CN106413582B

CN106413582B - Surgical instruments control circuit with safe processor

Info

Publication number: CN106413582B
Application number: CN201580027753.4A
Authority: CN
Inventors: R·L·莱姆巴赫; S·R·亚当斯; M·D·奥弗迈耶; B·E·斯文斯加德; T·W·利特尔四世; F·E·谢尔顿四世; K·L·豪泽
Original assignee: Ethicon Endo Surgery Inc
Current assignee: Ethicon Endo Surgery Inc
Priority date: 2014-03-26
Filing date: 2015-03-12
Publication date: 2019-08-16
Anticipated expiration: 2035-03-12
Also published as: JP2017513562A; BR112016022018A2; JP6580586B2; CN106413582A

Abstract

Present disclose provides a kind of surgical instruments control circuits.The control circuit includes primary processor, safe processor and segment circuit with the primary processor signal communication.The segment circuit includes multiple circuit sections with the primary processor signal communication.The multiple circuit section is configured to control one or more operations of the surgical instruments.The safe processor is configured to monitor one or more parameters of the multiple circuit section.

Description

Surgical instruments control circuit with safe processor

Background technique

The present invention relates to surgical instruments, and in all cases, are related to being designed to suture and cutting tissue Surgical stapling and cutting device and its nail bin.

Detailed description of the invention

Refer to the following explanation of situation of the present invention, the features and advantages of the present invention and its acquisition side in conjunction with the accompanying drawings Method will become more apparent, and be better understood invention itself, in which:

Fig. 1 be include (PCC) power, handle assembly and interchangeable shaft assembly surgical instruments perspective view；

Fig. 2 is the perspective view of the surgical instruments of Fig. 1, wherein interchangeable shaft assembly and handle assembly separate；

Fig. 3 is the circuit diagram of the surgical instruments of Fig. 1；

Fig. 4 shows an embodiment of segment circuit, which includes being configured to control dynamical type surgery Multiple circuit sections of instrument；

Fig. 5 shows segment circuit, which includes the safe processor for being configured to implement watchdog function；

Fig. 6 shows the block diagram of an embodiment of segment circuit, which includes being configured to monitoring surgery The first property and the second quality of instrument and the safe processor for being compared both properties；

Fig. 7 shows block diagram, and this diagram show the security process for being configured to be implemented by safe processor；

Fig. 8 shows an embodiment of 4 × 4 switching groups including four input/output pins；

Fig. 9 shows an embodiment of 4 × 4 groups of circuits including an input/output pin；

Figure 10 shows an embodiment of segment circuit, which includes being connected to the 4 × 4 of primary processor to open Pass group；

Figure 11 shows an embodiment of the process for being sequentially powered for segment circuit；

Figure 12 shows an embodiment of power section, which includes multiple daisy chain power converters；

Figure 13 shows an embodiment of segment circuit, which, which is configured to maximize, can be used for crucial function The power of energy and/or power-intensive function；

Figure 14 shows an embodiment of power system, the power system include be configured to sequentially be powered it is more A daisy chain power converter；

Figure 15 shows an embodiment of the segment circuit including isolation control segment；

Figure 16 shows an embodiment of the segment circuit including accelerometer；

Figure 17 shows an embodiments of the process for sequentially starting segment circuit；

Figure 18 shows an embodiment of the method 1950 for controlling surgical instruments, which includes segmentation Circuit, sectional control circuit 1602 shown in such as Figure 12.

Specific embodiment

Present applicant possesses the following patent application submitted on March 1st, 2013, the respective full text of these patent applications It is herein incorporated by reference:

Entitled " Articulatable Surgical Instruments With Conductive Pathways The U.S. Patent Application Serial Number 13/782,295 of For Signal Communication "；

Entitled " ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/782,323；

The beauty of entitled " THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS " State's patent application serial number 13/782,338；

Entitled " Electromechanical Surgical Device with Signal Relay The U.S. Patent Application Serial Number 13/782,499 of Arrangement "；

Entitled " MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/782,460 of INSTRUMENTS "；

The U.S. of entitled " JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS " is special Sharp patent application serial numbers 13/782,358；

Entitled " SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH The U.S. Patent Application Serial Number 13/782,481 of TROCAR "；

Entitled " CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE The U.S. Patent Application Serial Number 13/782,518 of IMPLEMENT PORTIONS "；

Entitled " ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF The U.S. Patent Application Serial Number 13/782,375 of FREEDOM "；And

The U.S. Patent Application Serial Number 13/782,536 of entitled " SURGICAL INSTRUMENT SOFT STOP ", These applications are incorporated by reference accordingly to be incorporated to.

Present applicant also possesses the following patent application for being filed on March 14th, 2013, and wherein respectively complete Text is herein incorporated by reference:

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/803,097；

Entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL The U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT "；

Entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL The U.S. Patent Application Serial Number 13/803,053 of INSTRUMENT "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION The U.S. Patent Application Serial Number 13/803,086 of LOCK "；

Entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR The U.S. Patent Application Serial Number 13/803,210 of SURGICAL INSTRUMENTS "；

The U.S. Patent application of entitled " MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT " Sequence number 13/803,148；

Entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,066 of INSTRUMENTS "；

Entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL The U.S. Patent Application Serial Number 13/803,117 of INSTRUMENTS "；

Entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,130 of INSTRUMENTS "；And

The U.S. of entitled " METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT " Patent application serial number 13/803,159.

Present applicant also possesses following patent application, these patent applications are submitted on the same day with the application, and each It is incorporated herein from being incorporated by reference:

Entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " (attorney number END7386USNP/130458 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " (generation Manage people file number END7387USNP/130459) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " STERILIZATION VERIFICATION CIRCUIT " (attorney number END7388USNP/ 130460) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT " The U.S. Patent Application Serial Number of (attorney number END7389USNP/130461) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT The U.S. Patent Application Serial of AND WAKE UP CONTROL " (attorney number END7390USNP/130462) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT The U.S. Patent Application Serial of ASSEMBLIES " (attorney number END7391USNP/130463) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL The U.S. Patent Application Serial of INSTRUMENTS " (attorney number END7392USNP/130464) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " (attorney number END7393USNP/130465 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS " (attorney docket Number END7395USNP/130467) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS " (attorney Reel number END7396USNP/130468) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " (attorney number END7397USNP/ 130469) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT " (agency People file number END7399USNP/130471) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE The U.S. Patent Application Serial of VOLTAGE PROTECTION " (attorney number END7400USNP/130472) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL STAPLING INSTRUMENT SYSTEM " (attorney number END7401USNP/ 130473) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT " (attorney number END7402USNP/130474 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _.

Certain exemplary implementation schemes will now be described, to understand the knot of apparatus and method as disclosed herein on the whole Structure, function, the principle of manufacture and purposes.One or more examples of these embodiments have been shown in the accompanying drawings.This field is general Lead to it will be appreciated by the skilled person that the apparatus and method for specifically describing and being illustrated by drawings herein are unrestricted exemplary reality Apply scheme.The feature for being illustrated or being described in conjunction with an exemplary implementation scheme can with the features of other embodiments into Row combination.These modifications and variations are intended to be covered within the scope of the present invention.

" various embodiments ", " some embodiments " or " embodiment " that this specification refers in the whole text etc., meaning Taste combine the embodiment description specific features, structure or characteristic include at least one embodiment.Therefore, this theory The phrase " in various embodiments ", " in some embodiments " or " in one embodiment " that bright book occurs in the whole text Deng being not necessarily all referring to the same embodiment.In addition, in one or more embodiments, specific features, structure or characteristic It can combine in any suitable way.Therefore, it under unconfined situation, shows or describes in conjunction with an embodiment and is specific Feature, structure or characteristic can be combined entirely or partly with feature, the structure or characteristic of other one or more embodiments.This A little modifications and variations are intended to be covered within the scope of the present invention.

Terms used herein " nearside " and " distal side " be relative to manipulation surgical instruments handle portions clinician and Speech.Term " nearside " refers near the part of clinician, and term " distal side " then refers to and is located remotely from clinician Position part.It is also understood that for the sake of succinct and is clear, it herein can be such as " perpendicular in conjunction with attached drawing use space term Directly ", "horizontal", "up" and "down".However, surgical instruments uses in many directions and position, and these terms not limit It is property processed and/or absolute.

Various exemplary means and method are provided to execute laparoscopic surgery and micro-wound surgical operation.However, this The those of ordinary skill in field is it will be readily understood that various method and apparatus disclosed herein can be used for many surgical operations and answer It is combined in, including for example with open surgery.Ordinary skill with continued reference to present embodiment, in this field Personnel will be further understood that, various instruments disclosed herein can be in any way in insertion body, such as by natural cavity, logical Cross the notch being formed in tissue or puncturing hole etc..The working portion or end effector portion of instrument can be plugged directly into patient It can be inserted into vivo or by the device that enters with service aisle, the end effector and elongated shaft of surgical instruments can be by described Service aisle and promote.

Fig. 1 to Fig. 3 generally shows surgery fastening and the cutting device 2000 of motor driving.As depicted in figs. 1 and 2, outside Section's instrument 2000 may include handle assembly 2002, shaft assembly 2004 and (PCC) power 2006 (" power source ", " power packages " or " electricity Pond group ").Shaft assembly 2004 may include end effector 2008, which can be configured to serve as in some cases Different types of end can be used for clamping, cutting off and/or suturing tissue, but in other embodiments in linear cutter Actuator, such as end effector for other kinds of surgical instruments, such as grasper, cutter, stitching unstrument, clamp Device, into device, medicine/gene therapeutic device, Vltrasonic device, radio-frequency unit and/or laser aid.Several radio-frequency unit can The United States Patent (USP) 5 of entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " of announcement in 4 days April nineteen ninety-five is seen, Entitled " the SURGICAL FASTENING AND CUTTING submitted for 14 days 2 months 403,312 and 2008 years The U.S. Patent Application Serial Number 12/031,573 of INSTRUMENT HAVING RF ELECTRODES ", the whole of the patent Disclosure is incorporated by reference and is incorporated herein.

Referring primarily to Fig. 2 and Fig. 3, handle assembly 2002 can be with a variety of interchangeable shaft assemblies (such as shaft assembly 2004) together It uses.Such interchangeable shaft assembly may include surgical end-effector (such as end effector 2008), which executes Device can be configured to execute one or more surgical tasks or surgical operation.The example of suitable interchangeable shaft assembly was in 2013 The US provisional patent Shen of entitled " the CONTROL SYSTEM OF A SURGICAL INSTRUMENT " that submitted March 14 It please be disclosed in sequence number 61/782,866, the complete disclosure of the patent application is incorporated by reference accordingly to be incorporated herein.

Referring primarily to Fig. 2, handle assembly 2002 may include shell 2010, which is grabbed by can be configured to by clinician The shank 2012 held, manipulate and activated forms.It will be appreciated, however, that various forms of interchangeable shaft assemblies disclosed herein The surgery system that various unique and novel constructions can also be controlled effectively with robot is used in combination.Therefore, term " shell " The receiving of robot system can also be covered or be otherwise operably supported the shell or similar of at least one drive system Part, at least one described drive system are configured to generate and apply to can be used for activating interchangeable shaft assembly disclosed herein And its at least one control action of corresponding equivalent.For example, interchangeable shaft assembly disclosed herein can with it is entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS” U.S. Patent Application Serial Number 13/118,241 (being now U.S. Patent Application Publication 2012/0298719) disclosed in it is various Robot system, instrument, component are used together with method, which, which is incorporated by reference, is incorporated herein.

Referring again to Fig. 2, handle assembly 2002 can be operably supported multiple drive systems, the multiple driving wherein System can be configured to generate various control actions and these control actions are applied to be operably attached to thereon can be mutual Change the corresponding part of shaft assembly.For example, handle assembly 2002 can be operably supported first or closure drive system, the driving System can be used for for closed action and opening action being applied to the shaft assembly for being operationally attached or coupled to handle assembly 2002 2004.In at least one form, handle assembly 2002 can be operably supported percussion drive system, the percussion drive system It can be configured to for firing action to be applied to the corresponding part for being attached to interchangeable shaft assembly thereon.

Referring primarily to Fig. 3, handle assembly 2002 may include motor 2014, which can be controlled by motor driver 2015, And it can be used by the trigger system of surgical instruments 2000.In various forms, motor 2014 can be such as maximum (top) speed and be about The DC brush drive motor of 25,000RPM.In other constructions, motor 2014 may include brushless motor, wireless motor, synchronization Motor, stepper motor or any other suitable electric motor.In some cases, motor driver 2015 may include such as H Bridge field effect transistor (FET) 2019, as shown in Figure 3.Motor 2014 can provide power, the function by (PCC) power 2006 (Fig. 3) Rate component can be releasably attached to handle assembly 2002, to provide control power to surgical instruments 2000.(PCC) power 2006 may include battery, which is connected in series, can be used as power source and provide the more of power for surgical instruments 2000 A battery unit.In some cases, the battery unit of (PCC) power 2006 can be replaceable and/or chargeable.? In at least one example, battery unit can be the lithium ion battery that can be detachably coupled to (PCC) power 2006.

Shaft assembly 2004 may include shaft assembly controller 2022, and the shaft assembly controller is in shaft assembly 2004 and (PCC) power 2006 when being connected to handle assembly 2002, can be communicated by interface with power management control 2016.For example, interface may include One interface section 2025 and second interface part 2027, the first interface part may include for being electrically connected with corresponding shaft assembly Device realizes one or more electric connectors of connection engagement, which may include for electric with corresponding (PCC) power Connector realizes one or more electric connectors of connection engagement, to be connected to handle in shaft assembly 2004 and (PCC) power 2006 When parts 2002, allow telecommunication between shaft assembly controller 2022 and power management control 2016.It can be passed by interface One or more power requirements of the interchangeable shaft assembly 2004 of attachment are transmitted to power by defeated one or more signal of communication Management Controller 2016.In response, power management control can adjust function according to the power requirement of attachment shaft assembly 2004 The power output of the battery of rate component 2006, as described in greater detail below.In some cases, one or more electric connectors It may include switch, these switches can be joined to shaft assembly 2004 and/or (PCC) power 2006 in handle assembly 2002, To allow to carry out between shaft assembly controller 2022 and power management control 2016 to be activated after telecommunication.

In some cases, for example, one or more signals of communication are routed through in handle assembly 2002 by interface Master controller 2017, thus can be conducive to transmit between power management control 2016 and shaft assembly controller 2022 this kind of logical Believe signal.In other cases, when shaft assembly 2004 and (PCC) power 2006 are connected to handle assembly 2002, interface can be conducive to Communication line between conduct power Management Controller 2016 and shaft assembly controller 2022 passes through handle assembly 2002.

