JP7271555B2 - surgical drainage channel - Google Patents

Description

(Cross reference to related applications)
119(e), filed Jun. 28, 2018, entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL," the entire disclosure of which is incorporated herein by reference. Priority benefit of patent application Ser. No. 62/691,219 is claimed.

This application, 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 SUR". GICAL PLATFORM” 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 December 28, 2017, entitled "CLOUD-BASED MEDICAL ANALYTICS," and U.S. Provisional Patent Application No. 62/611,340, entitled "ROBOT ASSISTED SURGICAL PLATFORM," December 2017. It claims the benefit of priority from US Provisional Patent Application No. 62/611,339, filed May 28.

The present invention 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, during surgical procedures involving energy devices, smoke may be generated at the surgical site.

In various embodiments, a surgical drainage system includes a pump, a motor operably connected to the pump, and a flow path fluidly connected to the pump. The flow path includes a first filtration path and a second filtration path. The surgical drainage system further includes a sensor positioned along the flow path upstream of the pump. The sensor is configured to detect a parameter of fluid moving through the flow path. The surgical drainage system further comprises control circuitry configured to direct fluid along the first filtration path until a parameter detected by the sensor exceeds a stored threshold parameter. The control circuit is further configured to direct the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter.

In various embodiments, a surgical drainage system includes a pump, a motor operably connected to the pump, and a flow path fluidly connected to the pump. The flow path includes a first filtration path, a second filtration path, and a diverter valve movable between first and second positions. Fluid is directed along the first filtration path when the diverter valve is in the first position. Fluid is directed along a second filtration path when the diverter valve is in the second position. The surgical drainage system further includes a sensor positioned along the flow path upstream of the pump. The sensor is configured to detect a parameter of fluid moving through the flow path. The surgical drainage system further comprises a control circuit configured to control the diverter valve based on parameters detected by the sensor.

In various embodiments, non-transitory computer-readable media for storing computer-readable instructions are disclosed. When executed, the instructions cause the machine to detect parameters of the fluid moving through the flow path of the surgical drainage system. The flow path includes a first filtration path and a second filtration path. The computer readable instructions, when executed, further cause the machine to direct fluid along the first filtration path until the parameter detected by the sensor exceeds the threshold parameter, and the parameter detected by the sensor exceeds the threshold parameter. Exceeding directs the fluid along a second filtration path.

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.
2 is a perspective view of an ejector housing of a surgical ejection system in accordance with 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 illustrating internal components within an ejector housing of 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 in accordance with at least one aspect of the present disclosure; FIG. 9 is an elevation cross-sectional view of the 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. 3 is a perspective view of a filter of the evacuation system, in accordance with 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 of 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 a cross-sectional elevational view of the fluid trap of FIG. 14, with portions removed for clarity, showing liquid trapped in the fluid trap and smoke flowing through the fluid trap, in accordance with at least one aspect of the present disclosure; FIG. is shown. 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 illustration of a photoelectric sensor of a surgical drainage system in accordance with at least one aspect of the present disclosure; FIG. FIG. 13 is a schematic diagram of another photoelectric sensor of a surgical drainage system in accordance with at least one aspect of the present disclosure; 1 is a schematic illustration of an ionization sensor of a surgical drainage system in accordance with at least one aspect of the present disclosure; FIG. 3 is (A) a graphical representation of particle count over time; and (B) a graphical representation of motor speed over time for a surgical drainage system, according to at least one aspect of the present disclosure. FIG. 20 is a cross-sectional view of a diverter valve of a surgical drainage system showing the diverter valve in a first position, in accordance with at least one aspect of the present disclosure; 24B is a cross-sectional view of the diverter valve of FIG. 24A in a second position, in accordance with at least one aspect of the present disclosure; FIG. 4 is a graphical representation of (A) airflow fluid content over time and (B) duty cycle of a surgical drainage system over time, according to at least one aspect of the present disclosure; 4 is a flow chart illustrating an adjustment algorithm for a surgical drainage system, in accordance with at least one aspect of the present disclosure; 4 is a flow chart illustrating an adjustment algorithm for a surgical drainage system, in accordance with at least one aspect of the present disclosure; 4 is a flow chart illustrating an adjustment algorithm for a surgical drainage system, in accordance with at least one aspect of the present disclosure; 4 is a flow chart illustrating a tuning algorithm for a surgical system, in accordance with at least one aspect of the present disclosure; 1 is a perspective view of a surgical system in accordance with at least one aspect of the present disclosure; FIG. 4 is a flowchart illustrating an algorithm for displaying surgical drainage system efficiency data, in accordance with at least one aspect of the present disclosure; 4 is a flow chart illustrating an adjustment algorithm for a surgical drainage system, in accordance with at least one aspect of the present disclosure; 4 is a graphical representation of (A) particle count over time and (B) the ratio of RF current to voltage of a surgical system over time, according to at least one aspect of the present disclosure; 4 is a flow chart illustrating a tuning algorithm for a surgical system, in accordance with at least one aspect of the present disclosure; Controlling a motor based on at least one of a first signal received from a first sensor of the ejection system and a second signal received from a second sensor of the ejection system, according to at least one aspect of the present disclosure It is a flow chart for doing. 4 is a graphical representation of (A) particles counted over time, (B) generator power and voltage over time, and (C) motor speed of an evacuation system over time, according to at least one aspect of the present disclosure. . 3 is a graphical representation of the ratio of the pressure sensed by the first sensor to the pressure sensed by the second sensor and the pulse width modulated duty cycle of the motor of the evacuation system over time, according to at least one aspect of the present disclosure; be. 4 is a graphical representation of (A) particles counted over time and (C) airflow rate over time of an exhaust system, according to at least one aspect of the present disclosure. 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. 122 is a partial perspective view of a surgical hub housing and a combination generator module slidably receivable within a drawer of the surgical hub housing in accordance with at least one aspect of the present disclosure; 1 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 housing configured to receive multiple modules, in accordance with at least one aspect of the present disclosure; 1 illustrates a vertical modular housing configured to receive multiple modules, according to at least one aspect of the present disclosure; To connect to the cloud modular devices located in one or more operating rooms of a medical facility, or any room within a medical facility with specialized equipment for surgical procedures, according to at least one aspect of the present disclosure. 1 shows a surgical data network with a modular communication hub configured in FIG. 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 manipulate 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 inductorless tuning, among other advantages, in accordance with at least one aspect of the present disclosure; FIG. 21 illustrates an example of a generator that is 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. ________, Attorney Docket No. END8542USNP/170755, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS";
- 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. __________, Attorney Docket No. END8543USNP2/170760-2, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING";
U.S. Patent Application No. __________, Attorney Docket No. END8543USNP3/170760-3, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING";
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 CANCEROUUS TISSUE";
- U.S. Patent Application No. __________, Attorney Docket No. END8543USNP6/170760-6, entitled "SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES";
U.S. Patent Application No. ________, Attorney Docket No. END8543USNP7/170760-7, entitled "VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY";
U.S. Patent Application No. __________, Attorney Docket No. END8544USNP/170761, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE";
- U.S. Patent Application No. __________, Attorney Docket No. END8544USNP1/170761-1, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT";
- U.S. Patent Application No. __________, Attorney Docket No. END8544USNP2/170761-2, entitled "SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY";
U.S. Patent Application No. __________, Attorney Docket No. END8544USNP3/170761-3, entitled "SURGICAL SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES";
U.S. Patent Application No. __________, Attorney Docket No. END8545USNP/170762, entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL";
U.S. Patent Application No. ________, Attorney Docket No. END8545USNP1/170762-1, entitled "SURGICAL EVACUATION SENSOR ARRANGEMENTS";
- U.S. Patent Application No. ________, Attorney Docket No. END8545USNP3/170762-3, entitled "SURGICAL EVACUATION SENSING AND GENERATOR CONTROL";
- U.S. Patent Application No. ________, Attorney Docket No. END8545USNP4/170762-4, entitled "SURGICAL EVACUATION SENSING AND DISPLAY";
U.S. patent application entitled "COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM", Attorney Docket No. , END8546 USNP/170763,
- U.S. Patent Application No. ________, entitled "SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM," Attorney Docket No. END8546USNP1/170763-1;
U.S. patent application entitled "SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION DEVICE BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE", Attorney Docket No. END8; 547 USNP/170764, and "DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS 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";
"Communication OF SMOKE Evacutations to Hub or Cloud IN SMOKE EVACUATION MODULE FORGIVE SURGICAL SURGICAL PLATFORM "US temporary patent application No. 62/691, 257,
U.S. Provisional Patent Application No. 62/691,262 entitled "SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE"; AL IN-SERIES LARGE AND SMALL DROPLET FILTERS Provisional Patent Application No. 62/691,251.

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. entitled "COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS" 15/940,640,
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.
U.S. Patent Application No. 15/940,722, entitled "CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY," and U.S. Patent Application No. 15/940, entitled "DUAL CMOS ARRAY IMAGING." , 742.

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"; No. 675.

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," and US patent application Ser. No. 15/940,711.

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";
- U.S. Provisional Patent Application No. 62/649,307 entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT - ASSISTED SURGICAL PLATFORMS"; U.S. Provisional Patent Application No. 62/649,323 entitled "ORMS" issue.

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."

