care facility or different networks located in different operating rooms of different service facilities of health. Network router 211 sends data in packet form to cloud 204 and works in full duplex mode. Multiple devices can send data at the same time. Network router 211 uses | P addresses to transfer data.

[0110] In one example, the network hub 207 can be implemented as a USB hub, which allows multiple USB devices to be connected to a host computer. The USB hub can expand a single USB port on multiple levels so that more ports are available to connect the devices to the system's host computer. The 207 network hub can include wired or wireless capabilities to receive information about a wired channel or a wireless channel. In one aspect, a wireless, broadband and short-range wireless USB radio communication protocol can be used for communication between devices 1a to 1n and devices 2a to 2m located in the operating room.

[0111] In other examples, devices in the operating room 1a to 1n / 2a to 2m can communicate with the modular communication center 203 via standard Bluetooth wireless technology for exchanging data over short distances (using short wavelength UHF radio waves in the 2.4 to 2.485 GHz ISM band) from fixed and mobile devices and to build personal area networks (PANs). In other respects, operating room devices 1a to 1n / 2a to 2m can communicate with the modular communication center 203 via various wireless and wired communication standards or protocols, including, but not limited to, Wi - Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE, "long-term evolution"), and Ev-DO, HSPA +, HSDPA +, HSUPA +, EDGE, GSM, GPRS, CDMA, TDMA, DECT and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G and others. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS, CDMA , WiMAX, LTE, Ev-DO and others.

[0112] The modular communication center 203 can serve as a central connection for one or all of the operating room devices 1a to 1n / 2a to 2m and handles a data type known as frames. The frames carry the data generated by devices la at 1n / 2a at 2m. When a frame is received by the modular communication hub 203, it is amplified and transmitted to network router 211, which transfers data to cloud computing resources using a series of wireless communication standards or protocols or with wire, as described in the present invention.

[0113] The modular communication hub 203 can be used as a standalone device or be connected to compatible network hubs and network switches to form a larger network. The modular communication center 203 is, in general, easy to install, configure and maintain, making it a good option for the network of devices 1a to 1n / 2a to 2m from the operating room.

[0114] Figure 9 illustrates an interactive surgical system, implemented by computer 200. The interactive surgical system implemented by computer 200 is similar in many ways to the interactive surgical system, implemented by computer 100. For example, the surgical system, interactive, implemented per computer 200 includes one or more surgical systems 202, which are similar in many respects to surgical systems 102. Each surgical system 202 includes at least one surgical hub 206 in communication with a cloud 204 which may include a remote server 213. In one aspect , the computer-implemented interactive surgical system 200 comprises a modular control tower 236 connected to multiple operating room devices such as, for example, smart surgical instruments, robots and other computerized devices located in the operating room. As shown in Figure 10, the modular control tower 236 comprises a modular communication hub 203 coupled to a computer system 210. As illustrated in the example in Figure 9, the modular control tower 236 is coupled to an imaging module 238 that is coupled to an endoscope 239, a generator module 240 that is coupled to a power device 241, a smoke evacuation module 226,

a suction / irrigation module 228, a communication module 230, a processor module 232, a storage matrix 234, an intelligent device / instrument 235 optionally coupled to a screen 237, and a non-contact sensor module 242. The devices from the operating room are coupled with cloud computing resources and data storage via the modular control tower 236. The robot hub 222 can also be connected to the modular control tower 236 and cloud computing resources. Devices / Instruments 235, display systems 208, among others, can be coupled to the modular control tower 236 by means of wired or wireless communication standards or protocols, as described in the present invention. The modular control tower 236 can be coupled to a screen from hub 215 (for example, monitor, screen) to display and overlay images received from the imaging module, device / instrument screen and / or other display systems 208. The screen from the hub can also display data received from devices connected to the modular control tower in conjunction with images and overlapping images.

[0115] Figure 10 illustrates a surgical hub 206 comprising a plurality of modules coupled to the modular control tower 236. The modular control tower 236 comprises a modular communication hub 203, for example, a network connectivity device, and a computer system 210 for providing local processing, visualization, and imaging, for example. As shown in Figure 10, modular communication hub 203 can be connected in a layered configuration to expand the number of modules (for example, devices) that can be connected to modular communication hub 203 and transfer data associated with modules to the computer system 210, cloud computing resources, or both. As shown in Figure 10, each of the network hubs / switches on the modular communication hub 203 includes three downstream ports and one upstream port. The upstream network switch / hub is connected to a processor to provide a communication connection to cloud computing resources and a local display

217. Communication with the cloud 204 can be done through a wired or wireless communication channel.

[0116] The surgical hub 206 uses a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the operating room using non-contact measuring devices such as laser or ultrasonic. An ultrasound-based non-contact sensor module scans the operating room by transmitting an ultrasound explosion and receiving the echo when it bounces outside the perimeter of the operating room walls, as described under the heading "Surgical Hub Spatial Awareness Within an Operating Room "in US provisional patent application Serial No. 62 / 611.341, entitled INTERACTIVE SURGICAL PLATFORM, filed on December 28, 2017, which is incorporated herein by reference in its entirety, in which the sensor module is configured to determine the size of the operating room and adjust the Bluetooth pairing distance limits. A laser-based non-contact sensor module scans the operating room by transmitting pulses of laser light, receiving pulses of laser light that bounce off the perimeter walls of the operating room, and comparing the phase of the transmitted pulse to the received pulse to determine the size of the operating room and to adjust the Bluetooth pairing distance limits, for example.

[0117] Computer system 210 comprises a processor 244 and a network interface 245. Processor 244 is coupled to a communication module 247, storage 248, memory 249, non-volatile memory 250 and input / output interface 251 via a system bus. The system bus can be any of several types of bus structure (s), including the memory bus or memory controller, a peripheral bus or external bus and / or a local bus that uses any variety of available bus architectures including, but not limited to, 9-bit bus, industry standard architecture (ISA), Micro-Charmel architecture (MSA), extended ISA (EISA), smart drive electronics (IDE), VESA local bus (VLB), network interconnection peripheral components (PCI), USB, advanced graphics port (AGP), international memory card association bus for personal computers ("PCMCIA" - Personal Computer Memory Card International Association), systems interface for small computers (SCSI) or any another proprietary bus.

[0118] Processor 244 can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one respect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz , a prefetch buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare program, read-only memory programmable and electrically erasable (EEPROM) of 2 KB, one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters (ADC) of 12 bits with 12 analog input channels, details of which are available for the product data sheet.

[0119] In one aspect, processor 244 may comprise a safety controller comprising two controller-based families, such as TMS570 and RM4x, known under the tradename Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.

[0120] System memory includes volatile and non-volatile memory. The basic input / output system (BIOS), containing the basic routines for transferring information between elements within the computer system, such as during startup, is stored in non-volatile memory. For example, non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM or flash memory. Volatile memory includes random access memory (RAM), which acts as an external cache memory. In addition, RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct RAM Rambus RAM (DRRAM).

[0121] Computer system 210 also includes removable / non-removable, volatile // non-volatile computer storage media, such as disk storage Disk storage includes, but is not limited to, devices such as a drive magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card or memory stick (pen-drive). In addition, the storage disk may include storage media separately or in combination with other storage media including,

but not limited to, an optical disc drive such as a compact disc ROM device (CD-ROM), a recordable compact disc drive (CD-R Drive), a rewritable compact disc drive (CD-RW drive), or a ROM drive versatile digital disc (DVD-ROM). To facilitate the connection of disk storage devices to the system bus, a removable or non-removable interface can be used.

[0122] It is to be understood that computer system 210 includes software that acts as an intermediary between users and the basic computer resources described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, acts to control and allocate computer system resources. System applications benefit from the management capabilities of the operating system through program modules and “program data stored in system memory or on the storage disk. It is to be understood that the various components described in the present invention can be implemented with various operating systems or combinations of operating systems.

[0123] A user enters commands or information into computer system 210 via the input device (s) coupled to the 1I / O 251. interface. Input devices include, but are not limited to, a device pointer such as a mouse, trackball, stylus, touchpad, keyboard, microphone, joystick, game pad, satellite card, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processor via the system bus via the interface port (s). The interface ports include, for example, a serial port, a parallel port, a game port and a USB. Output devices use some of the same types of ports as input devices. In this way, for example, a USB port can be used to provide input to the computer system and to provide information from the computer system to an output device. An output adapter is provided to illustrate that there are some output devices such as monitors, screens, speakers, and printers, among other output devices, that need special adapters. Output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and / or device systems, such as remote computers, provide input and output capabilities.

[0124] Computer system 210 can operate in a networked environment using logical connections to one or more remote computers, such as cloud computers, or local computers. Remote cloud computers can be a personal computer, server, router, personal network computer, workstation, microprocessor-based device, peer device, or other common network node, and the like, and typically include many or all elements described in relation to the computer system. For the sake of brevity, only one memory storage device is illustrated with the remote computer. Remote computers are logically connected to the computer system via a network interface and then physically connected via a communication connection. The network interface covers communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include fiber distributed data interface (FDDI), copper distributed data interface (CDDI), Ethernet / IEEE 802.3, Token ring / IEEE 802.5 and the like. WAN technologies include, but are not limited to, point-to-point links,

circuit switching networks such as digital integrated service networks (ISDN) and variations in them, packet switching networks and digital subscriber lines (DSL).

[0125] In various respects, computer system 210 of Figure 10, imaging module 238 and / or display system 208, and / or processor module 232 of Figures 9 to 10, may comprise an image processor, image processing engine, media processor or any specialized digital signal processor (DSP) used for processing digital images. The image processor can use parallel computing with multi-data single instruction (SIMD) or multiple data multi-instruction (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a number of tasks. The image processor can be an integrated circuit (SoC) system with a multi-core processor architecture.

[0126] Communication connections refer to the hardware / software used to connect the network interface to the bus. Although the communication connection is shown for illustrative clarity within the computer system, it can also be external to computer system 210. The hardware / software required for connection to the network interface includes, for illustrative purposes only, internal and external technologies such as modems, including regular telephone serial modems, cable modems and DSL modems, ISDN adapters, and Ethernet cards.

[0127] Figure 11 illustrates a functional block diagram of an aspect of a USB 300 network hub device, in accordance with at least one aspect of the present disclosure. In the illustrated aspect, the USB 300 network hub device uses a TUSB2036 integrated circuit hub available from Texas Instruments. The USB network hub

300 is a CMOS device that provides one USB transceiver port 302 and up to three USB transceiver ports downstream 304, 306, 308 in accordance with the USB 2.0 specification. Upstream USB transceiver port 302 is a differential data root port comprising a "minus" differential data input (DMO) paired with a "plus" differential data input (DPO). The three ports of the downstream USB transceiver 304, 306, 308 are differential data ports, with each port including "more" differential data outputs (DP1-DP3) paired with "less" differential data outputs (DM1-DM3) .

[0128] The USB 300 network hub device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compatible USB transceivers are integrated into the circuit for the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both full speed as low speed automatically configuring the scan rate according to the speed of the device attached to the doors. The USB 300 network hub device can be configured in bus powered or self powered mode and includes 312 central power logic to manage power.

[0129] The USB 300 network central controller device includes a 310 series interface engine (SIE). The SIE 310 is the front end of the USB 300 network hub hardware and handles most of the protocol described in chapter 8 of the USB specification. SIE 310 typically comprises signaling down to the transaction level. The functions it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME signal detection / generation, clock / data separation,

encoding / decoding data not inverted zero (NRZI), generation and verification of CRC (token and data), generation and verification / decoding of packet ID (PID), and / or series-parallel / parallel-series conversion. The SIE 310 receives a clock input 314 and is coupled to a suspend / resume logic circuit and frame timer 316 and a central controller repeat circuit 318 to control communication between the upstream USB transceiver port 302 and the downstream USB transceiver 304, 306, 308 through the logic circuits of ports 320, 322, 324. The SIE 310 is coupled to a command decoder 326 through the logic interface to control the commands of a serial EEPROM via a serial interface EEPROM in series 330.

[0130] In several aspects, the USB 300 network hub can connect 127 functions configured in up to six logical layers (levels) to a single computer. In addition, the USB 300 network hub can connect all peripherals using a standardized four-wire cable that provides both communication and power distribution. The power settings are bus-powered and self-powered modes. The USB 300 network hub can be configured to support four power management modes: a bus powered hub, with individual port power management or grouped port power management, and the self powered hub, with port power management individual or power management of grouped ports. In one aspect, using a USB cable, the USB network hub 300, the USB transceiver port 302 is plugged into a USB host controller, and the USB transceiver ports downstream 304, 306, 308 are exposed to connect compatible USB devices, and so on. Surgical Instrument Hardware

[0131] Figure 12 illustrates a logic diagram of a module of a 470 control system of a surgical instrument or tool, according to one or more aspects of the present disclosure. The control system 470 includes a microcontroller 461 comprising a processor 462 and a memory 468. One or more of the sensors 472, 474, 476, for example, provides real-time feedback to the processor 462. A motor 482, driven by a motor drive 492, operationally couples a longitudinally movable displacement member to drive the beam cutting element with | profile. A tracking system 480 is configured to determine the position of the longitudinally movable displacement member. Position information is provided to processor 462, which can be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of a firing member, firing bar and a beam cutting element with a profile in | . Additional motors can be provided at the instrument driver interface to control the firing of the beam with an i-profile, the displacement of the closing tube, the rotation of the drive shaft and the articulation. A 473 screen displays a variety of instrument operating conditions and can include touchscreen functionality for data entry. The information displayed on screen 473 can be overlaid with images captured using endoscopic imaging modules.

[0132] In one aspect, the 461 microcontroller can be any single-core or multi-core processor, such as those known under the ARM Cortex trade name available from Texas Instruments. In one respect, the main microcontroller 461 can be an LM4F230H5QR ARM Cortex-M4F processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle series random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareº program, programmable memory and electrically erasable read-only (EEPROM) of 2 KB, one or more pulse width modulation (PWM) modules, one or more analogs of quadrature encoder (QEI) inputs, and / or one or more analog converters for 12-bit digital (ADC) with 12 channels of analog input, details of which are available for the product data sheet.

[0133] In one aspect, the 461 microcontroller may comprise a safety controller that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also available from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.

[0134] The 461 microcontroller can be programmed to perform various functions, such as precise control of the speed and position of the joint and knife systems. In one aspect, the microcontroller 461 includes a processor 462 and a memory 468. The electric motor 482 can be a brushed direct current (DC) motor with a gearbox and mechanical connections with an articulation or scalpel system. In one aspect, a motor drive 492 can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in tracking system 480 which comprises an absolute positioning system. A detailed description of an absolute positioning system is made in the publication of patent application US No.

2017/0296213, entitled SYSTEMS AND METHODS FOR

CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, published on October 19, 2017, which is hereby incorporated by reference in its entirety.

[0135] The 461 microcontroller can be programmed to provide precise control of the speed and position of the displacement members and articulation systems. The 461 microcontroller can be configured to compute a response in the 461 microcontroller software. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.

[0136] In one aspect, motor 482 can be controlled by motor driver 492 and can be used by the instrument's trigger system or surgical tool. In many ways, the 482 motor can be a brushed direct current (DC) drive motor, with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 482 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 492 may comprise an H bridge starter comprising field effect transistors (FETs), for example. The 482 motor can be powered by a feed assembly releasably mounted on the handle assembly or tool compartment to provide control power for the instrument or surgical tool. The power pack may comprise a battery that may include several battery cells connected in series, which can be used as the power source to power the instrument or surgical tool. In certain circumstances, the battery cells in the power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion (Li) batteries that can be coupled and separable from the power supply.

