JP6532886B2 - Interface system for use with a surgical instrument - Google Patents

Description

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

BRIEF DESCRIPTION OF THE DRAWINGS The features and advantages of the present invention, as well as the manner of realizing them, will become more apparent and a better understanding of the invention itself may be obtained by reference to the following description of the invention case in conjunction with the accompanying drawings. I will.
FIG. 1 is a perspective view of a surgical instrument comprising a handle assembly and a shaft assembly including an end effector. FIG. 7 is a perspective view of the handle assembly of the surgical instrument of FIG. 1; FIG. 2 is a schematic block diagram of a control system of the surgical instrument of FIG. 1; FIG. 2 is a schematic block diagram of a module for use with the surgical instrument of FIG. 1; FIG. 2 is a schematic block diagram of a module for use with the surgical instrument of FIG. 1; FIG. 2 is a schematic block diagram of a module for use with the surgical instrument of FIG. 1; FIG. 2 is a schematic view of the interface of the surgical instrument of FIG. 1 in a stationary or neutral configuration; FIG. 8 is a schematic view of the interface of FIG. 7 actuated to articulate the end effector. FIG. 8 is a schematic view of the interface of FIG. 7 actuated to return the end effector to the articulated home position position. FIG. 7 is a partial schematic view of the handle assembly of the surgical instrument of FIG. 1 showing a display; Figure 2 shows a module of the surgical instrument of Figure 1; 11 is a schematic view of the orientation of the screen of the display of FIG. 11 is a schematic view of the orientation of the screen of the display of FIG. 11 is a schematic view of the orientation of the screen of the display of FIG. 11 is a schematic view of the orientation of the screen of the display of FIG. Figure 2 shows a module of the surgical instrument of Figure 1; 11 is a side view of the handle assembly of FIG. 10 in an upright position. FIG. 11 is a side view of the handle assembly of FIG. 10 in an upside down position. FIG. 11 is a schematic view of the display of FIG. 10 showing a plurality of icons. 11 is a schematic view of the display of FIG. 10 showing a navigation menu. Figure 2 is a schematic block diagram of the indicator system of the surgical instrument of Figure 1; 2 is a module of the surgical instrument of FIG. FIG. 2 is a perspective view of the surgical instrument of FIG. 1 coupled to a remote control unit. FIG. 2 is a perspective view of the surgical instrument of FIG. 1 coupled to a remote control unit. FIG. 2 is a schematic block diagram of the surgical instrument of FIG. 1 in wireless communication with a remote control unit; FIG. 10 is a schematic view of a first surgical instrument comprising a remote control unit for controlling a second surgical instrument. FIG. 10 is a perspective view of a modular surgical instrument in accordance with various embodiments of the present disclosure. FIG. 24 is an exploded perspective view of the modular surgical instrument of FIG. 23; FIG. 7 is a schematic diagram illustrating a control system of a modular surgical system in accordance with various embodiments of the present disclosure. 5 is a flowchart illustrating a method of updating components of a modular surgical system in accordance with various embodiments of the present disclosure. 5 is a flowchart illustrating a method of updating components of a modular surgical system in accordance with various embodiments of the present disclosure. FIG. 5 is a schematic diagram illustrating a control circuit in accordance with various embodiments of the present disclosure. FIG. 5 is a schematic diagram illustrating a control circuit in accordance with various embodiments of the present disclosure. FIG. 5 is a schematic diagram illustrating a control circuit in accordance with various embodiments of the present disclosure. FIG. 5 is a schematic diagram illustrating a control circuit in accordance with various embodiments of the present disclosure. 5 is a flowchart illustrating a method of processing data recorded by a surgical instrument in accordance with various embodiments of the present disclosure. 5 is a flowchart illustrating a method of processing data recorded by a surgical instrument in accordance with various embodiments of the present disclosure. 7 is a flowchart illustrating various methods of processing data recorded by a surgical instrument in accordance with various embodiments of the present disclosure. 7 is a flowchart illustrating various methods of processing data recorded by a surgical instrument in accordance with various embodiments of the present disclosure. 7 is a flowchart illustrating various methods of processing data recorded by a surgical instrument in accordance with various embodiments of the present disclosure. FIG. 10 is a schematic diagram illustrating a surgical system having wireless communication capabilities in accordance with various embodiments of the present disclosure. FIG. 16 is a front view of an outer screen showing an end effector at a surgical site, in accordance with various embodiments of the present disclosure. FIG. 35 is a front view of the outer screen of FIG. 34 showing a notification in accordance with various embodiments of the present disclosure. FIG. 35 is a front view of the outer screen of FIG. 34 showing a selection menu according to various embodiments of the present disclosure.

The applicant of the present application owns the following patent applications filed on March 1, 2013, which are incorporated herein by reference in their entirety:
-US patent application Ser. No. 13 / 782,295 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION",
-US patent application Ser. No. 13 / 782,323 entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS";
-U.S. Patent Application No. 13 / 782,338 entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS";
-U.S. patent application Ser. No. 13 / 782,499 entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT";
-US patent application Ser. No. 13 / 782,460 entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS",
-U.S. patent application Ser. No. 13 / 782,358 entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS";
-U.S. Patent Application No. 13 / 782,481 entitled "SENSOR STRAIGHT ENDED EFFECT EFFECT DURING REMOVAL THROUGH TROCAR";
-US patent application Ser. No. 13 / 782,518 entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS",
-US patent application Ser. No. 13 / 782,375 entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM", and
US patent application Ser. No. 13 / 782,536 entitled "SURGICAL INSTRUMENT SOFT STOP", the contents of all of which are incorporated herein by reference.

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

The applicant of the present application also owns the following patent applications filed on the same day as the present application, the contents of each of which are incorporated herein by reference:
US Patent Application _____________ (Attorney Docket Number END 7386 USNP / 130458) entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM",
U.S. patent application entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", _______________ (attorney docket number END 7387 USNP / 130459),
U.S. Patent Application ______________ (Attorney Docket No. END7388USNP / 130460) entitled "STERILIZATION VERIFICATION CIRCUIT",
U.S. Patent Application Serial No. _____________ (Attorney Docket END7389USNP / 130461) entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT",
US Patent Application _____________ (Attorney Docket No. END7390USNP / 130462) entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL",
US Patent Application ______________ (Attorney Docket No. END 7391 USNP / 130463) entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES",
US Patent Application ______________ (Attorney Docket No. END7392USNP / 130464) entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS",
US Patent Application ______________ (Attorney Docket Number END7393USNP / 130465) entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION",
U.S. Patent Application Serial No. _____________ (Attorney Docket END7394USNP / 130466) entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR",
U.S. patent application entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS" (U.S. Patent Application Serial No. END 7395 USNP / 130467),
US Patent Application _____________ (Attorney Docket END7397USNP / 130469) entitled "MODULAR SURGICAL INSTRUMENT SYSTEM",
US Patent Application ______________ (Attorney Docket END7399USNP / 130471) entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT"
U.S. Patent Application _____________ (Attorney Docket No. END7400USNP / 130472) entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION",
U.S. Patent Application _____________ (Attorney Docket Number END7401USNP / 130473) entitled "SURGICAL STAPLING INSTRUMENT SYSTEM";
U.S. Patent Application Serial No. ________________ (Attorney Docket Number END7402USNP / 130474) entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT".

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

  Throughout the specification, references to "different embodiments", "specific embodiments", "one embodiment" or "embodiments" etc. refer to particular features mentioned in the context of that embodiment, Structure or features are meant to be included in at least one embodiment. Thus, the phrases “in various embodiments,” “in some embodiments,” “in one embodiment,” or “in certain embodiments” appear in place throughout the specification. These do not necessarily all refer to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures or characteristics illustrated or described in connection with one embodiment, in whole or in part, with the features, structures or characteristics of one or more other embodiments, are non-limiting. May be combined with Such modifications and variations are intended to be included within the scope of the present invention.

  The terms "proximal" and "distal" are used herein in reference to the physician operating the handle portion of the surgical instrument. The term "proximal" refers to the part closest to the physician, and the term "distal" refers to the part at a distance from the physician. It will be further understood that, for convenience and clarity, spatial terms such as "vertical", "horizontal", "above", and "below" may be used herein for the drawings. I will. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

  Various representative devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, one of ordinary skill in the art will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgeries and applications, including, for example, open surgery. As we read "Forms for Carrying Out the Invention" herein, the various devices disclosed herein may be, for example, from natural orifices or from incisions or punctures formed in the tissue. Those skilled in the art will further appreciate that they can be inserted into the body in any way, such as The actuating or end effector portion of these instruments may be inserted directly into the patient's body, or an access device having a working channel through which the end effector of the surgical instrument and the elongate shaft can be advanced. It may be inserted through.