In one case, host microcontroller 2017 can be any single or multiple core processor, all quotient as is known The name of an article is ARM Cortex, purchased from those of Texas Instruments.In one case, surgical instruments 2000 may include Power management control 2016, the safe micro-control of the series (such as TMS570 and RM4x) for example including two based on microcontroller Device platform (known its trade name Hercules ARM Cortex R4, also available from Texas Instruments) processed.So And other suitable substitutes of microcontroller and safe processor can be used without restriction.In one case, safe place Reason device can clearly be configured for IEC 61508 and 26262 security critical of ISO is applied and other, to provide advanced collection At security feature, while providing expansible performance, connectivity and memory options.

In some cases, microcontroller 2017 can be the LM for being for example purchased from Texas Instruments 4F230H5QR.In at least one example, the LM4F230H5QR that Texas Instruments produces is ARM Cortex-M4F Processor core comprising: the on piece of 256KB single cycle flash memories or other nonvolatile memories (up to 40MHZ) Memory makes it be more than that 40MHz prefetches buffer, the serial random access storage device of 32KB single cycle for improving performance (SRAM), it is mounted withThe inside read-only memory (ROM) of software, the read-only storage of 2KB electric erazable programmable Device (EEPROM), one or more orthogonal encoders input (QEI) simulation, has one or more pulsewidth modulation (PWM) modules 12 analog-digital converters (ADC) of one or more of 12 analog input channels, and be easy to get for product data handbook Other feature structures.The disclosure should not necessarily be limited by this context.

(PCC) power 2006 may include management circuit, which may include power management control 2016, power modulators 2038 and current sensing circuit 2036.Management circuit can be configured in shaft assembly 2004 and function When rate component 2006 is connected to handle assembly 2002, the power requirement based on shaft assembly 2004 is come the power output of regulating cell. For example, the power that power management control 2016 can be programmed to control 2038 regulation power component 2006 of power modulators is defeated Out, and current sensing circuit 2036 can be used for monitoring the power output of (PCC) power 2006, to be power management control 2016 provide feedback related with the power output of battery, so that 2016 regulating power component 2006 of power management control Power output is to maintain preferably to export.

It is worth noting that, power management control 2016 and/or shaft assembly controller 2022 may include respectively that can store The one or more processors and/or memory cell of multiple software modules.Although the mode that illustration can be used describes outer The certain module and/or block of section's instrument 2000, it is to be understood that, the more or fewer modules of number and/or block can be used.Separately Outside, although various situations can be according to module and/or the description of the form of block in order to illustrate, these modules and/or block can pass through The combination of one or more hardware componenies and/or software component and/or hardware component and software component is implemented, the hardware Component such as processor, digital signal processor (DSP), programmable logic device (PLD), specific integrated circuit (ASIC), electricity Road, register, the software component such as program, subroutine, logic.

In some cases, surgical instruments 2000 may include output device 2042, the output device may include for One or more devices of family offer sensory feedback.Such device may include for example visual feedback means (for example, LCD display, LED indicator), auditory feedback mechanisms (for example, loudspeaker, buzzer) or haptic feedback devices (for example, tactile actuator).? In some cases, output device 2042 may include display 2043, which may include in handle assembly 2002.Shaft assembly Controller 2022 and/or power management control 2016 can be provided by output device 2042 to the user of surgical instruments 2000 anti- Feedback.Interface 2024 can be configured to shaft assembly controller 2022 and/or power management control 2016 being connected to output device 2042.Reader will be appreciated that, alternatively, output device 2042 can be integrated with (PCC) power 2006.In such cases, work as axis When component 2004 is connected to handle assembly 2002, the communication between output device 2042 and shaft assembly controller 2022 can be by connecing Mouth 2024 is realized.

Surgical instruments 2000 is briefly described, various electric power/electricity of surgical instruments 2000 are described more fully below Subassembly.For convenience, hereafter any position refers to surgical instruments 2000, all should be understood as reference combination Fig. 1 to Fig. 3 institute The surgical instruments 2000 shown.Turning now to Fig. 4, the segment circuit including multiple circuit section 1002a to 1002g is shown 1000 embodiment.Segment circuit 1000 includes multiple circuit section 1002a to 1002g, which is configured to Control dynamical type surgical instruments, surgical instruments 2000 shown in such as, but not limited to Fig. 1 to Fig. 3.Multiple circuit section 1002a are extremely 1002g is configured to one or more operations of control dynamical type surgical instruments 2000.Safe processor section 1002a (paragraph 1) Including safe processor 1004.Primary processor section 1002b (the 2nd section) includes primary processor 1006.Safe processor 1004 and/or Primary processor 1006 is configured to interact with one or more other circuit section 1002c to 1002g, to control dynamical type The operation of surgical instruments 2000.Primary processor 1006 includes being connected to such as one or more circuit section 1002c to 1002g, electricity Multiple input units of pond 1008 and/or multiple switch 1058a to 1070.Segment circuit 1000 can pass through any suitable circuit (printed circuit-board assembly (PCBA) in such as dynamical type surgical instruments 2000) is implemented.It should be appreciated that art used herein Language " processor " includes any microprocessor, microcontroller, or by the function knot of the central processing unit (CPU) of computer It closes to an integrated circuit or other base computing devices at most on several integrated circuits.Processor is multiduty programmable Device, the device receive numerical data as input, input are handled according to the instruction stored in its memory, then provides knot Fruit is as output.Processor has internal storage, so being the example of sequential digital logic.The operation object of processor be with The numbers and symbols that binary digital system indicates.

In one embodiment, primary processor 1006 can be any single or multiple core processor, all as is known Trade name ARM Cortex, purchased from those of Texas Instruments.In one embodiment, safe processor 1004 can be the secure microcontroller platform of the series (such as TMS570 and RM4x) including two based on microcontroller, it is known that Its trade name Hercules ARM Cortex R4, also available from Texas Instruments.However, can be without restriction Using the suitable substitute of other of microcontroller and safe processor.In one embodiment, safe processor 1004 can It is clearly configured for IEC 61508 and 26262 security critical of ISO is applied and other, to provide advanced integrated security Characteristic, while expansible performance, connectivity and memory options being provided.

In some cases, primary processor 1006 can be the LM for being for example purchased from Texas Instruments 4F230H5QR.In at least one example, the LM 4F230H5QR that Texas Instruments produces is ARM Cortex- M4F processor core comprising: the piece of 256KB single cycle flash memories or other nonvolatile memories (up to 40MHZ) Upper memory makes it be more than that 40MHz prefetches buffer, the serial random access storage device of 32KB single cycle for improving performance (SRAM), it is mounted withThe inside read-only memory (ROM) of software, the read-only storage of 2KB electric erazable programmable Device (EEPROM), one or more orthogonal encoders input (QEI) simulation, has one or more pulsewidth modulation (PWM) modules 12 analog-digital converters (ADC) of one or more of 12 analog input channels, and be easy to get for product data handbook Other feature structures.Other processors can easily be used instead, therefore, the disclosure should not necessarily be limited by this context.

In one embodiment, segment circuit 1000 includes acceleration section 1002c (the 3rd section).Acceleration section 1002c packet Include acceleration transducer 1022.Acceleration transducer 1022 may include such as accelerometer.Acceleration transducer 1022 is constructed Movement or acceleration at detection dynamical type surgical instruments 2000.In some embodiments, carry out acceleration sensor 1022 Input for being for example converted to suspend mode and from suspend mode is converted to other modes, identification dynamical type surgical instruments takes To, and/or identify when surgical instruments has been laid down.In some embodiments, acceleration section 1002c is connected to safety Processor 1004 and/or primary processor 1006.

In one embodiment, segment circuit 1000 includes display segments 1002d (the 4th section).Display segments 1002d packet Include the Display connector 1024 for being connected to primary processor 1006.Display connector 1024 passes through one or more displays and drives Primary processor 1006 is connected to display 1028 by dynamic device integrated circuit 1026.Display driver integrated circuit 1026 can with it is aobvious Show that device 1028 is integrated, and/or can be positioned apart with display 1028.Display 1028 may include any suitable display Device, such as Organic Light Emitting Diode (OLED) display, liquid crystal display (LCD) and/or other any suitable displays.? In some embodiments, display segments 1002c is connected to safe processor 1004.

In some embodiments, segment circuit 1000 includes shaft part 1002e (the 5th section).Shaft part 1002e includes for joining One or more controls of the axis 2004 of surgical instruments 2000 are connected to, and/or the end for being connected to axis 2004 executes One or more controls of device 2006.Shaft part 1002e includes mandrel connector 1030, which is configured to primary processor 1006 are connected to axis PCBA1031.Axis PCBA 1031 includes the first joint motions switch 1036, second joint motion switch 1032 With axis PCBA Electrically Erasable Programmable Read-Only Memory (EEPROM) 1034.In some embodiments, axis PCBA EEPROM 1034 include one or more parameters, routine and/or the program specific to axis 2004 and/or axis PCBA 1031.Axis PCBA 1031 can be connected to axis 2004 and/or be integrally formed with surgical instruments 2000.In some embodiments, shaft part 1002e includes Second axis EEPROM 1038.Second axis EEPROM 1038 includes polyalgorithm, routine, parameter, and/or corresponding to can be with power Other data of one or more axis 2004 and/or end effector 2006 that formula surgical instruments 2000 joins.

In some embodiments, segment circuit 1000 includes position coder section 1002f (the 6th section).Position coder Section 1002f includes one or more magnetism rotary position encoder 1040a to 1040b.It compiles one or more magnetism rotation positions Code device 1040a to 1040b is configured to motor 1048, axis 2004 and/or the end effector 2006 of identification surgical instruments 2000 Rotation position.In some embodiments, magnetic rotary position encoder 1040a to 1040b can be connected to safe processor 1004 and/or primary processor 1006.

In some embodiments, segment circuit 1000 includes motor segment 1002g (the 7th section).Motor segment 1002g includes horse Up to 1048, which is configured to one or more movements of control dynamical type surgical instruments 2000.Motor 1048 is driven by H bridge Dynamic device 1042 and one or more H bridge field effect transistor (FET) 1044 are connected to primary processor 1006.H bridge FET 1044 It is connected to safe processor 1004.Motor current sensor 1046 and 1048 coupled in series of motor, to measure the electric current of motor 1048 Consumption.Motor current sensor 1046 and 1004 signal communication of primary processor 1006 and/or safe processor.In some embodiment party In case, motor 1048 is connected to motor electromagnetic interference (EMI) filter 1050.

Segment circuit 1000 includes power section 1002h (the 8th section).Battery 1008 is connected to safe processor 1004, main place Manage one or more of device 1006 and other circuit section 1002c to 1002g.Battery 1008 passes through battery connector 1010 and current sensor 1012 be connected to segment circuit 1000.Current sensor 1012 is configured to measurement segment circuit 1000 Total current drain.In some embodiments, one or more electric pressure converter 1014a, 1014b, 1016 be configured to One or more circuit section 1002a to 1002g provide predetermined voltage value.For example, in some embodiments, segmentation electricity Road 1000 may include the electric pressure converter 1016 of the electric pressure converter 1014a to 1014b and/or 5V of 3.3V.Boost converter 1018 are configured to provide the raising voltage of up to predetermined quantities (such as, up to 13V).1018 quilt of boost converter It is configured to provide additional voltage and or current during power-intensive operation, and prevents voltage from reducing situation or low-power Situation.

In some embodiments, secure segment 1002a includes broken piece 1020 in motor power.Broken piece 1020 in motor power It is connected between power section 1002h and motor segment 1002g.Secure segment 1002a is configured in safe processor 1004 and/or master Processor 1006 interrupts the power to motor segment 1002g when detecting error or fault situation, such as discuss in further detail herein.To the greatest extent Pipe circuit section 1002a to 1002g is shown as all components for having circuit section 1002a physical location into 1002h close, but Those skilled in the art will recognize that circuit section 1002a to 1002h may include physically and/or electrically with it is identical The separated other component of the component of circuit section 1002a to 1002g.In some embodiments, one or more components can be by two A or more circuit section 1002a to 1002g is shared.

In some embodiments, multiple switch 1056 to 1070 is connected to safe processor 1004 and/or primary processor 1006.Multiple switch 1056 to 1070 can be configured to one or more operations of control surgical instruments 2000, control segmentation electricity One or more operations on road 1100, and/or the state of instruction surgical instruments 2000.For example, relief 1056 quilt of door switch It is configured to the state of instruction relief door.Multiple joint motions switch (such as left side to the left joint motions switch 1058a, left side to Right joint motions switch 1060a, left side are to center knuckle motion switch 1062a, right side joint motions switch 1058b, the right side to the left Lateral right joint motions switch 1060b and right side to center knuckle motion switch 1062b) be configured to control shaft 2004 and/or The joint motions of end effector 2006.Left side reversing switch 1064a and right side reversing switch 1064b are connected to primary processor 1006.In some embodiments, left-side switch (including left side joint motions switch 1058a, left side joint motions to the right to the left Switch 1060a, left side pass through the flexible connector on the left side to center knuckle motion switch 1062a and left side reversing switch 1064a) 1072a is connected to primary processor 1006.Right-side switch (including joint is transported to the right for joint motions switch 1058b, right side to the left on right side Dynamic switch 1060b, right side pass through the flexible connection on the right to center knuckle motion switch 1062b and right side reversing switch 1064b) Device 1072b is connected to primary processor 1006.In some embodiments, percussion switch 1066, clamping release switch 1068 and axis Engagement switch 1070 is connected to primary processor 1006.

Multiple switch 1056 to 1070 may include the multiple shank controls for being for example installed to the shank of surgical instruments 2000, more A indicator switch and/or their any combination.In various embodiments, multiple switch 1056 to 1070 allows surgery Doctor manipulates surgical instruments, provides the position in relation to surgical instruments and/or the feedback of operation to segment circuit 1000, and/or Person indicates that the operation of surgical instruments 2000 is dangerous.In some embodiments, additional switch or less switch can couple To segment circuit 1000, one or more of switch 1056 to 1070 is combined into single switch, and/or is extended to multiple open It closes.For example, in one embodiment, left side joint motions switch and/or right side joint motions switch 1058a are into 1064b One or more be combined into single multiposition switches.

Fig. 5 shows segment circuit 1100, which includes being configured to implement watchdog function and other safety One embodiment of the safe processor 1104 of operation.The safe processor 1004 and primary processor 1106 of segment circuit 1100 Signal communication.Multiple circuit section 1102c to 1102h are connected to primary processor 1106, and it is (all to be configured to control surgical instruments Surgical instruments 2000 as shown in Figure 1 to Figure 3) one or more operations.For example, in the illustrated embodiment, segment circuit 1100 include acceleration section 1102c, display segments 1102d, shaft part 1102e, encoder section 1102f, motor segment 1102g and power Section 1102h.Each of circuit section 1102c to 1102g can be connected to safe processor 1104 and/or primary processor 1106. Primary processor is also coupled to flash memory 1186.Microprocessor heartbeat signal living provides at output end 1196.