[0137] The 492 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 492 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide field (MOSFET) transistors. , of N channel, specifically designed for inductive loads, such as brushed DC motors. The 492 actuator comprises a single charge pump regulator that provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor input control can be used to supply the voltage surpassing that supplied by the battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The energy FETs are protected from the shoot-through effect through programmable dead-time resistors. Integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor drives can be readily replaced for use in the tracking system 480 comprising an absolute positioning system.

[0138] The tracking system 480 comprises a controlled motor drive circuit arrangement comprising a position sensor 472 in accordance with at least one aspect of the present disclosure.

The position sensor 472 for an absolute positioning system provides a unique position signal that corresponds to the location of a displacement member.

In one aspect, the displacement member represents a longitudinally movable drive member * comprising a rack of drive teeth for engagement with a corresponding drive gear of a gear reduction assembly.

In other respects, the displacement member represents the firing member, which can be adapted and configured to include a rack of drive teeth.

In yet another aspect, the displacement member represents a firing bar or the beam with a | profile, each of which can be adapted and configured to include a rack of driving teeth.

Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the surgical instrument or tool, such as the driving member, the firing member, the firing bar, the beam with profile in | or any element that can be moved.

In one aspect, the longitudinally movable drive member is coupled to the firing member, the firing bar and the beam with an | profile. Consequently, the absolute positioning system can, in effect, track the linear displacement of the beam with | by tracking the linear displacement of the longitudinally movable drive member.

In several other respects, the displacement member can be coupled to any position sensor 472 suitable for measuring linear displacement.

In this way, the longitudinally movable drive member, the firing member, the firing bar or the beam with a | profile, or combinations thereof, can be coupled to any suitable linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors can comprise variable differential linear transformers (LVDT), variable reluctance differential transducers (DVRT), a sliding potentiometer, a magnetic detection system comprising a moving magnet and a linearly arranged series of Hall effect sensors, a system magnetic detection sensor comprising a fixed magnet and a series of linearly arranged mobile Hall effect sensors, an optical detection system comprising a mobile light source and a series of linearly arranged photodiodes or photodetectors, an optical detection system comprising a fixed light source and a mobile series of linearly arranged photodiodes or photodetectors, or any combination thereof.

[0139] The electric motor 482 can include a rotary drive shaft, which interfaces operationally with a gear set, which is mounted on a coupling coupling with a set or rack of drive teeth on the drive member. A sensor element can be operationally coupled to a gear assembly so that a single revolution of the position sensor element 472 corresponds to some linear longitudinal translation of the displacement member. An array of gears and sensors can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power source supplies power to the absolute positioning system and an output indicator can display the output from the absolute positioning system. The drive member represents the longitudinally movable drive member comprising a rack of drive teeth formed thereon for engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member, the firing bar, the beam with | or combinations thereof.

[0140] A single revolution of the sensor element associated with the position sensor 472 is equivalent to a longitudinal linear displacement d1 of the displacement member, where d1i represents the longitudinal linear distance by which the displacement member moves from point "a" to point "b" after a single revolution of the sensor element coupled to the displacement member. The sensor arrangement can be connected by means of a gear reduction which results in the position sensor 472 completing one or more revolutions for the complete travel of the displacement member. The 472 position sensor can complete multiple revolutions for the full travel of the displacement member.

[0141] A series of keys, where n is an integer greater than one, can be used alone or in combination with a gear reduction to provide a single position signal for more than one revolution of the 472 position sensor. of the keys is transmitted back to microcontroller 461 which applies logic to determine a single position signal corresponding to the longitudinal linear displacement d1 + d2 + ... dn of the displacement member. The output of the position sensor 472 is supplied to the microcontroller 461. In several embodiments, the position sensor 472 of the sensor arrangement may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or a series of analog Hall effect elements. , which emit a unique combination of position of signs or values.

[0142] The position sensor 472 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect / anisotropic resistance, giant resistance, magnetic tunnel junctions, giant magneto impedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.

[0143] In one aspect, the position sensor 472 for the tracking system 480 which comprises an absolute positioning system comprises a magnetic rotating absolute positioning system. The 472 position sensor can be implemented as a rotary, magnetic, single-circuit, ASSOSSEQFT position sensor, available from Austria Microsystems, AG. The position sensor 472 interfaces with the 461 microcontroller to provide an absolute positioning system. The 472 position sensor is a low voltage, low power component and includes four effect elements in an area of the 472 position sensor located above a magnet. A high-resolution ADC and an intelligent power management controller are also provided on the integrated circuit. A CORDIC (digital computer for coordinate rotation) processor, also known as the digit-for-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and lookup table. The angle position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as a serial peripheral interface (SPI), to the 461 microcontroller. The 472 position sensor provides 12 or 14 bits of resolution. The position sensor 472 can be an ASS5055 integrated circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.

[0144] The tracking system 480 comprising an absolute positioning system can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include a voltage, current and force PWM. Other sensors can be provided in order to measure the parameters of the physical system in addition to the position measured by the position sensor 472. In some respects, the other sensors may include sensor arrangements as described in US Patent No. 9,345,481 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, granted on May 24, 2016, which is incorporated by reference in its entirety into this document; the publication of US patent application Serial No. 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, published on September 18, 2014, which is incorporated by reference in its entirety into this document; and US patent application Serial No. 15 / 628,175, entitled TECHNIQUES

FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, submitted on June 20, 2017, is incorporated by reference in its entirety into this document. In a digital signal processing system, an absolute positioning system is coupled to a digital data capture system where the output of the absolute positioning system will have a finite resolution and sampling frequency. The absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that trigger the calculated response towards the measured response. The computed response of the physical system considers properties, such as mass, inertia, viscous friction, resistance to inductance, etc., to predict what the states and exits of the physical system will be, knowing the input.

[0145] The absolute positioning system provides an absolute positioning of the displaced member on the activation of the instrument without having to retract or advance the longitudinally movable driving member to the reset position (zero or initial), as may be required by the encoders conventional rotating machines that merely count the number of progressive or regressive steps that the 482 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.

[0146] A 474 sensor, such as a strain gauge or a micro strain gauge, is configured to measure one or more parameters of the end actuator, such as the amplitude of the strain exerted on the anvil during a gripping operation, which may be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor. Alternatively, or in addition to the 474 sensor, a 476 sensor, such as a load sensor, can measure the closing force applied by the drive system. anvil closure. The 476 sensor, such as a load sensor, can measure the firing force applied to a beam with a | on a firing stroke of the surgical instrument or tool. The i-profile beam is configured to engage a wedge slider, which is configured to move the clamp actuators upward to force the clamps to deform in contact with an anvil. The i-profile beam includes a sharp cutting edge that can be used to separate fabric, as the i-profile beam is advanced distally by the firing bar. Alternatively, a current sensor 478 can be used to measure the current drained by the 482 motor. The force required to advance the trigger member can correspond to the current drained by the 482 motor, for example. The measured force is converted into a digital signal and supplied to the 462 processor.

[0147] In one form, a 474 strain gauge sensor can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. A system for measuring forces applied to the tissue attached by the end actuator comprises a 474 strain gauge sensor, such as, for example, a microstrain meter, which is configured to measure one or more parameters of the end actuator, for example. In one aspect, the 474 strain gauge sensor can measure the amplitude or magnitude of the mechanical stress exerted on a claw member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 462 processor of a microcontroller

461. A 476 load sensor can measure the force used to operate the knife element, for example, to cut the tissue captured between the anvil and the staple cartridge. A magnetic field sensor can be used to measure the thickness of the captured tissue. The measurement of the magnetic field sensor can also be converted into a digital signal and supplied to the 462 processor.

[0148] The measurements of tissue compression, tissue thickness and / or the force required to close the end actuator on the tissue, as measured by sensors 474, 476 respectively, can be used by microcontroller 461 to characterize the selected position of the trigger member and / or the corresponding trigger member speed value. In one case, a 468 memory can store a technique, an equation and / or a look-up table that can be used by the 461 microcontroller in the evaluation.

[0149] The control system 470 of the instrument or surgical tool can also comprise wired or wireless communication circuits for communication with the modular communication hub shown in Figures 8 to 11.

[0150] Figure 13 illustrates a control circuit 500 configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure. The control circuit 500 can be configured to implement various processes described herein. The control circuit 500 may comprise a microcontroller comprising one or more processors 502 (for example, microprocessor, microcontroller) coupled to at least one memory circuit 504. The memory circuit 504 stores instructions executable on a machine that, when executed by the processor 502, cause the 502 processor to execute machine instructions to implement several of the processes described here. The 502 processor can be any one of a number of single-core or multi-core processors known in the art. The memory circuit 504 may comprise volatile and non-volatile storage media. The processor 502 can include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit can be configured to receive instructions from the memory circuit 504 of the present disclosure.

[0151] Figure 14 illustrates a combinational logic circuit 510 configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure. The combinational logic circuit 510 can be configured to implement various processes described herein. The combinational logic circuit 510 can comprise a finite state machine comprising a combinational logic 512 configured to receive data associated with the surgical instrument or tool at an input 514, process the data by combinational logic 512 and provide an output 516.

[0152] Figure 15 illustrates a sequential logic circuit 520 configured to control aspects of the instrument or surgical tool, in accordance with at least one aspect of the present disclosure. Sequential logic circuit 520 or combinational logic 522 can be configured to implement the process described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuit 520 may comprise combinational logic 522, at least one memory circuit 524, a clock 529 and, for example. The at least one memory circuit 524 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 520 may be synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data by combinational logic 522, and provide an output 528. In other respects, the circuit may comprise a combination of a processor (for example , processor 502, Figure 13) and a finite state machine for implementing various processes of the present invention. In other respects, the finite state machine may comprise a combination of a combinational logic circuit (for example, a combinational logic circuit 510, Figure 14) and the sequential logic circuit 520.

[0153] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions. In certain cases, a first engine can be activated to perform a first function, a second engine can be activated to perform a second function, a third engine can be activated to perform a third function, a fourth engine can be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 600 can be individually activated to cause firing, closing, and / or articulation movements in the end actuator. The firing, closing and / or articulation movements can be transmitted to the end actuator through a drive shaft assembly, for example.

[0154] In certain cases, the instrument or surgical tool system may include a 602 firing motor. The 602 firing motor can be operationally coupled to a 604 firing motor drive assembly, which can be configured to transmit movements trigger points, generated by the motor 602 to the end actuator, particularly to move the beam element with | In certain cases, the firing movements generated by the 602 motor can cause the clamps to be positioned from the staple cartridge in the fabric captured by the end actuator and / or by the cutting edge of the beam element with profile in | to be advanced in order to cut the captured tissue, for example. The I-beam member can be retracted by reversing the direction of the 602 motor.

[0155] In certain cases, the surgical instrument or tool may include a closing motor 603. The closing motor 603 can be operationally coupled to a drive assembly of the closing motor 605 that can be configured to transmit closing movements generated by the motor 603 to the end actuator, particularly to move a closing tube to close the anvil and compress the fabric between the anvil and the staple cartridge. Closing movements can cause the end actuator to transition from an open configuration to an approximate configuration to capture tissue, for example. The end actuator can be moved to an open position by reversing the direction of the 603 motor.

[0156] In certain cases, the surgical instrument or tool may include one or more articulation motors 606a, 606b, for example. The motors 606a, 606b can be operationally coupled to the drive assemblies of the articulation motor 608a, 608b, which can be configured to transmit articulation movements generated by the motors 606a, 606b to the end actuator. In certain cases, the articulation movements can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.

[0157] As described above, the surgical instrument or tool can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the instrument or surgical tool can be activated individually or separately to perform one or more functions, while other motors remain inactive. For example, the articulation motors 606a, 606b can be activated to cause the end actuator to be articulated, while the firing motor 602 remains inactive. Alternatively, the firing motor 602 can be activated to fire the plurality of clamps, and / or advance the cutting edge, while the hinge motor 606 remains inactive. In addition, the closing motor 603 can be activated simultaneously with the firing motor 602 to make the closing tube and the beam element with profile in | advance distally, as described in more detail later in this document.

[0158] In certain cases, the surgical instrument or tool may include a common control module 610 that can be used with a plurality of the instrument's instruments or surgical tool. In certain cases, the common control module 610 can accommodate one of the plurality of motors at a time. For example, the common control module 610 can be coupled to and separable from the plurality of motors of the robotic surgical instrument individually. In certain cases, a plurality of surgical instrument or tool motors may share one or more common control modules, such as the common control module 610. In certain cases, a plurality of surgical instrument or tool motors may be individually and selectively engaged to the common control module 610. In certain cases, the common control module 610 can be selectively switched between interfacing with one of a plurality of instrument motors or surgical tool to interface with another among the plurality of instrument motors or surgical tool.

[0159] In at least one example, the common control module 610 can be selectively switched between the operational coupling with the 606a, 606b articulation motors, and the operational coupling with the 602 firing motor or the 603 closing motor. at least one example, as shown in Figure 16, a key 614 can be moved or transitioned between a plurality of positions and / or states. In the first position 616, the switch 614 can electrically couple the common control module 610 to the trip motor 602; in a second position 617, the switch 614 can electrically couple the control module 610 to the closing motor 603; in a third position 618a, the switch 614 can electrically couple the common control module 610 to the first articulation motor 606a; and in a fourth position 618b, the switch 614 can electrically couple the common control module 610 to the second articulation motor 606b, for example. In certain cases, separate common control modules 610 can be electrically coupled to the firing motor 602, closing motor 603 and hinge motors 606a, 606b at the same time. In certain cases, key 614 can be a mechanical key, an electromechanical key, a solid state key, or any suitable switching mechanism.

[0160] Each of the 602, 603, 606a, 606b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a motor torque sensor that drives the jaws.

[0161] In several cases, as shown in Figure 16, the common control module 610 may comprise a motor starter 626 which may comprise one or more H-Bridge FETs. The motor driver 626 can modulate the energy transmitted from a power source 628 to a motor coupled to the common control module 610, based on an input from a microcontroller 620 (the "controller"), for example. In certain cases, the microcontroller 620 can be used to determine the current drawn by the motor, for example, while the motor is coupled to the common control module 610, as described above.

[0162] In certain examples, the microcontroller 620 may include a microprocessor 622 (the "processor") and one or more non-transitory computer-readable media or 624 memory units (the "memory"). In certain cases, memory 624 can store various program instructions which, when executed, can cause processor 622 to perform a plurality of functions and / or calculations described herein. In certain cases, one or more of the memory units 624 can be coupled to the processor 622, for example.

[0163] In certain cases, the power supply 628 can be used to supply power to the microcontroller 620, for example. In certain cases, the 628 power source may comprise a battery (or "battery pack" or "power source"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted to the handle to supply power to the surgical instrument 600. Several battery cells connected in series can be used as the 628 power source. In certain cases, the power source 628 power supply can be replaceable and / or rechargeable, for example.

[0164] In several cases, the 622 processor can control the motor driver 626 to control the position, direction of rotation and / or speed of a motor that is coupled to the common control module 610. In certain cases, the processor 622 can signal the motor driver 626 to stop and / or disable a motor that is coupled to the common control module 610. It should be understood that the term "processor", as used here, includes any microprocessor, microcontroller or other control device. adequate basic computing that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or, at most, some integrated circuits. The processor is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system.

