JP2017513565A - Surgical instrument with interactive system - Google Patents

Abstract

In various cases, the surgical instrument may comprise a data storage protocol and / or at least one security feature. For example, the surgical instrument may include a lock circuit. In various cases, the surgical instrument may comprise a sensor and / or magnet for detecting various features of the surgical instrument, surgery, and / or surgical site. The surgical instrument may require a temporary access code for operation and / or may be selected for connection to an external display. The surgical system may comprise a first modular component, a second modular component, and a feedback system. The feedback system may include an engagement sensor that can detect the engagement and / or degree of engagement of the first modular component and the second modular component.

Description

  The present invention relates to surgical instruments, and in various situations, to surgical stapling and cutting instruments, and staple cartridges for them designed to staple and cut tissue.

The features and advantages of the present invention, as well as the manner in which they are realized, will become more apparent and a better understanding of the invention itself can be obtained by reference to the following description of examples of the invention in conjunction with the accompanying drawings. I will.
1 is a perspective view of a surgical instrument comprising a handle assembly and a shaft assembly including an end effector. FIG. FIG. 2 is a perspective view of the handle assembly of the surgical instrument of FIG. FIG. 2 is a schematic block diagram of a control system for the surgical instrument of FIG. 1. FIG. 2 is a schematic block diagram of a module for use with the surgical instrument of FIG. FIG. 2 is a schematic block diagram of a module for use with the surgical instrument of FIG. FIG. 2 is a schematic block diagram of a module for use with the surgical instrument of FIG. 2 is a schematic view of the interface of the surgical instrument of FIG. 1 in a stationary or neutral configuration. FIG. FIG. 8 is a schematic view of the interface of FIG. 7 actuated to articulate the end effector. FIG. 8 is a schematic view of the interface of FIG. 7 actuated to return the end effector to the articulated home state position. 2 is a partial schematic view of the handle assembly of the surgical instrument of FIG. 1 showing a display. FIG. 2 shows a module of the surgical instrument of FIG. FIG. 11 is a schematic view of the screen direction of the display of FIG. 10. FIG. 11 is a schematic view of the screen direction of the display of FIG. 10. FIG. 11 is a schematic view of the screen direction of the display of FIG. 10. FIG. 11 is a schematic view of the screen direction of the display of FIG. 10. 2 shows a module of the surgical instrument of FIG. FIG. 11 is a side view of the handle assembly of FIG. 10 in an upright position. FIG. 11 is a side view of the handle assembly of FIG. 10 in an upside down position. FIG. 11 is a schematic view of the display of FIG. 10 showing a plurality of icons. FIG. 11 is a schematic view of the display of FIG. 10 showing a navigation menu. 2 is a schematic block diagram of the indicator system of the surgical instrument of FIG. 2 is a module of the surgical instrument of FIG. FIG. 2 is a perspective view of the surgical instrument of FIG. 1 coupled to a remote operation unit. FIG. 2 is a perspective view of the surgical instrument of FIG. 1 coupled to a remote operation unit. 2 is a schematic block diagram of the surgical instrument of FIG. 1 in wireless communication with a remote control unit. FIG. FIG. 3 is a schematic view of a first surgical instrument comprising a remote operation unit for controlling a second surgical instrument. 1 is a perspective view of a modular surgical instrument according to various embodiments of the present disclosure. FIG. FIG. 24 is an exploded perspective view of the modular surgical instrument of FIG. 23. FIG. 2 is a schematic diagram illustrating a control system of a modular surgical system according to various embodiments of the present disclosure. 6 is a flow chart illustrating a method for updating components of a modular surgical system according to various embodiments of the present disclosure. 6 is a flow chart illustrating a method for updating components of a modular surgical system according to various embodiments of the present disclosure. FIG. 3 is a schematic diagram illustrating a control circuit according to various embodiments of the present disclosure. FIG. 3 is a schematic diagram illustrating a control circuit according to various embodiments of the present disclosure. FIG. 3 is a schematic diagram illustrating a control circuit according to various embodiments of the present disclosure. FIG. 3 is a schematic diagram illustrating a control circuit according to various embodiments of the present disclosure. 6 is a flowchart illustrating a method of processing data recorded by a surgical instrument according to various embodiments of the present disclosure. 6 is a flowchart illustrating a method of processing data recorded by a surgical instrument according to various embodiments of the present disclosure. 6 is a flowchart illustrating various methods of processing data recorded by a surgical instrument according to various embodiments of the present disclosure. 6 is a flowchart illustrating various methods of processing data recorded by a surgical instrument according to various embodiments of the present disclosure. 6 is a flowchart illustrating various methods of processing data recorded by a surgical instrument according to various embodiments of the present disclosure. 1 is a schematic diagram illustrating a surgical system having wireless communication capabilities according to various embodiments of the present disclosure. FIG. FIG. 6 is a front view of an external screen showing an end effector at a surgical site, according to various embodiments of the present disclosure. FIG. 35 is a front view of the external screen of FIG. 34 showing notification according to various embodiments of the present disclosure. FIG. 35 is a front view of the external screen of FIG. 34 showing a selection menu according to various embodiments of the present disclosure.

The assignee of the present application owns the following patent applications filed on March 1, 2013, each of which is incorporated herein by reference in its entirety:
-US Patent Application No. 13 / 782,295 entitled “ARTICULABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION”;
-U.S. Patent Application No. 13 / 782,323 entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 782,338 entitled "THUMBWHHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 782,499 entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT",
-U.S. Patent Application No. 13 / 782,460 entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 782,358 entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 782,481, entitled "SENSOR STRIGHTIGHTED END EFFECTOR DURING REMOVAL THROUGH TROCAR",
-U.S. Patent Application No. 13 / 782,518 entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS";
-U.S. Patent Application No. 13 / 782,375 entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM", and
-U.S. Patent Application No. 13 / 782,536 entitled "SURGICAL INSTRUMENT SOFT STOP" is hereby incorporated by reference in its entirety.

The applicant of this application owns the following patent applications filed on March 14, 2013, the entire contents of each of which are incorporated herein by reference:
-U.S. Patent Application No. 13 / 803,097 entitled "ARTICULABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE",
-U.S. Patent Application No. 13 / 803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVER MEMBER OF A SURGICAL INSTRUMENT",
-U.S. Patent Application No. 13 / 803,053 entitled "INTERCHANGABLE SHAFTS ASSEMBLIES FOR US WITH A SURGICAL INSTRUMENT";
-US Patent Application No. 13 / 803,086 entitled "ARTICULABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK",
-US Patent Application No. 13 / 803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS";
-US Patent Application No. 13 / 803,148 entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT",
-US patent application No. 13 / 803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS";
-US patent application No. 13 / 803,117 entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULABLE SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", and
-US patent application Ser. No. 13 / 803,159 entitled “METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT”.

The applicant of this application also owns the following patent applications filed on the same day as the present application, each of which is hereby incorporated by reference in its entirety:
U.S. Patent Application No. ____________________________________________________________ (Attorney docket number END7386USNP / 130458), "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM"
U.S. Patent Application No. _______________________________________________________________________________________________________________________________________________________________________________________________________________
US Patent Application No. ______________ entitled “STERILIZATION VERIFICATION CIRCUIT” (Attorney Docket No. END7388USNP / 130460),
U.S. Patent Application No. ________________________________________________________________ (Attorney Docket No.END7389USNP / 130461), "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT"
US Patent Application No. ______________ (Attorney Docket No. END7390USNP / 130462) entitled "POWER MANAGENENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL"
United States Patent Application No. ___________________________________________________________________________________________________________________________________________________________________________________________________________________________
United States Patent Application _________________________________________________________________________ (Attorney docket number END7392USNP / 130464), "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS"
U.S. Patent Application No. ____________________________________________________________ (Attorney Docket No.END7393USNP / 130465), "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION"
U.S. Patent Application No. ______________________________________________________________ (Attorney Docket No.END7394USNP / 130466), "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR"
US Patent Application No. ______________ (Attorney Docket No. END7396USNP / 130468) entitled “INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS”
U.S. Patent Application No. ______________ entitled "MODULAR SURGICAL INSTRUMENT SYSTEM" (Attorney Docket No. END7397USNP / 130469),
US Patent Application No. ______________ (Attorney Docket No. END7399USNP / 130471) entitled “SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT”,
"POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION" entitled U.S. patent application _______________ No. (Attorney Docket No. END7400USNP / 130472),
US Patent Application No. ______________ entitled “SURGICAL STAPLING INSTRUMENT SYSTEM” (Attorney Docket No. END7401USNP / 130473), and
U.S. Patent Application No. ____________________________________________________ (Attorney Docket No. END7402USNP / 130474) entitled “SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT”.

  In order to provide a comprehensive understanding of the principles of structure, function, manufacture, and use of the devices and methods disclosed herein, certain illustrative embodiments will now be described. One or more examples of these embodiments are illustrated in the accompanying drawings. Those skilled in the art will appreciate that the devices and methods described in detail herein and illustrated in the accompanying drawings are non-limiting and exemplary embodiments. Features illustrated or described in the context of one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

  Throughout this specification, references to “different embodiments,” “specific embodiments,” “one embodiment,” or “embodiments,” and the like are specific features described in the context of that embodiment, A structure or characteristic is meant to be included in at least one embodiment. Thus, phrases such as “in various embodiments”, “in some embodiments”, “in one embodiment”, or “in an embodiment” appear in place throughout the specification, These are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described with respect to one embodiment are not limited, in whole or in part, to the features, structures, or characteristics of one or more other embodiments. May be combined. Such modifications and variations are intended to be included within the scope of the present invention.

  The terms “proximal” and “distal” are used herein with reference to the physician operating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the physician and the term “distal” refers to the portion that is remote from the physician. It will be further understood that for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “top”, and “bottom” may be used herein with respect to the drawings. Let's go. However, surgical instruments are used in many directions and positions, and these terms are not intended to be limiting and / or absolute.

  Various representative devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, one of ordinary skill in the art will readily appreciate that the various methods and devices disclosed herein can be used in a number of surgical procedures and applications, including, for example, open surgery. As the “DETAILED DESCRIPTION OF THE INVENTION” herein is read, the various instruments disclosed herein can be used, for example, from natural orifices or from incisions or puncture holes formed in tissue. It will be further recognized by those skilled in the art that it can be inserted into the body by any method. The actuating or end effector portions of these instruments may be inserted directly into the patient's body or access devices having working passages through which the surgical instrument end effector and elongate shaft can be advanced. May be inserted.

  FIG. 1 generally illustrates a motor driven surgical instrument 2200. In certain circumstances, the surgical instrument 2200 may include a handle assembly 2202, a shaft assembly 2204, and a power assembly 2206 (or “power supply” or “power pack”). The shaft assembly 2204 may include an end effector 2208, which in certain circumstances may be configured to function as an end cutter for clamping, cutting, and / or stapling tissue. In different situations such as end effectors for other types of surgical devices, capture instruments, cutters, staplers, clip devices, access devices, drug / gene therapy devices, ultrasound, RF, and / or laser devices, etc. Any type of end effector may be used. Some RF devices are entitled U.S. Pat. No. 5,403,312 (issued Apr. 4, 1995) entitled “ELECTROSURGICAL HEMOSTATIC DEVICE” and “SURGICAL FASTENING AND CUTCHING INSTRUMENT HAVING RF ELECTRODES”. US patent application Ser. No. 12 / 031,573 (filed Feb. 14, 2008). US Pat. No. 5,403,312 (issued Apr. 4, 1995) entitled “ELECTROSURGICAL HEMOSTATIC DEVICE” and US Patent Application No. 12 / USSR application titled “SURGICAL FASTENING AND CUTCHING INSTRUMENT HAVING RF ELECTRODES” No. 031,573 (filed Feb. 14, 2008), the entire disclosure of which is hereby incorporated by reference in its entirety.

  Referring again to FIG. 1, the handle assembly 2202 may include a housing 2210 that includes a handle 2212 that may be configured to be grasped, manipulated and / or actuated by a physician. However, it will be appreciated that various unique and novel configurations of the housing 2210 can be effectively used in conjunction with a robotically controlled surgical system. Accordingly, the term “housing” is also at least one configured to generate and add at least one control motion that can be utilized to actuate the shaft assemblies 2204 and their corresponding equivalents disclosed herein. It can also include a housing or similar portion of a robot system that houses or otherwise supports one drive system. For example, the housing 2210 disclosed herein is US Patent Application No. 13 / 118,241 entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS” (current US Patent Application Publication No. 2012/0298719). Can be used with the various robot systems, instruments, components and methods disclosed in. The disclosure of US Patent Application No. 13 / 118,241 (current US Patent Application Publication No. 2012/0298719) entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS” is hereby incorporated by reference in its entirety. Embedded in the book.

  In certain cases, surgical instrument 2200 may include several operable systems that extend at least partially through shaft 2204 and in operable engagement with end effector 2208. For example, the surgical instrument 2200 includes a closure assembly that can transition the end effector 2208 between an open configuration and a closed configuration, a joint assembly that can articulate the end effector 2208 relative to the shaft 2204, and Alternatively, a firing assembly that can fasten and / or cut tissue captured by the end effector 2208 may be included. In addition, the housing 2210 can be detachably coupled to the shaft 2204, each with a complementary closure system, articulation system, and / or firing drive system for manipulating the closure assembly, articulation assembly, and firing assembly, respectively. May be provided.

  In use, the operator of surgical instrument 2200 resets surgical instrument 2200 and returns one or more of each assembly of surgical instrument 2200 to the default position. May want. For example, the operator can insert the end effector 2208 through the access port into the surgical site in the patient's body, and then articulate and / or close the end effector 2208 to capture tissue in the cavity. . The operator can then undo some or all of the previous procedures and can choose to remove the surgical instrument 2200, eg, from the cavity. Surgical instrument 2200 is another system configured to facilitate reliably returning one or more of the above-described assemblies to a home state with minimal operator effort. So that the operator can remove the surgical instrument from the cavity.

  With reference to FIGS. 1 and 3, the surgical instrument 2200 may comprise a control system 3000. The operator can use the control system 3000 to articulate the end effector 2208 relative to the shaft 2204, for example, between the articulated home state position and the articulated position. In certain cases, the surgeon can utilize control system 3000 to reset or return the articulated end effector 2208 to a joint home state position. Control system 3000 can be at least partially disposed within handle 2210. In certain cases, as shown in FIG. 3, the control system 3000 may include a microcontroller 3002 (“controller”) that receives an input signal and activates the motor 2216 in response thereto. For example, the end effector 2208 can be configured to bend in response to such an input signal.

  In addition to the above, the end effector 2208 can be placed in full alignment with the shaft 2204 in an articulated home position, also referred to herein as a non-articulated position, so that the end effector 2208 and the shaft 2204 At least a portion can be inserted into or retracted from the patient's lumen, for example through an access port, such as a trocar located in the lumen wall, without damaging the access port. In certain cases, the end effector 2208 is aligned with, or at least substantially, the longitudinal axis “LL” passing through the shaft 2204 when the end effector 2208 is in the articulated home position, as shown in FIG. May be aligned. In at least one case, the articulated home state position can be at any angle with respect to the longitudinal axis “LL” on either side of the longitudinal axis “LL”, including, for example, 5 ° or less. In another case, the articulated home state position can be at any angle with respect to the longitudinal axis “LL” on either side of the longitudinal axis “LL”, including, for example, 3 ° or less. In yet another case, the articulated home position can be at any angle with respect to the longitudinal axis “LL” on either side of the longitudinal axis “LL”, including, for example, 7 ° or less.

  The control system 3000 is applied to the shaft 2004 in a plane extending along the longitudinal axis “LL” in a first direction, eg, clockwise and / or a second direction, eg, counterclockwise. In contrast, the end effector 2208 can be manipulated to articulate. In at least one case, the control system 3000 may articulate the end effector 2208 clockwise, for example, from a joint home state position to a joint bending position that is 10 degrees to the right of the longitudinal axis “LL”. Can be manipulated. In another example, joint control system 3000 is operated to articulate end effector 2208 counterclockwise from a joint flexion position that is 10 degrees to the right of longitudinal axis “LL” to a joint home state position. Can be done. In yet another example, the control system 3000 may move the end effector 2208 counterclockwise relative to the shaft 2204 from, for example, a joint home position to a joint flex position that is 10 degrees to the left of the longitudinal axis “LL”. Can be manipulated to articulate. As should be appreciated by the reader, the end effector can be articulated to various angles, clockwise and / or counterclockwise.

  With reference to FIGS. 1 and 2, the housing 2210 of the surgical instrument 2200 may include an interface 3001 that may include a plurality of controls available to the operator to operate the surgical instrument 2200. In certain cases, interface 3001 may comprise a plurality of switches that may be coupled to controller 3002 via, for example, electrical circuitry. In a particular case, as shown in FIG. 3, the interface 3001 includes three switches 3004A-C, each of the switches 3004A-C being coupled to the controller 3002 by an electrical circuit, eg, electrical circuits 3006A-C, respectively. Has been. As should be appreciated by the reader, other combinations of switches and circuits may be utilized with the interface 3001.