  FIG. 1 generally illustrates a motorized surgical instrument 2200. In certain situations, surgical instrument 2200 may comprise handle assembly 2202, shaft assembly 2204 and power assembly 2206 (or "power" or "power pack"). The shaft assembly 2204 may comprise an end effector 2208, which may be configured to function as an end cutter for clamping, cutting and / or stapling tissue in certain circumstances, but otherwise In the context of, eg, different types of end effectors for surgical devices, capture instruments, cutters, staplers, clip devices, access devices, drug / gene therapy devices, ultrasound, RF and / or laser devices etc. Various types of end effectors may be used. Some RF devices are entitled US Patent 5,403,312 (issued April 4, 1995) entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", and "SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES" No. 12 / 031,573 (filed February 14, 2008). U.S. Pat. No. 5,403,312 entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", issued on April 4, 1995, and U.S. patent application Ser. The entire disclosure of 031,573 (filed February 14, 2008) is incorporated herein by reference in its entirety.

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

  In particular cases, the surgical instrument 2200 may comprise several operable systems extending at least partially through the shaft 2204 and in operative engagement with the end effector 2208. For example, surgical instrument 2200 can be a closed assembly capable of moving end effector 2208 between an open configuration and a closed configuration, an articulated assembly capable of articulating end effector 2208 relative to shaft 2204, and And / or may have a launch assembly that can clamp and / or cut tissue captured by the end effector 2208. In addition, the housing 2210 can be releasably coupled to the shaft 2204 and is a complementary closure system, an articulation system, and / or a firing drive system for operating the closure assembly, the articulation assembly, and the firing assembly, respectively. May be provided.

  In use, an operator of the surgical instrument 2200 resets the surgical instrument 2200 to return one or more of each assembly of the surgical instrument 2200 to a default position. You may want to For example, the operator can insert the end effector 2208 into the surgical site in the patient's body through the access port and then articulate and / or close the end effector 2208 to capture the tissue in the cavity . The operator can then replace some or all of the previous treatments and can opt to remove the surgical instrument 2200, for example, from the cavity. Surgical instrument 2200 is another system configured to facilitate secure return of one or more of the above described assemblies to a home condition with minimal effort by the operator The operator can remove the surgical instrument from the cavity.

  Referring to FIGS. 1 and 3, surgical instrument 2200 may include control system 3000. The operator can utilize control system 3000 to articulate end effector 2208 relative to shaft 2204, for example, between an articulating home position and an articulating position. In certain cases, the operator may utilize control system 3000 to reset or restore articulated end effector 2208 to an articulated home position position. Control system 3000 may be at least partially disposed within handle 2210. In certain cases, as shown in FIG. 3, control system 3000 may include a microcontroller 3002 ("controller"), which receives an input signal and in response activates a motor 2216. For example, the end effector 2208 can be configured to articulate in response to such an input signal.

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

  The control system 3000 may extend the shaft 2004 in a plane extending along the longitudinal axis "LL" in a first direction, eg clockwise, and / or a second direction, eg counterclockwise, The end effector 2208 may be manipulated to articulate. In at least one case, control system 3000, for example, articulates end effector 2208 clockwise from an articulated home position position to an articulated position which is 10 degrees to the right of longitudinal axis "LL". It can be manipulated. In another example, the joint control system 3000 operates to articulate the end effector 2208 in a counterclockwise direction from an articulation position that is 10 degrees to the right of the longitudinal axis "LL" to an articulation home position position. It can be done. In yet another example, control system 3000 may, for example, rotate end effector 2208 counterclockwise relative to shaft 2204 from an articulated home position position to an articulated bending position that is 10 degrees to the left of longitudinal axis "LL". Can be manipulated to flex the joint. As should be understood by the reader, the end effector may be articulated at various angles, clockwise and / or counter clockwise.

  Referring to FIGS. 1 and 2, the housing 2210 of the surgical instrument 2200 may include an interface 3001 that may include multiple controls available to the operator for operating the surgical instrument 2200. In particular cases, interface 3001 may comprise multiple switches that may be coupled to controller 3002 via, for example, an electrical circuit. In a particular case, as shown in FIG. 3, interface 3001 comprises three switches 3004A-C, each of switches 3004A-C coupled to controller 3002 by an electrical circuit such as, for example, electrical circuit 3006A-C. It is done. The reader will understand that other combinations of switches and circuits may be utilized with interface 3001.

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

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

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

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

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

  Referring to FIG. 7, dome switches 3004 A and 3004 B may be controlled by locker 3012. Other means for controlling switches 3004A and 3004B are contemplated by the present disclosure. In the neutral position shown in FIG. 7, both switches 3004A and 3004B are biased to the open position. As shown in FIG. 8, the operator can, for example, articulate the end effector 2208 clockwise by tilting the locker forward and thereby depressing the dome switch 3004A. As a result, as discussed above, the circuit 3006A (FIG. 3) can be closed and a signal can be sent to the controller 3002 to activate the motor 2216 to articulate the end effector 2208 clockwise. The motor 2216 can continue to articulate the end effector 2208 until the operator releases the locker 3012 thereby returning the dome switch 3004A to the open position and the locker 3012 to the neutral position. In some situations, the controller 3002 determines when the end effector 2208 has reached a predetermined maximum degree of joint flexion, and at such time the motor 2216 may or may not be depressed at the dome switch 3004A. It may be possible to interrupt the power supply. In one sense, the controller 3002 can be configured to override the operator's input and shut off the motor 2216 when the maximum degree of safe joint flexion is achieved. Alternatively, the operator can articulate the end effector 2208 in a counterclockwise direction, for example, by tilting the locker 3012 rearward and thereby depressing the dome switch 3004B. As a result, as described above, the circuit 3006 B can be closed and a signal can be sent to the controller 3002 to activate the motor 2216 to articulate the end effector 2208 in a counterclockwise direction. The motor 2216 can continue to articulate the end effector 2208 until the operator releases the locker 3012 thereby returning the dome switch 3004B to the open position and the locker 3012 to the neutral position. In some situations, the controller 3002 determines when the end effector 2208 has reached a predetermined maximum degree of joint flexion, and at such time the motor 2216 may or may not be depressed at the dome switch 3004B. It may be possible to interrupt the power supply. In one sense, the controller 3002 can be configured to override the operator's input and shut off the motor 2216 when the maximum degree of safe joint flexion is achieved.

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

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

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

  In various cases, as described above, the joint home state position may include a range of positions. In particular cases, processor 3008 may be configured to detect when end effector 2208 is within a range of positions defining an articulated home position position. In particular cases, surgical instrument 2200 may include one or more positioning systems (not shown) for sensing and recording the articulating position of end effector 2208. The processor 3008 may be configured to utilize one or more position determination systems that detect the end effector 2208 entering an articulated home position.

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

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

  In particular cases, the processor 3008 may be configured to stop joint flexion of the end effector 2208 and provide feedback to the operator, for example, upon reaching a joint home state position. In certain cases, the processor 3008 provides feedback to the operator when reaching the joint home state position, but may not stop articulation of the end effector 2208. In at least one case, the end effector 2208 moves from the position on the first side of the home position toward the home position, passes through the home position, and has the same orientation on the other side of the home position You may keep moving to During such movement, the operator may be provided some form of feedback when the end effector 2208 passes the home position. In certain cases, the processor 3008 may stop articulation of the end effector 2208 when, for example, reaching a joint home position, but may not provide feedback to the operator. In certain cases, the processor 3008 may cause the end effector 2208 to stop as it passes through the center position and then continue as it passes the center position. In at least one case, the end effector 2208 may remain at its center position temporarily, for example, for about 2 seconds, and thereafter may continue articulation as long as the articulation switch 3012 remains depressed.

  In various cases, the operator of the surgical instrument 2200 can attempt to articulate the end effector 2208 in the original direction to the non-articulated flexion position using the rocker switch 3012. As appreciated by the reader, the operator may not be able to precisely and / or repeatedly align the end effector 2208 with the longitudinal axis of the surgical instrument shaft. Nevertheless, in various cases, the operator can easily position the end effector 2208 within a specified range of center positions. For example, when the operator presses the rocker switch 3012 to rotate the end effector 2208 toward the center position, and subsequently, the operator thinks that the end effector 2208 has reached the center position or is approaching the center position. The locker switch 3012 can be released. The processor 3008 can interpret such a situation as an attempt to re-center the end effector 2208, and if the end effector 2208 is not at a central position, the processor 3008 automatically centers the end effector 2208. Can. In at least one example, the processor 3008 may automate the end effector 2208 if the operator of the surgical instrument releases the rocker switch 3012 while the end effector 2208 is within, for example, about 10 degrees on either side of the central position. Can be centered again.

