JP7263362B2 - A smoke evacuation system having communication circuitry for communication between the filter and the smoke evacuation device - Google Patents

Description

(Cross reference to related applications)
119(e), the entire disclosure of which is hereby incorporated by reference herein. Priority benefit of US Provisional Patent Application No. 62/691,262 filed June 28, 2018 is claimed.

This application is filed March 30, 2018 under 35 U.S.C. U.S. Provisional Patent Application No. 62/650,877, filed March 30, 2018, entitled "SURGICAL SMOKE EVACUATION SENSING AND CONTROLS," entitled "SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL"; and U.S. Provisional Patent Application No. 62/650,882, filed March 30, 2018, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS." No./650,898 priority benefit is claimed.

This application is further filed under 35 U.S.C. U.S. Provisional Patent Application No. 62/640,417, filed on May 31, 2018; Claim priority benefits.

This application is further subject to U.S. provisional patent application entitled "INTERACTIVE SURGICAL PLATFORM," filed Dec. 28, 2017, under 35 U.S.C. Application No. 62/611,341, U.S. Provisional Patent Application No. 62/611,340, filed Dec. 28, 2017, entitled "CLOUD-BASED MEDICAL ANALYTICS," and U.S. Provisional Patent Application No. 62/611,340, entitled "ROBOT ASSISTED SURGICAL PLATFORM," Dec. 12, 2017. It claims the benefit of priority from US Provisional Patent Application No. 62/611,339, filed May 28.

The present disclosure relates to a surgical system and its ejector. Surgical smoke evacuators are configured to evacuate smoke and fluids and/or particulates from a surgical site. For example, smoke may be generated at the surgical site during surgical procedures involving energy devices.

In one aspect, a surgical drainage system is provided. A surgical evacuation system includes a smoke evacuation device that includes a pump and a motor operably coupled to the pump. The surgical evacuation system also includes a communication circuit and a filter device in communication with the smoke evacuation device through the communication circuit. The filter device comprises a plurality of filter components including a plurality of filter elements including at least one of a fluid filter, a particulate filter and a charcoal filter and a plurality of filter sensors. The communication circuitry authenticates the plurality of filter components, verifies the remaining life of at least one of the plurality of filter components, updates parameters output from the plurality of filter components, and is configured to log the error output of

In another aspect, a method is provided for communication between a smoke evacuation device and a filter device through a communication circuit. The method includes authenticating, with communication circuitry, a plurality of filter components within a filter device. The multiple filter components include multiple filter elements and multiple filter sensors. The plurality of filter elements includes at least one of fluid filters, particulate filters, and charcoal filters. The method includes, by the communication circuit, verifying the remaining life of at least one of the plurality of filter components;, by the communication circuit, updating parameters output from the plurality of filter components; and, by the communication circuit, recording errors output from the plurality of filter components. The smoke evacuation device includes a pump and a motor operably connected to the pump.

In another aspect, a surgical hub is provided that includes a processor and memory coupled to the processor. A memory stores instructions executable by a processor to authenticate a plurality of filter components within a filter device. The multiple filter components include multiple filter elements and multiple filter sensors. The plurality of filter elements includes at least one of fluid filters, particulate filters, and charcoal filters. The memory is also for verifying the remaining life of at least one of the plurality of filter components, updating parameters output from the plurality of filter components, and recording errors output from the plurality of filter components. , which stores instructions executable by the processor.

Features of various aspects are set forth with particularity in the appended claims. The various aspects, both as to organization and method of operation, however, together with further objects and advantages thereof, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings, which follow.
1 shows a perspective view of an ejector housing for a surgical ejection system, according to at least one aspect of the present disclosure; FIG. 1 is a perspective view of a surgical evacuation electrosurgical tool in accordance with at least one aspect of the present disclosure; FIG. 2 is an elevational view of a surgical ejection tool releasably secured to an electrosurgical pencil in accordance with at least one aspect of the present disclosure; FIG. FIG. 12 is a schematic diagram showing internal components within an ejector housing for a surgical ejection system, in accordance with at least one aspect of the present disclosure; 1 is a schematic illustration of an electrosurgical system including a smoke evacuator, according to at least one aspect of the present disclosure; FIG. 1 is a schematic illustration of a surgical drainage system, according to at least one aspect of the present disclosure; FIG. 1 is a perspective view of a surgical system including a surgical drainage system in accordance with at least one aspect of the present disclosure; FIG. 8 is a perspective view of the ejector housing of the surgical ejection system of FIG. 7 according to at least one aspect of the present disclosure; FIG. 9 is an elevation cross-sectional view of a socket in the ejector housing of FIG. 8 taken along the plane shown in FIG. 8, in accordance with at least one aspect of the present disclosure; FIG. 2 is a perspective view of a filter for an evacuation system, according to at least one aspect of the present disclosure; FIG. 11 is a perspective cross-sectional view of the filter of FIG. 10 taken along the central longitudinal plane of the filter, in accordance with at least one aspect of the present disclosure; FIG. 8 is a pump for a surgical drainage system, such as the surgical drainage system of FIG. 7, according to at least one aspect of the present disclosure; 1 is a perspective view of a portion of a surgical drainage system in accordance with at least one aspect of the present disclosure; FIG. 14 is a front perspective view of a fluid trap of the surgical drainage system of FIG. 13 in accordance with at least one aspect of the present disclosure; FIG. 15 is a rear perspective view of the fluid trap of FIG. 14 in accordance with at least one aspect of the present disclosure; FIG. 15 is an elevated cross-sectional view of the fluid trap of FIG. 14 in accordance with at least one aspect of the present disclosure; FIG. 15 is an elevated cross-sectional view of the fluid trap of FIG. 14, with portions removed for clarity, showing liquid trapped within the fluid trap and smoke flowing through the fluid trap, in accordance with at least one aspect of the present disclosure; FIG. is. 1 is a schematic illustration of an ejector housing of an ejection system, in accordance with at least one aspect of the present disclosure; FIG. FIG. 12 is a schematic illustration of an ejector housing of another ejection system, in accordance with at least one aspect of the present disclosure; 1 is a schematic diagram of a smoke evacuation system, according to at least one aspect of the present disclosure; FIG. 21 is a schematic diagram of a filter communication circuit of the smoke evacuation system of FIG. 20, in accordance with at least one aspect of the present disclosure; FIG. 21 is a schematic illustration of a filter device of the smoke evacuation system of FIG. 20, in accordance with at least one aspect of the present disclosure; FIG. 1 is a schematic illustration of an evacuation system housing, in accordance with at least one aspect of the present disclosure; FIG. 1 is a block diagram of a computer-implemented interactive surgical system, according to at least one aspect of the present disclosure; FIG. A surgical system used to perform a surgical procedure in an operating room, according to at least one aspect of the present disclosure. 1 is a surgical hub paired with a visualization system, a robotic system, and an intelligent instrument according to at least one aspect of the present disclosure; FIG. 22 is a partial perspective view of a surgical hub enclosure and a combination generator module slidably receivable within a drawer of the surgical hub enclosure in accordance with at least one aspect of the present disclosure; 3 is a perspective view of a combination generator module comprising bipolar, ultrasonic, and monopolar contacts and smoke evacuation components in accordance with at least one aspect of the present disclosure; FIG. 4 illustrates individual power bus attachments for multiple lateral docking ports of a lateral modular enclosure configured to receive multiple modules, in accordance with at least one aspect of the present disclosure; 1 illustrates a vertical modular enclosure configured to receive multiple modules, in accordance with at least one aspect of the present disclosure; Cloud modular devices located in one or more operating rooms of a healthcare facility, or any room within a health facility with specialized equipment for surgical procedures, according to at least one aspect of the present disclosure 1 illustrates a surgical data network comprising a modular communication hub configured to connect to; 1 illustrates a computer-implemented interactive surgical system, according to at least one aspect of the present disclosure; 4 illustrates a surgical hub comprising multiple modules coupled to a modular control tower, according to at least one aspect of the present disclosure; 1 illustrates one aspect of a Universal Serial Bus (USB) network hub device, in accordance with at least one aspect of the present disclosure; 1 illustrates a logic diagram of a control system for a surgical instrument or tool, according to at least one aspect of the present disclosure; FIG. 1 illustrates a control circuit configured to control aspects of a surgical instrument or tool, according to at least one aspect of the present disclosure; FIG. 11 illustrates a combinational logic circuit configured to control aspects of a surgical instrument or tool, according to at least one aspect of the present disclosure; FIG. 4 illustrates a sequential logic circuit configured to control aspects of a surgical instrument or tool, according to at least one aspect of the present disclosure; 1 illustrates a surgical instrument or tool comprising multiple motors that can be activated to perform various functions, in accordance with at least one aspect of the present disclosure; 1 is a schematic illustration of a robotic surgical instrument configured to operate a surgical tool described herein, according to at least one aspect of the present disclosure; FIG. FIG. 10 illustrates a block diagram of a surgical instrument programmed to control distal translation of a displacement member, according to at least one aspect of the present disclosure; 1 is a schematic illustration of a surgical instrument configured to control various functions, according to at least one aspect of the present disclosure; FIG. 1 is a simplified block diagram of a generator configured to provide inductive tuning, among other advantages, in accordance with at least one aspect of the present disclosure; FIG. 21 illustrates an example of a generator, one form of the generator of FIG. 20, in accordance with at least one aspect of the present disclosure; 4 is a timeline showing situational awareness of a surgical hub, according to one aspect of the present disclosure;

The applicant of this application owns the following US patent applications filed June 29, 2018, the entire disclosures of each of which are incorporated herein by reference:
U.S. Patent Application No. ______________, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS", Attorney Docket No. END8542USNP/170755;
- U.S. Patent Application No. ______________, Attorney Docket No. END8543USNP/170760, entitled "CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS";
U.S. Patent Application No. ____________, Attorney Docket No. END8543USNP1/170760-1, entitled "SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOD PERATIVE INFORMATION";
- U.S. Patent Application No. ____________, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING," Attorney Docket No. END8543USNP2/170760-2;
- U.S. Patent Application No. ____________, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING," Attorney Docket No. END8543USNP3/170760-3;
U.S. Patent Application No. ______________, Attorney Docket No. END8543USNP4/170760-4, entitled "SURGICAL SYSTEMS FOR DETECTING END EFFECTOR TISSUE DISTRIBUTION IRREGULARITIES";
U.S. Patent Application No. ______________, Attorney Docket No. END8543USNP5/170760-5, entitled "SYSTEMS FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE";
- U.S. Patent Application No. ______________, entitled "SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES," Attorney Docket No. END8543USNP6/170760-6;
- U.S. Patent Application No. ____________, entitled "VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY," Attorney Docket No. END8543USNP7/170760-7;
- U.S. Patent Application No. ____________, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE", Attorney Docket No. END8544USNP/170761;
- U.S. Patent Application No. ______________, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT", Attorney Docket No. END8544USNP1/170761-1;
- U.S. Patent Application No. ____________, entitled "SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY," Attorney Docket No. END8544USNP2/170761-2;
U.S. Patent Application No. ______________, Attorney Docket No. END8544USNP3/170761-3, entitled "SURGICAL SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES";
- U.S. Patent Application No. ______________, entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL," Attorney Docket No. END8545USNP/170762;
- U.S. Patent Application No. ____________, entitled "SURGICAL EVACUATION SENSOR ARRANGEMENTS," Attorney Docket No. END8545USNP1/170762-1;
- U.S. Patent Application No. ____________, entitled "SURGICAL EVACUATION FLOW PATHS," Attorney Docket No. END8545USNP2/170762-2;
- U.S. Patent Application No. ____________, entitled "SURGICAL EVACUATION SENSING AND GENERATOR CONTROL," Attorney Docket No. END8545USNP3/170762-3;
- U.S. Patent Application No. ____________, entitled "SURGICAL EVACUATION SENSING AND DISPLAY," Attorney Docket No. END8545USNP4/170762-4;
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U.S. Patent Application No. ____________, entitled "SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM," Attorney Docket No. END8546USNP1/170763-1; Entitled "MALL DROPLET FILTERS" U.S. Patent Application No. ________, Attorney Docket No. END8548USNP/170765.

The applicant of this application owns the following US provisional patent applications, filed June 28, 2018, the entire disclosures of each of which are incorporated herein by reference:
U.S. Provisional Patent Application No. 62/691,228 entitled "A METHOD OF USING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITH ELECTROSURGICAL DEVICES";
- U.S. Provisional Patent Application No. 62/691,227, entitled "CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS";
U.S. Provisional Patent Application No. 62/691,230 entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE";
U.S. Provisional Patent Application No. 62/691,219 entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL";
U.S. Provisional Patent Application No. 62/691,257 entitled "COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM";
U.S. Provisional Patent Application No. 62/691,262 entitled "SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION DEVICE BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE"; United States entitled "DROPLET FILTERS" Provisional Patent Application No. 62/691,251.

The applicant of this application owns the following US provisional patent applications, filed April 19, 2018, the entire disclosures of each of which are incorporated herein by reference:
• US Provisional Patent Application No. 62/659,900, entitled "METHOD OF HUB COMMUNICATION."

The applicant of this application owns the following US patent applications filed March 29, 2018, the entire disclosures of each of which are incorporated herein by reference:
U.S. Patent Application No. 15/940,641 entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES";
- U.S. patent application Ser.
U.S. Patent Application No. 15/940,656 entitled "SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES";
- U.S. patent application Ser.
U.S. Patent Application No. 15/940,670 entitled "COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS";
- U.S. Patent Application No. 15/940,677 entitled "SURGICAL HUB CONTROL ARRANGEMENTS";
- U.S. patent application Ser.
U.S. Patent Application No. 164/94, entitled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS";
U.S. Patent Application No. 15/940,645, entitled "SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT"
U.S. Patent Application No. 15/940,649, entitled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME";
- U.S. Patent Application No. 15/940,654 entitled "SURGICAL HUB SITUATIONAL AWARENESS";
- U.S. Patent Application No. 15/940,663 entitled "SURGICAL SYSTEM DISTRIBUTED PROCESSING";
- U.S. Patent Application No. 15/940,668, entitled "AGGREGATION AND REPORTING OF SURGICAL HUB DATA";
- U.S. Patent Application No. 15/940,671 entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER"
U.S. Patent Application No. 15/940,686, entitled "DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINE STAPLE LINE";
U.S. Patent Application No. 15/940,700, entitled "STERILE FIELD INTERACTIVE CONTROL DISPLAYS";
U.S. Patent Application No. 15/940,629 entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS";
- U.S. patent application Ser.
US patent application Ser. No. 15/940,722, entitled "CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY," and US patent application Ser. No. 15/940,742, entitled "DUAL CMOS ARRAY IMAGING."

The applicant of this application owns the following US patent applications filed March 29, 2018, the entire disclosures of each of which are incorporated herein by reference:
U.S. patent application Ser. No. 15/940,636 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES";
U.S. patent application Ser. No. 15/940,653 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS";
- U.S. Patent Application No. 15/940,660 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER"
- U.S. patent application Ser.
U.S. patent application Ser.
U.S. patent application Ser.
- U.S. Patent Application No. 15/940,706 entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK," and - U.S. Patent Application No. 15/940,675, entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES."

The applicant of this application owns the following US patent applications filed March 29, 2018, the entire disclosures of each of which are incorporated herein by reference:
- US patent application Ser.
- U.S. Patent Application No. 15/940,637, entitled "COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
U.S. patent application Ser.
U.S. Patent Application No. 15/940,690, entitled "DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";

The applicant of this application owns the following US provisional patent applications filed March 28, 2018, the entire disclosures of each of which are incorporated herein by reference:
U.S. Provisional Patent Application No. 62/649,302 entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES";
U.S. Provisional Patent Application No. 62/649,294 entitled "DATA STRIPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD";
U.S. Provisional Patent Application No. 62/649,300 entitled "SURGICAL HUB SITUATIONAL AWARENESS";
U.S. Provisional Patent Application No. 62/649,309 entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER";
U.S. Provisional Patent Application No. 62/649,310 entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS";
U.S. Provisional Patent Application No. 62/649,291 entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT";
U.S. Provisional Patent Application No. 62/649,296 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES";
- U.S. Provisional Patent Application No. 62/649,333 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER";
U.S. Provisional Patent Application No. 62/649,327 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES";
U.S. Provisional Patent Application No. 62/649,315 entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK";
- U.S. Provisional Patent Application No. 62/649,313 entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES";
U.S. Provisional Patent Application No. 62/649,320, entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
-A US temporary patent application No. 62/649, 307, "SENSING ARRANTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FORTS FOROBORTS FOBORTS FOBORTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS FOBOTS Set U.S. PLATFORMS "U.S. temporary patent application No. 62/649, 323 issue.

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

Energy Devices and Smoke Evacuation The present disclosure relates to energy devices and intelligent surgical evacuation systems for evacuating smoke and/or other fluids and/or particulates from a surgical site. Smoke is often generated during surgical procedures utilizing one or more energy devices. Energy devices use energy to affect tissue. In energy devices, energy is supplied by a generator. Energy devices include devices with tissue contacting electrodes, such as electrosurgical devices with one or more radio frequency (RF) electrodes, and devices with vibrating surfaces, such as ultrasonic devices with ultrasonic blades. be done. In electrosurgical devices, a generator is configured to generate an oscillating current to energize the electrodes. In the case of ultrasonic devices, the generator is configured to generate ultrasonic vibrations that energize the ultrasonic blade. Generators are further described herein.

Ultrasonic energy can be used to coagulate and cut tissue. Ultrasonic energy coagulates and cuts tissue by vibrating an energy delivery surface (eg, an ultrasonic blade) that contacts the tissue. The ultrasonic blade can be coupled to a waveguide that conducts vibrational energy from the ultrasonic transducer, which generates mechanical vibrations and is powered by a generator. By vibrating at high frequencies (e.g., 55,500 times per second), the ultrasonic blade denatures proteins between the blade and the tissue, i.e., within the tissue, to form a sticky clot, blade-tissue. At the interface, friction and heat are generated between the blade and the tissue. The pressure exerted by the blade surface on the tissue causes the vessel to collapse, allowing the clot to form a hemostatic seal. Accuracy of cutting and coagulation can be controlled, for example, by clinician skill and adjustment of power level, blade edge, tissue traction, and blade pressure.

Ultrasonic surgical instruments are finding increasingly widespread use in surgical procedures due to the special performance characteristics of such instruments. Depending on the particular instrument configuration and operating parameters, ultrasonic surgical instruments can provide tissue cutting and hemostasis by coagulation substantially simultaneously, desirably with minimal trauma to the patient. . The cutting action is typically accomplished by an end effector or blade tip at the distal end of the ultrasonic instrument. An ultrasonic end effector transmits ultrasonic energy to tissue in contact with the end effector. Such ultrasonic surgical instruments can be configured for open surgery, including robotic-assisted surgery, for laparoscopic use, or for endoscopic surgery, for example.

Electrical energy may also be utilized for coagulation and/or cutting. Electrosurgical devices typically include a handpiece and an instrument having an end effector (eg, one or more electrodes) attached to a distal end. The end effector can be positioned against and/or adjacent to tissue such that an electrical current is introduced into the tissue. Electrosurgery is widely used and offers many advantages, including the use of a single surgical instrument for both coagulation and cutting.

The electrodes or tips of the electrosurgical device are points of contact with the patient to generate high frequency currents with high current densities to produce a surgical effect of coagulating and/or cutting tissue by cauterization. is small in The return electrode carries the same RF signal back to the electrosurgical generator after passing through the patient, thus providing a return path for the RF signal.

Electrosurgical devices can be configured for bipolar or monopolar operation. During bipolar operation, current is introduced into the tissue by the end effector's working electrode and returned from the tissue by the end effector's return electrode, respectively. During unipolar operation, current is introduced into the tissue by the active electrode of the end effector and returned through a return electrode (eg, ground pad) separately located on or relative to the patient's body. Heat generated by current flowing through tissue may form hemostatic seals within and/or between tissues, and thus may be particularly useful for sealing blood vessels, for example. An end effector of an electrosurgical device may also include a cutting member movable relative to the tissue and the electrodes for severing the tissue.

During application, the electrosurgical device can transmit low frequency RF current through tissue, which creates ionic stirring or friction, ie resistive heating, thereby increasing the temperature of the tissue. A boundary is created between the diseased tissue and the surrounding tissue so that the clinician can operate with a high level of precision and control without sacrificing adjacent non-target tissue. The low operating temperature of RF energy is useful for removing, shrinking, or shaping soft tissue while simultaneously sealing blood vessels. RF energy can work particularly well on connective tissue, which is composed primarily of collagen and contracts when exposed to heat. Other electrosurgical instruments include, but are not limited to, irreversible and/or reversible electroporation, and/or microwave technology. Accordingly, the techniques disclosed herein may be used, inter alia, for ultrasound, bipolar and/or monopolar RF (electrosurgical), irreversible and/or reversible electroporation, and/or microwave-based surgical procedures. It is applicable to instruments for

Electrical energy applied by an electrosurgical device may be transmitted from the generator to the instrument. A generator is configured to convert electricity into a high frequency waveform comprising an oscillating current that is transmitted to the electrodes to affect tissue. An electric current is passed through the tissue to create tissue (a form of coagulation in which an electric current arc over the tissue produces tissue charring), desiccant (direct application of energy that pushes out cellular water), and/or cutting (vaporizes cellular fluids). Indirect energy application) causing cell explosions by causing the tissue to be electrodischarge treated. The response of tissue to electrical current is a function of tissue resistance, current density through the tissue, power output, and duration of current application. In certain examples, the current waveform can be adjusted to affect different surgical functions and/or to accommodate tissue with different characteristics, as described further herein. For example, different types of tissue-vascular tissue, nerve tissue, muscle, skin, fat, and/or bone can respond differently to the same waveform.

The electrical energy may be in the form of RF energy which may be within the frequency range described in EN60601-2-2:2009+A11:2011, Definition 201.3.218-HIGH FREQUENCY. For example, frequencies in unipolar RF applications are typically limited to less than 5 MHz to minimize problems associated with high frequency leakage currents. Frequencies above 200 kHz can typically be used for monopolar applications to avoid unnecessary stimulation of nerves and muscles resulting from the use of low frequency currents.

In bipolar RF applications, the frequency can be almost any frequency. Lower frequencies may be used for bipolar techniques in certain instances, such as when risk analysis indicates that the likelihood of neuromuscular stimulation has been mitigated to an acceptable level. 10 mA is generally recognized as the lower threshold for thermal effects on tissue. Higher frequencies can also be used in the case of bipolar techniques.

In certain examples, the generator is configured to digitally generate and provide an output waveform to a surgical device so that the surgical device can utilize the waveform for various tissue effects. may be The generator can be a monopolar generator, a bipolar generator, and/or an ultrasonic generator. For example, a single generator can energize a monopolar device, a bipolar device, an ultrasonic device, or a combined electrosurgical/ultrasound device. The generator can facilitate tissue-specific effects through corrugation and/or can push RF energy and ultrasonic energy to a single surgical instrument or multiple surgical instruments simultaneously and/or sequentially. .

In one example, a surgical system can include a generator and various surgical instruments that can be used together, including ultrasonic surgical instruments, RF electrosurgical instruments, and combined ultrasonic/RF electrosurgical instruments. can. The generator can be found in U.S. Patent Application Serial No. 5 127,926, filed September 14, 2016, entitled "TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS," which is incorporated herein by reference in its entirety. (currently U.S. Patent Application Publication No. 2017/0086914), it may be configurable for use with various surgical instruments.

As described herein, medical procedures for cutting tissue and/or cauterizing blood vessels are often performed by utilizing RF electrical energy, which is generated by a generator. and delivered to the patient's tissue through electrodes operated by the clinician. The electrodes deliver electrical discharges to the cellular matter of the patient's body adjacent to the electrodes. This discharge causes the cytoplasm to heat up, cutting tissue and/or cauterizing blood vessels.

The high temperatures associated with electrosurgery can cause thermal necrosis of tissue adjacent to the electrodes. The longer tissue is exposed to the high temperatures associated with electrosurgery, the more likely it is to undergo thermal necrosis. In certain instances, thermal necrosis of tissue not only slows tissue cutting and increases the incidence of thermal damage to tissue located away from the cut site, but also post-operative complications, May increase eschar formation and healing time.

The concentration of the RF energy discharge affects both the efficiency with which the electrode can cut tissue and the potential for tissue damage remote from the cut site. With standard electrode geometries, the RF energy tends to be evenly distributed over a relatively large area adjacent to the intended incision site. A generally uniform distribution of RF energy discharge increases the potential for extraneous charge loss into the surrounding tissue, which can increase the potential for unwanted tissue damage in the surrounding tissue.

A typical electrosurgical generator produces various operating frequencies of RF electrical energy and output power levels. The specific operating frequency and power output of the generator will vary based on the particular electrosurgical generator being used and the needs of the physician during the electrosurgical procedure. The specific operating frequency and power output level can be manually adjusted on the generator by a clinician or other operating room personnel. Properly adjusting these various settings requires a great deal of knowledge, skill and attention of a clinician or other personnel. As the clinician makes desired adjustments to various settings on the generator, the generator can maintain their output parameters during electrosurgery. Generally, wave generators used in electrosurgery are adapted to produce RF waves having output powers in the range of 1-300 W in cutting mode and 1-120 W in coagulation mode, and frequencies in the range of 300-600 kHz. It is Typical wave generators are adapted to maintain selected settings during electrosurgery. For example, if a clinician sets the output power level of the generator to 50W and then performs electrosurgery with the electrodes in contact with the patient, the power level of the generator rises rapidly and is maintained at 50W. be. Setting the power level to a particular setting, such as 50W, allows the clinician to cut the patient's tissue, and maintaining such a high power level increases the likelihood of thermal necrosis of the patient's tissue. Let

In some forms, the generator is configured to provide sufficient power to effectively perform electrosurgery in conjunction with the electrode to increase the concentration of the RF energy discharge while simultaneously removing unwanted tissue. Designed to limit injury, reduce post-operative complications and promote faster healing. For example, the waveform from the generator can be optimized by the control circuitry throughout the surgical procedure. However, the subject matter claimed herein is not limited to aspects that remedy any disadvantages or operate only in environments such as those described above. Rather, this background is merely provided to illustrate one example of an area of technology in which some aspects described herein may be implemented.

As provided herein, energy devices are used to treat tissue (e.g., to cut tissue, cauterize blood vessels, and/or coagulate tissue in and/or near target tissue). b) deliver mechanical and/or electrical energy to the target tissue; Cutting, cauterizing, and/or coagulating tissue may release fluids and/or particulates into the air. Such fluids and/or particulates emitted during surgical procedures may include, for example, smoke, which may include carbon particles and/or other particles suspended in the air. In other words, the fluid may include smoke and/or other fluid matter. Approximately 90% of endoscopic and open surgical procedures generate some degree of smoke. Smoke can be offensive to the clinician(s), assistant(s), and/or patient(s) olfactory senses, and may obscure the clinician(s)' view of the surgical site, making certain For example, inhaling may be unhealthy. For example, fumes generated during electrosurgical procedures include acrolein, acetonitrile, acrylonitrile, acetylene, alkylbenzenes, benzene, butadiene, butene, carbon monoxide, creosol, ethane, ethylene, formaldehyde, free radicals, hydrogen cyanide, isobutene, methane, Phenol, polycyclic aromatic hydrocarbons, propene, propylene, pyridene, pyrrole, styrene, toluene, and xylene, as well as dead and live cell material (including blood fragments), and viruses. Certain materials identified in surgical smoke have been identified as known carcinogens. It is estimated that one gram of tissue ablated during electrosurgical procedures can be equivalent to six unfiltered cigarettes worth of toxins and carcinogens. Additionally, exposure to smoke emitted during electrosurgical procedures has been reported to cause eye and lung irritation in health care workers.

In addition to the toxicity and odors associated with materials in surgical smoke, the size of particulate matter in surgical smoke is an important consideration for clinician(s), assistant(s), and/or patient(s). can be harmful to the respiratory system of In certain instances, particulates can be very small. Repeated inhalation of very small particulate matter can lead to acute and chronic respiratory illness in certain instances.

Many electrosurgical systems include a surgical evacuation system that captures smoke resulting from a surgical procedure and directs the captured smoke away from the clinician(s) and/or patient(s) through filters and exhaust ports. Use For example, the evacuation system may be configured to evacuate smoke generated during an electrosurgical procedure. Although the reader may refer to such evacuation systems as "smoke evacuation systems," such evacuation systems are configured to expel more than just smoke from the surgical site. you will understand that it can be done. Throughout this disclosure, the "smoke" emitted by the emission system is not limited to just smoke. Rather, the smoke evacuation system disclosed herein can be used to evacuate a variety of fluids including liquids, gases, vapor, smoke, steam, or combinations thereof. The fluid may be biological in nature and/or may be introduced to the surgical site from an external source during the procedure. Fluids can include, for example, water, saline, lymph, blood, exudate, and/or purulent discharge. Additionally, the fluid may contain particulates or other material (eg, cellular material or debris) that is expelled by the expulsion system. For example, such microparticles may be suspended in a fluid.

Evacuation systems often include pumps and filters. The pump creates suction that draws the smoke into the filter. For example, suction can be configured to draw smoke from the surgical site through the evacuation conduit to the conduit opening and into the evacuation system's ejector housing. Ejector housing 50018 of surgical ejection system 50000 is shown in FIG. In one aspect of the disclosure, the pump and filter are positioned within the eductor housing 50018 . Smoke drawn into the eductor housing 50018 travels to the filter via the suction conduit 50036, and harmful toxins and unpleasant odors are filtered from the smoke as it travels through the filter. Aspiration conduits may also be referred to as vacuum and/or evacuation conduits and/or tubes, for example. The filtered air may then exit the surgical evacuation system as exhaust. In certain examples, the various drainage systems disclosed herein can also be configured to deliver fluid to a desired location, such as a surgical site.

Referring now to FIG. 2, the aspiration conduit 50036 from the ejector housing 50018 (FIG. 1) may terminate in a handpiece, such as handpiece 50032. Handpiece 50032 comprises an electrosurgical instrument that includes an electrode tip 50034 and a drainage conduit opening near and/or adjacent electrode tip 50034 . The drainage conduit opening is configured to trap fluids and/or particulates released during a surgical procedure. In such an example, evacuation system 50000 is integrated into electrosurgical instrument 50032 . Still referring to FIG. 2, smoke S is drawn into suction conduit 50036 .

In certain examples, the evacuation system 50000 can include a separate surgical tool with conduit openings and configured to draw smoke into the system. In yet another example, a tool with a drainage conduit and openings can be snap fitted onto an electrosurgical tool as shown in FIG. For example, a portion of the suction conduit 51036 can be positioned around (or adjacent to) the electrode tip 51034 . In one example, the suction conduit 51036 can be releasably secured to an electrosurgical tool handpiece 51032 that includes an electrode tip 51034 having a clip or other fastener.

Various internal components of the ejector housing 50518 are shown in FIG. In various examples, the internal components of FIG. 4 can also be incorporated into the ejector housing 50018 of FIG. Referring primarily to FIG. 4, the evacuation system 50500 includes an ejector housing 50518, a filter 50502, an evacuation mechanism 50520, and a pump 50506. Evacuation system 50500 defines flow path 50504 through ejector housing 50518 having inlet port 50522 and outlet port 50524 . Filter 50502 , evacuation mechanism 50520 , and pump 50506 are arranged in series with flow path 50504 through ejector housing 50518 between inlet port 50522 and outlet port 50524 . Entry port 50522 can be fluidly connected to an aspiration conduit, such as, for example, aspiration conduit 50036 of FIG. 1, which can include a distal conduit opening positionable at the surgical site.

Pump 50506 is configured to create a pressure differential within flow path 50504 by mechanical action. The pressure differential is configured to draw smoke 50508 from the surgical site into entry port 50522 and along flow path 50504 . After the smoke 50508 travels through the filter 50502, the smoke 50508 can be considered filtered smoke or air 50510, which can travel through the flow path 50504 and exit port 50524 is extruded. Flow path 50504 includes first zone 50514 and second zone 50516 . A first zone 50514 is upstream of the pump 50506 . A second zone 50516 is downstream of the pump 50506 . Pump 50506 is configured to pressurize the fluid in channel 50504 such that the fluid in second zone 50516 has a higher pressure than the fluid in first zone 50514 . Motor 50512 drives pump 50506 . Various suitable motors are further described herein. Exhaust mechanism 50520 is a mechanism that can control the velocity, direction, and/or other characteristics of filtered smoke 50510 exiting exhaust system 50500 at exit port 50524 .

The flow path 50504 through the evacuation system 50500 can be constructed of a tube or other conduit that substantially contains and/or isolates fluid traveling through the flow path 50504 from fluid outside the flow path 50504. . For example, the first zone 50514 of the flow path 50504 can comprise a tube through which the flow path 50504 extends between the filter 50502 and the pump 50506. The second zone 50516 of the flow path 50504 can also comprise a tube through which the flow path 50504 extends between the pump 50506 and the exhaust mechanism 50520. The flow path 50504 also extends through the filter 50502 , the pump 50506 and the exhaust mechanism 50520 such that the flow path 50504 extends continuously from the inlet port 50522 to the outlet port 50524 .

During operation, smoke 50508 may enter filter 50502 at inlet port 50522 and may be pumped through flow path 50504 by pump 50506 such that smoke 50508 is drawn into filter 50502 . Filtered smoke 50510 may then be pumped through exhaust mechanism 50520 and out of exit port 50524 of exhaust system 50500 . The filtered smoke 50510 exiting the exhaust system 50500 at the exit port 50524 is exhaust and may consist of filtered gas that has passed through the exhaust system 50500 .