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 one or more of the other aspects, implementations of aspects and/or examples described below. It should be understood that it can be combined with

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. For electrosurgical devices, the generator is configured to generate an oscillating current to energize the electrodes. With respect to the ultrasonic device, the generator is configured to generate ultrasonic vibrations to energize the ultrasonic blade. Generators are described further 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 transmits vibrational energy from an ultrasonic transducer that produces 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. Friction and heat are generated at the interface. 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 by adjusting 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. Ultrasonic instruments of this nature can be configured, for example, for open surgical applications, including robotic-assisted surgery, laparoscopic surgery, or endoscopic surgery.

Electrical energy can also be used 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 its 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 small at the point of contact with the patient so as to generate high frequency currents with high current densities to produce the surgical effect of coagulating and/or cutting tissue by cauterization. It has become a thing. The return electrode carries the same high frequency 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 to the patient's body via a return electrode (eg, ground pad) located separately from the 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 electrode to sever tissue.

During application, an electrosurgical device can transmit low frequency RF current through tissue, which causes ionic agitation or friction (ie, resistive heating), thereby increasing tissue temperature. 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. The technology disclosed herein finds particular application in ultrasound, bipolar and/or monopolar RF (electrosurgical), irreversible and/or reversible electroporation, and/or microwave-based surgical instruments. It is possible.

Electrical energy applied by an electrosurgical device can 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 ablate (a form of coagulation in which an electric current arc to the tissue produces tissue charring), desiccate (direct application of energy to expel cellular water), and/or cut (vaporize cellular fluids). indirect energy application) that causes cell explosion. 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 may 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 monopolar 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. can do. The generator may 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 promote tissue-specific effects through wave shaping and/or drive RF and ultrasonic energy simultaneously and/or sequentially to a single surgical instrument or multiple surgical instruments. can do.

In one example, a surgical system can include a generator and various surgical instruments usable therewith, including ultrasonic surgical instruments, RF electrosurgical instruments, and combined ultrasonic/RF electrosurgical instruments. can. The generator is covered by the U.S. patent application entitled "TECHNEQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS," filed September 14, 2016, which is incorporated herein by reference in its entirety. 15th/265th, 279 (now US Patent Application Publication No. 2017/0086914), it may be configurable for use with various surgical instruments.

As described herein, medical procedures that cut tissue and/or cauterize blood vessels are often produced by a generator and transmitted to a patient's tissue via electrodes that are manipulated by a clinician. by utilizing RF electrical energy that is The electrodes deliver electrical discharges to the cytoplasm 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 reduces the rate at which tissue is cut and increases the incidence of thermal damage to tissue located away from the cut site, but also post-operative complications, eschar. May increase generation 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, 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 to surrounding tissue, which can increase the potential for unwanted tissue damage in the surrounding tissue.

A typical electrosurgical generator produces RF electrical energy at various operating frequencies 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, waveform generators used in electrosurgery are designed to produce RF waves with 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. are adapted. Typical waveform 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 remains at 50W. It will be. Setting the power level to a particular setting, such as 50W, would allow the clinician to cut the patient's tissue, but maintaining such a high power level would cause thermal necrosis of the patient's tissue. increase the likelihood of

In some forms, the generator provides sufficient power to effectively perform electrosurgery in conjunction with electrodes that increase the concentration of RF energy discharge while limiting unwanted tissue damage; Designed to 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 presented to illustrate one example of an area of technology in which some aspects described herein may be implemented.

As provided herein, the energy device may be used to treat tissue (e.g., cut tissue, cauterize blood vessels, and/or coagulate tissue in and/or near the target tissue). deliver mechanical and/or electrical energy to the target tissue to induce Cutting, cauterizing, and/or coagulating tissue can result in release of fluids and/or particulates into the air. Such fluids and/or particulates released during a surgical procedure may constitute smoke, which may include, for example, airborne carbon particles and/or other particles. In other words, the fluid may include smoke and/or other fluid matter. Approximately 90% of endoscopic and open surgeries generate some level of smoke. Smoke may 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. May block and in certain cases may be unhealthy if inhaled. 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, Contains toxic chemicals, including phenol, polycyclic aromatic hydrocarbons, propene, propylene, pyridene, pyrrole, styrene, toluene, and xylene, as well as dead and live cellular material (including blood fragments), and viruses I have something to do. Certain substances identified in surgical smoke have been identified as known carcinogens. It is estimated that one gram of tissue ablated during electrosurgery may be equivalent to the toxic and carcinogenic substances of six unfiltered cigarettes. 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 odor associated with materials in surgical smoke, the size of particulate matter in surgical smoke may also affect clinician(s), assistant(s), and/or patient(s). multiple) respiratory system. In certain instances, microparticles can be very small. In certain instances, repeated inhalation of very small particulate matter can lead to acute and chronic respiratory conditions.

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 through filters and exhaust ports. use. For example, the evacuation system can be configured to evacuate smoke generated during an electrosurgical procedure. While the reader may refer to such evacuation systems as "smoke evacuation systems," the reader should understand that such evacuation systems may be configured to evacuate more than just smoke from the surgical site. be. Throughout this disclosure, the "smoke" emitted by the emission system is not limited to just smoke. Rather, the flue evacuation systems disclosed herein can be used to evacuate a variety of fluids including liquids, gases, vapors, smoke, water vapor, or combinations thereof. The fluid may be biologically derived and/or 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, cytoplasm or debris) that is expelled by the evacuation system. For example, such particulates may become suspended in fluids.

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 into the conduit opening, through the evacuation conduit, 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 located within the eductor housing 50018 . Smoke drawn into the eductor housing 50018 travels through the suction conduit 50036 to the filter, and noxious toxins and unpleasant odors are filtered from the smoke as it travels through the filter. A suction conduit may, for example, also be referred to as a vacuum conduit and/or an evacuation conduit and/or a vacuum conduit and/or an evacuation conduit. The filtered air can 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 including 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 examples, 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 fit onto an electrosurgical tool as shown in FIG. For example, a portion of the suction conduit 51036 may be disposed around (or adjacent to) the electrode tip 51034. In one example, the suction conduit 51036 may be releasably secured to an electrosurgical tool handpiece 51032 that includes an electrode tip 51034 having clips or other fasteners.

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 a flow path 50504 through an ejector housing 50518 having an inlet port 50522 and an outlet port 50524 . Filter 50502 , exhaust mechanism 50520 , and pump 50506 are disposed in series with flow path 50504 through ejector housing 50518 between inlet port 50522 and outlet port 50524 . The entry port 50522 can be fluidly connected to an aspiration conduit, such as, for example, aspiration conduit 50036 of FIG. 1, and the aspiration conduit can comprise 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 continues through the flow path 50504 and exits through the exit port 50524. be done. Flow path 50504 includes first zone 50514 and second zone 50516 . A first zone 50514 is upstream from pump 50506 . A second zone 50516 is downstream from 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 described further herein. Exhaust mechanism 50520 is a mechanism that can control the speed, 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 comprised of a tube or other conduit that substantially contains and/or separates fluid traveling through the flow path 50504 from fluid outside the flow path 50504. can. For example, the first zone 50514 of the flow path 50504 may include a tube through which the flow path 50504 extends between the filter 50502 and the pump 50506. A second zone 50516 of the flow path 50504 may also include a tube through which the flow path 50504 extends between the pump 50506 and the exhaust mechanism 50520. Flow path 50504 also extends through filter 50502 , pump 50506 and exhaust mechanism 50520 such that flow path 50504 extends continuously from inlet port 50522 to outlet port 50524 .

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

In various examples, the ejection systems disclosed herein (e.g., 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 contextual awareness therefor are further described herein.

Situational awareness encompasses 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 the surgical procedure, the surgical system, for example, controls modular devices (e.g., smoke evacuation systems) connected thereto and that provide the clinician with contextualized information or suggestions during the course of the surgical procedure. The method can be improved. 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 can be programmed to control one or more operating parameters of the surgical system and/or the evacuation system based on, for example, sensed and/or aggregated data and/or one or more user inputs. . 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 buck 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 can be programmed to regulate various aspects, functions, and parameters of electrosurgical system 50300 . For example, processor 50308 determines a desired output power level at electrode tip 50334, which may be similar in many respects to electrode tip 50034 of FIG. 2 and/or electrode tip 51034 of FIG. 3, for example, and provides the desired output power. Power converter 50306 can be instructed to step down the voltage to a specified level so that 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 the processor 50308 and the 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. . When the power converter 50306 steps down the 360V to a level determined by the processor 50308 to provide 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 are adapted to detect voltages and currents present in the electrosurgical circuit and to communicate detected parameters to processor 50308 so that processor 50308 can determine output power You can decide whether to adjust the level. As noted herein, typical waveform 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, input from a surgical hub, cloud, and/or situational awareness module, as further described herein. can be optimized during the surgical procedure based on the input of

Processor 50308 is coupled to communication device 50318 for communicating over a network. The communication device includes a transceiver 50320 configured to communicate over physical wires or wirelessly. 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 transceiver. communications transceiver, NFC). The communication device 50318 may be a mobile phone, a sensor system (e.g. environment, location, motion, etc.) and/or sensor network (wired and/or wireless), a computing system (e.g. server, workstation computer, desktop computer, laptop computers, tablet computers (e.g., iPads, Galaxy Tabs, etc.), ultraportable computers, ultramobile computers, netbook computers, and/or sub-notebook computers, etc.). can be configured to communicate with In at least one aspect of the disclosure, one of these devices may be a coordinator node.