[0165] In one example, the 622 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 620 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, an early seek buffer for optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWareº software, 2 KB EEPROM, one or more PWM modules, one or more QEI analogues, one or more ADCs of 12 bits with 12 channels of analog input, among other features that are readily available for the product data sheet. Other microcontrollers can be readily replaced for use with the 4410 module. Consequently, the present disclosure should not be limited in this context.

[0166] In certain cases, memory 624 may include program instructions for controlling each of the motors of the surgical instrument 600 that are attachable to common control module 610. For example, memory 624 may include program instructions for controlling the motor trigger 602, closing motor 603 and hinge motors 606a, 606b. Such program instructions can cause the 622 processor to control the trigger, close, and link functions according to inputs from the instrument or surgical tool control algorithms or programs.

[0167] In certain cases, one or more mechanisms and / or sensors, such as 630 sensors, can be used to alert the 622 processor to program instructions that need to be used in a specific configuration. For example, sensors 630 can alert the 622 processor to use the program instructions associated with triggering, closing, and pivoting the end actuator. In certain cases, sensors 630 may comprise position sensors that can be used to detect the position of switch 614, for example. Consequently, the 622 processor can use the program instructions associated with firing the beam with | the end actuator by detecting, through sensors 630, for example, that key 614 is in first position 616; the processor 622 can use the program instructions associated with closing the anvil upon detection through sensors 630, for example, that switch 614 is in second position 617; and the processor 622 can use the program instructions associated with the articulation of the end actuator upon detection through sensors 630, for example, that switch 614 is in the third or fourth position 618a, 618b.

[0168] Figure 17 is a schematic diagram of a robotic surgical instrument 700 configured to operate a surgical tool described therein, in accordance with at least one aspect of the present disclosure. The robotic surgical instrument 700 can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of a closing tube, the rotation of the drive shaft, and articulation, either with a single type or multiple articulation drive links.

In one aspect, the surgical instrument 700 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 700 comprises a control circuit 710 configured to control motor-driven firing members, closing members, driving shaft members and / or one or more hinge members.

[0169] In one aspect, the robotic surgical instrument 700 comprises a control circuit 710 configured to control an anvil 716 and a beam portion with profile in | 714 (including a sharp cutting edge) of an end actuator 702, a removable clamp cartridge 718, a drive shaft 740 and one or more hinge members 742a, 742b through a plurality of motors 704a to 704e. A 734 position sensor can be configured to provide feedback on the beam with a profile | 714 to control circuit 710. Other sensors 738 can be configured to provide feedback to control circuit 710. A timer / counter 731 provides timing and counting information to control circuit 710. A power source 712 can be provided to operate the motors 704a to 704e and a current sensor 736 provide motor current feedback to control circuit 710. Motors 704a to 704e can be operated individually by control circuit 710 in an open loop or closed loop feedback control.

[0170] In one aspect, the control circuit 710 may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer / counter circuit 731 provides an output signal, such as elapsed time or a digital count, to control circuit 710 to correlate the beam position with | 714, as determined by the position sensor 734, with the timer / counter output 731 so that the control circuit 710 can determine the position of the beam with profile in | 714 at a specific time (t) in relation to an initial position or time (t) when the beam with profile in | 714 is in a specific position in relation to an initial position. The timer / counter 731 can be configured to measure elapsed time, count external events or measure external events.

[0171] In one aspect, control circuit 710 can be programmed to control functions of end actuator 702 based on one or more tissue conditions. Control circuit 710 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 710 can be programmed to select a trigger control program or closing control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when thicker tissue is present, control circuit 710 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, the control circuit 710 can be programmed to move the displacement member at a higher speed and / or with greater power. A closing control program can control the closing force applied to the tissue by the anvil 716. Other control programs control the rotation of the drive shaft 740 and the hinge members 742a, 742b.

[0172] In one aspect, the 710 control circuit can generate motor setpoint signals. Motor setpoint signals can be provided for various motor controllers 708a through 708e. Motor controllers 708a to 708e can comprise one or more circuits configured to provide motor drive signals for motors 704a to 704e in order to drive motors 704a to 704e, as described here. In some instances, motors 704a to 704e may be brushed DC motors. For example, the speed of motors 704a to 704e can be proportional to the respective motor start signals. In some examples, motors 704a to 704e may be brushless DC electric motors, and the respective motor drive signals may comprise a PWM signal provided for one or more stator windings of motors 704a to 704e. In addition, in some instances, motor controllers 708a through 708e can be omitted and control circuit 710 can directly generate motor drive signals.

[0173] In one aspect, the control circuit 710 can initially operate each of the motors 704a to 704e in an open circuit configuration for a first open circuit portion of the travel of the displacement member. Based on the response of the robotic surgical instrument 700 during the open circuit portion of the stroke, control circuit 710 can select a trigger control program in a closed circuit configuration. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the energy supplied to one of the motors 704a to 704e during the open circuit portion, a sum pulse widths of a motor start signal, etc. After the open circuit portion, control circuit 710 can implement the selected trigger control program for a second portion of the travel member travel. For example, during a portion of the closed loop course, control circuit 710 can modulate one of the motors 704a to 704e based on translation data that describes a position of the closed-loop travel member to translate the travel member to a constant speed.

[0174] In one aspect, motors 704a to / 04e can receive power from a 712 power source. Power source 712 can be a DC power source powered by an alternating main power supply, a battery, a super capacitor, or any other suitable power source. Motors 704a to 704e can be mechanically coupled to individual mobile mechanical elements such as the beam with profile in | 714, the anvil 716, the drive shaft 740, the hinge 742a and the hinge 742b, through the respective transmissions 706a to 706e. Transmissions 706a through 706e may include one or more gears or other connecting components for coupling motors 704a to 704e to moving mechanical elements. A 734 position sensor can detect a beam position with a | 714. The position sensor 734 can be or can include any type of sensor that is capable of generating position data that indicate a beam position with profile in | 714. In some examples, the position sensor 734 may include an encoder configured to supply a series of pulses to the control circuit 710 according to the beam with profile in | 714 transferred distally and proximally. The control circuit 710 can track the pulses to determine the position of the beam with profile in | 714. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the profile beam in

1 714. In addition, in some examples, the position sensor 734 can be omitted. When any of the 704a to 704e motors is a stepper motor, the control circuit 710 can track the beam position with | 714 by adding the number and direction of the steps that the 704 engine was instructed to perform. Position sensor 734 can be located on end actuator 702 or any other portion of the instrument. The outputs of each of the engines 704a to 704e include a torque sensor 744a to 744e to detect force and have an encoder to detect the rotation of the drive shaft.

[0175] In one aspect, the control circuit 710 is configured to drive a firing member as the beam portion with | 714 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708a, which provides a drive signal for motor 704a. The output shaft of the motor 704a is coupled to a torque sensor 744a. The torque sensor 744a is coupled to a transmission 706a which is coupled to the beam with profile in | 714. The transmission 706a comprises moving mechanical elements, such as rotating elements, and a firing member for distally and proximally controlling the movement of the beam with profile in | 714 along a longitudinal geometric axis of the end actuator 702. In one aspect, the motor 704a can be coupled to the knife gear assembly, which includes a knife gear reduction assembly that includes a first knife drive gear and a second knife drive gear. A torque sensor 744a provides a feedback signal from the firing force to the control circuit 710. The firing force signal represents the force required to fire or move the beam in profile | 714. A 734 position sensor can be configured to provide the position of the profile beam at 1714 along

7TII51 of the firing stroke or firing member position as a feedback signal to control circuit 710. End actuator 702 can include additional sensors 738 configured to provide feedback signals to control circuit 710. When ready for use , control circuit 710 can provide a trip signal to motor control 708a. In response to the trigger signal, motor 704a can drive the trigger member distally along the longitudinal geometry axis of end actuator 702 from an initial proximal position of the stroke to an end distal position of the stroke relative to the initial position of course. As the displacement member moves distally, a beam with a | 714 with a cutting element positioned at a distal end, advances distally to cut the fabric between the staple cartridge 718 and the anvil 716.

[0176] In one aspect, control circuit 710 is configured to drive a closing member, such as anvil portion 716 of end actuator 702. Control circuit 710 provides a motor setpoint for motor control 708b, which provides a drive signal for motor 704b. The output shaft of the 704b motor is coupled to a 744b torque sensor. The torque sensor 744b is coupled to a transmission 706b which is coupled to the anvil 716. The transmission 706b comprises moving mechanical elements, such as rotating elements and a closing member, to control the movement of the anvil 716 between the open and closed positions. In one aspect, the 704b motor is coupled to a closing gear assembly, which includes a closing reduction gear assembly that is supported in gear engaged with the closing sprocket. The torque sensor 744b provides a closing force feedback signal for control circuit 710. The closing force feedback signal represents the closing force applied to the anvil 716. The position sensor 734 can be configured to provide the position of the closing member as a feedback signal for control circuit 710. Additional sensors 738 on end actuator 702 can provide the feedback signal for closing force to control circuit 710. A pivoting anvil 716 is positioned opposite the staple cartridge 718. When ready for use, control circuit 710 can provide a closing signal to motor control 708b. In response to the closing signal, motor 704b advances a closing member to secure the fabric between the anvil 716 and the staple cartridge 718.

[0177] In one aspect, control circuit 710 is configured to rotate a drive shaft member, such as drive shaft 740, to rotate end actuator 702. Control circuit 710 provides a motor setpoint for a 708c engine control, which provides a drive signal for the 704c engine. The output shaft of the motor 704c is coupled to a torque sensor 744c. The torque sensor 744c is coupled to a transmission 706c which is coupled to the drive shaft 740. The transmission 706c comprises moving mechanical elements, such as rotary elements, to control the rotation of the drive shaft 740 clockwise or counterclockwise. up and over 360º. In one aspect, the 704c engine is coupled to the rotary drive assembly, which includes a pipe gear segment that is formed over (or attached to) the proximal end of the proximal closing tube for operable engagement by a rotational gear assembly that is supported operationally on the tool mounting plate. The torque sensor 744c provides a rotation force feedback signal to control circuit 710. The rotation force feedback signal represents the rotation force applied to the drive shaft

740. The position sensor 734 can be configured to provide the position of the closing member as a feedback signal to the control circuit 710. Additional sensors 738, such as a drive shaft encoder, can provide the rotational position of the drive shaft. drive 740 for control circuit 710.

[0178] In one aspect, control circuit 710 is configured to link end actuator 702. Control circuit 710 provides a motor setpoint for a 708d motor control, which provides a drive signal for the motor 704d. The output shaft of the 704d motor is coupled to a 744d torque sensor. The torque sensor 744d is coupled to a transmission 706d which is coupled to a pivot member 742a. The 706d transmission comprises moving mechanical elements, such as articulation elements, to control the articulation of the 702 + 65º end actuator. In one aspect, the 704d motor is coupled to a pivot nut, which is rotatably seated on the proximal end portion of the distal column portion and is pivotally driven thereon by a pivot gear assembly. The torque sensor 744d provides a hinge force feedback signal to control circuit 710. The hinge force feedback signal represents the hinge force applied to the end actuator 702. The 738 sensors, as a hinge encoder , can provide the pivoting position of end actuator 702 for control circuit 710.

[0179] In another aspect, the articulation function of the robotic surgical system 700 may comprise two articulation members, or connections, 742a, 742b. These hinge members 742a, 742b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 708d, 708e. When the separate firing motor 704a is provided, each hinge connection 742a,

742b can be antagonistically driven with respect to the other connection to provide a resistive holding movement and a load to the head when it is not moving and to provide a pivoting movement when the head is pivoted. The hinge members 742a, 742b attach to the head in a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull link changes when the head is rotated. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.

[0180] In one aspect, the one or more motors 704a to 704e may comprise a brushed DC motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example includes electric motors 704a to 704e that operate the moving mechanical elements such as the displacement member, the articulation connections, the closing tube and the drive shaft. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to one of the electric motors 704a to 704e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.

[0181] In one aspect, the position sensor 734 can be implemented as an absolute positioning system. In one aspect, the position sensor 734 can comprise an absolute rotary magnetic positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The position sensor 734 can interface with the control circuit 710 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder's algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions which only require addition, subtraction, bit shift and lookup table operations.

[0182] In one aspect, control circuit 710 can be in communication with one or more sensors 738. Sensors 738 can be positioned on end actuator 702 and adapted to work with the robotic surgical instrument 700 to measure the various derived parameters such as the span distance in relation to time, the compression of the tissue in relation to time and the deformation of the anvil in relation to time. The 738 sensors may comprise a magnetic sensor; a magnetic field sensor; an effort meter; a load cell; a pressure sensor; a force sensor; a torque sensor; an inductive sensor, such as an eddy current sensor; a resistive sensor; a capacitive sensor; an optical sensor; and / or any other sensor suitable for measuring one or more parameters of end actuator 702. Sensors 738 may include one or more sensors. Sensors 738 may be located on the staple cartridge platform 718 to determine the location of the tissue using segmented electrodes. The torque sensors 744a to 744e can be configured to detect force, such as firing force, closing force and / or articulation force, among others. Consequently, the control circuit 710 can detect (1) the closing load experienced by the distal closing tube and its position, (2) the trigger member on the rack and its position, (3) which portion of the cartridge blade 718 has tissue in it and (4) the load and position on both articulation rods.

[0183] In one aspect, the one or more sensors 738 may comprise a stress meter such as, for example, a microstrain meter, configured to measure the magnitude of the stress on the anvil 716 during a clamped condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. Sensors 738 can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 716 and the staple cartridge 718. Sensors 738 can be configured to detect the impedance of a section of tissue located between the anvil 716 and the staple cartridge 718 which is indicative of the thickness and / or completeness of the fabric located between them.

[0184] In one aspect, the 738 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magneto-resistive devices (MR), giant magneto-resistive devices (GMR) and magnetometers, among others. In other implementations, the 738 sensors can be implemented as solid state switches that operate under the influence of light, such as optical sensors, infrared sensors and ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the 738 sensors can include driverless electric switches, ultrasonic switches, accelerometers and inertia sensors, among others.

[0185] In one aspect, sensors 738 can be configured to measure the forces exerted on the anvil 716 by the closing drive system. For example, one or more sensors 738 may be at a point of interaction between the closing tube and the anvil 716 to detect the closing forces applied by the closing tube to the anvil 716. The forces exerted on the anvil 716 may be representative of the tissue compression experienced by the tissue section captured between the anvil 716 and the staple cartridge 718. The one or more sensors 738 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied to the anvil 716 by the closing drive system. The one or more sensors 738 can be sampled in real time during a gripping operation by the processor of the control circuit 710. The control circuit 710 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time the closing forces applied to the anvil 716.

[0186] In one aspect, a current sensor 736 can be used to measure the current drawn by each of the 704a to 704e motors. The force required to advance any of the moving mechanical elements, such as the beam with a profile | 714, corresponds to the current drained by one of the motors 704a to 704e. The force is converted into a digital signal and supplied to control circuit 710. Control circuit 710 can be configured to simulate the response of the instrument's actual system in the controller software. A displacement member can be actuated to move a beam with a profile | 714 on end actuator 702 at or near a target speed. The robotic surgical instrument 700 may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, linear quadratic (LQR) and / or an adaptive controller , for example. The robotic surgical instrument 700 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque and / or force, for example. Additional details are disclosed in the US patent application

Serial no. 15 / 636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed on June 29, 2017, which is hereby incorporated by reference in its entirety.