Acceleration section 1102c includes accelerometer 1122, which is configured to the fortune of monitoring surgical instruments 2000 It is dynamic.In various embodiments, accelerometer 1122 can be uniaxial, twin shaft or three axis accelerometer.Accelerometer 1122 can For measuring acceleration appropriate, which is not necessarily coordinate acceleration (rate that speed changes).Alternatively, accelerating Degree is counted and is observed when the reference system of accelerometer 1122 is static, acceleration associated with the weight phenomenon that test quality is subjected to Degree.For example, (gravity) acceleration straight up will be measured when accelerometer 1122 is upper static at the earth's surface due to its weight G is 9.8m/s².The measurable another kind of acceleration of accelerometer 1122 is acceleration of gravity.In various other embodiments, Accelerometer 1122 may include uniaxial, twin shaft or three axis accelerometer.In addition, acceleration section 1102c may include one or more Inertial sensor, to detect and measure acceleration, inclination, shock and vibration, rotation and multiple degrees of freedom (DoF).Suitable inertia passes Sensor may include accelerometer (uniaxial, twin shaft or three axis), the magnetometer for measuring space magnetic field (such as earth magnetic field) and/ Or the gyroscope for measuring angular speed.

Display segments 1102d includes the display for being embedded in surgical instruments 2000, such as OLED display.In certain embodiment party In case, surgical instruments 2000 may include output device, which may include for providing a user the one of sensory feedback Or multiple devices.Such device may include such as visual feedback means (for example, LCD display, LED indicator), audio feedback Device (for example, loudspeaker, buzzer) or haptic feedback devices (for example, tactile actuator).In some aspects, output device can Including display, which may include in handle assembly 2002, as shown in Figure 1.Shaft assembly controller and/or power management Controller can provide feedback to the user of surgical instruments 2000 by output device.Interface can be configured to shaft assembly controller And/or power management control is connected to output device.

Shaft part 1102e includes axis circuit board 1131 (such as axis PCB) and is used to indicate the hall-effect switch that axis has engaged 1170, which is configured to control shaft 2004 and/or is connected to one kind or more of the end effector 2006 of axis 2004 Kind operation.Axis circuit board 1131 further includes the low-power microprocessor with ferroelectric RAM (FRAM) technology 1190, mechanical joint motion switch 1192, axis release hall-effect switch 1194 and flash memory 1134.Encoder section 1102f includes being configured to provide multiple horses of the rotary position information of motor 1048, axis 2004 and/or end effector 2006 Up to encoder 1140a, 1140b.

Motor segment 1102g includes motor 1048, such as brushed DC motor.Motor 1048 passes through multiple H bridge drivers 1142 and a motor controller 1143 be connected to primary processor 1106.Motor controller 1143 controls the first motor label 1174a and the second motor mark 1174b, to indicate state and the position of motor 1048 to primary processor 1106.Primary processor 1106 provide pulsewidth modulation (PWM) high RST 1176a, PWM low signal to motor controller 1143 by buffer 1184 1176b, direction signal 1178, synchronization signal 1180 and motor reset signal 1182.Power section 1102h is configured to circuit section Each circuit section of the 1102a into 1102g provides segment voltage.

In one embodiment, safe processor 1104 is configured to for one or more circuit section 1102c extremely 1102h (such as motor segment 1102g) implements watchdog function.For this point, safe processor 1104 uses house dog function It can restore to detect the failure of primary processor 1006 and from the failure of primary processor 10006.In the normal operation period, safe place It manages device 1104 and monitors the hardware fault or program error of primary processor 1104, and initiate one or more correction movements.It corrects dynamic Work may include primary processor 10006 being placed in safe condition, and restore normal system operatio.In one embodiment, pacify Full processor 1104 is coupled at least to first sensor.First property of first sensor measurement surgical instruments 2000.Some In embodiment, safe processor 1104 is configured to carry out the measured property of surgical instruments 2000 and predetermined value Compare.For example, in one embodiment, motor sensor 1140a is connected to safe processor 1104.Motor sensor 1140a provides the speed and location information of motor to safe processor 1104.Safe processor 1104 monitors motor sensor Value is simultaneously compared by 1140a with maximum speed and/or positional value, and when value is higher than predetermined value, prevents motor 1048 operation.In some embodiments, real-time speed of the predetermined value based on motor 1048 and/or position calculate, It is calculated by the value that the second motor sensor 1140b for communicating with primary processor 1106 is provided, and/or from being for example connected to peace The memory module of full processor 1104 is supplied to safe processor 1104.

In some embodiments, second sensor is connected to primary processor 1106.Second sensor is configured to measure First physical property.Safe processor 1104 and primary processor 1106 be configured to provide respectively indicate first sensor value and The signal of the value of second sensor.When safe processor 1104 or 1106 indicated value of primary processor exceed tolerance interval, point Section circuit 1100 prevents the operation of at least one circuit section (such as motor segment 1102g) of the circuit section 1102c into 1102h.Example Such as, in the embodiment depicted in fig. 5, safe processor 1104 is connected to the first motor position sensor 1140a, and main place Reason device 1106 is connected to the second motor position sensor 1140b.Motor position sensor 1140a, 1140b may include any suitable Motor position sensor, such as, the magnetic angular rotation input device including the output of sinusoidal and cosine.Motor position sensor 1140a, 1140b provide the signal of the position of instruction motor 1048 to safe processor 1104 and primary processor 1106 respectively.

When the value of the first motor sensor 1140a and the value of the second motor sensor 1140b are all in predetermined model When enclosing interior, safe processor 1104 and primary processor 1106 generate enabling signal.If primary processor 1106 or safe processor 1104 detect that value beyond predetermined range, then terminates enabling signal, interrupt immediately and/or prevent circuit section 1102c extremely The operation of at least one circuit section (such as motor segment 1102g) in 1102h.For example, in some embodiments, independently locating It manages the enabling signal of device 1106 and the enabling signal from safe processor 1104 is connected to AND gate.AND gate is connected to horse Up to power switch 1120.When all higher (instruction of enabling signal from 1106 the two of safe processor 1104 and primary processor The value of motor sensor 1140a, 1140b are within a predetermined range), AND gate just keeps motor power switch 1120 In closing or opening position.When motor sensor 1140a, any one of 1140b detect value beyond predetermined range When, come from motor sensor 1140a, the enabling signal of 1140b is set to low, and the output of AND gate is set to It is low, to open motor power switch 1120.In some embodiments, the value and second of first sensor 1140a is compared The value of sensor 1140b, such as by the way that safe processor 1104 and/or primary processor 1106 to be compared.If first passes The value of sensor and the value of second sensor are different, and safe processor 1104 and/or primary processor 1106 can prevent motor segment 1102g Operation.

In some embodiments, safe processor 1104 receives the signal for indicating the value of second sensor 1140b, and The value of second sensor is compared with the value of first sensor.For example, in one embodiment, safe processor 1104 It is directly coupled to the first motor sensor 1140a.Second motor sensor 1140b is connected to primary processor 1106, by main process task The value of second motor sensor 1140b is supplied to safe processor 1104 by device, and/or is directly coupled to safe processor 1104.The value of first motor sensor 1140 is compared by safe processor 1104 with the value of the second motor sensor 1140b. When safe processor 1104 detects between the first motor sensor 1140a and the second motor sensor 1140b there are when mismatch, Safe processor 1104 can interrupt the operation of motor segment 1102g, such as interrupt and the power by being cut to motor segment 1102g.

In some embodiments, safe processor 1104 and/or primary processor 1106, which are connected to, is configured to outside measurement The second sensor of the first sensor 1140a of first property of section's instrument and the second quality for being configured to measurement surgical instruments 1140b.Predetermined relationship when first property and the second quality include surgical instruments normal operating.Safe processor 1104 Monitor the first property and the second quality.When the value and predetermined relationship of the value and/or the second quality for detecting the first property When inconsistent, break down.When breaking down, safe processor 1104 at least takes a kind of movement, such as, prevent at least one The operation of circuit section executes predetermined operation, and/or resetting primary processor 1106.For example, safe processor 1104 Motor power switch 1120 can be disconnected, when detecting failure to be cut to the power of motor circuit section 1102g.

Fig. 6 shows the block diagram of an embodiment of segment circuit 1200, which includes being configured to monitor The first property and the second quality of surgical instruments (such as Fig. 1 to surgical instruments 2000 shown in Fig. 3) simultaneously can be by both property The safe processor 1204 that matter is compared.Safe processor 1204 is connected to first sensor 1246 and second sensor 1266.First sensor 1246 is configured to the first physical property of monitoring surgical instruments 2000.Second sensor 1266 is by structure Cause the second physical property of monitoring surgical instruments 2000.First property and the second quality include 2000 normal operating of surgical instruments When predetermined relationship.For example, in one embodiment, first sensor 1246 include be configured to monitoring motor from The motor current sensor of the electric current of power source consumption.The electric current of motor consumption can indicate the speed of motor.Second sensor packet Linear hall sensor is included, which is configured to monitoring cutting element and (such as is connected in end effector The end effector 2006 of surgical instruments 2000) in position.The position of cutting element is for calculating in end effector 2006 Cutting element speed.When 2000 normal operating of surgical instruments, cutting element speed and motor speed have predetermined pass System.

Safe processor 1204 provides signal to primary processor 1206, indicates first sensor 1246 and second sensor 1266 values generated and predetermined relationship consistency.First sensor 1246 and/or are detected in safe processor 1204 When the value and predetermined relationship of two sensors 1266 are inconsistent, primary processor 1206 indicates dangerous to primary processor 1206 Situation.Primary processor 1206 interrupts and/or prevents the operation of at least one circuit section.In some embodiments, safe place Reason device 1204 is directly coupled to switch, which is configured to control the operation of one or more circuit sections.For example, in conjunction with Fig. 5, In one embodiment, safe processor 1104 is directly coupled to motor power switch 1120.Safe processor 1104 is being examined Motor power switch 1120 is disconnected when measuring failure, to prevent the operation of motor segment 1102g.

Referring again to Fig. 5, in one embodiment, safe processor 1104 is configured to execute independent control calculation Method.In operation, safe processor 1104 monitors segment circuit 1100, and is configured to independently control and/or override to come From the signal of other circuit blocks (such as primary processor 1106).The algorithm of preprogramming can be performed simultaneously in safe processor 1104 And/or person during operation can one or more movements based on surgical instruments 2000 and/or position carry out online update or connection Machine programming.For example, in one embodiment, when new axis and/or end effector are connected to surgical instruments 2000, just Safe processor 1104 is reprogramed using new parameter and/or security algorithm.In some embodiments, safe place One or more safety values that reason device 1104 stores are replicated by primary processor 1106.Two-way error detection is executed, to ensure to handle The value and/or parameter that device 1104 or 1106 stores are correct.

In some embodiments, safe processor 1104 and primary processor 1106 implement the safety inspection of redundancy.Safety Processor 1104 and primary processor 1106 provide cyclical signal, and it is normal to be used to indicate operation.For example, during operation, safety Processor 1104 can indicate that safe processor 1104 is carrying out code and operates normal to primary processor 1106.Primary processor 1106 can equally indicate that primary processor 1106 is carrying out code and operates normal to safe processor 1104.In some implementations In scheme, safe processor 1104 and primary processor 1106 communicate at predetermined intervals.Predetermined interval can be Constant, or can may be changed according to the operation of circuit state and/or surgical instruments 2000.

Fig. 7 is block diagram, and this diagram show be configured to by safe processor (safe processor such as shown in fig. 5 1104) security process 1250 implemented.In one embodiment, the value for corresponding to a variety of properties of surgical instruments 2000 is mentioned Supply security processor 1104.A variety of properties are by multiple independent sensors and/or system monitoring.For example, showing In embodiment, the anticipated orientation of the cutting element speed 1252 measured, the motor speed 1254 and motor signal 1256 suggested It is provided to safe processor 1104.Cutting element speed 1252 and the motor speed 1254 suggested can be respectively by independent sensings Device (such as, linear hall sensor and current sensor) provides.The anticipated orientation of motor signal 1256 can be by primary processor (example Such as, the primary processor 1106 shown in Fig. 5) it provides.Safe processor 1104 compares 1258 a variety of properties, and determines these property Matter when with predetermined relationship consistency.If the value of a variety of properties is consistent with predetermined relationship 1260a, no Take movement 1262.And if the value of the multiple property and predetermined relationship 1260b are inconsistent, safe processor 1104 One or more movements are then executed, such as, a certain function is prevented, executes a certain function and/or reset process device.For example, In the process 1250 shown in Fig. 7, safe processor 1104 interrupts the operation of one or more circuit sections, is such as arrived by interrupting The power 1264 of motor segment and interrupt its operation.

Referring again to Fig. 5, segment circuit 1100 includes the one or more operations for being configured to control surgical instruments 2000 Multiple switch 1156 to 1170.For example, in the shown embodiment, segment circuit 1100 includes clamping release switch 1168, firing trigger 1166 and multiple switch 1158a to 1164b, it is the multiple switch be configured to control shaft 2004 and/or It is connected to the joint motions of the end effector 2006 of surgical instruments 2000.Clamp release switch 1168, firing trigger 1166 It may include analog switch and/or digital switch with multiple joint motions switch 1158a to 1164b.Particularly, switch 1156 indicates Mechanical switch lifting position, switch 1158a, 1158b indicate joint motions to the left (1) and (2), switch 1160a, 1160b instruction Joint motions to the right (1) and (2), switch 1162a, 1162b indicates to move (1) and (2) to center knuckle, and switch 1164a, 1164b instruction commutates to the left and commutates to the right.

For example, Fig. 8 shows an embodiment of switching group 1300, which includes being configured to control surgery device The multiple switch SW1 to SW16 of one or more operations of tool.Switching group 1300 can be connected to primary processor (such as primary processor 1106).In some embodiments, one or more diode D1 to D8 are connected to multiple switch SW1 to SW16.It is any suitable Mechanical switch, electric mechanical switch or solid-state switch can any combination, to implement the multiple switch 1156 to 1170.For example, opening Closing 1156 to 1170 can be the movement using associated with surgical instruments 2000 component or there are some objects to operate Limit switch.Such switch can be used for controlling various functions associated with surgical instruments 2000.Limit switch is by mechanically It is connected to the electromechanical assembly that the actuator of one group of contact is constituted.When some object and actuator contact, the device operating contact To form or disconnect electrical connection.Limit switch is because its is durable, simple installation and operation reliable due to are used for a variety of applications and environment.Limit Bit switch can determine that object whether there is, whether pass through, whether positioning and whether the traveling of object terminates.? In other specific implementations, switch 1156 to 1170 can be the solid-state switch operated under the influence of magnetic field, and such as Hall effect fills Set, magnetic resistance (MR) device, giant magnetoresistance (GMR) device, magnetometer and other.In other specific implementations, switch 1156 to 1170 Can be the solid-state switch operated under the influence of light, such as optical sensor, infrared sensor, UV sensor and its He.Equally, switch 1156 to 1170 can be solid-state device, and such as transistor is (for example, FET, junction type FET, metal oxide half Conductor FET (MOSFET), bipolar junction transistor etc.).Other switches may include wireless switching, ultrasonic switch, accelerometer, inertia Sensor and other.

