JP2023510182A - Electrosurgical instrument with flexible wiring assembly - Google Patents

Abstract

An electrosurgical instrument is disclosed that includes a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and wiring circuitry. The housing contains a printed control board. A wiring circuit extends from the printed control board through the shaft and into the end effector. The hardwired circuitry is configured to monitor end effector function and communicate the monitored function to the printed control board. The wiring circuit includes a proximal rigid portion fixed to the shaft, a distal rigid portion fixed to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion includes an elastic portion and a stretchable portion.

Description

(Cross reference to related applications)
This nonprovisional application claims benefit under 35 U.S.C. and the entire contents of this disclosure are incorporated herein by reference.

The present invention relates to surgical instruments designed to treat tissue, including but not limited to surgical instruments configured to cut and fasten tissue. Surgical instruments may include electrosurgical instruments powered by a generator to effect tissue dissection, cutting, and/or coagulation during a surgical procedure. Surgical instruments may include instruments configured to cut and staple tissue using surgical staples and/or fasteners. The surgical instrument may be configured for use in open surgery, but has applications in other types of surgery, such as laparoscopic, endoscopic, and robotic-assisted procedures, for precise positioning within a patient. may include an end effector that is articulatable with respect to the shaft portion of the instrument to facilitate.

In various embodiments, an electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and wiring circuitry. An instrument is disclosed. The housing contains a printed control board. A wiring circuit extends from the printed control board through the shaft and into the end effector. A hardwired circuit is configured to monitor end effector function and communicate the monitored function to the printed control board. The wiring circuit includes a proximal rigid portion fixed to the shaft, a distal rigid portion fixed to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion includes an elastic portion and a stretchable portion.

In various embodiments, an electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and wiring circuitry. An instrument is disclosed. The housing contains a printed control board. A wiring circuit extends from the printed control board through the shaft and into the end effector. A hardwired circuit is configured to monitor end effector function and communicate the monitored function to the printed control board. The wiring circuit includes a rigid portion, a resilient portion transitionable between relaxed and non-relaxed configurations, and a conductive wire extending through the resilient portion. The conductive wire includes a stretchable portion. The electrically conductive wire is configured to elongate when the resilient portion transitions from the relaxed configuration to the non-relaxed configuration.

In various embodiments, a housing, a shaft extending from the housing, an end effector extending from the shaft, a translating member configured to translate relative to the shaft to perform an end effector function, wiring An electrosurgical instrument is disclosed, comprising: a harness; The housing contains a printed control board. A wiring harness extends from the printed control board into the shaft. The wiring harness includes a rigid body portion secured to the shaft, a resilient portion extending from the rigid body portion, and conductive wires extending through the rigid body portion and the resilient portion. The ends of the resilient portion are attached to the translation member. An end of the resilient portion attached to the translation member includes a sensor configured to measure an attribute of the translation member.

The novel features of the various aspects are set forth with particularity in the appended claims. The forms described, however, both as to organization and method of operation, may best be understood by reference to the following description taken in conjunction with the accompanying drawings.
1 illustrates an example generator for use with a surgical instrument, according to at least one aspect of the present disclosure; 1 illustrates one form of surgical system comprising a generator and an electrosurgical instrument usable with the generator, according to at least one aspect of the present disclosure; 1 shows a schematic illustration of a surgical instrument or tool, according to at least one aspect of the present disclosure; FIG. FIG. 22 is a side elevational view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; 5 is a side elevational view of the end effector of FIG. 4 in a closed configuration; FIG. 5 is a plan view of one of the jaws of the end effector of FIG. 4; FIG. 5 is a side elevational view of another one of the jaws of the end effector of FIG. 4; FIG. FIG. 22 is a side elevational view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; 9 is an end view of the end effector of FIG. 8; FIG. 9 is an exploded perspective view of one of the jaws of the end effector of FIG. 8; FIG. FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 20 is a cross-sectional end view of an end effector for use with an electrosurgical instrument, according to at least one aspect of the present disclosure; FIG. 12 is a graph showing a power scheme for coagulating and cutting a tissue treatment area in a treatment cycle applied by an end effector, according to at least one aspect of the present disclosure; FIG. 1 is a perspective view of a surgical instrument including a flexible wiring assembly in accordance with at least one aspect of the present disclosure; FIG. Figure 21 is a partial side elevational view of the flexible wiring assembly of Figure 20 in a relaxed configuration; Figure 21 is a partial side elevational view of the flexible wiring assembly of Figure 20 in a stretched configuration; 1 is a perspective view of a wiring harness and an inductive sensor for use with a surgical instrument in accordance with at least one aspect of the present disclosure; FIG. 1 is a perspective view of a flexible wiring harness and an inductive sensor for use with a surgical instrument in accordance with at least one aspect of the present disclosure; FIG. 25 is an enlarged view of a portion of the flexible wiring harness of FIG. 24; FIG. 1 is a perspective view of a surgical instrument including a manual toggle member in accordance with at least one aspect of the present disclosure; FIG. Figure 27 is an end cross-sectional view of the manual toggle of Figure 26 showing the manual toggle member in a rotated position; Figure 28 is an end cross-sectional view of the manual toggle member of Figure 27 in a centered position; 27 is a schematic view of the surgical instrument of FIG. 26; FIG. 27 is a perspective exploded view of the surgical instrument of FIG. 26 showing a manual toggle member and an elongated shaft; FIG. 31 is a plan view of the elongated shaft of FIG. 30 showing the position of the elongated shaft when the manual rocker member is in the centered position; FIG. 31 is a plan view of the elongated shaft of FIG. 30 showing the position of the elongated shaft when the manual toggle member is rotated counterclockwise; FIG. 31 is a plan view of the elongated shaft of FIG. 30 showing the position of the elongated shaft when the manual toggle member is rotated clockwise; FIG. 1 is a schematic diagram of a surgical system in accordance with at least one aspect of the present disclosure; FIG. 35 is a graph of battery recharge rate, battery charge rate, power consumption, and motor speed over time for the surgical system of FIG. 34; 1 is a side view of a surgical system comprising a surgical instrument, a monopolar generator, and a bipolar generator in accordance with at least one aspect of the present disclosure; FIG. FIG. 12 is a schematic diagram of battery charge rate and motor torque for multiple surgical instrument systems over time in accordance with at least one aspect of the present disclosure;

The applicant of this application owns the following US patent applications filed on even date herewith, each of which is hereby incorporated by reference in their entirety.
・Attorney Reference No. END9234USNP1/190717-1M, Title of Invention “METHOD FOR AN ELECTROSURGICAL PROCEDURE”,
・Attorney's reference number END9234USNP2/190717-2, the name of the invention "ARTICULATABLE SURGICAL INSTRUMENT",
・Attorney reference number END9234USNP3/190717-3, the name of the invention "SURGICAL INSTRUMENT WITH JAW ALIGNMENT FEATURES",
・Attorney reference number END9234USNP4/190717-4, title of invention "SURGICAL INSTRUMENT WITH ROTATABLE AND ARTICULATABLE SURGICAL END EFFECTOR",
・Attorney reference number END9234USNP5/190717-5, the name of the invention "ELECTROSURGICAL INSTRUMENT WITH ASYNCHRONOUS ENERGIZING ELECTRODES",
・Attorney reference number END9234USNP6/190717-6, invention title "ELECTROSURGICAL INSTRUMENT WITH ELECTRODES BIASING SUPPORT",
・Attorney reference number END9234USNP8/190717-8, the name of the invention "ELECTROSURGICAL INSTRUMENT WITH VARIABLE CONTROL MECHANISMS",
・Attorney reference number END9234USNP9/190717-9, the title of the invention "ELECTROSURGICAL SYSTEMS WITH INTEGRATED AND EXTERNAL POWER SOURCES",
・Attorney reference number END9234USNP10/190717-10, title of the invention "ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING ENERGY FOCUSING FEATURES",
・Attorney's reference number END9234USNP11/190717-11, the name of the invention "ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING VARIABLE ENERGY DENSITIES",
・Attorney reference number END9234USNP12/190717-12, title of invention "ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES",
・Attorney reference number END9234USNP13/190717-13, title of invention "ELECTROSURGICAL END EFFECTORS WITH THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS",
・Attorney reference number END9234USNP14/190717-14, title of the invention "ELECTROSURGICAL INSTRUMENT WITH ELECTRODES OPERAABLE IN BIPOLAR AND MONOPOLAR MODES",
・Attorney reference number END9234USNP15/190717-15, the title of the invention "ELECTROSURGICAL INSTRUMENTS FOR DELIVERING BLENDED ENERGY MODALITIES TO TISSUE",
・Attorney reference number END9234USNP16/190717-16, invention title "CONTROL PROGRAM ADAPTITION BASED ON DEVICE STATUS AND USER INPUT",
- Attorney reference number END9234USNP17/190717-17, title of invention "CONTROL PROGRAM FOR MODULAR COMBINATION ENERGY DEVICE";

The applicant of this application owns the following US provisional patent applications filed December 30, 2019, the disclosures of each of which are incorporated herein by reference in their entirety:
- U.S. Provisional Patent Application No. 62/955,294 entitled "USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY MODALITY END-EFFECTOR";
US Provisional Application No. 62/955,292, entitled "COMBINATION ENERGY MODALITY END-EFFECTOR"; and US Provisional Application No. 62/955,306, entitled "SURGICAL INSTRUMENT SYSTEMS."

The applicant of this application owns the following US patent applications, the disclosures of each of which are incorporated herein by reference in their entirety:
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
U.S. patent application Ser. ,
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・米国特許出願第１６／２０９，４３３号、発明の名称「ＭＥＴＨＯＤ ＯＦ ＳＥＮＳＩＮＧ ＰＡＲＴＩＣＵＬＡＴＥ ＦＲＯＭ ＳＭＯＫＥ ＥＶＡＣＵＡＴＥＤ ＦＲＯＭ Ａ ＰＡＴＩＥＮＴ，ＡＤＪＵＳＴＩＮＧ ＴＨＥ ＰＵＭＰ ＳＰＥＥＤ ＢＡＳＥＤ ＯＮ ＴＨＥ ＳＥＮＳＥＤ ＩＮＦＯＲＭＡＴＩＯＮ， ＡＮＤ ＣＯＭＭＵＮＩＣＡＴＩＮＧ ＴＨＥ ＦＵＮＣＴＩＯＮＡＬ ＰＡＲＡＭＥＴＥＲＳ ＯＦ ＴＨＥ ＳＹＳＴＥＭ ＴＯ ＴＨＥ ＨＵＢ」（ Currently, U.S. Patent Application Publication No. 2019/0201594),
- U.S. patent application Ser.
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- U.S. patent application Ser.
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・米国特許出願第１６／２０９，４７８号、発明の名称「ＭＥＴＨＯＤ ＦＯＲ ＳＩＴＵＡＴＩＯＮＡＬ ＡＷＡＲＥＮＥＳＳ ＦＯＲ ＳＵＲＧＩＣＡＬ ＮＥＴＷＯＲＫ ＯＲ ＳＵＲＧＩＣＡＬ ＮＥＴＷＯＲＫ ＣＯＮＮＥＣＴＥＤ ＤＥＶＩＣＥ ＣＡＰＡＢＬＥ ＯＦ ＡＤＪＵＳＴＩＮＧ ＦＵＮＣＴＩＯＮ ＢＡＳＥＤ ＯＮ Ａ ＳＥＮＳＥＤ ＳＩＴＵＡＴＩＯＮ ＯＲ ＵＳＡＧＥ」（現在は、米国特許出願公開第２０１９ /0104919),
- U.S. patent application Ser.
- U.S. patent application Ser.
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U.S. patent application Ser. No. 16/562,135, entitled "METHOD FOR CONTROLLING AN ENERGY MODULE OUTPUT";
U.S. Patent Application No. 16/562,144, entitled "METHOD FOR CONTROLLING A MODULAR ENERGY SYSTEM USER INTERFACE," and U.S. Patent Application No. 16/562,125, entitled "METHOD FOR COMMUNICATION BETWEEN MODULES AND DEVICES IN A MODULAR SURGICAL SYSTEM".

Before describing various aspects of the surgical visualization platform in detail, it is noted that the example embodiments are not limited in application or use to the details of construction and arrangement of parts illustrated in the accompanying drawings and specification. want to be The example embodiments may be practiced or incorporated in other aspects, variations, and modifications, and may be practiced or carried out in various ways. Further, unless otherwise stated, the terms and expressions used herein are chosen for the convenience of the reader, for the purpose of describing example embodiments, and not for purposes of limitation thereof. Further, one or more of the aspects, expressions of aspects and/or examples described below may be combined with any one or more of the other aspects, expressions of aspects and/or examples described below. It should be understood that it can be combined with

Various aspects are directed to an electrosurgical system that includes an electrosurgical instrument powered by a generator to effect tissue dissection, cutting, and/or coagulation during a surgical procedure. Electrosurgical instruments may be configured for use in open surgical procedures, but also have applications in other types of surgery such as laparoscopic, endoscopic, and robotic-assisted procedures.

As described in more detail below, electrosurgical instruments generally include a shaft having a distally attached end effector (eg, one or more electrodes). The end effector can be positioned relative to tissue such that an electrical current is introduced into the tissue. Electrosurgical instruments can be configured for bipolar or monopolar operation. During bipolar operation, currents are introduced into the tissue by the active electrode of the end effector and returned from the tissue by the return electrode of the end effector, respectively. During unipolar operation, current is introduced into the tissue by the active electrode of the end effector and returned via a return electrode (eg, ground pad) separately located on the patient's body. Heat generated by current flowing through tissue may form hemostatic seals within and/or between tissues, and thus may be particularly useful for sealing blood vessels, for example.

FIG. 1 illustrates an example generator 900 configured to deliver multiple energy modalities to a surgical instrument. Generator 900 provides RF and/or ultrasonic signals for delivering energy to the surgical instrument. The generator 900 is capable of delivering multiple energy modalities (e.g., ultrasound, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others) through a single port. With two generator outputs, these signals can be delivered to the end effector individually or simultaneously to treat tissue. Generator 900 comprises a processor 902 coupled to a waveform generator 904 . Processor 902 and waveform generator 904 are configured to generate various signal waveforms based on information stored in memory coupled to processor 902, not shown for clarity of disclosure. . Digital information associated with the waveform is provided to waveform generator 904, which includes one or more DAC circuits to convert the digital input to analog output. The analog output is provided to amplifier 906 for signal conditioning and amplification. The conditioned and amplified output of amplifier 906 is coupled to power transformer 908 . The signal is coupled across the power transformer 908 to the secondary on the patient-isolated side. A first signal of a first energy modality is provided between terminals labeled ENERGY ₁ and RETURN of the surgical instrument. A second signal of the second energy modality is coupled across capacitor 910 and provided between terminals labeled ENERGY ₂ and RETURN of the surgical instrument. More than two energy modalities may be output, so the subscript "n" can be used to indicate that up to n ENERGY _n- terminals can be provided, where n is greater than one. is a positive integer of . It will also be appreciated that up to 'n' return paths (RETURN _n ) may be provided without departing from the scope of the present disclosure.

A first voltage sensing circuit 912 is coupled across terminals labeled ENERGY ₁ and the RETURN path to measure the output voltage therebetween. A second voltage sensing circuit 924 is coupled across terminals labeled ENERGY ₂ and the RETURN path to measure the output voltage therebetween. A current sensing circuit 914 is arranged in series with the RETURN leg of the secondary side of the power transformer 908 shown to measure the output current of either energy modality. If different return paths are provided for each energy modality, separate current sensing circuitry must be provided for each return leg. The outputs of the first voltage sensing circuit 912 and the second voltage sensing circuit 924 are provided to corresponding isolation transformers 928 , 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 916 . The outputs of isolation transformers 916 , 928 , 922 on the primary side (non-patient isolated side) of power transformer 908 are provided to one or more ADC circuits 926 . The digitized output of ADC circuitry 926 is provided to processor 902 for further processing and calculations. Output voltage and output current feedback information can be used to calculate parameters such as output impedance to adjust the output voltage and current provided to the surgical instrument. Input/output communication between processor 902 and patient isolation circuitry is provided through interface circuitry 920 . Sensors may also be in electrical communication with processor 902 via interface circuitry 920 .

In one aspect, the impedance is controlled by either the first voltage sensing circuit 912 coupled across the terminals labeled ENERGY ₁ /RETURN or the second voltage sensing circuit 924 coupled across the terminals labeled ENERGY ₂ /RETURN. This output may be determined by processor 902 by dividing by the output of current sensing circuit 914 placed in series with the RETURN leg of the secondary of power transformer 908 . The outputs of the first voltage sensing circuit 912 and the second voltage sensing circuit 924 are provided to separate isolation transformers 928 , 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 916 . Digitized voltage and current sensing measurements from ADC circuitry 926 are provided to processor 902 for calculating impedance. As an example, the first energy modality ENERGY ₁ may be RF monopolar energy and the second energy modality ENERGY ₂ may be RF bipolar energy. Yet, in addition to bipolar and monopolar RF energy modalities, other energy modalities include ultrasound energy, irreversible and/or reversible electroporation and/or microwave energy, among others. Also, while the example illustrated in FIG. 1 shows that a single return path (RETURN) may be provided to more than one energy modality, in other aspects multiple return paths RETURN _n may May be provided for each energy modality ENERGY _n .