[0187] Figure 18 illustrates a block diagram of a surgical instrument 750 programmed to control the distal translation of a displacement member, in accordance with an aspect of the present disclosure. In one aspect, the 750 surgical instrument is programmed to control the distal translation of a displacement member, such as the beam with a | 764. The surgical instrument 750 comprises an end actuator 752 which may comprise an anvil 766, a beam with a profile in | 764 (including a sharp cutting edge), and a removable staple cartridge 768.

[0188] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with profile in | 764, can be measured by an absolute positioning system, sensor arrangement and a position sensor 784. As the beam with profile in | 764 is coupled to a longitudinally movable drive member, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member using the position sensor 784. Consequently, in the following description, the position, displacement and / or translation of the beam with profile in | 764 can be obtained by the position sensor 784, as described in the present invention. A control circuit 760 can be programmed to control the translation of the displacement member, such as the beam with |

764. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the beam with profile in | 764, as described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to the control circuit 760 to correlate the position of the beam with | 764, as determined by the position sensor 784 with the timer / counter output 781, so that the control circuit 760 can determine the position of the beam with | 764 at a specific time (t) in relation to an initial position. The 781 timer / counter can be configured to measure elapsed time, count external events, or measure timeless events.

[0189] Control circuit 760 can generate a 772 engine setpoint signal. The 772 engine setpoint signal can be supplied to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the motor drive signal 774 can comprise a PWM signal provided for a or more motor stator windings 754. In addition, in some examples, motor controller 758 may be omitted, and control circuit 760 can generate motor drive signal 774 directly.

[0190] The 754 motor can receive power from a power source

762. The 762 power source can be or include a battery, a super capacitor, or any other suitable power source. The 754 motor can be mechanically coupled to the beam with a profile | 764 by means of a transmission 756. The transmission 756 may include one or more gears or other connecting components for coupling the motor 754 to the beam with profile | 764. A 784 position sensor can detect a beam position with | 764. The position sensor 784 can be or can include any type of sensor that is capable of generating position data that indicates a beam position with profile in | 764. In some examples, the position sensor 784 may include an encoder configured to supply a series of pulses to the control circuit 760 according to the beam with profile in | 764 moved distally and proximally. The control circuit 760 can track the pulses to determine the position of the beam with profile in | 764. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with profile in | 764. In addition, in some examples, the position sensor 784 may be omitted. When motor 754 is a stepper motor, control circuit 760 can track the position of the beam with a profile | 764 when adding the number and direction of the steps that the 754 engine was instructed to perform. The position sensor 784 can be located on end actuator 752 or any other portion of the instrument.

[0191] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 752 and adapted to work with the surgical instrument 750 to measure the various derived parameters, such as span distance in relation to time, compression of the tissue in relation to time and tension of the anvil in relation to time. The 788 sensors can comprise a magnetic sensor; a magnetic field sensor; an effort meter; a pressure sensor; a force sensor; an inductive sensor, such as an eddy current sensor; a resistive sensor; a capacitive sensor; an optical sensor; and / or any other sensor suitable for measuring one or more parameters of the end actuator 752. The 788 sensors may include one or more sensors.

[0192] The one or more sensors 788 may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 766 during a clamping condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of tissue located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.

[0193] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by a closing drive system. For example, one or more sensors 788 may be at a point of interaction between the closing tube and the anvil 766 to detect the closing forces applied by a closing tube to the anvil 766. The forces exerted on the anvil 766 may be representative. of the tissue compression experienced by the tissue section captured between the anvil 766 and the staple cartridge 768. The one or more sensors 788 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied anvil 766 by the closing drive system. The one or more 788 sensors can be sampled in real time during a gripping operation by a processor of the control circuit 760. The control circuit 760 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time, the closing forces applied to the anvil 766.

[0194] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with profile in | 764 corresponds to the current drained by the motor

754. The force is converted into a digital signal and supplied to the control circuit 760.

[0195] The control circuit 760 can be configured to simulate the actual system response of the instrument in the controller software. A displacement member can be actuated to move a beam with a profile | 764 on end actuator 752 at or near a target speed. The surgical instrument 750 can include a feedback controller, which can be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, LOR and / or an adaptive controller, for example. The surgical instrument 750 can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque and / or force, for example.

[0196] The actual drive system of the surgical instrument 750 is configured to drive the displacement member, the cutting member or the beam with profile in | 764, by a brushed DC motor with gearbox and mechanical connections to an articulation system and / or a knife. Another example is the 754 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 754 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.

[0197] Several exemplifying aspects are directed to a 750 surgical instrument that comprises a 752 end actuator with motor-driven surgical stapling and cutting implements. For example, a motor 754 can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 752. End actuator 752 may comprise a pivot anvil 766 and, when configured for use, a staples 768 positioned on the opposite side of anvil 766. A doctor can hold the tissue between the anvil 766 and the staple cartridge 768, as described in the present invention. When ready to use the 750 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 750 instrument. In response to the trigger signal, motor 754 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 752 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, a beam with a | 764 with a cutting element positioned at a distal end can cut the fabric between the staple cartridge 768 and the anvil 766.

[0198] In several examples, the surgical instrument 750 may comprise a control circuit 760 programmed to control the distal translation of the displacement member, such as the beam with profile in | 764, for example, based on one or more tissue conditions. The control circuit 760 can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 760 can be programmed to select a trigger control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, control circuit 760 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the control circuit 760 can be programmed to move the displacement member at a higher speed and / or with greater power.

[0199] In some examples, control circuit 760 may initially operate motor 754 in an open circuit configuration for a first open circuit portion of a travel member travel. Based on a response from the surgical instrument 750 during the open circuit portion of the stroke, control circuit 760 can select a trigger control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 754 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 760 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 760 can modulate motor 754 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into a constant speed. Additional details are disclosed in US patent application Serial No. 15 / 720,852, entitled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, filed on September 29, 2017, which is hereby incorporated by reference in its entirety.

[0200] Figure 19 is a schematic diagram of a 790 surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure. In one aspect, the 790 surgical instrument is programmed to control the distal translation of a displacement member, such as the beam with a | 764. The surgical instrument 790 comprises an end actuator 792 which may comprise an anvil 766, a beam with a profile | 764 and a removable staple cartridge 768 that can be interchanged with an RF cartridge 796 (shown in dashed line).

[0201] In one aspect, the 788 sensors can be implemented as a limit switch, electromechanical device, solid state switches, Hall effect devices, MRI devices, GMR devices and magnetometers, among others. In other implementations, the 788 sensors can be solid-state switches that operate under the influence of light, such as optical sensors, infrared sensors and ultraviolet sensors, among others. In addition, the switches can be solid-state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar and the like) In other implementations, 788 sensors can include driverless electric switches, ultrasonic switches, accelerometers, temperature sensors, inertia and, among others.

[0202] In one aspect, the position sensor 784 can be implemented as an absolute positioning system, which comprises a rotating magnetic absolute positioning system implemented as a single integrated circuit rotary magnetic position sensor, ASSOSSEQFT, available from Austria Microsystems, AG. The position sensor 784 can interface with the control circuit 760 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit by digit method and Volder's algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions which only require addition, subtraction, bit shift and lookup table operations.

[0203] In one aspect, the beam with | 764 can be implemented as a knife member comprising a knife body which operationally supports a tissue cutting blade therein and can additionally include anvil engagement tabs or features and channel engagement or a base. In one aspect, the staple cartridge 768 can be implemented as a standard (mechanical) surgical clamp cartridge. In one aspect, the RF cartridge 796 can be implemented as an RF cartridge. These and other sensor arrangements are described in Commonly Owned US Patent Application Serial No. 15 / 628,175, entitled

TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed on June 20, 2017, which is hereby incorporated by reference in its entirety.

[0204] The position, movement, displacement and / or translation of a linear displacement member, such as the beam with profile in | 764, can be measured by an absolute positioning system, sensor arrangement and position sensor represented as the position sensor 784. As the beam with profile in | 764 is coupled to a longitudinally movable drive member, the position of the beam with profile in | 764 can be determined by measuring the position of the longitudinally movable drive member using the position sensor 784. Consequently, in the following description, the position, displacement and / or translation of the beam with profile in | 764 can be obtained by the position sensor 784, as described in the present invention. A control circuit 760 can be programmed to control the translation of the displacement member, such as the beam with | 764, as described here. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the beam with profile in | 764, as described. In one aspect, a timer / counter 781 provides an output signal, such as elapsed time or a digital count, to the control circuit 760 to correlate the position of the beam with | 764, as determined by the position sensor 784 with the timer / counter output 781, so that the control circuit 760 can determine the position of the beam with | 764 at a specific time (t) in relation to an initial position. The 781 timer / counter can be configured to measure elapsed time, count external events, or measure timeless events.

[0205] Control circuit 760 can generate a 772 motor setpoint signal. The 772 motor setpoint signal can be supplied to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a motor 774 drive signal to motor 754 to drive motor 754, as described in the present invention. In some instances, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of motor 754 can be proportional to the drive signal of motor 774. In some instances, motor 754 can be a brushless DC electric motor and the motor drive signal 774 can comprise a PWM signal provided for a or more motor stator windings 754. In addition, in some examples, motor controller 758 may be omitted, and control circuit 760 can generate motor drive signal 774 directly.

[0206] The 754 motor can receive power from a power source

762. The 762 power source can be or include a battery, a super capacitor, or any other suitable power source. The 754 motor can be mechanically coupled to the beam with a profile | 764 by means of a transmission 756. The transmission 756 may include one or more gears or other connecting components for coupling the motor 754 to the beam with profile | 764. A 784 position sensor can detect a beam position with | 764. The position sensor 784 can be or can include any type of sensor that is capable of generating position data that indicates a beam position with profile in | 764. In some examples, the position sensor 784 may include an encoder configured to supply a series of pulses to the control circuit 760 according to the beam with profile in | 764 moved distally and proximally. The control circuit 760 can track the pulses to determine the position of the beam with profile in | 764. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with profile in | 764. In addition, in some examples, the position sensor 784 may be omitted. When motor 754 is a stepper motor, control circuit 760 can track the position of the beam with a profile | 764 when adding the number and the orientation of the steps that the engine was instructed to perform. Position sensor 784 can be located on end actuator 792 or any other portion of the instrument.

[0207] The control circuit 760 can be in communication with one or more sensors 788. The sensors 788 can be positioned on the end actuator 792 and adapted to work with the surgical instrument 790 to measure the various derived parameters, such as span distance in relation to time, compression of the tissue in relation to time and tension of the anvil in relation to time. The 788 sensors can comprise a magnetic sensor; a magnetic field sensor; an effort meter; a pressure sensor; a force sensor; an inductive sensor, such as an eddy current sensor; a resistive sensor; a capacitive sensor; an optical sensor; and / or any other sensor suitable for measuring one or more parameters of end actuator 792. Sensors 788 may include one or more sensors.

[0208] The one or more sensors 788 may comprise a stress meter, such as a microstrain meter, configured to measure the magnitude of the stress on the anvil 766 during a clamping condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 788 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 766 and the staple cartridge 768. The 788 sensors can be configured to detect the impedance of a section of tissue located between the anvil 766 and the staple cartridge 768 which is indicative of the thickness and / or completeness of the fabric located between them.

[0209] The 788 sensors can be configured to measure the forces exerted on the anvil 766 by the closing drive system. For example, one or more sensors 788 may be at a point of interaction between the closing tube and the anvil 766 to detect the closing forces applied by a closing tube to the anvil 766. The forces exerted on the anvil 766 may be representative. of the tissue compression experienced by the tissue section captured between the anvil 766 and the staple cartridge 768. The one or more sensors 788 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied anvil 766 by the closing drive system. The one or more 788 sensors can be sampled in real time during a hold operation by a processor portion of the control circuit 760. The control circuit 760 receives sample measurements in real time to provide and analyze time-based information and evaluate , in real time, the closing forces applied to the anvil 766.

[0210] A current sensor 786 can be used to measure the current drained by the 754 motor. The force required to advance the beam with profile in | 764 corresponds to the current drained by the motor

754. The force is converted into a digital signal and supplied to the control circuit 760.

[0211] An RF power source 794 is coupled to the end actuator 792 and is applied to the RF 796 cartridge when the RF 796 cartridge is loaded on the end actuator 792 in place of the staple cartridge 768. The control circuit 760 controls the supply of RF energy to the 796 RF cartridge.

[0212] Additional details are disclosed in US patent application Serial No. 15 / 636,096, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed on June 28, 2017, which is hereby incorporated into reference title in its entirety.

[0213] Figure 20 is a schematic diagram of a 791 surgical instrument, which is similar in many ways to the surgical instrument

790. Surgical instrument 791 includes an end actuator 769 that includes a first jaw 765 and a second jaw 767. End actuator 769 is configured to be transitioned from an open position to a closed position. The first jaw 765 and the second jaw 767 are closer to each other in the closed configuration. In one aspect, the tissue trapped by the 769 end actuator in the closed configuration is treated by ultrasonic energy generated by a 795 power source. In another aspect, the tissue trapped by the 769 end actuator in the closed configuration is treated by the generated RF energy. power source 795 or a separate RF power source.

[0214] In one aspect, a closing tube 773 (shown in broken lines) can transition from end actuator 769 to the closed configuration. The motor 754 can be mechanically coupled to the tube of the closing system 773 through the transmission 756 to transmit, to the end actuator 769, closing movements. Alternatively, the closing tube 773 can be moved manually to transition the end actuator 769 between the open and closed configurations. In one aspect, a beam with a profile in 1771 (shown in dashed lines), which is similar to the beam with a profile in | 764, you can transition from end actuator 769 to the closed configuration. The 754 motor can be mechanically coupled to the beam with a profile | 771 through transmission 756 to transmit closing movements to the end actuator 769. Alternatively, the beam with a profile | 771 can be moved manually to transition the 769 end actuator between the open and closed configurations. A position sensor 784 can detect a beam position with a profile at 1 771 and / or the closing tube 773.

[0215] Figures 21 to 24 illustrate a surgical instrument powered by a 150010 motor for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 150010 includes a wrapper 150012 which comprises a set of handle 150014 that is configured to be picked up, handled and actuated by the physician. The 150012 enclosure is configured for operational attachment to an interchangeable drive shaft assembly 150200 that has an end actuator 150300 operably coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the sets of drive shaft. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. The interchangeable drive shaft assemblies disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in US patent No. 9,072,535, entitled SURGICAL

STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMERNTS, which is hereby incorporated by reference, in its entirety.

[0216] Figure 21 is a perspective view of a 150010 surgical instrument that has an interchangeable drive shaft assembly 150200 operably coupled to it, in accordance with at least one aspect of the present disclosure. The 150012 enclosure includes a 150300 end actuator comprising a surgical cutting and clamping device configured to operationally support a 150304 surgical clamp cartridge thereon. The 150012 housing can be configured for use in connection with the interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of clamp cartridges, and that have different lengths, sizes and types of shaft drive. The 150012 enclosure can be used with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other motions and forms of energy such as radiofrequency (RF) energy, ultrasonic energy and / or motion to actuator arrangements. extremities adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.

[0217] The 150014 handle assembly can comprise a pair of interconnectable segments of the 150016 and 150018 handle casing interconnected by screws, press-fit elements, adhesive etc. The 150016, 150018 handle segments cooperate to form a portion of the 150019 pistol grip that can be handled and manipulated by the physician. The 150014 handle set operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. A monitor can be provided below a 150045 cover.