Fig. 9 shows an embodiment of the switching group 1350 including multiple switch.In various embodiments, one Or multiple switch is configured to one or more behaviour of control surgical instruments (such as Fig. 1 to surgical instruments 2000 shown in Fig. 3) Make.Multiple joint motions switch SW1 to SW16 are configured to control shaft 2004 and/or are connected to the end of surgical instruments 2000 to hold The joint motions of row device 2006.Firing trigger 1366 is configured to percussion surgical instruments 2000, for example, multiple for disposing Cutting element in nail, translation end effector 2006, and/or electrosurgical energy is delivered to end effector 2006.? In some embodiments, switching group 1350 includes the one or more safety opens for being configured to prevent the operation of surgical instruments 2000 It closes.For example, relief switch 1356 is connected to relief door, and surgical instruments 2000 is prevented to grasp when relief door is in an open position Make.

Figure 10 shows an embodiment of segment circuit 1400, which includes being connected to primary processor 1406 Switching group 1450.Switching group 1450 is similar with switching group 1350 shown in Fig. 9.Switching group 1450 include multiple switch SW1 extremely SW16, it is the multiple switch be configured to control surgical instruments (such as Fig. 1 to surgical instruments 2000 shown in Fig. 3) one kind or A variety of operations.Switching group 1450 is connected to the analog input end of primary processor 1406.It is switched each of in switching group 1450 into one Step is connected to input/output expander 1463, which is connected to the digital input end of primary processor 1406.Primary processor 1406 receive the input from switching group 1450, and control in response to the operation to one or more switches in switching group 1450 One or more additional sections (such as motor segment 1402g) of segment circuit 1400 processed.

In some embodiments, potentiometer 1469 is connected to primary processor 1406, indicates to be connected to surgery device to provide The signal of the clip position of the end effector 2006 of tool 2000.Potentiometer 1469 can indicate that clamping opens/closes by providing Safe processor (not shown) is replaced and/or supplemented to the signal of position, primary processor 1106 using the signal control one or The operation of multiple circuit sections (such as motor segment 1102g).For example, being clamped completely when potentiometer 1469 indicates that end effector is in When position and/or fully open position, primary processor 1406 can disconnect motor power switch 1420, and prevent motor segment 1402g is along specific direction further operating.In some embodiments, primary processor 1406 from potentiometer 1469 in response to receiving Signal and control the electric current for being delivered to motor segment 1402g.For example, when potentiometer 1469 indicates end effector beyond true in advance When fixed position is closed, primary processor 1406 can limit the energy that can be delivered to motor segment 1402g.

Referring again to Fig. 5, segment circuit 1100 includes acceleration section 1102c.The acceleration section includes accelerometer 1122. Accelerometer 1122 can be connected to safe processor 1104 and/or primary processor 1106.Accelerometer 1122 is configured to monitor The movement of surgical instruments 2000.Accelerometer 1122 be configured to generate indicate along one of movement of one or more directions or Multiple signals.For example, in some embodiments, accelerometer 1122 is configured to monitoring surgical instruments 2000 along three directions Movement.In other embodiments, acceleration section 1102c includes multiple accelerometers 1122, and each accelerometer is constructed At monitoring along the movement of sense.

In some embodiments, accelerometer 1122, which is configured to cause, is converted to suspend mode and/or from suspend mode mould Formula is converted to other modes, for example, vice versa from suspend mode is converted between suspend mode and awakening mode.Not Sleep mode may include low-power mode, in this mode, one or more of circuit section 1102a to 1102g be deactivated or by It is placed in low power state.For example, in one embodiment, the holding activity in the hibernation mode of accelerometer 1122, and pacify Full processor 1104 is placed in low-power mode, and in this mode, safe processor 1104 monitors accelerometer 1122, but not Execute any function.Residual circuit section 1102b to 1102g is in power down state.In various embodiments, primary processor 1104 and/or safe processor 1106 be configured to monitoring accelerometer 1122, and segment circuit 1100 is converted to suspend mode Mode, for example, in the case where movement is not detected within the predetermined period.Although above in association with safe processor 1104 Accelerometer 1122 is monitored to describe suspend mode/awakening mode, but suspend mode/awakening mode can pass through safe processor 1104 monitoring sensors, switch or as described herein any one of other indicators associated with surgical instruments 2000 come it is real It is existing.For example, safe processor 1104 can monitor inertial sensor, or one or more switches.

In some embodiments, segment circuit 1100 is converted to suspend mode mould after predetermined inactive time period Formula.Timer and 1106 signal communication of safe processor 1104 and/or primary processor.Timer can with safe processor 1104, Primary processor 1106 is integrally formed, and/or can be independent circuit block.Timer is configured to monitoring since acceleration Degree meter 1122 detects that surgical instruments 2000 moves the period for arriving the current moment later for the last time.When counter is beyond preparatory When determining threshold value, segment circuit 1100 is converted to suspend mode by safe processor 1104 and/or primary processor 1106.One In a little embodiments, whenever accelerometer 1122 detects movement, with regard to resetting timer.

In some embodiments, all circuit sections in addition to accelerometer 1122 or other specified sensors and/ Or switch and safe processor 1104 all deactivate in the hibernation mode.Safe processor 1104 monitors accelerometer 1122, or Person other specified sensors and/or switch.When accelerometer 1122 indicates the movement of surgical instruments 2000, safe processor 1104 cause the transformation from suspend mode to operation mode.In an operation mode, all circuit section 1102a to 1102h are completely logical Electricity, surgical instruments 2000 are ready for coming into operation.In some embodiments, safe processor 1104 is by primary processor Primary processor 1106 is converted to full-power mode from suspend mode by 1106 offer signals, and segment circuit 1100 is converted to Operation mode.Then each circuit section of the residual circuit section 1102d into 1102h is converted to operation mould by primary processor 1106 Formula.

Being converted to suspend mode and/or being converted to other modes from suspend mode may include multiple stages.For example, at one In embodiment, segment circuit 1100 is converted to suspend mode from operation mode with four-stage.First stage is in accelerometer 1122 the movement of surgical instruments is not detected within the first predetermined period after initiate.When first is predetermined Between after section, segment circuit 1100 weakens the brightness of the backlight of display segments 1102d.If in the second predetermined time Movement is not detected in section, safe processor 1104 is transitioned to second stage, and wherein the backlight of display segments 1102d is to close It closes.If movement is not detected within the third predetermined period, safe processor 1104 is transitioned to the phase III, Wherein the poll rate of accelerometer 1122 reduces.If movement is not detected within the 4th predetermined period, show Show that device section 1102d is deactivated, and segment circuit 1100 enters suspend mode.In the hibernation mode, except accelerometer 1122 it Outer all circuit sections and safe processor 1104 are all deactivated.Safe processor 1104 enters low-power mode, in the mode Under, 1104 poll accelerometers 1122 of safe processor.Safe processor 1104 monitors accelerometer 1122, until acceleration Until meter 1122 detects movement, at this point, segment circuit 1100 is converted to operation mould from suspend mode by safe processor 1104 Formula.

In some embodiments, moving past in advance really for surgical instruments 2000 only is detected in accelerometer 1122 In the case where fixed threshold value, segment circuit 1100 is converted to operation mode by 1104 ability of safe processor.Due to safe processor 1104 make a response the movement for being more than predetermined threshold value, so, it is collided when user stores surgical instruments 2000 Or in the case where moving surgical instruments, which prevents segment circuit 1100 to be converted to operation mode unintentionally.? In some embodiments, accelerometer 1122 is configured to the movement in monitoring multiple directions.For example, accelerometer 1122 can quilt The movement being configured in detection first direction and second direction.Safe processor 1104 monitors accelerometer 1122, when detecting When movement is above predetermined threshold value in the first direction and a second direction, segment circuit 1100 is changed from suspend mode To operation mode.Due to requiring movement to be at least above predetermined threshold value in two directions, so safe processor 1104 are configured to prevent from causing segment circuit 1100 unexpectedly to change from suspend mode due to movement subsidiary during storage To other modes.

In some embodiments, accelerometer 1122 is configured to detection first direction, second direction and third direction On movement.Safe processor 1104 monitors accelerometer 1122, and is configured to only when accelerometer 1122 is first When all detecting oscillating movement on direction, second direction and third direction, just segment circuit 1100 is converted to from suspend mode Other modes.In some embodiments, respectively along first direction, second direction and third direction oscillating movement correspond to by The movement that operator makes surgical instruments 2000, therefore when accelerometer 1122 is along three angle detecting oscillating movements, turn It is desired for changing to operation mode.

In some embodiments, as since the time detecting movement for the last time increase, by segment circuit 1100 also increase from the predetermined threshold value that suspend mode change required movement.For example, in some embodiments, Timer continues to run during suspend mode.As timer count increases, safe processor 1104 increases segment circuit 1100 are converted to the predetermined threshold value moved needed for operation mode.Safe processor 1104 can increase predetermined threshold value Greatly to the upper limit.For example, in some embodiments, segment circuit 1100 is converted to suspend mode by safe processor 1104, and And resetting timer.The predetermined threshold value of movement is initially set to lower value, it is only necessary to which surgical instruments 2000 carries out micro- Small movement is to change segment circuit 1100 from suspend mode.As since the time being converted to suspend mode (as led to Cross what timer measured) increase, the predetermined threshold value of the increase movement of safe processor 1104.At the T moment, safe processor Predetermined threshold value is increased to the upper limit by 1104.For institute's having time after T, predetermined threshold value is kept constant Limit value.

In some embodiments, one or more additional and/or alternative sensors are used to stop segment circuit 1100 Changed between sleep mode and operation mode.For example, in one embodiment, touch sensor is located at surgical instruments 2000 On.The touch sensor is connected to safe processor 1104 and/or primary processor 1106.The touch sensor is configured to detect The contact of user and surgical instruments 2000.For example, the touch sensor can be located at the shank of surgical instruments 2000, to operate Person detects when picking up surgical instruments 2000.It is being more than the predetermined period and accelerometer 1122 does not detect movement In the case of, segment circuit 1100 is converted to suspend mode by safe processor 1104.Safe processor 1104 monitors touch sensing Device, and segment circuit 1100 is converted to operation mould when touch sensor detects user with the contact of surgical instruments 2000 Formula.Touch sensor may include, for example, capacitive touch sensor, temperature sensor and/or any other suitable touches pass Sensor.In some embodiments, touch sensor and accelerometer 1122 can be used for device in suspend mode and operation mould Changed between formula.For example, when accelerometer 1122 does not detect movement and is touched in predetermined threshold period When sensor does not indicate that user and surgical instruments 2000 contact, device only can be converted to suspend mode by safe processor 1104. Those skilled in the art will recognize that one or more additional sensors can be used for segment circuit 1100 in suspend mode and Changed between operation mode.In some embodiments, when segment circuit 1100 is in suspend mode, touch sensor Only monitored by safe processor 1104.

In some embodiments, safe processor 1104 is configured to incite somebody to action when one or more shank controls are activated Segment circuit 1100 is converted to operation mode from suspend mode.It is converted to after suspend mode, for example, not because of accelerometer 1122 Movement is detected within the predetermined period after being converted to suspend mode, safe processor 1104 monitors one or more Shank control, for example, multiple joint motions switch 1158a to 1164b.In other embodiments, one or more shank controls Part includes, for example, clamping control 1166, release button 1168 and/or any other suitable shank control.Surgical instruments The actuatable one or more shank controls of 2000 operator, so that segment circuit 1100 is converted to operation mode.Work as safety When processor 1104 detects the actuating of shank control, safe processor 1104 makes segment circuit 1100 be started to change to operation mould Formula.Due to when shank control is activated, primary processor 1106 be it is inactive, therefore operator may be actuated shank control without Cause the respective action of surgical instruments 2000.

Figure 16 shows an embodiment of segment circuit 1900, which includes being configured to monitoring surgery device The accelerometer 1922 of the movement of tool (for example, surgical instruments 2000 shown in Fig. 1 to Fig. 3).Power section 1902 will be from electricity The power in pond 1908 is supplied to one or more circuit sections, for example, accelerometer 1922.Accelerometer 1922 is connected to processor 1906.Accelerometer 1922 is configured to the movement of monitoring surgical instruments 2000.Accelerometer 1922 is configured to generate and indicate Along one or more signals of the movement in one or more directions.For example, in some embodiments, accelerometer 1922 is by structure Cause monitoring surgical instruments 2000 along the movement in three directions.

In some cases, processor 1906 can be such as LM 4F230H5QR, be purchased from Texas Instruments.Processor 1906 is configured to monitoring accelerometer 1922, and segment circuit 1900 is converted to suspend mode mould Formula, for example, when movement is not detected within the predetermined period.In some embodiments, segment circuit 1900 is pre- First suspend mode is converted to after determining inactive time period.For example, being more than to predefine period and accelerometer In the case that 1922 do not detect movement, segment circuit 1900 is converted to suspend mode by safe processor 1904.In certain situations Under, accelerometer 1922 can be such as LIS331DLM, be purchased from STMicroelectronics. timer and processor 1906 signal communications.Timer can be integrally formed with processor 1906, and/or can be independent circuit block.Periodically Device be configured to since accelerometer 1922 detect surgical instruments 2000 move for the last time after to the current moment when Between counted.When counter is more than predetermined threshold value, segment circuit 1900 is converted to suspend mode mould by processor 1906 Formula.In some embodiments, whenever accelerometer 1922 detects movement, with regard to resetting timer.

In some embodiments, accelerometer 1922 is configured to detection impact event.For example, working as surgical instruments 2000 When falling, accelerometer 1922 will test the acceleration as caused by gravity in a first direction, then detect in second direction (as caused by being hit with floor and/or other surfaces) acceleration change.For another example, when the shock wall of surgical instruments 2000, add Speedometer 1922 will test acceleration peak value in one or more directions.Due to impact event can make it is mechanical and/or electrical Component fluffs, therefore when accelerometer 1922 detects impact event, processor 1906 can prevent the behaviour of surgical instruments 2000 Make.In some embodiments, only when impinging upon on predetermined threshold value, the operation of surgical instruments just will receive resistance Only.In some embodiments, all shocks all come under observation, and when accumulation impinges upon on predetermined threshold value, The operation of surgical instruments 2000 can be prevented.