  With reference to FIG. 3, the controller 3002 may generally comprise a microprocessor 3008 (“processor”) and one or more memory devices 3010 operably coupled to the processor 3008. By executing the instruction code stored in memory 3010, processor 3008 may control various components of surgical instrument 2200, such as, for example, motor 2206, various drive systems, and / or user displays. Controller 3002 may be implemented using integrated and / or individual hardware elements, software elements, and / or a combination of both. Examples of integrated hardware elements include processors, microprocessors, microcontrollers, integrated circuits, dedicated integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (DSPs), field programmable gate arrays (FPGAs). , Logic gates, registers, semiconductor devices, chips, microchips, chipsets, microcontrollers, system on chip (SoC), and / or system in package (SIP). Examples of individual hardware elements can include circuits and / or circuit elements such as logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors, and / or relays. In certain cases, the controller 3002 may comprise a hybrid circuit comprising individual circuit elements or components and integrated circuit elements or components, for example on one or more substrates.

  In certain cases, the microcontroller 3002 may be, for example, an LM 4F230H5QR available from Texas Instruments. In certain cases, Texas Instruments' LM 4F230H5QR has performance above 40 MHz with on-chip memory up to 40 MHz, 256 KB single cycle flash memory or other non-volatile memory, among other features that are easily identifiable. Improved prefetch buffer, 32 KB single cycle serial random access memory (SRAM), internal read only memory (ROM) with StellarisWare® software, 2 KB electrically erasable programmable read only One with memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder inputs (QEI), and 12 analog input channels Or an ARM Cortex-M4F processor core with two or more 12-bit analog-to-digital converters (ADCs). Other microcontrollers may be readily substituted for use with the present disclosure. Accordingly, the present disclosure should not be limited to this contextual condition.

  In various configurations, the motor 2216 may be a brushed DC drive motor having a maximum speed of, for example, about 25,000 RPM. In other configurations, the motor 2216 can include a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. For example, a battery 2218 (or “power supply” or “power pack”), such as, for example, a lithium ion battery may be coupled to the housing 2212 to supply power to the motor 2216.

  Referring again to FIG. 3, the surgical instrument 2200 may include a motor controller 3005 that is in operative communication with the controller 3002. The motor controller 3005 can be configured to control the direction of rotation of the motor 2216. In certain cases, the motor controller 3005 may be configured to determine the voltage polarity applied to the motor 2216 by the battery 2218 and to determine the direction of rotation of the motor 2216 based on input from the controller 3002. Good. For example, when the voltage polarity applied to the motor 2216 by the battery 2218 is reversed by the motor controller 3005 based on the input from the controller 3002, the motor 2216 changes its direction of rotation from a clockwise direction to a counterclockwise direction. And can be reversed. In addition, the motor 2216 may be operably coupled to an articulation drive that may be driven distally or proximally by the motor 2216, for example, depending on the direction in which the motor 2216 rotates. Further, the articulation drive can be operably coupled to the end effector 2208, for example, the articulation drive can move proximally in the axial direction, eg, to articulate the end effector 2208 counterclockwise. For example, the end effector 2208 can be articulated clockwise by moving the articulation drive axially distally.

  In various cases, referring to FIGS. 1-3, the interface 3001 can, for example, make the switch 3004A for clockwise articulation of the end effector 2208, for example, the switch 3004B counterclockwise of the end effector 2208. It can be configured to be able to be used for joint bending. In such a case, the operator can articulate the end effector 2208 clockwise by turning on the switch 3004A, and articulate the end effector 2208 counterclockwise by turning on the switch 3004B. In various cases, the switches 3004A-C can comprise an open biased dome switch, as shown in FIG. Other types of switches can also be used, for example capacitive switches.

  Referring to FIG. 7, dome switches 3004A and 3004B may be controlled by rocker 3012. Other means for controlling the switches 3004A and 3004B are contemplated by the present disclosure. In the neutral position shown in FIG. 7, both switches 3004A and 3004B are biased to the open position. As shown in FIG. 8, the operator can articulate the end effector 2208 in a clockwise direction, for example, by tilting the rocker forward and thereby depressing the dome switch 3004A. As a result, as described above, circuit 3006A (FIG. 3) is closed and a signal can be sent to controller 3002 to activate motor 2216 to articulate end effector 2208 in a clockwise direction. The motor 2216 can continue to articulate the end effector 2208 until the operator releases the rocker 3012, thereby returning the dome switch 3004A to the open position and the rocker 3012 to the neutral position. In some situations, the controller 3002 determines when the end effector 2208 has reached a predetermined maximum joint flexion, and at such time, the motor 2216 regardless of whether the dome switch 3004A is depressed. It may be possible to interrupt the power supply to. In a sense, the controller 3002 can be configured to override the operator input and stop the motor 2216 when maximum safe joint flexion is achieved. Alternatively, the operator can articulate the end effector 2208 counterclockwise, for example, by tilting the rocker 3012 rearward thereby depressing the dome switch 3004B. As a result, as described above, circuit 3006B is closed and a signal can be sent to controller 3002 to activate motor 2216 to articulate end effector 2208 in a counterclockwise direction. The motor 2216 can continue to articulate the end effector 2208 until the operator releases the rocker 3012, thereby returning the dome switch 3004B to the open position and the rocker 3012 to the neutral position. In some situations, the controller 3002 determines when the end effector 2208 has reached a predetermined maximum joint flexion, and at such time, the motor 2216 regardless of whether the dome switch 3004B is depressed. It may be possible to interrupt the power supply to. In a sense, the controller 3002 can be configured to override the operator input and stop the motor 2216 when maximum safe joint flexion is achieved.

  As detailed above, for example, to retract surgical instrument 2200 from the patient's lumen, the operator returns end effector 2208 to the articulated home position and aligns end effector 2208 with shaft 2204. May be desired, or at least substantially aligned. In various cases, the control system 3000 may have a virtual detent that can inform the operator that the end effector 2208 has reached the articulated home state position. In certain cases, the control system 3000 may be configured, for example, to stop the articulation of the end effector 2208 upon reaching a joint home state position. In certain cases, the control system 3000 may be configured to provide feedback to the operator, for example, when the end effector 2208 reaches the articulated home state position.

  In particular cases, the control system 3000 can include various executable modules, such as software, programs, data, drivers, application program interfaces (APIs), and the like. FIG. 4 shows an exemplary virtual detent module 10000 that can be stored, for example, in memory 3010. The module 10000, when executed, during the articulation of the end effector 2208, allows the operator of the surgical instrument 2200 by the processor 3008 when the end effector 2208 reaches the articulated home state position, eg, from the articulation position. May include program instructions, for example, which can be informed.

  As noted above, with reference primarily to FIGS. 3, 7, and 8, the operator can use the rocker 3012 to articulate, for example, the end effector 2208. In certain cases, the operator can depress the dome switch 3004A of the rocker 3012 to articulate the end effector 2208 in a first direction, such as clockwise, for example, and depress the dome switch 3004B to depress the end effector. 2208 can be articulated in a second direction, such as counterclockwise to the left, for example. In various cases, as shown in FIG. 4, module 10000 can adjust the response of processor 3008 to input signals from dome switches 3004A and / or 3004B. For example, the processor 3008 may be configured to activate the motor 2216 and articulate the end effector 2208, eg, to the right, while the dome switch 3004A is depressed, and the processor 3008 is configured to depress the dome switch 3004B. During this time, the motor 2216 may be activated to articulate the end effector 2208, eg, to the left. In addition, the processor 3008 may stop the motor 2216, for example, when the input signal from the dome switch 3004A and / or 3004B stops, for example, when the operator releases the dome switch 3004A and / or 3004B, respectively. The end effector 2208 may be configured to stop articulation.

  In various cases, as described above, the joint home state position may include a range of positions. In certain cases, the processor 3008 may be configured to detect when the end effector 2208 enters a range of positions that define a joint home state position. In certain cases, the surgical instrument 2200 may include one or more positioning systems (not shown) for detecting and recording the articulation position of the end effector 2208. The processor 3008 may be configured to utilize one or more positioning systems that detect the end effector 2208 entering the articulated home state position.

  As shown in FIG. 4, in certain cases, when the joint home state position is reached, the processor 3008 may stop the articulation of the end effector 2208 and alert the operator that the joint home state position has been reached. In certain cases, the processor 3008 can stop the joint flexion within the joint home state position even if the operator continues to depress the locker 3012. In certain cases, the operator may release rocker 3012 and then tilt again to restart the joint flexion to continue beyond the joint home state position. In at least one such case, the operator depresses the rocker 3012 and depresses the dome switch 3004A, eg, until the end effector 2208 reaches the home state position and the processor 3008 stops articulating the end effector 2208. The effector 2208 may be rotated toward the home position, at which time the operator subsequently releases the rocker 3012 and then pushes the rocker 3012 to continue articulating the end effector 2208 in the same direction. The switch 3004A can be pressed again.

  In certain cases, as shown in FIG. 5, the module 10000 may include a feedback mechanism to alert the operator when the articulated home position is reached. Various feedback devices 2248 (FIG. 3) can be utilized by the processor 3008 to provide sensory feedback to the operator. In certain cases, device 2248 may comprise, for example, a visual feedback device, such as a display screen and / or an LED indicator. In certain cases, device 2248 may comprise an audio feedback device, such as a speaker and / or a buzzer, for example. In certain cases, device 2248 may comprise a haptic feedback device, such as a mechanical detent, for example, that provides haptic feedback. In some cases, haptic feedback may be provided, for example, by a vibration motor that may provide a vibration pulse to the handle of the surgical instrument, for example. In certain cases, device 2248 may comprise a combination of visual feedback device, audio feedback device, and / or haptic feedback device, for example.

  In certain cases, the processor 3008 may be configured to stop the articulation of the end effector 2208 and provide feedback to the operator, for example when a joint home state position is reached. In certain cases, the processor 3008 provides feedback to the operator when the joint home state position is reached, but may not stop the articulation of the end effector 2208. In at least one case, end effector 2208 moves from a position on the first side of the home state position toward the home state position, passes through the home state position, and in the same direction on the other side of the home state position. You may continue to move on. During such movement, the operator may be provided with some form of feedback when the end effector 2208 passes the home state position. In certain cases, the processor 3008 stops the articulation of the end effector 2208 when, for example, a joint home state position is reached, but may not provide feedback to the operator. In certain cases, the processor 3008 may stop the end effector 2208 as it passes through the center position and then continue past the center position. In at least one case, the end effector 2208 may temporarily remain in its central position, for example, for about 2 seconds, and then continue to articulate as long as the articulation switch 3012 remains depressed.

  In various cases, the operator of surgical instrument 2200 can attempt to articulate end effector 2208 back to the non-articulated position using rocker switch 3012. As will be appreciated by the reader, the operator may not be able to align end effector 2208 with the longitudinal axis of the surgical instrument shaft accurately and / or repeatedly. Nevertheless, in various cases, the operator can easily position the end effector 2208 within a specific range of the central position. For example, when the operator presses the rocker switch 3012 to rotate the end effector 2208 toward the center position, and then the operator considers that the end effector 2208 has reached or is approaching the center position. In addition, the rocker switch 3012 can be released. The processor 3008 can interpret this situation as an attempt to re-center the end effector 2208, and if the end effector 2208 is not centered, the processor 3008 automatically centers the end effector 2208. Can do. In at least one example, if the surgical instrument operator releases the rocker switch 3012 when the end effector 2208 is within a range of, for example, about 10 degrees on each side of the center position, the processor 3008 automatically activates the end effector 2208. Can be centered again.

  In various cases, referring principally to FIGS. 3, 6 and 9, the module 10000 may comprise an articulation reset or centering mechanism. In certain cases, the control system 3000 may include a reset input that can reset or return the end effector 2208 to the articulated home state position when the end effector 2208 is in the articulation position. For example, upon receiving a reset input signal, the processor 3008 can determine the articulation position of the end effector 2208, and if the end effector 2208 is in the articulated home position, the processor 3008 changes the articulation position of the end effector 2208. It is not necessary to take measures to do this. However, if the end effector 2208 is in the articulated position when the processor 3008 receives the reset input signal, the processor 3008 can activate the motor 2216 to return the end effector 2208 to the articulated home state position. As shown in FIG. 9, the operator can depress the rocker 3012 downward to close the dome switches 3004A and 3004B simultaneously or at short intervals relative to each other, thereby transmitting a reset input signal to the processor 3008. Thus, the end effector 2208 can be reset or returned to the joint home state position. The operator can then release the locker 3012 to return the locker 3012 to the neutral position and the switches 3004A and 3004B to the open position. Alternatively, the interface 3001 of the control system 3000 may comprise a separate reset switch, such as another dome switch, that can be independently closed by the operator and transmit a reset input signal to the processor 3008.

  Referring again to FIG. 1, the end effector 2208 of the surgical instrument 2200 includes a first jaw with an anvil 10002 and a channel 10004 configured to receive a staple cartridge 10006 that can include a plurality of staples. And a second jaw provided. In certain cases, the end effector 2208 can move between an open configuration and a closed configuration, for example, to capture tissue between the anvil 10002 and the staple cartridge 10006. In addition, the surgical instrument 2200 includes a firing member that can move axially between a firing home state position and a firing position to place staples from the staple cartridge 10006 and / or the end effector 2208 in a closed configuration. Sometimes tissue captured between the anvil 10002 and the staple cartridge 10006 can be cut.

  As described above, the end effector 2208 can move between an open configuration and a closed configuration to clamp tissue therein. In at least one embodiment, the anvil 10002 can move between an open position and a closed position to compress tissue against the staple cartridge 10006. In various cases, the pressure or force that anvil 10002 can apply to tissue may depend on the thickness of the tissue. At a constant gap distance between the anvil 10002 and the staple cartridge 10006, the anvil 10002 may apply greater compression pressure or force on the thick tissue than on the thin tissue. The surgical instrument may include a sensor, such as a load cell, that can detect the pressure or force being applied to the tissue. In certain cases, the thickness and / or configuration of the tissue can change while pressure or force is applied. For example, a liquid such as blood contained in the compressed tissue may flow into the adjacent tissue. In such situations, the tissue may become thinner and / or the compression pressure or force applied to the tissue may be reduced. A sensor configured to detect the pressure being applied to the tissue can detect this change. The sensor can be in signal communication with the processor 3008, where the processor 3008 can monitor pressure or force being applied to the tissue and / or changes in pressure being applied to the tissue. In at least one case, the processor 3008 can evaluate the change in pressure or force and communicate to the operator of the surgical instrument when the pressure or force reaches a steady state and does not change thereafter. The processor 3008 can also determine when the change in pressure or force is at and / or below a threshold or threshold rate. For example, when the pressure or force change exceeds about 10 percent / second, the processor 3008 may light a warning indicator associated with the firing actuator, for example, when the pressure or force change is about 10 percent / second or less. The processor may illuminate a fire ready indicator associated with the fire actuator, for example. In some situations, the surgical instrument can prevent the firing member from moving distally through the end effector 2208 until, for example, the pressure or force change is at and / or below the threshold. .

  In certain cases, a surgical instrument operator may choose to place only a portion of the staples stored in the end effector 2208. In such situations, the firing member can be retracted after the firing member has been sufficiently advanced. In various other cases, the surgical instrument operator may choose to place all of the staples stored within the end effector 2208. In any case, the operator of the surgical instrument can depress the firing actuator extending from the handle assembly 2210 and actuate the motor 2216 to advance the firing member distally. When the firing actuator is fully depressed, the motor 2216 can be activated. In at least one mode of operation, further pressing of the firing actuator does not affect the operation of the motor 2216. The motor 2216 can be operated in a manner determined by the processor 3008 until the firing actuator is released. In at least one other mode of operation, the degree or amount by which the firing actuator is depressed can affect the manner in which the motor 2216 is operated. For example, an initial depression of the firing actuator can be detected by the processor 3008, and accordingly the processor 3008 can operate the motor 2216 at a first speed and a further depression of the firing actuator can be detected by the processor 3008, and accordingly the processor 3008 can operate the motor 2216 at a higher second speed, for example. In certain cases, the change in firing actuator press may be proportional to the change in motor speed. In at least one case, the change in firing actuator depression may be linearly proportional to the change in motor speed. In various situations, pulling the firing actuator more will drive the motor 2216 faster. In certain embodiments, the amount of pressure or force applied to the firing actuator can affect the manner in which the motor 2216 is operated. For example, the initial pressure or force applied to the firing actuator can be detected by the processor 3008, and accordingly the processor 3008 can operate the motor 2216 at a first speed, and the processor 3008 can provide additional pressure or force applied to the firing actuator. In response, the processor 3008 can operate the motor 2216 at a second speed, for example at a faster speed. In certain cases, the change in pressure or force applied to the firing actuator may be proportional to the change in motor speed. In at least one case, the change in pressure or force applied to the firing actuator may be linearly proportional to the change in motor speed. The disclosure of US Pat. No. 7,845,537 (issued Dec. 7, 2010) entitled “SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES” is incorporated by reference in its entirety.

  As described above, the operator of the surgical instrument may choose to place all of the staples stored within the end effector 2208. In such a situation, the operator may depress the firing actuator and subsequently release the actuator when all staples are deemed to have been placed during the firing stroke of the firing member. In some cases, the surgical instrument may include an indicator that can be lit by the processor 3008 when the firing stroke is complete. Suitable indicators may include, for example, light emitting diodes (LEDs). In certain cases, the operator may consider that the firing stroke is complete, even though it is only nearly complete. The surgical instrument may include at least one sensor configured to detect the position of the firing member within the firing stroke, wherein the sensor can be in signal communication with the processor 3008. If the firing stroke ends at a near completion position, the processor 3008 can instruct the motor 2216 to finish the firing stroke of the firing member. For example, if the firing member completes all but the last 5 mm of the firing stroke, for example, the processor 3008 assumes that the operator intends to complete the firing stroke and automatically completes the firing stroke. Can do.