In various examples, the ejection systems disclosed herein (eg, ejection system 50000 and ejection system 50500) are computer-implemented interactive surgical systems, such as, for example, system 100 (FIG. 39) or system 200 (FIG. 47). can be incorporated into In one aspect of the present disclosure, for example, computer-implemented surgical system 100 can include at least one hub 106 and cloud 104 . Referring primarily to FIG. 41, hub 106 includes smoke evacuation module 126 . The operation of smoke evacuation module 126 may be controlled by hub 106 based on its situational awareness and/or feedback from its components and/or based on information from cloud 104 . Computer-implemented surgical systems 100 and 200, and situational awareness therefor, are further described herein.

Situational awareness encompasses the ability of some aspects of the surgical system to determine or infer information related to a surgical procedure from data received from databases and/or instruments. The information may include the type of procedure being performed, the type of tissue being operated on, or the body cavity being treated. Contextual information related to the surgical procedure may allow the surgical system to control, for example, modular devices (e.g., smoke evacuation systems) to which it is connected to provide contextual information or suggestions to the clinician during the course of the surgical procedure. You can improve the way you do it. Situational Awareness is further described herein and in U.S. Provisional Patent Application No. 62/611,341, entitled "INTERACTIVE SURGICAL PLATFORM," filed December 28, 2017, which is hereby incorporated by reference in its entirety. Are listed.

In various examples, surgical systems and/or drainage systems disclosed herein can include a processor. The processor controls one or more operating parameters of the surgical system and/or the evacuation system based, for example, on sensed and/or aggregated data and/or one or more user inputs. can be programmed to FIG. 5 is a schematic diagram of an electrosurgical system 50300 including a processor 50308. As shown in FIG. The electrosurgical system 50300 is powered by an AC power supply 50302 that provides either 120V or 240V alternating current. The voltage supplied by AC power supply 50302 is directed to AC/DC converter 50304 which converts 120V or 240V AC to 360V DC. The 360V DC is then directed to power converter 50306 (eg, a step-down converter). Power converter 50306 is a step-down DC/DC converter. Power converter 50306 is adapted to step down the input 360V to a desired level within the range of 0-150V.

Processor 50308 may be programmed to regulate various aspects, functions, and parameters of electrosurgical system 50300 . For example, the processor 50308 determines a desired output power level at the electrode tip 50334, which may be similar in many respects to the electrode tip 50034 of FIG. 2 and/or the electrode tip 51034 of FIG. Power converter 50306 can be instructed to step down the voltage to a specified level to provide power. Processor 50308 is coupled to memory 50310 configured to store machine-executable instructions for operating electrosurgical system 50300 and/or its subsystems.

A digital-to-analog converter (“DAC”) 50312 is connected between processor 50308 and power converter 50306 . DAC 50312 is adapted to convert the digital code generated by processor 50308 into an analog signal (current, voltage, or charge) that governs the voltage step-down performed by power converter 50306. do. Once the power converter 50306 steps down the 360V to a level that the processor 50308 determines provides the desired output power level, the stepped voltage is applied to the electrode tip 50334 to effect electrosurgical treatment of the patient's tissue. directed and then directed to the return or ground electrode 50335 . Voltage sensor 50314 and current sensor 50316 detect voltage and current present in the electrosurgical circuit and communicate the detected parameters to processor 50308 so that processor 50308 can determine whether to adjust the output power level. is adapted to As described herein, typical wave generators are adapted to maintain selected settings throughout the electrosurgical procedure. In other examples, the operating parameters of the generator are one or more to processor 5308, such as, for example, inputs from a surgical hub, cloud, and/or situational awareness module, as further described herein. It can be optimized during a surgical procedure based on two or more inputs.

Processor 50308 is coupled to communication device 50318 for communicating over a network. The communication device includes a transceiver 50320 configured to communicate by physical wire or wireless. Communication device 50318 may further include one or more additional transceivers. The transceiver may include a cellular modem, a wireless mesh network transceiver, a Wi-Fi® transceiver, a low power wide area (LPWA) transceiver, and/or a near field communication transceiver (NFC). but not limited to these. Communication devices 50318 include mobile phones, sensor systems (e.g. environment, location, motion, etc.) and/or sensor networks (wired and/or wireless), computing systems (e.g. servers, workstation computers, desktop computers, laptops top computers, tablet computers (such as iPad® and Galaxy Tab®), ultra-portable computers, ultra-mobile computers, netbook computers, and/or sub-notebook computers, and the like, or In at least one aspect of the disclosure, one of the devices may be a coordinator node.

Transceiver 50320 receives serial transmit data from processor 50308 via respective UARTs, modulates the serial transmit data onto an RF carrier to generate transmit RF signals, and transmits transmit RF signals via respective antennas. may be configured to transmit The transceiver(s) receives, via respective antennas, a received RF signal comprising an RF carrier modulated with serial received data, demodulates the received RF signal to extract serial received data, and performs serial reception. It is further configured to provide data to respective UARTs to the processor. Each RF signal has an associated carrier frequency and an associated channel bandwidth. Channel bandwidth is associated with carrier frequency, transmitted data, and/or received data. Each RF carrier frequency and channel bandwidth is associated with an operating frequency range(s) of transceiver(s) 50320 . Each channel bandwidth is further associated with a wireless communication standard and/or protocol that the transceiver(s) 50320 may comply with. In other words, each transceiver 50320 uses a selected wireless communication standard and/or protocol, eg, IEEE 802.11a/b/g/n and/or Zigbee routing for Wi-Fi. implementation of IEEE 802.15.4 for wireless mesh networks.

Processor 50308 is coupled to sensing and intelligent control device 50324 which is coupled to smoke evacuator 50326 . Smoke evacuator 50326 may include one or more sensors 50327 and may also include a pump motor controlled by pump and motor driver 50328 . A motor driver 50328 is communicatively coupled to the processor 50308 and the pump motor in the smoke evacuator 50326 . Sensing and intelligent control device 50324 includes sensor algorithms 50321 and communication algorithms 50322 that facilitate communication between smoke evacuator 50326 and other devices to adapt their control programs. Sensing and intelligent control device 50324 evaluates fluids, particulates, and gases extracted via exhaust conduit 50336 to, for example, improve smoke extraction efficiency as further described herein. and/or configured to reduce user smoke output. In certain examples, the sensing and intelligent control device 50324 includes one or more sensors 50327 within the smoke evacuator 50326, one or more internal sensors 50330 of the electrosurgical system 50300, and/or Communicatively coupled to one or more external sensors 50332 of system 50300 .

In certain examples, the processor can be located within an ejector housing of the surgical ejection system. For example, referring to FIG. 6, processor 50408 and memory 50410 therefor are located within ejector housing 50440 of surgical ejection system 50400 . Processor 50408 is in signal communication with motor driver 50428 , various internal sensors 50430 , display 50442 , memory 50410 and communication device 50418 . Communication device 50418 is similar in many respects to communication device 50318 described above in connection with FIG. A communication device 50418 can allow the processor 50408 within the surgical drainage system 50400 to communicate with other devices within the surgical system. For example, the communication device 50418 may include one or more external sensors 50432, one or more surgical devices 50444, one or more hubs 50448, one or more clouds 50446, and/or enable wired and/or wireless communication to one or more additional surgical systems and/or tools. The reader will readily appreciate that the surgical drainage system 50400 of FIG. 6 can be incorporated into the electrosurgical system 50300 of FIG. 5 in certain examples. Surgical drainage system 50400 also includes pump 50450 including its pump motor 50451 , drainage conduit 50436 and exhaust port 50452 . Various pumps, exhaust conduits, and vents are further described herein. Surgical drainage system 50400 can also include sensing and intelligent control devices, which can be similar in many respects to sensing and intelligent control device 50324, for example. For example, such sensing and intelligent control devices may be in signal communication with processor 50408 and/or one or more of sensors 50430 and/or external sensors 50432 .

Electrosurgical system 50300 (FIG. 5) and/or surgical drainage system 50400 (FIG. 6) can be programmed to monitor one or more parameters of the surgical system and processor 50308 and/or 50408 Surgical function may be affected based on one or more algorithms stored in memory in signal communication with. Various exemplary aspects disclosed herein may be implemented by such an algorithm, for example.

In one aspect of the present disclosure, processors and sensor systems, e.g., processors 50308 and 50408, and their respective sensor systems (FIGS. 5 and 6) communicate with, e.g., electrosurgical systems, energy devices, and/or generators. , and/or external devices and/or systems used in series with the smoke evacuation system to sense airflow through the vacuum source. In one aspect of the present disclosure, the sensor system may include a plurality of sensors positioned along the airpath of the surgical evacuation system. The sensors can measure pressure differentials within the evacuation system to detect the state or status of the system between the sensors. For example, the system between the two sensors may be a filter and the pressure difference is used to increase the pump motor speed as the flow through the filter decreases in order to maintain the flow through the system. be able to. As another example, the system can be a fluid trap in the exhaust system and can use the pressure differential to determine the airflow path through the exhaust system. In yet another example, the system may be the inlet and outlet (or exhaust port) of the evacuation system, and the pressure differential is the maximum suction load within the evacuation system to maintain the maximum suction load below the threshold. Can be used to determine load.

In one aspect of the present disclosure, a processor and sensor system, e.g., processors 50308 and 50408, and their respective sensor systems (FIGS. 5 and 6) communicate with aerosols or carbonized particulates in fluids extracted from a surgical site, That is, it is configured to detect the smoke ratio. For example, the sensing system may include sensors that detect the size and/or composition of particles used to select airflow paths through the exhaust system. In such examples, the evacuation system can include a first filtration path, or first filtration state, and a second filtration path, or second filtration state, which can have different characteristics. can. In one example, the first path includes only the particulate filter and the second path includes both the fluid filter and the particulate filter. In a particular example, the first path includes a particulate filter and the second path includes a particulate filter and a finer particulate filter arranged in series. Additional and/or alternative filtration paths are also envisioned.

In one aspect of the present disclosure, a processor and sensor system, e.g., processors 50308 and 50408 and respective sensor systems in communication therewith (FIGS. 5 and 6), chemically react to particles expelled from within the patient's abdominal cavity. Configured to perform analytics. For example, the sensing and intelligent control device 50324 may sense particle count and type to adjust the power level of the ultrasonic generator to guide the ultrasonic blade to generate less smoke. . In another embodiment, the sensor system may include sensors for detecting particle count, temperature, fluid content, and/or contamination rate of the discharged fluid, and generate the detected characteristic(s). device to adjust its output. For example, the smoke evacuator 50326 and/or the sensing and intelligent control device 50324 therefor can be configured to adjust the exhaust flow rate and/or the motor speed of the pump such that, at a given particulate level, The output power or waveform of the generator may be operably influenced to reduce smoke.

In one aspect of the present disclosure, a processor and sensor system, e.g., processors 50308 and 50408, and their respective sensor systems (FIGS. 5 and 6) communicate with ambient air and/or exhaust from the ejector housing. It is configured to assess particle counts and contamination in an operating room by assessing one or more properties. Particle counts and/or air quality may be measured, for example, on an evacuator housing, to communicate information to a clinician and/or to establish the effectiveness of its smoke evacuation system and filter(s). May be displayed on the smoke extraction system.

In one aspect of the present disclosure, a processor, e.g., processor 50308 or processor 50408 (FIGS. 5 and 6), for example, determines the correlation and/or adjusts the revolutions per minute (RPM) speed of the pump. To do so, it is configured to compare sample velocity images acquired from the endoscope with ejector particle counts from a sensing system (eg, sensing and intelligent control device 50324). In one example, activation of the generator can be communicated to the smoke evacuator so that the expected required smoke evacuation rate can be implemented. Activation of the generator can be communicated to the surgical drainage system, for example, through a surgical hub, cloud communication system, and/or direct connection.

In one aspect of the present disclosure, the sensor system and algorithms of the smoke evacuation system (see, e.g., FIGS. 5 and 6) can be configured to control the smoke evacuator and Based on the needs, its motor parameters can be adapted to adjust the filtering efficiency of the smoke evacuator. In one example, an adaptive airflow pump speed algorithm to automatically change the motor pump speed based on sensed particulates to the smoke evacuator inlet and/or from the smoke evacuator outlet or exhaust. is provided. For example, sensing and intelligent control device 50324 (FIG. 5) can include, for example, user selectable speed and automatic mode speed. At automatic mode speed, the airflow through the exhaust system may be expanded based on the lack of smoke into the exhaust system and/or filtered particles from the flue system. Automatic mode speed can provide automatic sensing and compensation for laparoscopic mode in certain instances.

In one aspect of the present disclosure, the evacuation system has an electrical and communication architecture (see, e.g., FIGS. 5 and 6) that provides data collection and communication capabilities for improved interactivity with the surgical hub and cloud. can include In one example, a surgical drainage system and/or processor, e.g., processor 50308 (FIG. 5) and processor 50408 (FIG. 6), e.g. It may include a split control circuit that is energized in a systematic manner. The split control circuit may also be configured to have an energized portion and a non-energized portion until the energized portion performs the first function. The partitioned control circuitry may include circuitry for identifying and displaying status updates to the user of the attached component. The split control circuit also includes circuitry for operating the motor in a first state in which the motor is activated by the user, and operating the pump at a quieter, slower speed while the motor is not activated by the user. and circuitry for operating the motor in the second state of operation. A split control circuit may, for example, allow the smoke evacuator to be energized in stages.

The electrical and communication architecture of the evacuation system (see, e.g., FIGS. 5 and 6) also includes interconnection of the smoke evacuator with other components within the surgical hub for interaction and data exchange with the cloud. Communication can also be provided. Communication of surgical drainage system parameters to the surgical hub and/or cloud may be provided to affect the output or operation of other attached devices. The parameter can be actionable or sensed. Operating parameters include airflow, pressure differential, and air quality. Sensed parameters include particulate concentration, aerosol rate, and chemical analysis.

In one aspect of the present disclosure, a drainage system, such as surgical drainage system 50400, can include, for example, an enclosure and replaceable components, controls, and a display. Circuitry is provided for communicating security identifiers (IDs) between such interchangeable components. For example, communication between the filter and the smoke evacuation electronics may be used to verify component reliability, remaining life, to update parameters within the component, to log errors, and/or It can be provided to limit the number and/or types of components that can be identified by the system. In various examples, the communication circuitry can authorize the ability to enable and/or disable configuration parameters. The communication circuitry may employ encryption and/or error handling schemes to manage security and unique relationships between components and smoke evacuation electronics. Disposable/reusable components are included in certain examples.

In one aspect of the present disclosure, the evacuation system can provide fluid management and extraction filters and airflow configurations. For example, a surgical drainage system is provided that includes a fluid capture mechanism, the fluid capture mechanism having first and second sets of extraction or airflow control functions, which are large fluid droplets and small fluid droplets. are arranged in series with each other to extract respectively In certain examples, the airflow path may contain a recirculation or secondary fluid channel from downstream of the exhaust port of the primary fluid management chamber back to the primary reservoir.

In one aspect of the present disclosure, an advancement pad can be coupled to the electrosurgical system. For example, the ground electrode 50335 of the electrosurgical system 50300 (FIG. 5) can include an advancing pad with local sensing integrated into the pad while maintaining capacitive coupling. For example, capacitively coupled return path pads can be used to sense neural control signals and/or movement of selected anatomical locations to detect the proximity of the monopolar tip to nerve bundles. It can have separable array elements.

An electrosurgical system can include a signal generator, an electrosurgical instrument, a return electrode, and a surgical drainage system. The generator may be an RF wave generator that produces RF electrical energy. Connected to the electrosurgical instrument is a utility conduit. A utility conduit includes a cable that communicates electrical energy from the signal generator to the electrosurgical instrument. Utility conduits also include vacuum hoses that carry trapped and/or collected smoke and/or fluid away from the surgical site. Such an exemplary electrosurgical system 50601 is shown in FIG. More specifically, electrosurgical system 50601 includes a generator 50640, an electrosurgical instrument 50630, a return electrode 50646, and an evacuation system 50600. Electrosurgical instrument 50630 includes a handle 50632 and a distal conduit opening 50634 fluidly coupled to suction hose 50636 of evacuation system 50600 . Electrosurgical instrument 50630 also includes electrodes powered by generator 50640 . A first electrical connection 50642 , eg, a wire, extends from the electrosurgical instrument 50630 to the generator 50640 . A second electrical connection 50644 , eg, a wire, extends from the electrosurgical instrument 50630 to an electrode, return electrode 50646 . In other examples, electrosurgical instrument 50630 may be a bipolar electrosurgical instrument. A distal conduit opening 50634 on the electrosurgical instrument 50630 is fluidly connected to a suction hose 50636 that extends to a filter end cap 50603 of a filter located within the ejector housing 50618 of the ejection system 50600 .

In other examples, the distal conduit opening 50634 of the drainage system 50600 may be on a separate handpiece or tool from the electrosurgical instrument 50630. For example, the evacuation system 50600 can include surgical tools that are not coupled to the generator 50640 and/or that do not include tissue-energizing surfaces. In certain examples, distal conduit opening 50634 of drainage system 50600 can be releasably attached to an electrosurgical tool. For example, the evacuation system 50600 can include a clip-on or snap-on conduit that terminates at the distal conduit opening, which can be releasably attached to a surgical tool (see, eg, FIG. 3).

The electrosurgical instrument 50630 delivers electrical energy to target tissue of a patient to cut the target tissue and/or cauterize blood vessels in/or near the target tissue, as described herein. is configured as Specifically, an electrical discharge is provided to the patient by the electrode tip to cause heating of the patient's cellular material in close contact with or adjacent to the electrode tip. Heating of tissue occurs at a reasonably high temperature such that electrosurgical instrument 50630 can be used to perform electrosurgery. A return electrode 50646 is applied to the patient (depending on the type of return electrode) to complete the circuit and provide a return electrical path to the generator 50640 for energy entering the patient's body. , or placed in close proximity to the patient.

Heating of the patient's cellular material by the electrode tip, or cauterization of blood vessels to prevent bleeding, results in the release of smoke at the location where the cauterization occurs, as further described herein. often become. In such examples, the evacuation system 50600 is configured to capture the smoke emitted during the surgical procedure because the evacuation conduit opening 50634 is near the electrode tip. Vacuum suction may draw smoke through the electrosurgical instrument 50630 into the conduit opening 50634 and into the vacuum hose 50636 towards the ejector housing 50618 of the smoke evacuation system 50600 .

Referring now to Figure 8, the ejector housing 50618 of the ejection system 50600 (Figure 7) is shown. Ejector housing 50618 includes a socket 50620 sized and structured to receive a filter. The ejector housing 50618 can completely or partially enclose the internal components of the ejector housing 50618 . Socket 50620 includes a first receptacle 50622 and a second receptacle 50624 . Transition surface 50626 extends between first receptacle 50622 and second receptacle 50624 .

Referring now primarily to FIG. 9, socket 50620 is depicted along the cross-sectional plane shown in FIG. Socket 50620 includes a first end 50621 open to receive a filter and a second end 50623 in communication with flow path 50699 through ejector housing 50618 . Filter 50670 ( FIGS. 10 and 11 ) may be removably positioned with socket 50620 . For example, filter 50670 can be inserted into and removed from first end 50621 of socket 50620 . A second receptacle 50624 is configured to receive a connection nipple of filter 50670 .

Surgical evacuation systems use filters to remove unwanted contaminants from the smoke before it is released as exhaust air. In certain examples, the filters may be replaceable. The reader will appreciate that the filter 50670 shown in FIGS. 10 and 11 can be used with various evacuation systems disclosed herein. Filter 50670 may be a replaceable and/or disposable filter.

Filter 50670 includes a front cap 50672, a rear cap 50674, and a filter body 50676 disposed therebetween. The front cap 50672, in certain examples, includes a filter inlet 50678 configured to receive smoke directly from a suction hose 50636 (FIG. 7) or other smoke source. In some aspects of the present disclosure, the front cap 50672 directs smoke directly from the smoke source and removes at least a portion of the fluid therefrom before transferring the partially treated smoke for further treatment. It can be replaced by a fluid trap that moves within the filter body 50676 (eg, the fluid trap 50760 shown in FIGS. 14-17). For example, filter inlet 50678 receives smoke through a fluid trap exhaust port, such as port 50766 of fluid trap 50760 (FIGS. 14-17), to transmit the partially treated smoke into filter 50670. can be configured as

As smoke enters the filter 50670 , the smoke may be filtered by components contained within the filter body 50676 . Filtered smoke may then exit the filter 50670 through a filter outlet 50680 defined in the rear cap 50674 of the filter 50670 . When the filter 50670 is associated with the evacuation system, suction generated within the eductor housing 50618 of the evacuation system 50600 is transmitted to the filter 50670 through the filter outlet 50680 to force smoke through the internal filtering components of the filter 50670. can be drawn in. Filters often include particulate filters and charcoal filters. A particulate filter can be, for example, a high efficiency particulate air (HEPA) filter or an ultra-low penetration air (ULPA) filter. ULPA filtering utilizes a maze-like depth filter. Particulates are captured by direct interception (particles larger than 1.0 microns are too large to pass through the fibers of the media filter), inertial impaction (particles between 0.5 and 1.0 microns At least one of impact and stay there, and diffusion intercept (particles smaller than 0.5 microns are trapped by the effects of Brownian random thermal motion such that the particles "seek out" and attach to the fiber). can be filtered using

The charcoal filter is configured to remove toxic gases and/or odors generated by surgical smoke. In various examples, the charcoal can be "activated," meaning that it has been treated with a heating process to expose active absorption sites. Charcoal can be obtained, for example, from activated virgin coconut shells.

Referring now to FIG. 11, filter 50670 includes coarse media filter layer 50684 followed by fine particulate filter layer 50686 . In other examples, filter 50670 may consist of a single type of filter. In still other examples, filter 50670 can include more than two filter layers and/or more than two different types of filter layers. After particulate matter is removed by filter layers 50684 and 50686, the smoke is drawn through carbon reservoir 50688 in filter 50670 to remove gaseous contaminants in the smoke such as, for example, volatile organic compounds. In various examples, carbon reservoir 50688 can include a charcoal filter. The filtered smoke is substantially free of particulate matter and gaseous contaminants and is drawn through filter outlet 50680 into exhaust system 50600 for further processing and/or exhaust.

Filter 50670 includes multiple dams between components of filter body 50676 . For example, a first dam 50690 is positioned intermediate the filter inlet 50678 (FIG. 10) and a first particulate filter, eg, coarse media filter 50684 . A second dam 50692 is positioned intermediate a second particulate filter, eg, fine particulate filter 50686 , and carbon reservoir 50688 . Additionally, a third dam 50694 is positioned intermediate the carbon reservoir 50688 and the filter outlet 50680 . Dams 50690 , 50692 , and 50694 may include gaskets or O-rings configured to prevent movement of components within filter body 50676 . In various examples, the size and shape of dams 50690, 50692, and 50694 can be selected to prevent expansion of the filter component in the direction of applied suction.

Coarse media filter 50684 may comprise a low air resistance filter material such as, for example, fiberglass, polyester, and/or pleated filters configured to remove most particulate matter larger than 10 μm. can be done. In some aspects of the present disclosure, this is at least 85% particulate matter greater than 10 μm, at least 90% particulate matter greater than 10 μm, at least 95% specific materials greater than 10 μm, at least 99 % of specified materials greater than 10 μm, at least 99.9% of specified materials greater than 10 μm, or at least 99.99% of specified materials greater than 10 μm .

Additionally or alternatively, coarse media filter 50684 may comprise a low air resistance filter that removes most particulate matter larger than 1 μm. In some aspects of the present disclosure, this is at least 85% particulate matter greater than 1 μm, at least 90% particulate matter greater than 1 μm, at least 95% specific materials greater than 1 μm, at least 99 % of specified material greater than 1 μm, at least 99.9% of specified material greater than 1 μm, or at least 99.99% of specified material greater than 1 μm.

Fine particulate filter 50686 can include any filter with a higher efficiency than coarse media filter 50684 . This includes, for example, filters that can filter a higher percentage of particles of the same size as the coarse media filter 50684, and/or filters that can filter particles that are smaller than the coarse media filter 50684. In some aspects of the present disclosure, fine particulate filter 50686 may include a HEPA filter or a ULPA filter. Additionally or alternatively, fine particulate filter 50686 may be pleated to increase its surface area. In some aspects of the present disclosure, the coarse media filter 50684 comprises a pleated HEPA filter and the fine particulate filter 50686 comprises a pleated ULPA filter.

After particulate filtration, the smoke enters the downstream portion of filter 50670 which includes carbon reservoir 50688 . Carbon reservoir 50688 is bounded by porous partitions 50696 and 50698 disposed between intermediate and terminal dams 50692 and 50694, respectively. In some aspects of the present disclosure, porous partitions 50696 and 50698 are rigid and/or inflexible and define a constant spatial deposit of carbon reservoirs 50688.

Carbon reservoir 50688 can include additional adsorbents that work with or independently of the carbon particles to remove gaseous contaminants. Additional adsorbents can include, for example, adsorbents such as magnesium oxide and/or copper oxide, which are designed to adsorb gaseous pollutants such as carbon monoxide, ethylene oxide, and/or ozone. can function. In some aspects of the present disclosure, the additional sorbent is dispersed throughout reservoir 50688 and/or positioned in separate layers above, below, or within reservoir 50688 .

Referring again to FIG. 4, the ejection system 50500 includes a pump 50506 within an ejector housing 50518 . Similarly, the evacuation system 50600 shown in FIG. 7 can include a pump located within the ejector housing 50618 that passes through a suction hose 50636 and through a filter 50670 (FIGS. 10 and 11). ) to draw smoke from the surgical site. In operation, the pump creates a pressure differential within the ejector housing 50618 that causes smoke to move into the filter 50670 and exit the exhaust mechanism (eg, exhaust mechanism 50520 in FIG. 4) at the outlet of the flow path. be able to. Filter 50670 is configured to extract harmful, polluting, or otherwise unwanted particulates from smoke.

The pump can be arranged in line with the flow path through the ejector housing 50618 such that gas flowing through the ejector housing 50618 enters the pump on one end and exits the pump on the other end. . The pump can provide a sealed positive displacement flow path. In various examples, the pump traps (seales) a first volume of gas as it travels through the pump, and reduces the volume to a second, smaller volume, thereby sealing the gas. A closed positive displacement flow path can be created. By decreasing the volume of trapped gas, the pressure of the gas increases. A second pressurized volume of gas may be discharged from the pump at the pump outlet. For example, the pump can be a compressor. More specifically, the pump can comprise a hybrid regenerative blower, claw pump, lobe compressor, and/or scroll compressor. Positive displacement compressors can provide improved compression ratios and operating pressures while limiting the vibration and noise generated by the exhaust system 50600. Additionally or alternatively, the evacuation system 50600 can include a fan for moving fluid therethrough.

An example of a positive displacement compressor, such as a scroll compressor pump 50650 is shown in FIG. Scroll compressor pump 50650 includes stator scroll 50652 and moving scroll 50654 . The stator scroll 50652 can be fixed in place while the moving scroll 50654 orbits eccentrically. For example, the moving scroll 50654 can orbit eccentrically to rotate about the central longitudinal axis of the stator scroll 50652 . As shown in FIG. 12, the central longitudinal axis of the stator scroll 50652 and the moving scroll 50654 extend perpendicular to the viewing planes of the scrolls 50652,50654. The stator scrolls 50652 and moving scrolls 50654 alternate with each other to form separate sealed compression chambers 50656 .

In use, gas can enter scroll compressor pump 50650 at inlet 50658 . As moving scroll 50654 orbits relative to stator scroll 50652, inlet gas is first trapped in compression chamber 50656. Compression chambers 50656 are configured to move discrete volumes of gas toward the center of scroll compressor pump 50650 along the helical contours of scrolls 50652 and 50654 . Compression chamber 50656 defines a sealed space in which gas resides. Also, as moving scroll 50654 moves trapped gas toward the center of stator scroll 50652, the volume of compression chamber 50656 decreases. This reduction in volume increases the pressure of the gas inside compression chamber 50656 . Gas within the sealed compression chamber 50656 is trapped during the volume reduction, thereby pressurizing the gas. When the pressurized gas reaches the center of scroll compressor pump 50650, the pressurized gas is discharged through outlet 50659.

Referring now to Figure 13, a portion of the evacuation system 50700 is shown. Ejection system 50700 may be similar in many respects to ejection system 50600 (FIG. 7). For example, the ejection system 50700 includes an ejector housing 50618 and a suction hose 50636. Referring again to FIG. 7, the evacuation system 50600 is configured to create suction, thereby drawing smoke from the distal end of the suction hose 50636 into the ejector housing 50618 for disposal. In particular, the suction hose 50636 is not connected to the ejector housing 50618 through the filter end cap 50603 of FIG. Rather, suction hose 50636 is connected to ejector housing 50618 through fluid trap 50760 . A filter similar to filter 50670 may be positioned in a socket of ejector housing 50618 behind fluid trap 50760 .

Fluid trap 50760 is a first fluid trap 50760 that extracts and retains at least a portion of the fluid (e.g., liquid) from the partially processed smoke before relaying it to exhaust system 50700 for further processing and filtering. is the processing point of The evacuation system 50700 treats smoke, as described herein, to reduce or eliminate unpleasant odors or other problems associated with smoke generation in the operating room (or other surgical environment). It is configured to filter and otherwise wash. By extracting liquid droplets and/or aerosols from the smoke before being further processed by the evacuation system 50700, the fluid trap 50760 may, in certain examples, among other things, increase the efficiency of the evacuation system 50700 and/or The life of filters associated with system 50700 can be extended.

Referring primarily to FIGS. 14-17, fluid trap 50760 is shown removed from ejector housing 50618 (FIG. 13). Fluid trap 50760 includes an inlet port 50762 defined in a front cover or surface 50764 of fluid trap 50760 . Inlet port 50762 may be configured to releasably receive suction hose 50636 (FIG. 13). For example, the end of the suction hose 50636 can be inserted at least partially into the inlet port 50762 and secured with an interference fit therebetween. In various examples, the interference fit can be a fluid tight and/or airtight fit such that substantially all of the smoke passing through the suction hose 50636 is transferred into the fluid trap 50760. In some examples, other mechanisms for connecting or joining the suction hose 50636 to the inlet port 50762, such as latch-based compression fittings, o-rings, threaded connections of the suction hose 50636 to the inlet port 50762, and /or other coupling mechanisms may be used.

In various examples, a fluid-tight and/or air-tight fit between the suction hose 50636 and the fluid trap 50760 may provide fluid in the exhaled smoke and/or other fluids at or near the junction of these components. It is configured to prevent material from leaking out. In some examples, for example, the suction hose 50636 has intermediate coupling devices such as O-rings and/or adapters to further ensure an airtight and/or liquid tight connection between the suction hose 50636 and the fluid trap 50760. can be associated with inlet port 50762 through .

As discussed above, fluid trap 50760 includes exhaust port 50766 . The exhaust port extends away from the back cover or surface 50768 of the fluid trap 50760 . Exhaust port 50766 defines an open channel between interior chamber 50770 of fluid trap 50760 and the outside environment. In some examples, the exhaust port 50766 is sized and shaped to be closely associated with a surgical drainage system or component thereof. For example, exhaust port 50766 is sized and configured to communicate with at least partially treated smoke from fluid trap 50760 and a filter ( FIG. 13 ) housed within ejector housing 50618 . can be shaped. In certain examples, exhaust port 50766 may extend away from the front plate, top surface, or sides of fluid trap 50760 .

In certain examples, exhaust port 50766 includes a membrane that spaces exhaust port 50766 from ejector housing 50618 . Such a membrane allows air, water, and/or vapor to pass freely through eductor housing 50618 while water or other liquid collected in fluid trap 50760 is released through exhaust port 50766 . It can function to prevent passage into the ejector housing 50618. For example, high flow microporous polytetrafluoroethylene (PTFE) may be positioned downstream of the exhaust port 50766 and upstream of the pump to protect the pump or other components of the exhaust system 50700 from damage and/or contamination. can be done.

The fluid trap 50760 is also positioned to assist the user in handling the fluid trap 50760 and/or to assist in connecting the fluid trap 50760 with the suction hose 50636 and/or the ejector housing 50618. Includes a dimensioned gripping area 50772 . Gripping area 50772 is shown to be an elongated recess. However, the reader will appreciate that gripping area 50772 may include, for example, at least one recess, groove, protrusion, slack, and/or ring, which are sized and shaped to accommodate a user's finger. It will be readily appreciated that the gripping surface may be provided in a similar manner or in another manner.

16 and 17, interior chamber 50770 of fluid trap 50760 is shown. The relative positioning of inlet port 50762 and exhaust port 50766 are configured to facilitate extraction and retention of fluid from smoke as it passes through fluid trap 50760 . In certain examples, the inlet port 50762 may comprise a notched cylindrical shape, which directs smoke and accompanying fluid toward the fluid reservoir 50774 of the fluid trap 50760 or otherwise exhausts it. It can be unidirectionally directed away from port 50766 . One example of such fluid flow is indicated by arrows A, B, C, D, and E in FIG.

As shown, smoke enters fluid trap 50760 through inlet port 50762 (indicated by arrow A) and exits fluid trap 50760 through exhaust port 50766 (indicated by arrow E). Due, at least in part, to the shape of the inlet port (e.g., longer upper sidewall 50761 and shorter lower sidewall 50763), smoke entering inlet port 50762 first flows into fluid reservoir 50774 of fluid trap 50760. and mainly directed downward (indicated by arrow B). As the smoke continues to be drawn downward into the fluid trap 50760 along arrows A and B, the initially downward directed smoke rotates downward toward the upper portion of the fluid trap 50760 and into the exhaust port. 50766 (indicated by arrows D and E) are oriented laterally away from the smoke source so as to travel in substantially opposite but parallel paths.

The unidirectional flow of smoke through the fluid trap 50760 can ensure that liquid in the smoke is extracted and retained within the lower portion of the fluid trap 50760 (eg, fluid reservoir 50774). Further, the relative positioning of the exhaust port 50766 vertically above the inlet port 50762 when the fluid trap 50760 is in an upright position does not substantially impede the flow of fluid into or out of the fluid trap 50760, It is configured to inhibit liquid from being inadvertently transported through the exhaust port 50766 by the smoke stream. Further, in certain examples, the configuration of inlet port 50762 and outlet port 50766 and/or the size and shape of fluid trap 50760 itself may enable fluid trap 50760 to be spill resistant.