Referring again to Fig. 5, in one embodiment, segment circuit 1100 includes power section 1102h.Power section 1102h It is configured to each circuit section to circuit section 1102a into 1102g and segment voltage is provided.Power section 1102h includes battery 1108.Battery 1108 is configured to provide predetermined voltage, for example, providing 12 volts of electricity via battery connector 1110 Pressure.One or more power converter 1114a, 1114b, 1116 are connected to battery 1108, to provide specific voltage.For example, In the shown embodiment, power section 1102h includes auxiliary switch converter 1114a, dc-dc converter 1114b and low voltage difference (LDO) converter 1116.Dc-dc converter 1114a, 1114b are configured to electric to 3.3 volts of one or more circuit blocks offer Pressure.LOD converter 1116 is configured to provide 5.0 volts of voltages to one or more circuit blocks.In some embodiments, function Rate section 1102h includes boost converter 1118.Transistor switch (e.g., N channel MOSFET) 1115 is connected to power converter 1114b,1116.Boost converter 1118 is configured to provide the increase being greater than by the provided voltage of battery 1108 (such as 13 volts) Voltage.Boost converter 1118 may include such as capacitor, inductor, battery, rechargeable battery, and/or increase electricity for providing Any other suitable converter of pressure.Boost converter 1118, which provides, increases voltage, to prevent in surgical instruments 2000 One or more circuit section 1102a occurs during power-intensive operation to the reduction of 1102g voltage or low power condition.However, These embodiments are not limited to the upper and lower voltage range described in the text of this specification.

In some embodiments, segment circuit 1100 is configured for sequentially starting.To next sequential circuit Before section 1102a to 1102g is powered, error checking is executed by each circuit section 1102a to 1102g.Figure 11 show for pair Segment circuit 1270, such as the embodiment of process that segment circuit 1100 is sequentially powered.When battery 1108 is connected to When segment circuit 1100, safe processor 1104 is powered (step 1272).Safe processor 1104 executes wrong self-test (step It is rapid 1274).(step 1276a) when errors are detected, safe processor stop to the power supply of segment circuit 1100 and generation error Code (step 1278a).When mistake is not detected (step 1276b), safe processor 1104 starts to primary processor 1106 It is powered (step 1278b).Primary processor 1106 executes wrong self-test.When mistake is not detected, primary processor 1106 starts pair Each remaining circuit section is sequentially powered (step 1278b).Each circuit section is powered, and carries out mistake by primary processor 1106 Erroneous detection is looked into.When mistake is not detected, (step 1278b) is powered to next circuit section.When errors are detected, safe handling Device 1104 and/or primary processor stop being powered to current segment, and generation error code (step 1278a).Continuation sequentially starts, Until circuit section 1102a to 1102g is all powered.In some embodiments, segment circuit 1100 is logical in similar sequence Changed after electric current journey 1250 from suspend mode.

Figure 12 shows an embodiment of power section 1502, which includes multiple daisy chain power converters 1514,1516,1518.Power section 1502 includes battery 1508.Battery 1508 is configured to offer source voltage, the electricity of such as 12V Pressure.Current sensor 1512 is connected to battery 1508, to monitor that segment circuit and/or the electric current of one or more circuit sections disappear Consumption.Current sensor 1512 is connected to FET switch 1513.Battery 1508 is connected to one or more electric pressure converters 1509, 1514,1516.Always the converter 1509 connected to one or more circuit blocks, such as motion sensor 1522 provide it is constant Voltage.Always the converter 1509 connected includes, for example, 3.3V converter.Always the converter 1509 connected can be to additional Circuit block, such as safe processor (not shown) provide constant voltage.Battery 1508 is connected to boost converter 1518.It rises Pressure converter 1518 is configured to provide the raising voltage being greater than by the provided voltage of battery 1508.For example, in shown embodiment party In case, battery 1508 provides the voltage of 12V.Boost converter 1518 is configured to the voltage being increased to 13V.Boost conversion Device 1518 is configured to maintain most in the operating process of surgical instruments (for example, surgical instruments 2000 shown in Fig. 1 to Fig. 3) Small voltage.The operation of motor can cause the power for being supplied to primary processor 1506 to fall below minimum threshold, and at main place It manages and generates voltage reduction or resetting situation in device 1506.Boost converter 1518 ensures have during the operation of surgical instruments 2000 Enough power can be used for primary processor 1506 and/or other circuit blocks, such as motor controller 1543.In some embodiment party In case, boost converter 1518 is directly coupled to one or more circuit blocks, for example, OLED display 1588.

Boost converter 1518 is connected to one or more buck converters, to provide lower than the electricity for increasing voltage level Pressure.First voltage converter 1516 is connected to boost converter 1518, and provides reduction to one or more circuit blocks Voltage.In the illustrated embodiment, first voltage converter 1516 provides the voltage of 5V.First voltage converter 1516 is connected to Rotary position encoder 1540.FET switch 1517 be connected in first voltage converter 1516 and rotary position encoder 1540 it Between.FET switch 1517 is controlled by processor 1506.Processor 1506 disconnects FET for example during power-intensive operation and opens 1517 are closed, thus rest position encoder 1540.First voltage converter 1516 is connected to second voltage converter 1514, this Two buck converters are configured to provide the second reduced voltage.Second reduced voltage includes, for example, the voltage of 3.3V.The Two electric pressure converters 1514 are connected to processor 1506.In some embodiments, boost converter 1518, first voltage conversion Device 1516 and second voltage converter 1514 are coupled with daisy chain configuration.Daisy chain configuration allows using smaller and more Efficient converter makes the voltage level generated lower than aforementioned raising voltage level.However, these embodiments are not limited to The upper and lower particular voltage range described in the text of this specification.

Figure 13 shows an embodiment of segment circuit 1600, which, which is configured to maximize, can be used for electricity The power of road and/or power-intensive function.Segment circuit 1600 includes battery 1608.Battery 1608 is configured to offer source electricity Pressure, such as the voltage of 12V.Source voltage is provided to multiple electric pressure converters 1609,1618.Always the electric pressure converter connected 1609 to one or more circuit blocks, for example, motion sensor 1622 and safe processor 1604 provide constant voltage.Begin The logical electric pressure converter 1609 of terminating is directly coupled to battery 1608.Always the electric pressure converter 1609 connected provides such as 3.3V Voltage.However, these embodiments are not limited to the upper and lower particular voltage range described in the text of this specification.

Segment circuit 1600 includes boost converter 1618.Boost converter 1618 is provided to be greater than and be provided by battery 1608 The raising voltage of source voltage (such as 13V).Boost converter 1618 is directly to one or more circuit blocks, for example, OLED is aobvious Show that device 1688 and motor controller 1643 provide and increases voltage.By the way that OLED display 1688 is directly coupled to boost converter 1618, segment circuit 1600 no longer needs dedicated for the power converter of OLED display 1688.Boost converter 1618 exists In one or more power-intensive operations such as cutting operation process of motor 1648, to motor controller 1643 and motor 1648 It provides and increases voltage.Boost converter 1618 is connected to buck converter 1616.Buck converter 1616 is configured to will be less than The voltage (such as 5V) for increasing voltage is supplied to one or more circuit blocks.Buck converter 1616 is connected to for example FET switch 1651 and position coder 1640.FET switch 1651 is connected to primary processor 1606.When segment circuit 1600 changes When to suspend mode, and/or during the power-intensive function of needing to send to additional voltage motor 1648, main place It manages device 1606 and disconnects FET switch 1651.Disconnecting FET switch 1651 deactivates position coder 1640, and eliminates position volume The power consumption of code device 1640.However, these embodiments are not limited to the upper and lower specific voltage model described in the text of this specification It encloses.

Buck converter 1616 is connected to converter,linear 1614.Converter,linear 1614 is configured to provide such as 3.3V Voltage.Converter,linear 1614 is connected to primary processor 1606.Converter,linear 1614 provides operation to primary processor 1606 Voltage.Converter,linear 1614 can be connected to one or more additional circuit blocks.However, these embodiments are not limited to this The upper and lower particular voltage range described in the text of specification.

Segment circuit 1600 includes relief switch 1656.Relief switch 1656 is connected to the relief door of surgical instruments 2000 On.Relief switch 1656 and safe processor 1604 are connected to and door 1619.Input is provided to FET switch 1613 with door 1619. When succouring the situation that switch 1656 detects that voltage reduces, relief switch 1656 provides relief shutdown signal to door 1619. When safe processor 1604 detects such as unsafe condition due to caused by sensor mismatch, safe processor 1604 to Shutdown signal is provided with door 1619.In some embodiments, relief both shutdown signal and shutdown signal is in normal operating It is all higher in journey and all lower when detecting that voltage reduces situation or unsafe condition.When with the output of door 1619 compared with When low, FET switch 1613 is to disconnect, and the operation of motor 1648 is prevented.In some embodiments, safe handling Motor 1648 is converted to the closed state under suspend mode using shutdown signal by device 1604.By the electric current for being connected to battery 1608 Sensor 1612 provides third input to FET switch 1613.Current sensor 1612 monitors the electric current consumed by circuit 1600, and And when detecting that electric current is greater than predetermined threshold value, FET switch 1613 is disconnected to close the power supply of motor 1648.FET Switch 1613 and motor controller 1643 are connected to one group and are configured to the FET switch 1645 that control motor 1648 operates.

Motor current sensor 1646 and 1648 coupled in series of motor, to provide motor current to current monitor 1647 Sensor reading.Current monitor 1647 is connected to primary processor 1606.Current monitor 1647 provides instruction motor 1648 The signal of current drain.Primary processor 1606 can utilize the signal from motor current 1647 to control the operation of motor, for example, To ensure the current drain of motor 1648 within the acceptable range, to by the current drain of motor 1648 and circuit 1600 One or more parameters of (such as position coder 1640) are compared, and/or one to determine therapentic part Or multiple parameters.In some embodiments, current monitor 1647 can be connected to safe processor 1604.

In some embodiments, one or more shank controls, such as the actuating of firing trigger, cause primary processor 1606 reduce the power for supplying one or more components when shank control is activated.For example, in one embodiment, percussion The firing schedule of trigger control cutting element.Cutting element is driven by motor 1648.The actuating of firing trigger causes motor The propulsion of 1648 forward direction operation and cutting element.During percussion, primary processor 1606 is closed FET switch 1651, from position Encoder 1640 removes power.The higher power of deactivated permission of one or more circuit blocks is sent to motor 1648.When hitting When hair trigger is released, total power is restored to deactivated component, for example, passing through closure FET switch 1651 and rest position Encoder 1640.

In some embodiments, safe processor 1604 controls the operation of segment circuit 1600.For example, safe processor 1604 sequences that can cause segment circuit 1600 are powered, segment circuit 1600 are converted to suspend mode and occur from suspend mode Transformation, and/or the one or more control signals for carrying out host processor 1606 can be covered.For example, in shown embodiment In, safe processor 1604 is connected to buck converter 1616.Safe processor 1604 passes through starting or deactivated buck converter 1616 control the operation of segment circuit 1600, to provide power to the rest part of segment circuit 1600.

Figure 14 shows an embodiment of power system 1700, which includes being configured to sequentially be powered Multiple daisy chain power converters 1714,1716,1718；Multiple daisy chain power converters 1714,1716,1718 can It is sequentially enabled from during suspend mode for example, by safe processor in initial power-up and/or transformation.Safe processor can It is powered by independent power converter (not shown).For example, in one embodiment, as cell voltage V_BATTIt is connected to power When system 1700 and/or accelerometer detect the movement under suspend mode, safe processor causes daisy chain power The sequence starting of converter 1714,1716,1718.Safe processor enables 13V boosting section 1718.Boosting section 1718 is powered and holds Row self-test.In some embodiments, boosting section 1718 includes integrated circuit 1720, which is configured to raising source electricity It presses and executes self-test.Diode D prevents 5V power-feed section 1716 from being powered, until self-test is completed and to two poles in boosting section 1718 Pipe D provides the instruction boosting unidentified signal to any mistake of section 1718.In some embodiments, it is mentioned by safe processor For the signal.However, these embodiments are not limited to the upper and lower particular voltage range described in the text of this specification.

5V power-feed section 1716 is sequentially powered after section 1718 of boosting.5V power-feed section 1716 executes certainly during energization Inspection, to identify any mistake in 5V power-feed section 1716.5V power-feed section 1716 includes integrated circuit 1715, and the integrated circuit is by structure Causing to provide reduces voltage (it is from raising voltage), and executes error checking.When mistake is not detected, 5V power-feed section 1716 completions sequence is powered, and provides enabling signal to 3.3V power-feed section 1714.In some embodiments, safe processor Enabling signal is provided to 3.3V power-feed section 1714.3.3V power-feed section includes integrated circuit 1713, which is configured to mention For the reduction voltage from 5V power-feed section 1716, and wrong self-test is executed during the energization.It is not examined when in process of self-test When measuring mistake, 3.3V power-feed section 1714 provides power to primary processor.Primary processor is configured to sequentially to each residue Circuit section power supply.Pass through the remainder power supply sequentially to power system 1700 and/or segment circuit, power system 1700 Risk of errors is reduced, the stability of voltage level is realized before applying load, and prevents all hardware with uncontrollable side Formula is switched on simultaneously and generates biggish current drain.However, these embodiments are not limited to institute in the context of this specification The particular voltage range stated.

In one embodiment, power system 1700 includes over-voltage identification and reduction circuit.Over-voltage identification and abatement electricity Road is configured to the monopole return current in detection surgical instruments, and interrupts when detecting monopole return current and come from power The power of section.The ground connection that over-voltage identification and reduction circuit are configured to identification power system is floated.Over-voltage identification and reduction circuit Including metal oxide varistor.Over-voltage identification and reduction circuit include at least a transient voltage suppressing diode.

Figure 15 shows an embodiment of the segment circuit 1800 including isolation control segment 1802.Isolation control section Section 1802 is isolated by the control hardware of segment circuit 1800 with the power segment (not shown) of segment circuit 1800.Control segment 1802 include, for example, primary processor 1806, safe processor (not shown) and/or additional control hardware, such as FET switch 1817.Power segment includes, for example, motor, motor driver and/or multiple motor MOSFET.It wraps isolation control segment 1802 Include charging circuit 1803 and the rechargeable battery 1808 for being connected to 5V power converter 1816.Charging circuit 1803 and rechargeable battery 1808 primary processor 1806 is isolated with power segment.In some embodiments, rechargeable battery 1808 is connected to safe handling Device and any additional support hardware.Control segment 1802 is isolated so that controlling segment 1802 (for example, main place with power segment Manage device 1806) holding activity when main power is removed, and filter is provided via rechargeable battery 1808, to keep away Exempt to control segment 1802 by influence of noise, also control segment 1802 is isolated with the fluctuation in cell voltage, to ensure It is operated normally when even if there are heavier motor load, and/or allows for segment circuit 1800 and use real time operating system (RTOS).In some embodiments, rechargeable battery 1808 is provided to primary processor reduces voltage, for example, the voltage of 3.3V.So And these embodiments are not limited to the upper and lower particular voltage range described in the text of this specification.