  Referring again to FIG. 1, the interface 3001 of the surgical instrument 2200 can include a home status input 3014. The operator may utilize the home state input to transmit a home state input signal to the processor 3008 to return the surgical instrument 2200 to the home state, which includes placing the end effector 2208 into the articulated home state position. And / or returning the firing member to the firing home state position may be included. As shown in FIGS. 3 and 7, the home status input 3014 may comprise a cap or cover, for example, which closes the switch 3004C when pressed by the operator and through the circuit 3006C a home status input signal. Can be transmitted to the processor 3008. In certain cases, the home state input 3014 may be configured to return the end effector 2208 to the articulated home state position, using another input to return the firing member to the firing home state position. Good. In certain cases, the home state input 3014 may be configured to return the firing member to the firing home state position, for example, utilizing another input such as a rocker 3012 to connect the end effector 2208 to the articulated home. You may return to the state position.

  In various cases, the processor 3008 is configured to return the firing member to the firing home state position and return the end effector 2208 to the articulated home state position upon receipt of a home state input signal from the home state input 3014. Good. In certain cases, the response of processor 3008 to the home state input signal depends on whether surgical instrument 2200 is in firing mode or articulation mode, and processor 3008 determines that surgical instrument 2200 is in articulation mode. If so, the processor 3008 may return the end effector 2208 to the articulated home position, for example in response to a home condition input signal, and if the processor 3008 determines that the surgical instrument 2200 is in firing mode, the processor 3008 May, for example, return the firing member to the firing home state position in response to a home state input signal. In certain cases, the firing member can be advanced axially and staples fired from the staple cartridge 10006 only when the end effector 2208 is in the closed configuration. In such cases, surgical instrument 2200 can be in firing mode only when end effector 2208 is in the closed configuration. In certain cases, the end effector 2208 can be articulated only when the end effector 2208 is in an open configuration. In such a case, the surgical instrument 2200 can be in the articulation mode only when the end effector 2208 is in the open configuration. As a result, in certain cases, the processor 3008 determines whether the surgical instrument 2200 is in the articulation mode or firing mode by determining whether the end effector 2208 is in an open or closed configuration. Can be configured. In certain cases, the processor 3008 may utilize one or more sensors 3016 (FIG. 3) to determine whether the end effector 2208 is in an open configuration or a closed configuration.

  Referring now to FIGS. 1 and 10, the surgical instrument 2200 includes a screen 2251 that can be included in the handle assembly 2202, for example. One or more of the microcontrollers described herein may utilize screen 2251 to provide alerts, instructions, and / or feedback to surgical instrument operator 2200, for example. . Screen 2251 can provide an output display 2250. In use, the operator may, for example, tilt, flip and / or rotate the handle assembly 2202, and accordingly, the microcontroller changes the orientation of the output display 2250 to allow the operator 2200 of the surgical instrument to The orientation of the output display 2250 can be improved, aligned and / or adjusted with respect to the view and / or any suitable coordinate system, eg, inertia, or at least a substantially inertial coordinate system. The fixed coordinate system may be defined at least in part by gravity. In some cases, the downward acceleration of Earth's gravity can be represented by vector -g in FIG. In certain cases, a processor, such as processor 3008, detects a change in position of handle assembly 2202 relative to the coordinate system and employs one of the orientations of screen 2251 according to the relative position of screen 2251 relative to the coordinate system. You may comprise.

  In certain cases, a screen 2251 may be placed on the top surface 10008 of the handle assembly 2202 as shown in FIG. In various cases, the surface 10008 may extend in a first plane defined by a first set of Cartesian coordinates of coordinates X1 and Y1 representing the handle assembly 2202. In various cases, the screen 2251 may be disposed in the first plane. In some cases, the screen 2251 may be disposed in a surface that extends parallel to the first surface and / or in any suitable surface that is in a fixed relationship to the first surface. For convenience purposes, the first set of Cartesian coordinates representing the handle assembly is assumed to be aligned with the screen 2251 herein, and is therefore referred to as the screen set Cartesian coordinates. The output display 2250 may be in a second plane defined by the second, or Cartesian coordinates of the display set, of coordinates X2 and Y2. In certain cases, as shown in FIG. 10, the first surface may be coplanar with the second surface, for example. Further, in at least some cases, the Cartesian coordinates of the first or screen set may be aligned with the Cartesian coordinates of the second or display set. For example, + X1 may be aligned or parallel with + X2, + Y1 may be aligned or parallel with + Y2, and + Z1 may be aligned or parallel with + Z2. Accordingly, in such cases, -X1 may be aligned or parallel with -X2, -Y1 may be aligned or parallel with -Y2, and -Z1 may be aligned or parallel with -Z2. Good. As will be described in detail below, in certain cases, the Cartesian coordinates of the second or display set may be realigned with respect to the Cartesian coordinates of the first or screen set. In various cases, a specific arrangement of display Cartesian coordinates may be preferred. For example, the neutral position of surgical instrument 2200 may coincide with the + Z1 axis of screen coordinates aligned with the + g vector. As described in detail below, the processor 3008 can tolerate some amount of deviation between screen coordinates in the reference coordinate system without changing the arrangement of display coordinates, but some amount between screen coordinates in the reference coordinate system. The processor can change the arrangement of the display coordinates relative to the screen coordinates.

  Referring to FIGS. 11-12D, the module 10010 can change the position of the handle assembly 2202 that can be monitored, for example, by input values from one or more accelerometers (not shown) that can be accommodated within the handle assembly 2202. In response, the orientation of the output display 2250 may be changed or changed between a plurality of orientations. As described above and shown in FIG. 12A, when the surgical instrument is in the neutral position, the output display 2250 aligns the + X2 and + Y2 vectors of the display set Cartesian coordinates with the + X1 and + Y1 vectors of the screen set Cartesian coordinates, respectively. A first orientation that is, or at least substantially aligned, may be employed. In certain cases, as shown in FIG. 12B, the output display 2250 may be configured such that the display set Cartesian coordinates + Y2 and + X2 are aligned with, for example, the screen set Cartesian coordinates + Y1 and −X1 vectors, respectively. A second orientation that is substantially aligned may be employed. In certain cases, as shown in FIG. 12C, the output display 2250 is such that the display set Cartesian coordinates + X2 and + Y2 are aligned with, for example, the screen set Cartesian coordinates -X1 and -Y1 vectors, respectively, or A third orientation may be employed that is at least substantially aligned. In certain cases, as shown in FIG. 12D, the output display 2250 may be configured such that the display set Cartesian coordinates + X2 and + Y2 are aligned with, for example, the -Y1 and + X1 vectors of the screen set Cartesian coordinates, respectively, or at least A fourth orientation may be employed that is substantially aligned. Other orientations are possible.

  Referring to FIGS. 11-12D, the processor 3008 can adapt, for example, to changes in the position of the handle assembly 2202, such as a first orientation, a second orientation, a third orientation, and / or a fourth orientation. It may be configured to switch the orientation of the output display 2250 between multiple orientations. In certain cases, module 10010 may include a hysteresis control algorithm to prevent orientation swing, for example during switching between the first orientation, the second orientation, the third orientation, and / or the fourth orientation. May be provided. The hysteresis control algorithm can cause a time lag between the initial detection of an event that results in a change in display orientation and the processor instructions that change the display orientation. In this way, the hysteresis control algorithm can ignore events that may result in a transient orientation and optimally wait for display redirection until a steady or sufficiently steady condition is reached. it can. In certain cases, the processor 3008 is configured to orient the output display 2250 in a first orientation when the angle between the Z1 axis + Z1 vector and the gravity axis g -g vector is, for example, less than or equal to the maximum angle. May be. In certain cases, the processor 3008 is configured to direct the output display 2250 in a second orientation when the angle between the + X1 vector of the X1 axis and the + g vector of the gravity axis g is, for example, less than or equal to the maximum angle. It's okay. In certain cases, the processor 3008 is configured to direct the output display 2250 in a third orientation when the angle between the + Y1 vector of the Y1 axis and the + g vector of the gravity g axis is, for example, less than or equal to the maximum angle. It's okay. In certain cases, the processor 3008 is configured to direct the output display 2250 in a fourth orientation when the angle between the + X1 vector of the X1 axis and the −g vector of the gravity axis g is, for example, less than or equal to the maximum angle. May be. In certain cases, the maximum angle may be any angle selected from a range of, for example, about 0 degrees to, for example, about 10 degrees. In certain cases, the maximum angle may be any angle selected from a range, for example, from about 0 degrees to, for example, about 5 degrees. In certain cases, the maximum angle may be about 5 degrees, for example. The above maximum angles are representative and are not intended to limit the scope of the present disclosure.

  Referring to FIGS. 11-12D, in certain cases, the processor 3008 may display the output display when the + Z1 vector of the Z1 axis and the −g vector of the gravity axis g are, for example, aligned or at least substantially aligned with each other. 2250 may be configured to be oriented in a first orientation. In certain cases, the processor 3008 directs the output display 2250 in the second orientation when the + X1 vector of the X1 axis and the + g vector of the gravity axis g are, for example, aligned or at least substantially aligned with each other. It may be constituted as follows. In certain cases, the processor 3008 directs the output display 2250 in a third orientation when the + Y1 vector of the Y1 axis and the + g vector of the gravity g axis are, for example, aligned or at least substantially aligned with each other. It may be constituted as follows. In certain cases, the processor 3008 directs the output display 2250 in a fourth orientation when the + X1 vector of the X1 axis and the −g vector of the gravity axis g are, for example, aligned or at least substantially aligned with each other. It may be configured to be attached.

  Referring to FIGS. 11-12D, in a particular case, the processor 3008 determines that the handle 2212 is selected around the longitudinal axis LL (FIG. 1) from a range, for example, from about 80 degrees to, for example, about 100 degrees. , The output display 2250 may be configured to rotate from a first orientation to a second orientation. In this example, processor 3008 cannot redirect output display 2250 if handle 2212 rotates clockwise around longitudinal axis LL by less than 80 degrees. In certain cases, the processor 3008 causes the display 2250 to rotate when the handle 2212 rotates counterclockwise about the longitudinal axis LL at an angle selected from a range of, for example, about 80 degrees to, for example, about 100 degrees. It may be configured to rotate from a first orientation to a fourth orientation. In this example, processor 3008 cannot redirect output display 2250 if handle 2212 rotates less than 80 degrees counterclockwise about longitudinal axis LL.

  As described above, the operator can use the rocker 3012 to articulate the end effector 2208, for example. In certain cases, the operator can move the finger in the first direction to tilt the rocker 3012, depress the dome switch 3004A, and articulate the end effector 2208, for example, clockwise to the right. Is moved in a second direction opposite to the first direction, and the dome switch 3004B is depressed, and the end effector 2208 can be articulated, for example, counterclockwise to the left.

  In certain cases, depending on the position and / or orientation of the rocker 3012 relative to the interface 3001 and / or the handle assembly 2202, in the first or neutral position of the handle assembly 2202, as shown in FIGS. The direction of 1 may be upward, for example, and the second direction may be downward, for example. In such a case, the surgical instrument operator 2200 may be accustomed to moving a finger, eg, upward, to articulate the end effector 2208, eg, to the right, and the operator may move the end effector 2208, eg, In order to articulate to the left, you may be used to moving your finger downwards, for example. In certain cases, however, as shown in FIG. 14B, the operator may change the position of the handle assembly 2202 to a second position, such as an upside down position. In such a case, if the operator forgets to reverse the direction in which the finger is moved, the operator may unconsciously articulate the end effector 2208 in a direction opposite to the direction intended by the operator. is there.

  Referring to FIG. 13, the surgical instrument 2200 may comprise a module 10012 that may allow the operator to maintain the direction of movement familiar to the surgeon with respect to the operation of the surgical instrument 2200. As described above, the processor 3008 may be configured to switch between multiple configurations in response to, for example, changes in the position and / or orientation of the handle assembly 2202. In certain cases, as shown in FIG. 13, the processor 3008 may include a first configuration of the interface 3001 associated with a first position and / or orientation of the handle assembly 2202 and a second position and / or orientation of the handle assembly 2202. May be configured to switch between a second configuration of the interface 3001 associated with the.

  In certain cases, in a first configuration, the processor 3008 may be configured to command the articulation motor and articulate the end effector 2208 to the right, for example when the dome switch 3004A is depressed, For example, it may be configured to command the articulation motor to articulate the end effector 2208 to the left when the dome switch 3004B is depressed. In the second configuration, the processor 3008 may command the articulation motor to articulate the end effector 2208 to the left, for example when the dome switch 3004A is depressed, and the processor 3008 may depress the dome switch 3004B, for example. And command the articulation motor to articulate the end effector 2208 to the right. In various embodiments, the surgical instrument may include one motor to articulate the end effector 2208 in both directions, while in other embodiments, the surgical instrument moves the end effector 2208 in the first direction. A first motor configured to articulate and a second motor configured to articulate end effector 2208 in a second direction may be provided.

  With reference to FIGS. 13-14B, the processor 3008 employs a first configuration, for example, while the handle assembly 2202 is in a first position and / or orientation, for example, while the handle assembly 2202 is in a second position and / or orientation. The second configuration may be adopted. In certain cases, the processor 3008 may detect the orientation and / or position of the handle assembly 2202 by, for example, input from one or more accelerometers (not shown) that can be accommodated within the handle assembly 2202. May be configured. In various cases, such accelerometers can detect the orientation of handle assembly 2202 with respect to gravity, ie, up and / or down.

  In certain cases, the processor 3008 may determine that the angle between the vector D extending through the handle assembly 2202 (FIG. 1) and the gravity vector g is in the range of, for example, from about 0 degrees to, for example, about 100 degrees. If so, the first configuration may be adopted. In certain cases, the processor 3008 may employ the first configuration when the angle between the vector D and the gravity vector g is any angle in the range, for example, from about 0 degrees to, for example, about 90 degrees. May be configured. In certain cases, the processor 3008 may be configured to employ the first configuration when the angle between the vector D and the gravity vector g is, for example, about 80 degrees or less.

  In certain cases, the processor 3008 may be configured to employ the second configuration when the angle between the vector D and the gravity vector g is, for example, about 80 degrees or greater. In certain cases, the processor 3008 may be configured to employ the second configuration when the angle between the vector D and the gravity vector g is, for example, about 90 degrees or greater. In certain cases, the processor 3008 may be configured to employ the second configuration when the angle between the vector D and the gravity vector g is, for example, about 100 degrees or greater.

  The reader is aware that the orientation and / or position of the handle assembly 2202 described and the corresponding configurations employed by the processor 3008 are exemplary in nature and are intended to limit the scope of the present disclosure. You will understand that. The processor 3008 may be configured to employ various other configurations in connection with various other orientations and / or positions of the handle assembly 2202.

  Referring to FIG. 15, in certain cases, the surgical instrument 2200 can be controlled and / or manipulated, or at least partially controlled and / or manipulated, by an input received from an operator through a display, such as the display 2250, for example. The display 2250 may include a touch screen adapted to receive input from an operator, which may be in the form of one or more touch actions. In various cases, display 2250 may be coupled to a processor, such as processor 3008, for example, which may be configured to cause surgical instrument 2200 to perform various functions in response to a touch action provided by an operator. In particular cases, display 2250 may include, for example, a capacitive touch screen, a resistive touch screen, or any suitable touch screen.

  Referring again to FIG. 15, the display 2250 may include a plurality of icons associated with a plurality of functions that can be performed by the surgical instrument 2200. In certain cases, the processor 3008 is configured to cause the surgical instrument operator 2200 to perform a function of the surgical instrument 2200 when an icon representing such function is selected, touched and / or pressed. Good. In certain cases, a memory, such as memory 3010, for example, may comprise one or more modules for associating multiple icons with multiple functions.

  In certain cases, as shown in FIG. 15, the display 2250 may include a fire icon 10014, for example. The processor 3008 may be configured to detect a firing input signal when an operator touches and / or presses the firing icon 10014. In response to detecting the firing input signal, the processor 3008 activates the motor 2216 to cause the firing member of the surgical instrument 2200 to fire staples, eg, from the staple cartridge 10006, and / or the anvil 10002 and the staple cartridge 10006. May be configured to cut tissue captured between the two. In certain cases, as shown in FIG. 15, the display 2250 may comprise an articulation icon 10016 that articulates the end effector 2208, eg, in a first direction, such as clockwise, for example. An articulation icon 10018 may also be provided that articulates the end effector 2208 in a second direction, eg, counterclockwise. The reader is concerned with the display 2250 relating to various other functions that can cause the processor 3008 to perform the surgical instrument 2200 when such an icon is selected, touched and / or pressed, eg, by the surgical instrument operator 2200. It will be appreciated that various other icons may be provided.

  In certain cases, one or more of the icons of display 2250 may include words, symbols, and / or images that represent functions that may be performed, for example, by touching or pressing the icons. In certain cases, articulation icon 10016 may indicate an image of end effector 2208 articulated clockwise. In certain cases, articulation icon 10018 may indicate an image of end effector 2208 articulated counterclockwise. In certain cases, firing icon 10014 may indicate an image of a staple being fired from staple cartridge 10006.

  With reference to FIGS. 1 and 16, the interface 3001 of the surgical instrument 2200 includes a plurality of operational control devices such as, for example, a closure trigger 10020, a rotary knob 10022, an articulation rocker 3012, and / or a firing input 3017 (FIG. 17). May be provided. In certain cases, various operational control devices of the interface 3001 of the surgical instrument 2200 can serve as navigation control devices in addition to their operational functions. In certain cases, the surgical instrument 2200 may comprise an operating mode and a navigation mode. In the operating mode, some or all of the control device of the surgical instrument 2200 may be configured to perform an operating function, and in the navigation mode, some or all of the control device of the surgical instrument 2200 performs a navigation function. May be configured to. In various cases, the navigation functions performed by some or all of the control device of the surgical instrument 2200 are related to, associated with and / or related to the operational functions performed by the control device. It's okay. In other words, the operation function executed by the control device of the surgical instrument 2200 can determine the navigation function executed by the control device.