As shown in FIG. 1, a generator 900 with at least one output port may, depending on the type of tissue treatment to be performed, generate power, e.g. A power transformer 908 with a single output and multiple taps to provide the end effector in the form of one or more energy modalities such as reversible electroporation and/or microwave energy. can contain. For example, the generator 900 delivers high voltage, low current energy to drive an ultrasound transducer, low voltage, high current energy to drive an RF electrode to seal tissue, Or energy with a coagulation waveform can be delivered for spot coagulation using either monopolar or bipolar RF electrosurgical electrodes. The output waveform from generator 900 can be induced, switched or filtered to provide frequencies to the end effector of the surgical instrument. In one example, the connection of the RF bipolar electrode to the output of generator 900 would preferably be located between the output labeled ENERGY ₂ and RETURN. For a unipolar output, it may be preferable to connect the active electrode (eg pencil or other probe) to the ENERGY ₂ output and a suitable return pad to the RETURN output.

Additional details can be found in U.S. Patent Application Publication No. 47/0891, published March 30, 2017, entitled "TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS," which is hereby incorporated by reference in its entirety. disclosed in No.

FIG. 2 shows one form of surgical system 1000 comprising a generator 1100 and various surgical instruments 1104, 1106, 1108 usable therewith, wherein surgical instrument 1104 is an ultrasonic surgical instrument. , surgical instrument 1106 is an RF electrosurgical instrument, and multi-function surgical instrument 1108 is a combined ultrasonic/RF electrosurgical instrument. Generator 1100 is configurable for use with various surgical instruments. According to various aspects, the generator 1100 is, for example, an ultrasonic surgical instrument 1104, an RF electrosurgical instrument 1106, and a multi-function surgical instrument that integrates RF and ultrasonic energy simultaneously delivered from the generator 1100. The surgical instrument 1108 may be configurable for use with a variety of different types of surgical devices. In the form of FIG. 2, generator 1100 is shown separate from surgical instruments 1104, 1106, 1108, but in one form, generator 1100 is attached to any of surgical instruments 1104, 1106, 1108. It may be formed integrally with the same to form an integrated surgical system. The generator 1100 includes an input device 1110 located on the front panel of the console of the generator 1100 . Input device 1110 may include any suitable device that generates signals suitable for programming the operation of generator 1100 . Generator 1100 may be configured for wired or wireless communication.

Generator 1100 is configured to drive multiple surgical instruments 1104 , 1106 , 1108 . The first surgical instrument is an ultrasonic surgical instrument 1104 , comprising a handpiece (HP) 1105 , an ultrasonic transducer 1120 , a shaft 1126 and an end effector 1122 . End effector 1122 comprises an ultrasonic blade 1128 and a clamp arm 1140 acoustically coupled with ultrasonic transducer 1120 . Handpiece 1105 includes a trigger 1143 to operate clamp arm 1140 and a combination of toggle buttons 1137, 1134b, 1134c to energize and drive ultrasonic blade 1128 or other functions. Toggle buttons 1137 , 1134 b , 1134 c can be configured to energize ultrasound transducer 1120 with generator 1100 .

Generator 1100 is also configured to drive a second surgical instrument 1106 . Second surgical instrument 1106 is an RF electrosurgical instrument and includes handpiece 1107 (HP), shaft 1127 and end effector 1124 . End effector 1124 includes electrodes in clamp arms 1145 , 1142 b and returns through the electrically conductive portion of shaft 1127 . The electrodes are coupled to and energized by a bipolar energy source within generator 1100 . Handpiece 1107 includes a trigger 1145 for operating clamp arms 1145 , 1142 b and an energy button 1135 for activating an energy switch for energizing electrodes in end effector 1124 . A second surgical instrument 1106 may also be used with a return pad to deliver monopolar energy to tissue.

Generator 1100 is also configured to drive multi-function surgical instrument 1108 . Multi-function surgical instrument 1108 includes handpiece 1109 (HP), shaft 1129 and end effector 1125 . End effector 1125 includes ultrasonic blade 1149 and clamp arm 1146 . Ultrasonic blade 1149 is acoustically coupled with ultrasonic transducer 1120 . Handpiece 1109 includes a trigger 1147 to operate clamp arm 1146 and a combination of toggle buttons 11310, 1137b, 1137c to energize and drive ultrasonic blade 1149 or other functions. Toggle buttons 11310, 1137b, 1137c energize the ultrasonic transducer 1120 with the generator 1100 and also energize the ultrasonic blade 1149 with the bipolar energy source contained within the generator 1100. can be configured to Monopolar energy may be delivered to tissue in combination with bipolar energy or separately from bipolar energy.

Generator 1100 is configurable for use with various surgical instruments. According to various aspects, the generator 1100 is, for example, an ultrasonic surgical instrument 1104, an RF electrosurgical instrument 1106, and a multi-function surgical instrument that integrates RF and ultrasonic energy simultaneously delivered from the generator 1100. It may be configurable for use with different types of different surgical instruments, including surgical instrument 1108 . In the form of FIG. 2, the generator 1100 is shown separate from the surgical instruments 1104, 1106, 1108; Either one may be integrally formed to form an integrated surgical system. As discussed above, the generator 1100 includes an input device 1110 located on the front panel of the console of the generator 1100 . Input device 1110 may include any suitable device that generates signals suitable for programming the operation of generator 1100 . Generator 1100 may also include one or more output devices 1112 . Additional aspects of generators for digitally generating electrical signal waveforms and surgical instruments are described in US Patent Application Publication No. 2017-0086914 A1, which is incorporated herein by reference in its entirety. ing.

FIG. 3 shows a schematic diagram of a surgical instrument or tool 600 that includes multiple motor assemblies that can be activated to perform various functions. In the illustrated example, a closure motor assembly 610 is operable to transition the end effector between an open configuration and a closed configuration, and an articulation motor assembly 620 articulates the end effector relative to the shaft assembly. is operable to allow In certain examples, multiple motor assemblies can be individually activated to produce firing, closing, and/or articulating motions in the end effector. Firing motion, closing motion, and/or articulation motion can be transmitted to the end effector via, for example, a shaft assembly.

In certain examples, closure motor assembly 610 includes a closure motor. Closure motor 603 may be configured to transmit a closing motion generated by the motor to the end effector, specifically to displace the closure member closed and transition the end effector to the closed configuration. It may be operably coupled with drive assembly 612 . The closing motion may cause the end effector to transition from an open configuration to a closed configuration to capture tissue, for example. The end effector can be moved to the open position by reversing the direction of the motor.

In certain examples, articulation motor assembly 620 includes an articulation motor operably coupled to articulation drive assembly 622 that can be configured to transmit articulation motion generated by the motor to the end effector. . In certain examples, the articulation may, for example, articulate the end effector with respect to the shaft.

One or more of the motors of surgical instrument 600 may include a torque sensor for measuring the output torque on the shaft of the motor. The force on the end effector may be sensed in any conventional manner, such as by force sensors outside the jaws or by torque sensors on the motor that actuates the jaws.

In various examples, motor assemblies 610, 620 comprise one or more motor drivers, which may include one or more H-bridge FETs. The motor driver may modulate the power transferred from power supply 630 to the motor based on, for example, input from microcontroller 640 (“controller”) of control circuit 601 . In a particular example, microcontroller 640 can be used to measure current draw by, for example, a motor.

In particular examples, microcontroller 640 may include a microprocessor 642 (“processor”) and one or more non-transitory computer-readable media or memory units 644 (“memory”). In particular examples, memory 644 may store various program instructions that, when executed, may cause processor 642 to perform a number of functions and/or calculations described herein. can. In particular examples, one or more of memory units 644 may be coupled to processor 642, for example. In various aspects, microcontroller 640 may communicate via wired or wireless channels, or a combination thereof.

In particular examples, power supply 630 may be used to power microcontroller 640, for example. In certain examples, power source 630 may include a battery (or “battery pack” or “power pack”) such as, for example, a lithium-ion battery. In certain examples, the battery pack may be configured to be releasably attached to the handle to power surgical instrument 600 . Multiple battery cells connected in series may be used as power source 630 . In certain examples, power source 630 may be replaceable and/or rechargeable, for example.

In various examples, processor 642 may control motor drivers to control the position, direction of rotation, and/or speed of the motors of assemblies 610 , 620 . In certain examples, processor 642 may signal the motor driver to stop and/or disable the motor. The term "processor," as used herein, means any suitable microprocessor, microcontroller, or computer central processing unit (CPU) that combines the functions of a single integrated circuit or up to It should be understood to include other basic computing devices integrated on several integrated circuits. Processor 642 is a general-purpose programmable device that accepts digital data as input, processes that data according to instructions stored in memory, and provides the results as output. This is an example of sequential digital logic since it has internal memory. Processors work with numbers and symbols represented in a binary number system.

In one example, processor 642 may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex manufactured by Texas Instruments. In a particular example, microcontroller 620 may be, for example, the LM 4F230H5QR available from Texas Instruments. In at least one embodiment, Texas Instruments' LM4F230H5QR provides 256 KB of single-cycle flash memory up to 40 MHz or other non-volatile memory on-chip memory, performance up to 40 MHz, among other features readily available in product datasheets. 32 KB single-cycle SRAM, internal ROM with StellarisWare software, 2 KB EEPROM, one or more PWM modules, one or more QEI analog , ARM Cortex-M4F processor cores containing one or more 12-bit ADCs with 12 analog input channels. Other microcontrollers may be readily substituted for use with surgical instrument 600 . Accordingly, the present disclosure should not be limited in this context.

In particular examples, memory 644 may include program instructions that control each of the motors of surgical instrument 600 . For example, memory 644 may contain program instructions for controlling the closing motor and the articulation motor. Such program instructions may cause processor 642 to control the closure and articulation functions according to inputs from an algorithm or control program of surgical instrument 600 .

In particular examples, one or more mechanisms and/or sensors, such as sensor 645, may be used to alert processor 642 of program instructions to use in a particular setting. For example, sensor 645 can alert processor 642 to use programmed instructions related to end effector closure and articulation. In certain examples, sensor 645 may comprise a position sensor that may be used, for example, to sense the position of a closing actuator. Accordingly, the processor 642 uses program instructions associated with closing the end effector to actuate the motor of the closure drive assembly 620 when the processor 642 receives a signal from the sensor 630 indicative of actuation of the closure actuator. be able to.

In some examples, the motors may be brushless DC electric motors, and respective motor drive signals may include PWM signals provided to one or more stator windings of the motor. Also, in some examples, the motor driver may be omitted and the control circuit 601 may directly generate the motor drive signal.

During various laparoscopic procedures, it is common practice to access a surgical site located within the patient's abdomen by inserting a surgical end effector portion of a surgical instrument through a trocar placed in the patient's abdominal wall. is. In its simplest form, a trocar is a pen-shaped instrument with a sharp triangular tip on one side that is typically used within a hollow tube known as a cannula or sleeve, which creates an opening in the body where the trocar is placed. A surgical end effector may be introduced through. Such a configuration forms an access port within the body cavity through which a surgical end effector can be inserted. The inner diameter of the trocar's cannula necessarily limits the size of the end effector and drive support shaft of the surgical instrument that can be inserted through the trocar.

Regardless of the particular type of surgical procedure being performed, once the surgical end effector is inserted into the patient through the trocar cannula, to properly position the surgical end effector with respect to the tissue or organ to be treated: It is often necessary to move a surgical end effector relative to a shaft assembly positioned within a trocar cannula. This movement or positioning of the surgical end effector relative to the portion of the shaft that remains within the trocar cannula is often referred to as "articulation" of the surgical end effector. To facilitate such articulation of surgical end effectors, various articulation joints have been developed for attaching surgical end effectors to associated shafts. As expected in many surgical procedures, it is desirable to use surgical end effectors that have the greatest possible range of articulation.

Due to the size constraints imposed by the size of the trocar cannula, the articulation joint components must be sized to be freely insertable through the trocar cannula. These size constraints also limit the various drive members that operably interface with motors and/or other control systems supported within housings that may be handheld or comprise part of a larger automated system. and the size and configuration of components. In many cases, these drive members must operably pass through an articulation joint in order to be operably coupled or interfaced with a surgical end effector. For example, one such drive member is commonly used to impart articulation control motion to surgical end effectors. In use, the articulation drive member is deactuated to position the surgical end effector in a non-articulating position to facilitate insertion of the surgical end effector through the trocar, after which the surgical end effector is The surgical end effector can be actuated to articulate to a desired position upon entering the patient.

Thus, the size constraints described above have made it difficult to develop an articulation system that can achieve the desired range of articulation and also accommodate a variety of different drive systems required to operate the various features of the surgical end effector. There are many challenges. Further, once the surgical end effector is positioned in the desired articulation position, the articulation system and articulation joint must be able to hold the surgical end effector in that position during actuation of the end effector and performance of the surgical procedure. not. Such articulation joint configurations must also be able to withstand the external forces experienced by the end effector during use.

4-7 show an electrosurgical instrument 30100 comprising a first jaw 30110, a second jaw 30120, and a monopolar wedge electrode 30130. FIG. First jaw 30110 and second jaw 30120 are movable between open and closed positions and are configured to grasp tissue T therebetween. Each of the first jaw 30110 and the second jaw 30120 comprises an electrode electrically coupled to a generator. Exemplary suitable generators 900, 1100 are described above in connection with FIGS. A generator powers and cooperatively delivers bipolar energy to the electrodes of the first and second jaws 30110, 30120 to seal, coagulate, and/or ablate tissue in a bipolar tissue treatment cycle. It is configured to allow

In use, first jaw 30110 and second jaw 30120 may deflect away from each other at their distal ends when tissue T is grasped between them. When tissue T is grasped, tissue T exerts a force on first jaw 30110 and second jaw 30120 to deflect the jaws away from each other. More specifically, when the tissue T is grasped between the first jaw 30110 and the second jaw 30120, the distance between the first jaw 30110 and the second jaw 30120 towards the distal end of the jaws can be greater than the gap A between the first jaw 30110 and the second jaw 30120 toward the proximal end of the jaws.

Further to the above, the end effector 30100 of the electrosurgical instrument 30100 is electrically connected to a generator (eg, generators 900, 1100) such that when energized by the generator, the first jaw 30110 and the second jaw 30110 are aligned. further comprising a unipolar wedge electrode 30130 configured to cut tissue T positioned between the jaws 30120 of the . In the illustrated embodiment, the unipolar wedge electrode 30130 is secured to the second jaw 30120, although other embodiments are envisioned in which the unipolar wedge electrode 30130 is secured to the first jaw 30110. The unipolar wedge electrode 30130 is thinner at its proximal end and thicker at its distal end (see FIG. 7) to offset the variable gap defined between the first jaw 30110 and the second jaw 30120. do. In other words, the unipolar wedge electrode 30130 comprises a wedge shape. As discussed above, the variable gap defined between jaws 30110, 30120 is due, at least in part, to the deflection of jaws 30110, 30120 when tissue is grasped therebetween. In at least one embodiment, unipolar wedge electrode 30130 includes flexible flex circuit board 30132 . The flexible flex circuit board 30132 is longitudinally elongated to offset the deflection of the first and second jaws 30110, 30120 when tissue is grasped between the first and second jaws 30110,30120. It is configured to bend and/or bend in a direction.

In various examples, the unipolar wedge electrode 30130 includes a conductive member 30134 centrally located along the length of the flexible flex circuit board 30132 . In the illustrated example, the conductive members 30134 are disposed on the flexible flex circuit board 30132 such that at least a portion thereof is exposed through the top surface of the flexible flex circuit board 30132 . In the particular example, portions of the conductive members 30134 are exposed while other portions are covered by the flexible flex circuit board 30132.

In examples where the jaws 30110, 30120 comprise a curved shape, the unipolar wedge electrode 30130 extends longitudinally with a similar curved profile. Furthermore, the unipolar wedge electrode 30130 gradually changes from a larger width to a smaller width as it extends longitudinally. Thus, a first width of the unipolar wedge electrode 30130 near its proximal end is greater than a second width near its distal end, as shown in FIG. In other examples, the first width of the unipolar wedge electrode near its proximal end may be less than the second width near its distal end.

In the illustrated example, the distal end of the conductive member 30134 is proximal to the distal end of the flexible flex circuit board 30132, which is in contact with the distal end of the jaws 30130. is proximal to However, in other examples, the distal ends of jaws 30130, conductive members 30134, and flexible flex circuit board 30132 are integrated at one location.

8-10 show an electrosurgical instrument 30200 comprising a first jaw 30210, a second jaw 30220, and a monopolar electrode 30230. FIG. The first jaw 30210 and the second jaw 30220 are movable between open and closed positions and tissue is configured to be positioned therebetween. The first jaw 30210 and the second jaw 30220 may be constructed of metal and coated with a dielectric material. In at least one embodiment, the first jaw 30210 and the second jaw 30220 are constructed of stainless steel and coated with shrink tubing. In various aspects, jaws 30210 , 30220 define bipolar electrodes that are electrically isolated from monopolar electrodes 30230 .