Transceiver 50320 receives serial transmit data from processor 50308 via a corresponding UART, modulates the serial transmit data onto an RF carrier, generates a transmit RF signal, and transmits the transmit RF signal via a corresponding antenna. can be configured to The transceiver(s) receives a received RF signal comprising an RF carrier modulated with serial received data via corresponding antennas, demodulates the received RF signal to extract the serial received data, and outputs the received RF signal to a processor. It is further configured to provide serial received data to a corresponding UART for provisioning. 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 is wireless using a selected wireless communication standard and/or protocol, such as IEEE 802.11a/b/g/n and/or Zigbee routing for Wi-Fi. An implementation of IEEE 802.15.4 for mesh networks can be supported.

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

In certain examples, the processor can be disposed within an ejector housing of a 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 with respect to FIG. A communication device 50418 can enable the processor 50408 within the surgical drainage system 50400 to communicate with other devices within the surgical system. For example, 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 one or more additional surgical systems and /or Wired and/or wireless communication to the tool may be enabled. The reader will readily appreciate that, in a particular example, the surgical drainage system 50400 of FIG. 6 can be incorporated into the electrosurgical system 50300 of FIG. Surgical drainage system 50400 also includes pump 50450 including its pump motor 50451 , drainage conduit 50436 and exhaust port 50452 . Various pumps, discharge conduits, and outlets 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 controllers 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 are in signal communication with processor 50308 and/or 50408. Surgical functions can be affected based on one or more algorithms stored in memory. Various exemplary aspects disclosed herein can be implemented by such an algorithm, for example.

In one aspect of the present disclosure, processors and sensor systems, such as processors 50308 and 50408 and corresponding sensor systems (FIGS. 5 and 6) in communication therewith, can be used to control, for example, a smoke evacuation system, and/or an electrosurgical system, an energy device. , and/or an external device and/or system used in conjunction with the smoke evacuation system, such as a generator, to sense airflow through the vacuum source. In one aspect of the present disclosure, the sensor system can include a plurality of sensors positioned along an airflow path of the surgical drainage system. The sensors can measure pressure differentials within the evacuation system to detect system conditions or conditions between the sensors. For example, the system between the two sensors may be a filter and the pressure differential is used to increase the speed of the pump motor when the flow through the filter is reduced in order to maintain flow through the system. can be made 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 outlet) of the evacuation system and uses pressure differential to maintain the maximum suction load below a threshold value within the evacuation system. A maximum suction load can be determined.

In one aspect of the present disclosure, processors and sensor systems, such as processors 50308 and 50408 and corresponding sensor systems (FIGS. 5 and 6) in communication therewith, detect aerosols or carbonized particulates in fluids extracted from the surgical site, i.e. Configured to detect smoke ratio. For example, the sensing system may include sensors that detect particle size and/or composition that are 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. 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, processors and sensor systems, such as processors 50308 and 50408 and corresponding sensor systems in communication therewith (FIGS. 5 and 6), perform chemical analysis on particles expelled from within the patient's abdominal cavity. is configured to do For example, the sensing and intelligent controller 50324 may sense the number and type of particles to adjust the power level of the ultrasonic generator to guide the ultrasonic blade to produce less smoke. In another embodiment, the sensor system may include sensors for detecting the particle count, temperature, fluid content, and/or contamination rate of the discharged fluid, and for adjusting the output of the generator. , the detected characteristic(s) can be communicated to the generator. For example, the smoke evacuator 50326 and/or its sensing and intelligent controller 50324 may be configured to adjust the exhaust flow rate and/or pump motor speed to a predetermined particulate level, generated by the end effector. The output power or waveform of the generator may be operably influenced to reduce smoke.

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

In one aspect of the present disclosure, a processor, such as, for example, processor 50308 or processor 50408 (FIGS. 5 and 6), determines correlation and/or pump revolutions-per-minute (RPM) speed is configured to compare sample velocity images obtained from the endoscope with ejector particle counts from a sensing system (eg, sensing and intelligent controller 50324) to adjust for . In one example, activation of the generator may be communicated to the smoke evacuator so that the expected required smoke evacuation rate can be implemented. Activation of the generator may be communicated to the surgical evacuation system via, for example, 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 is provided to automatically change the motor pump speed based on sensed particulates entering the inlet of the smoke evacuator and/or exiting the outlet or exhaust of the smoke evacuator. be done. For example, sensing and intelligent controller 50324 (FIG. 5) can include, for example, user selectable speeds and automatic mode speeds. At automatic mode speed, the airflow through the exhaust system may be scalable based on the lack of smoke entering and/or filtered particles exiting the exhaust system. In certain examples, automatic mode speed can provide automatic sensing and compensation for laparoscopic mode.

In one aspect of the present disclosure, the drainage 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, the surgical drainage system and/or its processor, e.g., processor 50308 (FIG. 5) and processor 50408 (FIG. 6), is configured to verify system errors, short circuits, and/or safety checks. may include a segmented control circuit that is energized in a stepwise manner to the . The segmented control circuit can also be configured to have energized portions and portions that are not energized until the energized portions perform the first function. The segmented control circuitry may include circuit elements for identifying and displaying status updates to the user of the attached component. The segmented control circuit also operates in a first state in which the motor is activated by the user, and in a second state in which the motor is not activated by the user but causes the pump to run quieter and at a slower speed. It contains circuit elements for operating the motor. A segmented control circuit can, for example, allow the smoke evacuator to be energized in stages.

The electrical and communication architecture of the evacuation system (see, for example, FIGS. 5 and 6) also allows the smoke evacuator to interact with other components within the surgical hub for interaction and communication of data with the cloud. Connectivity can be provided. Communication of surgical drainage system parameters to the surgical hub and/or cloud can be provided to affect the output or operation of other attached devices. The parameter may be actionable or may be 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, eg, surgical drainage system 50400, can also include a housing, replaceable components, controls, and a display. Circuitry is provided for communicating security identifications (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 record errors, and/or or to limit the number and/or types of components that can be identified by the system. In various examples, the communication circuitry can authenticate features for enabling and/or disabling 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 mechanisms, in series with each other, for large fluid droplets. and small fluid droplets respectively. In certain examples, the airflow path may include 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, smart pads can be coupled to an electrosurgical system. For example, the ground electrode 50335 of the electrosurgical system 50300 (FIG. 5) can include a smart pad with local sensing integrated into the pad while maintaining capacitive coupling. For example, capacitive return path pads can be used to sense neural control signals and/or movement of selected anatomical locations to detect proximity of the monopolar tip to nerve bundles. It can have small 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. The utility conduit includes cables that transmit electrical energy from the signal generator to the electrosurgical instrument. Utility conduits also include vacuum hoses that carry trapped/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 a surgical tool that is not coupled to the generator 50640 and/or that does not include tissue-energizing surfaces. In certain examples, distal conduit opening 50634 of drainage system 50600 may 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 the surgical tool (see, eg, FIG. 3).

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

Heating a patient's cytoplasm with an electrode tip, or cauterizing blood vessels to prevent bleeding, often results in the release of smoke where cauterization occurs, as described further herein. In such examples, the evacuation system 50600 is configured to capture smoke emitted during the surgical procedure because the evacuation conduit opening 50634 is near the electrode tip. Vacuum suction may draw smoke through electrosurgical instrument 50630 into conduit opening 50634 and into suction hose 50636 toward ejector housing 50618 of 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. Ejector housing 50618 can completely or partially enclose the internal components of ejector housing 50618 . Socket 50620 includes first receptacle 50622 and 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 . A filter 50670 ( FIGS. 10 and 11 ) may be removably disposed with the socket 50620 . For example, filter 50670 may 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 often use filters to remove unwanted contaminants from the smoke before it is emitted 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 positioned therebetween. The front cap 50672 includes a filter inlet 50678 that in certain examples is 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 the smoke directly from the smoke source and removes at least a portion of the fluid therefrom, followed by the filter body 50676 for further treatment of the partially treated smoke. can be replaced by a fluid trap (eg, fluid trap 50760 shown in FIGS. 14-17) that passes through. For example, filter inlet 50678 may receive smoke via an exhaust port of a fluid trap, such as port 50766 of fluid trap 50760 (FIGS. 14-17), and transmit partially treated smoke to filter 50670. can be configured to

As smoke enters the filter 50670, the components contained within the filter body 50676 allow the smoke to be filtered. 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 evacuation system 50600's ejector housing 50618 is communicated to the filter 50670 via the filter outlet 50680 to exhaust the internal filtration components of the filter 50670. Smoke can be drawn in through Filters often include particulate filters and charcoal filters. The 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 depth filter similar to a maze. Particulates can be filtered using at least one of the following methods: direct blockage (particles larger than 1.0 microns are trapped because they are too large to pass through the fibers of the media filter) ), inertial impaction (0.5-1.0 micron particles collide with the fiber and stay there), and diffusion blockage (of Brownian random thermal motion as particles “seek” and attach to the fiber). Particles smaller than 0.5 microns are captured by the impact).

The charcoal filter is configured to remove toxic gases and/or odors generated by surgical smoke. In various examples, the charcoal may be "activated," meaning that it has been treated with a heating process to expose active absorption sites. The charcoal may be from, for example, 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. be In various examples, carbon reservoir 50688 can include a charcoal filter. The filtered smoke, now substantially free of particulate matter and gaseous contaminants, is drawn through filter outlet 50680 and into exhaust system 50600 for further treatment and/or removal.