  Referring to FIGS. 1 and 16, in certain cases, a processor, such as processor 3008, for example, provides a primary interface configuration while surgical instrument 2200 is in an operational mode and a secondary while surgical instrument 2200 is in a navigation mode. The processor 3008 may be configured to switch between interface configurations, and the processor 3008 assigns operating functions to some or all of the controllers of the interface 3001 that are in the operating mode, for example, in navigation mode, the navigation function is controlled by such controls. It may be configured to be assigned to a device. In certain cases, the navigation function of the control device in the secondary interface configuration is determined, for example, by the operating function of the control device in the primary interface configuration.

  Referring to FIG. 16, in certain cases, a surgical instrument operator 2200 may activate a navigation mode, for example, by opening or activating a navigation menu 10024 in the display 2250. In certain cases, surgical instrument 2200 may include a navigation mode button or switch (not shown) for activating navigation mode. In any case, upon receiving the navigation mode input signal, the processor 3008 can change the controller of the interface 3001 from the primary interface configuration to the secondary interface configuration.

  As shown in FIG. 16, the navigation menu 10024 may include various selectable categories, menus, and / or folders, and / or various subcategories, submenus, and / or subfolders. In certain cases, the navigation menu 10024 may include, for example, a joint flex category, a firing category, a closure category, a battery category, and / or a rotation category.

  In certain cases, as described above, in the operational mode, the articulation rocker 3012 can be used to articulate the end effector 2208, eg, in the navigation mode, select the articulation category and / or the articulation menu. Can be used to activate and / or navigate. In certain cases, as described above, in the operating mode, the firing input 3017 (FIG. 17) can be used to fire staples, for example, in navigation mode, select a firing category and / or launch menu. Can be used to launch and / or navigate. In certain cases, as described above, in the operational mode, the closure trigger 10020 can be used to transition the end effector 2208 between an open configuration and an access configuration, such as selecting a closed category in the navigation mode, as well as / Or can be used to activate and / or navigate a closed menu. In certain cases, in an operating mode, the rotation knob 10022 can be used to rotate the end effector 2208 relative to the elongate shaft 2204, eg, in navigation mode, select a rotation category and / or activate a rotation menu and Can be used to navigate.

  Referring primarily to FIGS. 1 and 17, the operation of surgical instrument 2200 may include a series or sequence of steps, actions, events, and / or combinations thereof. In various situations, as shown in FIG. 17, the surgical instrument 2200 provides instructions, warnings, and / or feedback to the surgical instrument operator 2200 regarding various processes, operations, and / or events. An indicator system 10030 may be provided that may be configured to do so.

  In various cases, indicator system 10030 may include a plurality of indicators 10032. In certain cases, indicator 10032 may include, for example, a visual indicator, such as a display screen, backlight, and / or LED. In certain cases, indicator 10032 may include an audio indicator such as a speaker and / or a buzzer. In certain cases, indicator 10032 may include a haptic indicator, such as, for example, a haptic actuator. In certain cases, indicator 10032 may include a combination of visual indicators, audio indicators, and / or tactile indicators, for example.

  Referring to FIG. 17, indicator system 10030 may comprise one or more processors, such as processor 3008, and / or one or more memory devices, such as memory 3010, for example, a microcontroller. One or more microcontrollers such as 3002 may be provided. In various cases, the processor 3008 may process various sensors 1003 and / or for example, the status of the surgical instrument 2200 and / or the course of operations, actions, and / or events related to the operation of the surgical instrument 2200. It may be coupled to a feedback system that may be configured to provide feedback to 3008.

  In various cases, operation of the surgical instrument 2200 can be from various processes including, for example, a joint flexion process, a closure process, a firing process, a firing reset process, a closure reset process, a joint flex reset process, and / or combinations thereof. May be configured. In various cases, the articulation process may include articulating the end effector 2208 relative to the elongate shaft 2204, eg, to an articulation position, and the articulation reset process includes, eg, the articulation home condition. Returning to position may be included. In various cases, the closing process may include transitioning the end effector 2208, for example, to a closed configuration, and the closing reset process may include transitioning the end effector 2208, for example, to an open configuration. In various cases, the firing step may include, for example, advancing the firing member to place staples from the staple cartridge 10006 and / or to cut tissue captured by the end effector 2208. In various cases, the firing reset process may include retracting the firing member, for example, to a firing home state position.

  Referring to FIG. 17, one or more of the indicators 10032 of the indicator system 10030 can be associated with one or more of the various steps performed with respect to the operation of the surgical instrument 2200. In various cases, as shown in FIG. 17, the indicator 10032 may include, for example, an escape indicator 10033 associated with the escape assembly 2228, an articulation indicator 10034 associated with the articulation process, a closure indicator 10030 associated with the closure process, firing A firing indicator 10038 associated with the process, an articulation reset indicator 10040 associated with the articulation reset process, a closure reset indicator 10042 associated with the closure reset process, and / or a firing reset indicator 10044 associated with the fire reset process. . The reader will understand that the above steps and / or indicators are in fact representative and are not intended to limit the scope of the present disclosure. Various other processes and / or indicators are contemplated by the present disclosure.

  Referring to FIG. 1, in various cases, one or more of the controllers of interface 3001 can be used for one or more of the steps of operation of surgical instrument 2200. In certain cases, the closure trigger 10020 can be used, for example, in a closure process. In a specific case, the launch input unit 3017 (FIG. 17) can be used, for example, in the launch process. In certain cases, the joint flexion rocker 3012 can be used, for example, in a joint flexion process and / or a joint flexion reset process. In a specific case, the home state input unit 3014 can be used, for example, in a launch reset process.

  Referring to FIG. 17, in various cases, an indicator 10032 associated with one of the steps of operation of surgical instrument 10030 may be associated with a controller used in such a step. For example, the articulation indicator 10034 may be associated with the articulation rocker 3012, the closure indicator 10030 may be associated with the closure trigger 10020, the firing indicator 10030 may be associated with the firing input 3017 and / or a firing reset. The indicator 10044 may be associated with the home state input unit 3014. In certain cases, the association of the indicator interface 3001 with the control device may help the operator to associate the indicator with the control device, eg, at the top, inside, partially inside, near, and / or It may include placing or positioning the indicator very close. The reader will understand that the control device and / or the indicator associated with such control device is actually representative and is not intended to limit the scope of the present disclosure. Various other controllers and indicators associated with such controllers are contemplated by the present disclosure.

  In various cases, the processor 3008 may be configured to activate the indicator 10032 in one or more sequences defined by the order of steps associated with the indicator 10032. For example, the operator may need to operate the surgical instrument 2200 in a series of steps that begin with a joint flexion process, followed by a closure process, and a firing process. In such an example, the processor 3008 is configured to direct the operator through the sequence of steps by activating the corresponding articulation indicator 10034, closure indicator 10030, and firing indicator 10030 in the same order as the sequence of steps. It's okay. In other words, the processor 3008 may be configured to activate, for example, the articulation indicator 10034 first, followed by the closure indicator 10036, and then the firing indicator 10038. In certain cases, the surgical instrument 2200 may include a bypass switch (not shown) that may be configured to allow an operator to avoid, for example, recommended but unnecessary steps. In such a case, pressing the bypass switch may signal the processor 3008 to activate the next indicator in the sequence.

  In various cases, the processor 3008 may be configured to switch the indicator 10032 between multiple indicator configurations that provide instructions, warnings, and / or feedback to the surgical instrument operator 2200. In various cases, the processor 3008 may provide a visual cue to the surgical instrument operator 2200 by switching the indicator 10032 between multiple indicator configurations, which may include, for example, activation and / or deactivation configurations. Can do. In certain cases, one or more of the indicators 10032 include a light source that can be activated, for example, in a first indicator configuration to alert an operator to perform a process associated with the indicator 10032, for example. The light source may be deactivated, for example with a second indicator configuration, and alert the operator when the process is complete, for example.

  In certain cases, the light source may be a flashing light that can be transitioned between a flashing configuration and a non-flashing configuration by the processor 3008. In certain cases, flashing light in a non-flashing configuration can be transferred to, for example, solid state lighting or turned off. In certain cases, the blinking light in the blinking configuration can represent a waiting time, for example, while the process is in progress. In certain cases, the frequency of blinking flashing light may vary to provide various visual cues. For example, the blinking frequency of the blinking light indicating the standby time may increase or decrease as the standby time approaches the end. The reader will understand that the waiting time can be, for example, a forced waiting time and / or a recommended waiting time. In certain cases, the forced waiting time can be represented by a blinking configuration that is different from the recommended waiting time. In certain cases, the flashing light may be composed of a first color representing a forced standby time and a second color representing a recommended standby time, where the first color is different from the second color. . In certain cases, the first color may be red, for example, and the second color may be yellow, for example.

  In various cases, a first indicator configuration that represents a controller available for use in one or more of the indicators 10032, for example, in a standard next step in the operation of the surgical instrument 2200, A second indicator configuration that represents a control device available for use in a non-standard next step in the operation of surgical instrument 2200 and / or used in the next step in the operation of surgical instrument 2200 Can be switched by the processor 3008 to and from a third indicator configuration that represents a controller that is not available. For example, when the end effector 2208 of the surgical instrument 2000 is in an open configuration, the articulation indicator 10034 and the closure indicator 10036 are lit, and these two functions, ie, end effector articulation and end effector closure, are now at this point. Surgical instrument operator 2200 can be shown to be available to the operator. In such a state, the firing indicator 10030 is not lit, indicating to the operator that the firing function is not available to the operator at this time. When the end effector 2208 is placed in the closed and / or clamped configuration, the articulation indicator 10034 will disappear, indicating that the articulation function is not already available at this point. In such a situation, the illumination of the closure indicator 10036 will be weak and at this point it can be shown to the operator that the closure function can be moved in the reverse direction. In addition, in such a state, the firing indicator 10038 will be illuminated, indicating to the operator that the firing function is not available to the operator at this time. When the firing member is at least partially advanced, the closure indicator 10035 disappears, indicating that at this point the closure function cannot be moved in the reverse direction. When the firing member is retracted to the unfired position, the illumination of the firing indicator 10030 is weakened, which can indicate to the operator that the firing member can be advanced again if necessary. Alternatively, when the firing member is retracted, the firing indicator 10038 disappears, and the operator can be shown at this point that the firing member cannot advance again. In any case, after the firing member has been retracted to the unfired position, the closure indicator 1000036 can be relighted to indicate to the operator that at this point the closure function can be moved in the reverse direction. The articulation indicator 10034 remains off, indicating that the articulation function is not available at this point. When the end effector 2208 is opened, the firing indicator 10038 disappears if it has not already disappeared, and can now indicate to the operator that the firing function is not available, and the closure indicator 10036 remains illuminated. Yes, or the illumination is weak and the operator can be shown that the closure function is still available at this time, the articulation indicator 10034 will be re-lit and the articulation function is now available It can be shown to the operator that there is. The above examples are representative and other embodiments are possible.

  In certain cases, one or more of indicators 10032 may be processed by processor 3008, for example, a first color in a first indicator configuration, a second color in a second indicator configuration, and / or a third. A light source may be provided that can switch between a third color in the indicator configuration. In certain cases, the indicator 10032 may have the first indicator configuration, the second indicator configuration, and / or the third indicator configuration by the processor 3008, for example, by changing the light intensity of the light source or by scanning the entire color spectrum. You can switch between them. In certain cases, the first indicator configuration may include, for example, a first light intensity, the second indicator configuration may include, for example, a second light intensity, and / or the third indicator configuration, for example, a third light intensity. An indicator configuration may be included.

  In various cases, in the firing step of operation of the surgical instrument 2200, the firing member is activated to place a plurality of staples from the staple cartridge 10006 into the tissue captured between the anvil 10002 and the staple cartridge 10006. The captured member can be advanced by advancing a cutting member (not shown). The reader will understand that it may not be desirable to advance the cutting member for cutting the captured tissue in the absence of a staple cartridge or in the presence of a used staple cartridge. . As a result, in various cases, the surgical instrument 2200 can be activated to prevent advancement of the cutting member, for example in the absence of a staple cartridge or in the presence of a used staple cartridge (not shown). )).

  Referring to FIG. 18, module 10046 may be utilized by an indicator system, such as indicator system 10030 (FIG. 17), for example. In various cases, module 10046 may include program instructions stored in one or more memory devices, such as, for example, memory 3010, and when executed, during the firing process of operation of surgical instrument 2200, for example. The processor 3008 may utilize the indicator 10032 to provide a warning, instruction, and / or feedback to the surgical instrument operator 2200. In certain cases, one or more of indicators 10032, such as firing indicator 10038 and / or firing reset indicator 10044, for example, may be configured by processor 3008 during the firing process of operation of surgical instrument 2200, for example, as a first indicator configuration. , To switch between the second indicator configuration and / or the third indicator configuration to provide the surgical instrument operator 2200 with warnings, instructions, and / or feedback.

  Referring to FIGS. 17 and 18, the surgical instrument operator 2200 activates the firing input 3017 to cause the processor 3008 to activate, for example, the motor 2216 to fire the firing member to load a plurality of staples from the staple cartridge 10006. It can be placed within the captured tissue and the cutting member can be advanced to cut the captured tissue. In certain cases, the firing indicator 10030 alerts the operator that the firing input 3017 is available and / or one of the standard control options available to complete the firing process. To do so, it can be set to the first indicator configuration.

  In certain cases, as shown in FIGS. 17 and 18, if the processor 3008 detects that the lockout mechanism is active, the processor 3008 may, for example, stop and / or de-activate the motor 2216, The advancement of the cutting member can be stopped. In addition, the processor 3008 may be configured to transition the firing indicator 10038 from the first indicator configuration to the third indicator configuration and alert the operator that the firing input 3017 is not available. In certain cases, the processor 3008 may also be configured to illuminate the display 2250 and display an image without a staple cartridge, for example. In certain cases, the processor 3008 also sets the firing reset indicator 10044 to a first indicator configuration, for example, and the home state input 3014 fires the firing member, for example, retracts the cutting member to the firing home state position. It is also possible to inform the operator that it can be used. In certain cases, the processor 3008 may be configured to detect that a new staple cartridge has been installed, for example by sensor 10033, and to return the firing indicator 10038 to a first indicator configuration, for example, accordingly.

  In certain cases, as shown in FIG. 18, the processor 3008 may be configured to stop the motor 2216 if the operator releases the firing input 3017 prior to completion of the firing process. In certain cases, the processor 3008 also maintains the firing indicator 10038 in a first indicator configuration, for example, with the firing input 3017 as a standard control option available to complete the firing process of operation of the surgical instrument 2200, for example. The operator can be warned that it can be used. In certain cases, the processor 3008 may also set the firing reset indicator 10044 to a second indicator configuration, for example, and if the operator decides to abort the firing process of operation of the surgical instrument 2200, for example, The operator 3014 can also inform the operator that it can be used as a non-standard control option that can be used, for example, to retract the cutting member to the firing home state position.

  In addition to the above, as shown in FIG. 18, if the operator reactivates the firing input 3017, the processor 3008 accordingly restarts the motor 2216 and disconnects until the cutting member is fully advanced. The member can continue to advance. In certain cases, the processor 3008 can utilize the sensor 10033 to detect when the cutting member is fully advanced, and the processor 3008 can then, for example, reverse the direction of rotation of the motor 2216 to fire the cutting member, for example. The firing member can be activated to retract to the home position. In certain cases, if the processor detects that the cutting member has reached, for example, a firing home state position, the processor 3008 may, for example, stop the motor 2216 and / or set the closure reset indicator 10042 to a first indicator, for example. It may be configured to set in the configuration.

  As described herein, a surgical instrument can be in various operating states, modes, and / or configurations. In certain cases, the instrument may be in an undesired operating state, mode, and / or configuration by an operator who may not know how to remove the instrument from the undesired state, mode, and / or configuration. There is. In at least one case, the surgical instrument may include a reset button that, when activated, may place the instrument in an initial state, mode, and / or configuration. For example, the initial state, mode, and / or configuration may include an operation mode rather than a navigation mode. In at least one case, the initial state and / or configuration may include a particular orientation of the display output 2250, for example. The reset button may be in signal communication with the processor 3008 that may place the surgical instrument in an initial state, mode, and / or configuration. In certain cases, the processor 3008 may be configured to maintain the surgical instrument in an initial state, mode, and / or configuration. In at least one case, the surgical instrument may comprise a lock button that, when activated, can lock the instrument to its initial state, mode, and / or configuration. In certain cases, the lock button can lock the surgical instrument to the current state, mode, and / or configuration. The operating state, mode and / or configuration can be unlocked by actuating the lock button again. In various embodiments, the surgical instrument may comprise at least one accelerometer in signal communication with the processor 3008 that can determine when the instrument handle is being shaken or moved back and forth quickly. When such shaking is detected, the processor 3008 may place the surgical instrument in an initial operating state, mode, and / or configuration.

  Referring to FIG. 19, in various cases, surgical assembly 10050 may comprise a surgical instrument, such as, for example, surgical instrument 2200, and a remote manipulation unit 10052. In certain cases, the surgical instrument 2200 may include a primary interface, such as an interface 3001, that may be present in the handle assembly 2202, as shown in FIG. In certain cases, interface 3001 may include a plurality of closure triggers 10020 (FIG. 1), rotation knob 10022, articulation rocker 3012, home condition input 3014, and / or firing input 3017 (FIG. 17), for example. A primary controller may be provided.