The first jaw 30210 comprises a first flexible member 30240 positioned around the first jaw 30210 and the second jaw 30220 comprises a second flexible member 30240 positioned around the second jaw 30220. A member 30250 is provided. Flexible members 30240, 30250 comprise a deformable dielectric material that is compressible to enhance contact with tissue when tissue is positioned between first jaw 30210 and second jaw 30220. include. In at least one embodiment, the flexible members 30240, 30250 comprise silicone and/or rubber.

In addition to the above, the monopolar electrode 30230 is positioned between the first jaw 30210 and the second jaw 30220 when the monopolar electrode 30230 is energized by a generator (eg, generator 1100, 900). It is used to cut the tissue that has been cut. A monopolar electrode 30230 comprises a wire extending along the first jaw 30210 and within the first flexible member 30240 . The unipolar electrode 30230 exits the first flexible member 20140 through the proximal opening 30242 of the first flexible member 30240 and extends along the exterior of the first flexible member 30240 and then the second flexible member 30240 . Re-enter the first flexible member 20140 through the distal opening 30244 of one flexible member 30240 . This arrangement allows the central portion 30232 of the monopolar electrode 30230 to bend and/or flex when tissue is grasped between the first jaw 30210 and the second jaw 30220 . Additionally, the central portion 30232 of the monopolar electrode 30230 is reinforced by a first flexible member 30240 along its length. In other words, the first flexible member 30240 applies a biasing force to the central portion 30232 of the monopolar electrode 30230 toward the second jaw 30220 . The first flexible member 30240 increases the pressure exerted on the tissue by the monopolar electrode 30230 when the first jaw 30210 and the second jaw 30220 grasp tissue therebetween, Improves the cutting ability of 30230.

In various aspects, the monopolar electrode 30230 can be composed of metal such as, for example, stainless steel, titanium, or any other suitable metal. The exposed surface of the unipolar electrode 30230 can have an exposed metal finish or can be coated with a thin dielectric material such as PTFE, for example. In various aspects, the coating can be skived to expose thin metal strips that define the conductive surface.

FIG. 11 shows a surgical instrument 30300 comprising a first jaw 30310, a second jaw 30320 and a monopolar electrode 30330. FIG. First jaw 30310 and second jaw 30320 are movable between open and closed positions to grasp tissue T therebetween. The first jaw 30310 comprises a first bipolar electrode and the second jaw 30320 comprises a second bipolar electrode. The first and second bipolar electrodes cooperate to deliver bipolar energy to ablate and/or seal tissue grasped between the first jaw 30310 and the second jaw 30320 in a bipolar tissue treatment cycle. to deliver.

Further to the above, the first jaw 30310 comprises a first tissue contacting surface 30314 and the second jaw 30320 comprises a second tissue contacting surface 30324 . First jaw 30310 includes a first recess 30312 configured to receive a first flexible or biasing member 30340 therein. First biasing member 30340 is configured to bias tissue T toward second jaw 30320 when tissue T is grasped between first jaw 30310 and second jaw 30320. It is The second jaw comprises a second recess 30322 configured to receive a second flexible or biasing member 30350 and a monopolar electrode 30330 therein. Second biasing member 30350 urges monopolar electrode 30330 and tissue T toward first jaw 30310 when tissue T is grasped between first jaw 30310 and second jaw 30320 . configured to power.

In addition to the above, the first recess 30312 and the second recess 30322 are configured to allow the first biasing member 30340, the second sized and shaped to receive a biasing member 30350 and a monopolar electrode 30330 . In other words, when the first jaw 30310 and the second jaw 30320 are in the closed position, the first tissue contacting surface 30314 and the second tissue contacting surface 30324 may be pushed apart if there is no tissue T positioned between them. come into contact with each other. However, when the first jaw 30310 and the second jaw 30320 are in the closed position, if tissue T is positioned between them and/or if tissue T is not positioned between them, Other embodiments are envisioned in which a gap is defined between the first tissue contacting surface 30314 and the second tissue contacting surface 30324 . In any event, the first recess 30312 and the second recess 30322 are configured such that the monopolar electrode 30330 extends over the second tissue contacting surface 30324 and into the first recess 30312 of the first jaw 30310. , is sized and/or shaped to enhance the ability of the first jaw 30310 and the second jaw 30320 to fully close. The first and second recesses 30312,30322 comprise an electrically insulating material for electrically insulating the monopolar electrode 30330 from the first and second jaws 30310,30320. However, other embodiments are envisioned in which the first and second recesses 30312,30322 do not electrically isolate the monopolar electrode 30330 from the first and second jaws 30310,30320. Monopolar electrode 30330 includes an independent hardwired connection to the control housing of surgical instrument 30300 . With independent wiring connections, the monopolar electrode 30330 can be energized independently of the first and second electrodes of the first and second jaws 30310, 30320 to perform cutting and/or sealing operations independently of each other. enable you to do In at least one embodiment, the control housing of the surgical instrument 30300 is configured such that the first and second electrodes of the first and second jaws 30310, 30320 are energized to ablate and/or unseal the tissue T. Prevent unipolar electrode 30330 from being energized until disconnection is prevented.

FIG. 12 shows a surgical end effector 30400 for use with electrosurgical instruments. End effector 30400 comprises a first jaw including a first bipolar electrode 30410 , a second jaw including a second bipolar electrode 30420 and a unipolar electrode 30430 . First bipolar electrode 30410 and second bipolar electrode 30420 are at least partially surrounded by a flexible member and/or flexible insulator 30440 . Flexible insulator 30440 may comprise rubber, silicone, polytetrafluoroethylene (PTFE) tubing, and/or combinations thereof. A unipolar electrode 30430 is attached to the flexible insulator 30440 of the first bipolar electrode 30410 . The monopolar electrode 30430 is thus electrically isolated from the first bipolar electrode 30410 . In at least one embodiment, the compliant insulator 30440 surrounding the first electrode 30410 comprises a rigid or at least substantially rigid PTFE tube, and the second flexible insulator 30440 surrounding the second electrode 30420 is , silicone and/or rubber materials. Other embodiments are envisioned, for example, having different combinations of PTFE tubing, rubber, and/or silicone positioned at least partially around the first bipolar electrode 30410 and the second bipolar electrode 30420 .

FIG. 13 shows a surgical end effector 30500 for use with electrosurgical instruments. The surgical end effector comprises a first jaw 30510 and a second jaw 30520 movable between open and closed positions to grasp tissue therebetween. First jaw 30510 is at least partially surrounded by first flexible member 30514 and second jaw 30520 is at least partially surrounded by second flexible member 30524 . A first flexible member 30514 is substantially completely surrounded by a first bipolar electrode 30512 and a second flexible member 30524 is substantially completely surrounded by a second bipolar electrode 30522 . More specifically, first bipolar electrode 30512 surrounds first flexible member 30514 except for interstitial portion 30516 where monopolar electrode 30530 is secured to first flexible member 30514 . Additionally, the second bipolar electrode 30522 surrounds the second flexible member 30524 except for a gap portion 30526 facing the first jaw 30510 . The interstitial portion 30526 of the second jaw 30520 is such that when the first jaw 30510 and the second jaw 30520 grasp tissue in the closed position, the unipolar electrode 30530 extending from the first flexible member 30514 Allows biasing forces from both the first flexible member 30514 and the second flexible member 30524 to be received. First flexible member 30514 and second flexible member 30524 comprise an electrically insulating material to electrically isolate monopolar electrode 30530 from first bipolar electrode 30512 and second bipolar electrode 30522 . The first and second flexible members 30514, 30524 can comprise rubber, silicone, PTFE tubing, and/or combinations thereof.

FIG. 14 shows a surgical end effector 30600 for use with electrosurgical instruments. Surgical end effector 30600 comprises a first jaw 30610 and a second jaw 30620 movable between open and closed positions to grasp tissue therebetween. First jaw 30610 is at least partially surrounded by first flexible member 30614 and second jaw 30620 is at least partially surrounded by second flexible member 30624 . A first flexible member 30614 is substantially completely surrounded by a first bipolar electrode 30612 and a second flexible member 30624 is substantially completely surrounded by a second bipolar electrode 30622 . In other words, first bipolar electrode 30612 surrounds first flexible member 30614 except for interstitial portion 30616 where monopolar electrode 30630 is secured to first flexible member 30614 . Further, second bipolar electrode 30622 surrounds second flexible member 30624 except for interstitial portion 30626 .

In addition to the above, the interstitial portions 30616, 30626 of the first and second bipolar electrodes 30612, 30622 are aligned with the first flexible member 30614 when the first jaw 30610 and the second jaw 30620 are in the closed position. A unipolar electrode 30630 extending from the second flexible member 30624 is contacted. Additionally, the gap portions 30616, 30626 are offset such that the first bipolar electrode 30612 is positioned in the second flexible member 30624 when the jaws 30610, 30620 are closed and no tissue is positioned therebetween. and second bipolar electrode 30622 to allow contact to first flexible member 30614 . Unlike electrodes 30512, 30533, electrodes 30612, 30622 are not mirror images of each other. Instead, electrode 30612 is offset from electrode 30622 and gap portions 30616, 30610 are also offset from each other. This arrangement prevents short circuits.

In any event, when the first jaw 30610 and the second jaw 30620 are closed, the monopolar electrode 30630 is positioned between the first flexible member 30614 and the second flexible member 30624 to compress tissue. provides a spring bias or bias to the monopolar electrode 30630 when the is grasped between the jaws 30610,30620. In other words, the unipolar electrode 30630 is radiated from both the first flexible member 30614 and the second flexible member 30624 when the first jaw 30610 and the second jaw 30620 are closed around tissue. receive an urging force. Biasing forces from flexible members 30614, 30624 facilitate cutting of tissue when monopolar electrode 30630 is energized.

In addition to the above, in at least one embodiment, the first flexible member 30614 and the second flexible member 30624 comprise an electrically insulating material to connect the monopolar electrode 30630 to the first bipolar electrode 30612 and the second bipolar electrode 30612 . electrically insulated from the bipolar electrode 30622 of the . In at least one embodiment, the first and second flexible members 30614, 30624 can comprise rubber, silicone, PTFE tubing, and/or combinations thereof.

FIG. 15 shows a surgical end effector 30700 for use with electrosurgical instruments. The end effector 30700 comprises a first jaw 30710 and a second jaw 30720 movable between open and closed positions to grasp tissue therebetween. The first jaw 30710 defines a first hyperbolic electrode, the second jaw 30720 defines a second bipolar electrode, and cooperatively, between the first jaw 30710 and the second jaw 30720 configured to deliver bipolar energy to ablate and/or seal tissue grasped by the body. Additionally, the first jaw 30710 comprises a first longitudinal recess 30712 with a first flexible member 30714 mounted therein. Second jaw 30720 includes a second longitudinal recess 30722 with a second flexible member 30724 mounted therein. Surgical end effector 30700 further comprises a monopolar electrode 30730 secured to first flexible member 30714 . First flexible member 30714 and second flexible member 30724 extend from first flexible member 30714 when first jaw 30710 and second jaw 30720 grasp tissue in the closed position. Allows the monopolar electrode 30730 to receive biasing forces from both the first flexible member 30714 and the second flexible member 30724 . First flexible member 30714 and second flexible member 30724 comprise an electrically insulating material and connect monopolar electrode 30730 to the first electrode of first jaw 30710 and the second electrode of second jaw 30720 . electrically isolated from The first and second flexible members 30714, 30724 can comprise rubber, silicone, PTFE tubing, and/or combinations thereof.

FIG. 16 shows a surgical end effector for use with an electrosurgical instrument. The end effector 30800 comprises a first jaw 30810 and a second jaw 30820 movable between open and closed positions to grasp tissue therebetween. First jaw 30810 defines a first bipolar electrode and second jaw 30820 defines a second bipolar electrode. As described above, the first and second bipolar electrodes are used to deliver bipolar energy to ablate and/or seal tissue positioned between the first jaw 30810 and the second jaw 30820. configured to work together. Additionally, the first jaw 30810 includes a longitudinal recess 30812 with a flexible member 30814 mounted therein. In at least one embodiment, the second jaw 30820 comprises stainless steel coated with PTFE shrink tubing. Surgical end effector 30800 further comprises a monopolar electrode 30830 secured to flexible member 30814 of first jaw 30810 . Flexible member 30814 provides a biasing force to monopolar electrode 30830 when first jaw 30810 and second jaw 30820 grasp tissue therebetween. The biasing force of flexible member 30814 enhances contact between monopolar electrode 30830 and tissue during a cutting operation. This flexible member 30814 comprises an electrically insulating material and electrically isolates the monopolar electrode 30830 from the first electrode of the first jaw 30810 . Flexible member 30814 may comprise rubber, silicone, PTFE tubing, and/or combinations thereof.

FIG. 17 shows an alternative surgical end effector 30800' to surgical end effector 30800. As shown in FIG. End effector 30800' is similar to end effector 30800, but monopolar electrode 30830 is secured to second jaw 30820. When tissue is positioned between first jaw 30810 and second jaw 30820 , flexible member 30814 applies a biasing force through tissue to monopolar electrode 30830 attached to second jaw 30820 .

FIG. 18 shows a surgical end effector 30900 for use with electrosurgical instruments. Surgical end effector 30900 defines an end effector axis EA that extends longitudinally along the length of end effector 30900 . Surgical end effector 30900 comprises a first jaw 30910 and a second jaw 30920 movable between open and closed positions to grasp tissue therebetween. First jaw 30910 comprises a first honeycomb lattice structure 30912 surrounded by a first diamond-like coating 30914 . Second jaw 30920 comprises a second honeycomb lattice structure 30922 surrounded by a second diamond-like coating 30924 . Diamond-like coatings 30914, 30924 can be, for example, any of the diamond-like coatings described herein. First honeycomb lattice structure 30912 and second honeycomb lattice structure 30922 include the same geometric arrays and materials. However, the first honeycomb lattice structure 30912 and the second honeycomb lattice structure 30922 include different geometric arrays and materials containing more or fewer air pockets as described herein, other Embodiments are envisaged. First diamond-like coating 30914 and second diamond-like coating 30924 comprise the same material. However, other embodiments are envisioned in which the first diamond-like coating 30914 and the second diamond-like coating 30924 comprise different materials.

In addition to the above, the end effector 30900 further comprises a first bipolar electrode 30940 secured to the first diamond-like coating 30914 of the first jaw 30910 on the first side of the end effector axis EA. A first bipolar electrode 30940 extends longitudinally along the length of the end effector 30900 . Second jaw 30920 includes flexible member 30960 mounted within cutout portion 30926 defined in second jaw 30920 . End effector 30900 further comprises a second bipolar electrode 30950 attached to flexible member 30960 on a second side of end effector axis EA. A second bipolar electrode 30950 extends longitudinally along the length of the end effector 30900 . Electrodes 30940 , 30950 cooperate to deliver bipolar energy to tissue grasped between jaws 30910 and 30920 . Additionally, electrodes 30940, 30950 are offset from each other to prevent accidental contact therebetween in the closed position that could form a short circuit.

Additionally, end effector 30900 includes a unipolar electrode 30930 attached to flexible member 30960 and positioned intermediate first bipolar electrode 30940 and second bipolar electrode 30950 . A monopolar electrode 30930 extends longitudinally along the length of the end effector 30900 and, in at least one embodiment, is aligned with the end effector axis EA.

As discussed herein, the first bipolar electrode 30940 and the second bipolar electrode 30950 deliver bipolar energy to tissue in a bipolar energy cycle such that the tissue moves between the first jaw 30910 and the second jaw 30910 . 30920 to ablate and/or seal tissue. Additionally, the monopolar electrode 30930 is configured to cut tissue by delivering monopolar energy to tissue in a monopolar energy cycle.

In addition to the above, the flexible member 30960 is compressible and applies pressure to tissue positioned between the first jaw 30910 and the second jaw 30920 . More specifically, the pressure exerted by the tissue jaws 30910, 30920 in the area directly above the flexible member 30960 will cause pressure in the area adjacent to the flexible member 30960 (i.e., the area where the flexible member 30960 is not present). ) pressure applied to the tissue. In at least one embodiment, the compliant member 30960 is an elastomer and/or elastomer that insulates the second bipolar electrode 30950 and the monopolar electrode 30930 from the second diamond-like coating 30924 and the honeycomb lattice structure 30922 of the second jaw 30920 . or with a plastic honeycomb structure. The flexible member 30960 holds the second bipolar electrode 30950 and the unipolar electrode 30930 in place such that when tissue is grasped between the first jaw 30910 and the second jaw 30920, the unipolar electrode 30930 and second bipolar electrode 30950 provide a biasing force toward first jaw 30910 .