In various examples, the evacuation system can include multiple sensors and intelligent controls, for example, as further described herein with respect to FIGS. In one aspect of the present disclosure, the evacuation system comprises one or more temperature sensors, one or more fluid detection sensors, one or more pressure sensors, one or more particle sensors and/or one or more chemical sensors. A temperature sensor may be positioned to detect the temperature of fluid at the surgical site that travels through the surgical drainage system and/or is exhausted from the surgical drainage system into the operating room. A pressure sensor may be positioned to detect pressure within the evacuation system, such as within the ejector housing. For example, pressure sensors can be positioned upstream of the filter, between the filter and the pump, and/or downstream of the pump. In certain examples, a pressure sensor can be positioned to detect pressure in the ambient environment outside the evacuation system. Similarly, a particle sensor can be positioned to detect particles within an ejection system, such as within an ejector housing. A particle sensor can be positioned, for example, upstream of the filter, between the filter and the pump, and/or downstream of the pump. In various examples, a particle sensor can be positioned to detect particles in the ambient environment, eg, to determine air quality in an operating room.

Ejector housing 50818 of ejection system 50800 is shown schematically in FIG. The ejector housing 50818 may be similar in many respects to the ejector housings 50018 and/or 50618, for example, and/or can be incorporated into various ejection systems disclosed herein. Ejector housing 50818 includes a number of sensors that are further described herein. The reader will appreciate that a particular ejector housing may not include each sensor shown in FIG. 18 and/or may include additional sensor(s). Similar to the ejector housings 50018 and 50618 disclosed herein, the ejector housing 50818 of FIG. 18 includes an inlet 50822 and an outlet 50824 . Fluid trap 50860 , filter 50870 and pump 50806 are sequentially aligned along flow path 50804 through ejector housing 50818 between inlet 50822 and outlet 50824 .

The ejector housing can include modular and/or replaceable components, as further described herein. For example, the ejector housing can include sockets or receptacles 50871 sized to receive modular fluid traps and/or replaceable filters. In a particular example, a fluid trap and filter can be incorporated into a single interchangeable module 50859, as shown in FIG. More specifically, fluid trap 50860 and filter 50870 form an interchangeable module 50859 that may be modular and/or replaceable and removably installs within receptacle 50871 within ejector housing 50818. be able to. In other examples, the fluid trap 50860 and filter 50870 can be separate and distinct modular components, which can be assembled together and/or separately installed within the ejector housing 50818. .

With further reference to the ejector housing 50818, the ejector housing 50818 includes multiple sensors for sensing various internal parameters and/or parameters of the surrounding environment. Additionally or alternatively, one or more modular components installed within the ejector housing 50818 can include one or more sensors. For example, still referring to FIG. 18, interchangeable module 50859 includes multiple sensors for sensing various parameters therein.

In various examples, ejector housing 50818 and/or modular component(s) compatible with ejector housing 50818 include processors such as processors 50308 and 50408 (FIGS. 5 and 6, respectively). , which is configured to receive input from one or more sensors and/or communicate output to one or more systems and/or drivers . Various processors for use with ejector housing 50818 are further described herein.

During operation, smoke from the surgical site can be drawn into inlet 50822 through fluid trap 50860 and into ejector housing 50818 . The flow path 50804 through the ejector housing 50818 of FIG. 18 can comprise sealed conduits or tubes 50805 extending between the various series of components. In various examples, smoke can flow through fluid detection sensor 50830 and chemical sensor 50832 to diverter valve 50834, which is described further herein. A fluid detection sensor, such as sensor 50830, can detect fluid particles in smoke. In one example, the fluid detection sensor 50830 can be a continuity sensor. For example, the fluid detection sensor 50830 can include two spaced apart electrodes and a sensor for detecting the degree of continuity therebetween. In the absence of fluid, continuity can be, for example, zero or substantially zero. A chemical sensor 50832 can detect chemical properties of smoke.

At switching valve 50834 , fluid may be directed into condenser 50835 of fluid trap 50860 and smoke may travel toward filter 50870 . A baffle 50864 is positioned within the condenser 50835 to facilitate condensation of fluid droplets within the fluid trap 50860 from the smoke into a reservoir. Fluid detection sensor 50836 can ensure that any fluid within ejector housing is completely or at least substantially trapped within fluid trap 50860 .

Still referring to FIG. 18, the smoke may then be directed into filter 50870 of interchangeable module 50859 . At the entrance to filter 50870 smoke can flow past particle sensor 50838 and pressure sensor 50840 . In one form, particle sensor 50838 can include a laser particle counter, as further described herein. Smoke can be filtered through a pleated ultra-low permeation air (ULPA) filter 50842 and a charcoal filter 50844 as shown in FIG.

Upon exiting the filter, filtered smoke may flow past pressure sensor 50846 and then along flow path 50804 within ejector housing 50818 towards pump 50806 . Moving through pump 50806 , the filtered smoke can flow past particle sensor 50848 and outlet pressure sensor 50850 to ejector housing 50818 . In one form, particle sensor 50848 can include a laser particle counter, as further described herein. The ejector housing 50818 of FIG. 18 also includes an air quality particle sensor 50852 and an ambient pressure sensor 50854 to detect various characteristics of the ambient environment, such as the environment within the operating room. The air quality particle sensor, or external/ambient air particle sensor 50852, may comprise at least one form of laser particle counter. The various sensors shown in Figure 18 are described further herein. Further, in various examples, alternative sensing means may be utilized in the smoke evacuation systems disclosed herein. For example, alternative sensors for counting particles and/or determining particle concentrations in fluids are further disclosed herein.

In various examples, the fluid trap 50860 shown in FIG. 18 can be configured to prevent spillage and/or leakage of trapped fluid. For example, the shape of the fluid trap 50860 can be selected to prevent trapped fluid from spilling and/or leaking. In certain examples, the fluid trap 50860 may include baffles and/or splatter screens, such as screen 50862, to prevent trapped fluid from splattering out of the fluid trap 50860. In one or more examples, the fluid trap 50860 can include a sensor for detecting the volume of fluid within the fluid trap and/or determining whether the fluid trap 50860 is filled to capacity. can. Fluid trap 50860 may include a valve for evacuating fluid therefrom. The reader will readily appreciate that a variety of alternative fluid trap arrangements and shapes can be used to trap fluid drawn into the ejector housing 50818.

In certain examples, filter 50870 may include additional and/or less levels of filtration. For example, filter 50870 can include one or more filtration layers selected from the following groups of filters: coarse media filters, fine media filters, and adsorbent-based filters. The course media filter can be, for example, a low air resistance filter that can be constructed of fiberglass, polyester, and/or pleated filters. The fine media filters can be high efficiency particulate air (HEPA) filters and/or ULPA filters. The sorbent-based filter can be, for example, an activated carbon filter. The reader will readily appreciate that a variety of alternative filter arrangements and shapes may be used to filter smoke entrained along the flow path through the ejector housing 50818.

In one or more examples, the pump 50806 shown in FIG. 18 is replaced with another compressor and/or pump such as, for example, a hybrid regenerative blower, a claw pump, and/or a lobe compressor, and / or can be used in combination with these. The reader will readily appreciate that a variety of alternative pump arrangements and shapes can be used to create suction within flow path 50804 and draw smoke into ejector housing 50818.

Various sensors within the evacuation system, such as the sensor shown in FIG. 18, can communicate with the processor. The processor may be incorporated into the evacuation system and/or may be a component of another surgical instrument and/or surgical hub. Various processors are further described herein. The on-board processor can be configured to adjust one or more operating parameters of the ejector system (eg, motor for pump 50806) based on input from sensor(s). . Additionally or alternatively, the on-board processor determines one or more operating parameters of another device, such as an electrosurgical tool and/or an imaging device, based on input from the sensor(s). can be configured to adjust.

Referring now to Figure 19, another ejector housing 50918 for the ejection system 50900 is shown. The ejector housing 50918 of FIG. 19 can be similar in many respects to the ejector housing 50818 of FIG. For example, the ejector housing 50918 defines a flow path 50904 between an inlet 50922 to the ejector housing 50918 and an outlet 50924 to the ejector housing 50918 . Intermediate inlet 50922 and outlet 50924 are positioned sequentially fluid trap 50960, filter 50970 and pump 50906. FIG. Ejector housing 50918 can include, for example, sockets or receptacles 50971 similar to receptacles 50871 sized to receive modular fluid traps and/or replaceable filters. At switching valve 50934 , fluid may be directed into condenser 50935 of fluid trap 50960 and smoke may travel toward filter 50970 . In certain examples, the fluid trap 50960 may include baffles 50964 such as screens 50962 and/or baffles such as splatter screens to prevent trapped fluid from splattering out of the fluid trap 50960 . Filters 50970 include pleated ultra-low permeation air (ULPA) filters 50942 and charcoal filters 50944 . Sealed conduits or tubes 50905 extend between the various series of components. Ejector housing 50918 also includes sensors 50830, 50832, 50836, 50838, 50840, 50846, 50848, 50850, 50852, and 50854 described further herein and shown in FIGS.

Still referring to FIG. 19, the ejector housing 50918 also includes a centrifugal blower mechanism 50980 and a recirculation valve 50990. Recirculation valve 50990 can be selectively opened and closed to recirculate fluid through fluid trap 50960 . For example, when the fluid detection sensor 50836 detects fluid, the recirculation valve 50990 can open such that fluid is directed away from the filter 50970 and back into the fluid trap 50960 . If the fluid detection sensor 50836 does not detect fluid, the valve 50990 can be closed such that smoke is directed into the filter 50970 . When fluid is recirculated through recirculation valve 50990 , fluid may be drawn through recirculation conduit 50982 . A centrifugal blower mechanism 50980 engages the recirculation conduit 50982 to create a recirculation suction force within the recirculation conduit 50982 . More specifically, when the recirculation valve 50990 is opened and the pump 50906 is activated, the suction force generated by the pump 50906 downstream of the filter 50970 causes rotation of the first centrifugal blower, or tumbling basket 50984. which can be transferred into a second centrifugal blower or tumbling basket 50986 that draws the recirculating fluid through a recirculating valve 50990 and into a fluid trap 50960 .

In various aspects of the present disclosure, the control schematics of FIGS. 5 and 6 can be utilized with the various sensor systems and ejector housings of FIGS. 18 and 19. FIG.

Surgical Drainage System with Communication Circuitry for Communication Between Filter and Smoke Evacuation Device Generally, providing network services to medical devices exposes them to malicious attacks. Network-wide firewall services provided within the network system may be provided, but these services may be vulnerable to security attacks from components within the medical device. That is, the firewall service may not have information related to the type, product, configuration, or certification of the medical device components, thus preventing malicious intent from non-genuine/unauthenticated components of the medical device. It may not be possible to protect a medical device system from certain attacks. For example, non-genuine/unauthenticated components (e.g., filter devices) may contain ransomware, which denies the medical device user access to the medical device or access to data within the medical device. there's a possibility that. Furthermore, non-authentic/unauthenticated components may not be compatible with other authentic/authenticated components of the medical device, resulting in reduced overall medical component life and/or Performance may be degraded. This can also lead to unexpected interruptions in the operation of the medical device.

Aspects of the present disclosure may address the aforementioned deficiencies. In some examples, the surgical evacuation system may include communication circuitry that may facilitate communication between the smoke evacuation device and the replaceable filter device having multiple filter components. The communication circuitry authenticates the filter device (including a plurality of filter components), verifies the remaining life of the filter device, updates parameters output from the filter device, and records errors output from the filter device. good too. The communication circuitry may limit the number or types of filter components that may be identified by the surgical drainage system and may enable/disable multiple filter components based on the results of authentication. In some examples, the communication circuit may authenticate the filter device/component by using filter component information, where the filter device/component product type, product name, It may include a unique device identifier, product branding, serial number, or configuration parameters. In some embodiments, the filter device and/or communication circuitry may encrypt or decrypt data/parameters communicated between the filter device and the communication circuitry.

In this manner, a surgical evacuation system according to an exemplary embodiment of the present disclosure detects non-genuine/unauthenticated components of a medical device, protects data/parameters of the medical device with encryption, and filters configurations. By checking the remaining life and errors of the elements, possible problems in the filter device can be checked in advance. This advantageously allows the surgical system to prevent malicious attacks and performance degradation that can be caused by non-genuine/unauthenticated components, and enables surgical intervention without unexpected disruption to the operation of the medical device. It may allow operation of the evacuation system to continue.

FIG. 20 illustrates a high-level block diagram of an exemplary smoke evacuation system 58100, according to one or more aspects of the disclosure. The smoke evacuation system 58100 includes a smoke evacuation device 58105 having a pump 58160 and a motor 58165 operatively coupled to the pump 58160, a display device 58170, a communication device 58180, a processor 58110, a memory 58120, one or two may include one or more sensors 58140A-B. In some examples, the smoke evacuation device 58105 may include a filter device 58150 and a filter communication circuit 58130. Filter device 58150 may be in communication with smoke evacuation device 58105 (eg, processor 58110) through filter communication circuitry 58130.

Smoke evacuation system 58100 may be similar to the smoke evacuation system shown in FIG. For example, processor 58110 may be in signal communication with a motor driver or motor 58165, various sensors 58140A-B, display device 58170, memory 58120, and communication device 58180. Communication device 58180 may be similar to the communication devices described above in connection with FIGS. That is, the communication device 58180 may allow the processor 58110 within the smoke evacuation system 58100 to communicate with other devices within the surgical system. For example, communication device 58180 may enable wired and/or wireless communication to external sensors, surgical devices, hubs, clouds, and/or various additional surgical systems and/or tools. The reader will readily appreciate that the smoke evacuation system of FIG. 20 can be incorporated into the surgical system of FIG. 5 in certain instances.

In some examples, filter device 58150 may be coupled to suction conduit 58155 . An evacuation mechanism 58190 may be coupled to the pump 58160 . Exhaust mechanism 58190 may be similar to exhaust mechanism 50520 . In some embodiments, the suction conduit 58155, filter device 58150, pump 58160, and exhaust mechanism 58190 provide a flow path between an inlet port (eg, inlet port 50522) and an outlet port (eg, outlet port 50524). For example, it may be arranged continuously in a line with the channel 50504). The inlet may be fluidly connected to an aspiration conduit 58155 with a distal conduit opening at the surgical site. Although the exhaust mechanism 58190 is shown located outside the smoke evacuation device 58105 , in some examples, the exhaust mechanism 58190 may be located within the smoke evacuation device 58105 .

In some embodiments, processor 58110 may be in signal communication with filter communication circuitry 58130 for communication between filter device 58150 and smoke evacuation device 58105 . In some embodiments, the filter communication circuit 58130 may be located within the smoke evacuation device 58105 or the filter device 58150. In other embodiments, communication circuitry 58130 may be located outside of smoke evacuation device 58105 . In some embodiments, communication circuitry 58130 may be part of the sensing and intelligent control device shown in FIG.

FIG. 21 illustrates filter communication circuitry 58130, according to an exemplary embodiment of the present disclosure. Filter communication circuit 58220 includes master controller 58210, authentication unit 58220, error log unit 58230, update unit 58240, encryption/description unit 58250, remaining life verification unit 58260, and data storage unit 58270. It's okay. In some embodiments, master controller 58210 may be in signal communication with processor 58110 to control other units 58220 - 58270 within filter communication circuitry 58130 . In other embodiments, processor 58110 may function as master controller 58210 .

FIG. 22 shows a filter device 58150 according to an exemplary embodiment of the present disclosure. Filter device 58150 may include multiple filter components. Filter components may include a controller 58310 , a filter element unit 58320 and a filter sensor unit 58330 . Filter element unit 58320 may include one or more filter elements 58325A-C. Filter sensor unit 58330 may include one or more filter sensors 58335A-C. Controller 58310 may control and communicate with filter element unit 58320 and filter sensor unit 58330 . Filter device 58150 may be similar to the embodiments shown in FIGS. 10, 11, 18, and 19 (eg, filter 50670). In some embodiments, one or more of the filter elements 58325A-C are fluid filters shown in FIGS. It may be a filter, carbon reservoir 50688 or charcoal filter or any other filter within filter device 58150 . Filter elements 58325A-C may also include diverter valves, baffles, tumbling baskets, or any other elements within the filter device other than sensors (eg, dams 50690, 50692, 50694, rear caps 50674, etc.). In some embodiments, one or more of the filter sensors 58335A-C are similar to the embodiments shown in FIGS. , laser particle counter 50838, etc.).

In some embodiments, the controller 58310 within the filter device 58150 may be in signal communication with the master controller 58210 of the filter communication circuit 58130 . In some embodiments, filter device 58150 may encrypt parameters output from the plurality of filter components prior to transmitting the parameters to communication circuitry 58130 . Upon receiving the encrypted parameters, communication circuitry (eg, encryption/description unit 58250) may decrypt the encrypted parameters, as discussed below.

Referring again to FIG. 21, the authentication unit 58220 may authenticate/verify the filter device 58150 or multiple filter components. In some embodiments, authentication unit 58220 may identify the number of filter components installed within filter device 58150 . Authentication unit 58220 may also limit the number or types of filter components that may be identified by the communication circuitry. For example, if the filter component is not of a component type approved for use with the filter device 58150, or if the number of filter components used with the filter device 58150 is a predetermined value (e.g., 10, 20 , 50 ), the authentication unit 58220 may disable the filter component or device 58150 . Authentication unit 58220 may also enable or disable filter device 58150 or multiple filter components based on the results of the authentication.

Error log unit 58230 may log errors or error messages from multiple filter components or filter devices 58150 . In some embodiments, error log unit 58230 may log error messages and error messages to data storage unit 58270 . The filter communication circuit 58130 can read the error message and use the error message to understand what happened in the filter device 58150 . Examples of errors and error messages include errors caused by sensor/filter failures, strange/dangerous chemicals detected by sensors/filters, moisture detected by particulate filters, clogged filters, pressure Differences (eg, between pressure sensors 50840 and 50846) and non-genuine/unauthenticated filter devices/components may also be included.

An update unit 58240 may update parameters output from multiple filter components. The updated parameters may be operational and may be sensed. Operable parameters may include airflow, pressure differential, air quality, or any other parameter associated with the operation of filter device 58150 . Sensed parameters may include particulate concentration, aerosol fraction, chemical analysis, or any other value sensed by sensors (eg, pressure, fluid, chemicals, particles) within filter device 58150 . These parameters may be stored in data storage unit 58270 and updated automatically or manually by updating unit 58240 . For example, the updating unit 58240 may update the pressure differential values stored in the data storage unit 58270 when changes in the pressure differential are detected by pressure sensors (eg, 50840, 50846). Filter communication circuitry 58130 may receive these parameters directly from each of the filter components (eg, filter elements 58325A-C/filter sensors 58335A-C) or through slave controller 58310.

Encryption/description unit 58250 may encrypt or decrypt parameters output from multiple filter components. Encryption/description unit 58250 may encrypt or decrypt any data or packets received from filter device 58150 . In some embodiments, filter device 58150 may also include an encryption/description unit similar to encryption/description unit 58250 . The encryption/description unit of the filter device 58150 may encrypt the parameters and decrypt the data from the filter communication circuit 58130 before transmitting the parameters output from the plurality of filter components to the filter communication circuit 58130. . Encrypted data/parameters communicated between filter device 58150 and filter communication circuitry 58130 may be transmitted between filter components, filter device 58150, and smoke exhaust unless the encrypted data/parameters have been decrypted. It may not be visible/readable to the device 58105.

In some embodiments, encryption/description unit 58250 and filter device 58150 encrypt data/parameters by symmetric encryption using the same (secret) key to encrypt or decrypt the data/parameters. or decrypted. In another embodiment, the encryption/description unit 58250 and filter device 58150 encrypt the data/parameters by symmetric encryption using the same (secret) key to encrypt or decrypt the data/parameters. or decrypted. In asymmetric encryption, one of the private/public keys may be used to encrypt data and the other key may be used to decrypt data.

A remaining life verification unit 58260 may verify/predict the remaining life of a plurality of filter components. In some embodiments, remaining life verification unit 58260 may use usage information about multiple filter components to verify the remaining life of the filter components. Filter component usage information includes usage time data, the number of times each filter member has been used, the number or type of errors each filter component has made, the typical life of each filter component, and upstream filter elements 58325A-C. (eg, 50840) and the pressure difference between pressure sensors located downstream (eg, 50846). In some examples, if the pressure differential value of the filter element 58325A (e.g., ULPA filter) exceeds a predetermined value that may indicate that the filter element 58325A is clogged, the remaining life verification unit 58260 determines that the filter when the remaining life of element 58325A is zero or will soon reach zero, for example, within a predetermined period of time (eg, 1-5 hours, 1-5 days, 1-5 weeks, or 1-5 months), and It may be determined that filter element 58325A should be replaced. If the filter component usage information indicates that a significant amount of mass has entered the particulate or charcoal filter, remaining life verification unit 58260 determines that the remaining life of the particulate or charcoal filter is zero or soon, e.g. It may be determined that zero within a predetermined time period (eg, 1-5 hours, 1-5 days, 1-5 weeks, or 1-5 months) and that the particulate or charcoal filter should be replaced. . If the filter component usage information indicates that the filter sensor 58335A or filter element 58325A is in error (eg, is not operating properly), the remaining life verification unit 58260 determines whether the filter sensor 58335A or filter element 58325A is zero. , or shortly, for example, becomes zero within a predetermined period of time (eg, 1-5 hours, 1-5 days, 1-5 weeks, or 1-5 months) and replace filter sensor 58335A or filter element 58325A. You may decide that you should. In some embodiments, filter component usage information may be stored in data storage unit 58270 .

Data storage unit 58270 may store information about filter components. Filter component information may include product type, product name, unique device identifier, product brand, serial number, and configuration parameters for multiple filter components. In some embodiments, information about the filter component may originate from the filter component, eg, when authentication unit 58220 authenticates/verifies the filter component. In some embodiments, data storage unit 58270 may also contain information regarding genuine/authenticated filter components. Genuine filter component information may include a list of genuine/authenticated filter component product types, product names, unique device identifiers, product trademarks, serial numbers, and configuration parameters. In some embodiments, filter component information and/or genuine filter component information may be stored in plaintext. In other embodiments, filter component information and/or genuine filter component information may be stored in encrypted form. In some embodiments, the data storage unit 58270 may also store information regarding disabled and enabled features, and algorithms or instructions for how the smoke evacuation device 58105 may use the filter components. .

In some embodiments, data/parameters from the filter device 58150 may be delivered to the smoke evacuation device 58105 (eg, data storage unit 58270), eg, as data packets. As used herein, data packet may refer to a unit of data communicated between two devices (eg, filter device 58150 and smoke extraction device 58105). Smoke evacuation device 58105 (eg, processor 58110, master controller 58210) may know how to combine received data packets into the original data/parameters.

In some embodiments, authentication unit 58220 may authenticate/verify multiple filter components in filter device 58150 by using filter component information and/or genuine filter component information. For example, authentication unit 58220 may compare the filter component information of the filter component with genuine filter component information. That is, the authentication unit 58220 is configured so that the filter component information (eg, unique device identifier/trademark/serial number of the filter in the filter device 58150) is replaced with pre-stored genuine filter component information (eg, genuine authentication filter). (in a list of unique device identifiers/trademarks/serial numbers) on the component). If it is determined that the filter component information of the filter component does not match the genuine filter component information, authentication unit 58220 may determine that the filter component is not authentic/authenticated. If the filter component is determined not to be genuine, the authentication unit 58220 may disable the filter device functionality (eg, smoke filtration, smoke detection, data processing, etc.) or filter device/component. In some embodiments, the authentication unit 58220 disables the filter device/component or filter device function by stopping the pump 58160/motor 58165 or closing the input port of one of the filters. good too.

In some embodiments, the serial number is stored in an erasable programmable read-only memory (EPROM) or electrically erasable memory of the filter device/component (e.g., slave controller 58310). It may be located in a chip such as an electrically erasable programmable read-only memory (EEPROM). For example, in some cases, only certain groups of chips may be used for authentic filter devices/components, and the serial numbers on those chips indicate that the filter device/component containing the chips is authentic. obtain. In some embodiments, when the filter device 58150 is connected to the smoke evacuation device 58105, the authentication unit 58220 can read the serial number of the chip (eg, EPROM/EEPROM) within the filter component and can be checked for authenticity. In some embodiments, authentication unit 58220 may be programmed to accept a set serial number range.

In some embodiments, filter communication circuitry 58130 (eg, master controller 58210) may function as a master device, and filter device 58150 (eg, multiple filter components including slave controller 58310) are slave devices. may function as In some embodiments, communication between the master device and the slave device may be unidirectional, from the master device to the slave device when performing the authentication process. That is, it may only be the master device that can authenticate/verify the slave device, and the slave device cannot authenticate/verify the master device. In this case, the slave device only receives information requested from the master device (e.g., filter component information, including filter component product type, product name, unique device identifier, product trademark, serial number, and configuration parameters). may provide. In some embodiments, communication between master and slave devices may be bi-directional.

In some embodiments, multiple filter components may have a hierarchical structure. For example, one of the filter components (eg, slave controller 58310) may function as the master component and the remaining filter components may function as slave components. In this case, the remaining filter components may report data/parameters directly to the master component, which in turn may report the received data/parameters to the master device (master controller 58210). In other embodiments, each of the filter components may report data/parameters directly to the master device.

In some embodiments, the smoke evacuation device 58105 and the filter device 58150 may communicate with each other through the filter communication circuitry 58130 using, for example, a wireless connection (bi-directional or uni-directional). Examples of wireless connections may include RFID (read-only or read/write), Bluetooth, Zigbee, IR, or any other suitable wireless protocol. In other examples, the smoke evacuation device 58105 and filter device 58150 may communicate with each other using a wired connection. In this case an electrical connector is provided between the smoke evacuation device 58105 and the filter device 58150 . For example, referring again to FIGS. 13 and 14, an electrical connector may be located on socket 2120 configured to receive filter device 58150 . In some embodiments, the first receptacle 2122 and/or the second receptacle 2124 may include a smoke evacuation device 58105 (eg, processor 58110, master controller 58210) and a filter device 58150 (eg, slave controller 58310 or other filter). 58325A-C, 58335A-C) can function as an electrical connector. In some embodiments, the electrical connector may be a pogo pin or plug type connector.

Referring again to FIG. 7, in some embodiments there may be cable connectors, eg, wires, extending from the smoke evacuation devices 50600, 58100 to the generator 50640. FIG. The cable connector may deliver an activation signal and information regarding energy delivery, and the smoke evacuation device 50600, 58100 controls components within the smoke evacuation device 50600, 58100 based on the activation signal and energy delivery information. good too. For example, the smoke evacuation device 50600 has received energy delivery information/signals, such as by reducing pump power/motor speed, or indicating that the generator has not been activated or fully activated. The suction force/speed may be reduced or the suction stopped by stopping the pump 58160/motor 58165 as appropriate. The smoke evacuation device 50600 may also increase suction force/velocity in response to receiving energy delivery information/signals indicating that the generator has been activated or fully activated. This may allow the smoke evacuation device 50600 to change the level of suction force/velocity when the generator 50640 is activated or deactivated.

In some embodiments, filter communication circuitry 58130 includes a Trusted Platform Module (TPM) that can be used to protect unencrypted keys and authentication information from malicious software attacks. It's okay. In some embodiments, the TPM may be a specialized microprocessor or chip that provides a protected space for keying and other security related tasks. In some embodiments, the TPM may use monotonic counters for anti-play protection, for example, to limit the number of failed accesses. For example, a TPM using a monotonic counter can prevent attempts by unauthorized components of filter device 58150 to maliciously or fraudulently transmit repeated data. A TPM can provide system 58100 with non-centralized and enhanced security.

In some examples, the display device 58170 can function as an interactive data point to receive inputs and display outputs for the smoke evacuation system 58100. In some examples, display device 58170 may include a touch screen. In some embodiments, the display device 58170 displays a smoke evacuation console with keys/buttons to control (eg, start/stop) or check the status of components within the smoke evacuation system 58100. may For example, using a key/button, the user may check activation status or data/parameters output from components within the smoke extraction system 58100 (eg, magnitude of fan/motor speed). In other embodiments, the evacuation system may include a mechanical console with keys/buttons to control or check the status of components within the smoke evacuation system 58100. In some examples, a smoke evacuation console on display device 58170 may appear similar to a mechanical console, eg, by default. In this case, the display device 58170 may display (small) icons, for example in the corners of the display device 58170, that may allow the user to access a menu structure that, when activated, may be Shows many tuning options.

In some examples, display device 58170 may interact with other display devices in surgical system 100 (eg, hub display 135). For example, display device 58170 may function as a primary display device when smoke evacuation device 58105 is not connected to hub 106 . When smoke evacuation device 58105 is connected to hub 106, display device 58170 may function as a secondary display device while hub display 135 functions as a primary display device. In this case, display device 58170 may also include control buttons for controlling hub 106 as well as smoke extraction device 58105 . In some examples, hub display 135 and/or display device 58170 may include icons that may enable one of hub display 135 and display device 58170 to become an input device for the other.

In some embodiments, one or more components within the surgical system are a filter device 58150, a filter component within the filter device 58150, a fluid trap 50760 (eg, including a fluid reservoir 50774), an air Disposable/reusable, including hoses 50636, electrosurgical instruments 50630 (eg, Zip Pens), blades in surgical instruments, or any other components within the smoke evacuation system 58100. good too.

Dual Series Large and Small Droplet Filters Fluids extracted from the surgical site by the smoke evacuation system contain liquids (e.g., large and small droplets) as well as smoke that may be generated during the surgical procedure. It can contain various microparticles. A combination of different types and/or conditions in the discharged fluid can make it difficult to filter the fluid that exits the surgical site. Additionally, certain types of substances in the fluid can be detrimental to certain filters within the smoke extraction system. For example, the presence of liquid droplets in the fluid can damage certain filters, such as particulate/charcoal filters, which can be very effective. Also, these filters can be easily damaged/clogged by relatively small droplets as well as large droplets.

Aspects of the present disclosure may address the aforementioned deficiencies. In certain examples, a surgical drainage system may include a pump, a motor operably coupled to the pump, and a flow path fluidly coupled to the pump. The flow path has a first fluid filter configured to extract large droplets in the fluid moving through the flow path and a second fluid filter configured to extract small droplets in the fluid. and filters. The first fluid filter may be connected in series with the second fluid filter and positioned upstream of the second fluid filter. The outlet port of the second fluid filter may be connected to the inlet port of the non-fluid filter, which may be damaged when moisture/droplets enter inside. In certain examples, the surgical drainage system may also include one or more recirculation channels configured to recirculate fluid exiting the first fluid filter or the second fluid filter. .

In this manner, the present disclosure enables smoke evacuation systems to extract small droplets as well as large droplets before the fluid enters a non-fluid filter that can be damaged by large and small droplets. can do. Also, the second fluid filter may use filter elements that may be more sophisticated and more expensive than the components used in the first fluid filter, and this filter within the second fluid filter Elements can tend to clog easily and quickly by large droplets. In the present disclosure, by providing a first fluid filter configured to extract large droplets upstream of a second fluid filter, the evacuation system protects the second fluid filter from damage and/or blockage. It can effectively protect and save pump power and cost. Finally, by providing one or more recirculation channels, the present disclosure ensures that the smoke evacuation system does not allow droplets to enter the non-fluid filter that could damage it. allows you to

FIG. 23 shows a schematic diagram of a housing of a smoke evacuation system 59100, according to at least one aspect of the present disclosure. The smoke evacuation system 59100 may include an evacuation housing 59105 and a fluid trap 59110 coupled to the evacuation housing 59105. The evacuation system 59100 can also include a first fluid filter device 59120 , a second fluid filter device 59130 , a non-fluid filter device 59140 and a pump 59170 . Pump 59170 may be operatively connected to the motor. Smoke evacuation system 59100 may further include a plurality of sensors 59190A-K and intelligent controls. Fluid trap 59110, non-fluid filter device 59140, pump 59170 may be similar to the embodiments shown in FIGS. 18 and 19 (eg, fluid trap, ULPA filter, charcoal filter, scroll pump). Fluid trap 59110 , filter devices 59120 , 59130 , 59140 and pump 59170 may be sequentially aligned along a flow path through ejector housing 59105 between inlet 59112 and outlet 59175 . As used herein, a non-fluid filter device 59140 is a filter device or filter that is vulnerable to droplets and can be damaged when droplets get inside (e.g., particulate/charcoal filters) can point to

In various examples, the plurality of sensors is one or more fluid detection sensors, one or more pressure sensors, one or more particle sensors, and/or one or more chemical sensors. The plurality of sensors 59190A-K may be similar to the sensors shown in FIGS. 18 and 19 (eg, sensors 50830, 50832, 50836, 50840, 50838, 50846, 50848, 50850, 50854, 50852). For example, a pressure sensor may be positioned to detect pressure within the ejection system 59100 , such as within the ejector housing 59105 . For example, the pressure sensor may be upstream of one of filter devices 59120, 59130, 59140 (e.g., sensor 59190E), between filter device 59120, 59130, 59140 and pump 59170 (e.g., sensor 59190G), and/or It may be positioned downstream of 59170 (eg, sensor 59190I). In certain examples, a pressure sensor 59190K may be positioned outside the evacuation system 59100 to detect pressure within the ambient environment.

Similarly, particle sensors 59190F, 59190H may be positioned to detect particles within the ejection system 59100 , such as within the ejector housing 59105 . The particle sensor may be, for example, upstream of one of filter devices 59120, 59130, 59140 (e.g., sensor 59190F), between filter device 59120, 59130, 59140 and pump 59170, and/or pump 59170 (e.g., sensor 59190H ). In various examples, the particle sensor 59190J may be positioned to detect particles in the ambient environment, eg, to determine air quality within an operating room.