  In various cases, the surgical instrument operator 2200 may manually operate the primary controller of the interface 3001, for example, to perform a surgical procedure. As described above, the operator can actuate the articulation rocker 3012 to activate the motor 2216 and articulate the end effector 2208, for example, between a non-articulated position and a articulated position. In certain cases, an operator can actuate closure trigger 10020 to transition end effector 2208, for example, between an open configuration and a closed configuration. In certain cases, an operator may activate firing input 3017 to activate motor 2216 to fire staples from staple cartridge 10006 and / or capture between anvil 10002 and staple cartridge 10006, for example. The firing member of the surgical instrument 2200 can be activated to cut the tissue that has been cut.

  In various cases, the surgical instrument operator 2200 cannot be close enough to the handle assembly 2202 to allow manual operation of the interface 3001. For example, an operator can operate the surgical instrument 2200 with a robot-controlled surgical system that can be controlled from a remote location. In such a case, the operator may need to operate the surgical instrument 2200 from a remote location where the operator is operating, for example, a robotically controlled surgical system, The unit 10052 can be used, for example, to operate the surgical instrument 2200 from a distance. Various robot systems, instruments, components, and methods are described in US Patent Application No. 13 / 118,241 (current US Patent Application Publication No. 2012/0298719) entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”. ), Which is incorporated herein by reference in its entirety.

  Referring to FIGS. 19 and 20, the remote operation unit 10052 may include, for example, a secondary interface 3001 ', a display 2250', and / or a power assembly 2206 '(or "power supply" or "power pack"). In various cases, the secondary interface 3001 'may comprise a plurality of secondary controllers that may correspond to the primary controller 3001'. In certain cases, the remote manipulation unit 10052 may comprise a remote articulation rocker 3012 ', for example corresponding to the articulation rocker 3012. In certain cases, the remote manipulation unit 10052 may include a remote firing input 3017 ', for example corresponding to the firing input 3017 of the surgical instrument 2200. In certain cases, the remote operation unit 10052 may include a remote home status input 3014 ′, for example corresponding to the home status input 3014 of the surgical instrument 2200.

  In certain cases, as shown in FIG. 19, the remote control unit 10052, the interface 3001 ′, and / or the plurality of secondary controllers may each be a handle assembly 2202, interface 3001, and / or a plurality of primary controllers. May have different shapes and / or designs. In a particular case, as shown in FIG. 20, the remote operation unit 10052, the interface 3001 ′, and / or the plurality of secondary control devices, the interface 3001 ′, and / or the plurality of secondary control devices, respectively handle It may have the same, or at least substantially the same shape and / or design as assembly 2202, interface 3001, and / or multiple primary controllers.

  In various cases, as shown in FIGS. 19 and 20, the remote operation unit 10052 may be configured to transmit various actuation signals to, for example, the processor 3008 of the surgical instrument 2200, eg, an elongated flexible cable. Via 10054, it can be coupled to the handle assembly 2202 of the surgical instrument 2200, and various actuation signals can be generated, for example, by actuating a plurality of secondary controllers of the interface 3001 '. In a particular case, as shown in FIG. 21, the remote operation unit 10052 may send an actuation signal generated by the secondary controller of the secondary interface 3001 ′, eg, from the remote operation unit 10052 to the processor 3001, eg, the handle assembly 2202. A transmitter 10056 may be provided that may be configured to transmit wirelessly through a receiver 10058 that may be located within.

  In various cases, surgical instrument 2200 and / or remote control unit 10052 may include a communication activation input (not shown). In certain cases, the activation of the communication activation input may be a prior step of establishing communication between the surgical instrument 2200 and the remote operation unit 10052, for example, and once the communication is established, the operator Can be used to remotely control the surgical instrument 2200, for example.

  In various cases, the memory 3010, when executed, causes the processor 3008 to communicate with the secondary interface in a manner that is the same as or at least similar to the processor 3008's response to activation signals generated by a plurality of primary controllers of the primary interface 3001. Program instructions may be included for a puppet mode that can be responsive to actuation signals generated by a plurality of secondary controllers 3001 '. In other words, the response of the processor 3008 to actuation signals generated by multiple secondary controllers may be configured to mimic the response of the processor 3008 to actuation signals generated by multiple primary controllers, for example.

  In certain cases, activation of the remote firing input 3017 ′ can determine a response from the processor 3008 that is the same, or at least similar, to activation of the firing input 3017, and the determined response is determined by the activation of the motor 2216. For example, to fire staples from the staple cartridge 10006 and / or to cut tissue captured between the anvil 10002 and the staple cartridge 10006. In certain cases, actuation of the remote articulation rocker 3012 ′ can determine a response from the processor 3008 that is the same as or at least similar to the operation of the articulation rocker 3012, and the determined response is the activation of the motor 2216. For example, the end effector 2208 can be articulated relative to the elongated shaft 2204.

  In certain cases, the processor 3008 requires input activation signals from both the primary controller of the primary interface 3001 and the secondary controller of the corresponding secondary interface 3001 'and performs the functions sought by such controller. It may be configured to execute. In such a case, the remote operator of the remote operation unit 10052 manually activates the primary controller of the primary interface 3001 while the remote operator is operating the secondary controller of the secondary interface 3001 ′, for example. There may be a need for additional operator help that can be utilized to operate.

  In various cases, as described above, an operator can operate the surgical instrument 2200 with a robotically controlled surgical system that can be controlled by the robotic control system from a remote location. In certain cases, the remote operation unit 10052 may be configured to function with a robot control system. In certain cases, the robot control system may comprise one or more control ports and the remote operation unit 10052 may comprise connection means for mating engagement with the control port of the robot control system. . In such a case, the operator can operate the surgical instrument 2200 via, for example, an interface of the robot control system. In various cases, the control port may have a unique mechanical and / or electrical configuration that may require, for example, the use of original equipment manufacturer equipment to ensure consistent product quality and performance. May be provided.

  In various cases, the remote control unit 10052 may include various indicators 10032 'that may be similar in many respects to the indicator 10032 of the handle assembly 2202. In certain cases, the indicator 10032 ′ of the remote operation unit 10052 is utilized by the processor 3008 in the same or at least substantially the same manner as the indicator 10032 to inform the operator about the various steps of operation of the surgical instrument 2200. Instructions, warnings, and / or feedback can be provided.

  In various cases, the remote control unit 10052 may include various feedback devices 2248 'that may be similar in many respects to the feedback device 2248 of the handle assembly 2202. In certain cases, the feedback device 2248 ′ of the remote operating unit 10052 is utilized by the processor 3008 in the same or at least substantially the same manner as the feedback device 2248 for the various steps of operation of the surgical instrument 2200. Can provide sensory feedback. Similar to feedback device 2248, feedback device 2248 'may include, for example, a visual feedback device, an audio feedback device, a haptic feedback device, and / or combinations thereof.

  In various cases, as shown in FIG. 22, the remote operation unit 10052 may be included in or integrated with the first surgical instrument 10060, for example, used to operate the second surgical instrument 10062. May be. In certain cases, the first surgical instrument 10060 may reside within the surgical field 10065, for example, may be manually operated by an operator from within the surgical field 10065, and the second surgical instrument 10062 may be operated on the surgical field 10065. May be present outside of. In certain cases, to prevent exiting the surgical field 10065, the operator can remotely control the second surgical instrument 10062, for example, from within the surgical field 10065 using the remote operation unit 10052. In certain cases, the second surgical instrument 10062 may be, for example, a circular stapler. The entire disclosure of US Pat. No. 8,360,297 (issued Jan. 29, 2013) entitled “SURGICAL COUNTING AND STAPLING INSTRUMENT WITH SELF ADJUSTING ANVIL” is incorporated herein by reference.

  In various cases, the first surgical instrument 10060 and / or the second surgical instrument 10062 may include a communication activation input (not shown). In such a case, the operation of the communication activation input unit may be a preceding step of establishing communication between the first surgical instrument 10060 and the second surgical instrument 10062, for example. Can remotely control the second surgical instrument 10062, for example, using the remote operation unit 10052.

  In various cases, a surgical system may include modular components that can be attached and / or combined together to form a surgical instrument. In certain cases, modular components may be designed, manufactured, programmed, and / or updated at different times and / or according to different revisions and updates of software and / or firmware. For example, referring primarily to FIGS. 23 and 24, the surgical instrument 100 includes a first modular component 110, such as a handle, and a second modular component 120, such as a shaft 122 and an end effector 124, for example. These may be provided and are detailed herein. In various situations, the first modular component 110 and the second modular component 120 can be assembled together to form the modular surgical instrument 100 or at least a portion thereof. If desired, a different modular component, such as a shaft, having different dimensions and / or characteristics than the second modular component 120 can be coupled to the first modular component 110, for example. In various cases, the surgical instrument may include additional modular components such as, for example, a modular battery. The components of modular surgical instrument 100 may comprise a control system that is designed and configured to control various elements and / or functions of surgical instrument 100. For example, the first modular component 110 and the second modular component 120 may each comprise a control system, and the control system of each modular component 110, 120 may communicate and / or cooperate. . In various cases, the first modular component 110 may be designed, manufactured, programmed, and / or used at a different time than the second modular component 120 and / or using different software and / or firmware, for example. Or it may be updated.

  Referring now to FIG. 25, the assembled surgical system can include a first control system 150 ′ and a second control system 150. The control systems 150 ', 150 can be in signal communication, for example. In various cases, the second modular component 120 may comprise a control system 150 that may comprise a plurality of control modules 152, for example. The control module 152 can affect the surgical function, for example, using and / or by elements or subsystems of the surgical instrument 100. The control module 152 can affect the surgical function based on, for example, pre-programmed routines, operator input, and / or system feedback. In various cases, the first modular component 110 may also include a control system 150 ', which may include a plurality of control modules 152', for example. One of the control system 150 ′ and / or the control module 152 ′ of the first modular component 110 is different from one of the control system 150 and / or the control module 152 of the second modular component 120. It's okay. Although the control systems 150 and 150 'may be different, the control systems 150 and 150' may be configured to control corresponding functions. For example, both control module 152 (a) and control module 152 (a) 'can send commands to firmware module 158, for example, to perform a firing stroke. In various cases, one of the control systems 150, 150 ′ and / or their control modules 152, 152 ′ may comprise updated software and / or firmware and / or herein. As detailed, it may have a closer effective date.

  The control modules 152, 152 ′ may comprise, for example, software, firmware, programs, modules, and / or routines and / or comprise, for example, multiple software, firmware, programs, control modules, and / or routines. It's okay. In various situations, the control system 150, 150 'may include multiple layers and / or levels of commands. For example, the control system 150 may include a first layer 144 of the control module 152, a second layer 146 of the control module 152, and / or a third layer 148 of the control module 152. The first layer 144 of the control module 152 may be configured to send a command to the second layer 146 of the control module 152, for example, and the second layer 146 of the control module 152 sends a command to the third layer 148 of the control module 152. May be configured to send. In various cases, the control system 150, 150 'may comprise, for example, less than 3 and / or more than 3 layers.

  Still referring to FIG. 25, the control module 152 in the first layer 144 may comprise high level software, ie, a clinical algorithm 154. The clinical algorithm 154 can control high-level functions of the surgical instrument 100, for example. In certain cases, the control module 152 in the second layer 146 may comprise intermediate software, ie, a framework module 156, which can control, for example, intermediate level functions of the surgical instrument 100. In certain cases, the first layer 144 clinical algorithm 154 can send abstract commands to the second layer 146 framework module 156 to control the surgical instrument 100. Further, the control module 152 in the third layer 148 may comprise a firmware module 158 that may be specific to a particular hardware component 160, or multiple components, of the surgical instrument 100, for example. For example, the firmware module 158 can correspond to a particular cutting element, firing bar, trigger, sensor, and / or motor of the surgical instrument 100 and / or can correspond to a particular subsystem of the surgical instrument 100, for example. In various cases, the framework module 156 can send commands to the firmware module 158 to perform surgical functions using the corresponding hardware component 160. As a result, the various control modules 152 of the surgical system 100 can communicate and / or cooperate during the surgical procedure.

  Still referring to FIG. 25, the control system 150 of the second component 120 can correspond to the control system 150 ′ of the first component 110, and the various control modules 152 of the second component 120 can be combined with the first component 110. It is possible to correspond to the control module 152 ′. In other words, each control module 152 may comprise a similar or corresponding control module 152 ′, and both control modules 152 and 152 ′ may have the same, similar and / or related functions. And / or provide the same, similar and / or related commands. Still referring to FIG. 25, the control module 152a can correspond to the control module 152a '. For example, the control modules 152a and 152a ′ may both control the firing stroke of the cutting element, but for example, the control module 152a may be configured to control the first cutting element design or model number, and the control module 152a 'May be configured to control different cutting element designs or model numbers. In other cases, the control module 152a 'may comprise a software program, and the control module 152a may comprise an updated or revised software program, for example.

  In various cases, the first component 110 of the surgical instrument 100 may include a clinical algorithm 154 ′ that is different from the clinical algorithm 154 of the second component 120. Additionally and / or alternatively, the first component 110 may comprise a framework module 156 ′ that is different from the corresponding framework module 156 of the second component 120 and / or the first configuration. Element 110 may comprise a firmware module 158 ′ that is different from the corresponding firmware module 158 of the second component 120.

  In various cases, corresponding control modules 152, 152 'may include different effective dates. One skilled in the art will appreciate that the effective date of the control module 152, 152 'may correspond to, for example, the date on which the control module 152, 152' was designed, created, programmed, and / or updated. Let's go. The effective date of the control module may be recorded and stored in the program code of the control module, for example. In certain cases, the control module of surgical instrument 100 may have expired. Furthermore, invalid, i.e., not recently updated, control modules may be incompatible, disconnected and / or disconnected from the latest and / or recently updated control modules. As a result, in certain cases, it may be desirable to update the invalid control module to ensure accurate and effective operation of the surgical instrument 100.

  In various cases, the modular components of the surgical system may comprise a defined initial or master control system. In such cases, if the assembled modular component control systems are different, the initial control system can update, overwrite, revise and / or replace the non-initial control system. In other words, if the corresponding control module is different, for example, incompatible or inconsistent, the non-initial control module can be updated and the initial control module can be saved. For example, if the handle 110 includes a control system 150 ′ that is a non-initial control system and the shaft 120 includes a control system 150 that is a master control system, the control system 150 ′ of the handle 110 is based on the control system 150 of the shaft 120. May be updated.

  In situations where the shaft component is updated and / or modified more frequently than the handle component, it may be desirable to program the surgical instrument shaft component 120 to include an initial control system. For example, if a new generation and / or version of the shaft component 120 is loaded more frequently than the new generation and / or version of the handle component 110, the shaft component 120 of the modular surgical instrument 100 may be That is, it may be advantageous to have a master control system. While the various situations described throughout this disclosure are related to updating the handle component control module based on the shaft component control module, those skilled in the art will recognize in other contemplated situations. It will be readily appreciated that the shaft component and / or the control module of the different modular components may be updated instead of or in addition to the handle component control module.

  In various cases, surgical instrument 100 (FIGS. 23 and 24) compares control module 152 ′ at each layer or level in control system 150 ′ with control module 152 at each corresponding layer or level in control system 150. it can. If the control modules 152 and 152 'in the corresponding layer are different, the control system 150, 150' can update the non-initial control module, for example. Referring to FIG. 26, in step 201, the control system 150 and / or the control system 150 ′ controls the control module 152 ′ of the first layer 144 ′ of the first component 110 and the first layer 144 of the second component 120. The control module 152 can be compared. If the first layers 144, 144 'comprise high-level clinical algorithms 154, 154', respectively, the control system 150 and / or the control system 150 'can compare the clinical algorithms 154 and 154', for example. Further, at step 203, if the control modules 152, 152 ′ in the first layers 144, 144 ′ are different, the control system 150 and / or the control system 150 ′ can be changed by the initial module 152 of the first layer 144, for example. The module 152 ′ of the first layer 144 ′ can be updated. In various cases, the control system 150 can compare and / or update the control system and / or control module, and in other situations, for example, the control system 150 ′ can compare and update the control system and / or control module. . In various cases, one of the control systems 150, 150 ′ may be configured to compare and / or update the control system and / or control module, and in other cases, both control systems 150, 150 ′. May be configured to compare and / or update control systems and / or control modules.

  In step 205, control system 150 and / or control system 150 ′ compares control module 152 ′ of second layer 146 ′ of first component 110 with control module 152 of second layer 146 of second component 120. it can. For example, if the second layer 146, 146 'comprises a medium level framework algorithm 156, 156', the control system 150, 150 'can, for example, compare the framework algorithms 156 and 156'. In step 207, if the modules 152, 152 ′ in the second layer 146, 146 ′ are different, the control system 150, 150 ′ is controlled by the initial control module 152 in the second layer 146 and the control module 152 in the second layer 146 ′. 'Can be updated. In various cases, any corresponding second layer module, even if one or more of the control modules 152 ′ in the second layer 146 ′ are the same as the corresponding module 152 in the second layer 146. If 152, 152 ′ are different, all control modules 152 ′ of the second layer 146 ′ may be updated. In other cases, only a control module 152 'that is different from the corresponding module 152 may be updated, as detailed herein.