In addition to the above, the first and second diamond-like coatings 30914, 30924 are electrically conductive and thermally insulating. However, other embodiments are envisioned in which the first and second diamond-like coatings 30914, 30924 are electrically insulating and/or thermally insulating. The first and second honeycomb lattice structures 30912,30922 comprise air pockets that provide thermal insulation to the first and second jaws 30910,30920. The first and second honeycomb lattice structures 30912 , 30922 provide additional spring bias to tissue when tissue is positioned between the first jaw 30910 and the second jaw 30920 . In at least one embodiment, the first and second honeycomb lattice structures 30912, 30922 permit flexing and/or bending of the first and second jaws 30910, 30920 when tissue is grasped therebetween. enable. In any event, the spring force of the first and second honeycomb lattice structures 30912, 30922 and the flexible member 30960 is applied to the tissue as it is grasped between the first jaw 30910 and the second jaw 30920. Provides consistent pressure.

In various aspects, one or more of the diamond-like coatings (DLC) 30914, 30924 are composed of an amorphous carbon-hydrogen network with graphite and diamond bonds between carbon atoms. The DLC coating 30914, 30924 can form a film around the first and second honeycomb lattice structures 30912, 30922 with low friction and high hardness properties. DLC coatings 30914, 30924 may be doped or undoped and are generally amorphous carbon (aC) or hydrogenated amorphous carbon (aC) containing a majority of sp3 bonds. aC:H). Various surface coating techniques can be utilized to form the DLC coatings 30914, 30924, such as those developed by Oerlikon Balzers. In at least one example, the DLC coatings 30914, 30924 are produced using plasma enhanced chemical vapor deposition (PACVD).

In various aspects, one or both of the DLC coatings may be replaced with coatings including titanium nitride, chromium nitride, Graphit iC™, or any other suitable coating.

Still referring to FIG. 18, electrodes 30940, 30950 extend along axis EA and are offset such that a plane across monopolar electrode 30930 extends between electrodes 30940, 30950. Further, in the example shown, electrodes 30930, 30940, 30950 protrude from the outer surface of jaws 30910, 30920. However, in other examples, one or more of the electrodes 30930, 30940, 30950 can be embedded in the jaws 30910, 30920 such that their outer surfaces are flush with the outer surfaces of the jaws 30910, 30920.

Some end effectors described in connection with FIGS. 4-18 coagulate, ablate tissue grasped by the end effector in tissue treatment cycles that include delivery of bipolar and/or monopolar energy to tissue. , sealing and/or cutting. Bipolar energy and monopolar energy can be delivered to tissue separately or in combination. In one example, monopolar energy is delivered to tissue after bipolar energy delivery to tissue is terminated.

FIG. 19 is a graph showing an alternative tissue treatment cycle 31000 that delivers bipolar energy to tissue in a bipolar energy cycle and monopolar energy in a monopolar energy cycle. The tissue treatment cycle 31000 includes a bipolar only phase 31002, a blended energy phase 31004, and a unipolar only phase 31006. The tissue treatment cycle 31000 is performed, for example, by an electrosurgical system including a generator (eg, generators 1100, 900) coupled to an electrosurgical instrument including an end effector (eg, the end effectors of FIGS. 4-18). can be implemented.

The graph of FIG. 19 shows power (W) on the y-axis and time on the x-axis. The power values provided in the graphs and their descriptions below are non-limiting examples of power levels that may be utilized in the tissue treatment cycle 31000. Other suitable power levels are also contemplated by this disclosure. The graph shows a bipolar power curve 31010 and a unipolar power curve 31014 . Additionally, blended power curve 31012 represents simultaneous application of monopolar and bipolar energy to tissue.

Still referring to FIG. 19, the initial tissue contact phase is shown between _t0 and _t1 and occurs prior to applying any energy to the tissue. End effector jaws are positioned on either side of the tissue to be treated. Bipolar energy is then applied to the tissue through a tissue coagulation phase beginning at _t1 and ending at _t4 . During the feathering segment (t ₁ -t ₂ ), the application of bipolar energy is increased to a predetermined power value (eg, 100 W) and during the remainder of the feathering segment (t ₁ -t ₂ ) and tissue warming. Segment (t ₂ -t ₃ ) is maintained at a predetermined power value. During the sealing segment (t ₃ -t ₄ ), the bipolar energy application is gradually decreased. Bipolar energy application ends at the end of the sealing segment (t ₃ -t ₄ ) and before the start of the cutting/ablation phase.

In addition to the above, monopolar application of energy to tissue is activated during the tissue coagulation phase. In the example shown in FIG. 19, activation of monopolar energy begins at the end of the feathering segment and the beginning of the tissue warming segment at time _t2 . Similar to bipolar energy, monopolar energy application to tissue is gradually increased to a predetermined power level (eg, 75 W) and maintained during the remainder of the tissue warming segment and during the initial portion of the sealing segment.

During the sealing segment of the tissue coagulation phase (t ₃ -t ₄ ), the power of the monopolar application of energy to the tissue gradually increases as the power of the bipolar application of energy to the tissue gradually decreases. In the illustrated example, the application of bipolar energy to tissue is stopped at the end of the tissue coagulation cycle ( _t4 ). The beginning of the tissue ablation phase is initiated by the inflection point of the monopolar power curve 31014 at t ₄ where the monopolar energy received during the sealing segment (t ₃ -t ₄ ) is now gradually increased. , followed by steps up to a predetermined maximum threshold power level (eg, 150 W) sufficient to ablate coagulated tissue. The maximum power threshold is maintained for a predetermined period of time and ends with the monopolar power level returning to zero.

Accordingly, tissue treatment cycle 31000 is configured to deliver three different energy modalities to the tissue treatment area at three consecutive times. A first energy modality that includes bipolar energy but no monopolar energy is applied to the tissue treatment area during the feathering segment from t ₁ to t ₂ . A second energy modality, a blended energy modality comprising a combination of monopolar and bipolar energy, is applied to the tissue treatment area during the tissue warming and tissue sealing segments from t ₂ -t ₄ . Finally, a third energy modality that includes monopolar energy but no bipolar energy is applied to the tissue during the t ₄ -t ₅ cutting segment. Additionally, the second energy modality includes a power level that is the sum of the power levels of monopolar energy and bipolar energy. In at least one example, the power level for the second energy modality includes a maximum threshold (eg, 120W). In various aspects, monopolar and bipolar energy can be delivered to the end effector from two different generators.

The blended power curve 31012 applied during the blended energy phase 31004 represents the combined application of bipolar and monopolar energy to tissue. During the tissue warming segment (t ₂ -t ₃ ), the blended power curve 31012 rises at t ₂ as the monopolar power is activated, the remainder of the tissue warming segment (t ₂ , t ₃ ) and During the beginning of the tissue sealing segment (t ₃ -t ₄ ), the bipolar power is maintained at a constant, or at least a substantially constant level. During the sealing segment (t ₃ -t ₄ ), the blended power curve 31012 is maintained at a constant, or at least substantially constant level, by gradually decreasing the bipolar power level as the monopolar power level increases. maintained.

In various aspects, the bipolar and/or unipolar power levels of the tissue treatment cycle 31000 are controlled by the current draw of the motor resulting in tissue impedance, jaw motor velocity, jaw motor force, end effector jaw opening, and/or end effector closure. can be adjusted based on one or more measured parameters such as

According to at least one embodiment, a monopolar electrode for cutting patient tissue includes a monopolar cam lobe electrode and a wire attached thereto. A unipolar cam lobe electrode is initially located at the distal end of the end effector of the electrosurgical instrument. When a clinician desires to cut patient tissue, the monopolar cam lobe electrode is energized (ie, via a generator as discussed herein) and pulled by a wire attached to it. The wire first guides the cam lobe electrode to rotate up into the tissue gap along the centerline of the end effector and then is pulled from the distal end to the proximal end to cut patient tissue. In other words, if the pivoting cutting blade is positioned distally and then pulled proximally, the cam lobe electrode acts like a pivoting cutting blade on a surgical instrument. Additionally, in at least one embodiment, the wires attached to the cam lobe electrodes are offset from the center of rotation of the cam lobe electrodes so that when the wires are pulled proximally, the cam lobe electrodes are initially rotated to an upright position. . The cam lobe electrodes exert a force perpendicular to the opposite side of the end effector jaws from where the cam lobe electrodes are positioned. In such a configuration, the cam lobe electrode may initially be hidden from the tissue gap between the jaws of the end effector until the wire initially pulls the cam lobe electrode to rotate the cam lobe electrode to its upright position. Since the cam lobe electrodes are initially hidden, the loads that the cam lobes exert on the other jaws of the end effector are independent of the tissue gap. In other words, the cam lobe electrodes are either substantially upright before beginning distal to proximal motion, or the cam lobe electrodes are partially erect before beginning distal to proximal motion. be. The amount that the cam lobe electrodes rotate toward their upright position depends on the amount of tissue positioned between the jaws of the end effector and the stiffness of the tissue. For example, harder tissue resists rotating the cam lobe electrode to an upright position more than softer tissue before the cam lobe electrode begins to move from the distal end toward the proximal end.

FIG. 20 comprises a housing, a shaft 40110 extending from the housing, and an end effector 40120 extending from the shaft 40110. FIG. Electrosurgical instrument 40100 is shown. Articulation joint 40130 rotatably connects shaft 40110 and end effector 40120 to facilitate articulation of end effector 40120 relative to shaft 40110 . A circuit board 40140 is located within the housing of the instrument 40100 . However, other embodiments are envisioned with circuit board 40140 positioned at any suitable location. In at least one example, circuit board 40140 is a printed circuit board. Printed circuit board 40140 includes connection plugs 40142 for connecting printed circuit board 40140 to wiring assembly 40150 . Wiring assembly 40150 extends from printed circuit board 40140 through shaft 40110 and into end effector 40120 . Wiring assembly 40150 is configured to monitor at least one function of end effector 40120 and relay monitored information to printed circuit board 40140 . The wiring assembly 40150 can monitor end effector functions including, for example, compression rate of the jaws of the end effector 40120 and/or thermal cycling of the end effector 40120 . In the illustrated example, wiring assembly 40150 includes sensor 40122 positioned within end effector 40120 . Sensor 40122 monitors at least one function of end effector 40120 .

In various aspects, the sensor 40122 may be, for example, a magnetic sensor such as a Hall effect sensor, a strain gauge, a pressure sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other suitable sensor. Any suitable sensor may be provided, such as a In various aspects, the circuit board 40140 comprises control circuitry including a microcontroller with a processor and memory unit. The memory unit may include one or more algorithms and/or lookup tables for recognizing particular parameters of the end effector 40120 and/or tissue grasped by the end effector 40120 based on measurements provided by the sensor 40122. can be stored.

In addition to the above, the wiring assembly 40150 is flexible to allow the wiring assembly 40150 to flex, bend, and/or stretch across various component boundaries and/or joints of the surgical instrument 40100. There may be some flexible, rigid and/or stretchable portions as part of the circuit. For example, a non-stretchable, flexible plastic substrate (i.e., polyimide, PEEK, transparent conductive polyester film) is transferred to a flexible silicone or elastomer substrate as the wiring assembly 40150 traverses a part boundary or joint. Transfer and then back to the non-stretchable flexible substrate on the other side of the joint. The metal conductors in wiring assembly 40150 remain continuous, but can stretch across component boundaries and/or joints. This arrangement with localized portions that are flexible in at least two planes allows the entire circuit to be flexible. Thus, portions of wiring assembly 40150 that span part boundaries and/or joints allow for localized relative motion without causing wiring assembly 40150 to pull apart or lose its continuity. Wiring assembly 40150 is secured around the local zone of motion to protect wiring assembly 40150 from excessive strain and/or distortion.

In addition to the above, in this embodiment the wiring assembly 40150 comprises a first elastic portion 40152 , a proximal rigid portion 40154 , a second elastic portion 40156 and a distal rigid portion 40158 . A proximal rigid portion 40154 is positioned within the elongated shaft 40110 and a distal rigid portion 40158 is positioned within the end effector 40120 . First elastic portion 40152 is positioned between printed circuit board 40140 and proximal rigid portion 40154 . A second elastic portion 40156 is positioned between the proximal rigid portion 40154 and the distal rigid portion 40158 . Other embodiments are envisioned in which wiring assembly 40150 includes more or less than two elastic portions. Rigid portions 40154, 40158 may be secured to shaft 40110 and end effector 40120, respectively, with adhesive 40105, for example. However, any suitable attachment means may be utilized. The elastic portions 40152, 40156 further comprise elastic portions (ie, for bending and/or bending) and stretchable portions (ie, for stretching). In at least one embodiment, the elastic portion comprises a first substrate or layer and the stretchable portion comprises a second substrate or layer. The first and second substrates comprise different materials. However, other embodiments are envisioned in which the first and second substrates comprise the same material in different configurations.

In addition to the above, wiring assembly 40150 further comprises electrical traces or conductors 40160 configured to carry electrical energy between printed circuit board 40140 and end effector 40120 along the length of wiring assembly 40150 . Referring primarily to FIGS. 21 and 22, the conductor 40160 comprises a stretchable portion 40162 spanning the elastic portions 40152,40156. Elastic portion 40162 comprises a serpentine, oscillating and/or zigzag pattern that allows elastic portion 40162 to stretch when elastic portions 40152, 40156 are stretched as illustrated in FIG. When the elastic portions 40152, 40156 return to their relaxed and/or natural state, the stretchable portion 40162 returns to its meandering, oscillating and/or zig-zag pattern, as shown in FIG.

In addition to the above, in at least one embodiment, conductors 40160 include copper conductors printed on wiring assembly 40150 in a serpentine, vibrating, and/or zigzag pattern in high current applications such as RF process energy. can be used. Other embodiments are envisioned in which the stretchable portion 40162 of the conductor 40160 spanning the elastic portions 40152, 40156 includes conductive links that join to allow the stretchable portion 40162 to extend across the joint.

FIG. 23 shows an electrosurgical instrument 40200 comprising a shaft 40210, a translating member 40220, and a flex circuit and/or wiring harness 40230. Wiring harness 40230 may be similar to wiring assembly 40150 . Translating member 40220 can be, for example, a knife drive rod, an articulating cable, and/or a rigid articulating member of instrument 40200 for cutting patient tissue. However, translation member 40220 can be any translation member as described herein. In any event, translation member 40220 is configured to translate relative to shaft 40210 and includes an iron element 40222 that translates with translation member 40220 . Iron element 40222 may be attached to or housed within translation member 40220, for example. Wiring harness 40230 is secured within shaft 40210 and includes a linear inductive sensor 40232 configured to detect the linear position of iron element 40222 and thus the linear position of translating member 40220 . More specifically, linear inductive sensor 40232 is configured to generate an electric field that causes ferrous element 40222 to break down. A linear inductive sensor 40232 is integrated into the wiring harness 40230 to provide robust protection from external elements and fluids.

In various aspects, the sensor 40232 may be a magnetic sensor such as a Hall effect sensor, a strain gauge, a pressure sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other suitable sensor. can be In various aspects, control circuit a recognizes certain parameters of surgical instrument 40200 and/or tissue to be processed by surgical instrument 40200 based on measurements provided by a microcontroller with a processor and sensor 40232. and a memory unit that stores one or more algorithms and/or lookup tables for

24 and 25 show an electrosurgical instrument 40300 comprising a shaft 40310, a translating member 40320, and a flex circuit or wiring harness 40330. FIG. Translating member 40320 is configured to translate relative to shaft 40310 to perform end effector functions. Translating member 40320 can be, for example, a knife drive rod, an articulating cable, and/or a rigid articulating member of instrument 40300 for cutting patient tissue. However, the translating member can be, for example, any translating member described herein. In any event, the wiring harness 40330 comprises a conductor 40331 , a body portion 40332 and a resilient portion 40334 extending from the body portion 40332 . Body portion 40332 includes a first sensor 40340 secured to shaft 40310 and configured to measure end effector function of surgical instrument 40300 . A resilient portion 40334 is attached to the translation member 40320 and comprises a second sensor 40350 . A second sensor 40350 is positioned at the end of the elastic portion 40334 where the elastic portion 40334 is attached to the translation member 40320 . Accordingly, second sensor 40350 translates with translation member 40320 . Second sensor 40350 is configured to measure stress and/or strain within translational member 40320 . However, other embodiments are envisioned in which the second sensor is configured to measure the position, velocity and/or acceleration of the translational member 40320. FIG.

In various aspects, the control circuit a controls certain parameters of the surgical instrument 40300 and/or the tissue processed by the surgical instrument 40300 based on measurements provided by a microcontroller having a processor and sensors 40340, 40350. and a memory unit that stores one or more algorithms and/or lookup tables for recognition.

In addition to the above, the elastic portion 40334 is similar to the elastic portions 40152, 40156 discussed herein with respect to Figures 20-22. More specifically, the elastic portion 40334 comprises elastic and/or stretchable portions that allow the elastic portion 40334 to bend, flex, and/or stretch relative to the body portion 40332 of the wiring harness 40330. Prepare. Such an arrangement ensures that the second sensor 40350 is integrated with the wiring harness 40330 without the sensed measurements of the second sensor 40350 being affected by movement of the translating member 40320 relative to the wiring harness 40330. becomes possible.