Filter 50670 includes multiple dams between components of filter body 50676 . For example, a first dam 50690 is positioned intermediate a filter inlet 50678 (FIG. 10) and a first particulate filter, such as a coarse media filter 50684, for example. 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 carbon reservoir 50688 and 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.

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

Additionally or alternatively, coarse media filter 50684 may comprise a low air resistance filter that removes most particulate matter greater than 1 μm. In some aspects of the present disclosure, it is at least 85% of particulates larger than 1 μm, greater than 90% of particulates larger than 1 μm, greater than 95% of particulates larger than 1 μm, particulates larger than 1 μm Includes a filter that removes greater than 99% of matter, greater than 99.9% of particulate matter greater than 1 μm, or greater than 99.99% of particulate matter 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 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 containing carbon reservoir 50688 . Carbon reservoir 50688 is defined by porous partitions 50696 and 50698 positioned between intermediate dam 50692 and terminal dam 50694 respectively. In some aspects of the present disclosure, porous partitions 50696 and 50698 are rigid and/or inflexible and define a defined spatial volume for carbon reservoir 50688.

The carbon reservoir 50688 can contain additional adsorbents that act either cumulatively with the carbon particles 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 remove gaseous pollutants such as, for example, carbon monoxide, ethylene oxide, and/or ozone. It can act to adsorb. In some aspects of the disclosure, the additional adsorbent is dispersed throughout the reservoir 50688 and/or placed in separate layers above, below, or within the 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 create suction that draws smoke from the surgical site through the suction hose 50636 and through the filter 50670 (FIGS. 10 and 11). It can include a pump disposed within. In operation, the pump can create a pressure differential within the eductor housing 50618 that causes smoke to move into the filter 50670 and out of the exhaust mechanism (e.g., exhaust mechanism 50520 in FIG. 4) at the outlet of the flow path. can. Filter 50670 is configured to extract harmful, contaminated, or otherwise unwanted particulates from smoke.

The pump may 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 at one end and exits the pump at the other end. Get out. The pump can provide a sealed positive displacement flow path. In various examples, the pump seals by capturing (sealing) a first volume of gas and reducing the volume to a second, smaller volume as the gas moves through the pump. A closed positive displacement flow path can be created. Reducing the volume of trapped gas increases the pressure of the gas. A second pressurized volume of gas can be released from the pump at the pump outlet. For example, the pump may be a compressor. More specifically, the pumps may include hybrid regenerative blowers, claw pumps, lobe compressors, and/or scroll compressors. 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 to move the fluid.

An example of a positive displacement compressor, such as 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 axes of stator scroll 50652 and moving scroll 50654 extend perpendicular to the field planes of scrolls 50652,50654. Stator scrolls 50652 and moving scrolls 50654 interleave with each other to form separate sealed compression chambers 50656 .

In use, gas may enter scroll compressor pump 50650 at inlet 50658 . As moving scroll 50654 orbits relative to stator scroll 50652, inlet gas is initially trapped within 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 shape of scrolls 50652 and 50654 . Compression chamber 50656 defines an enclosed space in which gas resides. Further, as moving scroll 50654 moves trapped gas toward the center of stator scroll 50652, compression chamber 50656 decreases in volume. This volume reduction increases the pressure of the gas within compression chamber 50656 . Gas within the sealed compression chamber 50656 is trapped during the volume reduction, thus 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 and into the ejector housing 50618 for disposal. In particular, the suction hose 50636 is not connected to the ejector housing 50618 via the filter end cap 50603 of FIG. Rather, suction hose 50636 is connected to ejector housing 50618 via fluid trap 50760 . A filter similar to filter 50670 can be placed in a socket in ejector housing 50618 behind fluid trap 50760 .

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

Referring primarily to FIGS. 14-17, fluid trap 50760 is shown removed from ejector housing 50618 (FIG. 13). Fluid trap 50760 includes inlet port 50762 defined in front cover or surface 50764 of fluid trap 50760 . Inlet port 50762 can 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 may 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. Optionally, the suction hose 50636 may be connected to the inlet port 50762, such as, for example, a latch-based compression fit, O-rings, threaded connection of the suction hose 50636 to the inlet port 50762, and/or other coupling mechanisms. Other mechanisms for joining can be used.

In various examples, the fluid-tight and/or air-tight fit between the suction hose 50636 and the fluid trap 50760 may prevent fluid and/or other substances in the expelled smoke at or near the junction of these components. is configured to prevent leakage of Optionally, the suction hose 50636 is associated with the inlet port 50762 via an intermediate coupling device such as an O-ring and/or an adapter to provide an airtight and/or fluid tight seal between the suction hose 50636 and the fluid trap 50760. The connection can be made more secure.

As mentioned 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 cases, 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 shaped to associate with and transmit at least partially treated smoke from fluid trap 50760 to a filter contained within ejector housing 50618 (FIG. 13). may be 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 steam to freely enter the eductor housing 50618 while water or other liquids collected in the fluid trap 50760 pass through the exhaust port 50766. It can act to prevent entry into the ejector housing 50618 . For example, placing high flow microporous polytetrafluoroethylene (PTFE) 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 also has a gripping area positioned and dimensioned to assist a user in handling the fluid trap 50760 and/or connecting the fluid trap 50760 with the suction hose 50636 and/or the ejector housing 50618. 50772 included. Gripping area 50772 is depicted as being an elongated recess. However, the reader will appreciate that the gripping area 50772 may include, for example, at least one recess, groove, protrusion, tassel, and/or ring, such as to correspond to a user's finger or otherwise. It will be readily appreciated that it may be sized and shaped to provide a gripping surface.

16 and 17, internal chamber 50770 of fluid trap 50760 is shown. The relative placement of inlet port 50762 and exhaust port 50766 are configured to facilitate extraction and retention of fluid from smoke as it enters fluid trap 50760 . In certain examples, the inlet port 50762 may have a notched cylindrical shape that directs smoke and accompanying fluid toward the fluid reservoir 50774 of the fluid trap 50760 or otherwise directed to the exhaust port. It can be directed away from 50766. Examples of such fluid flows are 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 geometry of the inlet port (eg, longer upper sidewall 50761 and shorter lower sidewall 50763), smoke entering inlet port 50762 first enters fluid reservoir 50774 of fluid trap 50760. (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 and is directed laterally away from its source, Towards the top of fluid trap 50760 and out of exhaust port 50766 in substantially opposite but parallel paths (indicated by arrows D and E).

The directional flow of smoke through fluid trap 50760 can ensure that liquid in the smoke is extracted and retained within the lower portion of fluid trap 50760 (eg, fluid reservoir 50774). Further, the relative placement 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, while at the same time reducing smoke emissions. It is configured to inhibit liquid from being unintentionally carried through the exhaust port 50766 by flow. Additionally, in certain examples, the configuration of inlet port 50762 and outlet port 50766 and/or the size and shape of fluid trap 50760 itself can allow fluid trap 50760 to be sealable.

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 disclosure, the evacuation system includes 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. can contain. 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 discharged 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 placed upstream of the filter, between the filter and the pump, and/or downstream of the pump. In certain examples, the pressure sensor can be arranged 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 may be, 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, for example, to determine air quality in an operating room.

Ejector housing 50818 of ejection system 50800 is shown schematically in FIG. The ejector housing 50818 can 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 contains 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 certain examples, the fluid trap and filter can be incorporated into a single replaceable module 50859, as shown in FIG. More specifically, the fluid trap 50860 and filter 50870 form a replaceable module 50859 that can be modular and/or replaceable and can be removably installed within a receptacle 50871 within the ejector housing 50818. . In other examples, the fluid trap 50860 and filter 50870 can be separate and distinct modular components that can be assembled together and/or separately installed within the ejector housing 50818. can be done.

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 ambient environment. Additionally or alternatively, one or more modular components located within the ejector housing 50818 can include one or more sensors. For example, still referring to FIG. 18, replaceable module 50859 includes multiple sensors for sensing various parameters therein.

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

During operation, smoke from the surgical site can be drawn from inlet 50822 through fluid trap 50860 and into ejector housing 50818 . The flow path 50804 through the ejector housing 50818 of FIG. 18 can include sealed conduits or tubes 50805 extending between various in-line components. In various examples, smoke can pass through fluid detection sensor 50830 and chemical sensor 50832 to diverter valve 50834, which is further described 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. For example, continuity can be zero or substantially zero when no fluid is present. A chemical sensor 50832 can detect chemical properties of smoke.

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

Still referring to FIG. 18, the smoke can then be directed into filter 50870 of replaceable 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 may 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 continue along flow path 50804 within ejector housing 50818 toward pump 50806 . Moving through the pump 50806 , the filtered smoke can flow past the outlet particle sensor 50848 and pressure sensor 50850 to the 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. In at least one form, the air quality particle sensor or external/ambient air particle sensor 50852 can include a laser particle counter. The various sensors shown in FIG. 18 are further described herein. Further, in various examples, alternative sensing means may be utilized with the smoke evacuation systems disclosed herein. Alternative sensors are further disclosed herein, for example, for counting particles and/or for determining particulate concentrations in fluids.