Figure 17 shows be used for segment circuit, such as segment circuit 1100 shown in Fig. 5 sequence starting process one A embodiment.When one or more sensors have caused the transformation from suspend mode to operation mode, sequence starting process 1820 start.(the step 1822) when one or more sensors stop detecting state variation, timer start (step 1824).Timer detects the mutual of the last movement/the last time and surgical instruments 2000 to one or more sensors Time at the time of effect to current time is counted.By such as safe processor 1104 by timer count and suspend mode The table in stage is compared (step 1826).When timer count is more than one or more for being converted to the suspend mode stage When a counting (step 1828a), safe processor 1104 stops (step 1830) of powering to segment circuit 1100, and will segmentation Circuit 1100 is converted to the corresponding suspend mode stage.(the step when timer count is lower than the threshold value in any suspend mode stage Rapid 1828b), segment circuit 1100 continues sequentially to next circuit section power supply (step 1832).

Referring again to Fig. 5, in some embodiments, segment circuit 1100 includes one or more environmental sensors, with Detect the inappropriate storage and/or processing of surgical instruments.For example, in one embodiment, segment circuit 1100 includes temperature Sensor.Temperature sensor is configured to the maximum and/or minimum temperature that detection segment circuit 1100 is exposed to.Surgical instruments 2000 and segment circuit 1100 include maximum and/or minimum temperature exposure design limit.It is more than when surgical instruments 2000 is exposed to It when the temperature of limit value, such as is more than maximum temperature during disinfection technology, temperature sensor detected exposure simultaneously Prevent the operation of device.Temperature sensor may include, for example, bimetal strip band, solid-state temperature sensor and/or any other conjunction Suitable temperature sensor, wherein bimetal strip band is configured to deactivate when being exposed to the temperature greater than predetermined threshold value outer Section's instrument 2000, and solid-state temperature sensor is configured to storage temperature data and provides temperature number to safe processor 1104 According to.

In some embodiments, accelerometer 1122 is configured to Environmental security sensor.Accelerometer 1122 records The acceleration that surgical instruments 2000 is subjected to.Acceleration greater than predetermined threshold value can indicate, for example, surgical instruments has fallen It falls.Surgical instruments includes peak acceleration tolerance.When accelerometer 1122 detects that acceleration is greater than peak acceleration tolerance, The operation of the prevention surgical instruments 2000 of safe processor 1104.

In one embodiment, segment circuit 1100 includes humidity sensor.Humidity sensor is configured to be segmented Circuit 1100 is indicated when being exposed to moisture.Humidity sensor may include, for example, be configured to surgical instruments 2000 Indicative immersion sensor when being totally submerged in cleaning liquid, is configured to the case where segment circuit 1100 is powered Under when moisture and segment circuit 1100 contact indicative humidity sensor and/or other any suitable humidity sensors Device.

In one embodiment, segment circuit 1100 includes Chemical exposure sensor.Chemical exposure sensor is constructed When contacted with harmfulness and/or hazardous chemical at instruction surgical instruments 2000.For example, during sterilisation step, It may have been used the improper chemicals for causing surgical instruments 2000 to deteriorate.Chemical exposure sensor can indicate that touch-safe is handled The improper chemicals of device 1104, so as to prevent the operation of surgical instruments 2000.

Segment circuit 1100 is configured to monitor multiple service life.For example, in one embodiment, battery 1108 wraps It includes and is configured to the circuit that monitoring service life counts.In some embodiments, safe processor 1104 is configured to monitor Service life counts.Service life may include the surgery event caused by surgical instruments, for example, making together with surgical instruments 2000 The quantity of axis 2004, by the quantity in the storehouse in insertion surgical instruments 2000 and/or the number in the storehouse disposed by the surgical instruments The percussion number of amount and/or surgical instruments 2000.In some embodiments, service life may include environment event, for example, Impact event is exposed to inappropriate storage condition and/or inappropriate chemicals, disinfection process, cleaning process, and/or repairs Resurgent journey.In some embodiments, service life may include replacement and/or the charge cycle of (PCC) power (e.g., battery pack).

Segment circuit 1100 can maintain total service life to count for the service life of all restrictions, and/or can needle Its respective service life is maintained to count the service life that one or more limits.For example, in one embodiment, segmentation Circuit 1100 can maintain used aloned cycle count for all surgery events caused by surgical instruments 2000, and for by outer Each environment event that section's instrument 2000 is subjected to maintains its respective service life to count.Service life is counted for constraining segmentation One or more behaviors of circuit 1100.For example, when detecting service life quantity more than predetermined threshold value or being exposed to When inappropriate environment event, service life counting can be used for disabling segment circuit 1100, for example, passing through disabling battery 1108. In some embodiments, service life is counted for it is necessary to implement the suggestion services and/or pressure of surgical instruments 2000 It is indicated when service.

Figure 18 shows an embodiment of the method 1950 for controlling surgical instruments, which includes segmentation Circuit, sectional control circuit 1602 shown in such as Figure 12.At step 1952, (PCC) power 1608 is connected to surgery device Tool.(PCC) power 1608 may include any suitable battery, for example, (PCC) power 2006 shown in Fig. 1 to Fig. 3.Power packages Part 1608 is configured to provide source voltage to sectional control circuit 1602.Source voltage may include any suitable voltage, for example, The voltage of 12V.At step 1954, (PCC) power 1608 powers to boost converter 1618.Boost converter 1618 is constructed Voltage is set at providing.Setting voltage includes the voltage greater than the source voltage as provided by (PCC) power 1608.For example, some In embodiment, setting voltage includes the voltage of 13V.In third step 1956,1618 pairs of one or more of boost converter Pressure regulator power supply, to provide one or more operation voltages to one or more circuit blocks.Operate voltage include be less than by The voltage of setting voltage provided by boost converter.

In some embodiments, boost converter 1618, which is connected to, is configured to provide the first tune of the first operation voltage Depressor 1616.The setting voltage provided by boost converter is less than by the first operation voltage that the first pressure regulator 1616 provides.Example Such as, in some embodiments, the first operation voltage includes the voltage of 5V.In one embodiment, boost converter couples To the second pressure regulator 1614.Second pressure regulator 1614 is configured to provide the second operation voltage.Second operation voltage includes being less than Set the voltage of voltage and the first operation voltage.For example, in some embodiments, the second operation voltage includes the electricity of 3.3V Pressure.In some embodiments, battery 1608, boost converter 1618, the first pressure regulator 1616 and second voltage converter 1614 are configured to daisy chain configuration.Battery 1608 provides source voltage to boost converter 1618.Boost converter 1618 will Source voltage is increased to setting voltage.Boost converter 1618 provides setting voltage to the first pressure regulator 1616.First pressure regulator 1616 generate the first operation voltage, and provide the first operation voltage to the second pressure regulator 1614.Second pressure regulator 1614 generates Second operation voltage.

In some embodiments, one or more circuit blocks are directly powered by boost converter 1618.For example, one In a little embodiments, OLED display 1688 is directly coupled to boost converter 1618.Boost converter 1618 is shown to OLED Device 1688 provides setting voltage, without require that OLED has integral type power generator in it.In some embodiments, Processor, for example, the verifying of safe processor 1604 shown in Fig. 5 is by boost converter 1618 and/or one or more pressure regulation The voltage that device 1616,1614 provides.Safe processor 1604 is configured to verifying by each boost converter 1618 and pressure regulator 1616,1614 voltages provided.In some embodiments, the verifying of safe processor 1604 setting voltage.When setting voltage etc. When the first predetermined value, safe processor 1604 powers to the first pressure regulator 1616.Safe processor 1604 The first operation voltage that verifying is provided by the first pressure regulator 1616.When the first operation voltage is predetermined equal to or more than second When value, safe processor 1604 powers to the second pressure regulator 1614.Then, second operation of the verifying of safe processor 1604 voltage. When the second operation voltage is equal to or more than third predetermined value, safe processor 1604 is remaining to segment circuit 1600 Each circuit block power supply.

The various aspects of theme described herein are related to controlling surgery device by segment circuit and variable voltage safeguard measure The method of the power management of tool.In one embodiment, providing control surgical instruments, (surgical instruments includes main process task Device, safe processor and segment circuit, the segment circuit include multiple circuit sections that signal communication is carried out with main process task processor, Multiple circuit sections include power section) in power management method, this method includes providing each section variable voltage by power section Control.In one embodiment, it is that at least one segment voltage mentions that this method, which includes by including the power section of boost converter, For power stability.This method also includes providing power stability from boost converter to primary processor and safe processor.It should Method also includes the power consumption independently of multiple circuit sections, is provided from boost converter to primary processor and safe processor big In the constant voltage of predetermined threshold value.This method also includes by the list in over-voltage identification and reduction circuit detection surgical instruments Pole return current, and the power from power section is interrupted when detecting monopole return current.This method also includes by over-voltage The ground connection of identification and reduction circuit identification power system is floated.

In another embodiment, this method also includes sequentially being supplied by power section each of multiple circuit sections Electricity, and error checking is carried out to each circuit section before to the power supply of sequential circuit section.This method also includes by being connected to function The power source of rate section powers to safe processor, executes error checking by safe processor when safe processor is powered, and Operation is executed when mistake is not detected during error checking and is powered to safe processor, primary processor.This method is also wrapped It includes and error checking is executed by primary processor when primary processor is powered, and wherein when mistake is not detected during error checking When, it is sequentially powered by primary processor to each of multiple circuit sections.This method also includes by primary processor to multiple electricity Each of section carries out error checking.

In another embodiment, this method includes by boost converter when power source is connected to power section to safety Processor power supply, executes error checking by safe processor, and when mistake is not detected during error checking, by safety Processor powers to primary processor.This method also includes error checking being executed by primary processor, and work as during error checking When mistake is not detected, sequentially powered to each of multiple circuit sections by primary processor.This method also includes by main It manages device and error checking is carried out to each of multiple circuit sections.

In another embodiment, this method also includes providing segment voltage from power section to primary processor, is each Section provides variable voltage protection, from boost converter at least one of segment voltage, over-voltage identification and reduction circuit Power stability is provided, is sequentially powered by power section to each of multiple circuit sections, and is supplied to sequential circuit section Error checking is carried out to each circuit section before electricity.

The various aspects of theme described herein are related to the method that control has the surgical instruments control circuit of safe processor. In one embodiment, providing control surgical instruments, (surgical instruments includes control circuit, which includes main place It manages device, carry out the safe processor and segment circuit of signal communication with primary processor, which includes and primary processor Carry out multiple circuit sections of signal communication) method, this method include monitored by safe processor one of multiple circuit sections or Multiple parameters.This method also include one or more parameters of multiple circuit sections are verified by safe processor, and independently of by The one or more that primary processor generates controls signals and verifies one or more of parameters.This method further includes by safe place Manage the speed of device verifying cutting element.This method also includes by the first property of first sensor monitoring surgical instruments, by second The second quality of sensor monitoring surgical instruments, wherein the first property and the second quality include predetermined relationship, and its Middle first sensor and second sensor and safe processor carry out signal communication.This method also include when failures are detected, The operation of at least one of multiple circuit sections is prevented by safe processor, wherein failure includes to have with predetermined relationship not The first property and the second quality of consistent value.This method also include by hall effect sensor monitor cutting element position, and And motor current is monitored by motor current sensor.

In another embodiment, this method includes when the verifying for detecting one or more parameters and by primary processor When one or more mismatches controlled between signals of generation, at least one of multiple circuit sections electricity is disabled by safe processor Section.This method also includes the operation of motor segment being prevented by safe processor, and interrupt the power from power section to motor segment Stream.This method also includes preventing the forward direction of motor segment from operating by safe processor, and allow when failures are detected by safety Processor commutates to the operation of motor segment.

In another embodiment, segment circuit includes motor segment and power section, and this method includes being controlled by motor segment One or more mechanically actuateds of surgical instruments, and monitor by safe processor one or more parameters of multiple circuit sections. This method also includes one or more parameters of multiple circuit sections being verified by safe processor, and produce independently of by primary processor Raw one or more control signals, one or more of parameters are independently verified by safe processor.

In another embodiment, this method also includes that the speed of cutting element is independently verified by safe processor. This method also includes by the first property of first sensor monitoring surgical instruments, by the second of second sensor monitoring surgical instruments Property, wherein the first property and the second quality include predetermined relationship, and wherein first sensor and second sensor Signal communication is carried out with safe processor, wherein failure includes the first property with the value inconsistent with predetermined relationship And the second quality, and when safe processor detects failure, at least one in multiple circuit sections is prevented by safe processor The operation of a circuit section.This method also includes monitoring cutting element position by hall effect sensor, and passed by motor current Sensor monitors motor current.

In another embodiment, this method includes when the verifying for detecting one or more parameters and by primary processor When one or more mismatches controlled between signals of generation, at least one of multiple circuit sections electricity is disabled by safe processor Section.This method also includes the operation of motor segment being prevented by safe processor, and interrupt the power from power section to motor segment Stream.This method also includes the forward action that motor segment is prevented by safe processor, and when failures are detected, is allowed by safety Processor commutates to the operation of motor segment.

In another embodiment, this method includes that one or more ginsengs of multiple circuit sections are monitored by safe processor Number, one or more parameters of multiple circuit sections are verified by safe processor, are produced by safe processor independently of by primary processor Raw one or more controls signals and verifies one or more of parameters, and works as and detect testing for one or more parameters When card and the one or more mismatches controlled between signals generated by primary processor, disabled in multiple circuits by safe processor At least one.This method also includes being monitored by second sensor outer by the first property of first sensor monitoring surgical instruments The second quality of section's instrument, wherein the first property and the second quality include predetermined relationship, and wherein first sensor Signal communication is carried out with second sensor and safe processor, wherein failure includes with inconsistent with predetermined relationship The first property and the second quality of value, and wherein when failures are detected, it is prevented in multiple circuit sections by safe processor The operation of at least one circuit section.This method also includes when failures are detected, being sent to motor segment by interrupting from power section Power flow, thus by safe processor prevent motor segment operation.

The various aspects of theme described herein are related to the snooze option by segment circuit and wake up control to control surgery The method of the power management of instrument, the surgical instruments include control circuit, which includes primary processor and primary processor The safe processor and segment circuit of signal communication are carried out, which includes carrying out signal communication with primary processor Multiple circuit sections, multiple circuit sections include power section, and this method includes by safe processor by primary processor and multiple circuit sections In at least one circuit section be converted to suspend mode from activity pattern, and be converted to activity pattern from suspend mode.The party Method also includes by timer tracking since the last one terminates the time to the current moment by the event that user causes, and wherein When it is described since the last one by user cause event terminate to the current moment time be more than predetermined threshold value when, by At least one of primary processor and multiple circuits are converted to suspend mode by safe processor.This method also includes by acceleration One or more movements of section (including accelerometer) detection surgical instruments.This method includes being tracked by timer since acceleration Section detects that last time movement terminates to arrive the time at current moment.This method also includes when multiple circuit sections are converted to suspend mode mould When formula, acceleration section is maintained in an active mode by safe processor.