26-33 show an electrosurgical instrument 40400 comprising a handle 40410, a shaft 40420 extending from the handle 40410, and a distal head or end effector 40430 extending from the shaft 40420. Handle 40410 has motor 40411a driven by trigger 40412 and motor driver/controller 40422b configured to drive motor 40411a upon input from control circuit 40413 and in response to actuation movement of trigger 40412. , including an electric motor assembly 40411 . In various aspects, control circuitry 40413 includes a microcontroller 40414 having a processor 40415 and a memory unit 40417 . Power supply 40418 is coupled to motor controller 40411b and microcontroller 40414 to power the motor.

Shaft 40420 defines shaft axis SA and includes an end effector drive member, such as end effector drive member 40419 . End effector drive member 40419 is operatively responsive to electric motor 40411a within handle 40410 and is configured to perform at least two end effector functions. As discussed herein, the end effector 40430 is configured to be selectively locked and unlocked from the shaft 40420. More specifically, when the end effector 40430 is locked to the shaft 40420, the end effector 40430 cannot rotate and/or articulate with respect to the shaft 40420, and the end effector drive member 40419 is locked to the end effector 40430. configured to open and close the jaws of the Further, when the end effector 40430 is unlocked from the shaft 40420, the end effector can rotate and/or articulate relative to the shaft 40420, and when the end effector drive member 40419 is actuated by the electric motor, End effector drive member 40419 rotates end effector 40430 about shaft axis SA.

Instrument 40400 further comprises a manual toggle member or rocker member 40440 , an elongated shaft 40450 and a pull cable 40460 . Elongated shaft 40450 is crimped onto tension cable 40460 such that elongate shaft 40450 and tension cable 40460 move together along shaft axis SA. Rocker member 40440 includes slot 40442 defined therein configured to receive elongated shaft 40450 . The rocker member 40440 and elongated shaft 40450 are mounted within the handle 40410 such that portions of the rocker member 40440 extend laterally beyond each side of the handle 40410 such that the rocker member 40440 is manually actuated by the clinician. make it possible. Locker member 40440 further comprises pin 40444 extending into slot 40442 . Pin 40444 extends into V-shaped groove 40452 defined in the outer diameter of elongated shaft 40450 . Elongated shaft 40450 is biased away from rocker member 40440 (ie, distally biased), such as by a spring.

In use, as rocker member 40440 rotates clockwise CW, pin 40444 slides within a first side of V-shaped groove 40452 to retract elongated shaft 40450 toward rocker member 40440 (i.e., proximal to). As rocker member 40440 rotates counterclockwise CCW, pin 40444 slides within a second side of V-groove 40452 opposite the first side, causing elongated shaft 40450 to rotate toward rocker member 40440 . Retract (ie, proximally). Referring to FIG. 31, when the rocker member 40440 is centered, the elongated shaft 40450 is in its most distal position (ie, furthest from the rocker member 40440). 32 and 33, elongated shaft 40450 retracts (ie, proximally) toward rocker member 40440 as rocker member 40440 rotates either clockwise CW or counterclockwise CCW.

Elongated shaft 40450 is crimped to pull cable 40460 as described above. Thus, the pull cable 40460 retracts when the rocker member 40440 is rotated either clockwise CW or counterclockwise CCW. The pull cable 40460 may be similar to the unlock cable 11342 shown in FIG. 54 of US Patent Application Attorney Docket No. END9234USNP2/190717-2. More specifically, when the tension cable 40460 is retracted (i.e., moved proximally), it unlocks the end effector 40430 and allows the end effector 40430 to rotate and/or articulate with respect to the shaft 40420. enable Thus, rotation of the rocker member 40440 either clockwise CW or counterclockwise CCW unlocks the end effector 40430 to allow rotation and/or articulation of the end effector 40430 .

Further to the above, the rocker member 40440 is a downwardly extending post configured to engage a first switch 40447 and a second switch 40448 positioned on opposite sides of the downwardly extending post 40446. 40446 is further provided. First switch 40447 and second switch 40448 are configured to activate an articulation motor located within handle 40410 . More specifically, as rocker member 40440 rotates clockwise CW, pull cable 40460 retracts to unlock end effector 40430 and post 40446 engages first switch 40447 resulting in first switch 40447 being engaged. causes rotation of motor 40411a in the direction of , which causes articulation drive assembly 40417 to articulate end effector 40430 to the right, for example. Rotation of the rocker member 40440 counterclockwise CCW retracts the pull cable 40460 to unlock the end effector 40430 . Post 40446 engages a second switch 40448 which results in rotation of motor 40411a in a second direction opposite the first direction, thereby causing articulation drive assembly 40417 to rotate end effector 40430. Articulate to the left.

In addition to the above, as shown in FIG. 28, neither the first switch 40447 nor the second switch 40448 are activated when the rocker member 40440 is centered. Tension cable 40460 is in its distal-most position corresponding to end effector 40430 being locked, as described above. In various aspects, any suitable shifter or clutch mechanism shifts drive member 40419 between operable engagement with articulation drive assembly 40417 and operable engagement with closure/firing assembly 40421 can be configured as The shifter mechanism is such that the drive member 40419 is operably coupled to the closing/firing drive assembly 40421 when the rocker member 40440 is centered and the rocker member 40440 rotates from the center position either clockwise CW or counterclockwise CCW. It can be operated by a rocker member 40440 such that it is operably coupled to the articulation drive assembly 40417 when engaged.

When the end effector 40430 is locked, rotation of the electric motor within the handle 40410 results in rotation of the end effector drive member 40419, which is driven by the closing/firing drive assembly 40421 between open and closed positions. Move a pair of jaws. However, other embodiments are envisioned in which rotation of the end effector drive member 40419 translates the firing member through the end effector 40430 when the end effector 40430 is locked. In any event, rotation of the rocker member 40440 either clockwise CW or counterclockwise CCW unlocks the end effector 40430, allowing rotation of the end effector 40430 about shaft axis SA. More specifically, when the end effector 40430 is unlocked, the end effector drive member 40419 is actuated by an electric motor 40411a within the handle 40410, causing the end effector 40430 to pivot about shaft axis SA relative to shaft 40420. Rotate.

In addition to the above, other embodiments are envisioned with two or more articulation motors in which the articulation motors are operably responsive to a first switch 40447 and a second switch 40448 . Such a configuration facilitates articulation of the end effector 40430 about multiple axes, for example, if a double articulated joint is used between the end effector 40430 and the shaft 40420. Other embodiments are also envisioned with separate motors dedicated to closing, firing, and/or articulation.

In various aspects, the motor driver 40411b is configured to operate the electric motor 40411a in multiple operating states based on inputs from the processor 40416. For example, when the end effector drive member 40419 opens and closes the jaws of the end effector 40430 (ie, the distal head or end effector 40430 is locked), the electric motor is in the first mode of operation. When the electric motor 40411a is in the first mode of operation, the end effector drive member 40419 operates to open and close the jaws of the end effector 40430 at a first speed, a first amount of change, a first amount of torque, and/or Operated with a first acceleration amount. Electric motor 40411a is in a second mode of operation when end effector drive member 40419 rotates end effector 40430 about shaft axis SA (ie, distal head or end effector 40430 is unlocked). When the electric motor 40411a is in the second mode of operation, the end effector drive member 40419 rotates the end effector 40430 to a second speed, a second amount of change, a second amount of torque, and/or a second speed. is operated with an acceleration amount of

In at least one embodiment, the first operational mode and the second operational mode are different, e.g., include different combinations of control parameters for driving the end effector drive member 40419 at different velocities, torques, and/or accelerations. . In at least one embodiment, the second mode of operation (i.e., distal head rotation) has a lower maximum torque limit than the first mode of operation, e.g. , and/or a low maximum torque speed. In contrast, the end effector drive member 40419, for example, includes a higher torque limit, does not include or has limited step acceleration, and/or rotates at a higher speed in the first mode of operation. .

In various aspects, memory 40415 stores program instructions that, when executed by processor 40416, cause processor 40416 to select one of the first mode of operation or the second mode of operation. For example, various combinations of control parameters for driving end effector drive member 40419 at different velocities, torques, and/or accelerations may be determined by processor 40416 from lookup tables, algorithms, and/or equations stored in memory 40415. can be selected.

In addition to the above, referring to FIG. 29, control circuitry 40413 controls the speed, torque, and/or acceleration of the articulation motors. Articulation motors are actuated by first switch 40447 and second switch 40448 to articulate end effector 40430 with respect to shaft axis SA, as described above. In at least one embodiment, first switch 40447 and second switch 40448 are adaptively controlled. Microcontroller 40414 is in signal communication with first switch 40447 and second switch 40448 to provide proportional control of the speed of motor 40411a for articulating end effector 40430 based on manual movement of rocker member 40440. can do. More specifically, the distance and/or force with which the first switch 40447 or the second switch 40448 is depressed is directly proportional to the velocity, torque, and/or acceleration with which the end effector 40430 articulates. Alternatively, in a particular example, switches 40447 and 40448 are in direct communication with motor driver 40411b.

As shown in FIG. 29, surgical instrument 40400 includes a transmission mechanism, shiftable motor drive, and/or shifter 40427 to drive articulation of end effector drive shaft 40419 and, for example, end effector 40430. Various embodiments are envisioned to lock two drive mechanisms together, such as the drive assembly 40417, or to lock the end effector drive shaft 40419 and the closing/firing drive assembly 40421. In such a configuration, surgical instrument 40400 has a single electric motor for driving articulation of end effector 40430, rotating end effector 40430 about shaft axis SA, and opening and closing jaws of end effector 40430. 40411a. More specifically, shifter 40427 switches a single electric motor between engagement of articulation drive assembly 40417 and closing/firing drive assembly 40421 .

According to at least one embodiment, the handle user control of the motor of the surgical instrument and/or movement of the end effector are in signal communication with the control system of the surgical instrument. A control system is housed within the handle and couples user-triggered feedback to end effector motor drive feedback to provide proportional but not direct control of the end effector. In at least one embodiment, the control system provides indirect open loop control of the end effector with alternative means for providing clamp level feedback to the user. Surgical instruments include haptic feedback and trigger sweep correlation. Additionally, the surgical instrument includes a feedback system to the control system for monitoring alternate compression or pressure within the jaws to offset the elimination of tactile feedback. In such a configuration, manual user input drives the jaws independently of trigger stroke. In at least one embodiment, a smaller finger size trigger with a spring return is utilized to improve manual control and maneuverability of the handle. Additionally, at least one embodiment employs a modular attachment of the electrical backbone to the surgical instrument when new single-use shafts are introduced.

35 is a graphical power schematic diagram of a surgical system 40550 (FIG. 34) comprising an electrosurgical instrument 40551 and a power source (eg, generator) 40552 configured to power the electrosurgical instrument 40551. 40500. Electrosurgical instrument 40551 includes an integral or self-contained power source that functions in conjunction with a separate generator 40552 to power the power motor and other components of electrosurgical instrument 40551 . The integrated power supply includes a power storage device, such as, for example, a rechargeable non-removable battery 40553. Battery 40553 is configured to begin recharging as soon as battery 40553 is attached to the output of generator 40552 . The integrated power source can begin recharging, for example, in use during a procedure. An integral power source, or rechargeable battery, is supplied from the power output generator 40552, regardless of the power consumed by the motor, controller, and/or sensors, until the rechargeable battery 40553 is charged to a predetermined maximum level. Consume a constant power level. Battery 40553 can simultaneously discharge to operate the controls or motors of electrosurgical instrument 40551 and charge via power output generator 40552 . Battery 40553 continues to charge until it reaches a predetermined level during the user requested operation, either during generator initialization or in a standby state during use. If the battery 40553 has been used to a predetermined minimum level, the user is notified that they must wait for the battery 40553 to charge above the minimum threshold level before the electrosurgical instrument 40551 can be used again. do.

In addition to the above, graph 40500 of FIG. 35 includes graphs 40502, 40504, 40506, 40508 that include a Y-axis representing various parameters of surgical system 40550 plotted against time t on the X-axis. Graph 40502 shows on the Y-axis the power (in Watts (W)) supplied by generator 40552 (eg, an internal storage battery such as rechargeable battery 40553) to the power source of the electrosurgical instrument. Graph 40504 shows on the Y-axis the charge level of battery 40553 as a percentage of the maximum charge level threshold. Graph 40506 shows on the Y-axis the power (Watts (W)) consumed from battery 40553 by components of surgical instrument 40551 such as motor 40554, for example. Graph 40508 shows on the Y-axis the motor speed limit set as a percentage of the maximum motor speed threshold.

In the illustrated example, electrosurgical instrument 40551 is connected to generator 40552 at time _t0 . Generator 40552 charges rechargeable battery 40553 at a constant recharge rate (S1) until battery 40553 charge level reaches a maximum threshold of 100% (achieved at _t1 ). Power delivery by the generator 40552 is automatically started when the surgical instrument 40551 is connected to the generator 40552 and is automatically stopped when the charge level reaches a maximum threshold. In various examples, the surgical system 40550 includes a charge meter 40556 for detecting the charge level of the battery 40553 and a charge meter 40556 for removing power to the surgical instrument 40551 when the charge level reaches a maximum threshold. It includes a control circuit 40555, which includes a switching mechanism. In at least one example, the battery can be charged at a constant rate of 15W. The generator automatically stops charging the battery 40553 when the battery charge level reaches 100%.

Further, at time _t2 , motor 40554 is activated to cause end effector 40557 of surgical instrument 40551 to perform one or more functions. Motor 40554 draws power from battery 40553 and discharges battery 40553 at speed _S2 . Battery 40553 continues to charge while discharging power to motor 40554 . Discharge rate _S2 is thus derived from a combination of the rate of discharge of battery 40553 by the motor drawing power from the battery and the rate of charge of battery 40553 by the power supplied to battery 40553 by generator 40552, which is: Occurs concurrently or simultaneously until Motor 40554 is stopped. When power consumption by motor 40554 is stopped, battery 40553 returns to recharging at constant speed S1.

In the illustrated example, motor 40553 is actuated at first and second instances 40501, 40503, as shown in graph 40506, for example opening and closing jaws of end effector 40557 to grasp tissue. The clinician may open and close the jaws several times to achieve a good grip on the tissue. At the end of the second instance of motor operation 40503, the battery 40553 returns to recharge to the 100% charge level attained at _t3 at constant speed S1, at which point it is supplied by generator 40552 to battery 40553. power is turned off. Further, a third instance 40505 of motor actuation to articulate end effector 40557 discharges battery 40553 at rate _S3 from time _t4 to time _t5 . End effector closing/opening and articulation can be driven by the same or different motors drawing battery 40553 power.

Further, as shown in graphs 40504, 40506, fourth, fifth, sixth, and seventh instances 40507, 40509, 40511, 40513 of motor actuation cause battery 40553 charge level to drop to a first predetermined A minimum threshold (eg, 40%) and a second predetermined minimum threshold (eg, 20%) are reached and exceeded. A motor driver/controller 40558 of electrosurgical instrument 40551 in signal communication with generator 40552 and battery 40553 maintains the motor speed limit at 100% until the battery charge level decreases to a first predetermined threshold level. When the battery 40553 charge level drops to a first predetermined level, e.g., 40% at time _t6 , the motor controller 40558 reduces the motor speed limit (e.g., 50%) to conserve battery power. do. Thus, when the battery charge level is 40% and the jaws of end effector 40557 are actuated, the instrument closes the jaws of end effector 40557 at the first reduced speed, causing time _tb of motor actuation instance 40509 to be , longer than the time t _a of motor actuation instance 40507 . Additionally, when the charge level drops to a second predetermined level, eg, 20% at time _t7 , motor controller 40558 reduces the motor speed limit to 25% to further conserve battery power. When the battery charge level is 20% and the jaws of the end effector 40557 are actuated, the instrument clamps the jaws of the end effector 40557 at a second reduced speed that is lower than the first reduced speed, and the motor actuation instance Time _tc of 40513 is made longer than time _tb of motor actuation instance 40509. Accordingly, motor controller 40558 causes the motor to perform similar functions at different speeds based on the corresponding level of charge of battery 40553 that powers motor 40554 .

Further, when the battery 40553 charge level drops to a predetermined minimum level, e.g., 10% at time _t8 , the motor speed limit is reduced to zero and the surgical instrument continues to operate when battery 40553 is at a predetermined minimum level, e.g. Warn the clinician to wait until the charge is greater than 40% at time _t9 . When battery 40553 is recharged from 10% to 40% and jaws of end effector 40557 are actuated at motor actuation instance 40515, surgical instrument 40551 is at a first reduced velocity at time _td less than time ta. to move the jaws of the end effector 40557. Upon completion of the actuation instance 40515 at the end of time _td , the battery 40553 is charged at a constant recharge rate _S1 until the maximum charge level is reached at _t10 when power to the battery 40553 from the generator 40552 is turned off. Start recharging.

FIG. 34 is a simplified schematic diagram of a surgical system 40550 including a control circuit 40550 having a microcontroller 40560 including a processor 40561 and memory 40562 storing program instructions. When the program instructions are executed, they cause processor 40561 to detect the charge level of battery 40553 . In at least one example, processor 40561 is in communication with charge meter 40556 configured to measure the charge level of battery 40553 . In addition, by detecting that the battery 40553 charge level is below a first minimum charge level threshold (eg, 40%) while the motor 40554 is running, the processor sets the maximum speed limit of the motor 40554. Decrease to the first maximum threshold. In at least one example, processor 4056 is in communication with motor driver 40558 configured to control the speed of motor 40554 . In such an example, Processor 40561 signals Motor Driver 40558 to reduce the motor speed limit of Motor 40554 to the first maximum threshold. Alternatively, in another example, the processor 40561 can directly control the maximum motor speed limit.