In various examples, the fluid detection sensor is upstream of one of the filter devices 59120, 59130, 59140 (e.g., sensors 59190A, 59190C, 59190D), between the filter devices 59120, 59130, 59140 and the pump 59170, the pump 59170 , or outside of the exhaust housing 59106. Similarly, the chemical sensor may be upstream of one of the filter devices 59120, 59130, 59140 (e.g., sensor 59190B), between the filter device 59120, 59130, 59140 and the pump 59170, downstream of the pump 59170, or the exhaust housing. It may be positioned outside body 59106 .

Those skilled in the art will appreciate that a particular evacuation system may not include each sensor shown in FIG. 23 and/or may include additional sensor(s). Components within the evacuation system 59100 may be modular and/or replaceable. For example, the fluid trap 59110, filter devices 59120, 59130, 59140, pump 59170, plurality of sensors 59190A-K may be modular and/or replaceable.

A plurality of sensors 59190A-K may detect various parameters of fluid traveling through the fluid pathways in the exhaust housing 59105 and/or the surrounding environment. In various examples, the exhaust housing 59105 and/or modular components compatible with the housing 59105 receive input from one or more sensors (eg, 59190A-K), and /or may include a processor that may be configured to communicate output to one or more drivers.

As used herein, fluid may refer to any material entering inlet 59112 from the suction conduit including, for example, liquids, gases, vapors, smoke, or combinations thereof. The fluid may be biological in nature and/or may be introduced to the surgical site from an external source during the procedure. Fluids can also include water, saline, lymph, blood, exudate, and/or purulent discharge. Additionally, the fluid can also include particulates or other material (eg, cellular material or debris) that is expelled by the expulsion system. In one example, such microparticles may be suspended in a fluid.

During operation, fluid from the surgical site can be drawn into inlet 59112 through fluid trap 59110 and into ejector housing 59105 . The flow path through housing 59105 of FIG. 23 may be a sealed conduit or tube that extends between various series of components. In various examples, fluid may flow through a fluid detection sensor 59190A and a chemical sensor 59190B to the first fluid filter device 59120. The fluid detection sensor 59190A may detect fluid particles in the fluid/smoke and the chemical sensor 59190B may detect chemical properties of the fluid. The fluid detection sensor 59190A may also detect droplet concentration (eg, liquid to gas ratio) and/or droplet size in the fluid near the fluid detection sensor 59190A. The first fluid filter device 59120 may extract large droplets in the fluid. The fluid may then be directed into the second fluid filter 59130 . In the second fluid filter 59130 small droplets in the fluid exiting the first fluid filter device 59120 may be extracted. The fluid may then flow through a second fluid filter device 59130 and may be directed into a non-fluid filter device 59140 .

At the inlet of the non-fluid filter device 59140, fluid may flow past a laser particle counter 59190F and a pressure sensor 59190E. The fluid may be filtered through one or more non-fluidic filters 59144, 59146. In certain examples, the non-fluid filter device 59140 shown in FIG. 23 may include additional and/or less filtration levels. For example, the non-fluid filter device 59140 can include one or more filtration layers selected from the following groups of filters: coarse media filters, fine media filters, and adsorbent-based filters. The course media filter may be a low air resistance filter that may be composed of, for example, fiberglass, polyester, and/or pleated filters. The fine media filters may be high efficiency particulate air (HEPA) filters and/or ULPA filters. The sorbent-based filter may, for example, be an activated carbon filter (eg, a charcoal filter). In certain examples, the non-fluid filter device 59140 may also include one or more baffles 59142 or similar structures, wherein fluid entering the non-fluid filter device 59140 may be condensed. good. In certain examples, baffle 59142 may be located near the inlet port of non-fluid filter device 59140 . In certain other examples, baffle 59142 may be positioned at any other suitable location within non-fluid filter device 59140 .

Upon exiting the non-fluid filter device 59140, the fluid may flow past the pressure sensor 59190G and then along the flow path 59148 within the ejector housing 59105 towards the pump 59170. As it moves through pump 59170 , the filtered fluid can flow through laser particle sensor 59190 H and pressure sensor 59190 I at outlet 59175 of ejector housing 59105 . The ejector housing 59105 can also include an air quality particle sensor 59190J and an ambient pressure sensor 59190K to detect various characteristics of the ambient environment, such as the environment within the operating room.

In various examples, the fluid trap 59110 or first fluid filter device 59120 may be configured to prevent the escape and/or leakage of trapped fluid. For example, the shape of the fluid trap 59110 or first fluid filter device 59120 may be selected to prevent trapped fluid from escaping and/or leaking. In certain examples, the fluid trap 59110 or first fluid filter device 59120 includes one or more baffles to prevent trapped fluid from splashing out of the fluid trap 59110 or first fluid filter device 59120. 59126 and/or splatter screens may be included. In one or more examples, the fluid trap 59110/first fluid filter device 59120 is the fluid in the fluid trap 59110/first fluid filter device 59120 and/or the fluid trap 59110/first fluid filter A sensor may be included to detect whether the device 59120 is filled to volume. The fluid trap 59110/first fluid filter device 59120 may include a valve for emptying the fluid in the fluid reservoir 59114 of the fluid trap 59110 or the fluid reservoir 59125 of the first fluid filter device 59120 .

Various sensors within the evacuation system 59100 may communicate with a controller, which may be incorporated into the evacuation system 59100 and/or be a component of another surgical instrument and/or surgical hub. There may be. The controller may adjust one or more operating parameters of the ejector system (e.g., a motor for the ejector pump) based on input from the sensor(s), or the sensor(s) may ) may adjust operating parameters of another device, such as an electrosurgical tool and/or an imaging device.

Referring again to FIG. 23, in certain examples, the first fluid filter device 59120 may be configured to extract large droplets in the fluid moving through the flow path, while the second fluid filter device 59120 may be configured to Device 59130 may be configured to extract small droplets in a fluid. As shown in FIG. 23, a first fluid filter device 59120 may be connected in series with a second fluid filter device 59130 . The first fluid filter device 59120 may be positioned upstream of the second fluid filter device 59130 . In certain examples, the outlet port of the second fluid filter device 59130 may be coupled to the inlet port of the non-fluid filter device 59140.

As used herein, droplets larger than 10-20 μm can be considered large droplets. Also, droplets smaller than 10-20 μm can be considered small droplets. In certain examples, the first fluid filter device 59120 can remove most droplets larger than 20 μm. In certain examples, the first fluid filter device 59120 comprises at least 85% droplets greater than 20 μm, at least 90% droplets greater than 20 μm, at least 95% droplets greater than 20 μm, at least 99% of droplets greater than 20 μm, at least 99.9% of droplets greater than 20 μm, or at least 99.99% of droplets greater than 20 μm may be removed.

Additionally or alternatively, the first fluid filter device 59120 may remove most droplets larger than 10 μm. In certain examples, the first fluid filter device 59120 comprises at least 85% droplets greater than 10 μm, at least 90% droplets greater than 10 μm, at least 95% droplets greater than 10 μm, at least 99% of droplets greater than 10 μm, at least 99.9% of droplets greater than 10 μm, or at least 99.99% of droplets greater than 10 μm may be removed.

A second fluid filter device 59130 may, for example, remove most droplets larger than 1 μm. In certain examples, the second fluid filter device 59130 comprises at least 85% droplets greater than 1 μm, at least 90% droplets greater than 1 μm, at least 95% droplets greater than 1 μm, at least 99% of droplets greater than 1 μm, at least 99.9% of droplets greater than 1 μm, or at least 99.99% of droplets greater than 1 μm may be removed.

Additionally or alternatively, the second fluid filter device 59130 may remove, for example, most droplets larger than 0.1 μm. In a specific example, the second fluid filter device 59130 has at least 85% droplets greater than 0.1 μm, at least 90% droplets greater than 0.1 μm, at least 95% droplets greater than 0.1 μm removing droplets, at least 99% of the droplets larger than 0.1 μm, at least 99.9% of the droplets larger than 0.1 μm, or at least 99.99% of the droplets larger than 0.1 μm good too.

In certain examples, the first fluid filter device 59120 may include a switching valve 59122. Switching valve 59122 may be similar to switching valves 50834, 50934 shown in FIGS. For example, fluid intake through the switching valve 59122 may be directed along the first path 59123 when the switching valve 59122 is in the first position. When the switching valve 59122 is in the second position, fluid intake through the switching valve 59122 may be directed along the second path 59124, as shown in FIG. In certain examples, the first path 59123 may correspond to the flow path when no liquid/droplets are detected in the fluid or when the detected liquid-to-gas ratio is below a threshold. In certain other examples, the first path 59123 is such that the size of a majority of detected droplets (eg, 80%, 90%, 95%, or 99%) falls below a predetermined threshold (eg, 10-20 μm). ).

In certain examples, the second path 59124 corresponds to the flow path when liquid/droplets are detected within a fluid, e.g., an aerosol, or when the detected liquid-to-gas ratio is greater than or equal to a threshold. may In certain other examples, the second path 59124 may correspond to a flow path when the size of the majority of detected droplets is greater than or equal to a predetermined threshold (eg, 10-20 μm). The fluid detection sensor 59190A may be configured to detect the presence of droplets or aerosols in the fluid, liquid to gas ratio, and/or droplet/aerosol size. For example, the fluid detection sensor 59190A may be positioned at and/or near the output port of the fluid trap 59110 and/or the entrance port of the first fluid filter device 59120. A liquid to gas ratio above a threshold (eg, 1:2, 1:1, 2:1, 5:1, 10:1) can be considered an aerosol. A first pathway 59123 may bypass the first fluid filter device 59120 and a second pathway 59124 may direct large droplets from the fluid before the fluid is directed into the second fluid filter device 59130 . Fluid may be directed through the first fluid filter device 59120 to capture the . The efficiency of the surgical drainage system 59100 can be improved by selecting the fluid path based on the liquid to gas ratio or droplet size in the fluid.

As discussed above, if the fluid detection sensor 59190A detects a liquid-to-gas ratio equal to or greater than a threshold, droplets larger than a threshold size, or a combination of both, fluid uptake is directed to the second fluid filter device 59130 may be switched to the second path 59124 before entering. The second path 59124 may be configured to condense liquid droplets within the flow path. For example, the second pathway 59124 may include a plurality of baffles 591266 or other similar structures over which fluid may be configured to condense. As the fluid passes through the second path 59124 , the liquid may condense on the baffles 59126 therein and may be directed to drip downward into the fluid reservoir 59125 .

Conversely, if the fluid detection sensor 59190A detects a liquid-to-gas ratio below the threshold, droplets smaller than the threshold size, or a combination of both, fluid uptake is directed directly to the second fluid filter device 59130. good too. The switching valve 59122 may be positioned to bypass the second path 59124 and the first fluid filter device 59120 so that fluid flows directly to the second fluid filter device 59130 . By bypassing the first fluid filter device 59120, the surgical drainage system 59100 may require less power from the motor driving the pump 59170. For example, a motor may require more power to draw aerosol through a surgical evacuation system than to draw non-aerosol smoke through the surgical evacuation system.

In certain examples, the second fluid filter device 59130 may include a filter 59135 configured to trap small droplets (eg, smaller than 10-20 μm). In certain examples, filter 59135 may be configured to extract droplets larger than a threshold size (eg, 0.1-1 μm). In certain examples, the filter 59135 is a membrane filter, honeycomb filter, and/or porous structure filter (e.g., a thin porous pad), or extracts small droplets or droplets larger than 0.1-1 μm. may be at least one of any other suitable filter capable of Fluid exiting the second fluid filter device 59130 may flow into the non-fluid filter device 59140 . In certain examples, the second fluid filter device 59130 may also include one or more baffles or similar structures on which fluid entering the second fluid filter device may condense. . In certain examples, the baffle may be located near the inlet port of the second fluid filter device 59130. In certain other examples, the baffle may be positioned at any other suitable location within the second fluid filter device 50130 .

Referring again to FIG. 23, the evacuation system 59100 can also include a first recirculation channel 59150. As shown in FIG. The inlet port 59152 of the first recirculation channel 59150 may be positioned between the second fluid filter device 59130 and the non-fluid filter device 59140 . The first recirculation channel 59150 may be configured to recirculate fluid exiting the second fluid filter device 59130 .

Fluid directed into the first recirculation channel 59150 may be injected into the fluid path upstream of the second fluid filter device 59130 . For example, fluid directed into the first recirculation channel 59150 may be injected into the first fluid filter device 59120 (eg, fluid reservoir 59125) as shown in FIG. In certain other examples, the fluid directed into the first recirculation channel 59150 is either the upstream portion of the second fluid filter device 59130 (eg, the inlet port of the second fluid filter device 59130) or the first 59120 and a second fluid filter device 59130.

In certain examples, the first recirculation channel 59150 (eg, the portion of the first recirculation channel 59150 near the inlet port 59152) extends downward from the inlet port 59152 of the first recirculation channel 59150. good too. This allows large or small droplets in the fluid exiting the second fluid filter device 59130 to be directed by gravity into the first recirculation channel 59150 .

In certain examples, the evacuation system 59100 can also include a first recirculation valve 59155. First recirculation valve 59155 may be configured to close and/or open first recirculation channel 59150 . When the first recirculation valve 59155 is opened, fluid exiting the second fluid filter device 59130 may be directed to the first recirculation channel 59150 . In certain examples, the evacuation system 59100 may further include a fluid detection sensor 59190D. A fluid detection sensor 59190D may be positioned near the first recirculation valve 59155 . Fluid detection sensor 59190D may be similar to fluid detection sensor 59190A. The fluid detection sensor 59190D may be configured to detect parameters of the fluid (eg, droplet size in the fluid, liquid to gas ratio). First recirculation valve 59155 may open first recirculation channel 59150 when a parameter sensed by fluid detection sensor 59190D is greater than or equal to a predetermined threshold. For example, the fluid detection sensor 59190D has a liquid-to-gas ratio above a threshold (eg, 1:2, 1:1, 2:1, 5:1, 10:1) and/or a threshold (eg, 0.1-1 μm) ), the fluid exiting the second fluid filter device 59130 may be diverted to the first recirculation channel. In this manner, the evacuation system 59100 can prevent droplets/moisture from entering the non-fluid filter device 59140 that could damage the filters 59144,59146. If the fluid detection sensor 59190D detects a liquid-to-gas ratio below a threshold and/or a droplet size below a threshold (eg, 0.1-1 μm), the first recirculation valve 59155 detects the second fluid. It may be closed such that fluid exiting filter device 59130 is directed into non-fluid filter device 59140 .

In certain examples, recirculating fluid through the first recirculating channel 59150 may pass back through the first fluid filter device 59120 and/or the second fluid filter device 59130, the recirculating step being fluid detection. It may be repeated until the parameter detected by sensor 59190D falls below a predetermined threshold. In a particular example, if the number of iterations is greater than or equal to a predetermined threshold (e.g., 5x, 10x, or any other suitable value greater than 0), (this is the first/second fluid filter First/second fluids that may indicate that some component within the device 59120/59130 is not working properly (e.g., due to sensor failure, damage to filters/baffles or blockages) Filter device 59120/59130 or evacuation system 59100 may be disabled, for example, by stopping pump 59170 or motor. In this case, the processor of the drainage system 59100 may notify the drainage system 59100 or the user that there is an error in the first/second fluid filter device 59120/59130.

In certain examples, the evacuation system 59100 can also include a second recirculation channel 59160. The inlet port 59162 of the second recirculation channel 59160 may be positioned between the first fluid filter device 59120 and the second fluid filter device 59130 . A second recirculation channel 59160 may be configured to recirculate fluid that exits the first fluid filter 59120 . In certain examples, the fluid directed into the second recirculation channel 59160 is in the fluid path upstream of the first fluid filter device 59120 (eg, reservoir 59114 or fluid trap 59110) or the first fluid filter device It may be injected into an upstream portion of 59120 (eg, the inlet port of the first fluid filter or the reservoir 59125 of the first fluid filter device 59120). In certain examples, the second recirculation channel 59160 (eg, the portion of the second recirculation channel 59160 near the inlet port 59162) extends downward from the inlet port 59162 of the second recirculation channel 59160. good too. This allows large or small droplets in the fluid exiting the first fluid filter device 59120 to be directed by gravity into the second recirculation channel 59160 .

In certain examples, the evacuation system 59100 may further include a second recirculation valve 59165. Second recirculation valve 59165 may be configured to close and/or open second recirculation channel 59160 . Fluid exiting the first fluid filter device 59120 may be recirculated through the second recirculation channel 59160 when the second recirculation valve is opened.

In certain examples, the evacuation system 59100 can also control the second recirculation valve 59165 using the fluid detection sensor 59190C. Fluid detection sensor 59190C may be similar to fluid detection sensors 59190A,D. A fluid sensor 59190C may be positioned near the second recirculation valve 59165 . The fluid sensor 59190C may be configured to detect parameters of the fluid (eg, droplet size in the fluid, liquid to gas ratio). The second recirculation valve 59165 may open the second recirculation channel 59160 when the parameter sensed by the fluid detection sensor 59190C is above a predetermined threshold. For example, the fluid detection sensor 59190C has a liquid to gas ratio above a threshold (eg, 1:2, 1:1, 2:1, 5:1, 10:1) and/or above a threshold (eg, 10-20 μm). Fluid exiting the first fluid filter device 59120 may be diverted into the second recirculation channel 59160 when detecting even larger droplet sizes. In this manner, the evacuation system 59100 can prevent large droplets/moisture from entering the second fluid filter device 59140, which could easily and/or quickly clog the filter 59135. . If the fluid sensor 59190C detects a liquid-to-gas ratio below a threshold and/or a droplet size below a threshold (eg, 10-20 μm), the second recirculation valve 59165 is switched from the first fluid filter device 59120 It may be closed such that spilled fluid is directed into the second fluid filter device 59130 .

In certain examples, the recirculating fluid passing through the second recirculating channel 59160 may pass through the first fluid filter device 59120 again, and the recirculating process is such that the parameter sensed by the fluid detection sensor 59190C is a predetermined It may be repeated until the threshold is exceeded. In a particular example, if the number of iterations is greater than or equal to a predetermined threshold (e.g., 5x, 10x, or any other suitable value greater than 0) (this is the If some component is not working properly (eg, due to sensor failure, damage to the baffle, or blockage), the first fluid filter device 59120 or drainage system 59100 may, for example, It may be disabled by stopping the pump 59170 or motor. In this case, the processor of the drainage system 59100 may notify the drainage system 59100 or the user that the first fluid filter device 59120 has an error.

In certain examples, the first recirculation valve 59155 may be configured to open and/or close the flow path between the second fluid filter device 59130 and the non-fluid filter device 59140. For example, when the parameter sensed by the fluid detection sensor 59190D is greater than or equal to a predetermined threshold, the first recirculation valve 59155 opens the first recirculation channel 59150 and causes the second fluid filter device 59130 and the non-fluid filter device 59130 to open. The flow path to and from filter device 59140 is closed at the same time. In this manner, the present disclosure advantageously provides that the drainage system 59100 is substantially It may be possible to switch all fluid into the first recirculation channel 59150 . Also, in certain instances, closing the first recirculation channel 59150 and opening the flow path between the second fluid filter device 59130 and the non-fluid filter device 59140 is performed as opposed to multiple steps/actions. , can be performed in a single step/operation. For example, as shown in FIG. 23, when the first recirculation valve 59155 is opened 90 degrees, the first recirculation valve 59155 allows a block the flow path.

Similarly, in certain examples, the second recirculation valve 59165 is configured to open and/or close the flow path between the first fluid filter device 59120 and the second fluid filter device 59130. good too. In a particular example, when the parameter detected by the fluid detection sensor 59190C is greater than or equal to a predetermined threshold, the second recirculation valve 59165 opens the second recirculation channel 59160 and the first fluid filter device 59120 and the second fluid filter device 59130 may be closed simultaneously. In this manner, the present disclosure advantageously addresses the potential for the drainage system 59100 to easily/rapidly clog the second fluid filter device 59130 and/or the filter 59135 of the second fluid filter device 59130. Substantially all fluid exiting the first fluid filter device 59120 including certain large droplets can be allowed to be diverted into the second recirculation channel 59160 . Also, in certain examples, closing the second recirculation channel 59160 and opening the flow path between the first fluid filter device 59120 and the second fluid filter device 59130 is as opposed to multiple steps/actions. In principle, it can be done in a single step/action. For example, as shown in FIG. 23, when the second recirculation valve 59165 is opened 90 degrees, the second recirculation valve 59165 connects the first fluid filter device 59120 and the second fluid filter device 59130. to close the flow path between This can advantageously reduce the number of signals/commands between the processor and the components of the ejection system 59100 and prevent possible signal delays and component malfunctions due to signal delays.

In certain examples, the exhaust system 59100 may include one or more centrifugal blower mechanisms. For example, a first centrifugal blower 59180A (e.g., a tumbling basket) may be provided in the flow path 59148 between the non-fluid filter device 59140 and the pump 59170, and a second centrifugal blower 59180B may provide the first A circulation channel 59150 may be provided. First centrifugal blower 59180A may be operatively coupled to second centrifugal blower 59180B, for example, via one or more gears 59185A. For example, when the first recirculation valve 59155 is opened and the pump 59170 is activated, the suction force generated by the pump 59170 may cause rotation of the first centrifugal blower 59180A, which is the gear 59185A to a second centrifugal blower 59180B, which draws recirculating fluid through a first recirculating channel 59150.

Similarly, the second recirculation channel 59160 may be provided with a third centrifugal blower 59180C. In a particular example, the third centrifugal blower 59180C is connected to the first centrifugal blower 59180B via one or more gears 59185A-B and the second centrifugal blower 59180B, eg, as shown in FIG. may be operably coupled to the 59180A. In this case, when the second recirculation valve 59165 is opened and the pump 59170 is activated, the suction force generated by the pump 59170 may cause rotation of the first centrifugal blower 59180A, which It is transmitted to a second centrifugal blower 59180B and then to a third centrifugal blower 59180C, which draws recirculating fluid through a second recirculating channel 59160. In certain other examples, the third centrifugal blower 59180C may be operatively coupled to the first centrifugal blower 59180A, e.g., via gear 59185B, without an intervening second centrifugal blower 59180B. good. In this case, when the second recirculation valve 59165 is opened and the pump 59170 is activated, the suction force generated by the pump 59170 may cause rotation of the first centrifugal blower 59180A, which is 1 It may be transmitted through one or more gears 59185B to a third centrifugal blower 59180C, which draws recirculating fluid through a second recirculating channel 59160. In this manner, the present disclosure advantageously provides motor / The power from the pump can be reduced. In certain other examples, the first recirculation channel 59150 and/or the second recirculation channel 59160 may be provided with separate pumps to generate suction.

The reader will readily appreciate that the various surgical drainage systems and components described herein can be incorporated into computer-implemented interactive surgical systems, surgical hubs, and/or robotic systems. For example, the surgical evacuation system can communicate data to the surgical hub, robotic system, and/or computer-implemented interactive surgical system and/or the surgical hub, robotic system, and/or computer-implemented interactive surgical system. Data can be received from the system. Various examples of computer-implemented interactive surgical systems, robotic systems, and surgical hubs are further described below.

Computer-implemented Interactive Surgical System Referring to FIG. 24, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a remote server 113 coupled to a cloud-based system (eg, storage device 105). the cloud 104) to obtain; Each surgical system 102 includes at least one surgical hub 106 that communicates with cloud 104 that may include remote servers 113 . In one example, as shown in FIG. 24, the surgical system 102 includes a visualization system 108, a robotic system 110, and a handheld intelligent surgical instrument configured to communicate with each other and/or with the hub 106. 112 and . In some aspects, the surgical system 102 may include M hubs 106, N visualization systems 108, O robotic systems 110, and P handheld intelligent surgical instruments 112. , where M, N, O, and P are integers of 1 or greater.

FIG. 26 illustrates one embodiment of surgical system 102 used to perform a surgical procedure on a patient lying on operating table 114 within surgical operating room 116 . Robotic system 110 is used as part of surgical system 102 in a surgical procedure. Robotic system 110 includes a surgeon's console 118 , a patient-side cart 120 (surgical robot), and a surgical robot hub 122 . The patient-side cart 120 is capable of manipulating at least one releasably coupled surgical tool 117 while the surgeon views the surgical site via the surgeon's console 118 during minimally invasive incisions in the patient's body. . Images of the surgical site may be obtained by a medical imaging device 124 , which may be manipulated by the patient-side cart 120 to orient the imaging device 124 . The robotic hub 122 can be used to process images of the surgical site for subsequent display to the surgeon via the surgeon's console 118 .

Other types of robotic systems can be readily adapted for use with surgical system 102 . Various examples of robotic systems and surgical tools suitable for use with the present disclosure are entitled "ROBOT ASSISTED SURGICAL PLATFORM," filed Dec. 28, 2017, the disclosure of which is incorporated herein by reference in its entirety. See US Provisional Patent Application No. 62/611,339.

Various examples of cloud-based analytics performed by the cloud 104 and suitable for use with the present disclosure are described in "CLOUD-BASED MEDICAL US Provisional Patent Application No. 62/611,340 entitled ANALYTICS.

In various aspects, imaging device 124 includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, charge coupled device (CCD) sensors and complementary metal oxide semiconductor (CMOS) sensors.

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

One or more illumination sources may be configured to emit electromagnetic energy within the visible and invisible spectrums. The visible spectrum, sometimes referred to as the optical spectrum or emission spectrum, is the portion of the electromagnetic spectrum that is visible (i.e., detectable by the human eye) to the human eye and is sometimes referred to as visible light, or simply light. A typical human eye responds to wavelengths in air from about 380 nm to about 750 nm.

The invisible spectrum (ie, non-emissive spectrum) is the portion of the electromagnetic spectrum that lies below and above the visible spectrum (ie, wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths above about 750 nm are longer than the red visible spectrum and these become invisible infrared (IR), microwave and radio electromagnetic radiation. Wavelengths less than about 380 nm are shorter than the violet spectrum and become invisible ultraviolet, X-ray, and gamma-ray electromagnetic radiation.

In various aspects, imaging device 124 is configured for use in minimally invasive surgery. Examples of imaging devices suitable for use with the present disclosure include arthroscopes, angioscopes, bronchoscopes, cholangioscopes, colonoscopes, cytoscopes, duodenoscopes, enteroscopes, esophagogastroduodenoscopes (gastroscopes) , endoscopes, laryngoscopes, nasopharyngo-neproscopes, sigmoidoscopes, thoracoscopes, and ureteroscopes.

In one aspect, the imaging device uses multispectral monitoring to distinguish between topography and underlying structure. Multispectral imaging captures image data within specific wavelength ranges across the electromagnetic spectrum. Wavelengths can be separated by filters or by using instruments that are sensitive to light from specific wavelengths, including frequencies above the visible light range, such as IR and ultraviolet light. Spectral imaging can allow the extraction of additional information that the human eye cannot capture with its red, green, and blue receptors. The use of multispectral imaging is described in US Provisional Patent Application No. 62/611,341, entitled "INTERACTIVE SURGICAL PLATFORM," filed Dec. 28, 2017, the entire disclosure of which is incorporated herein by reference. Acquisition Module" section. Multispectral monitoring can be a useful tool for repositioning the surgical field to perform one or more of the above-described tests on the treated tissue after one surgical task is completed.

It is self-evident that any surgical procedure requires rigorous sterilization of the operating room and surgical instruments. The stringent hygiene and sterilization conditions required in the "surgical theater", ie operating room or procedure room, require maximum sterility of all medical devices and equipment. Part of that sterilization process is the need to sterilize anything that comes in contact with the patient or enters the sterile field, including the imaging device 124 and its accessories and components. A sterile field may be considered a specific area considered free of microorganisms, such as in a tray or on a sterile towel, or a sterile field may be considered an area immediately surrounding a patient prepared for a surgical procedure. It will be appreciated what can be done. A sterile field may include clean team members in appropriate clothing and all equipment and fixtures within the area.

In various aspects, the visualization system 108 includes one or more imaging sensors strategically placed relative to the sterile field and one or more image processing units, as shown in FIG. , one or more storage arrays, and one or more displays. In one aspect, the visualization system 108 includes HL7, PACS, and EMR interfaces. The various components of visualization system 108 are described in U.S. Provisional Patent Application No. 62/611,341, entitled "INTERACTIVE SURGICAL PLATFORM," filed Dec. 28, 2017, the entire disclosure of which is incorporated herein by reference. It is described in the section "Advanced Imaging Acquisition Module".

As shown in FIG. 25, primary display 119 is positioned within the sterile field so as to be visible to an operator positioned at operating table 114 . Additionally, the visualization tower 111 is positioned outside the sterile field. The visualization tower 111 includes a first non-sterile display 107 and a second non-sterile display 109 facing away from each other. A visualization system 108 guided by hub 106 is configured to coordinate information flow to operators inside and outside the sterile field using displays 107, 109, and 119. FIG. For example, hub 106 may cause visualization system 108 to display a snapshot of the surgical site recorded by imaging device 124 on non-sterile display 107 or 109 while maintaining a live image of the surgical site on primary display 119. can be done. A snapshot on a non-sterile display 107 or 109 can, for example, allow a non-sterile operator to perform diagnostic steps related to a surgical procedure.

In one aspect, the hub 106 transmits diagnostic input or feedback entered by a non-sterile operator located at the visualization tower 111 within the sterile field to the primary display 119 within the sterile field, which directs it to the sterile operator located at the operating table. It is also configured so that people can see it. In one example, the input may be in the form of modifications to the snapshot displayed on non-sterile display 107 or 109 that can be sent by hub 106 to primary display 119 .

Referring to FIG. 25, surgical instrument 112 is being used as part of surgical system 102 in a surgical procedure. Hub 106 is also configured to coordinate information flow to the display of surgical instrument 112 . For example, US Provisional Patent Application No. 62/611,341, filed December 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosure of which is incorporated herein by reference. Diagnostic input or feedback entered by a non-sterile operator at visualization tower 111 may be sent by hub 106 to surgical instrument display 115 within the sterile field, where the diagnostic input or feedback is input to surgical instrument 112 . It may be viewed by an operator. Exemplary surgical instruments suitable for use with the surgical system 102 are described, for example, in the "Surgical Instrument Hardware" section and the 2017 publication entitled "INTERACTIVE SURGICAL PLATFORM", the entire disclosures of which are incorporated herein by reference. No. 62/611,341, filed Dec. 28.

Referring now to FIG. 26 , hub 106 is shown in communication with visualization system 108 , robotic system 110 and handheld intelligent surgical instrument 112 . Hub 106 includes hub display 135 , imaging module 138 , generator module 140 , communication module 130 , processor module 132 and storage array 134 . In certain aspects, the hub 106 further includes a smoke evacuation module 126 and/or an aspiration/irrigation module 128, as shown in FIG.

During surgical procedures, the application of energy to tissue for sealing and/or cutting is generally accompanied by evacuation of smoke, aspiration of excess fluid, and/or irrigation of tissue. Fluid, power, and/or data lines from different sources often become entangled during surgical procedures. Valuable time may be lost in addressing this issue during a surgical procedure. Untangling the lines may require uncoupling the lines from their corresponding modules, which may require the modules to be reset. The hub's modular housing 136 provides a unified environment for managing power, data, and fluid lines, reducing the frequency of tangling between such lines.

Aspects of the present disclosure present a surgical hub for use in surgical procedures involving the application of energy to tissue at a surgical site. The surgical hub includes a hub housing and a combination generator module slidably receivable within a docking station of the hub housing. The docking station contains data and power contacts. A combination generator module includes two or more of an ultrasonic energy generator component, a bipolar RF energy generator component, and a unipolar RF energy generator component housed within a single unit. In one aspect, the combination generator module further comprises a smoke evacuation component, at least one energy delivery cable for connecting the combination generator module to a surgical instrument, and smoke generated by application of therapeutic energy to tissue. , at least one smoke evacuation component configured to evacuate fluids and/or particulates, and a fluid line extending from the remote surgical site to the smoke evacuation component.

In one aspect, the fluid line is a first fluid line and a second fluid line extends from a remote surgical site to an aspiration and irrigation module slidably received within the hub housing. In one aspect, the hub housing includes a fluidic interface.

Certain surgical procedures may require the application of more than one energy type to tissue. One energy type may be more beneficial for cutting tissue, while another different energy type may be more beneficial for sealing tissue. For example, a bipolar generator can be used to seal tissue, while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution in which the hub's modular enclosure 136 is configured to house various generators and facilitate two-way communication therebetween. One advantage of the hub's modular housing 136 is that it allows for quick removal and/or replacement of various modules.

Aspects of the present disclosure present a modular surgical housing for use in surgical procedures involving the application of energy to tissue. A modular surgical housing includes a first energy generator module configured to generate a first energy for application to tissue and a first docking port including first data and power contacts. a first docking station comprising: a first energy generator module slidably moveable into electrical engagement with the power and data contacts; and the first energy generator module comprising: Slidably moveable out of electrical engagement with the first power and data contact.

Further to the above, the modular surgical enclosure includes a second energy generator module configured to generate a second energy for application to tissue, different from the first energy; a second docking station comprising a second docking port including data and power contacts of the second energy generator module slidably moved into electrical engagement with the power and data contacts; Yes, and the second energy generator module is slidably moveable out of electrical engagement with the second power and data contacts.

Additionally, the modular surgical enclosure includes a first docking port and a second docking port configured to facilitate communication between the first energy generator module and the second energy generator module. Further includes a communication bus to and from the port.

Referring to FIGS. 3-7, aspects of the present disclosure are presented for a hub modular housing 136 that allows for modular integration of the generator module 140, the smoke evacuation module 126, and the aspiration/irrigation module 128. be done. The modular housing 136 of the hub further facilitates two-way communication between the modules 140,126,128. As shown in FIG. 28, the generator module 140 is an integrated monopolar, bipolar housing unit 139 supported within a single housing unit 139 slidably insertable into the hub's modular housing 136 . , and a generator module comprising an ultrasound component. As shown in FIG. 28, generator module 140 may be configured to connect to monopolar device 146, bipolar device 147, and ultrasound device 148. FIG. Alternatively, the generator module 140 may comprise a series of monopolar, bipolar, and/or ultrasonic generator modules interacting through the hub modular housing 136 . The modular housing 136 of the hub provides bi-directional switching between the insertion of multiple generators and the generators docked to the modular housing 136 of the hub so that multiple generators function as a single generator. may be configured to facilitate communication.