In various examples, the fluid trap 50860 shown in FIG. 18 can be configured to prevent the escape and/or leakage of trapped fluid. For example, the geometry of the fluid trap 50860 may be selected to prevent trapped fluid from spilling and/or leaking. In certain examples, the fluid trap 50860 can include baffles and/or splatter screens, such as screens 50862, to prevent trapped fluid from splattering out of the fluid trap 50860. In one or more examples, the fluid trap 50860 can include sensors for detecting the volume of fluid within the fluid trap and/or determining whether the fluid trap 50860 is filled to capacity. Fluid trap 50860 may include a valve for evacuating fluid therefrom. The reader will readily appreciate that a variety of alternative fluid trap configurations and geometries 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 group of coarse media filters, fine media filters, and adsorbent-based filters. A coarse media filter may be a low air resistance filter that may be constructed 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 be, for example, an activated carbon filter. The reader will readily appreciate that a variety of alternative filter configurations and geometries can 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 and/or combined with another compressor and/or pump such as, for example, a hybrid regenerative blower, claw pump, and/or lobe compressor. can be used The reader will readily appreciate that various alternative pump configurations and geometries can be used to create suction within flow path 50804 to draw smoke into ejector housing 50818. .

Various sensors within the ejection 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 adjusts 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.

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

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

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

Smoke expelled from a surgical site can include liquids, aerosols, and/or gases, and/or different chemical and/or physical properties, such as particulate matter and particles of different sizes and/or densities. It can contain substances with specific properties. Different types of substances drained from a surgical site can affect the efficiency of a surgical drainage system and its pumps. Additionally, certain types of materials may require the pump to draw excessive power and/or may damage the motor for the pump.

Power supplied to the pump can be modulated to control the flow rate of smoke through the evacuation system based on input from one or more sensors along the flow path. The output from the sensor may be, for example, the condition or quality of the smoke evacuation system and/or the quality of the emitted smoke, such as material(s) and proportions, chemical properties, density, and/or particle size. One or more characteristics can be indicated. In one aspect of the present disclosure, the pressure difference between two pressure sensors in the evacuation system can indicate the condition of the area between them, such as, for example, the condition of filters, fluid traps, and/or the overall system condition. . Based on the sensor input, the operating parameters of the pump's motor can be adjusted by changing the current and/or duty cycle supplied to the motor, which is configured to change the motor speed.

In one aspect of the present disclosure, by adjusting the flow rate of smoke through the exhaust system, filter efficiency can be improved and/or the motor can be protected from burnout.

A surgical evacuation system may include one or more particle counters or particle sensors for detecting the size and/or concentration of particulates in the smoke. Referring again to Figures 18 and 19, particle sensors 50838 and 50848 are shown. The reader will readily appreciate that a variety of particle measurement means are possible. For example, particle sensors may be optical sensors, laser sensors, photoelectric sensors, ionization sensors, electrostatic sensors, and/or combinations thereof. Various particle sensors are described further herein.

In various examples, the speed of the motor, and thus the speed of the pump, may be adjusted based on the particulate concentration detected by one or more particle sensors within the surgical drainage system. For example, when the particle sensor(s) detect an increase in particle concentration in the flow path, which can correspond to an increase in the amount of smoke in the flow path, the speed of the motor is increased to speed the pump. can be increased to draw more fluid from the surgical site into the smoke evacuation system. Similarly, when the particle sensor(s) detect a decrease in particle concentration in the flow path, which can correspond to a decrease in the amount of smoke in the flow path, the speed of the motor is reduced to reduce the speed of the pump. Velocity can be reduced to reduce suction from the surgical site. Additional and alternative tuning algorithms for surgical drainage systems are further described herein. Further, in certain examples, based on sensor data from the smoke evacuation system, the generator within the surgical system adjusts the amount of smoke generated at the surgical site, as further described herein. may be controlled.

In addition to particle sensors positioned along the flow path of the surgical drainage system, the system can include one or more sensors for detecting particulate concentrations in the surrounding room, e.g., the operating room or operating room. . Referring again to FIGS. 18 and 19, air quality particle sensor 50852 is mounted on the exterior surface of ejector housing 50818 . Alternative locations for the air quality particle sensor 50852 are also envisioned.

In at least one example, the particle sensor can be located downstream of the filter, and in certain examples can be located at or near the outlet of the filter. For example, particle sensor 50848 is positioned downstream of filter 50870 and pump 50806 in smoke evacuation system 50800 and downstream of filter 50970 and pump 50906 in smoke evacuation system 50900 . A particle sensor 50848 is positioned downstream of the filter(s) 50870, 50970 so that the particle sensor confirms that the filter(s) 50870, 50970 have removed sufficient particulates from the smoke. It is configured. In various examples, such sensors may be adjacent the exhaust outlets 50824, 50924 of the ejector housings 50818, 50918, respectively. In one aspect of the disclosure, an electrostatic particle sensor may be utilized. For example, the exhaust outlets 50824, 50924 can include electrostatic particulate sensors through which the exhaust passes downstream of the filtration system before being exhausted into the operating room.

Particulate concentrations detected by one or more sensors of a surgical drainage system may be communicated to a clinician in many different ways. For example, the ejector housings 50818, 50918 and/or ejection devices (eg, the electrosurgical instrument 50032 of FIG. 2) can include indicators such as one or more lights and/or display screens. For example, the LEDs on the ejector housings 50818, 50819 can change color (eg, from blue to red) depending on the volume of particles detected by the sensor(s). In other examples, indicators may include alarms or warnings, which may be tactile, audible, and/or visual, for example. In such an example, when the ambient air particulate concentration detected by the air quality sensor (e.g., particle sensor 50852) exceeds a threshold amount, the clinician(s) in the operating room will indicate the indicator(s). ).

In certain examples, a surgical drainage system may include an optical sensor. Optical sensors can include electronic sensors that covert light or changes in light into an electronic signal. Optical sensors can utilize light scattering methods to detect and count particles in smoke to determine the concentration of particles in the smoke. In various examples, the light is laser-based. For example, in one example, a laser light source is configured to illuminate particles as they move through the detection chamber. As the particles pass through the beam of the laser, the light source is obscured, redirected and/or absorbed. Scattered light is recorded by a photodetector and the recorded light is analyzed. For example, the recorded light can be converted into an electrical signal indicative of particle size and quantity corresponding to the particulate concentration in smoke. Particulate concentration in smoke can be calculated in real time, for example, by a laser optical sensor. In one aspect of the present disclosure, at least one of particle sensors 50838, 50848, 50852 is a laser optical sensor.

A photoelectric sensor for detecting particles in smoke may be a through-beam sensor, a reflective sensor, or a diffuse sensor. A reflective photoelectric sensor 51000 is shown in FIG. Referring to FIG. 20, a reflective photoelectric sensor 51000 is a light scattering sensor in which a light beam 51002 emitted from a light source 51006 through a lens 51012 is offset from a photodetector or photocell 51004 . For example, photodetector 51004 in FIG. 20 is offset from light source 51006 by 90 degrees. When smoke S obscures the light beam 51002 intermediate the light source 51006 and the light catcher 51008, the light is reflected and the reflected light 51010 is scattered towards the lens 51014 and onto the photodetector 51004. The photodetector 51004 converts the light into an electrical signal (current) corresponding to the particulate concentration in the smoke S. The output signal may be provided to a processor 51016, which may be similar in many respects to processors 50308 and/or 50408 shown in FIGS. Based on this, the operating parameters of the motor can be influenced. For example, the output signal from reflective photoelectric sensor 51000 may be an input to a control algorithm for a motor and/or an input to a surgical hub.

A pass-through photoelectric sensor 51100 is shown in FIG. As shown in FIG. 21, a line of sight extends between the light source 51102 and the photodetector 51104 . In such an example, the intensity of light reaching the photodetector 51104 can be converted into an electrical signal (current) corresponding to the particulate concentration in the smoke S. The output signal may be provided to processor 51106 coupled to a 24V DC power supply, which may be similar in many respects to processors 50308 and/or 50408 shown in FIGS. The processor 51106 can influence operating parameters of the motor based on the electrical signal and the corresponding particulate concentration. For example, the output signal from photoelectric sensor 51100 may be an input to a control algorithm for a motor and/or an input to a surgical hub.

Photoelectric sensors of surgical drainage systems, such as sensor 51000 of FIG. 20 and/or sensor 51100 of FIG. The wavelength of light can be selected. In certain examples, multiple sensors and/or multiple wavelengths may be used to tune sensor 51000 to the correct combination(s). Water vapor, even denser water vapor, absorbs light of certain wavelengths. For example, water vapor absorbs infrared light instead of reflecting it. Due to these absorption properties of water vapor, infrared light can be useful for accurately counting particles in fluids within surgical drainage systems in the presence of water vapor.

In a particular example, ionization sensors can be used to detect particles in smoke. An ionization sensor includes two electrodes and a radioactive material that converts air molecules into positive and negative ions. Positive ions move toward the negative electrode and negative ions move toward the positive electrode. As smoke passes between the electrodes, it combines with ions, thereby breaking the circuit. The drop in current through the circuit can be converted into an electrical signal (current) corresponding to the volume of smoke passing between the electrodes.

An ionization sensor 51200 is shown in FIG. The ionization sensor 51200 utilizes americium-241 to ionize air in an enclosed area. The sensor 51200 includes a compact ionization chamber 51202 with two spaced apart electrodes 51204 . The ionization chamber 51202 can be made of, for example, polyvinyl chloride or polystyrene, and the electrodes 51204 can be spaced about 1 cm apart within the ionization chamber 51202, for example. Americium-241 source 51208 can provide americium-241 to ionization chamber 51202 . About 0.3 μg of americium-241 can be embedded, for example, in a gold foil matrix sandwiched between a silver backing and a 2 micron thick layer of palladium laminate. Americium-241 has a half-life of 432 years and can be decayed by emitting alpha rays 51206. The gold foil matrix is configured to retain the radioactive material while still allowing alpha rays 51206 to pass through. In various instances, alpha rays are preferred over beta and gamma waves because they readily ionize air particles, have low penetrating power, and can be easily contained.