Further, by detecting that the battery 40561 charge level is below a second minimum charge level threshold (e.g., 20%) while the motor 40554 is running, the processor may limit the maximum speed limit of the motor 40554. Decrease to a second maximum threshold that is less than the first maximum threshold. Further, by detecting that the battery 40553 charge level is below a third minimum charge level threshold (e.g., 10%) while the motor 40554 is running, the processor may limit the maximum speed limit of the motor 40554. Decrease to zero or stop motor 40554. Processor 40561 may prevent restart of motor 40554 until the minimum charge level is above a predetermined threshold, eg, a second minimum charge level threshold (eg, 20%).

In certain examples, the processor 40561 can further use one or more feedback systems 40563 to alert the clinician. In certain instances, feedback system 40563 may comprise one or more visual feedback systems, such as display screens, backlights, and/or LEDs, for example. In certain instances, feedback system 40563 may comprise one or more audio feedback systems, such as speakers and/or buzzers. In certain instances, feedback system 40563 may comprise, for example, one or more haptic feedback systems. In certain instances, feedback system 40563 may comprise a combination of visual, audio, and/or tactile feedback systems, for example.

In addition to the above, in at least one embodiment, the internal battery is charged by an external power storage device or by an external battery attached to the surgical instrument during and/or during the surgical procedure. . In at least one embodiment, the external battery is introduced into the sterile field, e.g., in sterile packaging, and attached to the surgical instrument, e.g., to supplement and/or replace the internal battery with a disposable battery. include. In at least one embodiment, the external battery is the sole operating power source for controlling the mechanical motion system, for example, while radio frequency (RF) power for therapeutic treatment of tissue is provided by the generator. be. In such a configuration, the external battery is connected to the surgical instrument when the internal battery is insufficient to power the device. More specifically, the external battery is used cooperatively with the internal battery rather than replacing it. Additionally, in at least one embodiment, the external battery includes a disposable battery connected to the internal battery of the surgical instrument when the surgical instrument is not performing a surgical procedure to charge the internal battery. The external battery is then removed from the surgical instrument for later use by a clinician when auxiliary power is required.

FIG. 36 shows a surgical system 40600 comprising a surgical instrument 40610, a monopolar generator 40620 and a bipolar generator 40630. FIG. In the illustrated embodiment, the monopolar generator 40620 is electrically coupled directly to the motor 40650 of the surgical instrument 40610 and the bipolar generator 40630 is electrically coupled directly to the battery 40640. The bipolar generator 40630 is configured to charge the battery 40640 and thereby power the motor 40650 . A homopolar generator 40620 is configured to directly power the motor 40650 and charge the battery 40640 . More specifically, an additional electrical connection 40660 is provided between the homopolar generator 40620 and the battery such that the homopolar generator 40620 powers the motor 40650 while also powering the battery 40640. to charge the battery 40640. Monopolar generator 40620 and bipolar generator 40630 are configured to output DC power to battery 40640 and motor 40650 .

In various aspects, the surgical instrument 40610 includes an end effector 40611. A motor 40650 is operatively coupled to the end effector 40611 to move the end effector 40611, eg, at least one of the jaws 40613, 40614 of the end effector 40611, into an open configuration as shown in FIG. The end effector 40611 can be actuated to perform multiple functions, such as moving the end effector 40611 to transition between closed configurations for grasping tissue. Further, end effector 40611 extends distally from shaft 40615 and is articulatable relative to shaft 40611 about a longitudinal axis extending centrally through shaft 40615 by actuation motion generated by motor 40650. is.

Additionally, surgical instrument 40610 further comprises a power supply assembly 40616 that transfers power from generators 40620 and 40630 to motor 40650 and/or battery 40640 . In at least one example, power supply assembly 40616 separately receives first power from generator 40620 and second power from generator 40630 . Power supply assembly 40616 is configured to deliver the second power to battery 40640 to charge the battery at a constant rate (S1) to a predetermined maximum charge level. Power supply assembly 40616 is further configured to deliver a first electrical power to electric motor 40650 and battery 40650 . In the example shown, motor 40650 is powered by battery 40640 and generator 40620 in parallel or simultaneously.

FIG. 37 shows a graph 40700 of battery charge rate and motor torque for surgical system 40600 . Line 40710 represents the battery charge rate for battery 40640 when only bipolar generator 40630 is utilized with surgical instrument 40610 . Line 40720 represents the combined battery charge rate when both monopolar generator 40620 and bipolar generator 40630 are utilized with surgical instrument 40610 . When both the unipolar generator 40620 and the bipolar generator 40630 are used to charge the battery 40640, the battery 40640 only one of the unipolar generator 40620 and the bipolar generator 40630 is used to charge the battery 40640. charged faster than if the Further, line 40730 represents the motor torque of motor 40650 when only bipolar generator 40630 is utilized with surgical instrument 40610. FIG. Line 40740 represents the motor torque of motor 40650 when both monopolar generator 40620 and bipolar generator 40630 are utilized with surgical instrument 40610 . When both the unipolar generator 40620 and the bipolar generator 40630 are used to power the motor 40650, the motor 40650 will be powered by only one of the unipolar generator 40620 and the bipolar generator 40630. can produce more torque compared to when used to power the

In addition to the above, a unipolar generator 40620 is configured to power only the motor 40650 and a bipolar generator 40630 is configured to charge the battery 40640 and in turn provide additional power to the motor 40650. (ie the homopolar generator 40620 does not charge the battery 40640), other embodiments are envisioned. Further, other embodiments are envisioned in which, for example, both a unipolar generator 40620 and a bipolar generator 40630 are used to simply charge the battery 40640 and then power the motor 40650 . In such a configuration, both the monopolar generator 40620 and the bipolar generator 40630 are synchronized and used to simultaneously charge the battery 40640 and then operate the motor 40650 . In at least one embodiment, two or more motors may be utilized to drive the end effector 40611 of the surgical instrument 40610. In such a configuration, a homopolar generator 40620 can power one of the motors and a bipolar generator 40630 can power the other motor. Additionally, both a unipolar generator 40620 and a bipolar generator 40630 can be used to charge the battery 40640, which in turn can be used to power the motor. However, other embodiments are envisioned in which only one of the unipolar generator 40620 and the bipolar generator 40630 are used to charge the battery 40640 .

Various aspects of the subject matter described herein are illustrated in the following set of examples.

Example set 1
Example 1 - Surgical instrument with an end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw includes a first electrode. One of the first jaw and the second jaw is movable from an open position to a closed position with respect to the other of the first jaw and the second jaw, and the first jaw and the second jaw Grasp the tissue between The second jaw includes a second electrode and a monopolar electrode centered down the length of the end effector. The first electrode and second electrode cooperate to deliver bipolar energy to tissue in a bipolar cycle. A unipolar electrode includes a wedge shape. The wedge shape gradually changes in width along the length of the end effector. A monopolar electrode is electrically isolated from the first electrode and the second electrode. Monopolar electrodes are configured to use monopolar energy to cut tissue in a monopolar cycle.

Example 2 - The surgical instrument of Example 1, wherein the first jaw and the second jaw are laterally curved.

Example 3 - The surgical instrument of Example 1 or 2, wherein a unipolar cycle is performed after a bipolar cycle.

Example 4 - The surgical instrument of Example 1, 2, or 3, wherein the monopolar cycle is performed independently of the bipolar cycle.

Example 5 - The surgical instrument of Example 1 or 2, wherein the monopolar and bipolar cycles are operated asynchronously with the tissue treatment cycle.

Example 6 - The surgical instrument of Example 1, 2, 3, or 4, wherein the monopolar cycle is initiated after initiation of the bipolar cycle and prior to termination of the bipolar cycle in the tissue treatment cycle.

Example 7 - Surgical instrument with an end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw includes a first electrode. One of the first jaw and the second jaw is movable from an open position to a closed position relative to the other of the first jaw and the second jaw, and the first jaw and the second jaw Grasp the tissue between The second jaw includes a second electrode and a unipolar electrode electrically isolated from the first and second electrodes. The first electrode and second electrode cooperate to deliver bipolar energy to tissue in a bipolar cycle. The monopolar electrode includes a flexible flex circuit board centrally located down the length of the end effector and a conductive member disposed on the flexible flex circuit board. Monopolar electrodes are configured to use monopolar energy to cut tissue in a monopolar cycle.

Example 8 - The surgical instrument of Example 1, wherein the seventh jaw and the second jaw are laterally curved.

Example 9 - The surgical instrument of Example 7 or 8, wherein a unipolar cycle is performed after a bipolar cycle.

Example 10 - The surgical instrument of Example 7, 8, or 9, wherein the monopolar cycle is performed independently of the bipolar cycle.

Example 11 - The surgical instrument of Example 7 or 8, wherein the monopolar and bipolar cycles are operated asynchronously.

Example 12 - The surgical instrument of Example 7, 8, 9, or 10, wherein the monopolar cycle is initiated after initiation of the bipolar cycle and prior to termination of the bipolar cycle in the tissue treatment cycle.

Example 13 - Surgical instrument with an end effector. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. The first jaw includes a first electrode. One of the first jaw and the second jaw is movable from an open position to a closed position with respect to the other of the first jaw and the second jaw, and the first jaw and the second jaw Grasp the tissue between The second jaw includes a second electrode and a monopolar electrode centered down the length of the end effector. The first electrode and second electrode cooperate to deliver bipolar energy to tissue in a bipolar cycle. A unipolar electrode includes a conductive wire that is electrically insulated from a first electrode and a second electrode. Monopolar electrodes are configured to use monopolar energy to cut tissue in a monopolar cycle.

Example 14 - The surgical instrument of Example 13, wherein the unipolar cycle is performed after the bipolar cycle.

Example 15 - The surgical instrument of Example 13 or 14, wherein the monopolar cycle is performed independently of the bipolar cycle.

Example 16 - The surgical instrument of Examples 13, 14, or 15, wherein the electrically conductive wire includes a flexible central portion.

[00103] Embodiment 17 - The surgical instrument of embodiment 13, 14, 15, or 16, further comprising a flexible member, wherein the conductive wire is electrically insulated from the second jaw by the flexible member.

Example 18 - The surgical instrument of example 17, wherein the flexible member comprises a deformable dielectric material.

Example 19 - The surgical instrument of Examples 17 or 18, wherein the flexible member is compressible.

Example 20 - The flexible member comprises a first flexible member, the first jaw comprises a second flexible member, the first flexible member and the second flexible member are electrically conductive A surgical instrument according to example 17, 18, or 19, wherein the wire is electrically insulated from the first jaw and the second jaw.

Example set 2
Example 1 - Surgical end effector for use with electrosurgical instruments. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. A center plane of the surgical end effector extends through the proximal and distal ends. The first jaw is longitudinally bisected by a central plane. The first jaw includes a first electrode extending along a portion of the first jaw. A first electrode is positioned on a first side of the central plane. The second jaw is longitudinally bisected by a central plane. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to move tissue between the first and second jaws. Grasp. A second jaw includes a second electrode and a flexible substrate. A second electrode extends along a portion of the second jaw. A second electrode is positioned on a second side of the central plane. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to tissue. A flexible substrate extends along the length of the second jaw. The flexible substrate includes a first flexible portion on a first side of the central plane, a second flexible portion on a second side of the central plane, and a unipolar electrode extending along the central plane. A second electrode is mounted on the second flexible portion. A monopolar electrode is mounted on a flexible substrate. Monopolar electrodes are configured to deliver monopolar energy to tissue. The flexible substrate is configured to bias the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

Example 2 - The surgical end effector of Example 1, wherein the first flexible portion is smaller than the second flexible portion.

Example 3 - The surgical end effector of Example 1 or 2, wherein the second jaw includes a dielectric coating.

Example 4 - The surgical end effector of Example 3, wherein the flexible substrate and the dielectric coating define coplanar tissue contacting surfaces.

Example 5 - The surgical end effector of Example 3 or 4, wherein the flexible substrate separates the dielectric coating from the monopolar electrode and the second electrode.

Example 6 - The surgical end effector of Example 1, 2, 3, 4, or 5, wherein the flexible substrate comprises a porous structure.

Example 7 - The surgical end effector of Example 1, 2, 3, 4, 5, or 6, wherein the flexible substrate comprises an elastic honeycomb structure.

Example 8 - The first jaw further comprises a first porous scaffold and a first diamond-like coating at least partially covering the first porous scaffold, and the first electrode comprises the first The surgical end effector of Example 1, 2, 3, 4, 5, 6, or 7, wherein the surgical end effector of Example 1, 2, 3, 4, 5, 6, or 7 is disposed on the diamond-like coating of

Example 9 - The second jaw further comprises a second porous scaffold and a second diamond-like coating at least partially covering the second porous scaffold, and the flexible substrate comprises the second The surgical end effector of Example 1, 2, 3, 4, 5, 6, 7, or 8, wherein the surgical end effector of Example 1, 2, 3, 4, 5, 6, 7, or 8 is disposed on the diamond-like coating of

Example 10 - A surgical instrument comprising a shaft and an end effector extending from the shaft. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. A central plane of the end effector extends through the proximal and distal ends. The first jaw is longitudinally bisected by a central plane. The first jaw includes a first electrode extending along a portion of the first jaw. A first electrode is positioned on a first side of the central plane. The second jaw is longitudinally bisected by a central plane. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to move tissue between the first and second jaws. Grasp. A second jaw includes a second electrode and a compressible support. A second electrode extends along a portion of the second jaw. A second electrode is positioned on a second side of the central plane. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to tissue. A compressible support extends along the length of the second jaw. The compressible support has a first compressible portion on a first side of the central plane, a second compressible portion on a second side of the central plane, and a unipolar electrode extending along the central plane. include. A second electrode is mounted on the second compressible portion. A monopolar electrode is mounted on a compressible support. Monopolar electrodes are configured to deliver monopolar energy to tissue. The compressible support is configured to spring bias the second electrode and the monopolar electrode against the first jaw in the closed configuration.

Example 11 - The surgical instrument of Example 10, wherein the first compressible portion is smaller than the second compressible portion.

Example 12 - The surgical instrument of Example 10 or 11, wherein the second jaw includes a dielectric coating.

Example 13 - The surgical instrument of Example 12, wherein the compressible support and the dielectric coating define coplanar tissue contacting surfaces.

Example 14 - The surgical instrument of Examples 12 or 13, wherein the compressible support separates the dielectric coating from the monopolar electrode and the second electrode.

Example 15 - The surgical instrument of Example 10, 11, 12, 13, or 14, wherein the compressible support comprises a porous structure.

Example 16 - The surgical instrument of Example 10, 11, 12, 13, 14, or 15, wherein the compressible support comprises an elastic honeycomb structure.

Example 17 - The first jaw further comprises a first porous scaffold and a first diamond-like coating at least partially covering the first porous scaffold, and the first electrode comprises the first 17. The surgical instrument of example 10, 11, 12, 13, 14, 15, or 16, wherein the surgical instrument is disposed on a diamond-like coating of .

Example 18 - The second jaw further comprises a second porous scaffold and a second diamond-like coating at least partially covering the second porous scaffold, and the compressible support comprises the second 18. The surgical instrument of example 10, 11, 12, 13, 14, 15, 16, or 17, disposed on the diamond-like coating of 2.

Example 19 - Surgical end effector for use with electrosurgical instruments. The end effector includes a proximal end, a distal end, a first jaw and a second jaw. A first jaw extends longitudinally between a proximal end and a distal end. The first jaw includes a first electrode that extends longitudinally along a portion of the first jaw. A second jaw extends longitudinally between the proximal and distal ends. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to move tissue between the first and second jaws. Grasp. A second jaw includes a second electrode, a monopolar electrode, and a flexible substrate. A second electrode extends longitudinally along a portion of the second jaw. The second electrode is laterally offset from the first electrode. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to tissue. The unipolar electrode extends longitudinally parallel to the second electrode. Monopolar electrodes are configured to deliver monopolar energy to tissue. A monopolar electrode and a second electrode are fixedly mounted on a flexible substrate in a spaced apart arrangement. The flexible substrate is configured to bias the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

Example 20 - The surgical end effector of Example 19, wherein at least one of the first jaw and the second jaw includes a dielectric coating.

Example set 3
Example 1 - An electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and wiring circuitry. The housing contains a printed control board. A wiring circuit extends from the printed control board through the shaft and into the end effector. The hardwired circuitry is configured to monitor end effector function and communicate the monitored function to the printed control board. The wiring circuit includes a proximal rigid portion fixed to the shaft, a distal rigid portion fixed to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion includes an elastic portion and a stretchable portion.

Example 2 - According to Example 1, wherein the elastic portion comprises a first substrate and the stretchable portion comprises a second substrate, the first substrate and the second substrate being different electrosurgical instruments.