  In step 209, the control system 150 and / or the control system 150 ′ compares the control module 152 ′ of the third layer 148 ′ of the first component 110 with the control module 152 of the third layer 148 of the second component 120. it can. For example, if the third layer 148, 148 'comprises firmware modules 158, 158', the control system 150 and / or control system 150 'can compare the firmware modules 158 and 158', for example. If the modules 152, 152 ′ in the third layer 148, 148 ′ are different, the control system 150 and / or the control system 150 ′ may be activated by the initial control module 152 of the third layer 148 in step 211 by the third layer 148 ′. The control module 152 ′ can be updated. In various cases, any corresponding third layer module, even if one or more of the control modules 152 ′ in the third layer 148 ′ are the same as the corresponding module 152 in the third layer 148. If 152, 152 ′ are different, all modules 152 ′ of the third layer 148 ′ may be updated. In other cases, only a control module 152 'that is different from the corresponding control module 152 may be updated, as detailed herein. Still referring to FIG. 26, the first layer control module 154, 154 ′ may be updated, for example, before the second layer control module 156, 156 ′, and the second layer control module 156, 156 ′, for example, third It may be updated before the layer control modules 158, 158 ′. In other cases, as detailed herein, the third layer control module 158, 158 ′ may be updated, for example, before the second layer control module 156, 156 ′, and the second layer control module 156, 156 ′ may be updated before the first layer control module 154, 154 ′, for example.

  As described above, control system 150 and / or control system 150 ′ may control system 150, 150 before updating, replacing, and / or overwriting expired control modules 152, 152 ′ and / or control systems 150, 150 ′. 'And / or their control modules 152, 152' can be compared. The reader will understand that this process can reduce the start-up time of the instrument when software updates and / or upgrades are not needed or are inappropriate. Alternatively, the comparison steps 201, 205, and 209 may be omitted, and the control system 150, 150 ′ may be, for example, the control module 152 ′ of the first modular component 110 and / or the first modular component 110. Certain specified control modules 152 may be automatically updated, replaced, revised, and / or overwritten.

  In various cases, the control modules 152, 152 'may be compared and updated layer by layer, and in other cases, the control systems 150, 150' may be compared and updated from system to system. In yet another case, the control modules 152, 152 'may be updated on a module-by-module basis. For example, referring now to FIG. 27, in step 221, the third layer module 158 ′ of the first control system 150 ′ can be compared with the corresponding third layer module 158 of the second control system 150. In various cases, the effective date of the third layer module 158 'can be compared with the effective date of the corresponding third layer module 158. Further, the control system 150 and / or the control system 150 ′ can determine whether the effective date of the third layer module 158 ′ is after the effective date of the third layer module 158. For example, if the third layer module 158 ′ is newer than the third layer module 158, the third layer module 158 ′ can be stored at step 225. Conversely, the third layer module 158 ′ is not newer than the third layer module 158, ie, the third layer module 158 is before the corresponding third layer module 158 or the third layer module 158 and the corresponding third layer. If the module 158 ′ has the same effective date, the third layer module 158 ′ may be updated, replaced, revised, and / or overwritten by the corresponding third layer module 158, for example. Further, in various cases, either of steps 221 and 223 or 225 may be repeated for each module 158, 158 'in the third layer of control system 150, 150'. As a result, the module 158 'in the third layer 148' can be updated on a module-by-module basis, and in various cases, for example, only the expired module 158 'can be updated and / or overwritten.

  Still referring to FIG. 27, after all third layer modules 158, 158 ′ have been compared and optionally updated, the control system 150, 150 ′ can proceed to step 227. In step 227, the control system 150 and / or the control system 150 ′ may include the third layer module 158 ′ of the first control system 150 ′ being coupled to the second layer module 156 ′ of the control system 150 ′ and / or You can confirm that you are communicating properly. For example, in a situation where the third layer module 158 'has been updated in step 223, the second layer module 156' may be separated from the updated third layer module 158 '. If the third layer module 158 'is separated from, for example, the second layer module 156', the second layer module 156 'may be updated, replaced, revised, and / or overwritten at step 229. The second layer module 156 ′ may be replaced by a corresponding second layer module 156 of the second control system 150, for example. Conversely, if the third layer module 158 'is properly coupled and / or in communication with the second layer module 156', the second layer module 156 'may be stored. Further, in various cases, any of steps 227 and 229 or 231 may be repeated for each module 158, 158 'in the third layer of control system 150, 150'. As a result, the module 156 'in the second layer 146' can be updated on a module-by-module basis, and in various cases, for example, only the isolated module 156 'can be updated and / or overwritten.

  Update any expired third layer module 158 ′ (steps 221 and 223) and, if present, replace all updated third layer modules 158 ′ with the appropriate second layer on first modular component 110. After securely connecting to module 156 ′ (steps 227, 229, and 231), control system 150, 150 ′ can proceed to step 233, where first layer module 154 ′ of first control system 150 ′. Can be compared with the corresponding first layer module 154 of the second control system 150. If the first layer modules 154, 154 'are the same, the update and / or revision process can be completed. Conversely, if the first layer modules 154, 154 ′ are different, the first layer module 154 of the second control system 150 updates, replaces, revises, and / or updates the first layer module 154 ′ of the first control system 150 ′. Or you may overwrite.

  As described herein, the software and / or firmware modules of modular components 110, 120 may be updated, revised, and / or replaced on a module, layer, and / or system basis. In certain cases, the update and / or revision process may be automatic when modular components are installed and / or operably coupled. In other situations, an operator of surgical instrument 100 may initiate or initiate the update and / or revision process described herein.

  In various cases, a modular surgical instrument such as, for example, modular surgical instrument 100 (FIGS. 23 and 24) may include an engagement sensor and a microcontroller in signal communication with the display. In various cases, the engagement sensor can detect the relative position of the modular components of the surgical system. Referring again to FIGS. 23 and 24, for example, if the first modular component 110 includes a handle and the second modular component 120 includes a shaft, the engagement sensor may cause the shaft 120 to engage the handle 110. Can be detected and / or operably coupled. In various cases, the shaft 120 may be movable between engagement with the handle 110 (FIG. 23) and disengagement from the handle 110 (FIG. 24).

  Referring primarily to FIGS. 28 (A) and 28 (B), an engagement sensor, such as engagement sensor 602, can be in signal communication with a microcontroller of the surgical system, such as microcontroller 604, for example. In various cases, the engagement sensor 602 can detect, for example, whether the modular components 110, 120 are engaged or disengaged, and can communicate, for example, the engagement or lack thereof to the microcontroller 604. . When the engagement sensor 602 indicates that the shaft 120 is engaged, for example, with the handle 110, the microcontroller 604 can enable surgical functions with the modular surgical instrument 100 (FIG. 23). If the modular components 110, 120 are operably coupled, for example, actuating the firing trigger 112 (FIG. 23) on the handle 110 will affect, for example, at least the impact of the firing motion of the shaft 120. Can try. Conversely, if the engagement sensor 602 indicates that the shaft 120 is disengaged from the handle 110, the microcontroller 604 can prevent a surgical function. For example, if the modular components 110, 120 are separated, actuating the firing trigger 612 may not attempt to affect, at least, affect the firing motion of the shaft 120.

  In various cases, modular surgical instrument 100 may include a display, such as display 606 (FIG. 28B), for example. The display 606 may be integrated into one of the modular components 110, 120 of the surgical instrument 100 and / or is external to the modular components 110, 120, and It may be in signal communication with controller 604. In various cases, the microcontroller 604 can communicate information detected by the engagement sensor 602 to the display 606. For example, the display 606 can show engagement and / or disengagement of the modular components 110, 120. Further, in various cases, the display 606 may include: (a) a method for properly attaching, coupling and / or engaging disengaged components 110, 120 of the surgical instrument 100 and / or (b) ) Instructions and / or guidance regarding how to properly remove, disengage, and / or disengage the engaged components 110, 120 of the surgical instrument 100 can be provided. Referring again to FIG. 28 (A), in various cases, the engagement sensor 604 may comprise a Hall effect switch, and in other cases, the engagement sensor may be, for example, a different and / or additional sensor and / or A switch may be provided.

  In certain situations, the engagement sensor 604 can detect the degree of engagement between the modular components of the surgical instrument. In the case where the first component includes, for example, the handle 110 and the second component includes, for example, the shaft 120, the handle 110 and the shaft 120 move between the disengaged position, the partially engaged position, and the engaged position. it can. The partial engagement position may be, for example, between the engagement disengagement position and the engagement position, and for example, there may be a plurality of partial engagement positions intermediate between the engagement position and the engagement disengagement position. In various cases, the engagement sensor 604 may comprise a plurality of sensors that can detect the partially engaged position of the components 110, 120. For example, the engagement sensor 606 may comprise, for example, a plurality of sensors and / or electrical contacts that may be staggered along, for example, at least one attachment of the modular components 110, 120. In certain cases, the engagement sensor 604 may comprise a Hall effect sensor, for example.

  In certain cases, primarily referring to FIGS. 29A and 29B, the surgical system 100 may include a plurality of sensors in signal communication with a microcontroller, such as the microcontroller 614, for example. The plurality of sensors may include a first sensor 612 (FIG. 29A) that can detect the presence of the first component 120 and can communicate the presence of the first component 120 to, for example, the microcontroller 614. In various cases, the first sensor 612 cannot detect and / or communicate, for example, the degree of engagement between the first component 110 and the second component 120. In various cases, the second sensor 613 (FIG. 29A) can also be in signal communication with the microcontroller 614. The second sensor 613 can detect the degree of engagement between the modular components 110 and 120, for example.

  Similar to the control system shown in FIGS. 28A and 28B, the microcontroller 614 can send commands based on feedback received from the sensors 612 and 613 and / or communicate with the display. The feedback can then be displayed and / or otherwise communicated with the operator of the surgical system. For example, the microcontroller 614 can prevent the surgical function until the modular components 110, 120 are in the engaged position, eg, prevent the surgical function when the modular components 110, 120 are partially engaged. it can. Furthermore, the microcontroller 614 can communicate information detected by the engagement sensor to the display. For example, the display can show engagement, partial engagement, and / or disengagement of the modular components 110, 120. Further, in various cases, the display relates to a method for properly attaching, coupling and / or engaging disengaged and / or partially engaged components 110, 120 of, for example, a surgical instrument. Instructions and / or guidance can be provided.

  In various cases, the surgical instrument can be in signal communication with a memory chip or memory device, eg, microprocessor 604 (FIGS. 28A and 28B) or 614 (FIGS. 29A and 29B). ) Or the like. The microprocessor can communicate data and / or feedback detected and / or calculated by various sensors, programs, and / or circuits of the surgical instrument to, for example, a memory chip. In various cases, the recorded data may relate to the time and / or duration of the surgical procedure and, for example, various functions and / or portions of the surgical procedure and / or duration. Additionally or alternatively, the recorded data may relate to, for example, the condition of the treatment site and / or the condition within the surgical instrument. In certain cases, the recording of data may be automatic; in other cases, the microprocessor cannot record data unless and / or until directed to record data. For example, it may be preferable to record data during a surgical procedure, maintain or store the recorded data in a memory chip, and / or transfer the recorded data to a secure location. In other situations, it may be preferable to record data during a surgical procedure, for example, to subsequently erase the recorded data.

  The surgical instrument and / or its microcontroller may comprise a data storage protocol. A data storage protocol can provide rules for recording, processing, storing, transferring, and / or erasing data, for example. In various cases, the data storage protocol may be pre-programmed and / or updated during the product life of the surgical instrument. In various cases, the data storage protocol may order erasure of recorded data after completion of the surgical function and / or surgery, and in other cases, the data storage protocol may be erased after a predetermined period of time. You may order. For example, the recorded data may be erased according to the data storage protocol 1 minute, 1 hour, 1 day, 1 week, 1 month, or 1 year after the surgical function. The predetermined period may be any suitable and appropriate period allowed by the situation.

  In certain situations, the data storage protocol may order the erasure of recorded data after a predetermined number of surgical functions such as firing strokes. In yet another case, the data storage protocol may order the erasure of recorded data when the surgical instrument is turned off. For example, referring to FIG. 31, if a surgical instrument is powered off, the microcontroller can proceed to step 709, where the microcontroller can perform, for example, an instrument, component, or sub-device during a surgical procedure. It is possible to determine whether an error or a major problem such as a system failure has occurred. In various cases, if an error is detected, the microcontroller can proceed to step 713 where the data can be stored, for example, in a memory chip. Further, in certain cases, if no error is detected, the microcontroller can proceed to step 711 where the data can be erased, for example. In other cases, the data storage protocol may not include step 709, and the data storage protocol may continue without confirming, for example, a major error or failure.

  In yet another case, the data storage protocol may order the erasure of recorded data after a predetermined unused or stationary period of the surgical instrument. For example, if a surgical instrument is installed and / or placed in a storage location, the data storage protocol may order the erasure of recorded data after the surgical instrument has been stationary for a predetermined period and has not been utilized. . The required rest period may be, for example, 1 minute, 1 hour, 1 day, 1 week, 1 month, or 1 year. The predetermined quiescent period may be any suitable and appropriate period allowed by the situation. In various cases, the surgical instrument may comprise, for example, an accelerometer that can detect the movement and stasis of the surgical instrument. Referring again to FIG. 31, when the surgical instrument is not powered off at step 701, the accelerometer may be set to detect the movement of the surgical instrument. If motion is detected in step 703 prior to the elapse of the predetermined pause period in step 707, the predetermined pause time count can be restarted in step 705. Conversely, if no motion is detected by the accelerometer before the predetermined pause period in step 707 has elapsed, the microprocessor can proceed to step 709, for example. In other situations, the microprocessor may proceed directly to step 711 or 713 depending on the data storage protocol, for example, without checking for instrument errors or failures.

  As described herein, the data storage protocol may comprise one of many initial rules for erasure of recorded data. However, in certain cases it may be desirable to override the initial rules or procedures. For example, for research and / or development purposes, it may be desirable to store recorded data for a longer period of time. Additionally or alternatively, it may be desirable to preserve the recorded data for educational and / or research purposes. Further, in various cases, the data storage protocol may not include an error checking process, in which case the data storage protocol may be used when an operator detects or suspects errors and / or abnormalities, for example, during a surgical procedure. It may be desirable to override the protocol to ensure that the data is stored. The restored data can facilitate, for example, inspection of procedures and / or determination of error causes. In various cases, a key or input may be required to override or override a standard data storage protocol. In various cases, the keys can be entered into the surgical instrument and / or remote storage, for example, by the operator and / or user of the surgical instrument.

  In various cases, the surgical system may prompt the user or instrument operator to select either data erasure or data storage for each surgical procedure or function. For example, the data storage protocol may order a request for an instruction from the user and may instruct the next operation according to the user's instruction. The surgical system may ask for instructions from the user when certain triggering events occur, such as instrument power off, the passage of a predetermined period of time, or the completion of a particular surgical function.

  In certain cases, the surgical system may require input from the user when, for example, the surgical instrument is turned off. Referring to FIG. 30, for example, at step 801, when the user begins to turn off the surgical instrument, the surgical system may request a data storage instruction from the user. For example, at step 803, the display of the surgical system can ask "Do you want to save the data? Y / N?" In various cases, the microcontroller of the surgical system can read the user input value at step 805. If the user requests storage of data, the microcontroller can proceed to step 809 where the data is stored in a memory device or memory chip of the surgical system. If the user requests to erase data, the microcontroller can proceed to step 811 where the data is erased. In various cases, the user may not enter an input value. In such a case, the data storage protocol may order a specific process at step 813. For example, the data storage protocol may order, for example, “Process I”, “Process II”, or another process. In certain cases, “Process I” may command data erasure at step 813 (a), for example “Process II” may command data storage at step 813 (b). In various situations, the user may provide instructions to the surgical instrument, for example, before the instructions are requested. Additionally or alternatively, the display associated with the surgical system can request instructions from the user, for example, before the start of the surgical function and / or at various times during use of the instrument.

  If the data is stored in the memory of the surgical instrument, the data may be stored securely. For example, a code or key may be required for access to stored data. In certain cases, the access key may include an identification code. For example, the identification code may be unique to the operator, user, or owner of the surgical instrument. In such a case, only authorized persons can obtain the license identification code, and therefore only authorized persons can access the stored data. Additionally or alternatively, the access key may be instrument specific and / or may be a manufacturer code, for example. In certain cases, the access key may include a secure server, and the data may be transferred and / or accessed by, for example, authorized Bluetooth and / or radio (RF) communication. In yet another situation, the access key may include a physical key, such as a memory key and / or a data exchange port connector, that can be physically coupled to the data exchange port of the surgical instrument. In such a case, the access key is pre-programmed to allow access to secure data, for example, data can be stored and / or transferred securely. In various situations, the access key may correspond to a particular surgical instrument, for example.

  In various cases, data extraction from the surgical instrument memory device can be limited by various protection measures. In certain cases, the surgical instrument memory device may include a secure data connection or data exchange port. For example, a data exchange port may have a dedicated structure or shape, and only authorized personnel can obtain a corresponding port key that is designed and constructed to fit the dedicated structure or shape, for example. . In various cases, the data exchange port may include a mechanical lock, which may include, for example, a plug, a plurality of pins, and / or a plurality of springs. In various cases, the physical key or extraction device can unlock the mechanical lock of the data exchange port. For example, a physical key can contact a plurality of pins, deform a plurality of springs, and / or bias a plug from a locking direction to an unlocking direction, for example, to unlock a data exchange port.