  In various cases, referring primarily to FIGS. 3, 6, and 9, module 10000 may include an articulation reset or centering mechanism. In certain cases, control system 3000 may include a reset input that may reset or return end effector 2208 to the joint home state position when end effector 2208 is in the articulated position. For example, upon receiving a reset input signal, processor 3008 can determine the joint flexion position of end effector 2208, and if end effector 2208 is in the joint home position, processor 3008 changes the joint flexion position of end effector 2208 There is no need to take action to However, if the end effector 2208 is in the articulated position when the processor 3008 receives the reset input signal, the processor 3008 can activate the motor 2216 to return the end effector 2208 to the articulated home state position. As shown in FIG. 9, the operator can depress the locker 3012 downward to close the dome switches 3004A and 3004B simultaneously or at short intervals relative to each other, thereby transmitting the reset input signal to the processor 3008. Then, the end effector 2208 can be reset or returned to the joint home state position. The operator can then release the locker 3012 and return the locker 3012 to the neutral position and the switches 3004A and 3004B to the open position. Alternatively, the interface 3001 of the control system 3000 may comprise a separate reset switch, such as another dome switch, which can be closed independently by the operator to transmit the reset input signal to the processor 3008.

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

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

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

  As mentioned above, the operator of the surgical instrument may choose to place all of the staples stored within the end effector 2208. In such situations, the operator may depress the firing actuator and subsequently release the actuator when it is considered that all the staples have been placed during the firing stroke of the firing member. In some cases, the surgical instrument may include an indicator that can be illuminated by the processor 3008 when the firing stroke is complete. Suitable indicators may include, for example, light emitting diodes (LEDs). In certain cases, the operator may think that the firing stroke is almost complete, but only completely. The surgical instrument may comprise at least one sensor configured to detect the position of the firing member within the firing stroke, wherein the sensor may be in signal communication with the processor 3008. If the firing stroke ends in a substantially complete position, the processor 3008 can command the motor 2216 to end the firing stroke of the firing member. For example, if the firing member completes all but the last 5 mm of the firing stroke, for example, the processor 3008 assumes that the operator intends to complete the firing stroke and automatically complete the firing stroke. Can.

  Referring again to FIG. 1, the interface 3001 of the surgical instrument 2200 can include a home status input 3014. The operator may use the home status input to transmit a home status input signal to the processor 3008 to return the surgical instrument 2200 to the home status, including positioning the end effector 2208 in the articulated home status position. And / or returning the firing member to the firing home position. As shown in FIGS. 3 and 7, the home status input 3014 may comprise, for example, a cap or a cover, which when pressed by the operator closes the switch 3004C and causes the home status input signal through the circuit 3006C. May be transmitted to processor 3008. In certain cases, the home status input 3014 may be configured to return the end effector 2208 to the joint home status position, and another input is used to return the firing member to the launch home status position. Good. In certain cases, the home status input 3014 may be configured to return the launch member to the launch home status position, eg, utilizing another input such as a locker 3012 to articulate the end effector 2208 into the articulated home. It may be returned to the state position.

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

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

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

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

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

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

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

  As mentioned above, the operator can use the locker 3012 to articulate, for example, the end effector 2208. In certain cases, the operator can move a finger in a first direction to tilt the locker 3012 and depress the dome switch 3004A to articulate the end effector 2208 clockwise, for example to the right, and the operator can Can be moved in a second direction opposite to the first direction to depress the dome switch 3004B and articulate the end effector 2208 counter-clockwise, for example, to the left.

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

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

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

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

  In particular cases, the processor 3008 determines that the angle between the vector D (FIG. 1) extending through the handle assembly 2202 and the gravity vector g is, for example, any angle in the range of about 0 degrees to, for example, about 100 degrees. And may be configured to adopt the first configuration. In certain cases, the processor 3008 adopts the first configuration such that the angle between the vector D and the gravity vector g is any angle, for example, in the range of about 0 degrees to, for example, about 90 degrees. It may be configured. In particular cases, the processor 3008 may be configured to adopt the first configuration when the angle between the vector D and the gravity vector g is, for example, about 80 degrees or less.

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

  The reader is advised that the orientation and / or position of the handle assembly 2202 described and the corresponding arrangements adopted by the processor 3008 are in fact representative and are intended to limit the scope of the present disclosure You will understand that it is not. Processor 3008 may be configured to employ various other configurations in connection with various other orientations and / or positions of handle assembly 2202.

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

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

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

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

  With reference to FIGS. 1 and 16, the interface 3001 of the surgical instrument 2200 may be, for example, a plurality of maneuvering control devices such as a closure trigger 10020, a rotation knob 10022, an articulation rocker 3012, and / or a firing input 3017 (FIG. 17) May be provided. In particular cases, the various manipulation controls of the interface 3001 of the surgical instrument 2200 can also serve as navigation controls in addition to their manipulation capabilities. In particular cases, surgical instrument 2200 may comprise an operating mode and a navigation mode. In the operating mode, some or all of the controls of the surgical instrument 2200 may be configured to perform the operating function, and in the navigation mode, some or all of the controls of the surgical instrument 2200 perform the navigational function It may be configured to In various cases, the navigation functions performed by some or all of the controls of the surgical instrument 2200 are associated with, associated with, and / or related to manipulation functions performed by the controls You may In other words, the manipulation functions performed by the controller of the surgical instrument 2200 can determine the navigation functions performed by such controller.

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

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

  As shown in FIG. 16, navigation menu 10024 may include various selectable categories, menus, and / or folders, and / or various subcategories, submenus, and / or subfolders. In particular cases, navigation menu 10024 may include, for example, joint flexion categories, launch categories, closed categories, battery categories, and / or rotational categories.

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

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

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

  Referring to FIG. 17, indicator system 10030 may comprise one or more processors, eg, processor 3008, and / or one or more memory devices, eg, memory 3010, eg, a microcontroller One or more microcontrollers such as 3002 may be provided. In various cases, processor 3008 is a processor for various sensors 10035 and / or, for example, the state of surgical instrument 2200 and / or the course of steps, operations, and / or events related to the operation of surgical instrument 2200 It may be coupled to a feedback system that may be configured to provide feedback to 3008.

  In various cases, the operation of the surgical instrument 2200 may be from various steps, including, for example, an articulation step, a closing step, a firing step, a firing reset step, a closing reset step, an articulation reset step, and / or a combination thereof. It may be configured. In various cases, the articulating step may include articulating the end effector 2208 with respect to the elongate shaft 2204 to, for example, an articulating position, and the articulating flexing step may include the end effector 2208, eg, an articulating home state. It may include returning to the position. In various cases, the closing step may include transitioning the end effector 2208 to, for example, a closed configuration, and the closing reset step may include transitioning the end effector 2208 to, for example, an open configuration. In various cases, the firing step may include advancing the firing member to, for example, place the staples from the staple cartridge 10006 and / or cut the tissue captured by the end effector 2208. In various cases, the firing reset step may include retracting the firing member, for example, to a firing home state position.

  Referring to FIG. 17, one or more of the indicators 10032 of the indicator system 10030 can be associated with one or more of the various steps performed in connection with the operation of the surgical instrument 2200. In various cases, as shown in FIG. 17, the indicator 10032 may, for example, be an escape indicator 10033 associated with the escape assembly 2228, a joint flexion indicator 10034 associated with the joint flexion step, a closure indicator 10036 associated with the closure step A firing indicator 10038 associated with the process, a joint flexion reset indicator 10040 associated with the joint flexing reset process, a closure reset indicator 10042 associated with the closing reset process, and / or a firing reset indicator 10044 associated with the firing reset process may be included. . The reader will understand that the above steps and / or indicators are in fact representative and not intended to limit the scope of the present disclosure. Various other processes and / or indicators are contemplated by the present disclosure.

  Referring to FIG. 1, in various cases, one or more of the controls of interface 3001 may be used for one or more of the steps of operating surgical instrument 2200. In certain cases, the closure trigger 10020 can be used, for example, in a closure process. In certain cases, launch input 3017 (FIG. 17) can be used, for example, in the launch process. In certain cases, articulation locker 3012 can be used, for example, for articulation and / or articulation reset steps. In certain cases, the home status input 3014 can be used, for example, for a fire reset process.