Example 3 - The electrosurgical instrument of Example 1 or 2, wherein the stretchable portion includes conductors in a zigzag configuration, the conductors being made of a non-stretchable metallic material.

Example 4 - The electrosurgical instrument of Example 1, 2, or 3, wherein the stretchable portion comprises a concertina-shaped conductor, the conductor being made of a non-stretchable metallic material.

Example 5 - The electrosurgical instrument of Examples 1, 2, 3, or 4, wherein the resilient portion comprises a laminate portion comprising a substrate.

Example 6 - An electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and wiring circuitry. The housing contains a printed control board. A wiring circuit extends from the printed control board through the shaft and into the end effector. The hardwired circuitry is configured to monitor end effector function and communicate the monitored function to the printed control board. The wiring circuit includes a rigid portion, a resilient portion transitionable between relaxed and non-relaxed configurations, and a conductive wire extending through the resilient portion. The conductive wire includes a stretchable portion. The electrically conductive wire is configured to elongate when the resilient portion transitions from the relaxed configuration to the non-relaxed configuration.

Example 7 - The electrosurgical instrument of Example 6, wherein the stretchable portion includes a zigzag pattern.

Example 8 - The electrosurgical instrument of Example 6 or 7, wherein the stretchable portion includes a vibration pattern.

Example 9 - The electrosurgical instrument of Example 6, 7, or 8, wherein the stretchable portion comprises a bellows shape.

Example 10 - The electrosurgical instrument of Example 6, 7, 8, or 9, wherein the resilient portion comprises a laminated portion comprising a substrate.

Example 11 - A housing, a shaft extending from the housing, an end effector extending from the shaft, a translating member configured to translate relative to the shaft to perform an end effector function, and a wiring harness An electrosurgical instrument comprising: The housing contains a printed control board. A wiring harness extends from the printed control board into the shaft. The wiring harness includes a rigid body portion secured to the shaft, a resilient portion extending from the rigid body portion, and conductive wires extending through the rigid body portion and the resilient portion. The ends of the resilient portion are attached to the translation member. An end of the resilient portion attached to the translation member includes a sensor configured to measure an attribute of the translation member.

Example 12 - The electrosurgical instrument of Example 11, wherein the attribute of the translating member comprises stress within the translating member.

Example 13—The electrosurgical instrument of Example 11, wherein the attribute of the translating member comprises strain within the translating member.

Example 14 - The electrosurgical instrument of Example 11, wherein the attributes of the translating member include stresses and strains within the translating member.

Example 15 - The electricity of example 11, 12, 13, or 14, wherein the attribute of the translation member comprises one of the group consisting of translation member position, translation member velocity, and translation member acceleration. surgical instruments.

Example 16 - The electrosurgical instrument of example 11, 12, 13, 14, or 15, wherein the portion of the conductive wire positioned within the resilient portion of the wiring harness includes a stretchable portion.

Example 17 - The electrosurgical instrument of Example 16, wherein the stretchable portion comprises a zigzag pattern.

Example 18 - The electrosurgical instrument of Example 16 or 17, wherein the stretchable portion includes a vibration pattern.

Example 19 - The electrosurgical instrument of Example 16, 17, or 18, wherein the stretchable portion comprises a bellows shape.

Example 20 - Examples 11, 12, 13, 14, 15, 16, 17, wherein the wiring harness extends into the end effector and includes a second sensor configured to measure end effector function , 18, or 19.

Example set 4
Example 1 - A surgical instrument comprising a motor assembly, a shaft defining a shaft axis, a distal head extending from the shaft, a rotary drive member, and a distal head locking member. The distal head is rotatable about the shaft axis. The motor assembly includes a motor and a motor controller. A motor controller is configured to operate the motor in a first mode of operation and a second mode of operation. The distal head includes an end effector movable between an open configuration and a closed configuration. A rotary drive member is operatively responsive to the motor. A rotary drive member is operably engaged with the distal head. The distal head locking member is manually movable between a first position in which the distal head is unlocked from the shaft and a second position in which the distal head is locked to the shaft. When the distal head locking member is in the first position and the rotary drive member is actuated, the distal head rotates relative to the shaft about the shaft axis. The end effector moves from the open configuration toward the closed configuration when the distal head locking member is in the second position and the rotational drive member is actuated.

Example 2 - The motor assembly is configured to operate in a first mode of operation when the distal head locking member is in the first position, and when the distal head locking member is in the second position, 2. The surgical instrument of Example 1, wherein the motor is configured to operate in the second mode of operation.

Example 3 - when the motor is in the first mode of operation the motor is configured to rotate the rotary drive member at a first speed and when the motor is in the second mode of operation the motor is configured to rotate A surgical instrument according to example 1 or 2, configured to rotate the member at a second speed, wherein the first speed and the second speed are different.

Example 4 - The motor is configured to produce a first amount of torque when the motor is in the first mode of operation and the motor produces a second amount of torque when the motor is in the second mode of operation The surgical instrument of example 1, 2, or 3, wherein the first torque amount and the second torque amount are different.

Example 5 - when the motor is in the first mode of operation the rotary drive member accelerates at a first speed and when the motor is in the second mode of operation the rotary drive member accelerates at a second speed; The surgical instrument of Examples 1, 2, 3, or 4, wherein the first speed and the second speed are different.

Example 6—Further comprising a pull cable operably engaged with the distal head locking member, the pull cable being in a first configuration in which the distal head is unlocked from the shaft and in a first configuration in which the distal head is unlocked from the shaft. 6. The surgical of embodiment 1, 2, 3, 4, or 5 operably engaged with the distal head to transition the distal head to and from the locked second configuration. equipment.

Example 7 - A surgical instrument comprising a motor assembly, a shaft defining a shaft axis, an end effector extending from the shaft, a rotary drive member, and a mode selector member. The motor assembly includes a motor and a motor controller. A motor controller is configured to operate the motor in a first mode of operation and a second mode of operation. The end effector is configured to perform a first end effector function and a second end effector function different than the first end effector function. A rotary drive member is operatively responsive to the motor. A rotary drive member is configured to operatively engage the end effector and selectively perform a first end effector function and a second end effector function. A mode selector member is operatively engaged with the end effector and the rotary drive member. The mode selector member has a first position in which the end effector performs a first end effector function when the rotary drive member is actuated by the motor and a second position in which the end effector performs a first end effector function when the rotary drive member is actuated by the motor. is manually moveable to and from a second position to perform the end effector function of the . The motor is configured to operate in a first mode of operation when the mode selector member is in the first position. The motor is configured to operate in the second mode of operation when the mode selector member is in the second position.

Embodiment 8 - When the motor is in the first mode of operation, the motor is configured to rotate the rotary drive member at a first speed, and when the motor is in the second mode of operation, the motor is configured to rotate 8. The surgical instrument of Example 7, configured to rotate the member at a second speed, wherein the first speed and the second speed are different.

Example 9 - The motor is configured to produce a first amount of torque when the motor is in the first mode of operation and the motor produces a second amount of torque when the motor is in the second mode of operation The surgical instrument of example 7 or 8, wherein the first torque amount and the second torque amount are different.

Embodiment 10 - when the motor is in the first mode of operation the rotary drive member accelerates at a first speed and when the motor is in the second mode of operation the rotary drive member accelerates at a second speed; A surgical instrument according to example 7, 8, or 9, wherein the first speed and the second speed are different.

Example 11 - A motor, a shaft defining a shaft axis, an end effector extending from the shaft, a rotary drive member operably responsive to the motor, and a locking member operably engaged with the rotary drive member , a toggle member operably engaged with a locking member. A rotary drive member is configured to operably engage the end effector and selectively perform a first end effector function and a second end effector function different from the first end effector function. . The locking member is movable between a first position in which the end effector is locked to the shaft and a second position in which the end effector is unlocked from the shaft. A toggle member is rotatable about the shaft axis to move the locking member between the first and second positions. The rotary drive member is configured to perform a first end effector function when the locking member is in the first position. The rotary drive member is configured to perform a second end effector function when the locking member is in the second position.

Example 12 - Example 11 wherein the first end effector function includes rotating the end effector about the shaft axis and the second end effector function includes actuating a pair of jaws of the end effector A surgical instrument as described.

Example 13 - According to Example 11, wherein the first end effector function includes translating the firing member through the end effector and the second end effector function includes actuating a pair of jaws of the end effector surgical instruments.

[00130] Example 14 - The surgical instrument of Example 11, further comprising an articulation joint, wherein the second end effector function comprises articulation of the end effector with respect to the shaft about the articulation axis.

Example 15 - Example 11, 12, 13, or, further comprising a motor controller configured to operate the motor in a first mode of operation and a second mode of operation different from the first mode of operation; 15. The surgical instrument according to 14.

Example 16 - The motor controller operates the motor in a first operating mode when the locking member is in the first position and operates the motor in a second operating mode when the locking member is in the second position 16. The surgical instrument of example 15, wherein the surgical instrument is configured to

Embodiment 17 - When the motor is in the first mode of operation, the motor is configured to rotate the rotary drive member at a first speed, and when the motor is in the second mode of operation, the motor is configured to rotate 17. The surgical instrument of Example 16, wherein the member is configured to rotate at a second speed, wherein the first speed and the second speed are different.

Embodiment 18 - The motor is configured to produce a first amount of torque when the motor is in the first mode of operation and the motor produces a second amount of torque when the motor is in the second mode of operation 18. The surgical instrument of example 16 or 17, wherein the first torque amount and the second torque amount are different.

Example 19 - The rotary drive member accelerates at a first speed when the motor is in the first mode of operation and the rotary drive member accelerates at a second speed when the motor is in the second mode of operation, A surgical instrument according to example 16, 17, or 18, wherein the first speed and the second speed are different.

Embodiment 20—Further comprising a tensioning cable operatively engaged with the locking member and the end effector, the tensioning cable being configured in a first configuration in which the end effector is unlocked from the shaft and in a first configuration in which the end effector is locked to the shaft. 20. The surgical instrument of example 11, 12, 13, 14, 15, 16, 17, 18, or 19, wherein the surgical instrument is configured to transition the end effector to and from a second configuration in which the end effector is positioned.

Example set 5
Example 1 - A surgical system comprising a generator and a surgical instrument configured to receive power from the generator. The surgical instrument includes a housing, a shaft extending from the housing, an end effector extending from the shaft, and an internal battery in electrical communication with the generator. The housing contains the electric motor. The shaft defines a longitudinal shaft axis. The end effector is operatively responsive to actuation from the electric motor. The end effector is transitionable between an open configuration and a closed configuration. The end effector is rotatable relative to the longitudinal shaft axis about an articulation axis transverse to the longitudinal shaft axis. The generator cannot directly supply enough power to the electric motor to operate it. The internal battery is configured to power the electric motor. The internal battery can be charged up to a threshold by the generator at a charging rate that depends on the charge level of the internal battery. The charge rate is independent of charge consumption by the surgical instrument.

[0043] Example 2 - The surgical system of Example 1, wherein the generator is configured to charge an internal battery during charge consumption.

Example 3 - While the electric motor draws power from the internal battery, the generator supplies power to the internal battery at a constant rate when the charge level of the internal battery is below the threshold, Example 1 or 2 The surgical system according to .

[0040] Embodiment 4 - The surgical system of embodiment 1, 2, or 3, wherein the speed of the electric motor is allowed to reach maximum speed when the charge level of the internal battery exceeds a predetermined minimum level.

[0051] Example 5 - The surgical system of Example 4, wherein the speed of the electric motor is limited to a reduced speed when the charge level of the internal battery drops below a predetermined minimum level.

Example 6 - An end effector includes a first jaw including an electrode and a second jaw, and a generator provides a first power to the surgical instrument to cause the electrode to contact the first jaw. Examples 1, 2, 3, configured to cauterize tissue captured between the and second jaws and provide a second power to the surgical instrument to charge an internal battery. 5. The surgical instrument according to 4 or 5.

Example 7 - The surgical instrument of Example 1, 2, 3, 4, 5, or 6, wherein the internal storage battery comprises a rechargeable battery.

Example 8 - The surgical instrument of Example 7, wherein the rechargeable battery is integral with the housing.

Example 9 - A surgical system comprising a power supply and a surgical instrument configured to receive power from the power supply. The surgical instrument includes a housing, a shaft extending from the housing, an end effector extending from the shaft, and an internal battery. The housing contains the electric motor. The end effector is operably connected to the electric motor. The electric motor is configured to drive the end effector to perform end effector functions. An internal battery is in electrical communication with the power source. The internal battery is configured to power the electric motor. The internal battery can be charged up to a threshold by the power supply at a charging rate that depends on the charge level of the internal battery. The internal battery can be charged by the power source while the electric motor drives the end effector to perform end effector functions.

Embodiment 10—Further comprising a control circuit configured to detect a charge level of the internal battery, wherein detecting a drop in the charge level to or below the first minimum charge level causes the control circuit to 10. The surgical system of Example 9, wherein the maximum speed limit of the motor is reduced to a first minimum speed limit threshold.

Embodiment 11 - By detecting a drop in charge level to or below a second minimum charge level that is lower than the first minimum charge level, the control circuit reduces the maximum speed limit of the electric motor to the first minimum charge level. 11. The surgical system of Example 10, reducing to a second minimum speed limit threshold lower than the speed limit threshold.

Example 12 - According to example 11, wherein detecting a drop in charge level to or below a third minimum charge level that is lower than the second minimum charge level causes the control circuit to stop the electric motor. surgical system.

[00130] Example 13 - The surgical system of Example 12, wherein the control circuit is configured to prevent reactivation of the electric motor until the charge level of the internal battery is equal to or greater than the third minimum charge level.

Example 14 - While the electric motor draws power from the internal battery, when the charge level of the internal battery is below the threshold, the power supply supplies power to the internal battery at a constant rate, Examples 9, 10, 14. The surgical system of 11, 12, or 13.

Example 15 - An end effector includes a first jaw including an electrode and a second jaw for applying a first power to a surgical instrument to cause the electrode to move between the first jaw and the second jaw. Examples 9, 10, 11, 12, 13, configured to cauterize tissue captured between the jaws and to provide second power to the surgical instrument to charge an internal battery; Or the surgical instrument according to 14.

Example 16 - The surgical instrument of Example 9, 10, 11, 12, 13, 14, or 15, wherein the internal storage battery comprises a rechargeable battery.

Example 17 - The surgical instrument of Example 9, 10, 11, 12, 13, 14, 15, or 16, wherein the power source comprises a disposable battery.

Example 18 - A surgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, and a power source. The housing includes an electric motor and an internal battery connected to the electric motor. The electric motor is configured to cause the end effector to perform end effector functions. The power assembly is connectable to two separate power sources. The power supply assembly is configured to separately receive first power and second power from the power supply. The power assembly is configured to deliver the second power to the internal battery. A power assembly is configured to deliver a first electrical power to the electric motor and the internal battery. The power assembly is configured such that the electric motor is simultaneously powered by the internal battery and the first power source.

Example 19 - The internal battery and the first power produce a first motor torque in the electric motor that is greater than the second motor torque caused by only one of the internal battery and the first power 19. The surgical instrument of example 18, wherein the surgical instrument is configured to

Example 20 - The surgical instrument of Example 18 or 19, wherein the internal battery comprises a rechargeable battery.

Although several forms have been shown and described, it is not the applicant's intention to limit or limit the scope of the appended claims to such details. Many modifications, variations, alterations, permutations, combinations and equivalents of these forms can be implemented and will occur to those skilled in the art without departing from the scope of this disclosure. Further, the structure of each element associated with the described form can be alternatively described as a means for providing the function performed by that element. Also, although materials are disclosed for particular components, other materials may be used. Accordingly, the above description and appended claims are intended to cover all such modifications, combinations, and variations as included within the scope of the disclosed forms. Please understand. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications and equivalents.

The foregoing detailed description has described various aspects of apparatus and/or processes using block diagrams, flow diagrams and/or examples. To the extent such block diagrams, flow diagrams and/or embodiments include one or more functions and/or actions, it should be understood by those skilled in the art that such block diagrams, flow diagrams and/or Each function and/or operation included in the embodiments may be implemented individually and/or collectively by various hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will appreciate that all or part of some aspects of the forms disclosed herein can be implemented as one or more computer programs running on one or more computers ( For example, as one or more programs running on one or more computer systems), As one or more programs running on one or more processors (for example, can be equivalently implemented on an integrated circuit as one or more programs running on one or more microprocessors), as firmware, or substantially any combination thereof; and/or writing software and/or firmware code is within the skill of one of ordinary skill in the art in view of the present disclosure. Additionally, those skilled in the art will appreciate that the subject matter described herein may be distributed as one or more program products in a variety of forms, and may be distributed as one or more program products herein. Embodiments of the subject matter described in apply regardless of the particular type of signal-bearing medium used to actually carry out the distribution.

Instructions used to program logic to implement various disclosed aspects may be stored in system memory such as dynamic random access memory (DRAM), cache, flash memory or other storage. Additionally, the instructions may be distributed over a network or by other computer-readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including floppy diskettes, optical discs, compact discs, read-only memories (CDs), -ROM), as well as magneto-optical disks, read-only memory (ROM), random-access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, Flash memory or tangible machine-readable storage used to transmit information over the Internet via electrical, optical, acoustic, or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.) is not limited to Non-transitory computer-readable media thus includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (eg, a computer).