In another embodiment, this method is also included within multiple transition stages to suspend mode.This method also includes Segment circuit is converted to the first stage after the first predetermined period and keeps the backlight of display segments dimmed, Segment circuit is converted to second stage and closes backlight after two predetermined periods, in the third predetermined period Segment circuit is converted to the phase III later and reduces the poll rate of accelerometer, after the 4th predetermined period Segment circuit is converted to fourth stage and closes display, and surgical instruments is converted to suspend mode.

In another embodiment, this method includes the contact by touch sensor detection user with surgical instruments, and And when touch sensor detects contact of the user with surgical instruments, by safe processor by primary processor and multiple circuit sections Activity pattern is converted to from suspend mode.This method also includes at least one shank control being monitored by safe processor, and work as When at least one shank control is activated, primary processor and multiple circuit sections are converted to work from suspend mode by safe processor Dynamic model formula.

In another embodiment, this method includes when accelerometer detects that the movement of surgical instruments is greater than in advance really When fixed threshold value, surgical device is converted to activity pattern by safe processor.This method also includes being monitored by safe processor Accelerometer at least first direction and second direction movement, and when at least first direction and second direction detecting fortune When moving greater than predetermined threshold value, surgical instruments is converted to operation mode from suspend mode by safe processor.This method Also include by safe processor monitoring accelerometer in a first direction, second direction and third direction be greater than predetermined threshold value Oscillating movement, and ought in a first direction, second direction and third direction detect that oscillating movement is greater than predetermined threshold When value, surgical instruments is converted to operation mode from suspend mode by safe processor.This method also includes in the past primary Movement terminates to the time at current moment to increase, and increases predetermined threshold value.

In another embodiment, this method includes when since the last one is terminated by the event that user causes to current When the time at moment is more than predetermined threshold value, by safe processor by least one of primary processor and multiple circuit sections Circuit section is converted to suspend mode from activity pattern and is converted to activity pattern from suspend mode, and is tracked by timer Since acceleration section detects that last time movement terminates the time to the current moment, when acceleration section detects surgical instruments When movement is greater than predetermined threshold value, surgical device is converted to activity pattern by safe processor.

In another embodiment, the method for controlling surgical instruments includes tracking since the last one is caused by user Event terminates the time to the current moment, and when since the last one by user cause event terminate to the current moment when Between be more than predetermined threshold value when, by safe processor disabling display backlight.This method also includes by safe handling Device flashes the backlight of display to prompt user to watch display.

The various aspects of theme described herein are related to verifying the Disinfection Status of surgical instruments by disinfection verifying circuit Method, the surgical instruments include control circuit, which includes primary processor, the peace with primary processor progress signal communication Full processor and segment circuit, the segment circuit include multiple circuit sections that signal communication is carried out with primary processor, Duo Ge electricity Section includes storage verifying section, and this method, which is included in after surgical instruments is correctly stored and sterilized, to be indicated.This method Including by the one or more incorrect storages of at least one sensor detection or disinfection parameter.This method also includes by Anti-fall Sensor is sensed when instrument has been fallen, and when Anti-fall sensor detects that surgical instruments has been fallen, by safety Processor prevents the operation of at least one circuit section in multiple circuit sections.This method also includes when temperature sensor detects temperature When degree is greater than predetermined threshold value, the operation of at least one circuit section in multiple circuit sections is prevented by safe processor.It should Method also includes preventing multiple circuits by safe processor when temperature sensor detects that temperature is greater than predetermined threshold value The operation of at least one circuit section in section.

In another embodiment, this method includes when moisture detection sensor detects moisture, by safe handling Device controls the operation of at least one circuit section in multiple circuit sections.This method also includes detecting high pressure by moisture detection sensor Kettle circulation, and in the case where autoclave cycle is not detected, the operation of surgical instruments is prevented by safe processor.This method It also include that at least one in multiple circuit sections is prevented by safe processor when detecting moisture in stage circuit start-up course The operation of a circuit section.

In one embodiment, this method include when surgical instruments is correctly sterilized, by multiple circuit sections (including Disinfection verifying section) it is indicated.This method also includes disappearing by least one sensor detection surgical instruments of disinfection verifying section Malicious situation.This method also includes being indicated when surgical instruments is correctly stored by storage verifying section.This method is also wrapped It includes by the incorrect memory state of at least one sensor detection surgical instruments of storage verifying section.

During the complete disclosure of following patent is hereby incorporated by reference:

The U.S. for being published in entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " on April nineteen ninety-five 4 is special Benefit 5,403,312；

It is published on 2 21st, 2006 entitled " SURGICAL STAPLING INSTRUMENT HAVING The United States Patent (USP) 7,000,818 of SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS "；

It is published on September 9th, 2008 entitled " MOTOR-DRIVEN SURGICAL CUTTING AND The United States Patent (USP) 7,422,139 of FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK "；

It is published in entitled " the ELECTRO-MECHANICAL SURGICAL INSTRUMENT on December 16th, 2008 The United States Patent (USP) 7,464,849 of WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS "；

It is published in entitled " the SURGICAL INSTRUMENT HAVING AN ARTICULATING on March 2nd, 2010 The United States Patent (USP) 7,670,334 of END EFFECTOR "；

It is published in the United States Patent (USP) of entitled " the SURGICAL STAPLING INSTRUMENTS " on July 13rd, 2010 7,753,245；

It is published in entitled " the SELECTIVELY ORIENTABLE IMPLANTABLE on March 12nd, 2013 The United States Patent (USP) 8,393,514 of FASTENER CARTRIDGE "；

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES " It please sequence number 11/343,803；

It is filed on 2 14th, 2008 entitled " SURGICAL CUTTING AND FASTENING INSTRUMENT The U.S. Patent Application Serial Number 12/031,573 of HAVING RF ELECTRODES "；

It is filed on 2 15th, 2008 entitled " END EFFECTORS FOR A SURGICAL CUTTING AND The U.S. Patent Application Serial Number 12/031,873 (being now United States Patent (USP) 7,980,443) of STAPLING INSTRUMENT "；

The U.S. Patent Application Serial Number of entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " 12/235,782 (being now United States Patent (USP) 8,210,411)；

Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY The U.S. Patent Application Serial Number 12/249,117 of RETRACTABLE FIRING SYSTEM " (is now U.S. Patent Application Publication 2010/0089970)；

It is filed in entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT on December 24th, 2009 The U.S. Patent Application Serial Number 12/ of WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY " 647,100；

It is filed in the U.S. Patent Application Serial Number 12/ of on September 29th, 2012 entitled " STAPLE CARTRIDGE " 893,461 (being now U.S. Patent Application Publication 2012/0074198)；

It is filed in the United States Patent (USP) Shen of on 2 28th, 2011 entitled " SURGICAL STAPLING INSTRUMENT " It please sequence number 13/036,647 (being now U.S. Patent Application Publication 2011/0226837)；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT The U.S. Patent Application Serial Number 13/118,241 of ARRANGEMENTS " (is now U.S. Patent Application Publication 2012/ 0298719)；

It is filed in entitled " the ARTICULATABLE SURGICAL INSTRUMENT on June 15th, 2012 The U.S. Patent Application Serial Number 13/524,049 of COMPRISING A FIRING DRIVE "；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,025 of SYSTEM "；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,067 of SYSTEM "；

It is filed in entitled " the SURGICAL CUTTING AND FASTENING INSTRUMENT on January 31st, 2006 The U.S. Patent Application Publication 2007/0175955 of WITH CLOSURE TRIGGER LOCKING MECHANISM "；And

It is filed in entitled " the SURGICAL STAPLING INSTRUMENT WITH AN on April 22nd, 2010 The U.S. Patent Application Publication 2010/0264194 of ARTICULATABLE END EFFECTOR ".

According to various embodiments, surgical instruments as described herein may include the one or more for being connected to various sensors Processor (for example, microprocessor, microcontroller).In addition, storage (there is operation logic) and communication interface and one or more Processor is coupled to each other.

As previously mentioned, sensor can be configured to detect and collect data associated with surgical device.At processor It manages from the received sensing data of sensor.

Processor can be configured to execute operation logic.Processor can be at multiple single or multiple cores as known in the art Manage any of device.Storage device may include be configured to storage operation logic permanent and interim (work) copy it is volatile Property and non-volatile memory medium.

In various embodiments, it is collected associated with the exercise data of user to can be configured to processing for operation logic Biometric data, as described above.In various embodiments, operation logic can be configured to execute initial treatment, and And the computer of managed application is transferred data to determine and generate instruction.For these embodiments, operation logic It can be further constructed to receive information from trustship computer and provide it feedback.In alternative embodiment, operation Logic can be configured to play the part of prior role in receiving information and determining feedback.In either case, either It is independently determined or in response to the instruction from trustship computer, and operation logic can be further constructed to control feedback simultaneously Feedback is provided to user.

In various embodiments, operation logic can by the instruction that the instruction set architecture (ISA) of processor is supported Lai Implement, or is implemented with more advanced language, and be compiled into supported ISA.Operation logic may include that one or more is patrolled Collect unit or module.Operation logic can be implemented in a manner of object-oriented.Operation logic can be configured to multitask side Formula and/or multithreading execute.In other embodiments, operation logic can be implemented in hardware (such as gate array).

In various embodiments, communication interface can be configured to be conducive to logical between peripheral equipment and computing system Letter.The communication may include by collected with position, the associated biometric data of posture and/or user's body part Mobile data is transmitted to trustship computer, and data associated with touch feedback are transmitted to periphery from master computer and are set It is standby.In various embodiments, communication interface can be wired or wireless communication interface.The example of wired communication interface may include but It is not limited to universal serial bus (USB) interface.The example of wireless communication interface may include but be not limited to blue tooth interface.

For various embodiments, processor can be packaged together with operation logic.In various embodiments, processor It can be packaged together with operation logic to form system in package (SiP).In various embodiments, processor can be identical naked On piece integrates together with operation logic.In various embodiments, processor can be packaged together to form piece with operation logic Upper system (SoC).

Various embodiments can be described in the general background of computer executable instructions herein, the calculating Machine executable instruction such as software, program module, and/or the engine just executed by processor.In general, software, program mould Block, and/or engine include being arranged to any software element for executing specific operation or realizing particular abstract data type.It is soft Part, program module, and/or engine may include routines performing specific tasks or implementing specific abstract data types, program, right As, component, data structure etc..The specific implementation of software, program module, and/or engine components and technology is storable in certain shape It is transmitted on the computer-readable medium of formula and/or by some form of computer-readable medium.In this regard, computer Readable medium can be any usable medium that can be used for storing information and can be accessed by calculating equipment.Some embodiments may be used also To practice in a distributed computing environment, in the distributed computing environment, operation is by be linked through a communication network one Or multiple remote processing devices execute.In a distributed computing environment, it includes depositing that software, program module, and/or engine, which can be located at, In local and remote computer storage media including reservoir storage equipment.Memory (such as random access memory can be used (RAM) or other dynamic storage devices) store information and the instruction to be executed by processor.Memory can also be used to hold Temporary variable or other average informations are stored during instruction of the row to be executed by processor.

Although some embodiments can be illustrated and described as includes that functional component, software, engine, and/or execution are each The module of kind of operation, but it is to be understood that this base part or module can by one or more hardware componenies, software component and/ Or their combination is realized.Functional component, software, engine, and/or module can by (for example) to by logical device (for example, processing Device) logic (for example, instruction, data, and/or code) that executes realizes.This logic is storable in positioned at one or more classes Inside or outside logical device on the computer readable storage medium of type.In other embodiments, functional component is such as soft Part, engine, and/or module can be realized that the hardware element may include processor, microprocessor, circuit, circuit by hardware element Element (for example, transistor, resistor, capacitor, inductor etc.), specific integrated circuit (ASIC), may be programmed and patrol integrated circuit Volume equipment (PLD), digital signal processor (DSP), field programmable gate array (FPGA), logic gate, register, semiconductor are set Standby, chip, microchip, chipset, etc..

The example of software, engine, and/or module may include software component, program, application, computer program, using journey Sequence, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, Process, software joint portion, application program joint portion (API), instruction set, calculation code, computer code, code snippet, calculating Machine code snippet, word, value, symbol or any combination of them.Determine whether embodiment uses hardware element and/or software Element can change to realize according to any amount of factor, all computation rates as desired of these factors, power level, thermal capacitance Difference, processing cycle budget, input data rate, output data rate, memory resource, data bus speed and other designs Or performance constraints.

One or more of module as described herein may include being embodied as firmware, software, hardware or their any group One or more built-in application programs of conjunction.One or more of module as described herein may include various executable moulds Block, software, procedure, data, driver, application programming interfaces (API) etc..Firmware be storable in controller 2016 and/or Controller 2022 may include such as bit mask read-only memory (ROM) or sudden strain of a muscle in the memory of nonvolatile memory (NVM) In fast memory.In various specific implementations, firmware, which is stored in the ROM, can protect flash memory.Nonvolatile memory It (NVM) may include other kinds of memory, including such as programming ROM (PROM), erasable programmable ROM (EPROM), electricity Erasable programmable ROM (EEPROM) or battery backed random access memory (RAM), such as dynamic ram (DRAM), even numbers According to rate DRAM (DDRAM) and/or synchronous dram (SDRAM).

In some cases, various embodiments can be realized as article of manufacture.The article of manufacture may include being arranged It is deposited for storage for executing logic, instruction and/or the computer-readable of data of the various operations of one or more embodiments Storage media.In various embodiments, for example, the product may include disk, CD, flash memories or firmware, these systems Product contain the computer program instructions for being suitable for being executed by general processor or application specific processor.However, embodiment and not only It is limited to this.

Various functional elements, logical block, module and the circuit element described in conjunction with embodiments disclosed herein Function can be implemented in the general environment of computer executable instructions, such as by processing unit execute software, control module, patrol Volume, and/or logic module.In general, software, control module, logic, and/or logic module are specific including being arranged to execute Any software element of operation.Software, control module, logic, and/or logic module may include executing particular task or implementing special Determine routine, programs, objects, component, the data structure etc. of abstract data type.Software, control module, logic, and/or logic mould The specific implementation of block and technology is storable on some form of computer-readable medium and/or by some form of meter The transmission of calculation machine readable medium.In this regard, computer-readable medium, which can be, can be used for storing information and can be visited by calculating equipment Any usable medium asked.Some embodiments can also be practiced in a distributed computing environment, in the distributed computing ring In border, operation is executed by the one or more remote processing devices being linked through a communication network.In a distributed computing environment, soft Part, control module, logic, and/or logic module can be located at the local and remote computer including memory storage device In storage medium.