[0218] Figure 22 is an exploded view of a portion of the surgical instrument 150010 of Figure 21, in accordance with at least one aspect of the present disclosure. The 150014 handle assembly may include a 150020 frame that operationally supports a plurality of drive systems. The 150020 frame can operationally support a "first" 150030 closing drive system, which can apply closing and opening movements to the 150200 interchangeable drive shaft assembly. The 150030 closing drive system can include an actuator as a closing trigger 150032 pivotally supported by the structure

150020. The 150032 lock trigger is pivotally attached to the 150014 handle assembly by a 150033 pivot pin to allow the 150032 lock trigger to be handled by a physician. When the physician holds the 150019 pistol grip portion of the 150014 grip assembly, the closing trigger 150032 can pivot from an initial or "not acted" position to an "acted" position and, more particularly, to a fully compressed position or completely actuated.

[0219] The 150014 handle set and the 150020 frame can operationally support a 150080 trigger drive system configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly attached to it. The 150080 firing drive system can use an 150082 electric motor located in the 150019 pistol grip portion of the 150014 handle assembly. The 150082 electric motor can be a direct current (DC) motor with brushes having a maximum rotation speed of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. The 150082 electric motor can be powered by a 150090 power source that can comprise a removable battery

150092. The 150092 removable battery may comprise a portion of the 150094 proximal housing that is configured to attach to a 150096 distal housing portion. The 150094 proximal housing portion and the 150096 distal housing portion are configured to operationally support a plurality of 150098 batteries. Each of the 150098 batteries may comprise, for example, a lithium ion battery ("LI") or another suitable battery. The 150096 distal enclosure portion is configured for removable operational attachment to a 150100 control circuit board that is operationally coupled to the 150082 electric motor. Several 150098 batteries connected in series can power the 150010 surgical instrument. The 150090 power source can be replaceable and / or rechargeable. A 150043 monitor, which is located below the 150045 cover, is electrically coupled to the 150100 control circuit board. The 150045 cover can be removed to expose the 150043 monitor.

[0220] The 150082 electric motor can include a rotary drive shaft (not shown) that, operationally, interfaces with a 150084 gear reducer assembly mounted in gear engaged with a 150122 drive teeth set or rack in one longitudinally movable drive member

150120. The longitudinally movable drive member 150120 has a rack of drive teeth 150122 formed thereon for coupling coupling with a drive gear - corresponding to 150086 of the gear reducer set 150084.

[0221] In use, a voltage polarity provided by the 150090 power source can operate the 150082 electric motor clockwise,

the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the 150082 electric motor counterclockwise. When the electric motor 150082 is rotated in one direction, the longitudinally movable drive member 150120 will be axially activated in the distal direction "DD". When the electric motor 150082 is driven in the opposite rotating direction, the longitudinally movable driving member 150120 will be driven axially in the proximal direction "DP". The 150014 handle set can include a switch that can be configured to reverse the polarity applied to the 150082 electric motor by the power source

150090. The 150014 handle assembly may include a sensor configured to detect the position of the longitudinally movable driving member 150120 and / or the direction in which the longitudinally movable driving member 150120 is being moved.

[0222] The activation of the electric motor 150082 can be controlled by a trigger trigger 150130 that is pivotally supported on the handle set 150014. The trigger trigger 150130 can be pivoted between an unacted position and an actuated position.

[0223] Returning to Figure 21, the interchangeable drive shaft assembly 150200 includes an end actuator 150300 comprising an elongated channel 150302 configured to operationally support a 150304 surgical clamp cartridge inside. The end actuator 150300 may include an anvil 150306 that is pivotally supported in relation to the elongated channel 150302. The interchangeable drive shaft assembly 150200 can include a hinge joint 150270. The construction and operation of the end actuator 150300 and the hinge joint 150270 are shown in US patent application publication No. 2014/0263541, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, which is hereby incorporated by reference in its entirety. The exchangeable drive shaft assembly 150200 may include a proximal housing or nozzle 150201 comprised of nozzle portions 150202, 150203. The interchangeable drive shaft assembly 150200 may include a closing tube 150260 that extends along a geometric axis of the drive shaft SA that can be used to close and / or open the anvil 150306 of the end actuator 150300.

[0224] Also in Figure 21, the closing tube 150260 is moved distally (direction "DD") to close the anvil 150306, for example, in response to the action of the closing trigger 150032 in the manner described in the previously mentioned reference of the publication of US patent application No. 2014/0263541. Anvil 150306 is opened by means of proximal translation of the closing tube

150260. In the open position of the anvil, the closing tube 150260 is moved to its proximal position.

[0225] Figure 23 is another exploded view of portions of the 150200 interchangeable drive shaft assembly, in accordance with at least one aspect of the present disclosure. The interchangeable drive shaft assembly 150200 may include a firing member 150220 sustained to perform axial displacement within the center column 150210. The firing member 150220 includes an intermediate firing drive shaft 150222 configured to connect to a portion of distal cut or cut bar 150280. The firing member 150220 can be called a "second drive shaft" or a "second drive shaft set". The intermediate firing drive axis 150222 may include a longitudinal slot 150223 at a distal end configured to receive a flap 150284 at the proximal end 150282 of the cutter bar 150280. The longitudinal slot 150223 and the proximal end

150282 can be configured to allow relative movement between them and can comprise a sliding joint 150286. Sliding joint 150286 can allow the intermediate firing drive shaft 150222 of firing member 150220 to link end actuator 150300 around the joint pivot 150270 without moving, or at least without substantially moving, the cutter bar 150280. When the end actuator 150300 has been properly oriented, the intermediate firing drive axis 150222 can be advanced distally to a proximal side wall of the longitudinal slot 150223 contact the flap 150284 to advance the cutting bar 150280 and fire the staple cartridge positioned inside the channel 150302. The central column 150210 has an elongated opening or window 150213 inside it to facilitate the assembly and insertion of the intermediate firing drive axis 150222 inside central column 150210. When the intermediate firing drive axle 150222 has been inserted into it, an upper segment of the structure 150215 can be engaged with the driving spindle structure 150212 to enclose the intermediate firing drive shaft 150222 and the cutter bar 150280. The operation of firing member 150220 can be seen in US Patent Application Publication No. 2014/0263541. A central column 150210 can be configured to slide support a firing member 150220 and the closing tube 150260 which extends around the central column 150210. The central column 150210 can slide a hinge actuator 150230.

[0226] The 150200 interchangeable drive shaft assembly can include a 150400 coupling assembly configured to selectively and releasably link the hinge driver 150230 to the firing member 150220. The 150400 coupling assembly includes a 150402 locking ring or sleeve positioned around the firing member 150220, the locking sleeve 150402 being able to be rotated between an engaged position, where the locking sleeve 150402 couples the pivoting actuator 150230 to the firing member 150220, and a disengaged position, where the hinge actuator 150230 is not operably coupled to the firing member 150220. When the locking sleeve 150402 is in the engaged position, the distal movement of the firing member 150220 can move the hinge actuator 150230 distally and correspondingly the proximal movement of the firing member 150220 can move the hinge actuator 150230 proximally. When the locking sleeve 150402 is in the disengaged position, the movement of the firing member 150220 is not transmitted to the hinge driver 150230 and, as a result, the firing member 150220 can move independently of the hinge driver 150230. The mouthpiece 150201 can be used to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in the publication of US patent application No. 2014/0263541.

[0227] The exchangeable drive shaft assembly 150200 may comprise a slip ring assembly 150600 that can be configured to conduct electrical energy to and from or to the end actuator 150300 and / or communicate signals to the end actuator 150300 and / or from it, for example. The slip ring assembly 150600 may comprise a proximal connector flange 150604 and a distal connector flange 150601 positioned within a slot defined in the nozzle portions 150202, 150203. The flange of the proximal connector 150604 may comprise a first face and the flange the distal connector 150601 can comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 150601 can rotate relative to the proximal connector flange 150604 around the axis of the SA-SA drive shaft (Figure 21). The proximal connector flange 150604 can comprise a plurality of concentric or at least substantially concentric conductors 150602, defined on its first face. A 150607 connector can be mounted on the proximal side of the 150601 distal connector flange and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the 150602 conductors. This arrangement allows the relative rotation between the flange of proximal connector 150604 and the distal connector flange 150601, while electrical contact is maintained between them. The 150604 proximal connector flange can include an electrical connector 150606 that can place the 150602 conductors in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 150606 and the circuit board of the drive shaft. The electrical connector 150606 can extend proximally through a connector opening defined on the chassis mounting flange. US patent application publication No. 2014/0263551, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. US patent application publication No. 2014/0263552, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. Additional details regarding the slip ring assembly 150600 can be found in US Patent Application Publication No. 2014/0263541.

[0228] The exchangeable drive shaft assembly 150200 may include a proximal portion mounted securely to the 150014 handle assembly, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative to the proximal portion around the slip ring assembly 150600. The distal connector flange 150601 of the slip ring assembly 150600 can be positioned on the distal swivel portion of the drive shaft.

[0229] Figure 24 is an exploded view of an aspect of an end actuator 150300 of the surgical instrument 150010 of Figure 21, in accordance with at least one aspect of the present disclosure. The end actuator 150300 can include the anvil 150306 and the surgical staple cartridge 150304. The anvil 150306 can be coupled to an elongated channel 150302. The openings 150199 can be defined in the elongated channel 150302 to receive the 150152 pins extending from of the anvil 150306 to allow the anvil 150306 to rotate from an open position to a closed position in relation to the elongated channel 150302 and the surgical staple cartridge 150304. A firing bar 150172 is configured to move longitudinally into the end actuator

150300. The firing bar 150172 can be constructed from a solid section or can include a laminated material comprising, for example, a stack of steel plates. The firing bar 150172 comprises a beam with a profile | 150178 and a cutting edge 150182 at a distal end thereof. One end of the 150172 distally designed firing bar can be attached to the beam with a profile | 150178 to assist in spacing the anvil 150306 from a 150304 surgical staple cartridge positioned in the elongated channel 150302 when the anvil 150306 is in the closed position. The beam with profile in | 150178 can include a sharp cutting edge 150182, which can be used to separate the fabric, according to the beam with profile in | 150178 is advanced distally by the 150172 firing bar. In operation, the beam with profile | 150178 can fire the 150304 surgical staple cartridge. The 150304 surgical staple cartridge can include a molded cartridge body 150194 that holds a plurality of staples 150191 that rest on the staple actuators 150192 within the respective staples cavities open up 150195 A 150190 wedge slider is driven distally by the beam with a profile | 150178, sliding over a cartridge tray 150196 of the surgical staple cartridge 150304. The wedge slide 150190 moves the staple actuators 150192 upwards to expel the staples 150191 in deformation contact with the anvil 150306, while cutting edge 150182 of beam with profile | 150178 cuts the trapped fabric.

[0230] The beam with profile in | 150178 can include upper pins 150180 that engage the anvil 150306 during firing. The beam with profile in | 150178 can include 150184 intermediate pins and a 150186 bottom foot to engage portions of the 150194 cartridge body, 150196 cartridge tray and 150302 elongated channel. When a 150304 surgical staple cartridge is positioned inside the elongated channel 150302, a slot 150193 defined in the cartridge body 150194 can be aligned with a longitudinal slot 150197 defined in the cartridge tray 150196 and a slot 150189 defined in the elongated channel 150302. In use, the beam with | 150178 can slide through the aligned longitudinal cracks 150193, 150197 and 150189, and, as shown in Figure 24, the base 150186 of the beam with profile in | 150178 can engage a groove positioned along the lower surface of the elongated channel 150302 along the length of the slot 150189, the middle pins 150184 can engage the upper surfaces of the cartridge tray 150196 along the length of the longitudinal slot 150197, and the upper pins 150180 can engage the anvil

150306. The beam with profile | 150178 can space or limit the relative movement between the anvil 150306 and the surgical staple cartridge 150304, as the firing bar 150172 is advanced distally in order to fire the staples from the surgical staple cartridge 150304 and / or make an incision in the captured tissue between the anvil 150306 and the surgical staple cartridge 150304. The firing bar 150172 and the beam with profile | 150178 can be retracted proximally allowing the 150306 anvil to be opened to release the two stapled and cut tissue portions.

[0231] Figures 25A and 25B are a block diagram of a control circuit 150700 of the surgical instrument 150010 of Figure 21, which comprises two drawing sheets, in accordance with at least one aspect of the present disclosure. Referring mainly to Figures 25A and 25B, a 150702 handle assembly can include a 150714 engine, which can be controlled by a 150715 engine driver and can be used by the 150010 surgical instrument trigger system. In several ways, the 150714 engine it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other provisions, the 150714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor driver 150715 may comprise an H bridge driver comprising field effect transistors (FETs) 150719, for example. The 150714 engine can be powered by the 150706 power pack releasably mounted to the 150200 handle set to provide control power to the 150010 surgical instrument. The 150706 power pack may comprise a battery that may include several battery cells connected in series, which can be used as the power source to power the 150010 surgical instrument. Under certain circumstances, the battery cells in the 150706 power pack can be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium-ion batteries that can be separably coupled to the 150706 power pack.

[0232] The drive shaft assembly 150704 can include a drive shaft controller 150722 that can communicate with a safety controller and a power management controller 150716 through an interface, while the drive shaft assembly 150704 and the power supply 150706 are coupled to the handle assembly 150702. For example, the interface may comprise a first interface portion 150725, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the shaft assembly drive, and a second interface portion 150727, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the power supply, to allow electrical communication between the controller of the drive shaft assembly 150722 and the power management controller 150716, while the drive shaft assembly 150704 and power supply 150706 are coupled to the 150702 handle set. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the fixed interchangeable drive shaft assembly 150704 to the management controller 150716 power supply. In response, the power management controller can modulate the battery power output of the 150706 power pack, as described in more detail below, according to the power requirements of the 150704 fixed drive shaft set. The connectors may comprise switches that can be activated after mechanical coupling of the 150702 handle assembly to the 150704 drive shaft assembly and / or the 150706 power assembly to allow electrical communication between the 150722 drive shaft assembly controller. and the power management controller

150716.

[0233] The interface can facilitate the transmission of one or more communication signals between the energy management controller 150716 and the controller of the drive shaft assembly 150722 by routing these communication signals through a main controller 150717 located in the assembly grip handle 150702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 150716 and the drive shaft assembly controller 150722 through the grip handle 150702, while the drive shaft assembly 150704 and the handle assembly 150706 are attached to the handle assembly

150702.

[0234] The main controller 150717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex from Texas Instruments. In one respect, the main controller 150717 may be an LM4F230H5QR ARM Cortex-M4F processor core, available from Texas Instruments, for example, which comprises an integrated 256 KB single cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to optimize performance above 40 MHz, a 32 KB single cycle series random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWareº program, programmable and electrically erasable read-only memory (EEPROM) of 2 KB,

one or more pulse width modulation (PWM) modules, one or more analogs of quadrature encoder (QEI) inputs, and / or one or more 12-bit analog to digital converters (ADC) with 12 channels of analog input , details of which are available for the product data sheet.

[0235] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.