  In various cases, the data exchange port may comprise at least one connection pin that can be biased and / or held in the first position. When the physical key is inserted and / or engaged with the data exchange port, the physical key can bias the connection pin, for example, from a first position to a second position. In various cases, the first position may include, for example, a retracted position, and the second position may include, for example, an extended position. Further, when the connection pin is moved to the second position, the connection pin can operably interface with, for example, a data connection port in the physical key. As a result, the data exchange port of the memory device can communicate with the data exchange port of the physical key, for example via connection pins, and data can be extracted and / or transferred between them. In various cases, the physical key may comprise a modular component that may be configured to be removably attached to a modular surgical instrument, for example. In certain cases, the physical key may substitute or mimic the modular components 110, 120 of the surgical instrument 100 (FIGS. 23 and 24). For example, the physical key may be attached to the attachment portion of the handle 110 to transfer data from a memory device in the handle 120, for example, instead of the shaft attachment 120.

  Additionally or alternatively, the key or extraction device may include a security token. In various cases, the data exchange port can be encrypted, for example, and / or the key is used to prove that the key is authorized and / or authorized to extract data from the data exchange port. Information or code can be provided to the data exchange port. In certain situations, the key may comprise a dedicated data reader, for example, so that data can be transferred, for example via an optical data transmission device.

  Referring now to FIGS. 32 (A) -32 (C), before data access is granted to the proposed data reader, the data reader needs to be verified and / or verified by a surgical instrument. There can be. For example, the proposed data reader can request and read the checksum value of the surgical instrument at step 821. As shown in the surgical instrument flowchart shown in FIG. 32 (C), the surgical instrument can first receive the proposed data reader request in step 841, and then the proposed data reader in step 843. A checksum value can be sent. Referring again to FIG. 32A, at step 823, the proposed data reader can calculate and determine an appropriate return code based on the checksum value provided by the surgical instrument. The proposed data reader can access the code table, for example, and if the proposed data reader is attempting proper access to the data, an appropriate return code in the code table can be utilized. In such a case, the proposed data reader can retrieve or calculate the return code at step 823 and send the return code to the surgical instrument at step 825. Referring again to FIG. 32C, upon receiving a return code from the proposed data reader at step 845, the surgical instrument can verify at step 847 that the return code is appropriate. If the code is inadequate, the surgical instrument microprocessor may proceed to step 849, for example, which may stop the surgical instrument or otherwise deny access to the stored data. However, if the code is appropriate, the microprocessor can proceed to step 851, for example, and the surgical instrument can provide data access to the proposed data reader. For example, in step 851, data can be securely transferred to a data reader. Thereafter, in step 827 (FIG. 32A), the proposed data reader can read data from, for example, a surgical instrument. In various cases, the transferred data may be encrypted, for example, and the data reader may need to decrypt unintelligible data, for example, before reading.

  Referring mainly to FIG. 32 (B), another data extraction security method may be similar to the method shown in FIG. 32 (A), for example, and requires consideration of a reader-specific code. The reader can read the device checksum in step 831 and the return code may be based on the checksum, but in various situations, the proposed data reader may have a reader specific code and a code table. The appropriate return code from may be based on a reader specific code. For example, the proposed data reader can review the reader specific code at step 832 and can determine an appropriate return code at step 833 based on, for example, the reader specific code and code table. The proposed data reader can provide a reader specific code and return code to the surgical instrument, for example, at step 835. In such a case, referring again to FIG. 32C, the surgical instrument microcontroller may verify the return code and the reader-specific code at step 845. Further, if these codes are appropriate, the surgical instrument can access the proposed data reader. Thereafter, in step 827, the proposed data reader can read data from, for example, a surgical instrument. If one or both of the codes are inappropriate, the surgical instrument can prevent the reader from reading the data. For example, the surgical instrument may be stopped, or otherwise the transfer of data to the reader may be limited.

  Referring now to FIG. 33, in various cases, a surgical system may include a surgical instrument 1600 that may be formed from a plurality of modular components. As detailed herein, the handle component may be compatible with, for example, a plurality of different shaft components, and the handle component and / or the shaft component may be reusable, for example. Further, the microcontroller of the surgical instrument 1600 may comprise a lock circuit, for example. In various cases, the locking circuit can prevent operation of the surgical instrument until, for example, the locking circuit is unlocked. In various situations, an operator can enter a temporary access code into the surgical system and unlock, for example, a microcontroller lock circuit.

  In various situations, the operator can purchase or otherwise obtain a temporary access code for entry into the surgical system. For example, an instrument manufacturer or distributor can sell access codes that may be required to unlock or use the surgical instrument 1660. In various cases, the access code can unlock the lock circuit for a predetermined time. The manufacturer or distributor of the appliance can suggest purchases of different usage times, and the user can select, purchase or obtain the desired or preferred usage times. For example, the user can earn 10 minutes of usage, 1 hour of usage, or 1 day of usage. In other cases, additional or / and different suitable usage periods of sale or certification may be proposed. In various cases, the lock circuit may be re-locked after the acquired usage period expires. In another case, the access code can unlock the lock circuit for a predetermined number of surgical functions. For example, the user can purchase or otherwise obtain, for example, a single instrument launch or multiple firings. In addition, the lock circuit may be relocked after the user has purchased the instrument or fired the number of times it has been authenticated. In yet another case, the access code can permanently unlock the lock circuit, for example.

  In various cases, the operator can enter the temporary access code directly into the surgical system via a keypad or other suitable input device. In another case, the lock circuit can be unlocked by coupling a non-volatile memory device to the surgical instrument 1600, where the non-volatile memory device comprises a pre-programmed access code. In various cases, the non-volatile memory device may be mounted on the battery 1650 of the surgical instrument 1660, for example. Further, the non-volatile memory device may be reloaded and / or replaced. For example, a user can purchase a replacement non-volatile memory device. Additionally or alternatively, after a previously obtained access code expires or becomes invalid, a new code may be purchased and uploaded to a non-volatile memory device, for example. In various cases, the battery 1650 can be coupled to, for example, a power source and / or an external computer 1670 to load new code into the non-volatile memory device.

  In other cases, the temporary access code can be entered into an external or remote access code input device, such as a display screen, computer, and / or head-up display. For example, a temporary access code can be purchased via computer 1660 and transmitted to a wireless (RF) device 1680 coupled to computer 1660. In various cases, the surgical instrument 1600 may comprise a receiver or antenna that can be in signal communication with the wireless device 1680, for example. In such a case, the wireless device 1680 can transmit the acquired temporary access code to the receiver of the surgical instrument 1600, for example. As a result, the lock circuit can be unlocked and the operator can use the surgical instrument 1600 for, for example, the purchased time and / or number of surgical functions.

  In various cases, the modular surgical instrument may be adapted to an external display to display data and / or feedback from the surgical instrument. For example, the surgical instrument may include an instrument display for displaying feedback from the surgical procedure. In various cases, the instrument display may be located, for example, on the instrument handle. In certain cases, the instrument display may display, for example, a video image confirmed by an endoscope. Additionally or alternatively, the display can detect sensed, measured, approached, and / or calculated features of, for example, surgical instruments, surgical procedures, and / or surgical sites. In various cases, it may be desirable to transmit feedback to an external display. The external display can provide, for example, a magnified view of the feedback that is replicated and / or replayed so that multiple operators and / or assistants can review the feedback simultaneously. In various cases, it may be desirable to select a surgical instrument, eg, for connection to an external display, and in other cases, the selection of a surgical instrument may be automatic.

  Referring to FIG. 34, the external display 1700 can display an end effector 1720 and / or a surgical site of a surgical instrument, for example. The external display 1700 can also display feedback and / or data sensed and / or measured by, for example, a surgical instrument. In various cases, the external display 1700 may replicate the feedback provided on the display of the surgical instrument. In certain circumstances, the surgical instrument can be automatically connected to an external display 1700 and / or a wireless receiver that is in signal communication with, for example, an external or operating room display 1700. In such a case, the operator may be notified if an attempt is made to connect a plurality of surgical instruments to the external display 1700. As described herein, an operator can select a desired surgical instrument from, for example, a menu on an external display 1700. In yet another case, the operator can select the desired surgical instrument by inputting into the surgical instrument. For example, the operator can send commands, control the sequence, or enter a code to select a surgical instrument. In various cases, an operator can use a surgical instrument to complete a specific control sequence and select that surgical instrument. For example, the operator may turn on the surgical instrument and select the surgical instrument within a predetermined time, for example, by pressing a reverse button for a predetermined time. Once an instrument is selected, feedback on the selected instrument display may be retransmitted or duplicated on the external display 1700, for example.

  In certain cases, the surgical system may include a proximity sensor. For example, an external display and / or wireless receiver may include a proximity sensor that can detect when a surgical instrument is within its predetermined range. Referring primarily to FIGS. 35 and 36, when the display 1700 and / or the wireless receiver detects a surgical instrument, the display can notify the user. In certain situations, the display and / or wireless receiver can detect multiple surgical instruments. Referring to FIG. 35, the display 1700 may include, for example, a non-obtrusive notification 1704 that can communicate to the user that a surgical instrument or surgical instruments have been detected near the display 1700. As a result, using a controller for display 1700, such as a computer, the user can click notification 1704 to open an appliance selection menu 1706 (FIG. 36). Menu 1706 can display, for example, available surgical instruments, and the user can select a preferred surgical instrument to transmit on display 1700. For example, menu 1706 can display serial numbers and / or names of available surgical instruments.

  In certain cases, the selected surgical instrument can provide feedback to the operator and confirm the selection. For example, the selected surgical instrument can provide, for example, audio or haptic feedback. In addition, the selected surgical instrument can send at least some feedback to the external display 1700. In certain cases, the operator can select multiple surgical instruments and share the display 1700 with the selected surgical instruments. Additionally or alternatively, the operating room may comprise a plurality of displays, for example at least one surgical instrument can be selected for each display. Various surgical system features and / or components are further described in US patent application Ser. No. 13 / 974,166 (filed Aug. 23, 2013) entitled “FIRING MEMBER RETRACTION DEVICE FOR POWERED SURGICAL INSTRUMENTS”. Which is incorporated herein by reference in its entirety.

The entire disclosure below is incorporated herein by reference.
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  In accordance with various embodiments, the surgical instrument described herein may include one or more processors (eg, a microprocessor, a microcontroller) coupled to various sensors. In addition, a storage device (having operating logic) and a communication interface are coupled to the processor.

  As previously described, the sensor may be configured to detect and collect data associated with the surgical device. The processor processes sensor data received from those sensors.

  The processor may be configured to execute operational logic. The processor may be any one of a number of single or multi-core processors known in the art. The storage device may comprise volatile and non-volatile storage media configured to store permanent and temporary (working) copies of the operating logic.

  In various embodiments, as described above, operational logic may be configured to process collected biometrics associated with user operational data. In various embodiments, the operational logic may be configured to perform initial processing and transmit data to a computer hosting the application to determine and generate instructions. For these embodiments, the operational logic may be further configured to receive information from the host computer and provide feedback to the host computer. In another embodiment, the operational logic may be configured to play a greater role in receiving information and determining feedback. In any case, regardless of whether it is determined by itself or in response to a command from the host computer, the operational logic can be further configured to control and provide feedback to the user.

  In various embodiments, the operational logic may be implemented by instructions supported by the processor's instruction set architecture (ISA) or by a high-level language and compiled into a supported ISA. The operating logic may include one or more logic units or modules. The behavioral logic can be implemented in an object-oriented manner. The operational logic may be configured to be executed in a multitasking and / or multithreaded manner. In other embodiments, the operational logic may be implemented in hardware such as a gate array.

  In various embodiments, the communication interface may be configured to facilitate communication between the peripheral device and the computing system. This communication transmits collected biometric data related to the position, posture and / or motion data of the user's body part to the host computer, and transmits data related to tactile feedback from the host computer to the peripheral device. Can include. In various embodiments, the communication interface may be a wired communication interface or a wireless communication interface. Examples of wired communication interfaces include, but are not limited to, universal serial bus (USB) interfaces. Examples of wireless communication interfaces include, but are not limited to, a Bluetooth interface.

  For various embodiments, the processor may be packaged with operational logic. In various embodiments, the processor may be packaged with operational logic to form a system in package (SiP). In various embodiments, the processors may be integrated with operational logic on the same die. In various embodiments, the processor may be packaged with operational logic to form a system on chip (SoC).

  Various embodiments may be described herein in the general context of computer-executable instructions, such as software, program modules, and / or engines being executed by a processor. Generally, software, program modules, and / or engines include any software element configured to perform a specific operation or implement a specific abstract data type. Software, program modules, and / or engines may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Software, program modules, and / or engine components and method implementations may be stored and / or transmitted over several forms of computer-readable media. In this regard, computer readable media can be any available media that can be used by a computer to store and access information. Some embodiments may also be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network. In a distributed computing environment, software, program modules, and / or engines may be located in both local and remote computer storage media including memory storage devices. Memory, such as random access memory (RAM) or other dynamic storage, may be used to store information and instructions executed by the processor. The memory may also be used to store temporary variables or other intermediate information while executing instructions by the processor.

  Although some embodiments are shown and described as including functional components, software, engines, and / or modules that perform various operations, such components or modules may include one or more hardware components, software It will be appreciated that it may be implemented from components and / or combinations thereof. Functional components, software, engines, and / or modules may be implemented with logic (eg, instructions, data, and / or code), for example, as executed by a logic device (eg, processor). Such logic may be stored on or in one or more types of computer readable storage media, in or out of logic devices. In other embodiments, functional components such as software, engines, and / or modules may be processors, microprocessors, circuits, circuit elements (eg, transistors, resistors, capacitors, inductors, etc.), integrated circuits, application specific integrations. By hardware elements that may include circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate arrays (FPGA), logic gates, registers, semiconductor devices, chips, microchips, chipsets, etc. It may be realized.

  Examples of software, engines, and / or modules include software components, programs, applications, computer programs, application programs, system programs, machine programs, operation system software, middleware, firmware, software modules, routines, subroutines, functions, A method, procedure, software interface, application program interface (API), instruction set, calculation code, computer code, code segment, computer code segment, character, value, symbol, or any combination thereof. Determining whether an embodiment is implemented by hardware and / or software elements can be accomplished by determining the desired calculation rate, power level, heat resistance, processing cycle budget, input data rate, output data rate, memory resource, data bus speed and It can vary depending on any number of factors, such as other design or performance limitations.

  One or more of the modules described herein may comprise one or more embedded applications implemented as firmware, software, hardware, or any combination thereof. One or more of the modules described herein may include various executable modules such as software, programs, data, drivers, application program interfaces (APIs), and the like. The firmware may be stored in the memory of the processor 3008, which may include non-volatile memory (NVM), such as in bitmasked read only memory (ROM) or flash memory. In various implementations, flash memory can be protected by storing firmware in ROM. Non-volatile memory (NVM) can be, for example, programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), dynamic RAM (DRAM), double data rate DRAM ( Other types of memory may be included, including battery-backed random access memory (RAM) such as DDRAM) and / or synchronous DRAM (SDRAM).

  In some cases, various embodiments may be implemented as a product. A product may include a computer-readable storage medium configured to store logic, instructions, and / or data for performing various operations of one or more embodiments. In various embodiments, for example, the product may comprise a magnetic disk, optical disk, flash memory or firmware containing computer program instructions suitable for being executed by a general purpose or application specific processor. Those embodiments, however, are limited to this situation.

  The various functional elements, logic blocks, modules, and circuit element functions described in connection with the embodiments disclosed herein are software, control modules, logic, and / or logic modules that are executed on a processing device. And can be implemented in the general context of computer-executable instructions. In general, software, control modules, logic, and / or logic modules include any software element configured to perform a particular operation. Software, control modules, logic, and / or logic modules may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Software, control modules, logic, and / or implementations of logic modules and techniques may be stored on and / or passed through some form of computer readable media. In this regard, computer readable media can be any available media that can be used by a computer to store and access information. Some embodiments may also be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network. In a distributed computing environment, software, control modules, logic, and / or logic modules may be located in both local and remote computer storage media including memory storage devices.

  In addition, the embodiments described herein are illustrative of implementations, and functional elements, logic blocks, modules, and circuit elements may be implemented in various other ways consistent with the described embodiments. It will be clear that this can be realized in a manner. Further, the operations performed by such functional elements, logic blocks, modules, and circuit elements may be combined and / or separated for a given implementation, and a greater or lesser number. May be implemented by the following components or modules. As will become apparent to those skilled in the art upon reading this disclosure, each of the individual embodiments described and illustrated herein is easily adapted to any of several other aspects without departing from the scope of this disclosure. It has separate components and features that can be separated from and combined with these features. Any of the described methods may be performed in the order of events described or in any other order that is logically possible.

  It should be noted that reference to “an embodiment” or “an embodiment” includes at least one embodiment with a particular feature, structure, or characteristic described in connection with that embodiment. Means that. Although the phrases “in one embodiment” or “in one aspect” appear herein, this does not necessarily refer to the same embodiment.

  Unless otherwise specified, terms such as “processing”, “computing”, “calculating”, and “determining” refer to physical quantities (eg, electronic General purpose processor that manipulates and / or converts data represented as) into other data that is also represented as physical quantities in memory, registers or other such information storage devices, transmission or display devices, Such as a DSP, ASIC, FPGA or other programmable logic device, individual gate or transistor logic, individual hardware components, or any combination thereof designed to perform each function described herein And / or operation of a computer or computing system, or similar electronic computing device It is intended to refer to the nest will become apparent.