During ionization, electrons are knocked off the oxygen and nitrogen molecules, thereby producing charged ions. Charged ions are attracted to oppositely charged electrodes, thus forming a current in the chamber. Since the smoke particles 51210 are larger than the air molecules, the ionized particles collide and bond with the smoke particles. The bound particles act as recombination centers and neutralize the ions, thereby reducing the amount of ionized particles in the ionization chamber 51202 and reducing the overall current flow. The drop in current can be converted to an electrical signal corresponding to the volume of smoke passing between the electrodes 51204 . The output signal can be provided to a processor, such as processor 50308 and/or processor 50408 shown in FIGS. 5 and 6, respectively, which can affect operating parameters of the motor, for example. For example, output signals from the ionization sensor 51200 may be inputs to control algorithms for motors and/or inputs to a surgical hub, as described further herein.

In various examples, dual ionization chambers can be used. The first chamber, which acts as the sensing chamber, is open to the atmosphere and can be affected by particulate matter, humidity, and atmospheric pressure. The second chamber can be isolated from smoke and particulate matter. The second chamber is located outside the smoke path but still subject to humidity and atmospheric pressure. By using two chambers, changes in humidity and atmospheric pressure can be minimized because the outputs from both chambers are affected equally and cancel each other out. For example, depending on the type of surgical procedure, the surgical device(s) used, and the type of tissue encountered, the dual ionization chamber is , may be useful in smoke evacuation systems to compensate for variations in pressure and humidity.

In certain examples, a combinatorial approach can be utilized to determine particulate concentration in smoke. For example, a number of different types of smoke detectors or sensors are available. Such sensors can be arranged in a row in series with the flow path. For example, multiple particle sensors can be positioned along channel 50804 in FIG. 18 and/or channel 50904 in FIG. Various sensors can provide input to pump motor control algorithms, such as the various adjustment algorithms described herein.

In certain examples, the surgical evacuation system can be configured to adjust sensor parameters to more accurately detect particulates in smoke. Adjustment of sensor parameters may depend on the type of surgical device, the type of surgical procedure, and/or the type of tissue. Surgical devices often produce a predictable type of smoke. For example, for a particular treatment, a predictable type of smoke may be smoke with high water vapor content. In such an example, infrared photoelectric sensors can be used because infrared radiation is substantially absorbed and not reflected by water vapor. Additionally or alternatively, the predictable type of smoke may be smoke having particles of a particular size or concentration. Based on the expected size of the particles, the sensor can be adjusted to more accurately determine the particulate concentration in the smoke.

In certain examples, situational awareness can facilitate adjustment of sensor parameters. Information related to situational awareness can be provided to the surgical drainage system by a clinician, an intelligent electrosurgical instrument in signal communication with the surgical drainage system, a robotic system, a hub, and/or the cloud. For example, the hub can include a situational awareness module that can aggregate data from various sensor systems and/or input systems, including, for example, a smoke evacuation system. Sensors and/or inputs throughout a computer-implemented interactive surgical system are used to determine and/or confirm, for example, surgical devices, surgical procedure types and/or steps, and/or tissue types utilized in a surgical procedure be able to. In certain examples, situational awareness can predict the type of smoke that will occur at a particular time. For example, the situational awareness module can determine the type of surgical procedure and the steps therein to determine what type of smoke is likely to occur. Sensors can be adjusted based on the type of smoke expected.

In certain examples, one or more of the particle sensors disclosed herein can be fluid detection sensors. For example, a particle sensor can be arranged and configured to determine whether aerosols and/or liquid droplets are present in the exhaled smoke. In one aspect of the present disclosure, the size and/or concentration of detected particles may correspond to aerosols, droplets, solid matter, and/or combinations thereof. In certain examples, situational awareness can determine and/or confirm whether a detected particle is an aerosol or solid matter. For example, a situational awareness module in signal communication with a processor (eg, processor 50308 of FIG. 5 and/or processor 50408 of FIG. 6) can report identification of particles in the fluid.

Referring now to FIG. 23, there is shown a graphical representation of particle count 51300 and motor speed 51302 over time for a surgical drainage system, eg, surgical drainage system 50400 (FIG. 6). The target motor speed 51304 may be predefined and stored in a processor memory (see, eg, FIGS. 5 and 6) in signal communication with the motor. In various examples, the processor can be configured to maintain the target motor speed 51304 under normal operating conditions. For example, target motor speed 51304 may be stored in memory 50410 (FIG. 6), and processor 50408 (FIG. 6) may be configured to maintain target motor speed 51304 under normal operating conditions. In such an example, when surgical evacuation system 50400 (FIG. 6) is activated, motor 50451 may operate at target motor speed 51304, one or more conditions are detected, and/or processor 50408 is can continue to operate at the target motor speed 51304 as long as it is not communicated to.

In certain examples, the processor 50408 can be in signal communication with a particle sensor configured to detect particulate concentrations in inspiratory smoke in real time. Various examples of particulate concentration sensors, such as laser particle counter sensors, are described herein. In one aspect of the present disclosure, particle sensors 50838 (FIGS. 18 and 19) located at the inlet to filter 50870 of FIG. 18 and the inlet to filter 50970 of FIG. 19 are in signal communication with processor 50408 (FIG. 6). be able to. For example, laser particle sensor 50838 can correspond to one of sensors 50430 in FIG.

In various examples, when the particle sensor 50838 (FIGS. 18 and 19) detects that the particulate concentration (e.g., parts per million of particulate matter in the fluid) has fallen below a threshold amount 51306, Processor 50408 may direct motor driver 50428 to reduce the speed of motor 50451 . For example, at time t ₁ in FIG. 23, particle count or particulate concentration 51300 has dropped below threshold amount 51306 . Since particle count 51300 has fallen below threshold amount 51306 , motor speed 51302 may be reduced until it is below target motor speed 51304 . Thereafter, when the particle sensor 50838 (FIGS. 18 and 19) detects that the particle count 51300 again exceeds the threshold amount 51306, such as at time _t2 , the processor 50408 increases the speed of the motor 50451 to reach the target motor speed 51304 Motor Driver 50428 can be instructed to resume . Particulate concentration can correspond to the size of the particles in the smoke. For example, smoke may contain smaller particles between time _t1 and time _t2 . Reducing the speed of the motor 50451 can reduce the suction generated by the pump 50450, which can ensure that smaller particles are not sucked through the filters of the surgical drainage system 50400. For example, reducing the motor speed or reducing the pump pressure ensures that the filtration system has adequate time and capacity to trap particulates and fine media filters trap smaller particles. You can be sure that you can. In other words, a slower velocity can improve the filtration efficiency of the surgical drainage system 50400.

In certain examples, the speed of motor 50451 driving pump 50450 can be adjusted based on a particle sensor located downstream of the filter. For example, referring again to FIGS. 18 and 19, particle sensor 50848 is positioned downstream of filter 50870 in FIG. 18 and downstream of filter 50970 in FIG. The particle sensor 50848 is positioned downstream of the filter assembly so that the particle sensor 50848 is configured to detect particulates in the exhaust from the surgical evacuation system 50800 or the evacuation system 50900, for example. In other words, such particle sensors 50848 are configured to detect particulates that pass through the ejector housing 50818, 50918 and are expelled into the ambient air. A particle sensor 50848 is positioned adjacent to the outlets 50824, 50924 of the ejector housings 50818, 50918, respectively. In one example, processor 50308 (FIG. 5) and/or processor 50408 (FIG. 6) makes adjustments to the pump when the particulate concentration in the exhaust (eg, the particulate concentration detected by particle sensor 50848) exceeds a predetermined threshold amount. can be implemented. For example, referring again to FIG. 6, the speed of the motor 50451 can be adjusted to improve the filtering efficiency of the surgical drainage system 50400.

Motor speed can be adjusted by limiting the current supplied to the motor and/or changing the duty cycle of the motor. For example, the pulse modulation circuit can use pulse width modulation and/or pulse frequency modulation to adjust the length and/or frequency of the pulses.

Additionally or alternatively, ejected fluid when the number of particles in the exhaust exceeds a predetermined threshold amount that may be dangerous or harmful to operator(s) and clinician(s) in the operating room. can be redirected through one or more filters in the surgical drainage system. For example, if particle sensor 50838 detects the number of particles in the exhaust above a threshold amount, processor 50308 (FIG. 5) and/or processor 50408 (FIG. 6) can open valves downstream of the filter, which This allows the exhaust to be recirculated and injected into the flow path upstream of the filter. In certain instances, the valve may, for example, inject the recirculated exhaust into an alternate flow path that includes one or more additional and/or different filters.

In certain examples, a surgical drainage system may include an override option whereby the drainage system continues to operate and/or continues to operate at a predetermined power level despite exceeding a set threshold. For example, in the override mode, the surgical evacuation system can continue to operate and evacuate particles even if the particle sensor downstream of the filter detects a particulate concentration above the threshold amount. The operating room operator activates the override function or mode, for example, by activating a switch, toggle, button, or other actuator on the ejector housing and/or by input to the surgical hub. can be done.