In one aspect, the hub's modular housing 136 is a modular power and power module with external and wireless communication headers to allow removable attachment of modules 140, 126, 128 and bi-directional communication therebetween. A communications backplane 149 is provided.

In one aspect, the hub modular housing 136 includes a docking station or drawer 151, also referred to herein as a drawer, configured to slidably receive the modules 140,126,128. FIG. 27 shows a partial perspective view of surgical hub housing 136 and combination generator module 145 slidably receivable in docking station 151 of surgical hub housing 136 . A docking port 152 with power and data contacts on the rear side of the combination generator module 145 is slid into position within the corresponding docking station 151 of the hub modular housing 136. Corresponding docking ports 150 are configured to engage power and data contacts of corresponding docking stations 151 of the hub modular housing 136 . In one aspect, the combination generator module 145 includes bipolar, ultrasonic, and monopolar modules and a smoke evacuation module integrated with a single housing unit 139, as shown in FIG.

In various aspects, the smoke evacuation module 126 includes a fluid line 154 that carries captured/collected smoke and/or fluid away from the surgical site, eg, to the smoke evacuation module 126 . The vacuum suction generated by the smoke evacuation module 126 can draw smoke into the openings of utility conduits at the surgical site. A utility conduit coupled to the fluid line may be in the form of flexible tubing that terminates in the smoke evacuation module 126 . The utility conduits and fluid lines define fluid pathways that extend toward the smoke extraction module 126 received within the hub housing 136 .

In various aspects, aspiration/irrigation module 128 is coupled to a surgical tool including an aspiration fluid line and a suction fluid line. In one example, the aspiration and aspiration fluid lines are in the form of flexible tubing that extends from the surgical site toward aspiration/irrigation module 128 . One or more drive systems may be configured to cause irrigation and aspiration of fluid to and from the surgical site.

In one aspect, a surgical tool includes a shaft having an end effector at its distal end, at least one energy treatment portion associated with the end effector, a suction tube, and an irrigation tube. A suction tube can have an inlet port at its distal end and the suction tube extends through the shaft. Similarly, an irrigation tube can extend through the shaft and have an inlet port proximate to the energy delivery device. The energy delivery instrument is configured to deliver ultrasonic and/or RF energy to the surgical site and is initially connected to generator module 140 by a cable extending through the shaft.

The irrigation tube can be in fluid communication with a fluid source and the suction tube can be in fluid communication with a vacuum source. A fluid source and/or a vacuum source may be housed within the aspiration/irrigation module 128 . In one example, the fluid and/or vacuum source may be housed within hub housing 136 separately from aspiration/irrigation module 128 . In such examples, the fluid interface may be configured to connect the aspiration/irrigation module 128 to a fluid source and/or a vacuum source.

In one aspect, the modules 140, 126, 128 and/or their corresponding docking stations on the hub modular housing 136 align the docking ports of the modules to the docking stations on the hub modular housing 136. Alignment features configured to engage their counterparts therein may be included. For example, as shown in FIG. 27, combination generator module 145 has side portions configured to slidably engage corresponding brackets 156 of corresponding docking stations 151 of hub modular housing 136 . Includes bracket 155 . The brackets cooperate to guide the docking port contacts of the combination generator module 145 into electrical engagement with the docking port contacts of the hub modular housing 136 .

In some aspects, the drawers 151 of the hub modular housing 136 are the same or substantially the same size, and the modules are sized to be received within the drawers 151 . For example, side brackets 155 and/or 156 may be larger or smaller depending on the size of the module. In other aspects, drawers 151 vary in size, each designed to accommodate a particular module.

Additionally, the contacts of a particular module may be keyed to engage the contacts of a particular drawer to avoid inserting a module into a drawer with incompatible contacts.

As shown in FIG. 27, the docking port 150 of one drawer 151 is coupled via a communication link 157 to the docking port 150 of another drawer 151 to accommodate modules housed within the modular housing 136 of the hub. can facilitate two-way communication between Alternatively or additionally, docking ports 150 of hub modular housing 136 may facilitate wireless two-way communication between modules housed within hub modular housing 136 . Any suitable wireless communication may be used, such as, for example, Air Titan-Bluetooth.

FIG. 29 illustrates individual power bus attachment of multiple lateral docking ports of lateral modular housing 160 configured to receive multiple modules of surgical hub 206 . Lateral modular housing 160 is configured to laterally receive and interconnect modules 161 . Modules 161 are slidably inserted into docking stations 162 of lateral modular enclosures 160 that contain backplanes for interconnecting modules 161 . As shown in FIG. 29, the modules 161 are arranged laterally within the lateral modular housing 160 . Alternatively, modules 161 may be arranged vertically within a lateral modular enclosure.

FIG. 30 shows a vertical modular housing 164 configured to receive multiple modules 165 of surgical hub 106 . Modules 165 are slidably inserted into docking stations or drawers 167 of vertical modular enclosures 164 that contain backplanes for interconnecting modules 165 . Although the drawers 167 of the vertical modular enclosure 164 are vertically oriented, in certain cases the vertical modular enclosure 164 may include laterally oriented drawers. Additionally, modules 165 may interact with each other via docking ports on vertical modular housing 164 . In the embodiment of FIG. 30, a display 177 is provided for displaying data relating to the operation of module 165 . Additionally, vertical modular enclosure 164 includes master module 178 that houses a plurality of sub-modules that are slidably received within master module 178 .

In various aspects, the imaging module 138 includes a built-in video processor and modular light sources and is adapted for use with various imaging devices. In one aspect, the imaging device consists of a modular housing that can be assembled with a light source module and a camera module. The housing may be a disposable housing. In at least one embodiment, the disposable housing is removably coupled with the reusable controller, light source module, and camera module. The light source module and/or camera module can be selectively selected depending on the type of surgical procedure. In one aspect, the camera module includes a CCD sensor. In another aspect, the camera module includes a CMOS sensor. In another aspect, the camera module is configured for scanning beam imaging. Similarly, the light source module can be configured to deliver white light or different light depending on the surgical procedure.

During a surgical procedure, it can be inefficient to remove a surgical device from the surgical field and replace it with another surgical device that includes a different camera or different light source. Temporary loss of vision in the surgical field can have undesirable consequences. The modular imaging device of the present disclosure is configured to allow replacement of a light source module or camera module midstream during a surgical procedure without having to remove the imaging device from the surgical field.

In one aspect, an imaging device comprises a tubular housing that includes a plurality of channels. The first channel is configured to slidably receive a camera module that may be configured for snap fit engagement with the first channel. The second channel is configured to slidably receive a light source module that may be configured for snap fit engagement with the second channel. In another example, the camera modules and/or light source modules can be rotated to their final positions within their corresponding channels. A threaded engagement may be employed instead of a snap-fit engagement.

In various embodiments, multiple imaging devices are positioned at various locations within the surgical field to provide multiple views. Imaging module 138 may be configured to switch between imaging devices to provide an optimal field of view. In various aspects, the imaging module 138 can be configured to integrate images from different imaging devices.

Various image processors and imaging devices suitable for use with the present disclosure are described in U.S. Patent No. 9, 2011, entitled "COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR," which is incorporated herein by reference in its entirety. 7,995,045. Further, U.S. Patent No. 7,982,776, issued July 19, 2011, entitled "SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD," which is incorporated herein by reference in its entirety, removes motion artifacts from image data. Various systems for doing so are described. Such systems may be integrated with imaging module 138 . See also U.S. Patent Application Publication No. 2011/0306840, published Dec. 15, 2011, entitled "CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS," and entitled "SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL 2." August 28, 4 Published US Patent Application Publication No. 2014/0243597 is each incorporated herein by reference in its entirety.

FIG. 31 illustrates a cloud-based system (e.g., A surgical data network 201 is shown comprising a modular communication hub 203 configured to connect to a cloud 204 ), which may include a remote server 213 coupled to a storage device 205 . In one aspect, modular communication hub 203 comprises network hub 207 and/or network switch 209 that communicate with network routers. Modular communication hub 203 can also be coupled to local computer system 210 to provide local computer processing and data manipulation. Surgical data network 201 may be configured as passive, intelligent, or switched. A passive surgical data network acts as a conduit for data, allowing data to go from one device (or segment) to another device (or segment) and to cloud computing resources. The intelligent surgical data network includes additional mechanisms that allow traffic to pass through the monitored surgical data network and configure each port within network hub 207 or network switch 209 . An intelligent surgical data network may be referred to as a manageable hub or switch. The switching hub reads the destination address of each packet and then forwards the packet to the correct port.

Modular devices 1 a - 1 n located in the operating room may be coupled to modular communication hub 203 . Network hub 207 and/or network switch 209 may be coupled to network router 211 to connect devices 1 a - 1 n to cloud 204 or local computer system 210 . Data associated with the devices 1a-1n may be transferred via routers to cloud-based computers for remote data processing and manipulation. Data associated with devices 1a-1n may also be transferred to local computer system 210 for local data processing and manipulation. Modular devices 2 a - 2 m located in the same operating room may also be coupled to network switch 209 . Network switch 209 may be coupled to network hub 207 and/or network router 211 to connect devices 2 a - 2 m to cloud 204 . Data associated with devices 2a-2n may be transferred to cloud 204 via network router 211 for data processing and manipulation. Data associated with devices 2a-2m may also be transferred to local computer system 210 for local data processing and manipulation.

It will be appreciated that surgical data network 201 may be expanded by interconnecting multiple network hubs 207 and/or multiple network switches 209 with multiple network routers 211 . Modular communication hub 203 may be housed in a modular control tower configured to receive multiple devices 1a-1n/2a-2m. A local computer system 210 may also be housed in the modular control tower. Modular communication hub 203 is connected to display 212 to display images acquired by some of devices 1a-1n/2a-2m, eg, during a surgical procedure. In various aspects, the devices 1a-1n/2a-2m include, among other modular devices that can be connected to the modular communication hub 203 of the surgical data network 201, an imaging module 138 coupled to, for example, an endoscope. , a generator module 140 coupled to an energy-based surgical device, a smoke evacuation module 126, an aspiration/irrigation module 128, a communication module 130, a processor module 132, a storage array 134, a surgical device coupled to a display, and/or Or various modules such as a non-contact sensor module.

In one aspect, surgical data network 201 comprises a combination of network hub(s), network switch(es), and network router(s) that connect devices 1a-1n/2a-2m to the cloud. may contain. Any one or all of the devices 1a-1n/2a-2m coupled to a network hub or network switch can collect data in real time and transfer the data to a cloud computer for data processing and manipulation. . It will be appreciated that cloud computing relies on shared computing resources to handle software applications rather than having local servers or personal devices. Although the term "cloud" can be used as a metaphor for "Internet," the term is not so limited. Accordingly, the term “cloud computing” can be used herein to refer to “a type of internet-based computing” in which various services such as servers, storage, and applications are to modular communication hub 203 and/or computer system 210 located (e.g., fixed, mobile, temporary, or on-site operating room or space) and via the Internet to modular communication hub 203 and/or computer Delivered to devices connected to system 210 . A cloud infrastructure may be maintained by a cloud service provider. In this context, a cloud service provider may be an entity that coordinates the use and control of devices 1a-1n/2a-2m located in one or more operating rooms. Cloud computing services can perform numerous calculations based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. Hub hardware allows multiple devices or connections to connect to a computer that communicates with cloud computing resources and storage.

By applying cloud computer data processing techniques to data collected by devices 1a-1n/2a-2m, surgical data networks provide improved surgical outcomes, reduced costs, and improved patient satisfaction. At least some of the devices 1a-1n/2a-2m can be used to observe the condition of the tissue after the tissue sealing and cutting procedure to assess leakage or perfusion of the sealed tissue. . At least one of the devices 1a-1n/2a-2m for diagnostic examination of data comprising images of body tissue samples to identify medical conditions such as disease effects using cloud-based computing Several can be used. This includes tissue and phenotype localization and margin confirmation. Devices 1a-1n/2a for identifying body anatomy using various sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. At least some of ~2 m can be used. Data collected by devices 1a-1n/2a-2m, including image data, may be transferred to cloud 204 or local computer system 210, or both, for data processing and manipulation, including image processing and manipulation. . The data will help guide surgical interventions by determining whether additional therapies such as endoscopic interventions, emerging technologies, targeted radiation, targeted interventions, and precision robotic applications for tissue-specific sites and conditions can be performed. Can be analyzed to improve results. Such data analysis may further employ prognostic analysis processing, using a standardized approach to confirm surgical intervention and surgeon behavior, or suggest modifications to surgical intervention and surgeon behavior. You can provide useful feedback for any of the

In one implementation, the operating room devices 1a-1n may be connected to the modular communication hub 203 via wired or wireless channels, depending on the configuration of the devices 1a-1n relative to the network hub. Network hub 207 may, in one aspect, be implemented as a local network broadcast device that functions above the physical layer of the Open Systems Interconnection (OSI) model. A network hub provides connectivity to devices 1a-1n located within the same operating room network. Network hub 207 collects the data in packet form and sends them to the router in half-duplex mode. Network hub 207 does not store any Media Access Control/Internet Protocol (MAC/IP) for transferring device data. Only one of devices 1a-1n can transmit data through network hub 207 at a time. Network hub 207 does not have routing tables or intelligence about where to send information, it broadcasts all network data across each connection and to remote server 213 (FIG. 32) on cloud 204 . While the network hub 207 can detect basic network errors such as collisions, broadcasting all information to multiple ports can be a security risk and create bottlenecks.

In another implementation, the operating room devices 2a-2m may be connected to the network switch 209 via wired or wireless channels. Network switch 209 functions within the data link layer of the OSI model. The network switch 209 is a multicast device for connecting the devices 2a-2m located in the same operating room to the network. Network switch 209 sends data in the form of frames to network router 211 and functions in full-duplex mode. Multiple devices 2a-2m can transmit data through the network switch 209 at the same time. Network switch 209 stores and uses the MAC addresses of devices 2a-2m to transfer data.

Network hub 207 and/or network switch 209 are coupled to network router 211 to connect to cloud 204 . Network router 211 functions within the network layer of the OSI model. Network router 211 may cloud data packets received from network hub 207 and/or network switch 211 for further processing and manipulation of data collected by any one or all of devices 1a-1n/2a-2m. Create a route to send to the base computer resource. Network router 211 is used to connect two or more different networks located at different locations, such as different operating rooms in the same medical facility, or different networks located in different operating rooms in different medical facilities. good too. Network router 211 sends data in packet form to cloud 204 and functions in full-duplex mode. Multiple devices can transmit data simultaneously. Network routers 211 use IP addresses to transfer data.

In one embodiment, network hub 207 may be implemented as a USB hub that allows multiple USB devices to be connected to a host computer. A USB hub can expand a single USB port into several layers so that there are many ports available for connecting devices to the host system computer. Network hub 207 may include wired or wireless capabilities for receiving information over wired or wireless channels. In one aspect, a wireless USB short range high band wireless communication protocol may be used for communication between devices 1a-1n and devices 2a-2m located in the operating room.

In another embodiment, operating room devices 1a-1n/2a-2m exchange data from fixed and mobile devices over short distances (using short wavelength UHF radio waves in the 2.4-2.485 GHz ISM band). ), and can communicate with the modular communication hub 203 via the Bluetooth wireless technology standard to build a personal area network (PAN). In other aspects, the operating room devices 1a-1n/2a-2m support Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, Long Term Evolution (LTE), and Ev - DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT and their Ethernet derivatives, as well as any other radio designated 3G, 4G, 5G and beyond, and It is possible to communicate with modular communication hub 203 via numerous wireless or wired communication standards or protocols, including but not limited to wired protocols. A computing module may include multiple communication modules. For example, a first communication module may be dedicated to short-range wireless communication such as Wi-Fi and Bluetooth, and a second communication module may be dedicated to GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, etc. may be dedicated to long-range wireless communication.

The modular communication hub 203 can serve as a central connection for one or all of the operating room devices 1a-1n/2a-2m and handles data types known as frames. The frames carry data generated by devices 1a-1n/2a-2m. As frames are received by modular communication hub 203, the frames are amplified and transmitted to network router 211, which uses a number of wireless or wired communication standards or protocols described herein to transmit the frames. Transfer this data to cloud computing resources.

Modular communication hub 203 may be used as a standalone device or may be connected to compatible network hubs and network switches to form a larger network. Modular communication hubs 203 are generally easy to install, configure, and maintain, making them a good choice for networking operating room devices 1a-1n/2a-2m.

FIG. 32 shows a computer-implemented interactive surgical system 200 . Computer-implemented interactive surgical system 200 is similar in many respects to computer-implemented interactive surgical system 100 . For example, computer-implemented interactive surgical system 200 includes one or more surgical systems 202 that are similar in many respects to surgical system 102 . Each surgical system 202 includes at least one surgical hub 206 that communicates with cloud 204 that may include remote servers 213 . In one aspect, the computer-implemented interactive surgical system 200 comprises a modular control tower 236 connected to multiple operating room devices such as, for example, intelligent surgical instruments, robots, and other computerized devices located within the operating room. . As shown in FIG. 33, modular control tower 236 comprises modular communication hub 203 coupled to computer system 210 . As shown in the embodiment of FIG. 32, modular control tower 236 includes imaging module 238 coupled to endoscope 239, generator module 240 coupled to energy device 241, smoke evacuator module 226, aspiration/ Coupled to irrigation module 228 , communications module 230 , processor module 232 , storage array 234 , smart device/instrument 235 optionally coupled to display 237 , and contactless sensor module 242 . Operating room devices are coupled to cloud computing resources and data storage via modular control towers 236 . Robot hub 222 may also be connected to modular control tower 236 and cloud computing resources. Devices/instruments 235, visualization system 208, among others, may be coupled to modular control tower 236 via wired or wireless communication standards or protocols described herein. Modular control tower 236 may be coupled to hub display 215 (e.g., monitor, screen) for displaying and overlaying images received from imaging modules, device/instrument displays, and/or other visualization systems 208. . The hub display may also display data received from devices connected to the modular control tower along with images and overlay images.

FIG. 33 shows surgical hub 206 with multiple modules coupled to modular control tower 236 . Modular control tower 236 includes a modular communication hub 203, eg, a networked device, and a computer system 210, eg, for providing local processing, visualization, and imaging. As shown in FIG. 33, modular communication hubs 203 are connected in a hierarchical configuration to expand the number of modules (e.g., devices) that can be connected to modular communication hub 203 to store data associated with the modules. can be transferred to computer system 210, cloud computing resources, or both. As shown in FIG. 33, each of the network hubs/switches within modular communication hub 203 includes three downstream ports and one upstream port. An upstream network hub/switch is connected to the processor to provide communication connections to cloud computing resources and local displays 217 . Communication to cloud 204 can be via either wired or wireless communication channels.

Surgical hub 206 uses non-contact sensor module 242 to measure the dimensions of the operating room, and to generate a map of the surgical site using either ultrasonic or laser-based non-contact measurement devices. "Surgical Hub Spatial Awareness Within an Operating Room," in U.S. Provisional Patent Application No. 62/611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosure of which is incorporated herein by reference. The ultrasonic-based non-contact sensor module scans the operating room by transmitting bursts of ultrasonic waves and receiving echoes when the bursts of ultrasonic waves reflect off the outer walls of the operating room. but where the sensor module is configured to determine the size of the operating room and adjust the distance limit of the Bluetooth pairing. A laser-based non-contact sensor module, for example, transmits a laser light pulse, receives a laser light pulse that reflects off the outer wall of an operating room, compares the phase of the transmitted pulse with the received pulse, and compares the phase of the operating room. Scan the operating room by determining the size and adjusting the Bluetooth pairing distance limit.

Computer system 210 includes processor 244 and network interface 245 . Processor 244 is coupled to communication module 247, storage 248, memory 249, non-volatile memory 250, and input/output interface 251 via a system bus. The system bus includes a 9-bit bus, Industry Standard Architecture (ISA), Micro Channel Architecture (MSA), Enhanced ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Device Interconnect (PCI), Any, including but not limited to USB, Advanced Graphics Port (AGP), Personal Computer Memory Card International Association Bus (PCMCIA), Small Computer Systems Interface (SCSI), or any other proprietary bus. It may be any of several types of bus structure(s) including a memory bus or memory controller, a peripheral or external bus, and/or a local bus using various bus architectures.

Processor 244 may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex manufactured by Texas Instruments. In one aspect, the processor has on-chip memory, e.g., 256 KB of single-cycle flash memory or other non-volatile memory at up to 40 MHz, details of which are available in the product datasheet, to improve performance beyond 40 MHz. a prefetch buffer, 32 KB of single-cycle serial random access memory (SRAM), internal read-only memory (ROM) with StellarisWare® software, 2 KB of electrically erasable programmable read-only memory (EEPROM), and/or One or more pulse width modulation (PWM) modules, one or more quadrature encoder input (QEI) analog, one or more 12-bit analog-to-digital with 12 analog input channels It may be a LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments, including a converter (ADC).

In one aspect, processor 244 may include a safety controller that includes two controller family families, such as TMS570 and RM4x, also known by the trade designation Hercules ARM Cortex R4, also manufactured by Texas Instruments. Safety controllers may be configured specifically for IEC61508 and ISO26262 safety limit applications to provide advanced integrated safety mechanisms while offering scalable performance, connectivity, and memory options. good.

System memory includes both volatile and non-volatile memory. The basic input/output system (BIOS), containing the basic routines to transfer information between elements within the computer system, such as during start-up, is stored in nonvolatile memory. For example, non-volatile memory may include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM, or flash memory. Volatile memory can include random access memory (RAM), which acts as external cache memory. Further, RAM includes SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), sync link DRAM (SLDRAM), and direct RAM bus RAM (DRRAM). available in many forms.

Computer system 210 also includes removable/non-removable, volatile/non-volatile computer storage media such as disk storage. Disk storage includes, but is not limited to, devices such as magnetic disk drives, floppy disk drives, tape drives, Jaz drives, Zip drives, LS-60 drives, flash memory cards, or memory sticks. In addition, disc storage may refer to a storage medium, either independently or as a compact disc ROM device (CD-ROM), a compact disc recordable drive (CD-R drive), a compact disc rewritable drive (CD-RW drive), or in combination with other storage media including, but not limited to, an optical disk drive such as a Digital Versatile Disk ROM Drive (DVD-ROM). A removable or non-removable interface may be used to facilitate connection of the disk storage device to the system bus.

It should be appreciated that computer system 210 includes software that acts as an intermediary between users and basic computer resources as described in the preferred operating environment. Such software includes an operating system. An operating system, which may be stored on disk storage, functions to control and allocate the computer system's resources. System applications take advantage of resource management by the operating system through program modules and program data stored either in system memory or on disk storage. It should be appreciated that the various components described herein can be implemented on various operating systems or combinations of operating systems.

A user enters commands or information into computer system 210 through input device(s) coupled to I/O interface 251 . Input devices include pointing devices such as mice, trackballs, styluses, touchpads, keyboards, microphones, joysticks, gamepads, satellite dishes, scanners, TV tuner cards, digital cameras, digital video cameras, and webcams. include but are not limited to: These and other input devices connect to the processor through the system bus via interface port(s). Interface port(s) include, for example, serial port, parallel port, game port, and USB. Output device(s) use some of the same types of ports as input device(s). Thus, for example, a USB port may be used to provide input to the computer system and output information from the computer system to an output device. Output adapters are provided to illustrate that there are some output devices such as monitors, displays, speakers, and printers, among other output devices that require special adapters. Output adapters include, by way of example and not limitation, video and sound cards that provide a means of connection between output devices and a system bus. Note that other devices and/or systems of devices, such as remote computer(s), provide both input and output functionality.

Computer system 210 can operate in a networked environment using logical connections to one or more remote or local computers, such as cloud computer(s). The remote cloud computer(s) may be personal computers, servers, routers, network PCs, workstations, microprocessor-based appliances, peer devices, or other general network nodes, etc., and are typically computers Includes many or all of the elements described for the system. For simplicity, only the memory storage device is shown along with the remote computer(s). Remote computer(s) are logically connected to the computer system through a network interface and then physically connected via a communications connection. The network interface encompasses communication networks such as local area networks (LAN) and wide area networks (WAN). LAN technologies include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE 802.5, and the like. WAN technologies include, but are not limited to, point-to-point links, circuit-switched networks such as Integrated Services Digital Networks (ISDN) and variations thereof, packet-switched networks, and Digital Subscriber Lines (DSL).

In various aspects, the computer system 210 of FIG. 33, the imaging module 238 of FIGS. 9-10, and/or the visualization system 208, and/or the processor module 232 are image processors, image processing engines, media processors, or digital image processors. may include any dedicated digital signal processor (DSP) used to process the Image processors can use parallel computing with single instruction multiple data (SIMD) or multiple instruction multiple data (MIMD) techniques to increase speed and efficiency. A digital image processing engine can perform a variety of tasks. The image processor may be a system on chip with a multi-core processor architecture.

Communication connection(s) refers to hardware/software used to connect a network interface to a bus. Although communication connections are shown internal to the computer system for clarity of illustration, the communication connections may be external to computer system 210 . By way of example only, the hardware/software required to connect to the network interface includes internal and external technologies such as modems, including regular telephone grade modems, cable modems, and DSL modems, ISDN adapters, and Ethernet cards. mentioned.

FIG. 34 illustrates a functional block diagram of one aspect of a USB network hub 300 device, according to one aspect of the present disclosure. In the illustrated embodiment, USB network hub device 300 employs a TUSB2036 integrated circuit hub manufactured by Texas Instruments. The USB network hub 300 is a CMOS device that provides an upstream USB transmit/receive port 302 and up to three downstream USB transmit/receive ports 304, 306, 308 conforming to the USB 2.0 standard. The upstream USB transmit/receive port 302 is a differential root data port that includes a differential data minus (DM0) input paired with a differential data plus (DP0) input. The three downstream USB transmit/receive ports 304, 306, 308 are differential data ports, each port including differential data plus (DP1-DP3) outputs paired with differential data minus (DM1-DM3) outputs.

The USB network hub 300 device is implemented with a digital state machine instead of a microcontroller and does not require firmware programming. A fully compliant USB transceiver is integrated into the circuitry of the upstream USB transmit/receive port 302 and all downstream USB transmit/receive ports 304 , 306 , 308 . Downstream USB transmit/receive ports 304, 306, 308 support both full speed and low speed devices by automatically setting the slew rate according to the speed of the device attached to the port. The USB network hub 300 device may be configured in either bus-powered mode or self-powered mode and includes hub power logic 312 to manage power.

The USB network hub 300 device includes a serial interface engine 310 (SIE). The SIE 310 is the front end of the USB network hub 300 hardware and handles most of the protocols described in Chapter 8 of the USB specification. SIE 310 typically understands signaling down to the transaction level. The functions it handles include packet recognition, transaction reordering, detection/generation of SOP, EOP, RESET, and RESUME signals, clock/data separation, non-return-to-zero inversion (NRZI) data encoding/decoding and bit stuffing; CRC generation and checking (token and data), packet ID (PID) generation and checking/decoding, and/or serial-parallel-parallel-serial conversion may be included. 310 receives a clock input 314 and suspend/resume logic to control communication between the upstream USB transmit/receive port 302 and the downstream USB transmit/receive ports 304 , 306 , 308 via port logic circuits 320 , 322 , 324 . It is coupled to frame timer 316 circuitry and hub repeater circuitry 318 . SIE 310 is coupled to command decoder 326 via interface logic for controlling commands from the serial EEPROM via serial EEPROM interface 330 .

In various aspects, the USB network hub 300 can connect 127 functions organized in up to 6 logical layers (hierarchies) to a single computer. Additionally, the USB network hub 300 can connect to all peripherals using a standardized four wire cable that provides both communication and power distribution. The power configurations are bus power mode and self power mode. USB network hub 300 has four power management capabilities: a bus-powered hub with either individual port power management or ganged port power management, and a self-powered hub with either individual port power management or ganged port power management. It may be configured to support two modes. In one aspect, using a USB cable, USB network hub 300, the upstream USB transmit/receive port 302 plugs into a USB host controller and the downstream USB transmit/receive ports 304, 306, 308 connect USB compatible devices. and so on.

Surgical Instrument Hardware FIG. 35 illustrates a logic diagram of a surgical instrument or tool control system 470, in accordance with one or more aspects of the present disclosure. System 470 includes control circuitry. The control circuitry includes a microcontroller 461 with a processor 462 and memory 468 . For example, one or more of sensors 472 , 474 , 476 provide real-time feedback to processor 462 . A motor 482 driven by a motor driver 492 operatively couples the longitudinally movable displacement member to drive the I-beam knife element. Tracking system 480 is configured to determine the position of the longitudinally moveable displacement member. The positional information is provided to processor 462, which may be programmed or configured to determine the position of the longitudinally movable drive member, as well as the positions of the firing member, firing bar, and I-beam knife elements. Additional motors may be provided in the tool driver interface to control I-beam firing, obturator tube movement, shaft rotation, and articulation. The display 473 displays various operating conditions of the instrument and may include touch screen functionality for data entry. Information displayed on display 473 may be overlaid with images acquired via the endoscopic imaging module.

In one aspect, microcontroller 461 may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex manufactured by Texas Instruments. In one aspect, the main microcontroller 461 has on-chip memory of 256 KB single-cycle flash memory or other non-volatile memory at up to 40 MHz, for example, details of which are available in the product datasheet, improving performance beyond 40 MHz. 32 KB of single-cycle SRAM, internal ROM with StellarisWare software, 2 KB of EEPROM, one or more PWM modules, one or more QEI analogs, and/or or the LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments, which includes one or more 12-bit ADCs with 12 analog input channels.

In one aspect, the microcontroller 461 may include a safety controller that includes two controller family families, such as the TMS570 and RM4x, also known by the trade designation Hercules ARM Cortex R4, also manufactured by Texas Instruments. Safety controllers may be configured specifically for IEC61508 and ISO26262 safety limit applications to provide advanced integrated safety mechanisms while offering scalable performance, connectivity, and memory options. good.

The microcontroller 461 may be programmed to perform various functions such as precision control over the speed and position of the knife and articulation system. In one aspect, microcontroller 461 includes processor 462 and memory 468 . The electric motor 482 may be a brushed direct current (DC) motor with a gearbox and a mechanical connection to the articulation or knife system. In one aspect, motor driver 492 may be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be easily substituted for use in tracking system 480 with an absolute positioning system. A detailed description of absolute positioning systems can be found in U.S. Patent Application Publication No. 2017, published Oct. 19, 2017, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT," which is hereby incorporated by reference in its entirety. 0296213.

Microcontroller 461 may be programmed to provide precise control over the velocity and position of the displacement members and articulation system. The microcontroller 461 may be configured to calculate the response within the microcontroller 461 software. The calculated response is compared with the measured response of the actual system to obtain the "observed" response, which is used to determine the actual feedback. The observed response is a well-tuned value that balances the smooth, continuous nature of the simulated response with the measured response, which can detect external influences on the system.

In one aspect, the motor 482 may be controlled by a motor driver 492 and used by the firing system of a surgical instrument or tool. In various forms, motor 482 may be, for example, a brushed DC drive motor having a maximum rotational speed of approximately 25,000 RPM. In alternative configurations, motor 482 may include a brushless motor, cordless motor, synchronous motor, stepper motor, or any other suitable electric motor. Motor driver 492 may comprise, for example, an H-bridge driver including field effect transistors (FETs). Motor 482 may be powered by a power assembly releasably attached to the handle assembly or tool housing to provide control power to the surgical instrument or tool. The power assembly may include a battery that may include multiple battery cells connected in series that may be used as a power source to power a surgical instrument or tool. Under certain circumstances, the battery cells of the power assembly may be replaceable and/or rechargeable. In at least one example, the battery cells may be lithium ion batteries that may be connectable to and separable from the power assembly.

Motor driver 492 may be an A3941 available from Allegro Microsystems, Inc. The A3941 492 is a full-bridge controller for use with external N-channel power metal oxide semiconductor field effect transistors (MOSFETs) specifically designed for inductive loads such as brushed DC motors. Driver 492 includes an inherent charge pump regulator that provides full (>10V) gate drive for battery voltages up to 7V and allows the A3941 to operate with reduced gate drive down to 5.5V. . Bootstrap capacitors may be used to provide the necessary battery supply voltages for the N-channel MOSFETs. An internal charge pump for the high side drive allows DC (100% duty cycle) operation. The full bridge can be driven in fast or slow decay mode using diodes or synchronous rectification. In slow decay mode, current recirculation is possible through either the high-side FETs or the low-side FETs. The power FETs are protected from shoot-through by a resistor adjustable dead time. Integrated diagnostics indicate undervoltage, overtemperature, and power bridge faults and can be configured to protect power MOSFETs under most short circuit conditions. Other motor drivers can be easily substituted for use in tracking system 480 with an absolute positioning system.

Tracking system 480 comprises controlled motor drive circuitry comprising position sensor 472 according to one aspect of the present disclosure. A position sensor 472 for the absolute positioning system provides a unique position signal corresponding to the position of the displacement member. In one aspect, the displacement member represents a longitudinally movable drive member comprising a rack of drive teeth for meshing engagement with a corresponding drive gear of the gear reducer assembly. In other aspects, the displacement member represents a firing member that may be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a firing bar or I-beam, each of which may be adapted and configured to include a rack of drive teeth. Accordingly, as used herein, the term displacement member refers to any movable member of a surgical instrument or tool, such as a drive member, firing member, firing bar, I-beam, or any element that can be displaced. used to refer generically to any member. In one aspect, a longitudinally movable drive member is coupled to the firing member, firing bar, and I-beam. Thus, the absolute positioning system can actually track the linear displacement of the I-beam by tracking the linear displacement of the longitudinally movable drive member. In various other aspects, the displacement member may be coupled to any position sensor 472 suitable for measuring linear displacement. Accordingly, a longitudinally movable drive member, firing member, firing bar, or I-beam, or combinations thereof, may be coupled to any suitable linear displacement sensor. Linear displacement sensors may include contact or non-contact displacement sensors. Linear displacement sensors include linear variable differential transformers (LVDTs), differential variable reluctance transducers (DVRTs), sliding potentiometers, movable magnets and a series of linear A magnetic sensing system comprising an arranged Hall effect sensor, a magnetic sensing system comprising a fixed magnet and Hall effect sensors arranged in a series of movable lines, a movable light source and a series of linearly arranged magnetic sensing systems It may comprise an optical detection system comprising a photodiode or photodetector, an optical detection system comprising a fixed light source and a series of movable linearly arranged photodiodes or photodetectors, or any combination thereof. .