  Notably, some embodiments may be described using the terms “coupled” and “coupled” together with their derivatives. These terms are not intended to be synonymous with each other. For example, some embodiments use the terms “coupled” and / or “coupled” to indicate that two or more elements are in direct physical or electrical contact with each other. Can be explained. The term “coupled” can also mean, however, that two or more elements do not make direct contact with each other but still cooperate or interact with each other. For example, with respect to software elements, the term “coupled” can refer to an interface, a message interface, an application program interface (API), an exchange message, and the like.

  Any patents, publications, or other disclosure materials stated to be incorporated herein by reference may, in part or in whole, be incorporated into the existing definitions, descriptions, or disclosures. It should be understood that it is incorporated herein to the extent that it does not conflict with the other disclosure materials indicated in. As such, and to the extent necessary, the disclosure expressly set forth herein shall supersede any conflicting literature incorporated herein by reference. Any references, or portions thereof, which are incorporated herein by reference but are inconsistent with the existing definitions, descriptions, or other disclosures contained herein, are incorporated by reference. It shall be incorporated only to the extent that no contradiction arises between the contents.

  The disclosed embodiments may have applicability in normal endoscopes and open surgical instruments, and applicability in robot-assisted surgery.

  Embodiments of the devices disclosed herein may be designed to be disposed of after a single use, or the embodiments may be designed to be used multiple times. Embodiments may be reconditioned for reuse in any case after at least one use. Such readjustment may include any combination of equipment disassembly steps, followed by cleaning or replacement of specific parts, and subsequent reassembly steps. In particular, each embodiment of the device may be disassembled, and any number of particular pieces or parts of the device may be selectively replaced or removed in any combination. Upon cleaning and / or replacement of particular parts, each embodiment of the device may be reassembled for later use either at a reconditioning facility or by a surgical team immediately prior to a surgical procedure. One skilled in the art will recognize that various techniques for disassembly, cleaning / replacement, and reassembly can be used in reconditioning the device. The use of such techniques and the resulting reconditioned device are all within the scope of this application.

  By way of example only, the embodiments described herein may be processed before surgery. First, a new or used instrument may be obtained and cleaned as necessary. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. Radiation can kill bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device can also be sterilized using any other technique known in the art, including, but not limited to, beta or gamma radiation, ethylene oxide, or water vapor.

  It should be appreciated by those skilled in the art that the components (e.g., operations), devices, purposes, and associated discussions described herein are used as examples to clarify concepts and are described in various ways. Configuration changes are contemplated. As a result, as used herein, the specific examples described and the discussion that follows are intended to represent a more general type. In general, use of a particular representative example is intended to be representative of that type, and not including a particular component (eg, operation), device, and purpose is considered limiting. Should not be.

  With respect to the use of substantially any plural and / or singular terms herein, one of ordinary skill in the art will recognize from plural to singular and / or singular to plural as appropriate to the situation and / or application. Can be replaced. The various singular / plural permutations are not explicitly described herein for the sake of brevity.

  The subject matter described herein sometimes indicates various components that are included in or otherwise coupled with various other components. It should be understood that the architecture so expressed is only an example, and indeed many other architectures that achieve the same functionality can be implemented. In the context of an idea, any arrangement of components that achieve the same functionality is effectively “associated” to achieve the desired functionality. Thus, any two components combined to achieve a particular functionality can be considered “associated” to achieve the desired functionality, regardless of architecture or intermediate components. . Similarly, any two components so associated may also be considered “operably coupled” or “operably coupled” to each other to achieve the desired functionality. Also, any two components that can be so associated can also be considered “operably coupleable” to each other to achieve the desired functionality. Specific examples that are operably coupleable include, but are not limited to, physically matable and / or physically interacting components, and / or wirelessly interactable and / or Or, wirelessly interactable components and / or components, elements that interact logically and / or can logically interact.

  Some aspects may be described using the terms “coupled” and “linked” together with their derivatives. It should be understood that these terms are not intended as synonyms for each other. For example, some aspects may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact with each other. In another example, some aspects may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact. The term “coupled” can also mean, however, that two or more elements do not make direct contact with each other but still cooperate or interact with each other.

  In some cases, one or more components herein are “adapted as”, “configurable as”, “operable / operable as”, “adapted” herein. May be referred to as “/ is adaptable”, “can be”, “is so adaptable / adapted”, etc. Those skilled in the art will generally understand that “configured as” is generally an active component and / or an inactive component and / or a standby state, unless the context requires otherwise. It should be understood that components can be included.

  While particular aspects of the subject matter described in this specification have been illustrated and described, modifications and changes have been described herein based on the teachings herein as will be apparent to those skilled in the art. The subject matter and its broad aspects may be made without departing from the scope, and therefore, the appended claims are intended to cover all such changes and modifications as fall within the true scope of the subject matter described herein. Will be included. Those skilled in the art generally intend that the terms used herein, and particularly in the appended claims (eg, the body of the appended claims), are generally "open" terms. (Eg, the term “including” should be interpreted as “including but not limited to”, and the term “having” Should be interpreted as “having at least” and the term “includes” should be interpreted as “includes but is not limited to” Will understand). Further, where a particular number is intended in an introduced claim recitation, such intention is clearly stated in the claim, and if there is no such statement, such intention Those skilled in the art will understand that it does not exist. For example, as an aid to understanding, in the following appended claims, the introductory phrases “at least one” and “one or more” introduce claim recitations May be included. However, if such a phrase is used and a claim statement is introduced by the indefinite article "a" or "an", then "one or more" or "at least one" A particular claim containing such an introduced claim statement may contain only one such statement, even if both the introductory phrase such as “one” and the indefinite article “a” or “an” are included. Should not be construed as being suggested as being limited to the claims containing (eg, “a” and / or “an” usually means “at least one” or “one or more”) Should be interpreted as such). The same applies when introducing claim statements using definite articles.

  Moreover, those skilled in the art should normally interpret such statements as meaning at least the stated number, even if a particular number is explicitly stated in the introduced claim statement. (E.g., if there is a mere “two entries” with no other modifiers, this statement shall contain at least two entries, or two or more entries) means). Further, when a notation similar to “at least one of A, B, C, etc.” is used, generally such syntax is intended in the sense that one of ordinary skill in the art would understand the notation. (Eg, “a system having at least one of A, B, and C” includes, but is not limited to, A only, B only, C only, both A and B, A and C Including systems with both, B and C, and / or all of A, B and C, etc.). Where a notation similar to “at least one of A, B, or C, etc.” is used, generally such syntax is intended in the sense that one of ordinary skill in the art would understand the notation (For example, “a system having at least one of A, B, or C” includes, but is not limited to, only A, only B, only C, both A and B, both A and C, Including systems having both B and C, and / or all of A, B and C, etc.). In general, any disjunctive word and / or phrase that represents two or more optional terms, whether in the description, in the claims, or in the drawings, One of ordinary skill in the art will appreciate that it should be understood that one of these, any of these terms, or both, may be included. For example, the phrase “A or B” will generally be understood to include the possibilities of “A” or “B” or “A and B”.

  As will become apparent to those skilled in the art when referring to the appended claims, the operations cited herein may generally be performed in any order. Also, although various operational flows are shown in sequence, it should be understood that the various operations may be performed in an order other than that shown, or may be performed simultaneously. Examples of such other ordering include duplication, interleaving, interrupting, reordering, incremental, preliminary, additional, simultaneous, reverse, or other, unless the context requires otherwise Different ordering can be mentioned. In addition, adjectives “responding to”, “related to”, or other past tenses are generally intended to exclude such variations unless the context requires otherwise. is not.

  In short, a number of advantages have been described that result from using the concepts described herein. The foregoing description of one or more embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit to the precise form disclosed. In view of the above teachings, modifications or variations are possible. The one or more embodiments illustrate the principles and practical applications, thereby making the various embodiments available to those skilled in the art as being suitable for the particular application contemplated, with various modifications. Is. It is intended that the “claims” filed with this specification define the overall scope.

Embodiment
(1) A method,
Obtaining a surgical instrument having a data storage protocol;
Performing a surgical function using the surgical instrument;
Recording data during the performance of the surgical function;
Storing data in the surgical instrument according to the data storage protocol;
Entering a key to override the data storage protocol.
(2) The method of embodiment 1, wherein the data storage protocol orders the erasure of the recorded data after completion of the surgical function.
(3) The method of embodiment 1, wherein the data storage protocol orders erasure of the recorded data after a predetermined period of time.
4. The method of embodiment 1, wherein the surgical instrument comprises a motion sensor and the data storage protocol orders erasure of the recorded data after a predetermined rest period is detected by the motion sensor.
5. The method of embodiment 1, wherein the data storage protocol orders erasure of the recorded data when the surgical instrument is powered off.

6. The method of embodiment 1, further comprising overriding the data storage protocol if an error is detected during the surgical function.
7. The method of embodiment 1, wherein the key includes an operator specific identification code.
8. The method of embodiment 1, wherein the key includes a checksum value.
9. The method of embodiment 1, wherein the surgical instrument comprises a data exchange port and the key comprises a secure data exchange input configured to removably engage the data exchange port. .
10. The method of embodiment 1, wherein the data storage protocol allows wireless access to a remote data reader when the key is entered.

(11) A method,
Obtaining a surgical instrument handle for a surgical system, the surgical instrument handle comprising:
Triggers,
An electric motor,
A microcontroller in signal communication with the trigger and the electric motor, the microcontroller comprising a lock circuit;
Obtaining a surgical instrument attachment for the surgical system;
Operably attaching the surgical instrument attachment to a handle of the surgical instrument to form at least a portion of the surgical system;
Inputting an access code into the surgical system and unlocking the locking circuit of the microcontroller, the microcontroller until the access code is input into the surgical system A method configured to prevent operation of the apparatus.
12. The method of embodiment 11 further comprising relocking the lock circuit after a predetermined period.
(13) further comprising actuating the trigger after entering the access code into the surgical system, thereby initiating a firing stroke, wherein a plurality of fasteners are disposed on the surgical instrument attachment during the firing stroke; Embodiment 12. The method of embodiment 11, fired from
14. The method of embodiment 13, further comprising relocking the lock circuit after a predetermined number of firing strokes.
15. The method of embodiment 11 further comprising purchasing the access code.

(16) entering an access code into the surgical system and unlocking the lock circuit of the controller;
Obtaining a non-volatile memory device including the access code;
12. The method of embodiment 11, further comprising coupling the non-volatile memory device to the surgical instrument.
(17) a surgical system,
A handle,
Triggers,
An electric motor, a handle, and
An end effector comprising a plurality of deployable fasteners;
A shaft intermediate the handle and the end effector;
A microcontroller configured to record data during a surgical procedure;
A data exchange port in signal communication with the microcontroller, comprising a mechanical lock;
And a data exchange input including a key, wherein the key is configured to unlock the mechanical lock when the data exchange input engages the data exchange port.
(18) a surgical system,
A first modular component comprising:
A first attachment portion;
A first modular component comprising: an electric motor;
A second modular component,
A second attachment part movable between a plurality of positions with respect to the first attachment part, wherein the plurality of positions include an engagement disengagement position and an engagement position, and the second attachment part is A second attachment portion, wherein the second modular component is secured to the first modular component when in the engaged position;
A second modular component comprising: a drivable element that communicates with the electric motor when the second modular component is secured to the first modular component;
A feedback system,
An engagement sensor configured to detect a position of the second attachment portion relative to the first attachment portion;
Display,
A microcontroller in signal communication with the engagement sensor and the display, the microcontroller configured to communicate the detected position of the second attachment to the display; and A surgical system comprising:
(19) The plurality of positions further include a partial engagement position, the partial engagement position is intermediate between the engagement disengagement position and the engagement position, and the engagement sensor includes the partial engagement position. The surgical system according to embodiment 18, wherein the surgical system is configured to detect a mechanical engagement position.
(20) the microcontroller is in signal communication with the electric motor, and the electric motor is configured to drive the drivable element during a firing stroke, the microcontroller including the engagement sensor; Embodiment 19. The surgical system according to embodiment 18, wherein the firing stroke is blocked until an engagement position is detected.

21. The surgical system according to embodiment 18, wherein the first modular component comprises a handle and the second modular component comprises a shaft and an end effector.
(22) a surgical system,
A first modular component comprising an electric motor;
A second modular component;
Means for securing the first modular component relative to the second modular component;
A feedback system,
Means for detecting a degree of engagement of the first modular component and the second modular component;
A means of displaying information;
Surgical system comprising: a feedback system comprising: means for communicating a degree of engagement detected by said means for detecting to means for displaying said information.
(23) A method,
Selecting a first component of the surgical instrument;
Selecting a second component of the surgical instrument;
Positioning the first component relative to the second component;
Detecting the degree of engagement between the first component and the second component;
Communicating the detected degree of engagement to an operator of the surgical instrument.
24. The method of embodiment 23, further comprising displaying the detected degree of engagement on a display of the first component.
25. The method of embodiment 23, further comprising blocking surgical function until the first component and the second component are fully engaged.

Claims (25)

A method,
Obtaining a surgical instrument having a data storage protocol;
Performing a surgical function using the surgical instrument;
Recording data during the performance of the surgical function;
Storing data in the surgical instrument according to the data storage protocol;
Entering a key to override the data storage protocol.   The method of claim 1, wherein the data storage protocol orders erasure of the recorded data after completion of the surgical function.   The method of claim 1, wherein the data storage protocol orders erasure of the recorded data after a predetermined period of time.   The method of claim 1, wherein the surgical instrument comprises a motion sensor, and the data storage protocol orders erasure of the recorded data after a predetermined rest period is detected by the motion sensor.   The method of claim 1, wherein the data storage protocol orders erasure of the recorded data when the surgical instrument is powered off.   The method of claim 1, further comprising overriding the data storage protocol if an error is detected during the surgical function.   The method of claim 1, wherein the key includes an operator specific identification code.   The method of claim 1, wherein the key includes a checksum value.   The method of claim 1, wherein the surgical instrument comprises a data exchange port and the key comprises a secure data exchange input configured to removably engage the data exchange port.   The method of claim 1, wherein the data storage protocol allows wireless access to a remote data reader when the key is entered. A method,
Obtaining a surgical instrument handle for a surgical system, the surgical instrument handle comprising:
Triggers,
An electric motor,
A microcontroller in signal communication with the trigger and the electric motor, the microcontroller comprising a lock circuit;
Obtaining a surgical instrument attachment for the surgical system;
Operably attaching the surgical instrument attachment to a handle of the surgical instrument to form at least a portion of the surgical system;
Inputting an access code into the surgical system and unlocking the locking circuit of the microcontroller, the microcontroller until the access code is input into the surgical system A method configured to prevent operation of the apparatus.   The method of claim 11, further comprising relocking the lock circuit after a predetermined period of time.   Further comprising activating the trigger after entering the access code into the surgical system, thereby initiating a firing stroke, wherein a plurality of fasteners are fired from the surgical instrument attachment during the firing stroke. The method according to claim 11.   The method of claim 13, further comprising relocking the lock circuit after a predetermined number of firing strokes.   The method of claim 11, further comprising purchasing the access code. Entering an access code into the surgical system and unlocking the locking circuit of the controller;
Obtaining a non-volatile memory device including the access code;
The method of claim 11, further comprising coupling the non-volatile memory device to the surgical instrument. A surgical system,
A handle,
Triggers,
An electric motor, a handle, and
An end effector comprising a plurality of deployable fasteners;
A shaft intermediate the handle and the end effector;
A microcontroller configured to record data during a surgical procedure;
A data exchange port in signal communication with the microcontroller, comprising a mechanical lock;
And a data exchange input including a key, wherein the key is configured to unlock the mechanical lock when the data exchange input engages the data exchange port. A surgical system,
A first modular component comprising:
A first attachment portion;
A first modular component comprising: an electric motor;
A second modular component,
A second attachment part movable between a plurality of positions with respect to the first attachment part, wherein the plurality of positions include an engagement disengagement position and an engagement position, and the second attachment part is A second attachment portion, wherein the second modular component is secured to the first modular component when in the engaged position;
A second modular component comprising: a drivable element that communicates with the electric motor when the second modular component is secured to the first modular component;
A feedback system,
An engagement sensor configured to detect a position of the second attachment portion relative to the first attachment portion;
Display,
A microcontroller in signal communication with the engagement sensor and the display, the microcontroller configured to communicate the detected position of the second attachment to the display; and A surgical system comprising:   The plurality of positions further include a partial engagement position, the partial engagement position is intermediate between the engagement disengagement position and the engagement position, and the engagement sensor is the partial engagement position. The surgical system according to claim 18, wherein the surgical system is configured to detect a position.   The microcontroller is in signal communication with the electric motor, and the electric motor is configured to drive the drivable element during a firing stroke, the microcontroller including the engagement sensor in the engagement position. The surgical system according to claim 18, wherein the firing stroke is blocked until detected.   The surgical system according to claim 18, wherein the first modular component comprises a handle and the second modular component comprises a shaft and an end effector. A surgical system,
A first modular component comprising an electric motor;
A second modular component;
Means for securing the first modular component relative to the second modular component;
A feedback system,
Means for detecting a degree of engagement of the first modular component and the second modular component;
A means of displaying information;
Surgical system comprising: a feedback system comprising: means for communicating a degree of engagement detected by said means for detecting to means for displaying said information. A method,
Selecting a first component of the surgical instrument;
Selecting a second component of the surgical instrument;
Positioning the first component relative to the second component;
Detecting the degree of engagement between the first component and the second component;
Communicating the detected degree of engagement to an operator of the surgical instrument.   24. The method of claim 23, further comprising displaying the detected degree of engagement on a display of the first component.   24. The method of claim 23, further comprising blocking a surgical function until the first component and the second component are fully engaged.

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