[0236] The 150706 power pack may include a power management circuit which may comprise the 150716 power management controller, a 150738 power modulator and a 150736 current sensor circuit. The power management circuit can be configured to modulate the battery power output based on the power needs of the 150704 drive shaft assembly, while the 150704 drive shaft assembly and the 150706 power assembly are coupled to the 150702 grip handle. The 150716 power management controller can be programmed to control the 150738 power modulator from the 150706 power pack power output and the current sensor circuit 150736 can be used to monitor the power output from the 150706 power pack to provide feedback to the 150716 power management controller the battery power output so that the battery management controller 150716 can adjust the power output of the 150706 power pack to maintain a desired output. The power management controller 150716 and / or the drive shaft assembly controller 150722 can each comprise one or more processors and / or memory units that can store multiple software modules.

[0237] The 150010 surgical instrument (Figures 21 to 24) can comprise an output device 150742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 150742 may comprise a display 150743 which may be included in the handle assembly

150702. The drive shaft assembly controller 150722 and / or the power management controller 150716 can provide feedback to a user of the surgical instrument 150010 via output device 150742. The interface can be configured to connect the controller from the drive shaft 150722 and / or power management controller 150716 to output device 150742. Output device 150742 can instead be integrated with power supply 150706. Under these circumstances, communication between the output device 150742 and the drive shaft assembly controller 150722 can be made via the interface, while the drive shaft assembly 150704 is coupled to the handle assembly 150702.

[0238] The control circuit 150700 comprises circuit segments configured to control the operations of the surgical instrument equipped with a 150010 motor. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 150717 (segment 2 ). The safety controller and / or the main controller 150717 are configured to interact with one or more additional circuit segments, such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor and a power segment. Each of the circuit segments can be coupled to the safety controller and / or the main controller 150717. The main controller 150717 is also coupled to a flash memory. The main controller 150717 also comprises a serial communication interface. Main controller 150717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board (PCBA) assembly inside the surgical instrument equipped with a 150010 motor. It should be understood that the term processor, as used here, includes any microprocessor, processors, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The main controller 150717 is a programmable multipurpose device that accepts digital data as input, processes it according to the instructions stored in its memory and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 150700 can be configured to implement one or more of the processes described here.

[0239] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the surgical instrument equipped with a 150010 engine. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 150717.

[0240] The display segment (segment 4) comprises a display connector coupled to the main controller 150717. The display connector couples the main controller 150717 to a display via one or more drivers of the display integrated circuits. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD) and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.

[0241] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 150200 (Figures 21 and 23) coupled to the 150010 surgical instrument (Figures 21 to 24) and / or one or more controls for a end actuator 150300 coupled to the interchangeable drive shaft assembly 150200. The drive shaft segment comprises a drive shaft connector configured to couple the main controller 150717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM comprises one or more parameters, routines and / or specific programs for the 150200 interchangeable drive shaft assembly and / or the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 150200 and / or integral with the surgical instrument 150010. In some examples, the drive shaft segment comprises a second drive shaft EEPROM. The second EEPROM of the drive shaft comprises a plurality of algorithms, routines, parameters and / or other data that correspond to one or more sets of drive shafts 150200 and / or end actuators 150300 that can interface with the surgical instrument equipped with motor

150010.

[0242] The position encoder segment (segment 6) comprises one or more magnetic encoders of the rotation angle position. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the 150714 motor, an exchangeable drive shaft assembly 150200 (Figures 21 and 23) and / or an end actuator 150300 of the 150010 surgical instrument (Figures 21 to 24). In some examples, magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller

150717.

[0243] The motor circuit segment (segment 7) comprises a motor 150714 configured to control the movements of the surgical instrument equipped with a 150010 motor (Figures 21 to 24). The 150714 motor is coupled to the main microcontroller processor 150717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 150717 and / or with the safety controller. In some instances, the 150714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.

[0244] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of the motor 150714 in relation to the main controller 150717. The main controller 150717 provides a high pulse width modulation signal (PWM), a low PWM signal, a direction signal, a synchronization signal and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.

[0245] The power segment (segment 8) comprises a battery coupled to the safety controller, the main controller 150717 and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low consumption conditions.

[0246] A plurality of keys are coupled to the safety controller and / or the main controller 150717. The keys can be configured to control the operations of the 150010 surgical instrument (Figures 21 to 24) of the segmented circuit, and / or indicate a state of the 150010 surgical instrument. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot to the right side, a right pivot key to the right side and a central pivot key to the right side are configured to control the articulation of an interchangeable drive shaft assembly 150200 (Figures 21 and 23) and / or the end actuator 150300 (Figures 21 to 24). A reverse switch on the left side and a reverse switch on the right side are coupled to the main controller

150717. The keys on the left side that comprise the key on the left side of the hinge, the key on the right side of the hinge on the left side, the central key on the left and the reverse key on the left side are coupled to the main controller 150717 by a bending connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled to the main controller 150717 via a flex connector on the right. A trip switch, a clamping release key and a key attached to the drive shaft are coupled to the main controller 150717.

[0247] Any suitable mechanical, electromechanical, or solid state switches can be used to implement the plurality of switches, in any combination. For example, keys can limit keys operated by the movement of components associated with the 150010 surgical instrument (Figures 21 to 24) or the presence of an object. These switches can be used to control various functions associated with the 150010 surgical instrument. A limit switch is an electromechanical device consisting of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field, such as Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive devices ("GMR" - giant magneto-resistive) and magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors and ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, MOSFET, bipolar and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers and inertia sensors, among others.

[0248] Figure 26 is another block diagram of the control circuit 150700 of the surgical instrument of Figure 21 that illustrates the interfaces between the handle set 150702 and the power set 150706 and between the handle set 150702 and the set of interchangeable drive shaft 150704, in accordance with at least one aspect of the present disclosure.

The cable assembly 150702 may comprise a main controller 150717, a drive shaft assembly connector 150726 and a power assembly connector 150730. The power assembly 150706 may include a connector from the power assembly 150732, a power management circuit power 150734 which can comprise the power management controller 150716, a power modulator 150738 and a current sensor circuit 150736. The drive shaft assembly connectors 150730, 150732 form an interface 150727. The power management circuit 150734 can be configured to modulate the battery output energy 150707 based on the power needs of the 150704 interchangeable drive shaft assembly while the 150704 interchangeable drive shaft assembly and the 150706 power assembly are coupled to the 150702 handle assembly. The controller power management system 150716 can be programmed to control the power modulator 150738 of the power output of the power set 150706 and the current sensor circuit 150736 can be used to monitor the power output of the power set 150706 to provide feedback to the power management controller 150716 about the power output of the power supply. battery 150707, so the 150716 power management controller can adjust the power output of the 150706 power pack to maintain a desired output.

The drive shaft assembly 150704 comprises a drive shaft processor 150720 coupled to a non-volatile memory 150721 and a drive shaft assembly connector 150728 to electrically couple the drive shaft assembly 150704 to the handle assembly 150702. The connectors of the drive shaft assembly 150726, 150728 form an interface 150725. The main controller 150717, the drive shaft processor 150720 and / or the power management controller 150716 can be configured to implement one or more of the processes described herein.

[0249] The 150010 surgical instrument (Figures 21 to 24) can comprise an output device 150742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 150742 may comprise a screen 150743 which may be included in the handle assembly 150702. The drive shaft assembly controller 150722 and / or the power management controller 150716 can provide feedback to a user of the surgical instrument 150010 via output device 150742. Interface 150727 can be configured to connect the drive shaft assembly controller 150722 and / or the power management controller 150716 to output device 150742. Output device 150742 can be integrated with the power pack

150706. The communication between the output device 150742 and the controller of the drive shaft assembly 150722 can be done through the interface 150725 while the interchangeable drive shaft assembly 150704 is coupled to the handle assembly 150702. Fabric Marking

[0250] In various surgical procedures, surgical instruments seal the tissue by applying energy or implanting staples in the tissue. Surgical instruments can also separate or cut closed tissue. In a surgical procedure, one or more Surgical Instruments can be applied to several different tissue portions of a tissue being treated if the tissue size is greater than a maximum tissue size that can be handled by a surgical instrument in a single application . If a leak occurs in one of the treated tissue portions, it may be difficult to identify a surgical instrument, or a component thereof, such as a staple cartridge, that was involved. Without this identification, it becomes difficult to determine the cause of the leak.

[0251] Aspects of the present disclosure feature a surgical instrument that includes an end actuator configured to apply a tissue treatment to the tissue. The end actuator includes a first jaw, a second movable jaw in relation to the first jaw for securing the fabric between them, and a fabric treatment mechanism configured to apply a fabric treatment to the fabric trapped between the first jaw and the second claw. In addition, the surgical instrument includes a marking set configured to apply a distinct marking to the tissue unique to each tissue treatment application, with the distinct marking distinguishing the tissue treatment application from other tissue treatment applications performed by the instrument surgical or other surgical instruments.

[0252] In several respects, the tissue treatment mechanism comprises a staple cartridge configured to apply a tissue treatment application by positioning the staples on the tissue attached by an end actuator. In other respects, the tissue treatment mechanism comprises an energy device configured to apply a tissue treatment application by providing therapeutic energy to the tissue attached by an end actuator. The energy provided by the power device can be in the form of RF energy or ultrasonic energy, for example.

[0253] In several respects, the tissue treatment mechanism comprises a mobile transection member for applying tissue treatment application by transection of the trapped tissue. One or both claws of the end actuator may include longitudinal slots configured to accommodate the transection member. The transection member may include a cutting edge in a distal portion thereof.

[0254] Figure 27 is a logic flow diagram of a 31010 process that represents a control program or a logical configuration for marking tissue treated by an end actuator of a surgical instrument, in accordance with at least one aspect of the present disclosure. . In one aspect, as described in more detail below, process 31010 is performed by a control circuit 500 (Figure 13). In another aspect, process 31010 can be performed by a combinational logic circuit 510 (Figure 14). In yet another aspect, process 31010 can be performed by a sequential logic circuit 520 (Figure 15).

[0255] In the example of Figures 28 to 31, the tissue is treated by an end actuator 31000 from a surgical cutting and stapling instrument 31006 and is marked by a 31020 marking set from a 31470 control system.

[0256] Surgical instrument 31006 is similar in many respects to surgical instrument 150010. For example, end actuator 31000 and control system 31470 are similar in many respects to end actuator 150300 and control circuit 470 ( Figure 12), respectively. The components of the surgical instrument 31006 that are similar to the components described above of the surgical instrument 150010 are not repeated in detail for brevity.

[0257] End actuator 31000 includes a first jaw 31001 and a second jaw 31002 that extend from an interchangeable drive shaft assembly 150200. The end actuator 31000 additionally includes an anvil defined in first jaw 31001 and a staple cartridge 31005 set on the second claw

31002. At least one of the first jaw 31001 and the second jaw 31002 is movable relative to the other to transition the end actuator 26000 between an open configuration and a closed configuration, to secure the fabric between the anvil and the Bobby pins

31005. In operation, a tissue treatment by the surgical instrument 31006 involves the positioning of staples in the staple cartridge 26005 by a trigger member on the attached tissue. The positioned clamps are deformed by the anvil. In many respects, the fabric can also be treated by transection with the use of a movable cutting member in relation to a longitudinal slot 31007 defined in at least one of the first jaw 31001 and the second jaw 31002.

[0258] In several respects, a surgical instrument, according to the present disclosure, may include an end actuator that treats the tissue by applying RF or ultrasonic energy to the tissue. In many respects, the 26010 surgical instrument can be a hand-held surgical instrument. Alternatively, the 26010 surgical instrument can be incorporated into a robotic system as a component of a robotic arm. Additional details about robotic systems are disclosed in provisional US patent application no. Series 62 / 611,339, filed on December 28, 2017, which is incorporated herein by reference in its entirety.

[0259] Again with reference to Figure 27, the 31010 process includes receiving sensor signals indicative of the application of a 31011 tissue treatment. If it is determined in 31012, based on the received sensor signals, that a tissue treatment was, or being applied to the fabric, a distinct mark is applied in 31013 to the fabric. The distinctive marking is exclusive for the application of treatment to the fabric and can be used to distinguish the application of treatment to the fabric from other treatment applications to the fabric.

[0260] With reference to Figure 31, in several aspects, process 31010 can be performed by a control system 31470 of surgical instrument 31006. The control system 31470 is similar in many respects to the control system 470 (Figure 12 ). For example, the control system 31470 includes a control circuit that has a 470 microcontroller. Several sensors 472, 474, 476, 31473 provide several sensor signals to the 470 microcontroller. One or more of such sensor signals can be analyzed in isolation , or in combination with other sensor signals, to determine whether a tissue treatment has been, or is being, applied to the tissue. The control system 31470 additionally includes a marking set 31020 in communication with the microcontroller 470. After determining that a tissue treatment has been, or is being, applied to the tissue, the microcontroller 470 makes the marking set 31020 mark the fabric.

[0261] In several cases, the marking of the tissue by the marking set 31020 can be triggered by the action of an operator of the surgical instrument 31006, which can be provided through a user interface such as screen 473. Alternatively, or in addition, the tissue marking can be triggered by one or more sensor signals.

[0262] In one example, readings from the 474 strain gauge sensor, which can be used to measure the force applied to the tissue attached by the 31000 end actuator, can trigger tissue marking. The microcontroller 461, upon receiving a sensor signal from the sensor 474 beyond a predetermined limit, which indicates that the tissue is trapped by the end actuator 31000, can cause the marking assembly 31020 to mark the tissue.

[0263] In one example, readings from an activation sensor 31473, which can be used to detect the positioning of staples or the application of energy to the tissue, can trigger tissue marking. The microcontroller 461, upon receiving a sensor signal from the sensor 31473 beyond a predetermined limit, can instruct the marking set 31020 to mark the fabric.

[0264] In the example of Figures 28 and 30, the marking set 31020 includes two marking applicators 31021, 31022 arranged on the second gripper 31002. More specifically, the 31021 applicator is arranged on a proximal portion 31008 of a staple cartridge 31005 mounted with the second gripper 31002, while applicator 31022 is disposed in a distal portion 31009 of staple cartridge 31005. In other arrangements, more or less than two applicators can be arranged on one or more grips of an end actuator to apply markings to the fabric treated by the end actuator.

[0265] Each of the 31021, 31022 applicators includes the 31023 markers, which are arranged in a predetermined pattern. As shown in Figure 31, markers 31023 of applicators 31021, 31022 are arranged in three rows. In addition, applicators 31021, 31022 comprise the same number and arrangement of markers

31023. However, in certain cases, applicator markers can be arranged in any suitable arrangement. Different applicators may comprise the same or different marker arrangements. In certain cases, all applicator markers are activated to generate a tissue marking. In other cases, only some of an applicator's markers are activated to generate a tissue marking. The activation of the markers can be controlled by the - microcontroller 461 to produce a predetermined marking.

[0266] In several cases, 31023 markers can be configured to apply their individual marks to the same intensity. Alternatively, 31023 markers can be configured to apply their individual marks at different intensities. The intensity of the marks can be controlled by the microcontroller 461 to produce a predetermined mark.

[0267] In several cases, as shown in Figure 28, applicators 31021, 31022 are arranged in the proximal and distal portions 31008, 31009, respectively, of the second gripper 31002. This arrangement allows applicators 31021, 31022 to apply their proximal markings and distal to a tissue treatment, which can help identify the beginning and end of the tissue treatment.

[0268] In several cases, one or more of the markings are detectable through stimulation by at least one of a light source, a radiation source and a light source. In certain cases, 31023 markers are configured to apply one or more fluorescent materials to the fabric making the markings visible only in the presence of a light source outside the visible spectrum. In other words, the markings will fluoresce under a light source applied outside the visible spectrum.