Referring now to FIG. 27, a flow chart illustrating a surgical drainage system adjustment algorithm 52300 is shown. Various surgical drainage systems disclosed herein can utilize the adjustment algorithm 52300 of FIG. Further, the reader will readily appreciate that, in certain examples, adjustment algorithm 52300 can be combined with one or more additional adjustment algorithms described herein. Adjustments to the surgical evacuation system can be performed by a processor in signal communication with the motor of the ejector pump (see, eg, processor and pump in FIGS. 5 and 6). For example, processor 50408 can implement adjustment algorithm 52300 . Such processors may also be in signal communication with one or more sensors within the surgical drainage system.

In various examples, the surgical drainage system can initially operate in standby mode 52302 as shown in FIG. Operates at low power as indicated. For example, in standby mode 52302, a small fluid sample can be drained from the surgical site by the surgical drainage system. Standby mode 52302 may be the default mode for the evacuation system.

If a particle sensor upstream of the filter (e.g., particle sensor 50838) detects a particle number or particulate concentration greater than threshold X as shown in block 52312, the surgical drainage system can enter auto-drain mode 52304 . In auto-drain mode 52304, motor speed may be increased at block 52314 to draw additional smoke from the surgical site. For example, the particle count or particulate concentration may increase above a threshold amount X when an electrosurgical procedure is initiated or when a particular electrosurgical power level is activated. In certain examples, the speed of the motor can be adjusted during auto-drain mode 52304 based on the detected particulate concentration. For example, as the particulate concentration detected by the particle sensor 50838 increases, the motor speed can correspondingly increase. In certain examples, a predetermined motor speed can correspond to a predetermined range of particulate concentrations detected by particle sensor 50838 .

Still referring to FIG. 27, if a particle sensor downstream of the filter (e.g., particle sensor 50848) detects a particle count or particle concentration less than a threshold amount Y at block 52316, the motor resumes low power mode at block 52310. and/or further adjusted at block 52314 as provided herein. Additionally, if the downstream particle sensor 50848 detects a particle number or particulate concentration greater than the threshold amount Y and less than the threshold amount Z at block 52318, the motor speed is decreased at block 52320 to improve filter efficiency. be able to. For example, a particulate concentration detected by particle sensor 50848 between thresholds Y and Z may correspond to small particles passing through a filter of the smoke evacuation system.

Still referring to FIG. 27, if the particle sensor 50848 downstream of the filter detects a number of particles greater than the threshold amount Z at block 52318, the motor can be turned off at block 52322 to terminate the evacuation procedure and surgical Evacuation system can be put into override mode 52306 . For example, threshold Z may correspond to air quality risks to clinicians and/or other personnel in the operating room. In certain examples, the operator can selectively override the shutdown function, as provided further herein, so that the motor continues to operate at block 52310. For example, the surgical drainage system can return to standby mode 52302 where a sample of fluid is drained from the surgical site and monitored by the surgical drainage system.

In certain examples, the pump power level may be a function of the pressure differential across at least a portion of the surgical drainage system. For example, a surgical drainage system can include at least two pressure sensors. Referring again to Figures 18 and 19, the ambient pressure sensor 50854 is configured to detect the pressure within the ambient chamber. Pressure sensor 50840 is in the flow path intermediate fluid trap 50960 and filter or filtration system 50970 of FIG. It is configured to detect pressure within the 50904. Additionally, the pressure sensor 50846 is configured to detect pressure in the flow path 50804 intermediate the filtration system 50870 and the pump 50806 of FIG. 18 and the flow path 50904 intermediate the filtration system 50970 and the pump 50906 of FIG. It is Finally, pressure sensors 50850 are configured to detect pressure within flow paths 50804 and 50904 at exhaust ports or outlets 50824 and 50924, respectively. The reader will readily appreciate that a particular smoke evacuation system may include fewer or more pressure sensors than the four pressure sensors 50840, 50846, 50850, and 50854 shown in FIGS. be. Additionally, pressure sensors can be placed at alternate locations throughout the surgical drainage system. For example, one or more pressure sensors may be located within the smoke evacuator device, e.g., along an exhaust conduit extending between the evacuator and the housing, and in different layers such as upstream of the fluid trap and/or in the middle of the filtration system. It can be arranged in the housing.

Referring now to FIG. 28, a flow chart illustrating a surgical drainage system adjustment algorithm 52400 is shown. In various examples, the surgical drainage systems disclosed herein can utilize the tuning algorithm of FIG. Further, the reader will readily appreciate that, in certain examples, adjustment algorithm 52400 of FIG. 28 can be combined with one or more additional adjustment algorithms described herein. Adjustments to the surgical evacuation system can be performed by a processor in signal communication with the motor of the ejector pump (see, eg, processor and pump in FIGS. 5 and 6). For example, processor 50408 can implement adjustment algorithm 52400 . The processor can also be in signal communication with one or more pressure sensors within the surgical drainage system.

In various examples, the processor 50408 is configured to obtain a pressure measurement P1 from the first pressure sensor at block 52402 and obtain a second pressure measurement P2 from the second pressure sensor at block 52404. there is The first and second pressure sensors may be provided by sensor 50430 of FIG. 6, for example. Processor 50408 is configured to compare measurements P1 and P2 at block 52406 to determine a pressure difference between the first pressure sensor and the second pressure sensor. In one example, if the pressure difference is less than or equal to a threshold amount X, such as at block 52408, the speed of the pump can be maintained. Conversely, if the pressure difference is greater than the threshold amount X, such as at block 52410, the speed of the pump can be adjusted. Adjustments to the operating parameters of the motor are configured to adjust the speed of the pump. The adjustment algorithm 52400 can be repeated continuously and/or at regular intervals. In certain examples, a clinician can trigger execution of adjustment algorithm 52400 .

The smoke flow rate through the exhaust system can be a function of the pressure differential. In one example, if the pressure differential across the evacuation system increases significantly, the flow rate through the system may also increase. Actual flow rate can be predicted based on pressure differential and motor speed. Therefore, by monitoring the pressure differential, the flow rate can be determined more accurately.

Additionally, blockages in the flow path can correspond to increased pressure differentials. For example, as the filter traps particles from smoke, the pressure differential across the filter may increase for a given pump speed. For a given pressure drop across the filter, the speed of the motor and corresponding pump can be increased to maintain smoke flow through the system despite blockages in the filter. For example, referring back to FIGS. 18 and 19, a first pressure sensor (eg, pressure sensor 50840) can be placed upstream of the filter and a second pressure sensor (eg, pressure sensor 50846) can It can be arranged downstream of the filter. The pressure difference between pressure sensor 50840 and pressure sensor 50846 can correspond to the pressure drop across the filter. As the filter traps particles in the smoke, the trapped particles can block the flow path, thereby increasing the pressure differential across the filter. In response to an increase in pressure differential, the processor can adjust the operating parameters of the motor to maintain flow across the system. For example, the motor speed and corresponding pump speed can be increased to compensate for a partially blocked filter in the flow path.

In other examples, the predetermined pressure drop can correspond to an occlusion in the exhaust conduit. In one embodiment, the speed of the motor and corresponding pump can be reduced, for example, to avoid tissue damage when the drainage conduit is occluded with tissue. Decreasing the speed of the pump in such instances can be configured to avoid potential tissue trauma.

In another example, a first pressure sensor can be positioned upstream of the fluid trap and a second pressure sensor can be positioned downstream of the fluid trap (eg, pressure sensor 50840). The pressure difference between the sensors can correspond to the pressure drop across the fluid trap, which can correspond to the flow rate and/or flow path through the fluid trap. The pressure differential across the fluid trap can also be estimated by other sensors within the fluid evacuation system. In certain instances, it is desirable to reduce the flow rate through the fluid trap to ensure adequate removal of liquid from the smoke before it enters the downstream filter(s) and pump. In such instances, the pressure differential may be reduced by reducing the speed of the motor and corresponding pump speed.

In yet another example, a first pressure sensor can be located at the entrance to the surgical drainage system or its ejector housing, and a second pressure sensor can be located at the exit of the surgical drainage system. (eg pressure sensor 50850). A pressure differential between the sensors can correspond to a pressure drop across the surgical drainage system. In certain examples, the maximum suction load of the system can be maintained below a threshold by monitoring the pressure drop across the system. When the pressure drop exceeds a threshold amount, the processor can adjust operating parameters of the motor (eg, decelerate the motor) to reduce the pressure differential.

In one example, the chemical sensor 50832 can detect the pH of a substance in physical contact with the sensor, eg, fluid that has been splashed onto the sensor 50832 . In one aspect of the disclosure, the chemical sensor 50832 can detect glucose content and/or oxygen content in the fluid. In certain examples, the chemical sensor 50382 can be configured to detect cancerous byproducts. If cancerous byproducts are detected, the parameters of the evacuation system can be adjusted to reduce the likelihood of such byproducts entering the operating room. In one example, the pump speed can be reduced, for example, to improve the efficiency of filters in the evacuation system. In another example, the drainage system can be turned off to ensure that cancerous byproducts are not drained into the operating room.

Fluid extracted from a surgical site by a surgical drainage system may include liquids and various particulates. A combination of different types and/or states of matter in the evacuated fluid can make it difficult to filter the evacuated fluid. Additionally or alternatively, certain types and/or states of matter may be detrimental to certain filters. For example, the presence of droplets in smoke can damage certain filters, and the presence of larger particulates in smoke can block certain fine particulate filters.