The electric motor 482 may include a rotatable shaft that operably interfaces with a gear assembly that is mounted in meshing engagement with a set or rack of drive teeth on the displacement member. The sensor element may be operably coupled to the gear assembly such that one rotation of the position sensor 472 element corresponds to some linear longitudinal translation of the displacement member. The gearing and sensor mechanism can be connected to the linear actuator by a rack and pinion mechanism or to the rotary actuator by spur gears or other connections. A power supply can power the absolute positioning system and an output indicator can display the output of the absolute positioning system. The displacement member represents a longitudinally movable drive member having a rack of drive teeth formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents a longitudinally movable firing member, firing bar, I-beam, or a combination thereof.

One rotation of the sensor element associated with the position sensor 472 corresponds to a longitudinal linear displacement d1 of the displacement member, which is the distance after one rotation of the sensor element coupled to the displacement member that the displacement member reaches point "a". is the linear longitudinal distance traveled from to point "b". The sensor mechanism may be connected via a gear reduction that results in the position sensor 472 completing one or more revolutions for a full stroke of the displacement member. The position sensor 472 can complete multiple revolutions for a full stroke of the displacement member.

A series of switches (where n is an integer greater than 1) may be used alone or in combination with gear reduction to provide a unique position signal for two or more rotations of the position sensor 472. may be used in The state of the switch is fed back to the microcontroller 461, which applies logic to determine the longitudinal linear displacement of the displacement member d1+d2+ . . . Determine the unique location signal corresponding to dn. The output of position sensor 472 is provided to microcontroller 461 . The position sensor 472 of the sensor mechanism may comprise a magnetic sensor, an analog rotary sensor such as a potentiometer, or an array of analog Hall effect elements that output a unique combination of position signals or values.

Position sensor 472 may comprise any number of magnetic sensing elements such as, for example, magnetic sensors classified based on whether they measure the total magnetic field or vector component of the magnetic field. The techniques used to produce both types of magnetic sensors involve many aspects of physics and electronics. Techniques used to sense magnetic fields include, inter alia, search coils, fluxgates, optical pumping, nuclear precession, SQUIDs, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance. , magnetostrictive/piezoelectric composites, magnetic diodes, magnetic transistors, optical fibers, magneto-optics, and micro-electromechanical systems-based magnetic sensors.

In one aspect, position sensor 472 of tracking system 480 comprising an absolute positioning system comprises a gyromagnetic absolute positioning system. Position sensor 472 may be implemented as an AS5055EQFT single-chip gyromagnetic position sensor available from Austria Microsystems, AG. Position sensor 472 cooperates with microcontroller 461 to provide an absolute positioning system. The position sensor 472 is a low voltage, low power component and includes four Hall effect elements in the area of the position sensor 472 located above the magnets. Additionally, a high resolution ADC and a smart power management controller are provided on-chip. To implement simple and efficient algorithms for computing hyperbolic and trigonometric functions, requiring only addition, subtraction, bit shift, and table lookup operations, digit-by-digit method and boulder A coordinate rotation digital computer (CORDIC) processor, also known as Volder's algorithm, is provided. Angular position, alarm bits, and magnetic field information are transmitted to microcontroller 461 via a standard serial communication interface, such as a serial peripheral interface (SPI) interface. Position sensor 472 provides 12-bit or 14-bit resolution. Position sensor 472 may be an AS5055 chip provided in a small QFN 16-pin 4x4x0.85mm package.

Tracking system 480, which includes an absolute positioning system, may include and/or be programmed to implement feedback controllers such as PID, state feedback, and adaptive controllers. A power supply converts the signal from the feedback controller into a physical input to the system, in this case voltage. Other examples include voltage, current and force PWM. In addition to the position measured by position sensor 472, other sensor(s) may be provided to measure physical parameters of the physical system. In some aspects, the other sensor(s) includes US Pat. , 345,481, U.S. Patent Application Publication No. 2014/0263552, published September 18, 2014, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," which is incorporated herein by reference in its entirety; US patent application Ser. Sensor mechanisms such as objects can be mentioned. In a digital signal processing system, an absolute positioning system is coupled to a digital data acquisition system, where the output of the absolute positioning system has finite resolution and sampling frequency. Absolute positioning systems use algorithms such as weighted averages and theoretical control loops to drive the calculated response towards the measured response, and compare and combine circuits to combine the calculated response with the measured response. can be provided. The calculated response of a physical system takes into account properties such as mass, inertia, viscous friction, and induced drag in order to predict what the state and output of the physical system will be given the inputs.

The absolute positioning system resets the displacement member, as might be required with conventional rotary encoders that simply count the number of steps forward or backward the motor 482 has taken to estimate the position of device actuators, drive bars, knives, etc. It provides the absolute position of the displacement member at power up of the instrument without retraction or advancement to the zero (or home) position.

For example, a sensor 474, such as a strain gauge or micro strain gauge, can indicate the closing force applied to one or two of the end effectors, such as the amplitude of strain exerted on the anvil during the clamping operation, which can indicate, for example, the closing force applied to the anvil. It is configured to measure the above parameters. The measured distortion is converted to a digital signal and provided to processor 462 . Alternatively, or in addition to sensor 474, sensor 476, such as, for example, a load sensor, can measure the closing force applied to the anvil by the closing drive system. For example, a sensor 476, such as a load sensor, can measure the firing force applied to the I-beam during the firing stroke of the surgical instrument or tool. The I-beam is configured to engage a wedge-shaped sled, which is configured to cam the staple driver upwardly to force the staples into deforming contact with the anvil. The I-beam also includes a sharp cutting edge that can be used to cut tissue as the I-beam is advanced distally by the firing bar. Alternatively, current sensor 478 can be used to measure the current drawn by motor 482 . The force required to advance the firing member may correspond to the current drawn by motor 482, for example. The measured force is converted to a digital signal and provided to processor 462 .

In one form, a strain gauge sensor 474 can be used to measure the force exerted on tissue by the end effector. A strain gauge can be coupled to the end effector to measure the force exerted by the end effector on the tissue being treated. A system for measuring the force applied to the tissue grasped by the end effector includes a strain gauge sensor 474, such as a microstrain gauge configured to measure one or more parameters of the end effector. Prepare. In one aspect, the strain gauge sensor 474 can measure the amplitude or magnitude of strain exerted on the jaw members of the end effector during a clamping operation, which can be indicative of tissue compression. The measured strain is converted to a digital signal and provided to processor 462 of microcontroller 461 . Load sensor 476 can measure the force used to operate the knife element, for example, to cut tissue captured between the anvil and the staple cartridge. A magnetic field sensor can be used to measure the thickness of the captured tissue. Magnetic field sensor measurements may also be converted to digital signals and provided to processor 462 .

Measurements of tissue compression, tissue thickness, and/or force required to close the end effector on tissue, as measured by sensors 474, 476, respectively, are determined by the selected position of the firing member, and/or Or it can be used by the microcontroller 461 to characterize the corresponding value of the velocity of the firing member. In one example, memory 468 can store techniques, equations and/or lookup tables that can be used by microcontroller 461 in evaluation.

The surgical instrument or tool control system 470 may also include wired or wireless communication circuitry for communicating with the modular communication hubs as shown in FIGS. 8-11.

FIG. 36 illustrates a control circuit 500 configured to control aspects of a surgical instrument or tool, according to one aspect of the present disclosure. Control circuit 500 may be configured to implement various processes described herein. Control circuitry 500 may comprise a microcontroller comprising one or more processors 502 (eg, microprocessors, microcontrollers) coupled to at least one memory circuit 504 . Memory circuitry 504 stores machine-executable instructions that, when executed by processor 502, cause processor 502 to execute machine instructions to implement various processes described herein. Processor 502 may be any one of numerous single or multi-core processors known in the art. Memory circuit 504 may include volatile and non-volatile storage media. Processor 502 may include an instruction processing unit 506 and an arithmetic unit 508 . The instruction processing unit may be configured to receive instructions from the memory circuit 504 of the present disclosure.

FIG. 37 illustrates combinatorial logic 510 configured to control aspects of a surgical instrument or tool, according to one aspect of the present disclosure. Combinatorial logic 510 can be configured to implement various processes described herein. Combinatorial logic 510 is a finite state machine including combinatorial logic 512 configured to receive data associated with a surgical instrument or tool at input 514 , process the data through combinatorial logic 512 , and provide output 516 . can include

FIG. 38 illustrates a sequential logic circuit 520 configured to control aspects of a surgical instrument or tool, according to one aspect of the present disclosure. Sequential logic 520 or combinatorial logic 522 may be configured to implement various processes described herein. Sequential logic 520 may include a finite state machine. Sequential logic 520 may include, for example, combinatorial logic 522 , at least one memory circuit 524 , and clock 529 . At least one memory circuit 524 can store the current state of the finite state machine. In particular examples, sequential logic 520 may be synchronous or asynchronous. Combinatorial logic 522 is configured to receive data associated with a surgical instrument or tool from input 526 , process the data by combinatorial logic 522 , and provide output 528 . In other aspects, a circuit may include a combination of a processor (eg, processor 502 of FIG. 36) and a finite state machine implementing various processes herein. In other aspects, the finite state machine can include a combination of combinatorial logic (eg, combinatorial logic 510 of FIG. 37) and sequential logic 520 .

FIG. 39 shows a surgical instrument or tool with multiple motors that can be activated to perform various functions. In certain examples, a first motor can be activated to perform a first function, a second motor can be activated to perform a second function, and a third motor can be activated. A third motor can be activated to perform a third function, a fourth motor can be activated to perform a fourth function, and so on. In certain examples, multiple motors of robotic surgical instrument 600 can be individually activated to produce firing motion, closing motion, and/or articulation motion at the end effector. Firing motion, closing motion, and/or articulation motion can be transmitted to the end effector via, for example, a shaft assembly.

In certain examples, a surgical instrument system or tool may include firing motor 602 . Firing motor 602 is operably coupled to firing motor drive assembly 604, which can be configured to transmit firing motion generated by motor 602 to the end effector, specifically to displace the I-beam elements. may In certain examples, the firing motion generated by motor 602, for example, deploys staples from a staple cartridge into tissue captured by an end effector and/or advances a cutting edge of an I-beam element for capturing. The tissue that has been cut may be cut. The I-beam elements can be retracted by reversing the direction of motor 602 .

In certain examples, a surgical instrument or tool may include a closure motor 603. Closure motor 603 is configured to transmit the closing motion generated by motor 603 to the end effector, specifically to displace the closure tube to close the anvil and compress tissue between the anvil and staple cartridge. It may be operatively connected with a closure motor drive assembly 605, which may be configured. The closing motion may cause the end effector to transition from an open configuration to an approximated configuration to capture tissue, for example. The end effector can be transitioned to the open position by reversing the direction of motor 603 .

In certain examples, a surgical instrument or tool may include, for example, one or more articulation motors 606a, 606b. The motors 606a, 606b can be operably coupled to corresponding articulation motor drive assemblies 608a, 608b that can be configured to transmit articulation motion generated by the motors 606a, 606b to the end effector. In certain examples, the articulation may, for example, articulate the end effector with respect to the shaft.

As noted above, a surgical instrument or tool may include multiple motors that may be configured to perform various independent functions. In certain examples, multiple motors of a surgical instrument or tool are activated independently or separately to perform one or more functions while other motors remain deactivated. can be implemented. For example, articulation motors 606a, 606b can be activated to articulate the end effector while firing motor 602 remains stopped. Alternatively, firing motor 602 can be activated to fire multiple staples and/or advance the cutting edge while articulation motor 606 is deactivated. Additionally, closure motor 603 may be activated simultaneously with firing motor 602 to distally advance the closure tube and I-beam elements, as described in greater detail herein below.

In certain examples, a surgical instrument or tool may include a common control module 610 that can be used with multiple motors of the surgical instrument or tool. In certain examples, a common control module 610 can serve one of multiple motors at a time. For example, a common control module 610 may be individually connectable and disconnectable to multiple motors of the robotic surgical instrument. In certain examples, multiple motors of a surgical instrument or tool may share one or more common control modules, such as common control module 610 . In certain examples, multiple motors of a surgical instrument or tool can independently and selectively engage a common control module 610 . In certain examples, the common control module 610 is configured to selectively communicate with one of the motors of the surgical instrument or tool to the other of the motors of the surgical instrument or tool. You can switch.

In at least one example, common control module 610 selects between operable engagement with articulation motors 606a, 606b and operable engagement with either firing motor 602 or closing motor 603. can be switched. In at least one embodiment, as shown in FIG. 39, switch 614 can move or transition between multiple positions and/or states. For example, in a first position 616 the switch 614 may electrically couple the common control module 610 with the firing motor 602, and in a second position 617 the switch 614 may close the common control module 610. In a third position 618a the switch 614 may electrically couple the common control module 610 with the first articulation motor 606a and in a fourth position the switch 614 may be in electrical communication with the motor 603. At 618b, a switch 614 may electrically couple the common control module 610 with the second articulation motor 606b. In certain examples, a separate common control module 610 may be electrically coupled to firing motor 602, closing motor 603, and articulation motors 606a, 606b at the same time. In particular examples, switch 614 may be a mechanical switch, an electromechanical switch, a solid state switch, or any suitable switching mechanism.

Each of the motors 602, 603, 606a, 606b may include a torque sensor for measuring the output torque on the shaft of the motor. The force on the end effector may be sensed in any conventional manner, such as by a force sensor outside the jaws or by a torque sensor on the motor that actuates the jaws.

In various examples, as shown in FIG. 39, common control module 610 may include motor driver 626, which may include one or more H-bridge FETs. Motor drivers 626 may modulate power transferred from power supply 628 to motors coupled to common control module 610 based on, for example, input from microcontroller 620 (“controller”). In a particular example, as described above, the current drawn by the motors can be determined using, for example, the microcontroller 620 while the motors are coupled to the common control module 610 .

In particular examples, microcontroller 620 may include a microprocessor 622 (“processor”) and one or more non-transitory computer-readable media or memory units 624 (“memory”). In particular examples, memory 624 may store various program instructions that, when executed, may cause processor 622 to perform a number of functions and/or calculations described herein. can. In particular examples, one or more of memory units 624 may be coupled to processor 622, for example.

In particular examples, power supply 628 may be used to power microcontroller 620, for example. In certain examples, power source 628 may include a battery (or “battery pack” or “power pack”), such as a lithium-ion battery. In certain examples, the battery pack may be configured to be releasably attached to the handle to power surgical instrument 600 . Multiple battery cells connected in series may be used as power source 628 . In certain examples, power source 628 may be replaceable and/or rechargeable, for example.

In various examples, processor 622 can control motor drivers 626 to control the position, direction of rotation, and/or speed of motors coupled to common control module 610 . In certain examples, processor 622 may signal motor drivers 626 to stop and/or disable motors coupled to common control module 610 . The term "processor," as used herein, means any suitable microprocessor, microcontroller, or computer central processing device (CPU) function integrated into one integrated circuit or up to several integrated circuits. It should be understood to include other basic computing devices integrated above. A processor is a general-purpose programmable device that accepts digital data as input, processes that data according to instructions stored in memory, and provides the results as output. This is an example of sequential digital logic since it has internal memory. Processors work with numbers and symbols represented in a binary number system.

In one example, processor 622 may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex manufactured by Texas Instruments. In a particular example, microcontroller 620 may be, for example, the LM 4F230H5QR available from Texas Instruments. In at least one embodiment, Texas Instruments' LM4F230H5QR has 256 KB of single-cycle flash memory or other non-volatile memory on-chip memory up to 40 MHz, performance up to 40 MHz, among other features readily available in product datasheets. 32 KB single-cycle SRAM, internal ROM with StellarisWare software, 2 KB EEPROM, one or more PWM modules, one or more QEI analog , ARM Cortex-M4F processor cores containing one or more 12-bit ADCs with 12 analog input channels. Other microcontrollers may be readily substituted for use with module 4410 . Accordingly, the present disclosure should not be limited in this context.

In particular examples, memory 624 may include program instructions for controlling each of the motors of surgical instrument 600 coupleable to a common control module 610 . For example, memory 624 may contain program instructions for controlling firing motor 602, closing motor 603, and articulation motors 606a, 606b. Such program instructions may cause processor 622 to control the firing, closing, and articulating functions according to inputs from an algorithm or control program of the surgical instrument or tool.

In particular examples, one or more mechanisms and/or sensors, such as sensor 630, may be used to alert processor 622 of program instructions to use in a particular setting. For example, sensor 630 can alert processor 622 to use program instructions related to end effector firing, closing, and articulation. In particular examples, sensor 630 may comprise a position sensor that may be used to sense the position of switch 614, for example. Thus, when processor 622 detects, for example, via sensor 630 that switch 614 is in first position 616, processor 622 can employ program instructions associated with firing the end effector I-beam, causing processor 622 to can use program instructions associated with closing the anvil upon detecting, for example, via sensor 630 that switch 614 is in second position 617, processor 622, for example, via sensor 630, Upon detecting that the switch 614 is in the third position 618a or the fourth position 618b, program instructions associated with end effector articulation can be used.

FIG. 40 is a schematic illustration of a robotic surgical instrument 700 configured to manipulate the surgical tools described herein, according to one aspect of the present disclosure. Robotic surgical instrument 700 uses either single or multiple articulation drive connections to perform distal/proximal translation of the displacement member, distal/proximal displacement of the obturator tube, rotation of the shaft, and articulation. It may be programmed or configured to control movement. In one aspect, surgical instrument 700 may be programmed or configured to individually control the firing member, closure member, shaft member, or one or more articulation members. Surgical instrument 700 includes a control circuit 710 configured to control a motorized firing member, closure member, shaft member, or one or more articulation members.

In one aspect, the robotic surgical instrument 700 can, via a plurality of motors 704a-704e, the anvil 716 and I-beam 714 (including sharp cutting edges) portions of the end effector 702, removable staple cartridge 718, shaft 740, and a control circuit 710 configured to control one or more articulation members 742a, 742b. Position sensor 734 may be configured to provide position feedback of I-beam 714 to control circuit 710 . Other sensors 738 may be configured to provide feedback to control circuit 710 . Timer/counter 731 provides timing and counting information to control circuit 710 . An energy source 712 may be provided to operate the motors 704 a - 704 e , and a current sensor 736 provides motor current feedback to the control circuit 710 . Motors 704a-704e can be individually operated by control circuit 710 in open-loop or closed-loop feedback control.

In one aspect, the control circuit 710 comprises one or more microcontrollers, microprocessors, or processors or other suitable devices for executing instructions that cause one or more processors to perform one or more tasks. A processor may be provided. In one aspect, timer/counter 731 provides an output signal, such as elapsed time or a digital count, to control circuit 710 to correlate the position of I-beam 714 determined by position sensor 734 with the output of timer/counter 731; As a result, control circuit 710 can determine the position of I-beam 714 at a particular time (t) relative to a starting position or time (t) when I-beam 714 is at a particular position relative to the starting position. can. Timer/counter 731 may be configured to measure elapsed time, count external events, or time external events.

In one aspect, control circuit 710 may be programmed to control the function of end effector 702 based on one or more tissue conditions. Control circuitry 710 may be programmed to sense tissue conditions, such as thickness, either directly or indirectly, as described herein. Control circuit 710 may be programmed to select a firing control program or a closing control program based on tissue condition. A firing control program can describe the distal movement of the displacement member. Different firing control programs can be selected to better treat different tissue conditions. For example, if thicker tissue is present, control circuitry 710 may be programmed to translate the displacement member at a slower speed and/or with less power. If thinner tissue is present, the control circuit 710 may be programmed to translate the displacement member at a higher speed and/or with a higher power. A closure control program may control the closure force applied to tissue by anvil 716 . Another control program controls the rotation of shaft 740 and articulation members 742a, 742b.

In one aspect, the control circuit 710 can generate a motor setpoint signal. Motor setpoint signals may be provided to various motor controllers 708a-708e. The motor controllers 708a-708e comprise one or more circuits configured to provide motor drive signals to the motors 704a-704e to drive the motors 704a-704e, as described herein. may In some embodiments, motors 704a-704e may be brushed DC electric motors. For example, the speed of motors 704a-704e may be proportional to their respective motor drive signals. In some embodiments, the motors 704a-704e may be brushless DC electric motors, with respective motor drive signals provided to one or more stator windings of the motors 704a-704e using PWM may include a signal. Also, in some embodiments, the motor controllers 708a-708e may be omitted and the control circuit 710 may directly generate the motor drive signals.

In one aspect, the control circuit 710 may initially operate each of the motors 704a-704e in an open loop configuration for a first open loop portion of the stroke of the displacement member. Based on the response of robotic surgical instrument 700 during the open-loop portion of the stroke, control circuit 710 may select a closed-loop configuration firing control program. The response of the instrument includes the translational distance of the displacement member during the open loop portion, the time elapsed during the open loop portion, the energy provided to one of the motors 704a-704e during the open loop portion, the motor For example, the total pulse width of the drive signal may be mentioned. After the open loop portion, control circuit 710 may implement the selected firing control program for the second portion of the displacement member stroke. For example, during the closed-loop portion of the stroke, control circuit 710 modulates one of motors 704a-704e in a closed-loop manner based on translational data describing the position of the displacement member to translate the displacement member at a constant velocity. You may let

In one aspect, the motors 704a-704e may receive power from the energy source 712. Energy source 712 may be a DC power source powered by mains AC power, batteries, supercapacitors, or any other suitable energy source. Motors 704a-704e are mechanically coupled to respective movable mechanical elements such as I-beam 714, anvil 716, shaft 740, articulation 742a, and articulation 742b via respective transmissions 706a-706e. may be The transmissions 706a-706e may include one or more gears or other coupling components for coupling the motors 704a-704e to the movable mechanical elements. Position sensor 734 may sense the position of I-beam 714 . Position sensor 734 may be or include any type of sensor capable of generating position data indicative of the position of I-beam 714 . In some embodiments, position sensor 734 may include an encoder configured to provide a series of pulses to control circuit 710 as I-beam 714 translates distally and proximally. Control circuit 710 may track the pulses to determine the position of I-beam 714 . Other suitable position sensors may be used including, for example, proximity sensors. Other types of position sensors can provide other signals indicative of I-beam 714 movement. Also, in some embodiments, position sensor 734 may be omitted. If any of motors 704a-704e are stepper motors, control circuit 710 can track the position of I-beam 714 by summing the number and direction of steps motors 704 are instructed to perform. can. The position sensor 734 can be located within the end effector 702 or any other portion of the instrument. Each output of the motors 704a-704e includes a torque sensor 744a-744e for sensing force and has an encoder for sensing rotation of the drive shaft.

In one aspect, control circuitry 710 is configured to drive a firing member, such as the I-beam 714 portion of end effector 702 . Control circuit 710 provides motor settings to motor control 708a, and motor control 708a provides drive signals to motor 704a. The output shaft of motor 704a is coupled to torque sensor 744a. Torque sensor 744 a is coupled to transmission 706 a which is coupled to I-beam 714 . Transmission device 706 a includes moveable mechanical elements such as rotating and firing members for controlling distal and proximal movement of I-beam 714 along the longitudinal axis of end effector 702 . In one aspect, motor 704a may be coupled to a knife gear assembly that includes a knife gear reduction set that includes a first knife drive gear and a second knife drive gear. Torque sensor 744 a provides a firing force feedback signal to control circuit 710 . The firing force signal represents the force required to fire or displace I-beam 714 . Position sensor 734 may be configured to provide the position of I-beam 714 or the position of the firing member along the firing stroke as a feedback signal to control circuit 710 . End effector 702 may include additional sensors 738 configured to provide feedback signals to control circuitry 710 . When ready for use, control circuit 710 can provide a fire signal to motor control 708a. In response to the firing signal, motor 704a drives the firing member distally along the longitudinal axis of end effector 702 from a proximal stroke start position to a stroke end position distal to the stroke start position. be able to. As the firing member translates distally, I-beam 714 , which has a cutting element positioned at its distal end, advances distally to cut tissue located between staple cartridge 718 and anvil 716 .

In one aspect, control circuit 710 is configured to drive a closure member, such as anvil 716 portion of end effector 702 . Control circuit 710 provides motor set points to motor control 708b, which provides drive signals to motor 704b. The output shaft of motor 704b is coupled to torque sensor 744b. Torque sensor 744b is coupled to transmission device 706b which is coupled to anvil 716 . Transmission device 706b includes moveable mechanical elements such as rotating elements and closing members for controlling movement of anvil 716 from open and closed positions. In one aspect, the motor 704b is coupled to a closure gear assembly that includes a closure reduction gear set supported in meshing engagement with a closure spur gear. Torque sensor 744 b provides a closing force feedback signal to control circuit 710 . The closing force feedback signal represents the closing force applied to anvil 716 . Position sensor 734 may be configured to provide the position of the closure member as a feedback signal to control circuit 710 . An additional sensor 738 in end effector 702 can provide a closure force feedback signal to control circuit 710 . A pivotable anvil 716 is positioned opposite staple cartridge 718 . When ready for use, control circuit 710 can provide a close signal to motor control 708b. In response to the closure signal, motor 704 b advances closure member to grasp tissue between anvil 716 and staple cartridge 718 .

In one aspect, control circuit 710 is configured to rotate a shaft member, such as shaft 740 , to rotate end effector 702 . Control circuit 710 provides motor setpoints to motor control 708c, which provides drive signals to motor 704c. The output shaft of motor 704c is coupled to torque sensor 744c. Torque sensor 744 c is coupled to transmission 706 c which is coupled to shaft 740 . Transmission device 706c comprises a moveable mechanical element, such as a rotating element, to control clockwise or counterclockwise rotation of shaft 740 through 360 degrees and beyond. In one aspect, the motor 704c was formed on (or attached to) the proximal end of the proximal closure tube to be operably engaged by a rotating gear assembly operably supported on the tool mounting plate. attached) to a rotary transmission assembly including a tubular gear segment. Torque sensor 744 c provides a rotational force feedback signal to control circuit 710 . The rotational force feedback signal is representative of the rotational force applied to shaft 740 . Position sensor 734 may be configured to provide the position of the closure member as a feedback signal to control circuit 710 . Additional sensors 738 , such as shaft encoders, may provide the rotational position of shaft 740 to control circuit 710 .

In one aspect, control circuit 710 is configured to articulate end effector 702 . Control circuit 710 provides motor setpoints to motor control 708d, which provides drive signals to motor 704d. The output shaft of motor 704d is coupled to torque sensor 744d. Torque sensor 744d is coupled to transmission 706d that is coupled to articulation member 742a. Transmission device 706d comprises a moveable mechanical element, such as an articulation element for controlling ±65° articulation of end effector 702 . In one aspect, the motor 704d is coupled to an articulation nut that is rotatably journalled on the proximal end portion of the distal spine portion and articulated on the proximal end portion of the distal spine portion. It is rotatably driven by a motion gear assembly. Torque sensor 744 d provides an articulation force feedback signal to control circuit 710 . The articulation force feedback signal represents the articulation force applied to the end effector 702 . A sensor 738 , such as an articulation encoder, may provide the articulation position of end effector 702 to control circuit 710 .

In another aspect, the articulation features of the robotic surgical system 700 may include two articulation members, or connections 742a, 742b. These articulation members 742a, 742b are driven by separate discs on a robot interface (rack) driven by two motors 708d, 708e. When separate firing motors 704a are provided, to provide resistive holding motion and load to the head when the head is not moving, and to provide articulation when the head is articulating: Each of the articulation links 742a, 742b can be driven antagonistically with respect to the other link. Articulation members 742a, 742b are attached to the head at a fixed radius as the head rotates. Therefore, as the head rotates, the mechanical efficiency of the push-pull connection changes. This change in mechanical efficiency may be more pronounced in other articulating joint drive systems.

In one aspect, one or more of the motors 704a-704e may comprise brushed DC motors with gearboxes and mechanical connections to the firing, closing, or articulating members. Another example includes electric motors 704a-704e that operate movable mechanical elements such as displacement members, articulation connections, closed tubes, and shafts. External influences are unmeasured and unpredictable influences such as friction on tissues, surroundings and physical systems. Such an external influence is sometimes referred to as a drag acting against one of the electric motors 704a-704e. External influences, such as disturbances, can cause the behavior of a physical system to deviate from the desired behavior of the physical system.

In one aspect, position sensor 734 may be implemented as an absolute positioning system. In one aspect, the position sensor 734 may comprise a gyromagnetic absolute positioning system implemented as an AS5055EQFT single-chip gyromagnetic position sensor available from Austria Microsystems, AG. Position sensor 734 may cooperate with control circuit 710 to provide an absolute positioning system. The position is located above the magnet and provided to implement simple and efficient algorithms for computing hyperbolic and trigonometric functions, requiring only addition, subtraction, bit-shifting, and table lookup operations. It may include multiple Hall effect elements coupled to the CORDIC processor, also known as the digit-by-digit method and the Boulder algorithm.

In one aspect, control circuitry 710 may communicate with one or more sensors 738 . Sensors 738 are positioned on end effector 702 and adapted to operate with robotic surgical instrument 700 to measure various derived parameters such as gap distance vs. time, tissue compression vs. time, and anvil strain vs. time. may Sensors 738 may be magnetic sensors, magnetic field sensors, strain gauges, load cells, pressure sensors, force sensors, torque sensors, inductive sensors such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or one of end effector 702. or any other suitable sensor for measuring two or more parameters. Sensor 738 may include one or more sensors. A sensor 738 may be located on the deck of the staple cartridge 718 for determining tissue location using segmented electrodes. Torque sensors 744a-744e may be configured to sense forces such as firing forces, closing forces, and/or articulation forces, among others. Thus, the control circuit 710 determines (1) the closure load experienced by the distal obturator tube and its position, (2) the firing member in the rack and its position, and (3) which portion of the staple cartridge 718 has tissue thereon. and (4) can sense load and position on both articulation rods.

In one aspect, the one or more sensors 738 may comprise strain gauges, such as micro strain gauges, configured to measure the amount of strain in the anvil 716 during gripping conditions. A strain gauge provides an electrical signal whose amplitude varies with the amount of strain. Sensor 738 may comprise a pressure sensor configured to detect pressure generated by the presence of compressed tissue between anvil 716 and staple cartridge 718 . Sensor 738 may be configured to detect the impedance of a portion of tissue located between anvil 716 and staple cartridge 718, which may indicate the thickness and/or fullness of tissue located therebetween. indicate.

In one aspect, sensor 738 is implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive (GMR) devices, magnetometers, among others. may be In other implementations, sensor 738 may be implemented as a solid-state switch that operates under the influence of light, such as an optical sensor, an IR sensor, an ultraviolet sensor, among others. Additionally, the switch may be a solid state device such as a transistor (eg, FET, junction FET, MOSFET, bipolar, etc.). In other implementations, sensors 738 may include conductor-free switches, ultrasonic switches, accelerometers, and inertial sensors, among others.

In one aspect, sensor 738 may be configured to measure the force exerted on anvil 716 by the closing drive system. For example, one or more sensors 738 may be located at the point of interaction between the closure tube and the anvil 716 to detect the closure force applied to the anvil 716 by the closure tube. The force exerted on anvil 716 may be representative of the tissue compression experienced by tissue portions captured between anvil 716 and staple cartridge 718 . One or more sensors 738 may be positioned at various interaction points along the closure drive system to detect the closing force applied to anvil 716 by the closure drive system. One or more sensors 738 may be sampled in real-time during clamping operations by the processor of control circuit 710 . Control circuitry 710 receives real-time sample measurements to provide and analyze time-based information to assess the closing force applied to anvil 716 in real-time.

In one aspect, a current sensor 736 can be used to measure the current drawn by each of the motors 704a-704e. The force required to advance any of the moveable mechanical elements, such as I-beam 714, corresponds to the current drawn by one of motors 704a-704e. The force is converted to a digital signal and provided to control circuit 710 . The control circuit 710 may be configured to simulate the actual system response of the instrument in the controller software. The displacement member can be actuated to move the I-beam 714 within the end effector 702 at or near a target velocity. The robotic surgical instrument 700 can include a feedback controller, for example, any feedback controller including, but not limited to, PID, state feedback, linear-quadratic (LQR), and/or adaptive controllers. may be any one of Robotic surgical instrument 700 can include a power supply for converting signals from the feedback controller into physical inputs such as, for example, case voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force. . Further details are disclosed in U.S. patent application Ser. No. 15/636,829, entitled "CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT," filed Jun. 29, 2017, which is incorporated herein by reference in its entirety. It is

FIG. 41 shows a block diagram of a surgical instrument 750 programmed to control distal translation of a displacement member, according to one aspect of the present disclosure. In one aspect, surgical instrument 750 is programmed to control distal translation of a displacement member such as I-beam 764 . Surgical instrument 750 includes an anvil 766 , an I-beam 764 (including sharp cutting edges), and an end effector 752 that may include a removable staple cartridge 768 .

The position, movement, displacement and/or translation of a linear displacement member such as I-beam 764 can be measured by absolute positioning system, sensor mechanism and position sensor 784 . Since I-beam 764 is coupled to a longitudinally movable drive member, the position of I-beam 764 can be determined by measuring the position of the longitudinally movable drive member using position sensor 784 . can. Accordingly, in the discussion below, position, displacement, and/or translation of I-beam 764 may be accomplished by position sensor 784 as described herein. Control circuitry 760 may be programmed to control translation of a displacement member such as I-beam 764 . In some embodiments, the control circuit 760 commands one or more microcontrollers, microprocessors, or processors or processors to control the displacement member, e.g., I-beam 764, in the manner described. Other suitable processors may be provided for execution. In one aspect, timer/counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate the position of I-beam 764 as determined by position sensor 784 with the output of timer/counter 781. , so that control circuit 760 can determine the position of I-beam 764 at a particular time (t) relative to the starting position. Timer/counter 781 may be configured to measure elapsed time, count external events, or time external events.