[0269] In certain cases, 31023 markers are configured to use an IR-readable ink formulation when generating the markings. The ink formulation can be based on the absorption and reflection of light in the infrared. As shown in Figure 32, 31023 markers can be configured to generate unique visible IR ink markings 31035, 31037.

[0270] In certain cases, the 31023 markers are in the form of electrodes that are selectively activated by the 461 microcontroller to generate the markings. The 461 microcontroller can control the intensity of each brand by controlling the activation time of the electrodes. The longer an electrode is activated, the greater the intensity of the mark. The segmentation can be inserted inside the electrodes to leave a distinctive mark. In certain cases, the 31023 markers may be equipped with RF electrodes, including a series of microelectrodes configured to weld a distinctive and optically identifiable marking for each tissue treatment application.

[0271] With reference to Figures 29 and 32, eight portions of tissue received eight treatments performed by a 31030 end actuator on a 31036 surgical instrument. Figure 3 shows a 31002 claw of the 31030 end actuator. In each of the eight treatments , the 31030 end actuator attached, closed and cut the tissue portion. The treatments were applied in a specific order, as shown in Figure 32, to separate a portion of the colon from the adjacent T tissue. A 31033 marking set, which includes applicators 31031, 31032, applied distinct tissue markings to each portion of fabric with each treatment.

[0272] The 31036 surgical instrument is similar in many respects to the 31006 and 150010 surgical instruments. For example, the 31000 end actuator is similar in many respects to the 31000, 150300 end actuators. The 31036 surgical instrument components that are similar to the components described above for surgical instruments 31006, 150010 are not repeated here in detail for brevity.

[0273] In the example in Figure 29, applicators 31031, 31032 are arranged in a proximal portion 31009 of a second claw 31034 on opposite sides 31038, 31039 of a transection path defined by longitudinal slot 31007 along a longitudinal geometric axis LA . In this arrangement, each side of the transected fabric receives a distinct mark.

[0274] In several cases, as shown in Figure 32, the marking could be done in such an order that the sequence of marks from one use to the next provides a distinct mark for a sequence of consecutive treatments. This would allow for a single appointment in a series of treatments in addition to the appointments associated with individual treatments. In other words, the tags associated with related treatments may include a common identifier in addition to their unique identifiers. Treatments can be related because they are triggered consecutively in a surgical procedure or by a single surgical instrument.

[0275] In several respects, the surgical instruments of the present disclosure, such as surgical instruments 26010, 31006, 310036, are communicatively coupled to a central surgical controller (for example, central surgical controllers 106 (Figure 2, Figure 2 3), 206 (Figure 10)) through wired and / or wireless communication channels. The data collected by such surgical instruments can be transmitted to the central surgical controller 106, 206, which can additionally transmit the data to a cloud-based system (such as, for example, cloud-based systems 104, 204), for further analysis.

[0276] In addition to the above, a visualization system (for example, visualization systems 108 (Figure 3), 208 (Figure 9)), can record frames of the marked tissue for subsequent identification after a surgical instrument is moved a surgical site. The data from the surgical instrument and the frames registered by a visualization system can be transmitted to a central surgical controller, which can time insert a date and time stamp and / or correlate the data received from both sources. The data can also be routed to the cloud-based system for further analysis.

[0277] This process can be useful in analyzing failures. For example, as shown in Figure 32, a 31039 leak occurred in the seventh tissue treatment. The distinct mark on the seventh treatment of the tissue, which is registered by the visualization system, will help to identify the surgical instrument that performed the seventh treatment. Consequently, operating data 31040 in the seventh treatment can be examined and compared to operating data 31042 for the same surgical instrument within the same environment that produced the successful application of similar treatments. As described above, the markings for a single surgical procedure or those created by a single surgical instrument can include a common identifier that allows a quick comparison of 31040 operational data and operational data

31042.

[0278] In the example in Figure 32, the operating data in the first fabric treatment application, which successfully produced a seal, is compared with the operational data in the seventh fabric treatment application, which caused a leak. When comparing the two sets of data, it becomes clear that the leak was caused by an unusual decrease in clamping force, which can be resolved in subsequent tissue treatments with the same or similar surgical instruments. In other instances, the operating data of the surgical instrument associated with a failure is compared to predefined standards.

[0279] In certain cases, the failure analysis described above can be performed by a central surgical controller in real time during a surgical procedure. The detection of leaks and the deciphering of the marking of the fabric can be carried out by various image processing techniques. The surgical operator can be guided back to the surgical site with the help of the central surgical controller through the identification of anatomical reference points and the inherent variable shading of the tissues using a point-to-point analysis technique. In certain cases, reference points can be identified and captured by observing the hot spots in the tissue after applying energy. Priority of Data Transmission

[0280] Various data can be collected and / or generated by a surgical instrument equipped with an engine during a surgical procedure. For example, a surgical stapling and cutting device equipped with an engine can collect, among other things, the force-to-hold (FTC) and force-to-fire (FTF) readings, which can be transmitted to a central surgical controller that additionally transmits the data to a cloud-based system for further processing. The communication route between the motor-powered surgical instrument and the central surgical controller has a predetermined bandwidth. Similarly, a communication route between the central surgical controller and the cloud-based system also has a predetermined bandwidth. In certain instances, various environmental interferences can further limit these bandwidths. In addition, multiple data sources can compete for limited bandwidth.

[0281] During a surgical procedure, a central surgical controller can react to the received data by adjusting various parameters under its control in real time. Depending on the surgical stage to be performed, certain sources of data and / or surgical activities become more important than others. Transmitting the data without considering its importance can interfere with the operation of the central surgical controller and its ability to make timely decisions. Likewise, a delay in data transmission due to bandwidth limits can interfere with the operation of the central surgical controller and its ability to make decisions in a timely manner.

[0282] In several respects, a 32002 surgical system is used in a surgical procedure. The 32002 surgical system includes a central surgical controller (for example, the central surgical controller 106 (Figure 3, Figure 4, Figure 36), the central surgical controller 206 (Figure 10)), a surgical instrument equipped with an engine (for example, the instrument / device 235 (Figure 9), the surgical instrument 32235 (Figure 36)) and a communication module 32004 (Figure 36). The 32004 communication module includes a 32005 key / register and a 32007 transceiver.

[0283] Figure 35 illustrates a logical flow diagram of a 32000 process that represents a control program or a logical configuration to coordinate data transmission between the surgical instrument equipped with a 32235 engine and a central surgical controller (for example, the central surgical controller 106 (Figure 3, Figure 4, Figure 36), central surgical controller 206 (Figure 10)), in accordance with at least one aspect of the present disclosure. The 32000 process includes receiving the first 32006 data for a first surgical activity in the surgical procedure, receiving the second 32008 data for a second surgical activity in the surgical procedure, selecting the 32010 transmission rates to transmit the first data and the second data between the surgical instrument equipped with engine 32235 and the central surgical controller 106 based on at least one characteristic of at least one of the first surgical activity and the second surgical activity, and transmit the first data and the second data between the surgical instrument equipped with motor and the central surgical controller at the selected transmission rates 32012.

[0284] In at least one example, the 32000 process selects or adjusts the transmission rates for the transmission of the first data and the second data between the surgical instrument equipped with a 32235 engine and the central surgical controller 106 based on at least one characteristic at least one of the first surgical activity and the second surgical activity and the available bandwidth. The 32004 communication module can determine the available bandwidth, which can change over time based on several factors, such as interference and other environmental factors.

[0285] Figure 36 illustrates a 32470 control system for the 32235 surgical instrument, which can be used to perform the process in Figure 35. The 32470 control system is similar in many ways to the 470 control system (Figure 12) . In several respects, process 32000 can be performed by the communication module 32004 of surgical instrument 32235, which includes a microcontroller 461 coupled to sensors 472, 474, 476, as shown in Figure 36.

[0286] In several respects, the first data can be received from a first source and the second data received from a second source other than the first source. The first source and / or the second source can be any of the sensors 472, 474, 476, for example.

[0287] In many respects, surgical instrument 32235 is similar in many respects to surgical instruments 235 (Figure 9), 150010 (Figure 25). For example, like the 150010 surgical instrument, the 32235 surgical instrument includes a passable 150300 end actuator, in a first surgical activity from an open configuration, as shown in Figure 25, to a closed configuration for securing tissue. A 482 motor (Figure 36) can trigger the transition from the end actuator 150300 between the open configuration and the closed configuration. In certain cases, the first data represents the FTC force required to hold the 150300 end actuator over time, as shown in Figure 33.

[0288] In several respects, the surgical instrument 32235 comprises a displacement member (for example, the driving member 150120 of Figure 26) movable, in the second surgical activity, for positioning / firing staples in the tissue attached by the end actuator 150300. In certain cases, the second data represents the FTF force required to fire the 150300 end actuator over time, as shown in Figure

33.

[0289] Figure 33 is a graph illustrating the FTC and FTF readings for the surgical instrument equipped with a 32235 engine during a surgical procedure plotted against time (t). The corresponding transmission rates of the FTC and FTF readings for a central surgical controller 106 are also plotted against time (t). In the example of Figures 33 and 34, sensors 472, 474, 476 comprise an ideal sample rate of 30 samples per second. A sample rate is a rate at which a reading is taken.

[0290] The communication channel between the surgical instrument equipped with a 32235 engine and the central surgical controller 106 comprises a first bandwidth capable of transmitting up to 25 Megabits per second, which corresponds to a maximum of 62 samples transmitted per second. The first bandwidth is reduced to a second bandwidth at time t = t2,

due to environmental interference inside the operating room. The second bandwidth is capable of transmitting up to 20 Megabits per second, which corresponds to a maximum of 48 samples per second. Figure 34 also lists the actual FTC and FTF samples transmitted per second at four exemplary time points (t1, t2, ta, ta) selected for illustration purposes.

[0291] Again with reference to Figures 33 and 34, the first surgical activity, represented by the FTC data, begins at t = O0, while the second surgical activity, represented by the FTF data, begins at time t = t ;. The first surgical activity also reaches a maximum FTC, which defines an important characteristic “of the first surgical activity in tt. Consequently, until now t = t; 3, it is desirable to prioritize the transmission of FTC data associated with the first surgical activity over the FTF data associated with the second surgical activity. As shown at t = t1, which corresponds to the maximum FTC values, the FTC data is transmitted at an ideal transmission rate that corresponds to 30 samples per second, while no FTF data is transmitted during the initial stage.

[0292] In addition to the above, a negative transition in bandwidth or maximum available transmission rate occurs at t = ta, and is detected by the 32004 communication module. In response, the transmission rate of FTC data is reduced to a transmission rate corresponding to 26 samples per second, as illustrated at t = t2, in order to accommodate the negative transition caused by environmental interference. In several cases, the first data and the second data are transmitted through a communication channel established between the surgical instrument equipped with a motor 32235 and the central surgical controller 106, and the communication module 32004 adjusts the transmission rate of at least one between the first data and the second data in response to the change in the bandwidth of the communication channel.

[0293] In the example of Figures 34 and 35, only the transmission rate of FTC data is lowered, from 30 to 26 samples per second, since the FTF data transmission rate is already at 0 samples per second. In other cases, an ongoing prioritization scheme, which is instituted based on a characteristic of at least one of the first surgical activity and the second surgical activity, can affect the effect of a negative transition in bandwidth on the rates of transmission of the first data and / or the second data, as described in more detail below.

[0294] At t = t3, FTF data and FTC data become equally relevant. However, due to the reduction in bandwidth or maximum available transmission rates, only 48 samples can be transmitted per second. Consequently, the transmission rates of the FTC data and FTF data are adjusted to be equal at 24 samples per second. In other words, the transmission rates of FTC data and FTF data are adjusted to accommodate the greater relevance of FTF data and the negative transition in bandwidth or maximum available transmission rates.

[0295] In addition to the above, as FTF data increases uniformly and FTC data decreases, FTF data can be prioritized over FTC data. Consequently, the FTF data transmission rate can be increased, and the FTC data transmission rate decreased during the remainder of the second surgical activity. In other words, the 32004 communication module can adjust the transmission rates for the transmission of the first data and the second data between the motor-equipped surgical instrument and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity.

[0296] At t = ta, an irregular FTF is detected as the FTF has exceeded a predetermined limit. To investigate irregular FTF, the 32004 communication module responds by increasing the FTF data transmission rate to 40 samples per second, while decreasing the FTC transmission rate to 8 samples per second. In other words, the 32004 communication module responds to the irregularity detected in the FTF data by adjusting the transmission rates to prioritize the transmission of the FTF data over the FTC data.

[0297] Figure 37 illustrates a logic flow diagram of a 32100 process that represents a control program or a logical configuration to coordinate data transmission between the surgical instrument equipped with a 32235 engine and a central surgical controller (for example, the central surgical controller 106 (Figure 3, Figure 4, Figure 36), central surgical controller 206 (Figure 10)), in accordance with at least one aspect of the present disclosure. The 32100 process includes receiving the first 32106 data for a first surgical activity in the surgical procedure, receiving the second 32108 data for a second surgical activity in the surgical procedure, and transmitting 32112 the first data and the second data between the surgical instrument equipped with motor 32235 and central surgical controller 106.

[0298] In addition to the above, if an irregularity is detected 32109, the 32100 process adjusts transmission rates 32110 to transmit the first data and the second data between the surgical instrument equipped with a 32235 engine and the central surgical controller 106 to prioritize the transmission of data covering the irregularity. As described above, an irregularity, according to process 32109, may be exceeding a predetermined limit.

[0299] In several respects, the 32004 communication module establishes a preferred or prioritized communication processing arrangement to ensure the flow of low-speed data and high-speed connections, while also allowing the prioritization of slow bandwidth data, if this is necessary for a higher priority. Examples

[0300] Various aspects of the subject described in this document are defined in the numbered examples below:

[0301] Example 1 - A surgical system for use in a surgical procedure is disclosed. The surgical system comprises a central surgical controller, a surgical instrument equipped with an engine and a communication module. The communication module is configured to receive the first data referring to a first surgical activity of the surgical procedure, receive the second data referring to a second surgical activity of the surgical procedure, select the transmission rates to transmit the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity, and transmit the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller at the selected transmission rates.

[0302] Example 2 - The surgical system of Example 1, the surgical instrument comprising a transitional end actuator between an open configuration and a closed configuration to hold the tissue.

[0303] Example 3 - The surgical system of Example 2, the first data representing the force to make the transition from the end actuator to the closed configuration over time.

[0304] Example 4 - The surgical system, according to any of examples 2 and 3, the surgical instrument comprising a translatable member to implant staples in the tissue attached by the end actuator.

[0305] Example 5 - The surgical system of Example 4, with the second data representing the force to move the translatable member over time.

[0306] Example 6 - The surgical system of any of Examples 1 to 5, with the first data and the second data being transmitted through a communication channel established between the surgical instrument equipped with an engine and the central surgical controller.

[0307] Example 7 - The surgical system of Example 6, the communication module being additionally configured to adjust the transmission rate of at least one of the first data and the second data in response to a change in the bandwidth of the communication channel.

[0308] Example 8 - A surgical system for use in a surgical procedure is disclosed. The surgical system comprises a central surgical controller, a surgical instrument equipped with an engine and a communication module. The communication module is configured to receive the first data referring to a first surgical activity of the surgical procedure, receive the second data referring to a second surgical activity of the surgical procedure, and adjust the data transmission rates for the transmission of the first data and of the second data between the surgical instrument equipped with an engine and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity.