  Referring to FIG. 17, in various cases, an indicator 10032 associated with one of the steps of the operation of the surgical instrument 10030 may be associated with a controller used in such a step. For example, joint flexion indicator 10034 may be associated with joint flexion rocker 3012, closure indicator 10036 may be associated with closure trigger 10020, firing indicator 10038 may be associated with firing input 3017, and / or firing reset Indicator 1 0044 may be associated with home state input 3014. In certain cases, association of the indicator with the controller of the interface 3001 may, for example, be at the top, inside, partially internal, near, and / or the controller to help the operator associate the indicator with the controller. It may include placing or positioning the indicator very near. The reader will understand that the controller and / or the indicator associated with such controller are in fact representative and not intended to limit the scope of the present disclosure. Various other controllers and indicators associated with such controllers are contemplated by the present disclosure.

  In various cases, processor 3008 may be configured to activate indicator 10032 in one or more sequences defined by the order of steps associated with indicator 10032. For example, the operator may need to operate the surgical instrument 2200 in a series of steps starting with a joint flexion step, followed by a closing step, and further followed by a firing step. In such an example, the processor 3008 is configured to direct the operator according to the sequence of steps by activating the corresponding joint flexion indicator 10034, the closure indicator 10036 and the firing indicator 10038 in the same order as the sequence of steps. You may In other words, the processor 3008 may, for example, be configured to activate the joint flexion indicator 10034 first, followed by the closure indicator 10036, and further subsequently the firing indicator 10038. In certain cases, surgical instrument 2200 may include a bypass switch (not shown), which may be configured to allow the operator to, for example, avoid steps that are recommended but not necessary. In such a case, pressing the bypass switch can signal the processor 3008 to activate the next indicator in the sequence.

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

  In certain cases, the light source may be a flashing light that can be transitioned between the flashing and non-flashing configurations by the processor 3008. In certain cases, the flashing light in a non-flashing configuration may, for example, transition to solid state lighting or be extinguished. In certain cases, the flashing light in the flashing configuration may represent a waiting time, for example, while the process is in progress. In certain cases, the frequency of the flashing lights may change to provide various visual cues. For example, the blinking frequency of the blinking light representing the waiting time may increase or decrease as the waiting time approaches the end. The reader will understand that the waiting time may be, for example, forced waiting time and / or recommended waiting time. In certain cases, the forced wait time may be represented by a flashing configuration that is different than the recommended wait time. In a particular case, the flashing light may be comprised of a first color representing a forced standby time and a second color representing a recommended standby time, wherein the first color is different from the second color . In certain cases, the first color may be, for example, red and the second color may be, for example, yellow.

  In various cases, a first indicator configuration representing a controller available for use in one or more of the indicators 10032, eg, in a standard next step of the process of operation of the surgical instrument 2200; A second indicator configuration representing a controller available for use in the non-standard next step of the procedure of operation of the surgical instrument 2200 and / or used in the next step of the procedure of the procedure of the surgical instrument 2200 The processor 3008 can switch between the third indicator configuration, which represents a controller that is not available. For example, when the end effector 2208 of the surgical instrument 2000 is in the open configuration, the joint flexion indicator 10034 and the closure indicator 10036 are turned on and these two functions, end effector joint flexion and end effector closure, are now at this point It can be shown to the operator 2200 of the surgical instrument that it is available to the operator. In such a situation, the firing indicator 10038 is not illuminated, which may indicate to the operator that the firing function is not available to the operator at this point. Once the end effector 2208 is placed in the closed and / or clamp configuration, the articulation indicator 10034 may disappear, indicating to the operator at this point that the articulation feature is no longer available. In such a situation, the illumination of the closure indicator 10036 may be reduced, at which point the operator may be shown to be able to move the closure function in the reverse direction. Further, in such a condition, the firing indicator 10038 will be illuminated, which may indicate to the operator that the firing function is not available to the operator at this point. When the firing member is at least partially advanced, the closure indicator 10036 may disappear, indicating that the closure function can not be moved in the reverse direction at this point. As the firing member retracts to the unfired position, the illumination of the firing indicator 10038 may weaken, indicating to the operator that the firing member can be advanced again as needed. Alternatively, as the firing member retracts, the firing indicator 10038 may disappear, indicating to the operator that the firing member can not be advanced again at this point. In any event, after the firing member is retracted to the unfired position, the closure indicator 10036 may be relighted to indicate to the operator that the closure function may be moved in the reverse direction at this point. The joint flexion indicator 10034 remains off, which may indicate that the joint flexing function is not available at this point. When the end effector 2208 is opened, the firing indicator 10038 may disappear if it is not already off, at which point the operator may be shown that the firing function is not available and the closing indicator 10036 remains illuminated Or the illumination may be reduced and at this point the operator may be shown that the closing function is still available and the joint flexion indicator 10034 is relighted at which point the joint flexing function is available It is possible to show the operator that there is. The above examples are representative and other embodiments are possible.

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

  In various cases, in the firing step of operation of the surgical instrument 2200, the firing member is actuated to place a plurality of staples from the staple cartridge 10006 into the tissue captured between the anvil 10002 and the staple cartridge 10006. The cutting member (not shown) can be advanced to cut the captured tissue. The reader will understand that advancing the cutting member for cutting of captured tissue in the absence of a staple cartridge or in the presence of a used staple cartridge may be undesirable. . As a result, in various cases, a lockout mechanism (not shown) can be actuated to prevent advancement of the cutting member, eg, in the absence of a staple cartridge or in the presence of a used staple cartridge, as shown in FIG. May be provided.

  Referring to FIG. 18, module 10046 may be utilized by an indicator system such as, for example, indicator system 10030 (FIG. 17). In various cases, module 10046 may include program instructions stored in one or more memory devices, such as, for example, memory 3010, which, when executed, may, for example, be launched during the firing process of operation of surgical instrument 2200. The processor 3008 may utilize the indicator 10032 to provide the operator 2200 of the surgical instrument with alerts, instructions, and / or feedback. In certain cases, one or more of the indicators 10032 such as, for example, the firing indicator 10038 and / or the firing reset indicator 10044 may be configured to cause the first indicator configuration, for example, by the processor 3008 during the firing process of operation of the surgical instrument 2200. , 2nd indicator configuration, and / or 3rd indicator configuration, and may provide warning, indication, and / or feedback to the operator 2200 of the surgical instrument.

  Referring to FIGS. 17 and 18, the surgical instrument operator 2200 actuates the firing input 3017 to cause the processor 3008 to, for example, activate the motor 2216 and activate the firing member to cause the staples from the staple cartridge 10006 to be delivered. Once in the captured tissue, the cutting member can be advanced to cut the captured tissue. In certain cases, the operator is warned that the launch indicator 10038 is one of the standard control options available to the launch input 3017 and / or for the completion of the launch process. Can be set to the first indicator configuration.

  In certain cases, as shown in FIGS. 17 and 18, if processor 3008 detects that the lockout mechanism is enabled, processor 3008 may, for example, stop and / or de-activate motor 2216. The advancement of the cutting member can be stopped. Additionally, the processor 3008 may be configured to transition the firing indicator 10038 from the first indicator configuration to the third indicator configuration to alert the operator that the firing input 3017 is not available. In particular cases, processor 3008 may also be configured to illuminate display 2250, for example to display an image without a staple cartridge. In certain cases, the processor 3008 also sets the fire reset indicator 1 0044 to, for example, the first indicator configuration and the home state input 3014 retracts the cutting member to the fire home state position, for example, to fire the firing member. The operator can also be informed that it can be used. In certain cases, the processor 3008 may be configured to detect that a new staple cartridge has been installed, for example by means of the sensor 10035, and in response to returning the firing indicator 10038 to, for example, the first indicator configuration.

  In certain cases, as shown in FIG. 18, if the operator releases the launch input 3017 prior to the completion of the launch process, the processor 3008 may be configured to shut off the motor 2216. In certain cases, the processor 3008 also maintains the firing indicator 10038 in, for example, the first indicator configuration, and the firing input 3017 is available as a standard control option, for example, to complete the firing step of operation of the surgical instrument 2200. It can also warn the operator that it can be used. In certain cases, the processor 3008 also sets the fire reset indicator 1 0044, for example in the second indicator configuration, and the home state when the operator decides, for example, to cancel the firing process of the operation of the surgical instrument 2200. The operator can also be informed that the input 3014 can be used as a non-standard control option that can be used to retract the cutting member, for example, to the launch home position.

  In addition to the above, as shown in FIG. 18, when the operator reactivates the firing input 3017, the processor 3008 accordingly restarts the motor 2216 and cuts until the cutting member is fully advanced. The member can be kept advancing. In certain cases, the processor 3008 can detect when the cutting member is fully advanced using the sensor 10035, and then the processor 3008 reverses, for example, the direction of rotation of the motor 2216 to fire the cutting member, for example The firing member can be activated to retract to the home position. In certain cases, if the processor detects that the cutting member has, for example, reached the firing home state position, the processor 3008 may, for example, stop the motor 2216 and / or the closure reset indicator 10042, for example the first indicator It may be configured to be configured.