Control circuit 760 may generate motor setpoint signal 772 . Motor setpoint signal 772 may be provided to motor controller 758 . Motor controller 758 may comprise one or more circuits configured to provide motor drive signal 774 to motor 754 to drive motor 754 as described herein. In some examples, motor 754 may be a brushed DC electric motor. For example, the speed of motor 754 may be proportional to motor drive signal 774 . In some examples, motor 754 may be a brushless DC electric motor and motor drive signal 774 may include a PWM signal provided to one or more stator windings of motor 754 . Also, in some embodiments, motor controller 758 may be omitted and control circuit 760 may generate motor drive signal 774 directly.

Motor 754 may receive power from energy source 762 . Energy source 762 may be or include a battery, supercapacitor, or any other suitable energy source. Motor 754 may be mechanically coupled to I-beam 764 via transmission 756 . Transmission 756 may include one or more gears or other coupling components for coupling motor 754 to I-beam 764 . A position sensor 784 may sense the position of the I-beam 764 . Position sensor 784 may be or include any type of sensor capable of generating position data indicative of the position of I-beam 764 . In some embodiments, position sensor 784 may include an encoder configured to provide a series of pulses to control circuit 760 as I-beam 764 translates distally and proximally. Control circuitry 760 may track the pulses to determine the position of I-beam 764 . Other suitable position sensors may be used including, for example, proximity sensors. Other types of position sensors can provide other signals indicative of I-beam 764 movement. Also, in some embodiments, position sensor 784 may be omitted. If motor 754 is a stepper motor, control circuit 760 can track the position of I-beam 764 by summing the number and direction of steps motor 754 is instructed to perform. The position sensor 784 can be located within the end effector 752 or any other portion of the instrument.

Control circuitry 760 may communicate with one or more sensors 788 . A sensor 788 may be positioned on the end effector 752 and adapted to work with the surgical instrument 750 to measure various derived parameters such as gap distance vs. time, tissue compression vs. time, and anvil strain vs. time. . Sensor 788 may include one or more of magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, inductive sensors such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or end effector 752 . Any other suitable sensor for measuring parameters may be provided. Sensor 788 may include one or more sensors.

The one or more sensors 788 may comprise strain gauges, such as micro strain gauges, configured to measure the amount of strain in the anvil 766 during clamping conditions. A strain gauge provides an electrical signal whose amplitude varies with the amount of strain. Sensor 788 may comprise a pressure sensor configured to detect pressure generated by the presence of compressed tissue between anvil 766 and staple cartridge 768 . Sensor 788 may be configured to detect the impedance of a portion of tissue located between anvil 766 and staple cartridge 768, which may indicate the thickness and/or fullness of tissue located therebetween. indicate.

Sensor 788 may be configured to measure the force exerted on anvil 766 by the closing drive system. For example, one or more sensors 788 may be located at the point of interaction between the closure tube and the anvil 766 to detect the closure force applied to the anvil 766 by the closure tube. The force exerted against anvil 766 may be representative of tissue compression experienced by tissue portions captured between anvil 766 and staple cartridge 768 . One or more sensors 788 may be positioned at various interaction points along the closure drive system to detect the closing force applied to anvil 766 by the closure drive system. One or more sensors 788 may be sampled in real-time during clamping operations by the processor of control circuit 760 . The control circuit 760 receives real-time sample measurements to provide and analyze time-based information to assess the closure force applied to the anvil 766 in real-time.

A current sensor 786 can be used to measure the current drawn by the motor 754 . The force required to advance I-beam 764 corresponds to the current drawn by motor 754 . The force is converted to a digital signal and provided to control circuit 760 .

The control circuit 760 may be configured to simulate the actual system response of the instrument in the controller software. The displacement member can be actuated to move the I-beam 764 within the end effector 752 at or near a target velocity. Surgical instrument 750 may include a feedback controller, for example, any one of any feedback controller including, but not limited to, PID, state feedback, LQR, and/or adaptive controllers. can be one. Surgical instrument 750 may include a power supply to convert signals from feedback controllers into physical inputs such as, for example, case voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force.

The actual drive system of surgical instrument 750 is such that the displacement member, cutting member, or I-beam 764 is driven by a gearbox and brushed DC motor with mechanical links to the articulation and/or knife system. It is configured. Another example is an electric motor 754 that operates an interchangeable shaft assembly, such as a displacement member and an articulation driver. External influences are unmeasured and unpredictable influences such as friction on tissues, surroundings and physical systems. Such external influences are sometimes referred to as disturbances that act against the electric motor 754 . External influences, such as disturbances, can cause the behavior of a physical system to deviate from the desired behavior of the physical system.

Various exemplary aspects are directed to a surgical instrument 750 that includes an end effector 752 having a motorized surgical stapling and cutting instrument. For example, motor 754 may drive displacement members distally and proximally along the longitudinal axis of end effector 752 . The end effector 752 may comprise a pivotable anvil 766 and a staple cartridge 768 positioned opposite the anvil 766 when configured for use. A clinician may grasp tissue between anvil 766 and staple cartridge 768 as described herein. When instrument 750 is ready for use, the clinician may provide a firing signal, for example, by pressing the trigger of instrument 750 . In response to the firing signal, motor 754 drives the displacement member distally along the longitudinal axis of end effector 752 from a proximal stroke start position to a stroke end position distal to the stroke start position. can be done. As the displacement member is translated distally, an I-beam 764 having a cutting element positioned at its distal end can cut tissue between staple cartridge 768 and anvil 766 .

In various embodiments, surgical instrument 750 has control circuitry 760 programmed to control distal translation of a displacement member, eg, I-beam 764, based on one or more tissue conditions. You may prepare. Control circuitry 760 may be programmed to sense tissue conditions, such as thickness, either directly or indirectly, as described herein. Control circuit 760 may be programmed to select a firing control program based on tissue condition. A firing control program can describe the distal movement of the displacement member. Different firing control programs can be selected to better treat different tissue conditions. For example, if thicker tissue is present, control circuitry 760 may be programmed to translate the displacement member at a slower speed and/or with less power. If thinner tissue is present, the control circuit 760 may be programmed to translate the displacement member at a higher speed and/or with a higher power.

In some embodiments, control circuit 760 may initially operate motor 754 in an open loop configuration for a first open loop portion of the stroke of the displacement member. Based on the response of instrument 750 during the open-loop portion of the stroke, control circuit 760 may select a firing control program. The response of the instrument includes the translational distance of the displacement member during the open loop portion, the time elapsed during the open loop portion, the energy provided to the motor 754 during the open loop portion, and the total pulse width of the motor drive signal. etc. can be mentioned. After the open loop portion, control circuit 760 may implement the selected firing control program for the second portion of the displacement member stroke. For example, during the closed-loop portion of the stroke, control circuit 760 may closed-loop modulate motor 754 based on translation data describing the position of the displacement member to translate the displacement member at a constant velocity. Further details can be found in U.S. patent application Ser. disclosed in

FIG. 42 is a schematic illustration of a surgical instrument 790 configured to control various functions, according to one aspect of the present disclosure. In one aspect, surgical instrument 790 is programmed to control distal translation of a displacement member such as I-beam 764 . Surgical instrument 790 includes an end effector 792 that can include an anvil 766, an I-beam 764, and a removable staple cartridge 768 that can be replaced with an RF cartridge 796 (shown in dashed lines).

In one aspect, sensor 788 may be implemented as a limit switch, electromechanical device, solid state switch, Hall effect device, MR device, GMR device, magnetometer, among others. In other implementations, sensor 638 may be a solid-state switch that operates under the influence of light, such as a light sensor, IR sensor, UV sensor, among others. Additionally, the switch may be a solid state device such as a transistor (eg, FET, junction FET, MOSFET, bipolar, etc.). In other implementations, sensors 788 may include conductorless switches, ultrasonic switches, accelerometers, and inertial sensors, among others.

In one aspect, the position sensor 784 may be implemented as an absolute positioning system comprising a gyromagnetic absolute positioning system implemented as an AS5055EQFT single-chip gyromagnetic position sensor available from Austria Microsystems, AG. Position sensor 784 may cooperate with control circuitry 760 to provide an absolute positioning system. The position is located above the magnet and provided to implement simple and efficient algorithms for computing hyperbolic and trigonometric functions, requiring only addition, subtraction, bit-shifting, and table lookup operations. It may include multiple Hall effect elements coupled to the CORDIC processor, also known as the digit-by-digit method and the Boulder algorithm.

In one aspect, the I-beam 764 may be implemented as a knife member comprising a knife body operably supporting a tissue cutting blade thereon and having an anvil engaging tab or feature and a channel engaging feature or foot. may further include: In one aspect, staple cartridge 768 may be implemented as a standard (mechanical) surgical fastener cartridge. In one aspect, RF cartridge 796 may be implemented as an RF cartridge. These, and other sensor mechanisms, are part of the same application filed June 20, 2017, entitled "TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT," which is hereby incorporated by reference in its entirety. It is described in US patent application Ser. No. 15/628,175.

The position, movement, displacement, and/or translation of a linear displacement member such as I-beam 764 can be measured by an absolute positioning system, sensor mechanism, and position sensor represented as position sensor 784 . Since I-beam 764 is coupled to a longitudinally movable drive member, the position of I-beam 764 can be determined by measuring the position of the longitudinally movable drive member using position sensor 784 . can. Accordingly, in the discussion below, position, displacement, and/or translation of I-beam 764 may be accomplished by position sensor 784 as described herein. Control circuitry 760 may be programmed to control translation of a displacement member, such as closure member 764, as described herein. In some embodiments, the control circuit 760 commands one or more microcontrollers, microprocessors, or processors or processors to control the displacement member, e.g., I-beam 764, in the manner described. Other suitable processors may be provided for execution. In one aspect, timer/counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate the position of I-beam 764 as determined by position sensor 784 with the output of timer/counter 781. , so that control circuit 760 can determine the position of I-beam 764 at a particular time (t) relative to the starting position. Timer/counter 781 may be configured to measure elapsed time, count external events, or time external events.

Control circuit 760 may generate motor setpoint signal 772 . Motor setpoint signal 772 may be provided to motor controller 758 . Motor controller 758 may comprise one or more circuits configured to provide motor drive signal 774 to motor 754 to drive motor 754 as described herein. In some examples, motor 754 may be a brushed DC electric motor. For example, the speed of motor 754 may be proportional to motor drive signal 774 . In some examples, motor 754 may be a brushless DC electric motor, and motor drive signal 774 may include a PWM signal provided to one or more stator windings of motor 754 . Also, in some embodiments, motor controller 758 may be omitted and control circuit 760 may generate motor drive signal 774 directly.

Motor 754 may receive power from energy source 762 . Energy source 762 may be or include a battery, supercapacitor, or any other suitable energy source. Motor 754 may be mechanically coupled to I-beam 764 via transmission 756 . Transmission 756 may include one or more gears or other coupling components for coupling motor 754 to I-beam 764 . A position sensor 784 may sense the position of the I-beam 764 . Position sensor 784 may be or include any type of sensor capable of generating position data indicative of the position of I-beam 764 . In some embodiments, position sensor 784 may include an encoder configured to provide a series of pulses to control circuit 760 as I-beam 764 translates distally and proximally. Control circuitry 760 may track the pulses to determine the position of I-beam 764 . Other suitable position sensors may be used including, for example, proximity sensors. Other types of position sensors can provide other signals indicative of I-beam 764 movement. Also, in some embodiments, position sensor 784 may be omitted. If motor 754 is a stepper motor, control circuit 760 can track the position of I-beam 764 by summing the number and direction of steps the motor is instructed to perform. The position sensor 784 can be located within the end effector 792 or any other part of the instrument.

Control circuitry 760 may communicate with one or more sensors 788 . A sensor 788 may be positioned on the end effector 792 and adapted to work with the surgical instrument 790 to measure various derived parameters such as gap distance vs. time, tissue compression vs. time, and anvil strain vs. time. . Sensors 788 may include one or more of magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, inductive sensors such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or end effectors 792 . Any other suitable sensor for measuring parameters may be provided. Sensor 788 may include one or more sensors.

The one or more sensors 788 may comprise strain gauges, such as micro strain gauges, configured to measure the amount of strain in the anvil 766 during clamping conditions. A strain gauge provides an electrical signal whose amplitude varies with the amount of strain. Sensor 788 may comprise a pressure sensor configured to detect pressure generated by the presence of compressed tissue between anvil 766 and staple cartridge 768 . Sensor 788 may be configured to detect the impedance of a portion of tissue located between anvil 766 and staple cartridge 768, which may indicate the thickness and/or fullness of tissue located therebetween. indicate.

Sensor 788 may be configured to measure the force exerted on anvil 766 by the closing drive system. For example, one or more sensors 788 may be located at the point of interaction between the closure tube and the anvil 766 to detect the closure force applied to the anvil 766 by the closure tube. The force exerted against anvil 766 may be representative of tissue compression experienced by tissue portions captured between anvil 766 and staple cartridge 768 . One or more sensors 788 may be positioned at various interaction points along the closure drive system to detect the closing force applied to anvil 766 by the closure drive system. One or more sensors 788 may be sampled in real-time during clamping operations by the processor portion of control circuit 760 . The control circuit 760 receives real-time sample measurements to provide and analyze time-based information to evaluate the closing force applied to the clamp arm 766 in real-time.

A current sensor 786 can be used to measure the current drawn by the motor 754 . The force required to advance I-beam 764 corresponds to the current drawn by motor 754 . The force is converted to a digital signal and provided to control circuit 760 .

RF energy source 794 is coupled to end effector 792 and applied to RF cartridge 796 when RF cartridge 796 is loaded into end effector 792 in place of staple cartridge 768 . Control circuitry 760 controls the delivery of RF energy to RF cartridge 796 .

Further details can be found in U.S. Patent Application No. 15, entitled "SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME," filed June 28, 2017, which is incorporated herein by reference in its entirety. /636,096.

Generator Hardware FIG. 43 is a simplified block diagram of a generator 800 configured to provide, among other advantages, inductor tuning. Additional details of generator 800 are provided in US Pat. 775. Generator 800 may comprise patient isolation stage 802 communicating with non-isolation stage 804 via power transformer 806 . A secondary winding 808 of the power transformer 806 is housed within the isolation stage 802 and is used for multiple applications including, for example, ultrasonic surgical instruments, RF electrosurgical instruments, and ultrasonic and RF energy modes that can be delivered singly or simultaneously. Tap configurations (eg, center-tap or non-center-tap configurations) may be provided to define drive signal outputs 810a, 810b, 810c for delivering drive signals to different surgical instruments, such as functional surgical instruments. Specifically, the drive signal outputs 810a, 810c may output an ultrasonic drive signal (eg, a 420V root-mean-square (RMS) drive signal) to the ultrasonic surgical instrument. , drive signal outputs 810b, 810c output RF electrosurgical drive signals (eg, 100V RMS drive signals) to the RF electrosurgical instrument with drive output 810b corresponding to the center tap of power transformer 806. may

In certain forms, ultrasonic and electrosurgical drive signals are provided to separate surgical instruments, and/or multi-function surgical instruments, etc. that have the ability to deliver both ultrasonic and electrosurgical energy to tissue. may be provided simultaneously on a single surgical instrument. Electrosurgical signals provided to either dedicated electrosurgical instruments and/or combined multifunction ultrasound/electrosurgical instruments are either therapeutic or sub-therapeutic level signals and It will be appreciated that subquantitative signals can be used, for example, to monitor tissue or instrument condition and provide feedback to the generator. For example, ultrasound and RF signals are delivered separately or simultaneously from a generator having a single output port to provide the desired output signal to the surgical instrument, as discussed in more detail below. obtain. Thus, the generator can combine ultrasonic energy and electrosurgical RF energy to deliver combined energy to a multi-function ultrasonic/electrosurgical instrument. Bipolar electrodes can be placed on one or both jaws of the end effector. One jaw may be driven by ultrasonic energy in addition to electrosurgical RF energy, acting simultaneously. Electrosurgical RF energy may be used for vessel sealing, while ultrasonic energy may be used to dissect tissue.

Non-isolated stage 804 may comprise a power amplifier 812 having an output connected to a primary winding 814 of power transformer 806 . In one particular form, power amplifier 812 may comprise a push-pull amplifier. For example, the non-isolating stage 804 provides logic for providing a digital output to a digital-to-analog converter (DAC) circuit 818 that subsequently provides a corresponding analog signal to the input of power amplifier 812. A device 816 may also be included. In particular forms, logic device 816 may comprise, for example, a programmable gate array (PGA), an FPGA, a programmable logic device (PLD), among other logic circuits. Therefore, the logic device 816 controls many parameters (e.g., frequency, waveform, waveform) of the drive signals appearing at the drive signal outputs 810a, 810b, 810C by controlling the input of the power amplifier 812 via the DAC circuit 818. amplitude) can be controlled. In particular forms, and as discussed below, logic device 816 implements a number of DSP-based and/or other control algorithms in conjunction with a processor (e.g., a DSP discussed below) to implement a generator Parameters of the drive signal output by 800 can be controlled.

Power may be supplied to the power rail of power amplifier 812 by a switch mode regulator 820, such as a power converter. In one particular form, switch mode regulator 820 may comprise, for example, an adjustable buck regulator. The non-isolated stage 804 may further comprise a first processor 822, which in one form may be, for example, an Analog Devices ADSP-21469 SHARC DSP available from Analog Devices (Norwood, Mass.). DSP processor, but in various aspects any suitable processor may be used. In particular forms, DSP processor 822 may control operation of switch-mode regulator 820 in response to voltage feedback data that DSP processor 822 receives via ADC circuitry 824 from power amplifier 812 . In one form, for example, DSP processor 822 may receive as an input via ADC circuitry 824 a waveform envelope of a signal (eg, an RF signal) amplified by power amplifier 812 . DSP processor 822 may then control switch-mode regulator 820 (eg, PWM output) such that the rail voltage supplied to power amplifier 812 tracks the waveform envelope of the amplified signal. By dynamically modulating the rail voltage of power amplifier 812 based on the waveform envelope, the efficiency of power amplifier 812 can be significantly improved over fixed rail voltage amplifier schemes.

In particular forms, logic device 816 implements a digital synthesis circuit, such as a direct digital synthesizer control scheme, in conjunction with DSP processor 822 to control the waveform shape, frequency and/or amplitude of the drive signal output by generator 800. You may In one form, for example, logic device 816 implements DDS control by calling waveform samples stored in a dynamically updated lookup table (LUT), such as a RAM LUT that may be embedded within an FPGA. Algorithms may be implemented. This control algorithm is particularly useful in ultrasonic applications where an ultrasonic transducer, such as an ultrasonic transducer, can be driven by a distinct sinusoidal current at its resonant frequency. Since other frequencies can excite parasitic resonances, minimizing or reducing the total distortion of the operating branch currents can correspondingly minimize or reduce undesirable resonance effects. Since the waveform of the drive signal output by generator 800 is affected by various distortion sources present in the output drive circuit (e.g., power transformer 806, power amplifier 812), voltage and current feedback based on the drive signal The data can be input to an algorithm, such as an error control algorithm executed by the DSP processor 822, which, on a dynamic, progressive basis (eg, real-time), converts the waveform samples stored in the LUT. Distortion is compensated by suitable pre-distortion or modification. In one form, the amount or degree of predistortion applied to the LUT samples may be based on the error between the calculated operating branch current and the desired current waveform, where the error is determined on a sample-by-sample basis. In this way, the pre-distorted LUT samples, when processed by the drive circuit, produce an operating branch drive signal having the desired waveform shape (e.g., sinusoidal) to optimally drive the ultrasonic transducer. can occur. In such a form, the LUT waveform samples are therefore not representative of the desired waveform of the drive signal, but rather the desired waveform of the operational branch drive signal when distortion effects are taken into account. waveform.

The non-isolated stage 804 is coupled to the output of the power transformer 806 via respective isolation transformers 830, 832 for sampling the voltage and current, respectively, of the drive signal output by the generator 800. ADC circuitry 826 and a second ADC circuitry 828 may further be included. In certain forms, the ADC circuits 826, 828 may be configured to sample at a high speed (eg, 80 megasamples per second (MSPS)) to allow oversampling of the drive signal. In one form, for example, the sampling rate of the ADC circuits 826, 828 may allow approximately 200x (depending on frequency) oversampling of the drive signal. In certain forms, the sampling operations of ADC circuits 826, 828 may be performed by a single ADC circuit that receives input voltage and current signals via bi-directional multiplexers. The use of high-speed sampling in the form of generator 800, among other things, is used to calculate the complex currents flowing through the operating branches, which can be used in certain forms to implement the DDS-based waveform shape control described above. ), which may enable accurate digital filtering of the sampled signal and calculation of real power consumption with high precision. Voltage and current feedback data output by ADC circuits 826, 828 may be received and processed by logic device 816 (eg, first-come, first-served (FIFO) buffers, multiplexers, etc.) for subsequent processing by DSP processor 822, for example. It may be stored in a data memory for reading. As noted above, voltage and current feedback data can be used as inputs to algorithms to pre-distort or modify LUT waveform samples on a dynamic and progressive basis. In certain forms, this is based on, or otherwise related to, the corresponding LUT samples output by the logic device 816 when the voltage and current feedback data pairs are obtained. Voltage and current feedback data pairs may need to be indexed. Synchronization of LUT samples with voltage and current feedback data in this manner contributes to the precise timing and stability of the predistortion algorithm.

In certain forms, voltage and current feedback data may be used to control the frequency and/or amplitude (eg, current amplitude) of the drive signal. For example, in one form, voltage and current feedback data may be used to determine the impedance phase. The frequency of the drive signal may then be controlled to minimize or reduce the difference between the determined impedance phase and the impedance phase set point (e.g., 0°), thus minimizing the effects of harmonic distortion. increase or decrease and correspondingly improve the impedance phase measurement accuracy. The phase impedance and frequency control signal determination may be implemented, for example, in DSP processor 822 and the frequency control signal is provided as an input to the DDS control algorithm implemented by logic device 816 .

In another form, for example, current feedback data may be monitored to maintain the current amplitude of the drive signal at the current amplitude set point. The current amplitude setting may be specified directly or indirectly determined based on the specified voltage amplitude and power settings. In certain forms, control of current amplitude may be performed by a control algorithm, such as, for example, a proportional-integral-derivative (PID) control algorithm within DSP processor 822 . Variables controlled by the control algorithm include, for example, the scaling of the LUT waveform samples stored in logic device 816 and/or the DAC circuit 818 via DAC circuit 834 to preferably control the current amplitude of the drive signal. (which feeds the input to power amplifier 812).

The unisolated stage 804 may further include a second processor 836 to provide user interface (UI) functionality, among other things. In one form, the UI processor 836 may include, for example, an Atmel AT91SAM9263 processor with an ARM 926EJ-S core, available from Atmel Corporation (San Jose, Calif.). Examples of UI features supported by processor 836 include audible and visual user feedback, communication with peripheral devices (e.g., via a USB interface), communication with footswitches, input devices (e.g., touch screen displays), as well as communication with output devices (eg, speakers). UI processor 836 may communicate with DSP processor 822 and logic device 816 (eg, SPI bus). UI processor 836 may primarily support UI functionality, but in certain forms UI processor 836 may also cooperate with DSP processor 822 to provide risk mitigation. For example, the UI processor 836 may be programmed to monitor various aspects of user input and/or other input (eg, touchscreen input, footswitch input, temperature sensor input), and erroneous conditions When detected, the drive output of generator 800 can be disabled.

In certain forms, both DSP processor 822 and UI processor 836 may determine and monitor the operational state of generator 800, for example. With respect to DSP processor 822 , the operating state of generator 800 may represent, for example, which control and/or diagnostic processes are implemented by DSP processor 822 . With respect to UI processor 836, the operating state of generator 800 may represent, for example, which elements of the UI (eg, display screen, sounds) are provided to the user. DSP processor 822 and UI processor 836 may each separately maintain the current operating state of generator 800 and recognize and evaluate possible transitions from the current operating state. DSP processor 822 may act as the master in this relationship and determine when transitions between operating states occur. The UI processor 836 may recognize valid transitions between operational states, and may determine if a particular transition is appropriate. For example, when DSP processor 822 instructs UI processor 836 to transition to a particular state, UI processor 836 may verify that the requested transition is valid. If the transition between the requested states is determined to be invalid by the UI processor 836, the UI processor 836 may put the generator 800 into failure mode.

The non-isolated stage 804 can further include a controller 838 for monitoring input devices (eg, capacitive touch sensors used to turn generator 800 on and off, capacitive touch screens). In particular forms, controller 838 may include at least one processor and/or other controller device in communication with UI processor 836 . In one form, for example, controller 838 is a processor (eg, Meg168 8-bit controller available from Atmel) configured to monitor user input provided via one or more capacitive touch sensors. can include In one form, the controller 838 may include a touchscreen controller (eg, QT5480 touchscreen controller available from Atmel) for controlling and managing acquisition of touch data from the capacitive touchscreen.

In certain forms, when the generator 800 is in a “power off” state, the controller 838 supplies operating power (eg, via a line from a power supply of the generator 800, such as the power supply 854 discussed below). You may continue to receive In this manner, controller 838 can continue to monitor input devices (eg, capacitive touch sensors located on the front panel of generator 800) for turning generator 800 on and off. When the generator 800 is in the power off state, the controller 838 can activate the power supply (e.g., one or two of the power supplies 854) if activation of an "on/off" input device by the user is detected. enabling the operation of the DC/DC voltage converter 856 above). As a result, the controller 838 can initiate a sequence to transition the generator 800 to the "power on" state. Conversely, if activation of an "on/off" input device is detected while generator 800 is in the power-on state, controller 838 may initiate a sequence to transition generator 800 to the power-off state. can. For example, in certain forms, controller 838 may report activation of an “on/off” input device to UI processor 836, which in turn is necessary for transitioning generator 800 to a power off state. process sequence. In this form, the controller 838 may not have a separate ability to remove power from the generator 800 after the power-on state of the generator 800 has been established.

In certain forms, controller 838 may cause generator 800 to provide audible or other sensory feedback to alert the user that a power-on or power-off sequence has been initiated. Such warnings may be provided at the start of a power-on or power-off sequence and prior to the start of other processes associated with the sequence.

In certain forms, the isolation stage 802 includes, for example, surgical instrument control circuitry (eg, control circuitry including handpiece switches) and non-isolation stages such as, for example, logic device 816, DSP processor 822, and/or UI processor 836. An instrument interface circuit 840 may be included to provide a communication interface between the components of 804 . Instrument interface circuitry 840 exchanges information with the components of non-isolated stage 804 via a communication link that maintains a suitable degree of electrical isolation between stages 802 and 804, such as, for example, an IR-based communication link. can. For example, a low dropout voltage regulator powered by an isolation transformer driven from the non-isolation stage 804 can be used to power the instrument interface circuit 840 .

In one form, instrument interface circuitry 840 may include logic device 842 (eg, logic circuitry, programmable logic circuitry, PGA, FPGA, PLD) in communication with signal conditioning circuitry 844 . Signal conditioning circuitry 844 may be configured to receive a periodic signal (eg, a 2 kHz square wave) from logic circuitry 842 to generate a bipolar interrogation signal having the same frequency. The interrogation signal can be generated using, for example, a bipolar current source fed by a differential amplifier. The interrogation signal is communicated to the surgical instrument control circuit (eg, using conductive pairs in the cable connecting the generator 800 to the surgical instrument) and monitored to determine the state or configuration of the control circuit. may The control circuit may comprise a number of switches, resistors, and/or diodes, and interrogation signals such that the state or configuration of the control circuit is individually identifiable based on one or more characteristics. may modify one or more properties (eg, amplitude, rectification) of . For example, in one form the signal conditioning circuit 844 may comprise an ADC circuit to generate samples of the voltage signal appearing across the input of the control circuit resulting from the path through which the interrogation signal passes. Logic circuitry 842 (or a component of non-isolation stage 804) may then determine the state or configuration of the control circuitry based on the ADC circuitry samples.

In one form, the instrument interface circuit 840 includes a first data circuit interface 846 and a logic circuit 842 (or other element of the instrument interface circuit 840) disposed within the surgical instrument or separately. Information may be exchanged between the first data circuit associated in a manner. In certain forms, for example, the first data circuit is in a cable integrally attached to the surgical instrument handpiece for interfacing with a particular surgical instrument type or model having the generator 800, or It may be disposed within the adapter. The first data circuit may be implemented in any suitable manner, for example communicating with the generator according to any suitable protocol, including those described herein with respect to the first data circuit. good too. In certain forms, the first data circuit may include a non-volatile storage device, such as an EEPROM device. In certain forms, the first data circuit interface 846 may be implemented separately from the logic circuit 842 and may comprise suitable circuitry (eg, separate logic devices, processors) to interface the logic circuit 842 and the first data circuit interface 846 together. may enable communication between the data circuits of the Alternatively, first data circuit interface 846 may be integral with logic circuit 842 .

In certain forms, the first data circuit may store information regarding the particular surgical instrument with which the first data circuit is associated. Such information may include, for example, model number, serial number, number of operations in which the surgical instrument was used, and/or any other type of information. This information is read by instrument interface circuitry 840 (e.g., by logic circuitry 842) for presentation to a user via an output device and/or for controlling the function or operation of generator 800. It may be forwarded to the components of stage 804 (eg, logic device 816, DSP processor 822, and/or UI processor 836). Additionally, any type of information may be communicated to the first data circuit (eg, using logic circuit 842) for internal storage via first data circuit interface 846. FIG. Such information may include, for example, the number of most recent surgeries in which the surgical instrument was used and/or the date and/or time of its use.

As discussed above, the surgical instrument may be removable from the handpiece to facilitate interchangeability and/or disposability of the instrument (e.g., multi-function surgical instruments may be removable from the handpiece). may be possible). In such cases, conventional generators may be limited in their ability to recognize the particular instrument configuration being used and correspondingly optimize the control and diagnostic processes. However, adding a readable data circuit to the surgical instrument to address this issue is problematic from a compatibility standpoint. For example, it may not be practical to design a surgical instrument to be backward compatible with generators that lack the necessary data reading functionality, due to, for example, different signaling schemes, design complexity and cost. be. The instrument configurations discussed herein economically use data circuitry that may be implemented in existing surgical instruments, and maintain compatibility between surgical instruments and modern generator platforms. Address these concerns by minimizing design changes.

Further, the configuration of generator 800 may allow communication with instrument-based data circuits. For example, generator 800 can be configured to communicate with a second data circuit contained within an instrument (eg, a multi-function surgical instrument). In some forms, the second data circuit is implemented in many similarities to those of the first data circuit described herein. Instrument interface circuitry 840 may include a second data circuitry interface 848 to facilitate this communication. In one form, the second data circuit interface 848 may include a tri-state digital interface, although other interfaces may also be used. In one particular form, the second data circuit may generally be any circuit for transmitting and/or receiving data. In one form, for example, the second data circuit may store information regarding the particular surgical instrument with which the second data circuit is associated. Such information may include, for example, model number, serial number, number of operations in which the surgical instrument was used, and/or any other type of information.

In some forms, the second data circuit may store information regarding electrical and/or ultrasonic properties of an associated ultrasonic transducer, end effector, or ultrasonic drive system. For example, a first data circuit may indicate a burn-in frequency slope as described herein. Additionally or alternatively, any type of information may be communicated to the second data circuit for internal storage via the second data circuit interface 848 (eg, using logic circuit 842). do). Such information may include, for example, the number of most recent actions in which the device was used and/or the date and/or time of its use. In one particular form, the second data circuit may transmit data acquired by one or more sensors (eg, instrument-based temperature sensors). In certain forms, the second data circuit may receive data from generator 800 and provide an indicator (eg, a light emitting diode indicator or other visible indicator) to the user based on the received data.

In a particular form, the second data circuit and second data circuit interface 848 are such that communication between the logic circuit 842 and the second data circuit requires an additional conductor for this purpose (eg, a hand piece). can be provided without the need to provide a dedicated conductor of the cable connecting the to the generator 800 . In one form, for example, one of the conductors used carries an interrogation signal from the signal conditioning circuit 844 to the control circuit in the handpiece, a one-wire bus communication scheme implemented over existing cabling. can be used to communicate information to and from the second data circuit. In this manner, design changes or modifications to the surgical instrument that may otherwise be required are minimized or reduced. Furthermore, the presence of the second data circuit is "invisible" to generators that do not have the necessary data reading capabilities, as different types of communications carried out over a common physical channel can be frequency band separated. , thus allowing backward compatibility of surgical instruments.

In certain forms, isolation stage 802 may include at least one blocking capacitor 850-1 connected to drive signal output 810b to prevent DC current from passing through the patient. A single blocking capacitor may, for example, be required to comply with medical regulations or standards. Although failures in single-capacitor designs are relatively rare, such failures can nonetheless have negative consequences. In one form, a second blocking capacitor 850-2 may be provided in series with blocking capacitor 850-1, such that, for example, current leakage from a point between blocking capacitors 850-1 and 850-2 is monitored by an ADC circuit 852 to sample the voltage induced by . The samples may be received by logic circuitry 842, for example. Based on changes in leakage current (as indicated by voltage samples), generator 800 may determine when at least one of blocking capacitors 850-1, 850-2 has failed, thus simply It provides an advantage over single capacitor designs with one point of failure.

In particular forms, the non-isolated stage 804 may include a power supply 854 for delivering DC power at a suitable voltage and current. The power supply may include, for example, a 400W power supply to deliver a 48VDC system voltage. Power supply 854 includes one or more DC/DC voltage converters 856 for receiving the output of the power supply and producing DC outputs at voltages and currents required by the various components of generator 800 . You can prepare more. As discussed above in connection with the controller 838, one or more of the DC/DC voltage converters 856 are activated when user activation of an "on/off" input device is detected by the controller 838. An input may sometimes be received from the controller 838 to enable operation or activation of the DC/DC voltage converter 856 .