[0309] Example 9 - The surgical system of Example 8, the surgical instrument comprising a transitional end actuator between an open configuration and a closed configuration to hold the tissue.

[0310] Example 10 - The surgical system of Example 9, the first data representing strength to transition the end actuator to the closed configuration over time.

[0311] Example 11 - The surgical system, according to any of Examples 9 and 10, the surgical instrument comprising a movable translatable member to implant staples in the tissue gripped by the end actuator.

[0312] Example 12 - The surgical system of Example 11, with the second data representing the force to move the translatable member over time.

[0313] Example 13 - The surgical system of Example 12, with the first data and the second data being transmitted through a communication channel established between the surgical instrument equipped with an engine and the central surgical controller.

[0314] Example 14 - The surgical system of Example 13, the communication module being additionally configured to adjust the transmission rate of at least one of the first data and the second data in response to a change in the bandwidth of the communication channel.

[0315] Example 15 - A surgical system for use in a surgical procedure is disclosed. The surgical system comprises a central surgical controller, a surgical instrument equipped with an engine and a communication module. The communication module is configured to receive the first data referring to a first surgical activity of the surgical procedure, receive the second data referring to a second surgical activity of the surgical procedure, transmit the first data and the second data between the surgical instrument equipped with a motor and the central surgical controller, detecting an irregularity in the second data and adjusting the transmission rates of the first data and the second data to prioritize the transmission of the irregularity in the second data.

[0316] Example 16 - The surgical system of Example 15, the surgical instrument comprising a transitional end actuator between an open configuration and a closed configuration to hold the tissue.

[0317] Example 17 - The surgical system of Example 16, the first data representing strength to transition the end actuator to the closed configuration over time.

[0318] Example 18 - The surgical system, according to any of Examples 16 and 17, the surgical instrument comprising a movable translatable member to implant staples in the tissue gripped by the end actuator.

[0319] Example 19 - The surgical system of Example 18, with the second data representing the force to move the translatable limb over time.

[0320] Example 20 - The surgical system of any of Examples 12 to 19, with the irregularity in the second data comprising exceeding a predetermined limit.

[0321] In several respects, the communication channel established by the communication module between a central surgical controller and a surgical instrument equipped with a motor is a wireless communication channel. Examples of suitable wireless communications between a surgical instrument and a central surgical controller are described in other sections of the present disclosure. In other cases, the communication channel established by the communication module between the central surgical controller and the motor-equipped surgical instrument is a wired communication channel. In many respects, communication through such a communication channel (s) is prioritized not in the total bandwidth, but in the importance of the data being communicated, as described above.

[0322] In several respects, the communication between the central surgical controller and the surgical instrument equipped with an engine is encrypted communication to prevent the interception or alteration of data within the system when it starts up, assigns identification numbers or communicates with itself.

[0323] The previous detailed description presented various forms of devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts and / or examples can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the models disclosed herein, in whole or in part, can be implemented in an equivalent manner in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more computers). programs running on one or more computer systems), such as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware, or virtually as any combination thereof, and that designing the circuitry and / or writing the code for the software and firmware would be within the scope of the practice of those skilled in the art, in the light of this disclosure. In addition, those skilled in the art will understand that the mechanisms of the subject described herein can be distributed as one or more program products in a variety of ways and that an illustrative form of the subject described here is applicable regardless of the specific type of transmission medium. signals used to effectively carry out the distribution.

[0324] The instructions used to program the logic to execute various disclosed aspects can be stored in a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory or other storage. In addition, instructions can be distributed over a network or through other computer-readable media. Thus, machine-readable media can include any mechanism to store or transmit information in a machine-readable form (for example, a computer), but is not limited to, floppy disks, optical discs, CD-ROMs and optical-dynamo discs , ROM, RAM, EPROM, EEPROM, magnetic or optical cards, flash memory, or a machine-readable tangible storage media used to transmit information over the internet via an electrical, optical, acoustic cable or other forms of propagated signals (for example, carrier waves, infrared signal, digital signals). Consequently, computer-readable non-transitory media includes any type of machine-readable media suitable for storing or transmitting instructions or electronic information in a machine-readable form (for example, a computer).

[0325] As used in any aspect of the present invention, the term "control circuit" can refer to, for example, a set of wired, programmable circuits (for example, a computer processor comprising one or more cores of individual instruction processing, processing unit, processor, microcontroller, microcontroller unit, controller, DSP,

programmable logic device (PLD), programmable logic matrix (PLA) or field programmable port arrangement (FPGA)), state machine circuits, firmware that stores instructions executed by the programmable circuit and any combination thereof. The control circuit can, collectively or individually, be incorporated as a circuit that forms part of a larger system, for example, an integrated circuit, an application-specific integrated circuit (ASIC), a SoC, desktop computers, laptop computers, computers tablet, servers or smartphones. Consequently, as used in the present invention, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one ASIC, electrical circuits that form a general purpose computing device configured by a computer program (for example, a general purpose computer configured by a computer program that at least partially performs processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially performs the processes and / or devices described herein), electrical circuits that form a memory device (for example, forms of RAM), and / or electrical circuits that form a communications device (for example , a modem, communication routers or optical-electrical equipment). Those skilled in the art will recognize that the subject described here can be implemented in an analog or digital way, or in some combination of these.

[0326] As used in any aspect of the present invention, the term "logical" can refer to an application, software, firmware and / or circuit - configured to perform any of the aforementioned operations. The software may be incorporated as a software package, code, instructions, instruction sets and / or data recorded on the computer-readable non-transitory storage media. The firmware can be embedded as code, instructions or instruction sets and / or data that are hard-coded (for example, non-volatile) in memory devices.

[0327] As used in any aspect of the present invention, the terms "component", "system", "module" and the like may refer to a computer-related entity, be it hardware, a combination of hardware and software, software or software running.

[0328] As used here in one aspect of the present invention, an "algorithm" refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities and / or logical states that can, although they do not necessarily need to, take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. It is common use to call these signs bits, values, elements, symbols, characters, terms, numbers or the like. These terms and similar terms may be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities and / or states.

[0329] A network can include a packet-switched network. Communication devices may be able to communicate with each other using a selected packet switched network communications protocol. An exemplary communications protocol may include an Ethernet communications protocol that may be able to allow communication using a transmission control protocol / internet protocol (TCP / IP). The protocol

Ethernet can conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) entitled "EEE 802.3 Standard", published in December 2008 and / or later versions of this standard. Alternatively or in addition, communication devices may be able to communicate with each other using an X.25 communications protocol. The X.25 communications protocol can conform or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or in addition, communication devices may be able to communicate with each other using a frame-relay communications protocol. The frame-relay communications protocol can conform to or be compatible with a standard promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, transceivers may be able to communicate with each other using an ATM communication protocol ("asynchronous transfer mode"). The ATM communication protocol can conform to or be compatible with an ATM standard published by the ATM forum entitled "ATM-MPLS Network Interworking 2.0" published in August 2001, and / or later versions of that standard. Obviously, different and / or post-developed connection-oriented network communication protocols are also contemplated in the present invention.

[0330] Unless otherwise stated, as is evident from the preceding disclosure, it is understood that, throughout the preceding disclosure, discussions using terms such as "processing", "computation", "calculation", "determination", "display" or similar, refer to the action and processes of a computer,

or similar electronic computing device, which manipulates and transforms the data represented in the form of physical (electronic) quantities in the computer's records and memories into other data similarly represented in the form of physical quantities in the computer's memories or records , or other similar information storage, transmission, or display devices.

[0331] One or more components in the present invention may be called "configured for", "configurable for", "operable / operational for", "adapted / adaptable for", "capable of", "conformable / conformed for", etc. Those skilled in the art will recognize that "configured for" may, in general, cover components in an active state and / or components in an inactive state and / or components in a standby state, except when the context dictates otherwise.

[0332] The terms "proximal" and "distal" are used in the present invention with reference to a physician who handles the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the doctor, and the term "distal" refers to the portion located opposite the doctor. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" can be used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0333] Persons skilled in the art will recognize that, in general, the terms used here, and especially in the appended claims (for example, bodies of the appended claims) are generally intended as "open" terms (for example, the term "including" should be interpreted as "including, but not limited to", the term "having" should be interpreted as "having, at least", and the term "includes" should be interpreted as "includes, but is not limited to to "etc.). It will also be understood by those skilled in the art that if a specific number of an introduced claim statement is intended, that intention will be expressly mentioned in the claim and, in the absence of such a claim, no intention is present. For example, as an aid to understanding, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim statements. However, the use of such phrases should not be interpreted as implying that the introduction of a claim statement by the indefinite articles "one, ones" or "one, ones" limits any specific claim containing the mention of the claim entered to claims that contain only such a mention, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles, such as "one, ones" or "one, ones" (for example, "one, ones" and / or "one, ones" should typically be interpreted as meaning "not one" or "one or more"); the same goes for the use of defined articles used to introduce claims.

[0334] Furthermore, even if a specific number of an introduced claim statement is explicitly mentioned, those skilled in the art will recognize that that statement must typically be interpreted as meaning at least the number mentioned (for example, the mere mention of "two mentions ", without other modifiers, typically means at least two mentions, or two or more mentions). Furthermore, in cases where a convention analogous to "at least one of A, B and C etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by a person skilled in the art (for example , "a system that has at least one of A, B and C" would include, but not be limited to, systems that have only A, only B, only C, A and B together, A and C together, B and C together and / or A, B and C together). In cases where a convention analogous to "at least one of A, B or C etc." is used, in general this construction is intended to have the meaning in which the convention would be understood by (for example, "a system that has at least one of A, B and C "would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B and C together, etc.). It will be further understood by those skilled in the art that typically a disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, in the claims or in the drawings, should be understood as contemplating the possibility of including one of the terms, any of the terms or both terms, except where the context dictates something different. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "AeB".

[0335] With respect to the attached claims, those skilled in the art will understand that the operations mentioned in them can, in general, be performed in any order. In addition, although several operational flow diagrams are presented in one or more sequences, it must be understood that the various operations can be performed in other orders than those shown, or can be performed simultaneously. Examples of such alternative orderings may include ordering - overlapping, merging, interrupted, reordered, incremental, preparatory, supplementary, simultaneous, inverse or other variant orders, unless the context otherwise determines. In addition, terms such as "responsive to", "related to" or other adjectival participles are not intended in general to exclude these variants, unless the context otherwise requires.

[0336] It is worth noting that any reference to "one (1) aspect", "one aspect", "an exemplification" or "one (1) exemplification", and the like means that a particular feature, structure or feature described in connection with the aspect is included in at least one aspect. Thus, the use of expressions such as "in one (1) aspect", "in one aspect", "in an exemplification", "in one (1) exemplification", in several places throughout this specification does not necessarily refer the same aspect. In addition, specific resources, structures or characteristics can be combined in any appropriate way in one or more aspects.

[0337] Any patent application, patent, non-patent publication or other description material mentioned in this specification and / or mentioned in any order data sheet is hereby incorporated by reference, to the extent that the materials incorporated are not inconsistent with that. Accordingly, and to the extent necessary, disclosure as explicitly presented herein replaces any conflicting material incorporated by reference to the present invention. Any material, or portion thereof, which is incorporated herein by reference, but which conflicts with the definitions, statements, or other disclosure materials contained herein, will be incorporated here only to the extent that there is no conflict between the embedded material and existing advertising material.

[0338] In short, numerous benefits have been described that result from the use of the concepts described in this document. The previously mentioned description of one or more modalities has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed.

Modifications or variations are possible in light of the above teachings.

One or more modalities were chosen and described in order to illustrate the principles and practical application to, thus, allow those skilled in the art to use the various modalities and with various modifications, as they are convenient to the specific use contemplated.

It is intended that the claims presented in the annex define the global scope.

Claims (20)

1. Surgical system for use in a surgical procedure, characterized by comprising: a central surgical controller; a surgical instrument equipped with an engine; and a communication module configured to: receive first data regarding a first surgical activity of the surgical procedure; receive second data regarding a second surgical activity of the surgical procedure; select the transmission rates for the transmission of the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity; and transmitting the first data and the second data between the motor-powered surgical instrument and the central surgical controller at the selected transmission rates. 2. Surgical system according to claim 1, characterized in that the surgical instrument comprises an actuator with a transitional end between an open configuration and a closed configuration to hold the tissue. 3. Surgical system, according to claim 2, characterized in that the first data represent the force to make the transition from the end actuator to the closed configuration over time. 4. Surgical system according to claim 3, characterized in that the surgical instrument comprises a movable translatable member for implanting staples in the tissue attached by the end actuator. 5. Surgical system, according to claim 4, characterized in that the second data represents the force to move the translatable member over time. 6. Surgical system, according to claim 1, characterized in that the first data and the second data are transmitted through a communication channel established between the surgical instrument equipped with an engine and the central surgical controller. 7. Surgical system according to claim 6, characterized in that the communication module is additionally configured to adjust the transmission rate of at least one of the first data and the second data in response to a change in the channel bandwidth of communication. 8. Surgical system for use in a surgical procedure, characterized by comprising: a central surgical controller; a surgical instrument equipped with an engine; and a communication module configured to: receive first data regarding a first surgical activity of the surgical procedure; receive second data regarding a second surgical activity of the surgical procedure; and adjusting the transmission rates for the transmission of the first data and the second data between the motor-equipped surgical instrument and the central surgical controller based on at least one characteristic of at least one of the first surgical activity and the second surgical activity. 9. Surgical system according to claim 8, characterized in that the surgical instrument comprises an actuator with a transitional end between an open configuration and a closed configuration to hold the tissue. 10. Surgical system, according to claim 9, characterized in that the first data represents the force to make the transition from the end actuator to the closed configuration over time. 11. Surgical system according to claim 10, characterized in that the surgical instrument comprises a movable translatable member for implanting staples in the tissue gripped by the end actuator. 12. Surgical system according to claim 11, characterized in that the second data represents the force to move the translatable member over time. 13. Surgical system according to claim 12, characterized in that the first data and the second data are transmitted through a communication channel established between the surgical instrument equipped with an engine and the central surgical controller. Surgical system according to claim 13, characterized in that the communication module is additionally configured to adjust the transmission rate of at least one of the first data and the second data in response to a change in the channel bandwidth of communication. 15. Surgical system for use in a surgical procedure, characterized by comprising: a central surgical controller; a surgical instrument equipped with an engine; and a communication module configured to: receive first data regarding a first surgical activity of the surgical procedure; receive second data regarding a second surgical activity of the surgical procedure; transmitting the first data and the second data between the surgical instrument equipped with an engine and the central surgical controller; detect an irregularity in the second data; and adjust the transmission rates of the first data and the second data to prioritize the transmission of the irregularity in the second data. 16. Surgical system according to claim 15, characterized in that the surgical instrument comprises an actuator with a transitional end between an open configuration and a closed configuration for holding the tissue. 17. Surgical system according to claim 16, characterized in that the first data represents the force to make the transition from the end actuator to the closed configuration over time. 18. Surgical system according to claim 17, characterized in that the surgical instrument comprises a movable translatable member for implanting staples in the tissue gripped by the end actuator. 19. Surgical system according to claim 18, characterized in that the second data represents the force to move the translatable member over time. 20. Surgical system according to claim 15, characterized in that the irregularity in the second data comprises exceeding a predetermined limit.