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

  Referring to FIG. 19, in various cases, surgical assembly 10050 may comprise a surgical instrument, such as, for example, surgical instrument 2200, and a remote control unit 10052. In particular cases, surgical instrument 2200 may comprise a primary interface, such as interface 3001, which may be present in handle assembly 2202, as shown in FIG. In particular cases, the interface 3001 may include, for example, a plurality of closure triggers 10020 (FIG. 1), rotation knobs 10022, articulation flexure rockers 3012, home status inputs 3014, and / or firing inputs 3017 (FIG. 17). A primary controller may be provided.

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

  In various cases, the surgical instrument operator 2200 may not be in close proximity to the handle assembly 2202 to allow manual manipulation of the interface 3001. For example, an operator can operate the surgical instrument 2200 with a robotically controlled surgical system that can be controlled from a distance. In such a case, the operator may need to operate the surgical instrument 2200 from a remote location, for example, where the operator is operating a robotically controlled surgical system, and the operator may Unit 10052 may be used, for example, to manipulate surgical instrument 2200 remotely. Various robotic systems, instruments, components, and methods may be found in U.S. patent application Ser. No. 13 / 118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" (Current US Patent Application Publication No. 2012/0298719 No. 11), which is incorporated herein by reference in its entirety.

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

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

  In various cases, as shown in FIGS. 19 and 20, the remote control unit 10052 can be configured to transmit various actuation signals, eg, to the processor 3008 of the surgical instrument 2200, eg, an elongated flexible cable 10054 can be coupled to the handle assembly 2202 of the surgical instrument 2200, and various activation signals can be generated, for example, by activating a plurality of secondary controls of the interface 3001 '. In certain cases, as shown in FIG. 21, the remote control unit 10052 may trigger an activation signal generated by the secondary controller of the secondary interface 3001 ', for example from the remote control unit 10052 to the processor 3001, for example the handle assembly 2202. A transmitter 10056 may be provided, which may be configured to wirelessly transmit through receiver 10058, which may be located therein.

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

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

  In particular cases, actuation of the remote firing input 3017 ′ can determine a response from the processor 3008 that is the same as, or at least similar to, actuation of the firing input 3017, the determined response is activation of the motor 2216 For example, the firing member can be actuated to fire staples from the staple cartridge 10006 and / or cut tissue captured between the anvil 10002 and the staple cartridge 10006. In particular cases, actuation of the remote joint flexion locker 3012 'can determine a response from the processor 3008 that is the same as, or at least similar to, actuation of the joint flexion locker 3012 and the sought response is activation of the motor 2216 End effector 2208 can be articulated relative to the elongate shaft 2204, for example.

  In a particular case, the processor 3008 requires input activation signals from both the primary controller of the primary interface 3001 and the secondary controller of the corresponding secondary interface 3001 ′ and the functions determined by such controller It may be configured to run. In such a case, the remote operator of the remote control unit 10052 manually operates the primary control of the primary interface 3001 while the remote operator activates the secondary control of the secondary interface 3001 ', for example. Additional operator assistance may be required which may be utilized to operate.

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

  In various cases, the remote control unit 10052 may comprise various indicators 10032 ', which may be similar in many respects to the indicators 10032 of the handle assembly 2202. In certain cases, the indicator 10032 'of the remote control unit 10052 is utilized by the processor 3008 in the same or at least substantially the same manner as the indicator 10032 to allow the operator to perform various steps of operation of the surgical instrument 2200. It can provide instructions, alerts, and / or feedback.

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

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

  In various cases, the first surgical instrument 10060 and / or the second surgical instrument 10062 may comprise a communication activation input (not shown). In such a case, actuation of the communication activation input may be, for example, a prior step of establishing communication between the first surgical instrument 10060 and the second surgical instrument 10062, and when communication is established The remote control unit 10052 can be used to remotely control, for example, the second surgical instrument 10062.

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

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

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

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

  With further reference to FIG. 25, the control system 150 of the second component 120 may correspond to the control system 150 ′ of the first component 110, and the various control modules 152 of the second component 120 may correspond to the first component 110. Control module 152 '. Stated differently, each control module 152 may comprise a similar or corresponding control module 152 ', and both control modules 152 and 152' have identical, similar and / or related functions. And / or may be configured to provide identical, similar and / or related commands. With further reference to FIG. 25, control module 152a may correspond to control module 152a '. For example, although control modules 152a and 152a 'can both control the firing stroke of the cutting element, for example, control module 152a may be configured to control the first cutting element design or model number; 'May be configured to control different cutting element designs or model numbers. In other cases, control module 152a 'may comprise a software program, and control module 152a may comprise, for example, an updated or revised software program.

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

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

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

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

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

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

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

  As mentioned above, the control system 150 and / or the control system 150 ′ may control the control system 150, 150 before updating, replacing and / or overwriting the expiration control module 152, 152 ′ and / or the control system 150, 150 ′. 'And / or their control modules 152, 152' can be compared. The reader will understand that this step can reduce instrument startup time when software updates and / or upgrades are not necessary or disappointing. Alternatively, the comparison steps 201, 205 and 209 may be omitted and the control system 150, 150 'may for example be the control module 152' of the first modular component 110 and / or the first modular component 110. The specific predefined control module 152 may be updated, replaced, revised and / or overwritten automatically.

  In various cases, control modules 152, 152 'may be compared and updated layer by layer, and in other cases, control systems 150, 150' may be compared and updated system by system. In still other cases, control modules 152, 152 'may be updated on a per module basis. For example, referring now to FIG. 27, at step 221, the third tier module 158 'of the first control system 150' may be compared to the corresponding third tier module 158 of the second control system 150. In various cases, the effective date of the third tier module 158 'can be compared to the effective date of the corresponding third tier module 158'. Additionally, control system 150 and / or control system 150 ′ may determine whether the effective date of layer 3 module 158 ′ is later than the effective date of layer 3 module 158. For example, if the third layer module 158 'is newer than the third layer module 158, then in step 225, the third layer module 158' can be stored. Conversely, the third layer module 158 ′ is not newer than the third layer module 158, ie, it precedes the third layer module 158 to which the third layer module 158 corresponds, or the third layer module 158 and the corresponding third layer If modules 158 'have the same effective date, for example, the corresponding third layer module 158 may update, replace, revise, and / or overwrite the third layer module 158'. Furthermore, in various cases, either of steps 221 and 223 or 225 may be repeated for each module 158, 158 'in the third layer of control system 150, 150'. As a result, modules 158 'in the third layer 148' may be updated on a per-module basis, and in various cases, for example, only the expired module 158 'may be updated and / or overwritten.

  With further reference to FIG. 27, after all third layer modules 158, 158 'have been compared and possibly updated, control system 150, 150' may proceed to step 227. At step 227, the control system 150 and / or the control system 150 ′ may be configured such that the third layer module 158 ′ of the first control system 150 ′ is coupled to the second layer module 156 ′ of the control system 150 ′ and / or You can confirm that you are communicating properly. For example, in a situation where the third layer module 158 'is updated in step 223, the second layer module 156' may be separated from the updated third layer module 158 '. If the third layer module 158 ′ is separated from, for example, the second layer module 156 ′, then in step 229 the second layer module 156 ′ may be updated, replaced, revised, and / or overwritten. The second tier module 156 ′ may be replaced, for example, by a corresponding second tier module 156 of the second control system 150. Conversely, the second layer module 156 'may be stored if the third layer module 158' is properly coupled and / or in communication with the second layer module 156 '. Furthermore, in various cases, either of steps 227 and 229 or 231 may be repeated for each module 158, 158 'in the third layer of control system 150, 150'. As a result, modules 156 'in the second layer 146' can be updated on a per-module basis, and in various cases, for example, only isolated modules 156 'can be updated and / or overwritten.

  Update any expired Layer 3 modules 158 ′ (steps 221 and 223), and if present, update all updated Layer 3 modules 158 ′ to the appropriate Layer 2 on the first modular component 110. After being positively coupled to module 156 '(steps 227, 229, and 231), control system 150, 150' may proceed to step 233, where first layer module 154 'of first control system 150'. Can be compared to the corresponding first layer module 154 of the second control system 150. If the first tier modules 154, 154 'are the same, the update and / or revision process can be completed. Conversely, if the first layer modules 154, 154 'are different, the first layer module 154 of the second control system 150 updates, replaces, revises, and / or updates the first layer module 154' of the first control system 150 '. Or you may overwrite it.