In addition, it should be understood that the embodiment described herein illustrates exemplary specific implementation, and functional element, Logical block, module and circuit element can be implemented with the consistent various other modes of the embodiment.In addition, by this class The operation that functional element, logical block, module and circuit element execute can combine and/or separate for given specific reality It applies, and can be executed by greater number or lesser amount of component or module.As those skilled in the art are reading the disclosure Apparent to later, each of independent embodiment described and illustrated herein has discrete parts and feature, not Under the premise of the scope of the present disclosure, feature that the component and feature can easily with any aspect in other several aspects Separately or in combination.It can logically possible sequence executes any side by the sequence of the event or by any other Method.

It is worth noting that, any mean to combine embodiment to referring to for " embodiment " or " embodiment " The a particular feature, structure, or characteristic includes at least one embodiment.Occur everywhere in the description phrase " In one embodiment " or " in one aspect " might not be all referring to identical embodiment.

Unless stated otherwise, it should be understood that term " processing ", " operation ", " calculating ", " determination " etc. are Refer to the movement and/or process of computer or computing system or similar computing electronics, the computing electronics are such as general Processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic, discrete hardware components or it Any combination, be designed to manipulate the object being expressed as in register and/or memory to execute function as described herein It the data of reason amount (for example, electronics) and/or converts thereof into and is similarly expressed as memory, register or other such letters Cease the other data of physical quantity in storage device, transmission device or display device.

It is worth noting that, expression " connection " and " connection " and their derivative words can be used to retouch for some embodiments It states.Being not intended to these terms is synonym for each other.For example, term " connection " and/or " connection " can be used in some embodiments It describes, to indicate that two or more elements are in direct physical contact with each other or are in electrical contact.However, term " connection " can also refer to Two or more elements do not contact not instead of directly each other, are fitted to each other or interact.For software element, for example, Term " connection " can refer to interface, message interface, application programming interfaces (API), exchange message etc..

It should be appreciated that any patent being incorporated herein by reference, publication or other public materials, nothing By being full text or part, the definition only provided in incorporated material and the disclosure, statement or other public materials are not rushed It is incorporated herein in prominent range.Therefore, at the necessary level, the disclosure being expressly recited herein substitutes by reference simultaneously Enter any conflict material of this paper.It is said that be herein incorporated by reference but with existing definition as described herein, statement or other Conflicting any material of public material or part thereof, does not only generate punching between the incorporated material and the existing public material It is incorporated herein under prominent degree.

Disclosed embodiments of the present invention are applied to conventional endoscopy and open surgical instrument and application In the operation of robot assisted.

The embodiment of apparatus as disclosed herein may be designed as abandoning using after single, be also designed to for repeatedly making With.In the case that any of the above-described or when two kinds, these embodiments can all be repaired, to make again using after at least once With.Reparation may include any combination of following steps: then provision for disengagement is cleaned or is replaced specific component and then carries out again Assembling.In particular, can be with the embodiment of provision for disengagement, and optionally replace or remove in any combination Any number of specific component or component of device.When cleaning and/or replacing particular elements, the embodiment of described device can It re-assemblies in restoration facilities or is re-assemblied immediately before surgery by surgical team for then using. It dismantled it will be understood by those skilled in the art that device reparation can use multiple technologies, clean/replace and group again Dress.The device that the use of these technologies and gained are repaired again is within the scope of application.

Only by way of example, the embodiment described herein can be handled before surgical operation.It is possible, firstly, to New or used instrument is obtained, and is cleaned as needed.Then, it can carry out disinfection to instrument.In a kind of disinfection skill In art, which is placed in the container of closure and sealing, such as in plastics or TYVEK bag.It then can be by container and instrument It is placed in the radiation field that can penetrate the container, such as γ radiation, X-ray or high energy electron.Radiation can kill on instrument and container In bacterium.Instrument after disinfection can be then stored in sterile chamber.Sealing container can keep instrument to be in sterile shape State, until opening the container in medical facilities.Any other technology known in the art also can be used to sterilize device, packet Include but be not limited to β radiation or γ radiation, ethylene oxide or steam.

It will be recognized by those skilled in the art, component part as described herein (for example, operation), device, object and it The discussion that is appended be to be used as example for the sake of clear concept, and be contemplated that a variety of configuration modifications.Therefore, such as Used herein, the specific example of elaboration and the discussion of accompanying are intended to represent their more generally classifications.In general, any specific example Use be intended to represent its classification, and concrete composition part (for example, operation), device and object are not included in part and should not be adopted Take limitation.

For substantially any plural number used herein and/or singular references, those skilled in the art can turn from plural number It changes odd number into and/or pluralizes from odd number conversion, as long as being suitable for context and/or application.For clarity, various Singular/plural displacement is not stated clearly herein.

Theme as described herein elaborates to include the different components in other different components or portion different from other sometimes The different components of part connection.It should be appreciated that the framework described in this way is only example, and realization in fact can be implemented and obtain phase Many other frameworks of congenerous.On conceptual sense, any arrangement for obtaining the component of same functionality all has It imitates " associated ", thus the functionality needed for obtaining.Therefore, herein combined for acquisition particular functionality What two component can all be considered as " associated " each other, thus the functionality needed for obtaining, regardless of structure or intermediate module are such as What.Equally, any two component being so connected can also be considered as " being operatively connected " each other or " operatively coupling ", to obtain Required functionality, and any two component that can be so connected can all be considered as " being operatively coupled " each other, to obtain Obtain required functionality.The specific example being operatively coupled include but is not limited to can Physical Match and/or physics interaction group Part and/or wireless interactive and/or wireless interactive component and/or logic interactive mode and/or logic interactive component.

Expression " connection " and " connection " and their derivative words can be used to describe in some aspects.It should be appreciated that simultaneously Being not intended to these terms is synonym for each other.For example, some aspects can use term " connection " to describe, with indicate two or More elements are in direct physical contact with each other or are in electrical contact.In another example, term " connection " can be used to come for some aspects Description, to indicate two or more element direct physical contacts or electrical contact.However, term " connection " can also refer to two or More elements do not contact not instead of directly each other, are fitted to each other or interact.

In some cases, one or more components be referred to alternatively as herein " being configured to ", " can be configured to ", " can operate/operationally ", " be suitble to/being suitable for ", " energy ", " adapt to/be suitble to " etc..It will be appreciated by those skilled in the art that Unless context indicates otherwise, it otherwise " is configured to " usually cover the component of active state and/or the component of inactivated state The component of component and/or standby mode.

Although having shown and described the particular aspects of invention as described herein theme, to the technology of this field Personnel are evident that, are based on teaching herein, can be made in the case where not departing from theme as described herein change and Modification, and such as in the true scope of theme as described herein, broader aspect and therefore appended claims are by institute There is such change and modification includes within its scope.It will be understood by those of skill in the art that in general, herein especially with Term used in attached claim (for example, text of appended claims) is typically aimed at as open to the outside world term (for example, art Language " comprising " should be interpreted that " including but not limited to " term " having " should be interpreted that " at least having " that term "comprising" should be explained For " including but not limited to " etc.).Those skilled in the art is also understood that the specific number when the narration of introduced claim It is when being expected, then such to be intended to clearly to describe in the claims, and in the case where such narration is not present, There is no such intentions.For example, following appended claims can be containing to introductory phrase "at least one" to help to understand The use of " one or more " is to introduce claim narration.However, being not construed as implying to the use of such phrase logical Cross indefinite article "one" or "an" introduce claim narration will be containing any specific of such introducing claim narration Claim is limited in the claim containing narration as only one, or even when same claim includes introductory short Language " one or more " or "at least one" and such as "one" or "an" are (for example, "one" and/or "an" should usually solve Be interpreted as meaning "at least one" or " one or more ") indefinite article when；This is also applied for chatting to for introducing claim The use for the definite article stated.

In addition, even if those skilled in the art should when clearly narration introduces the given number of claim narration It recognizes, the number that this narration generally should be construed as meaning at least to be described is not (for example, having the case where other modifiers Under, at least two narrations or two or more narrations are generally meant that the naked narration of " two narrations ").In addition, making wherein In the case of with the convention similar to " at least one of A, B and C etc. ", it is however generally that, this structure is intended to have this Field the skilled person will understand that the meaning of the convention (for example, " system at least one of A, B and C " will include But be not limited to only A, only B, only C, A and B together, A and C together, B and C together and/or A, B and C system together etc.).? In the case of wherein using the convention similar to " at least one of A, B or C etc. ", it is however generally that, this structure is intended to With it should be appreciated by those skilled in the art that the meaning of the convention (for example, " system at least one of A, B or C " By include but is not limited to 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 etc. be System).Those skilled in the art is also understood that in general, unless the context indicates otherwise, otherwise no matter in specific embodiment party The turning word and/or phrase that two or more alternative terms are presented in formula, claim or attached drawing are interpreted as covering Including any of one of described term, the term or a possibility that the two terms.For example, phrase " A or B " is logical A possibility that often will be understood to comprise " A " or " B " or " A and B ".

For the attached claims, it will be appreciated by those skilled in the art that the operation wherein listed can usually appoint What sequence carries out.In addition, although centainly sequentially to list multiple operating processes, it is to be understood that, it can be different from shown suitable Other of sequence sequentially carry out a variety of operations, or can carry out a variety of operations simultaneously.Unless the context requires otherwise, Otherwise the example of such substitution sequence may include overlapping, staggeredly, interruption, rearrangement, increment, preparation, supplement, simultaneously, reversely, Or the sequence of other changes.In addition, unless the context requires otherwise, otherwise the term as " in response to ", " correlation " or its The adjective of his past tense is generally not intended to exclude such variant.

All in all, it has been described that by many beneficial effects generated using concept as described herein.For illustration With the purpose of description, the preceding description to one or more embodiments is had been provided for.The explanation is not intended to be detailed, Also precise forms disclosed in this invention are not intended to be limited to.The present invention can be modified or be become according to above-mentioned teaching content More.Selected and description one or more embodiments are in order to show the principle of the present invention and practical application, to allow Those skilled in the art utilize multiple embodiments, carry out various repair in the case where being suitble to the concrete application imagined Change.The claims submitted together with this are intended to limit full breadth.

Claims

1. a kind of surgical instruments control circuit, comprising:

Primary processor；

Safe processor, the safe processor and the primary processor signal communication；

Segment circuit, the segment circuit include multiple circuit sections with the primary processor signal communication, the multiple circuit Section is configured to control one or more operations of the surgical instruments, wherein the safe processor is configured to described in monitoring One or more parameters of multiple circuit sections；

First sensor, the first sensor are configured to monitor the first property of the surgical instruments；With

Second sensor, the second sensor is configured to monitor the second quality of the surgical instruments, wherein described first Property and the second quality include predetermined relationship, and wherein the first sensor and the second sensor with The safe processor signal communication；

Wherein the safe processor is configured to:

Verify one or more of parameters of the multiple circuit section；

One or more of parameters are verified independently of the one or more control signals generated by the primary processor；And

Independently verify the speed of cutting element.

2. control circuit according to claim 1, wherein failure includes with inconsistent with the predetermined relationship Value first property and the second quality, and wherein when detecting the failure, the safe processor quilt It is configured to prevent the operation of at least one circuit section in the multiple circuit section.

3. control circuit according to claim 1, wherein the first sensor includes being configured to monitoring cutting element The hall effect sensor of position, and the second sensor includes being configured to the motor current sensing of monitoring motor current Device.

4. control circuit according to claim 1, wherein the safe processor be configured to detect it is one Or when mismatch between the verifying and one or more of control signals for being generated by the primary processor of multiple parameters, Disable at least one circuit section in the multiple circuit section.

5. control circuit according to claim 4, wherein the safe processor is configured to by interrupting from power section The operation of the motor segment is prevented to the power flow of motor segment.

6. control circuit according to claim 4, wherein failure includes with inconsistent with the predetermined relationship Value first property and the second quality, and wherein the safe processor be configured to prevent motor segment before To operation, and allow when detecting the failure reverse operating of the motor segment.

7. a kind of surgical instruments control circuit, comprising:

Primary processor；

Segment circuit, the segment circuit include multiple circuit sections with the primary processor signal communication, the multiple circuit Section is configured to control one or more operations of the surgical instruments, wherein the multiple circuit section includes:

Motor segment, the motor segment are configured to control one or more mechanically actuateds of the surgical instruments；With

Power section；

Wherein the safe processor is configured to:

Monitor one or more parameters of the multiple circuit section；

Verify one or more of parameters of the multiple circuit section；

Independently verify the speed of cutting element.

8. control circuit according to claim 7, wherein failure includes with inconsistent with the predetermined relationship Value first property and the second quality, and wherein when detecting the failure, the safe processor quilt It is configured to prevent the operation of at least one circuit section in the multiple circuit section.

9. control circuit according to claim 8, wherein the first sensor includes being configured to monitoring cutting element The hall effect sensor of position, and the second sensor includes being configured to the motor current sensing of monitoring motor current Device.

10. control circuit according to claim 7, wherein the safe processor be configured to detect it is one Or when mismatch between the verifying and one or more of control signals for being generated by the primary processor of multiple parameters, Disable at least one circuit section in the multiple circuit section.

11. control circuit according to claim 10, wherein the safe processor is configured to by interrupting from described Power section prevents the operation of the motor segment to the power flow of the motor segment.

12. control circuit according to claim 10, wherein failure includes with different with the predetermined relationship First property of the value of cause and the second quality, and wherein the safe processor is configured to prevent the motor The forward direction of section operates, and allows the reverse operating of the motor segment when detecting the failure.

13. a kind of surgical instruments control circuit, comprising:

Primary processor；

Segment circuit, the segment circuit include multiple circuit sections with the primary processor signal communication, the multiple circuit Section is configured to control one or more operations of the surgical instruments, wherein the safe processor is configured to described in monitoring One or more parameters of multiple circuit sections, wherein the safe processor is configured to verify the described of the multiple circuit section One or more parameters, wherein the safe processor is configured to independently of the one or more generated by the primary processor Signal is controlled to verify one or more of parameters, and wherein the safe processor is configured to detecting described one Mismatch between a or multiple parameters verifying and the one or more of control signals generated by the primary processor When, disable at least one circuit section in the multiple circuit section；

Second sensor, the second sensor is configured to monitor the second quality of the surgical instruments, wherein described first Property and the second quality include predetermined relationship, and wherein the first sensor and the second sensor with The safe processor signal communication, wherein failure includes described the with the value inconsistent with the predetermined relationship One property and the second quality, and wherein when detecting the failure, the safe processor prevents the multiple electricity The operation of at least one circuit section in section.

14. control circuit according to claim 13, wherein when failures are detected, the safe processor is configured to Pass through the operation for interrupting the power flow from power section to motor segment to prevent the motor segment.