FIG. 44 shows an example of generator 900, which is a form of generator 800 (FIG. 43). Generator 900 is configured to deliver multiple energy modalities to a surgical instrument. Generator 900 either singly or simultaneously provides RF and ultrasound signals for delivering energy to the surgical instrument. RF and ultrasound signals may be provided alone, in combination, or may be provided simultaneously. As noted above, at least one generator output may transmit multiple energy modalities (e.g., ultrasound, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave, among others) through a single port. energy) can be delivered, and these signals can be delivered to the end effector individually or simultaneously to treat the tissue.

Generator 900 comprises a processor 902 coupled to a waveform generator 904 . Processor 902 and waveform generator 904 are configured to generate various signal waveforms based on information (not shown for clarity of disclosure) stored in memory coupled to processor 902. Digital information associated with the waveform is provided to waveform generator 904, which includes one or more DAC circuits to convert the digital input to analog output. The analog output is provided to amplifier 1106 for signal conditioning and amplification. The conditioned and amplified output of amplifier 906 is coupled to power transformer 908 . The signal is coupled across power transformer 908 to the secondary on the patient-isolated side. A first signal of a first energy modality is provided to the surgical instrument between terminals labeled ENERGY1 and RETURN. A second signal of the second energy modality is coupled across capacitor 910 and provided to the surgical instrument between terminals labeled ENERGY2 and RETURN. More than two energy modalities may be output, so the subscript "n" can be used to denote that up to n ENERGYn terminals can be provided, where n is greater than one. It will be understood to be a positive integer. It will also be appreciated that up to 'n' return paths (RETURNn) may be provided without departing from the scope of the present disclosure.

A first voltage sensing circuit 912 is coupled across terminals labeled ENERGY1 and RETURN paths to measure the output voltage therebetween. A second voltage sensing circuit 924 is coupled across terminals labeled ENERGY2 and RETURN paths to measure the output voltage therebetween. A current sensing circuit 914 is arranged in series with the RETURN leg of the secondary side of the illustrated power transformer 908 to measure the output current of either energy modality. If different return paths are provided for each energy modality, separate current sensing circuits must be provided for each return leg. The outputs of the first voltage sensing circuit 912 and the second voltage sensing circuit 924 are provided to corresponding isolation transformers 916 , 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 918 . The outputs of isolation transformers 916 , 928 , 922 on the primary side (non-patient isolated side) of power transformer 908 are provided to one or more ADC circuits 926 . The digitized output of ADC circuitry 926 is provided to processor 902 for further processing and calculations. Output voltage and output current feedback information can be used to adjust the output voltage and current provided to the surgical instrument and to calculate the output impedance, among other parameters. Input/output communication between processor 902 and patient isolation circuitry is provided through interface circuitry 920 . Sensors may also be in electrical communication with processor 902 via interface circuitry 920 .

In one aspect, the impedance causes the first voltage sensing circuit 912 coupled across the terminals labeled ENERGY1/RETURN or the second voltage sensing circuit 924 coupled across the terminals labeled ENERGY2/RETURN to power the power transformer. may be determined by processor 902 by dividing by the output of a current sensing circuit 914 arranged in series with the RETURN leg of the secondary side of unit 908 . The outputs of the first voltage sensing circuit 912 and the second voltage sensing circuit 924 are provided to separate isolation transformers 916 , 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 916 . Digitized voltage and current sensing measurements from ADC circuitry 926 are provided to processor 902 for calculating impedance. As an example, the first energy modality ENERGY1 may be ultrasonic energy and the second energy modality ENERGY2 may be RF energy. Yet, in addition to ultrasound energy modalities and bipolar or monopolar RF energy modalities, other energy modalities include irreversible and/or reversible electroporation and/or microwave energy, among others. Also, while the example illustrated in FIG. 44 shows that a single return path (RETURN) may be provided for more than one energy modality, in other aspects multiple return paths RETURNn may be provided for each It may be provided to the energy modality ENERGYn. Thus, as described herein, the impedance of the ultrasound transducer may be measured by dividing the output of the first voltage sensing circuit 912 by the current sensing circuit 914, and the tissue impedance is the second It may be measured by dividing the voltage sensing circuit 924 output by 2 by the current sensing circuit 914 .

As shown in FIG. 44, the generator 900, including at least one output port, provides power, e.g., ultrasound, bipolar or monopolar RF, irreversible and Power with a single output and multiple taps for delivery to the end effector in the form of one or more energy modalities such as reversible electroporation and/or microwave energy. A transformer 908 may be provided. For example, the generator 900 drives RF electrodes for tissue sealing using either monopolar or bipolar RF electrosurgical electrodes with high voltage and low current to drive the ultrasonic transducer. Energy can be delivered at low voltage and high current for spot coagulation, or in a coagulation waveform for spot coagulation. The output waveform from generator 900 may be induced, switched, or filtered to provide frequencies to the end effector of the surgical instrument. The connection to the output of the ultrasonic transducer generator 900 will preferably be located between the outputs labeled ENERGY1 and RETURN shown in FIG. In one embodiment, the connection to the output of the RF bipolar electrode generator 900 will preferably be located between the outputs labeled ENERGY2 and RETURN. For unipolar outputs, the preferred connections would be active electrodes (eg, pencil or other probes) to suitable return pads connected to the ENERGY2 and RETURN outputs.

Further details can be found in U.S. Patent Application Publication No. 40691/0891, published March 30, 2017, entitled TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS, which is incorporated herein by reference in its entirety. disclosed in No.

As used throughout this description, the term "wireless" and its derivatives describe circuits, devices, systems, methods, techniques, communication channels, etc. that can communicate data through the use of modulated electromagnetic radiation over non-solid media. may be used for This term does not imply that the associated device does not include any wires, although in some aspects they may not be present. Communication modules include Wi-Fi (IEEE802.11 family), WiMAX (IEEE802.16 family), IEEE802.20, Long Term Evolution (LTE), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS , CDMA, TDMA, DECT, Bluetooth, their Ethernet derivatives, as well as any other wireless and wired protocols designated 3G, 4G, 5G, and beyond. Or it may implement any of the wired communication standards or protocols. A computing module may include multiple communication modules. For example, a first communication module may be dedicated to short-range wireless communication such as Wi-Fi and Bluetooth, and a second communication module may be dedicated to GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, etc. may be dedicated to long-range wireless communication.

As used herein, a processor or processing unit is an electronic circuit that performs operations on some external data source, usually memory or some other data stream. The term is used herein to refer to a central processor (central processing unit) within a system or computer system (particularly a system-on-chip (SoC)) that combines many dedicated "processors".

As used herein, a system-on-a-chip or system-on-chip (SoC or SOC) is an integrated circuit (also known as an "IC" or "chip" that integrates all the components of a computer or other electronic system). is available). It can include digital, analog, mixed signal, and often high frequency functions all on a single substrate. SoCs integrate microcontrollers (or microprocessors) with modern peripheral devices such as graphics processing units (GPUs), Wi-Fi modules, or co-processors. The SoC may or may not include embedded memory.

As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or microcontroller unit MCU) may be implemented as a small computer on a single integrated circuit. This may be similar to a SoC, which may include a microcontroller as one of its components. A microcontroller can house memory and programmable input/output peripherals along with one or more core processing units (CPUs). Program memory in the form of ferroelectric RAM, NOR flash, or OTP ROM, and small amounts of RAM are also often included on the chip. Microcontrollers may be employed for embedded applications, as opposed to microprocessors used in personal computers or other general purpose applications made up of various discrete chips.

As used herein, the term controller or microcontroller may be a standalone IC or chip device that interfaces with peripheral devices. This may be the link between the two parts of the computer or controller on the external device that manages the operation of that device (and the connection with the device).

Any processor or microcontroller described herein may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex manufactured by Texas Instruments. In one aspect, the processor has on-chip memory, e.g., 256 KB of single-cycle flash memory or other non-volatile memory at up to 40 MHz, details of which are available in the product datasheet, to improve performance beyond 40 MHz. 1 or 2 prefetch buffers, 32 KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM) One or more pulse width modulation (PWM) modules, one or more quadrature encoder input (QEI) analog, one or more 12-bit analog-to-digital converters (ADC) with 12 analog input channels ), including the LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments.

In one aspect, the processor may include a safety controller that includes two controller family families, such as the TMS570 and RM4x, also known by the trade name Hercules ARM Cortex R4, also manufactured by Texas Instruments. Safety controllers may be configured specifically for IEC61508 and ISO26262 safety limit applications to provide advanced integrated safety mechanisms while offering scalable performance, connectivity, and memory options. good.

Modular devices are connected to various modules for connection or pairing with corresponding surgical hubs (e.g., described in connection with FIGS. 3 and 9) receivable within a surgical hub. a surgical device or instrument to obtain. Modular devices include, for example, intelligent surgical instruments, medical imaging devices, suction/irrigation devices, smoke evacuators, energy generators, ventilators, inhalers, and displays. The modular devices described herein can be controlled by control algorithms. Control algorithms may be implemented on the modular device itself, on the surgical hub with which the particular modular device is paired, or on both the modular device and the surgical hub (e.g., via a distributed computing architecture). ), can be executed. In some examples, the control algorithm for the modular device is based on data sensed by the modular device itself (i.e., by sensors within, on, or connected to the modular device). control the device based on This data may relate to the patient during surgery (eg, tissue properties or injection pressure) or the modular device itself (eg, advancing knife speed, motor current, or energy level). For example, a control algorithm for a surgical stapling and severing instrument can control the speed at which the instrument's motor drives the knife through tissue based on the resistance encountered by the knife as it advances.

Situational Awareness Situational awareness is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and/or instruments. Information may include the type of procedure being performed, the type of tissue being operated on, or the body cavity being treated. With contextual information related to a surgical procedure, the surgical system may, for example, include modular devices (e.g., robotic arms and/or robotic surgical procedures) to which it is connected to provide contextual information or suggestions to the surgeon during the course of the surgical procedure. tools) can be improved.

Referring now to FIG. 45, a timeline 5200 illustrating situational awareness of a hub, such as surgical hub 106 or 206, is shown. Timeline 5200 is an exemplary surgical procedure and contextual information that surgical hubs 106, 206 can derive from data received from data sources at each step of the surgical procedure. Timeline 5200 is taken by nurses, surgeons, and other medical personnel during the course of a segmentectomy surgery, beginning with setting up the operating room and ending with transferring the patient to the post-operative recovery room. A typical process that might be followed is shown.

The situational awareness surgical hub 106, 206 sources data throughout the course of a surgical procedure, including data generated each time a modular device paired with the surgical hub 106, 206 is used. receive from The surgical hubs 106, 206 receive this data from paired modular devices and other data sources to receive new data such as what steps of the procedure are being performed at any given time. Once done, inferences (ie, contextual information) about the ongoing procedure can be continuously derived. The situational awareness system of the surgical hub 106, 206 may, for example, record data regarding procedures to generate reports, verify steps being taken by medical personnel, collect data that may be relevant to specific procedure steps, or provide a prompt (e.g., via a display screen), adjust the modular device based on context (e.g., activate a monitor, adjust the field of view (FOV) of a medical imaging device, or perform ultrasound surgical changing the energy level of the instrument or RF electrosurgical instrument), and any other such actions described above.

As a first step 5202 in this exemplary procedure, hospital personnel retrieve the patient's EMR from the hospital's Electronic Medical Record (EMR) database. Based on selected patient data in the EMR, surgical hub 106, 206 determines that the procedure to be performed is a thoracic procedure.

In a second step 5204, personnel scan incoming medical supplies for treatment. The surgical hub 106, 206 cross-references the scanned supplies with lists of supplies utilized in various types of procedures to confirm that the mix of supplies corresponds to the thoracic procedure. In addition, the surgical hub 106, 206 can also determine that the procedure is not a wedge procedure (either the incoming product does not include the specific product required for a thoracic wedge procedure or the otherwise thoracic (because it is either not compatible with the wedge treatment).

In a third step 5206, medical personnel scan the patient's band via a scanner communicatively connected to the surgical hub 106,206. The surgical hub 106, 206 can then verify the patient's identity based on the scanned data.

In a fourth step 5208, the medical staff turns on the assistive device. The ancillary instruments utilized may vary according to the type of surgical procedure and the technique used by the surgeon, but in this exemplary case they include smoke evacuators, inhalers, and medical imaging devices. Upon activation, an auxiliary instrument that is a modular device can automatically pair with a surgical hub 106, 206 located within a particular proximity of the modular device as part of its initialization process. . The surgical hub 106, 206 can then derive contextual information about the surgical procedure by detecting the type of modular device paired with it during this preoperative or initialization phase. In this particular example, surgical hubs 106, 206 determine that the surgical procedure is a VATS procedure based on this particular combination of paired modular devices. Based on the combination of data from the patient's EMR, the list of medical supplies used in the surgery, and the type of modular device that connects to the hub, the surgical hub 106, 206 approximates the specific procedure to be performed by the surgical team. can be estimated. Once the surgical hub 106, 206 knows what particular procedure is being performed, then the surgical hub 106, 206 retrieves the procedures for that procedure from memory or from the cloud and then connects. Data subsequently received from other data sources (eg, modular devices and patient monitoring devices) can be cross-referenced to deduce which steps of the surgical procedure the surgical team is performing.

In a fifth step 5210, personnel attach EKG electrodes and other patient monitoring devices to the patient. EKG electrodes and other patient monitoring devices can be paired with the surgical hub 106,206. Once the surgical hub 106, 206 begins receiving data from the patient monitoring device, the surgical hub 106, 206 confirms that the patient is in the operating room.

In a sixth step 5212, medical personnel induce anesthesia in the patient. The surgical hub 106, 206 determines that the patient is under anesthesia based on data from modular devices and/or patient monitoring devices including, for example, EKG data, blood pressure data, ventilator data, or combinations thereof. can be estimated. Completion of the sixth step 5212 completes the preoperative portion of the segmentectomy surgery and begins the surgical portion.

In a seventh step 5214, the lung of the patient being manipulated is collapsed (while ventilation is switched to the contralateral lung). The surgical hub 106, 206 can, for example, deduce from the ventilator data that the patient's lung has collapsed. The surgical hub 106, 206 can compare the detection of the patient's lung collapse to the expected steps of the procedure (which can be accessed or read out in advance) so that the surgical portion of the procedure is Assuming it has started, it can be determined that collapsing the lung is the first surgical step in this particular procedure.

In an eighth step 5216, a medical imaging device (eg, scope) is inserted and video footage from the medical imaging device is initiated. Surgical hubs 106, 206 receive medical imaging device data (ie, video or image data) through connections to medical imaging devices. Upon receiving the medical imaging device data, the surgical hub 106, 206 can determine that the laparoscopic portion of the surgical procedure has begun. Additionally, the surgical hub 106, 206 can determine that the particular procedure being performed is a segmentectomy as opposed to a lobectomy (based on the data received in the second step 5204 of the procedure). Note that the wedge procedure is already discounted by the surgical hubs 106, 206). Data from the medical imaging device 124 (FIG. 25) is utilized (i.e., activated) by determining the angle of the medical imaging device oriented with respect to visualization of the patient's anatomy. , by monitoring the number or medical imaging devices paired with the surgical hub 106, 206), and by monitoring the type of visualization device being utilized. can be utilized to determine contextual information regarding the type of treatment being performed from. For example, one technique for performing a VATS lobectomy places the camera above the diaphragm in the anterior inferior corner of the patient's thoracic cavity, while one technique for performing a VATS segmentectomy is to place the camera above the diaphragm. is placed in the anterior intercostal position relative to the segmental cleft. For example, using pattern recognition or machine learning techniques, a situational awareness system can be trained to recognize the location of medical imaging devices based on visualizations of patient anatomy. As another example, one technique for performing VATS lobectomy utilizes a single medical imaging device, while another technique for performing VATS segmentectomy utilizes multiple cameras. . As yet another example, one technique for performing a VATS segmentectomy uses an infrared light source (which may be communicatively coupled to the surgical hub as part of the visualization system) to visualize the segmental cleft. , which is not used in VATS lobectomy. By tracking any or all of this data from the medical imaging device, the surgical hub 106, 206 can be used for the particular type of surgical procedure being performed and/or the type of surgical procedure being performed. technology can be determined.

At a ninth step 5218, the surgical team begins the incision step of the procedure. The surgical hub 106, 206 receives data from the RF or ultrasound generator indicating that the energy device is being fired, so presuming that the surgeon is in the process of cutting and separating the patient's lungs. can be done. The surgical hub 106, 206 cross-references the received data with the readout steps of the surgical procedure to determine what is being fired at this point in the process (i.e., after the previously-discussed steps of the procedure have been completed). It can be determined that the energy device present is compatible with the lancing process. In certain examples, the energy instrument can be an energy tool attached to a robotic arm of a robotic surgical system.

At a tenth step 5220, the surgical team proceeds to the ligation step of the procedure. The surgical hub 106, 206 receives data from the surgical stapling and severing instrument indicating that the instrument has been fired, so it can be inferred that the surgeon is ligating the artery and vein. Similar to the previous step, the surgical hub 106, 206 can derive this estimate by cross-referencing the receipt of data from the surgical stapling and severing instrument with the read out steps in the process. . In certain examples, the surgical instrument may be a surgical tool attached to a robotic arm of a robotic surgical system.

In an eleventh step 5222, the segmental excision portion of the treatment is performed. The surgical hub 106, 206 can infer that the surgeon is transsecting parenchyma based on data from the surgical stapling and cutting instrument, including data from its cartridge. The cartridge data can correspond, for example, to the size or type of staples fired by the instrument. Since different types of staples are utilized on different types of tissue, the cartridge data can indicate the type of tissue being stapled and/or transected. In this case, the types of staples fired are applied to parenchymal tissue (or other similar tissue types) so that the surgical hub 106, 206 assumes that the segmentectomy portion of the procedure is being performed. can be done.

Subsequently, in a twelfth step 5224, a knot dissection step is performed. The surgical hub 106, 206 infers that the surgical team is cutting the nodule and performing a leak test based on data received from the generator that indicates RF or ultrasonic instruments are being fired. can be done. For this particular procedure, the RF or ultrasonic instruments used after the parenchyma has been transected corresponds to the knototomy process, which allows the surgical hub 106, 206 to make this estimate. It becomes possible. Surgeons routinely combine surgical stapling/cutting instruments and surgical energy (i.e., RF or ultrasonic) depending on the particular step in the procedure, as different instruments are better suited to specific tasks. ) instruments. Therefore, the particular sequence in which the stapling/cutting instrument and surgical energy instrument are used can indicate which step of the procedure the surgeon is performing. Additionally, in certain instances, robotic tools may be used for one or more steps during a surgical procedure and/or hand-held surgical instruments may be used for one or more steps during a surgical procedure. can be used. The surgeon(s) may, for example, alternate between robotic tools and handheld surgical instruments and/or may use the devices simultaneously, for example. Upon completion of the twelfth step 5224, the incision is closed and the post-operative portion of the procedure begins.

In a thirteenth step 5226, the patient's anesthesia is reversed. The surgical hub 106, 206 can deduce that the patient is emerging from anesthesia, for example, based on ventilator data (ie, the patient's breathing rate begins to increase).

Finally, a fourteenth step 5228 is for medical personnel to remove various patient monitoring devices from the patient. Therefore, the surgical hub 106, 206 can assume that the patient is being transported to the recovery room when the hub loses EKG, BP, and other data from patient monitoring devices. As can be seen from this exemplary procedure description, surgical hubs 106, 206 can perform a given surgical procedure based on data received from various data sources communicatively coupled with surgical hubs 106, 206. can be determined or estimated when each step of is occurring.

Situational awareness is further described in US Provisional Patent Application No. 62/611,341, filed December 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosure of which is incorporated herein by reference. In certain examples, operation of a robotic surgical system, including, for example, various robotic surgical systems disclosed herein, is based on its situational awareness and/or feedback from its components and/or from the cloud 104. can be controlled by the hub 106, 206 based on the information in the

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

Example 1. A surgical evacuation system, a smoke evacuation device comprising a pump and a motor operably coupled to the pump, a communication circuit, and communicating with the smoke evacuation device through the communication circuit. a plurality of filter elements, the filter device including a plurality of filter components, the plurality of filter components including at least one of a fluid filter, a particulate filter, and a charcoal filter; a plurality of filter sensors, wherein the communication circuit authenticates the plurality of filter components; verifies the remaining life of at least one of the plurality of filter components; and outputs from the plurality of filter components. and recording errors output from the plurality of filter components.

Example 2. 2. The surgical drainage system of Example 1, wherein the communication circuit is further configured to limit the number or types of filter components that can be identified by the communication circuit.

Example 3. 3. The surgical drainage system of Examples 1 and 2, wherein the communication circuitry is further configured to enable or disable the plurality of filter components based on the results of the authentication.

Example 4. The surgical drainage system of any one of Examples 1-3, wherein the communication circuit authenticates the plurality of filter components by using filter component information.

Example 5. The surgical drainage of example 4, wherein the filter component information includes at least one of product type, product name, unique device identifier, product trademark, serial number, and configuration parameters of the plurality of filter components system.

Example 6. 6. The surgical device of any one of Examples 1-5, wherein the filter device is configured to encrypt the parameters output from the plurality of filter components prior to transmitting the parameters to the communication circuit. ejection system.

Example 7. 7. The surgical ejection system of Example 6, wherein upon receiving the encrypted parameters, the communication circuit decrypts the encrypted parameters.

Example 8. A communication device functions as a master device, a filter device functions as a slave device, and communication between the master and slave devices is unidirectional from the master device to the slave device when performing an authentication process. A surgical drainage system according to any one of Examples 1-7.

Example 9. A method for communication between a smoke evacuation device and a filter device through a communication circuit, the method comprising authenticating a plurality of filter components within the filter device with the communication circuit, the plurality of filters a plurality of filter components, wherein the components include a plurality of filter elements including at least one of a fluid filter, a particulate filter, and a charcoal filter; and a plurality of filter sensors; updating, by communication circuitry, parameters output from the plurality of filter components; and recording, by communication circuitry, errors output from the plurality of filter components. and wherein the smoke evacuation device includes a pump and a motor operably coupled to the pump.

Example 10. 10. The method of example 9, further comprising limiting the number or types of filter components that can be identified by the communication circuitry.

Example 11. 10. The method of example 9, further comprising enabling or disabling, with the communication circuit, a plurality of filter components based on a result of the authentication.

Example 12. 12. The method as in any one of embodiments 9-11, wherein the communication circuit authenticates the plurality of filter components by using the filter component information.

Example 13. 13. The method of example 12, wherein the filter component information includes at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components.

Example 14. 14. The method as in any one of examples 9-13, further comprising encrypting the parameters output from the plurality of filter components by the filter device prior to transmitting the parameters to the communication circuit.

Example 15. 15. The method of embodiment 14, further comprising, with the communication circuitry, decrypting the encrypted parameters upon receiving the encrypted parameters.

Example 16. A communication device functions as a master device, a filter device functions as a slave device, and communication between the master device and the slave device is unidirectional from the master device to the slave device when performing the authentication process. The method of any one of Examples 9-15.

Example 17. A surgical hub comprising a processor and a memory coupled to the processor, the memory containing instructions executable by the processor to perform the method of any one of Examples 9-16. Remember, surgical hub.

Example 18. A non-transitory computer-readable medium storing computer-readable instructions that, when executed, cause a machine to perform the method of any one of Examples 9-16.

Example 19. A surgical hub comprising a processor and memory coupled to the processor, the memory authenticating a plurality of filter components in a filter device, the plurality of filter components being a fluid filter, a particulate filter , and a charcoal filter; and a plurality of filter sensors; authenticating and verifying the remaining life of at least one of the plurality of filter components. updating parameters output from the plurality of filter components; and recording errors output from the plurality of filter components. , surgical hub.

Example 20. 20. The surgical hub of Example 19, wherein the memory stores further instructions executable by the processor to limit the number or types of filter components that can be identified.

Example 21. 21. As in any one of embodiments 19 and 20, wherein the memory stores further instructions executable by the processor to enable or disable the plurality of filter components based on a result of the authentication. Surgical hub as described.

Example 22. by the plurality of filter components using filter component information including at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components The surgical hub of any one of Examples 19-21, which is certified.

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

The foregoing detailed description has described various aspects of devices and/or processes using block diagrams, flowcharts, and/or examples. To the extent such block diagrams, flowcharts, and/or embodiments include one or more functions and/or operations, it should be understood by those skilled in the art that such block diagrams, flowcharts, and/or examples Each function and/or operation included in the embodiments may be implemented individually and/or collectively by various hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will appreciate that all or part of some aspects of the forms disclosed herein can be understood as one or more computer programs (e.g., one or more computer programs) running on one or more computers. as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., one or more as one or more programs running on a microprocessor), as firmware, or substantially any combination thereof, equivalently embodied on an integrated circuit; , and/or writing software and/or firmware code is within the skill of one of ordinary skill in the art in view of the present disclosure. Moreover, those skilled in the art will appreciate that the subject matter described herein may be distributed in a variety of forms as one or more program products, and is incorporated herein by reference. The specific forms of subject matter described are used regardless of the particular type of signal-bearing medium used to implement the distribution.

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

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

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

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

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

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

Unless specifically stated otherwise, terms such as "process", "calculate", "compute", "determine", "display", etc. are used throughout the foregoing disclosure as is apparent from the foregoing disclosure. Discussion using the terms of a computer system refers to data represented as physical (electronic) quantities within the registers and memory of a computer system as physical quantities within the memory or registers of a computer system or any such information storage, transmission, or display device. It will be understood to refer to the operations and processes of a computer system or similar electronic computing device that manipulates and transforms into other data that may similarly be represented as .

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

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

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

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

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

Any reference to "an aspect", "an aspect", "exemplary", "an example", etc., includes in at least one aspect the particular feature, structure, or property described in connection with that aspect. It is worth noting that it means Thus, the appearances of the phrases "in one aspect," "in an aspect," "in an example," and "in an example" in various places throughout this specification do not necessarily all refer to the same aspect. Moreover, the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects.

Any patent applications, patents, non-patent publications, or other disclosure material referenced herein and/or listed in any application data sheet is, to the extent the material incorporated herein, is not inconsistent with this specification. , incorporated herein by reference. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting statements incorporated herein by reference. Any content, or portion thereof, that is inconsistent with the current definitions, opinions, or other disclosures set forth herein, is hereby incorporated by reference, but the reference content and the current disclosure are hereby incorporated by reference. References shall be made only to the extent that there is no inconsistency between

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

[Mode of implementation]
(1) A surgical drainage system comprising:
A smoke evacuation device,
a pump;
a smoke evacuation device comprising: a motor operably coupled to the pump;
a communication circuit;
a filter device in communication with the smoke evacuation device through the communication circuit, the filter device including a plurality of filter components, the plurality of filter components comprising:
a plurality of filter elements including at least one of a fluid filter, a particulate filter, and a charcoal filter;
a plurality of filter sensors;
the communication circuit,
authenticating the plurality of filter components;
verifying the remaining life of at least one of the plurality of filter components;
updating parameters output from the plurality of filter components;
recording errors output from the plurality of filter components.
Clause 2. The surgical drainage system of clause 1, wherein the communication circuit is further configured to limit the number or types of filter components that can be identified by the communication circuit.
Clause 3. The surgical drainage system of clause 1, wherein the communication circuitry is further configured to enable or disable the plurality of filter components based on results of the authentication.
Clause 4. The surgical drainage system of clause 1, wherein the communication circuit authenticates the plurality of filter components by using filter component information.
5. Aspect 4, wherein the filter component information includes at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components. A surgical drainage system as described.

Clause 6. The surgical procedure of clause 1, wherein the filter device is configured to encrypt the parameters output from the plurality of filter components prior to transmitting the parameters to the communication circuit. Evacuation system for.
Clause 7. The surgical ejection system of Clause 6, wherein upon receiving the encrypted parameters, the communication circuit decrypts the encrypted parameters.
(8) when the communication device functions as a master device, the filter device functions as a slave device, and communication between the master device and the slave device performs the authentication process; 2. The surgical drainage system of embodiment 1, which is unidirectional from device to said slave device.
(9) A method for communication between a smoke evacuation device and a filter device through a communication circuit, comprising:
authenticating, with the communication circuit, a plurality of filter components in the filter device, the plurality of filter components:
a plurality of filter elements including at least one of a fluid filter, a particulate filter, and a charcoal filter;
authenticating, including a plurality of filter sensors;
verifying, with the communication circuitry, the remaining life of at least one of the plurality of filter components;
updating, by the communication circuitry, parameters output from the plurality of filter components;
recording, by the communication circuitry, errors output from the plurality of filter components;
The smoke evacuation device
a pump;
and a motor operably coupled to the pump.
10. The method of claim 9, further comprising limiting the number or types of filter components that can be identified by the communication circuitry.

Clause 11. The method of clause 9, further comprising enabling or disabling, by the communication circuit, the plurality of filter components based on a result of the authentication.
12. The method of claim 9, wherein the communication circuit authenticates the plurality of filter components by using filter component information.
Aspect 13. Aspect 12, wherein the filter component information includes at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components. described method.
14. The method of claim 9, further comprising, by the filter device, encrypting the parameters output from the plurality of filter components prior to transmitting the parameters to the communication circuit.
15. The method of claim 14, further comprising decrypting, by the communication circuit, the encrypted parameters upon receiving the encrypted parameters.

(16) when the communication device functions as a master device, the filter device functions as a slave device, and communication between the master device and the slave device performs the authentication process; 10. The method of embodiment 9, which is unidirectional from device to said slave device.
(17) A surgical hub comprising a processor and memory coupled to the processor, the memory comprising:
authenticating a plurality of filter components within a filter device, the plurality of filter components comprising:
a plurality of filter elements including at least one of a fluid filter, a particulate filter, and a charcoal filter;
authenticating, including a plurality of filter sensors;
verifying the remaining life of at least one of the plurality of filter components;
updating parameters output from the plurality of filter components;
a surgical hub storing instructions executable by the processor to: record errors output from the plurality of filter components;
Clause 18. The surgical hub of clause 17, wherein the memory stores further instructions executable by the processor to limit the number or types of filter components that can be identified.
19. According to embodiment 17, the memory stores further instructions executable by the processor to enable or disable the plurality of filter components based on a result of the authentication. Surgical hub as described.
(20) the plurality of filter components includes filter component information including at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components; 18. The surgical hub according to embodiment 17, wherein the authenticated is by using a.

Claims (14)

A surgical drainage system comprising:
a surgical hub having a hub display;
A smoke evacuation device,
a pump;
a motor operably connected to the pump;
a display device configured to display a console having control buttons for controlling the surgical drainage system;
a smoke evacuation device comprising
a communication circuit;
a filter device in communication with the smoke evacuation device through the communication circuit, the filter device including a plurality of filter components, the plurality of filter components comprising:
a plurality of filter elements including at least one of a fluid filter, a particulate filter, and a charcoal filter;
a plurality of filter sensors;
the communication circuit,
authenticating the plurality of filter components;
verifying the remaining life of at least one of the plurality of filter components;
updating parameters output from the plurality of filter components;
recording errors output from the plurality of filter components;
The control buttons include control buttons for controlling the surgical hub such that when the smoke evacuation device is connected to the surgical hub, the hub display is the primary display device and the display device is secondary. A surgical evacuation system that serves as a secondary display device . The surgical drainage system of any preceding claim, wherein the communication circuitry is further configured to limit the number or types of filter components that can be identified by the communication circuitry. The surgical drainage system of claim 1, wherein the communication circuitry is further configured to enable or disable the plurality of filter components based on results of the authentication. The surgical drainage system of claim 1, wherein the communication circuit authenticates the plurality of filter components by using filter component information. 5. The surgical procedure of claim 4, wherein the filter component information includes at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components. Evacuation system for. The surgical drainage system of claim 1, wherein the filter device is configured to encrypt the parameters output from the plurality of filter components prior to transmitting the parameters to the communication circuit. . 7. The surgical ejection system of claim 6, wherein upon receiving the encrypted parameters, the communication circuit decrypts the encrypted parameters. A method of operating a surgical evacuation system comprising a surgical hub having a hub display, a smoke evacuation device , a communication circuit, and a filter device in communication with the smoke evacuation device through the communication circuit , comprising:
The communication circuitry authenticates a plurality of filter components within the filter device, wherein the plurality of filter components:
a plurality of filter elements including at least one of a fluid filter, a particulate filter, and a charcoal filter;
authenticating, including a plurality of filter sensors;
the communication circuit verifying the remaining life of at least one of the plurality of filter components;
the communication circuit updating parameters output from the plurality of filter components;
the communication circuitry recording errors output from the plurality of filter components;
The smoke evacuation device
a pump;
a motor operably connected to the pump;
a display device configured to display a console having control buttons for controlling the surgical drainage system ;
The control buttons include control buttons for controlling the surgical hub, wherein the surgical hub functions with the hub display as a primary display device when the smoke evacuation device is connected to the surgical hub. and the smoke extraction device causes the display device to function as a secondary display device . 9. The method of operation of claim 8 , further comprising: said communication circuitry limiting the number or types of filter components that can be identified by said communication circuitry . 9. The method of operation of claim 8 , further comprising said communication circuitry enabling or disabling said plurality of filter components based on results of said authentication. 9. The method of operation of claim 8 , wherein said communication circuit authenticates said plurality of filter components by using filter component information. 12. The filter component information of claim 11 , wherein the filter component information includes at least one of product type, product name, unique device identifier, product brand, serial number, and configuration parameters of the plurality of filter components. How it works . 9. The method of operation of claim 8 , further comprising, prior to transmitting the parameters output from the plurality of filter components to the communication circuit, the filter device encrypting the parameters. 14. The method of operation of claim 13 , further comprising, upon receiving the encrypted parameters, the communication circuit decrypting the encrypted parameters.

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