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

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

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

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

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

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

  Similar to the control system shown in FIGS. 28 (A) and 28 (B), the microcontroller 614 can send commands based on feedback received from the sensors 612 and 613 and / or signal communication with the display The feedback may then be displayed and / or otherwise communicated with the operator of the surgical system. For example, the microcontroller 614 can prevent surgical functionality until the modular components 110, 120 are in the engaged position, such as when the modular components 110, 120 are partially engaged. it can. Additionally, the microcontroller 614 can communicate information detected by the engagement sensor to the display. For example, the display can indicate engagement, partial engagement, and / or non-engagement of the modular components 110, 120. Furthermore, in various cases, the display relates to the method of properly attaching, coupling and / or engaging, for example, the disengaged and / or partially engaged components 110, 120 of the surgical instrument. Provide instructions and / or guidance.

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

  The surgical instrument and / or its microcontroller may comprise a data storage protocol. Data storage protocols can, for example, provide rules for recording, processing, storing, transferring, and / or erasing data. In various cases, the data storage protocol may be preprogrammed and / or updated during the life of the surgical instrument. In various cases, the data storage protocol may command erasure of the recorded data after completion of the surgical function and / or surgery, and in other cases the data storage protocol erases the recorded data after a predetermined period of time has elapsed You may order For example, the recorded data may be erased according to a data storage protocol one minute, one hour, one day, one week, one month, or one year after the surgical function. The predetermined period of time may be any suitable and appropriate period of time permitted by the circumstances.

  In certain situations, the data storage protocol may command the erasure of the recorded data after a predetermined number of surgical functions, such as firing strokes. In still other cases, the data storage protocol may command the erasure of the recorded data when the surgical instrument is turned off. For example, with reference to FIG. 31, if the surgical instrument is powered off, the microcontroller may proceed to step 709, where the microcontroller may, for example, It can be determined whether an error or major problem has occurred, such as a system failure. In various cases, if an error is detected, the microcontroller can proceed to step 713 where data can be stored, for example, in a memory chip. Furthermore, in certain cases, if no errors are detected, the microcontroller can proceed to step 711 where data can be erased, for example. In other cases, the data storage protocol may not include step 709, and the data storage protocol may continue, for example, without confirming a major error or failure.

  In yet another case, the data storage protocol may command the erasure of the recorded data after a predetermined unused or stationary period of the surgical instrument. For example, if the surgical instrument is placed and / or placed at a storage location, the data storage protocol may order to erase the recorded data after the surgical instrument has been stationary for a predetermined period of time and has not been used. . The required rest period may be, for example, one minute, one hour, one day, one week, one month, or one year. The predetermined resting period may be any suitable and appropriate period permitted by the circumstances. In various cases, the surgical instrument may comprise, for example, an accelerometer capable of detecting motion and rest of the surgical instrument. Referring again to FIG. 31, when the surgical instrument is not powered off at step 701, the accelerometer may be set to detect movement of the surgical instrument. If motion is detected in step 703 prior to the expiration of the predetermined rest period in step 707, counting of the predetermined rest time can be restarted in step 705. Conversely, if motion is not detected by the accelerometer prior to the expiration of the predetermined dwell period in step 707, the microprocessor may proceed to step 709, for example. In another situation, the microprocessor may proceed directly to step 711 or 713 depending on the data storage protocol, for example without confirming any errors or faults in the instrument.

  As described herein, the data storage protocol may comprise one of many initial rules for erasure of recorded data. However, in certain cases, it may be desirable to override the initial rules or procedures. For example, for research and / or development purposes, it may be desirable to store recorded data for a longer period of time. In addition or as an alternative, it may be desirable to save recorded data for educational and / or research purposes. Furthermore, in various cases, the data storage protocol may not include an error confirmation step, in which case the data storage protocol may, for example, detect or suspect an error and / or abnormality during a surgical procedure. It may be desirable to override the protocol and ensure that data is stored. The recovered data can, for example, facilitate inspection of the procedure and / or determination of the cause of the error. In various cases, keys or inputs may be required to overwrite or override standard data storage protocols. In various cases, the key can be input to the surgical instrument and / or remote storage, for example by an operator and / or user of the surgical instrument.

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

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

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

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

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

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

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

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

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

  In various situations, the operator may purchase or otherwise obtain a temporary access code for entry into the surgical system. For example, a manufacturer or distributor of the instrument may market an access code, which may be required to unlock or use the surgical instrument 1660. In various cases, the access code can unlock the lock circuit for a predetermined time. The manufacturer or distributor of the device can propose the purchase of different use times, and the user can select and buy or obtain the desired or preferred use time. For example, the user can earn 10 minutes of use, 1 hour of use, or 1 day of use. In other cases, sales or certification of additional and / or different preferred periods of use may be proposed. In various cases, the lock circuit may be re-locked after the acquired usage period is over. In another case, the access code can unlock the lock circuit for a predetermined number of surgical functions. For example, a user may, for example, purchase or otherwise obtain a single instrument launch or multiple launches. In addition, the lock circuit may be re-locked after firing a number of times the user has purchased or certified the device. In yet another case, the access code can, for example, permanently unlock the locking circuit.

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

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

  In various cases, the modular surgical instrument may be adapted to an external display to display data and / or feedback from the surgical instrument. For example, the surgical instrument may include an instrument display for displaying feedback from the surgical procedure. In various cases, the instrument display may be located, for example, on the handle of the instrument. In certain cases, the instrument display may display, for example, a video image verified by the endoscope. Additionally or alternatively, the display may detect sensed, measured, approximated, and / or calculated features of, for example, a surgical instrument, surgery, and / or a surgical site. In various cases, it may be desirable to transmit feedback to an external display. The external display can, for example, provide a magnified view of the reproduced and / or reproduced feedback, allowing multiple operators and / or assistants to review the feedback simultaneously. In various cases, it may be desirable to select a surgical instrument, for example for connection to an external display, and in other cases, the selection of a surgical instrument may be automatic.

  Referring to FIG. 34, the external display 1700 can display, for example, an end effector 1720 and / or a surgical site of a surgical instrument. The external display 1700 can also display, for example, feedback and / or data detected and / or measured by the surgical instrument. In various cases, external display 1700 may replicate the feedback provided on the display of the surgical instrument. In certain situations, the surgical instrument can be automatically connected with an external display 1700 and / or a wireless receiver, for example, in signal communication with an external or operating room display 1700. In such a case, the operator may be notified when connection of multiple surgical instruments to the external display 1700 is attempted. As described herein, the operator can select the desired surgical instrument, for example, from a menu on the external display 1700. In yet another case, the operator can select the desired surgical instrument by inputting on the surgical instrument. For example, the operator can send a command, control the sequence, or enter a code to select a surgical instrument. In various cases, the operator can use a surgical instrument to complete a particular control sequence and select that surgical instrument. For example, the operator may power on the surgical instrument and, within a predetermined time, depress the reverse button, for example, for a predetermined time, to select the surgical instrument. Once an instrument is selected, feedback on the selected instrument display may be retransmitted or replicated, for example, on the external display 1700.

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

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

The entire disclosure content of the following is incorporated herein by reference.
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  According to various embodiments, the surgical instruments described herein may include one or more processors (eg, microprocessors, microcontrollers) coupled to various sensors. In addition, in the processor, a storage device (having operating logic) and a communication interface are coupled to one another.

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

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

  In various embodiments, as described above, the operating logic may be configured to process the collected biometrics associated with the user's operating data. In various embodiments, the operating logic may be configured to perform initial processing and transmit data to a computer hosting an application to determine and generate instructions. For these embodiments, the operating logic may be further configured to receive information from the host computer and provide feedback to the host computer. In another embodiment, the operating logic may be configured to play a larger role in receiving information and determining feedback. In either case, regardless of whether it determines itself or responds to commands from the host computer, the operating logic may be further configured to control and provide feedback to the user.

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

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

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

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

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

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

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

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

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

  In addition, the embodiments described herein illustrate exemplary implementations, and the functional elements, logic blocks, modules, and circuit elements may be various other consistent with the described embodiments. It will be clear that it can be realized in a scheme. Furthermore, the operations performed by such functional elements, logic blocks, modules, and circuit elements may be combined and / or separated for a given implementation and may be more or less. May be implemented by components or modules of As will be apparent to one skilled in the art upon reading the present disclosure, each of the individual embodiments described and illustrated herein can readily be adapted to any of several other aspects without departing from the scope of the present disclosure. It has separate components and features that can be separated from and combined with other features. Any of the described methods may be performed in the order of events described or in any other order that is logically possible.

  It should be noted that reference to "an embodiment" or "an embodiment" includes at least one of the specific features, structures or characteristics described in connection with that embodiment. It means that. The phrases “in one embodiment” or “in one aspect” appear herein but do not necessarily refer to the same embodiment.