As used in any aspect herein, the term "control circuitry" includes, for example, hardwired circuits, programmable circuits (e.g., computer processors including one or more individual instruction processing cores, processing Unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate It can refer to arrays (field programmable gate arrays, FPGAs), state machine circuits, firmware that stores instructions to be executed by programmable circuits, and any combination thereof. Control circuits, collectively or individually, can be, for example, integrated circuits (ICs), application-specific integrated circuits (ASICs), systems-on-chips (SoCs), desktop computers, laptop computers, tablet computers, servers, smart phones, etc. , may be embodied as circuits forming part of a larger system. Thus, as used herein, “control circuit” refers to an electrical circuit having at least one discrete electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application specific integrated circuit, A circuit, a general-purpose computing device configured with a computer program (e.g., a general-purpose computer configured with a computer program that executes, at least in part, a process and/or apparatus described herein, or a process described herein) and/or a microprocessor configured by a computer program that at least partially executes the device); , communication switches, or opto-electrical equipment). Those skilled in the art will recognize that the subject matter described herein may be implemented in analog or digital form, or some combination thereof.

As used in any aspect herein, the term "logic" may refer to applications, software, firmware, and/or circuitry configured to perform any of the operations described above. Software may be embodied as software packages, code, instructions, instruction sets, and/or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions, or sets of instructions in a memory device and/or hard-coded (eg, non-volatile) data.

As used in any aspect of this specification, the terms “component,” “system,” “module,” etc. refer to hardware, a combination of hardware and software, software, or software in execution. can refer to a computer-related entity that is

As used in any aspect herein, "algorithm" refers to a self-consistent sequence of steps leading to a desired result; , comparison, and manipulation of physical quantities and/or logical states, which may take the form of electrical or magnetic signals capable of being otherwise manipulated. It is common practice to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and/or states.

The network may include packet switched networks. The communication devices can communicate with each other using a selected packet-switched network communication protocol. One exemplary communication protocol may include the Ethernet communication protocol, which may use Transmission Control Protocol/Internet Protocol (TCP/IP) to enable communication. The Ethernet protocol conforms to or is compatible with the Ethernet standard entitled "IEEE 802.3 Standard" published December 2008 by the Institute of Electrical and Electronics Engineers (IEEE) and/or later versions of this standard. possible. Alternatively or additionally, the communication device may V.25 communication protocol can be used to communicate with each other. X. The V.25 communication protocol may conform to or be compatible with standards promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices can communicate with each other using a frame relay communication protocol. The frame relay communication protocol may conform to or be compatible with standards promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT) and/or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be able to communicate with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol conforms to or is compatible with the ATM standard and/or later versions of this standard published in August 2001 by the ATM Forum under the title "ATM-MPLS Network Interworking 2.0". obtain. Of course, different and/or later developed connection-oriented network communication protocols are equally contemplated herein.

Unless expressly specified otherwise, the terms "processing," "computing," and "calculating" are used throughout the foregoing disclosure as is apparent from the foregoing disclosure. , "determining," "displaying," and the like refer to data represented as physical (electronic) quantities in the registers and memory of a computer system. the actions and processing of a computer system or similar electronic computing device that manipulates and converts such information into other data that are similarly represented as physical quantities in a memory or register or other such information storage, transmission, or display device It should be understood what you are referring to.

As used herein, one or more components are “configured to,” “configurable to,” “operable/to operable/operative to, adapted/adaptable, capable to, conformable/conformed to)”, etc. Those skilled in the art will understand that "configured to" generally refers to active components and/or inactive components and/or standby components, unless the context requires otherwise. will be understood to include

The terms "proximal" and "distal" are used herein with reference to the clinician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located farther from the clinician. It will be further appreciated that for convenience and clarity, spatial terms such as "vertical," "horizontal," "above," and "below" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Those skilled in the art will appreciate that the terms used herein generally, and particularly in the appended claims (e.g., the appended claim text), are generally intended as "open" terms. (e.g., the term "including" is to be interpreted as "including but not limited to"; the term "having" is to be interpreted as "including but not limited to"); should be interpreted as "having at least" and the term "includes" should be interpreted as "includes but is not limited to" should be done, etc.). Moreover, where a particular number is intended in an introduced claim recitation, such intent is expressly recited in the claim; and in the absence of such a statement, such intent does not exist. will be understood by those skilled in the art. For example, as an aid to understanding, the appended claims that follow use the introductory phrases "at least one" and "one or more" to refer to May be included to introduce description. However, use of such phrases may be used to refer to "one or more" or "at least one" even within the same claim when introducing claim recitations by the indefinite article "a" or "an". and the indefinite article "a" or "an", any particular claim containing such an introduced claim recitation shall be subject to claims containing only one such recitation. should not be construed as to be implied as limiting (e.g., "a" and/or "an" are generally taken to mean "at least one" or "one or more"). should be interpreted). the same holds true where the definite article is used to introduce claim recitations.

In addition, even where a specific number is specified in an introduced claim statement, such statement should typically be construed to mean at least the stated number. but will be recognized by those skilled in the art (e.g., where there is a statement simply "two statements" without other modifiers, generally there are at least two statements, or two or three (meaning one or more entries). Further, where notations like "at least one of A, B and C, etc." are used, such syntax is generally intended in the sense that one skilled in the art would understand the notation (e.g. , "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, both A and C, B and C and/or all of A and B and C, etc.). Where notations like "at least one of A, B or C, etc." are used, such syntax is generally intended in the sense that one skilled in the art would understand the notation (e.g., "A , B, or C" includes, but is not limited to, A only, B only, C only, both A and B, both A and C, both B and C and/or systems having all of A and B and C, etc.). Moreover, typically any disjunctive word and/or phrase representing two or more alternative terms, whether within the specification, unless the context requires otherwise, It should be understood that the possibility of including one of those terms, either of those terms, or both of those terms is intended, whether in the claims or in the drawings. One of ordinary skill in the art will recognize that there is. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B."

With regard to the appended claims, those skilled in the art will understand that the operations recited herein can generally be performed in any order. Also, while the flow diagrams of various acts are shown in sequence, it should be understood that the various acts may be performed in an order other than that shown, or may be performed simultaneously. be. Examples of such alternative orderings include overlapping, interleaving, interrupting, reordering, incremental, preliminary, additional, simultaneous, reverse or other different orderings, unless the context requires otherwise. may contain. Further, terms such as "response to", "related to", or other past tense adjectives generally exclude such variations unless the context dictates otherwise. not intended.

Any reference to “an aspect,” “an aspect,” “exemplary,” “an example,” etc. means that at least one aspect includes the particular feature, structure or property described in connection with that aspect. The implications deserve special mention. Thus, the appearances of the phrases "in one aspect," "in an aspect," "in an example," and "in an example" in various places throughout this specification are not necessarily all referring to the same aspect. Moreover, the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects.

As used herein, unless otherwise indicated, the term "about" or "approximately" as used in this disclosure means a tolerance to a particular value determined by one of ordinary skill in the art, unless otherwise specified. depends in part on how the value is measured or determined. In certain embodiments, the term "about" or "approximately" means within 1, 2, 3, or 4 standard deviations. In certain embodiments, the term "about" or "approximately" refers to 50%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5% of a given value or range. , 4%, 3%, 2%, 1%, 0.5%, or 0.05%.

In this specification, unless otherwise indicated, all numerical parameters are to be understood as being preceded and modified in all instances by the term "about" and such numerical parameters refer to the numerical value of the parameter It has variability inherent in the underlying measurement method used to determine . At a minimum, no attempt should be made to limit the application of the doctrine of equivalents to the scope of the claims, and each numerical parameter set forth herein takes into account the number of significant digits reported, should be interpreted at least by applying the usual rounding techniques.

Any numerical range recited herein includes all subranges subsumed within the stated range. For example, the range "1 to 10" includes all subranges between (and including) the stated minimum value of 1 and the stated maximum value of 10, i.e., All subranges with a minimum value greater than or equal to 1 and a maximum value less than or equal to 10 are included. Also, all ranges recited herein are inclusive of the recited range endpoints. For example, a range of "1-10" includes endpoints 1 and 10. It is intended that every maximum numerical limit given herein includes every lower numerical limit, and every minimum numerical limit given herein is intended to be inclusive thereof. is intended to include all higher numerical limits. Accordingly, Applicant reserves the right to amend the specification, including the claims, to include any expressly recited subranges subsumed within the expressly recited range. All such ranges are inherently disclosed herein.

Any patent applications, patents, non-patent publications, or other disclosure material referenced herein and/or listed in any application data sheet is, to the extent the material incorporated herein, is not inconsistent with this specification. , incorporated herein by reference. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting statements incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated herein by reference but that conflicts with the current definitions, opinions, or other disclosure content set forth herein, is deemed and to the extent not inconsistent with the current disclosure.

In summary, a number of benefits have been described that result from using the concepts described herein. The foregoing description of one or more aspects has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to be limited to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. One or more of the embodiments illustrate principles and practical applications, thereby enabling those skilled in the art to utilize the various forms, with various modifications, as appropriate for the particular application envisioned. have been selected and described so as to It is intended that the claims presented herewith define the overall scope.

[Mode of implementation]
(1) An electrosurgical instrument comprising:
a housing containing a printed control board;
a shaft extending from the housing;
an end effector extending from the shaft;
an articulation joint rotatably connecting the end effector to the shaft;
A hardwired circuit extending from the printed control board through the shaft and into the end effector configured to monitor a function of the end effector and communicate the monitored function to the printed control board. a wiring circuit comprising:
a proximal rigid portion secured to the shaft; and
a distal rigid portion secured to the end effector;
an intermediate portion extending from the proximal rigid portion to the distal rigid portion, the intermediate portion comprising:
an elastic portion;
An electrosurgical instrument comprising a stretchable portion.
(2) Embodiment 1, wherein the elastic portion comprises a first substrate, the stretchable portion comprises a second substrate, and the first substrate and the second substrate are different. The electrosurgical instrument according to .
Clause 3. An electrosurgical instrument according to clause 1, wherein the stretchable portion includes a conductor in a zigzag configuration, the conductor being made of a non-stretchable metallic material.
Clause 4. The electrosurgical instrument of clause 1, wherein the stretchable portion comprises a bellows-shaped conductor, the conductor being made of a non-stretchable metallic material.
5. An electrosurgical instrument according to claim 1, wherein the resilient portion comprises a laminate portion including a substrate.

(6) An electrosurgical instrument comprising:
a housing containing a printed control board;
a shaft extending from the housing;
an end effector extending from the shaft;
an articulation joint rotatably connecting the end effector to the shaft;
A hardwired circuit extending from the printed control board through the shaft and into the end effector configured to monitor a function of the end effector and communicate the monitored function to the printed control board. a wiring circuit comprising:
a rigid portion;
a resilient portion transitionable between a relaxed configuration and a non-relaxed configuration;
An electrically conductive wire extending through the resilient portion, the electrically conductive wire including a stretchable portion such that the resilient portion stretches when transitioning from the relaxed configuration to the unrelaxed configuration. An electrosurgical instrument comprising: an electrically conductive wire;
(7) An electrosurgical instrument according to Clause 6, wherein the stretchable portion includes a zigzag pattern.
(8) An electrosurgical instrument according to Clause 6, wherein the stretchable portion includes a vibration pattern.
9. An electrosurgical instrument according to claim 6, wherein said stretchable portion comprises a bellows shape.
10. An electrosurgical instrument according to claim 6, wherein the resilient portion comprises a laminate portion including a substrate.

(11) An electrosurgical instrument comprising:
a housing containing a printed control board;
a shaft extending from the housing;
an end effector extending from the shaft;
a translating member configured to translate relative to the shaft to perform an end effector function;
a wiring harness extending from the printed control board into the shaft, the wiring harness comprising:
a rigid body portion secured to the shaft; and
a resilient portion extending from the rigid body portion, an end of the resilient portion attached to the translating member, the end of the resilient portion including a sensor, the sensor comprising: a resilient portion configured to measure an attribute of the translating member;
an electrically conductive wire extending through the rigid body portion and the resilient portion.
Clause 12. The electrosurgical instrument of clause 11, wherein the attribute of the translation member includes stress within the translation member.
Clause 13. The electrosurgical instrument of clause 11, wherein the attribute of the translating member includes strain within the translating member.
Clause 14. The electrosurgical instrument of clause 11, wherein the attributes of the translation member include stresses and strains within the translation member.
Clause 15. The electrosurgical instrument of clause 11, wherein the attribute of the translation member includes one of the group consisting of position of the translation member, velocity of the translation member, and acceleration of the translation member. .

Clause 16. An electrosurgical instrument according to clause 11, wherein a portion of the conductive wire positioned within the resilient portion of the wiring harness includes a stretchable portion.
17. The electrosurgical instrument of claim 16, wherein said stretchable portion includes a zigzag pattern.
Clause 18. The electrosurgical instrument of Clause 16, wherein the stretchable portion includes a vibration pattern.
Clause 19. The electrosurgical instrument of Clause 16, wherein the stretchable portion comprises a bellows shape.
Clause 20. The electrosurgical instrument of clause 11, wherein the wiring harness includes a second sensor extending within the end effector and configured to measure end effector function.

Claims (20)

An electrosurgical instrument comprising:
a housing containing a printed control board;
a shaft extending from the housing;
an end effector extending from the shaft;
an articulation joint rotatably connecting the end effector to the shaft;
A hardwired circuit extending from the printed control board through the shaft and into the end effector configured to monitor a function of the end effector and communicate the monitored function to the printed control board. a wiring circuit comprising:
a proximal rigid portion secured to the shaft; and
a distal rigid portion secured to the end effector;
an intermediate portion extending from the proximal rigid portion to the distal rigid portion, the intermediate portion comprising:
an elastic portion;
An electrosurgical instrument comprising a stretchable portion. 2. The method of claim 1, wherein the elastic portion comprises a first substrate and the stretchable portion comprises a second substrate, the first substrate and the second substrate being different. electrosurgical instruments. An electrosurgical instrument according to any one of the preceding claims, wherein the stretchable portion includes a conductor in a zigzag configuration, the conductor being made of a non-stretchable metallic material. An electrosurgical instrument according to any one of the preceding claims, wherein the stretchable portion comprises an accordion-shaped conductor, the conductor being made of a non-stretchable metallic material. An electrosurgical instrument according to any one of the preceding claims, wherein the resilient portion comprises a laminate portion including a substrate. An electrosurgical instrument comprising:
a housing containing a printed control board;
a shaft extending from the housing;
an end effector extending from the shaft;
an articulation joint rotatably connecting the end effector to the shaft;
A hardwired circuit extending from the printed control board through the shaft and into the end effector configured to monitor a function of the end effector and communicate the monitored function to the printed control board. a wiring circuit comprising:
a rigid portion;
a resilient portion transitionable between a relaxed configuration and a non-relaxed configuration;
An electrically conductive wire extending through the resilient portion, the electrically conductive wire including a stretchable portion such that the resilient portion stretches when transitioning from the relaxed configuration to the unrelaxed configuration. An electrosurgical instrument comprising: an electrically conductive wire; An electrosurgical instrument according to claim 6, wherein the stretchable portion includes a zigzag pattern. An electrosurgical instrument according to claim 6, wherein the stretchable portion includes a vibration pattern. An electrosurgical instrument according to claim 6, wherein the stretchable portion includes a bellows shape. An electrosurgical instrument according to claim 6, wherein the resilient portion comprises a laminate portion including a substrate. An electrosurgical instrument comprising:
a housing containing a printed control board;
a shaft extending from the housing;
an end effector extending from the shaft;
a translating member configured to translate relative to the shaft to perform an end effector function;
a wiring harness extending from the printed control board into the shaft, the wiring harness comprising:
a rigid body portion secured to the shaft; and
a resilient portion extending from the rigid body portion, an end of the resilient portion attached to the translating member, the end of the resilient portion including a sensor, the sensor comprising: a resilient portion configured to measure an attribute of the translating member;
an electrically conductive wire extending through the rigid body portion and the resilient portion. An electrosurgical instrument according to claim 11, wherein the attribute of the translating member includes stress within the translating member. An electrosurgical instrument according to claim 11, wherein the attribute of the translating member includes strain within the translating member. An electrosurgical instrument according to claim 11, wherein the attributes of the translating member include stresses and strains within the translating member. The electrosurgical instrument of claim 11, wherein the attributes of the translation member include one of the group consisting of position of the translation member, velocity of the translation member, and acceleration of the translation member. An electrosurgical instrument according to claim 11, wherein a portion of the conductive wire positioned within the resilient portion of the wiring harness includes a stretchable portion. An electrosurgical instrument according to claim 16, wherein the stretchable portion includes a zigzag pattern. An electrosurgical instrument according to claim 16, wherein the stretchable portion includes a vibration pattern. An electrosurgical instrument according to claim 16, wherein the stretchable portion comprises a bellows shape. The electrosurgical instrument according to claim 11, wherein the wiring harness includes a second sensor extending within the end effector and configured to measure end effector function.

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