  Unless otherwise specified, terms such as "processing", "computing", "calculating", "determining", etc. refer to physical quantities (eg, electronic) in a register. A general purpose processor that manipulates and / or converts data, which is represented as a), into a memory, a register or other such information storage device, transmission or other data similarly represented as physical quantities in a display device. DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein , Computer or computing system, or similar electronic computing device operation and / or pro It is intended to refer to the nest will become apparent.

  It should be noted that some embodiments may be described using the terms "coupled" and "connected" with their derivatives. These terms are not intended as synonyms for each other. For example, some embodiments use the terms "coupled" and / or "coupled" to indicate that two or more elements are in direct physical or electrical contact with each other. It can be explained. The term "coupled" may also mean, however, that two or more elements do not make direct contact with one another, but still cooperate or interact with one another. For example, with respect to software elements, the term "coupled" may refer to an interface, a message interface, an application program interface (API), an exchange message, etc.

  Any patent, publication, or other disclosure material mentioned herein as being incorporated by reference may, in part or in whole, define, describe or disclose the existing material into which it is incorporated. It is to be understood that they are incorporated herein to the extent not inconsistent with the other disclosure materials listed in As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting literature incorporated herein by reference. Any documents, or portions thereof, which are hereby incorporated by reference, but which conflict with the existing definitions, descriptions, or other disclosures described herein, are incorporated by reference and not by way of limitation. It shall be incorporated only to the extent that no contradiction arises with the content.

  The disclosed embodiments may have applicability in conventional endoscopes and open surgical instruments, as well as in robot assisted surgery.

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

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

  Those skilled in the art will appreciate that the components (e.g., operations), devices, purposes, and arguments related thereto described herein are used as examples for clarifying concepts, and various configuration changes. It will be understood that is contemplated. As a result, as used herein, the specific examples described and the discussion accompanying them are intended to represent more general classes. In general, using a particular representative is intended to be representative of that type, and not including certain components (eg, operations), devices, and purposes are considered limiting. It should not be.

  When referring to substantially any plural and / or singular terms used herein, one of ordinary skill in the art would appreciate that plural to singular and / or singular to plural as appropriate for the situation and / or use. Can be replaced. The various singular / plural permutations are not expressly described herein for the sake of brevity.

  The subject matter described herein sometimes refers to various components included in, or connected with, various other components. It should be understood that the so-represented architecture is merely an example, and that in fact many other architectures can be implemented which achieve the same functionality. In the sense of conception, any arrangement of components achieving the same functionality is effectively "associated" to achieve the desired functionality. Thus, any two components coupled to achieve a particular functionality, regardless of architecture or intermediate components, may be considered "associated" with one another to achieve the desired functionality. . Similarly, any two components so associated may also be considered "operably linked" or "operably coupled" to one another to achieve the desired functionality. Also, any two components that can be so associated may also be considered as "operably coupleable" to one another to achieve the desired functionality. Specific examples that can be operatively coupled include, but are not limited to, physically matable and / or physically interacting components, and / or wirelessly interactable and / or wirelessly. Or wirelessly interoperable components, and / or logically interactive and / or logically interoperable configurations, elements.

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

  In some cases, one or more of the components herein may be "configured", "configurable", "operable / operable", "adapted" It may be called "compatible," "capable of," "compatible as / adapted," etc. Those skilled in the art will recognize that "configured to" generally refers to the active component and / or inactive component and / or standby unless the context is to be interpreted otherwise. It should be understood that components can be included.

  While certain aspects of the subject matter described herein are illustrated and described, as will be apparent to those skilled in the art, changes and modifications are described herein based on the teachings herein. It can be made without departing from the subject matter and its broad aspects, and therefore the appended claims are intended to encompass all such changes and modifications within the true scope of the subject matter described herein. Will be included as Those of ordinary skill in the art generally, and generally, as used herein in the specification and in the appended claims (e.g., in the text of the appended claims) are generally intended to be "open" terms (Eg, the term "including" should be interpreted as "including but not limited to" and the term "having" is It should be interpreted as "having at least" and the term "includes" should be interpreted as "includes but is not limited to" , Etc) will understand. Furthermore, if a person of ordinary skill in the art intends a specific number in the introduced claim recitation, such intention is clearly stated in the claim, otherwise there is no such description. It will be understood that there is no such intention. For example, as an aid to understanding, in the following appended claims, the introductory phrases "at least one" and "one or more" are recited in the claims. May be included to introduce. However, even if one uses the word “a” or “an” even if the claim description is introduced by the indefinite article “a” or “an”, “one or more” or “at least one” may be included in the same claim. Even if an introductory phrase such as “in” and an indefinite article such as “a” or “an” are included, a particular claim including such introductory claim statement has only one such entry. It should not be interpreted as implying that it is limited to the claims that contain it (eg, “a” and / or “an” usually mean “at least one” or “one or more”) And should be interpreted). The same applies to the use of definite articles to introduce claim statements.

  Moreover, those skilled in the art should generally interpret at least the stated number as meaning given, even if the specified number is explicitly stated in the claim description introduced. It will be understood that (for example, in the case where there is a description "only two items" without other modifiers, this description contains at least two items or two or more items. means). Furthermore, where a notation similar to "at least one of A, B, C, etc." is used, generally such syntax is intended in the sense that one of ordinary skill in the art would understand the notation. (Eg, “systems having at least one of A, B, and C” are not limited, but only A, B only, C only, both A and B, A and C Systems including both, both B and C, and / or all A, B and C, etc.). Where a notation similar to "at least one of A, B, C, etc." is used, generally such syntax is intended in the sense that one of ordinary skill in the art would understand the notation. (For example, “a system having at least one of A, B, or C” is not limited, but only A, only B, only C, both A and B, both A and C, Including systems having both B and C, and / or all A, B and C, etc.). Generally, any disjunctive words and / or phrases that represent two or more alternative terms, whether within the description, within the scope of the claims, or within the drawings, are among the terms One of ordinary skill in the art should understand that it should be understood that the possibility of including one of those terms, or both of those terms is intended. For example, the phrase "A or B" will generally be understood to include the possibilities of "A" or "B" or "A and B."

  As will be apparent to those skilled in the art, with regard to the appended claims, the operations recited herein may generally be performed in any order. Also, although various operational flows are shown in sequence, it is to be understood that the various operations may be performed in an order other than that shown, or may be performed simultaneously. Examples of such other orderings include duplication, alternation, interrupts, reordering, incremental, preliminary, additive, simultaneous, reverse, or otherwise, unless the context is to be interpreted otherwise. Different orderings can be mentioned. Furthermore, adjectives "responsive to," "related to," or other past tense are generally intended to exclude such variations, unless the context otherwise requires is not.

  In brief, a number of advantages have been described as a result of using the concepts described herein. The foregoing description of one or more embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. One or more embodiments illustrate the principles and practical applications, thereby making the various embodiments available to one of ordinary skill in the art as being suitable for the particular application contemplated, with various modifications. It is a thing. It is intended that the "claims" filed with the present specification define the overall scope.

[Aspect of embodiment]
(1) A surgical instrument for use by an operator in a surgical procedure, comprising:
An elongated shaft,
An end effector extending from the elongated shaft, the end effector being capable of articulating between the home position position and the articulated position with respect to the elongated shaft;
A control system,
A processor,
A control system comprising a memory coupled to the processor for storing program instructions, the program instructions being executed from the memory, the end effector being positioned from the articulated position to the home A surgical instrument that causes the processor to alert the operator when a state position is reached.
(2) The program instruction, when executed from the memory, causes the processor to stop articulation of the end effector by the processor when the end effector reaches the home position from the articulation position. The surgical instrument as described in.
(3) further comprising a motor operable to articulate the end effector between the home position and the articulation position, the program instructions being executed from the memory; The surgical instrument according to claim 1, wherein the processor is caused to stop the motor when the effector reaches the home position from the articulated position.
The program instructions, when executed from the memory, cause the processor to provide visual feedback to the operator when the end effector reaches the home position from the articulation position. The surgical instrument as described in.
The program instructions, when executed from the memory, cause the processor to provide haptic feedback to the operator when the end effector reaches the home position from the articulation position. The surgical instrument as described in.

(6) A surgical instrument for use by an operator in a surgical procedure, comprising:
A handle assembly movable between a plurality of positions, the handle assembly comprising an interface;
An elongated shaft,
An end effector extending distally from the elongate shaft;
A control system,
A processor,
A control system comprising a memory coupled to the processor for storing program instructions, the program instructions causing the processor to switch between a plurality of interface configurations when executed from the memory A surgical instrument, wherein each of the interface configurations is associated with one of the positions.
(7) The plurality of interface configurations include a first interface configuration and a second interface configuration, and the plurality of positions include a first position and a second position, and the program instruction includes When executed from memory, the processor causes the first interface configuration to be employed while the handle assembly is in the first position, and the second interface configuration to be implemented while the handle assembly is in the second position. The surgical instrument according to claim 6, adapted to be employed.
(8) The embodiment further comprising a screen, wherein the first interface configuration includes a first orientation of the screen, and the second interface configuration includes a second orientation of the screen different from the first orientation. The surgical instrument according to 7.
(9) The interface includes a first switch and a second switch, the first and second switches being manipulated by the operator to articulate the end effector relative to the elongate shaft The surgical instrument according to embodiment 7, which is possible.
(10) When the processor is generating the first interface configuration, the first switch is operable by the operator to articulate the end effector in a first direction, and the processor is operable to: Wherein the first switch is operable by the operator to articulate the end effector in a second direction different from the first direction when generating the second interface configuration The surgical instrument according to aspect 9.

(11) when the processor is generating the first interface configuration, the second switch is operable by the operator to articulate the end effector in the second direction; The surgery according to claim 10, wherein the second switch is operable by the operator to articulate the end effector in the first direction when a second interface configuration is being generated. Equipment.
(12) A surgical instrument for use by an operator in a surgical procedure, comprising:
An interface comprising a plurality of operation control devices;
An elongated shaft,
An end effector extending distally from the elongate shaft;
A control system,
A processor,
A control system, comprising: a memory coupled to the processor for storing program instructions, the program instructions, when executed from the memory, the interface by the processor and the primary interface configuration The plurality of operation control devices are configured to perform an operation function while the interface is in the primary interface configuration, the plurality of operation control devices being switched between the next interface configuration and the second interface configuration; A surgical instrument configured to perform a navigation function while the interface is in the secondary interface configuration, wherein the navigation function is associated with the manipulation function.
The surgical instrument according to claim 12, wherein the interface comprises a display.
The surgical instrument of claim 13, further comprising a navigation menu accessible through the display while the surgical instrument is in the navigation mode.
(15) The navigation menu includes a joint bending menu, the plurality of operation control devices include a joint bending control device, and the joint bending control device controls the end effector to the elongated shaft in the primary interface configuration. 15. The surgical instrument according to embodiment 14, wherein the surgical instrument is operable to cause articulation and the articulation control is operable to access the articulation menu in the secondary interface configuration.

(16) A surgical instrument for use by an operator in a surgical procedure, comprising:
An elongated shaft,
An end effector extending distally from the elongate shaft, the end effector comprising a staple cartridge, the staple cartridge comprising a plurality of staples movable between unfired and fired configurations;
A firing mechanism configured to move the plurality of staples to the fired configuration;
An interface including a touch screen, the touch screen including a launch icon;
A control system,
A processor,
A control system comprising a memory coupled to the processor for storing program instructions, the program instructions executed by the processor from the memory by the operator when the program instructions are executed from the memory. Selecting a firing input signal to be generated, and the program instruction, when executed from the memory, activates the firing mechanism to move the plurality of staples to the fired configuration by the processor A surgical instrument adapted to be responsive to the detection of the firing input signal.
(17) further comprising an articulation mechanism configured to articulate the end effector relative to the elongate shaft, the touch screen including an articulation icon and the program instructions are executed from the memory And causing the processor to detect a joint flexion input signal generated when the operator selects the joint flexion icon, and the program instruction being executed from the memory causes the end effector to be articulated by the processor. 17. The surgical instrument according to embodiment 16, responsive to the joint flexion input signal by activating the joint flexing mechanism to flex.
(18) A surgical instrument for use by an operator in a surgical procedure, comprising:
An interface comprising a controller;
An indicator system,
An indicator associated with the controller;
A processor,
An indicator system, comprising: a memory coupled to the processor for storing program instructions, the program instructions activating the indicator by the processor when executed from the memory; A surgical instrument for alerting the operator to operate the controller.
The surgical instrument according to claim 18, wherein the interface comprises a plurality of controllers and the indicator system comprises a plurality of indicators associated with the plurality of controllers.
20. The embodiment according to claim 19, wherein the plurality of control devices are operable in sequence, and wherein the program instruction causes the processor to activate the plurality of indicators in the sequence when executed from the memory. Surgical instruments.

The surgical instrument according to claim 18, wherein the indicator is a visual indicator.
22. The surgical instrument according to claim 21, wherein the visual indicator comprises light activated to convey to the operator to operate the controller.
The surgical instrument according to claim 21, wherein the visual indicator comprises light configured to change color to convey to the operator to operate the controller.
(24) A surgical instrument for use by an operator in a surgical procedure, comprising:
An interface operable by the operator in the operating step of the surgical instrument, the interface comprising a controller;
An indicator system,
An indicator associated with the controller;
A processor,
An indicator system comprising a memory coupled to the processor for storing program instructions, the program instructions comprising the first indicator indicator configured by the processor when executed from the memory. Switching between the second indicator configuration and the second indicator configuration, the processor being configured to set the indicator to the first indicator configuration if the controller is usable by the operator in the step; A surgical instrument wherein the processor is configured to set the indicator to the second indicator configuration if the controller is not usable by the operator in the process.
(25) said program instructions, when executed from said memory, said first indicator by said processor when said controller is usable by said operator as a standard controller for the completion of said step; 25. The surgical instrument of embodiment 24, wherein the surgical instrument is configured to be in an indicator configuration.

(26) said program instructions, when executed from said memory, cause said processor to cause said indicator to be in a third indicator configuration when said controller is usable by said operator as a non-standard controller during said step 26. The surgical instrument according to embodiment 25 which is configured.
27. The surgical instrument according to embodiment 24, wherein the interface comprises a plurality of controllers and the indicator system comprises a plurality of indicators associated with the plurality of controllers.
28. The surgery according to claim 27, wherein the program instructions, when executed from the memory, cause the processor to switch the plurality of indicators between the first indicator configuration and the second indicator configuration. Equipment.
(29) a surgical assembly, wherein
A surgical instrument for use by an operator in a surgical procedure, comprising:
A handle assembly comprising a primary interface, wherein the primary interface comprises a plurality of primary controls;
An elongate shaft extending distally from the handle assembly;
A surgical instrument comprising an end effector extending distally from the elongate shaft, the plurality of primary controls being manually operable to actuate the end effector.
A remote control unit comprising a secondary interface, wherein the secondary interface comprises a plurality of secondary controllers, wherein the plurality of secondary controllers remotely control the end effector A surgical assembly operable to be actuated.
(30) The plurality of primary controllers are operable to generate a primary control signal, and the plurality of secondary controllers are operable to generate a secondary control signal, the secondary 30. The surgical assembly according to embodiment 29, wherein the control signal is configured to mimic the primary control signal.

The surgical device according to claim 30, wherein the surgical instrument comprises a receiver, and the remote control unit comprises a transmitter configured to transmit the secondary control signal to the receiver. assembly.
(32) The surgical instrument comprises a controller, the controller comprising:
A processor configured to receive the primary control signal and the secondary control signal;
A memory coupled to the processor for storing program instructions, the program instructions being executed from the memory by the processor to at least one of the primary control signal and the secondary control signal. 31. The surgical assembly of claim 30, wherein the end effector is actuated in response to one.

Claims (5)

A surgical instrument for use by an operator in a surgical procedure, comprising:
An elongated shaft,
An end effector extending from the elongated shaft, the end effector being capable of articulating between the home position position and the articulated position with respect to the elongated shaft;
A control system,
A processor,
A control system comprising a memory coupled to the processor for storing program instructions, the program instructions being executed from the memory by the processor to cause the end effector to flex the joint when the position reaches the home state position, is warned before Symbol operator, and the end effector so that stops the articulation of the end effector to reach the home state position from the articulated position, then the A surgical instrument for continuing articulation of the end effector beyond a home position position .   The program instruction, when executed from the memory, causes the processor to stop articulation of the end effector for about 2 seconds when the end effector reaches the home position from the articulation position, and then articulation is performed. The surgical instrument according to claim 1, wherein articulation of the end effector is continued as long as the switch remains depressed. The system further comprises a motor operable to articulate the end effector between the home state position and the articulation position, the program instructions being executed by the processor when executed from the memory. when the end effector reaches the home state position from the articulated position, to stop the previous SL motor, surgical instrument according to claim 1. The program instructions, when executed from the memory, by the processor, when said end effector reaches the home state position from the articulated position, thereby providing visual feedback before Symbol operator to claim 1 Surgical instrument as described. The program instructions, when executed from the memory, by the processor, when said end effector reaches the home state position from the articulated position, thereby providing a tactile feedback before Symbol operator to claim 1 Surgical instrument as described.

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