The sensor can be configured to detect a parameter of fluid moving through the evacuation system. Based on parameters detected by the sensor(s), the surgical drainage system can direct the drained fluid along the appropriate flow path. For example, a fluid containing a percentage of droplets above a certain threshold parameter can be directed through a fluid trap. As another example, fluids containing particulates above the threshold size can be directed through a coarse media filter, and fluids containing particulates below the threshold size bypass the coarse media filter and bypass the fine media filter. can be directed to

By providing an alternative flow path through the surgical drainage system, the surgical drainage system and its filter(s) may operate more efficiently and be less susceptible to damage and/or blockage. can. The useful life of the filter can also be extended. As provided herein, a filter can include one or more filtration layers, and in certain examples, a filtration system can include one or more filters.

The diverter valve 52934 of the surgical drainage system is shown in detail in Figures 24A and 24B. In one aspect of the present disclosure, the diverter valves 50834 and 50934 shown in the surgical drainage systems 50800 and 50900 of FIGS. 18 and 19, respectively, can include a diverter valve 52934. Diverter valve 52934 includes a ball valve 52396 operably configured to direct fluid from inlet path 52942 along either first path 52940 or second path 52938 . In various examples, ball valve 52396 may be an electrically actuated ball valve with a controller. For example, a surgical drainage system processor, such as processor 50408 (FIG. 6), can signal the ball valve controller to initiate rotation of ball valve 52396 to alter the smoke flow path. Smoke intake through the diverter valve 52934 is directed along a first path 52940 when the diverter valve 52934 is in the first position (FIG. 24A). Smoke intake through the diverter valve 52934 is directed along a second path 52938 when the diverter valve 52934 is in the second position (FIG. 24B).

A first path 52940 may correspond to the flow path when no liquid is detected in the smoke or when the detected liquid-gas ratio or aerosol fraction is below a threshold. A second path 52938 may correspond to a flow path when liquid, e.g., an aerosol, is detected in the smoke, or when the detected liquid-gas ratio or aerosol fraction is greater than or equal to a threshold value. In certain aspects of the present disclosure, the first path 52940 can bypass the fluid trap and the second path 52938 is used to trap fluid from the smoke before it is directed into the filter. can be directed through the fluid trap. By selecting a flow path based on the aerosol fraction, the efficiency of the surgical drainage system can be improved.

In other examples, the diverter valve 52934 can include more than two fluid path outlets. Further, the fluid path may be different, including bypassing/recirculating the fluid to the fluid trap, and/or different configurations of the fluid trap, condenser, and/or particulate filter, depending on the detected parameters of the fluid. Smoke can be directed along the filtration path.

Referring again to Figures 18 and 19, the fluid detection sensor 50830 is configured to detect the presence of aerosols or liquid-gas ratios in the smoke. For example, fluid detection sensor 50830 of FIG. 18 is located at inlet 50822 of ejector housing 50818 . In other examples, the fluid detection sensor 50830 can be positioned near the inlet 50822 and/or upstream of the filter 50870 and/or a socket for receiving the filter 50870 . Examples of fluid detection sensors are described further herein. For example, the fluid detection sensor 50830 can include one or more of the particle sensors further disclosed herein. Additionally or alternatively, in one aspect of the present disclosure, the fluid detection sensor 50830 includes a continuity sensor.

In one example, if the fluid detection sensor 50830 detects a liquid-gas ratio equal to or greater than the threshold, intake air can be diverted to the condenser before entering the particulate filter. The condenser can be configured to condense small droplets within the flow path. In various examples, the condenser can include a honeycomb structure. The condenser may include multiple baffles or other structures configured to condense liquid. As smoke flows past the condenser, liquid can condense on internal baffles and can be directed to drip downward into the fluid reservoir.

Referring primarily to FIG. 18, internal diverter valve 50834 is positioned to direct smoke intake to bypass condenser 50835 so that the smoke flows directly to filter 50870 . When bypassing the condenser 50835, the surgical drainage system 50800 may require less power from the motor driving the pump (see, eg, motor 50451 and pump 50450 in FIG. 6). Referring now to FIG. 19, diverter valve 50934 is positioned to direct smoke into condenser 50935 within fluid trap 50960 before the smoke flows into filter 50970 . Conversely, if the fluid detection sensor 50830 detects a liquid-gas ratio below the threshold, intake air can bypass the condenser 50935 and be directed directly to the filter 50970 .

In various examples, the fluid detection sensor 50830 can detect the presence of smoke within the flow path. For example, fluid detection sensor 50830 can include a particle sensor. Detection of particles, or detection of particulate concentrations above a threshold value, can indicate that smoke is present in the flow path. In certain examples, fluid detection sensors may not distinguish between solid particles (eg, carbon) and aerosol particles. In another example, the fluid detection sensor 50830 can also detect the presence of aerosols. For example, a fluid detection sensor can include a continuity sensor, such as described herein, that can determine, for example, whether a detected particle is an aerosol.

In various examples, a surgical drainage system can include additional or alternative flow paths. For example, a surgical drainage system can include a high particulate flow path and a low particulate flow path. For example, if a particle sensor, such as particle sensor 50838 (FIGS. 18 and 19), detects a particulate concentration equal to or greater than the threshold valve, the inspiratory smoke can be diverted to the particulate filter. Conversely, if the laser particle sensor detects a particulate concentration below the threshold, the inspiratory smoke can bypass the particulate filter. Similarly, different channels can accommodate particles of different sizes and/or types. For example, if larger particles are detected by particle sensor 50838, the smoke may be directed along a different path than if smaller particles are detected. For example, surgical drainage systems can include different types of particulate filters (e.g., large media filters and fine media filters) to provide direct blockage, inertial impaction, and particle filtering based on the detected size (or size range) of particles. , and diffusion barriers can be utilized. Different flow paths may be selected to optimize smoke fluid extraction and/or particulate filtration while minimizing power draw and/or stress on the motor. In certain examples, the default flow path may be a more direct flow path, and fluid may be diverted to a less direct flow path upon detection of a fluid parameter above a threshold limit. A less direct flow path may require more power.

In various examples, the motor of the surgical evacuation system may be adjusted based on the characteristics of the inspiratory smoke and/or filters installed within the surgical evacuation system. Referring again to the schematic shown in FIG. 6, processor 50408 is in signal communication with motor driver 50428 coupled to motor 50451 for pump 50450 . Processor 50408 may be configured to adjust motor 50451 based on smoke and/or installed filter characteristics. In one example, the processor 50408 determines the volume of droplets in the flow path corresponding to the volume of aerosols suspended in the smoke and/or containing the volume of droplets in contact with or resting on the tubing of the surgical drainage system. An input corresponding to the liquid volume can be received. Various sensors for detecting fluid density of inspiratory smoke, such as, for example, continuity sensors, are further described herein.

The liquid-to-gas ratio of the smoke can affect the efficiency of the smoke evacuation pump. For example, the liquid(s) in the smoke may be less compressible than the gas in the smoke, which can affect the efficiency of the pump. Additionally, different types of pumps may operate differently in the presence of aerosols. In certain examples, the pump speed can be increased, and in other examples, the pump speed can be decreased. The processor can be configured to adjust the motor driving the pump to optimize the efficiency of the pump for each liquid-to-gas ratio. In other words, the motor's control program can operably adjust the pump speed based on the sensed liquid-to-gas ratio in the flow path.

Certain pumps can efficiently process fluids with high liquid-gas ratios such that the efficiency of the pump either remains the same or increases. For example, certain scroll pumps can handle aerosols in the smoke path. In such instances, an incompressible (or less compressible) fluid may reduce the rotational speed of the pump to increase the air handling of the vacuum. Other pumps may be more sensitive to fluids with high liquid-to-gas ratios and can therefore be slowed down to limit the pressure differential across the fluid trap.

In various examples, the sensor can be configured to detect flow rate through the surgical drainage system. For example, an optical sensor can be configured to measure the flow rate of particles within a surgical drainage system. In certain examples, the sensed flow rate through the surgical drainage system can be utilized to manage the suction speed of the compressor. The algorithm can determine the appropriate suction rate based on one or more sensed parameters of flow rate and/or smoke (eg, particulate concentration, liquid-to-gas ratio, etc.). For example, when smoke with a high liquid-to-gas ratio enters a surgical evacuation system, the motor speed is reduced to allow more liquid to be extracted from the smoke before it enters the pump, so that the fluid traps the smoke. can reduce the flow rate through surgical drainage systems including Liquids can damage certain pumps. For example, lobe pumps and regenerative blowers can be damaged if liquid in the smoke is allowed to enter.

FIG. 25 shows a graphical representation of airflow fluid content and duty cycle over time for a surgical drainage system such as surgical drainage system 50800 (FIG. 18) and/or 50900 (FIG. 19). Fluid content can include aerosols and droplets within the ejection system and can be detected, for example, by fluid detection sensors 50830 and 50836 (FIGS. 18 and 19). Referring again to FIG. 25, at the beginning of treatment, fluid detection sensors 50830 and 50836 detect the same or substantially the same content in smoke. In other words, the fluid content upstream of each fluid trap 50860, 50960 is the same or substantially the same as the fluid content downstream of each fluid trap 50860, 50960. Fluid content detected by both sensors 50830 and 50836 continues to rise as treatment continues.

At time t ₁ , the fluid content detected by both sensors 50830 and 50836 exceeds the fluid content threshold (C _T ) 52102 and smoke is detected by fluid trap 50860 and fluid trap 50860 to prevent damage to the filtration system. /or diverted via a fluid trap such as 50960; The fluid content threshold C _T 52102 may correspond to a volume or percentage of fluid and/or aerosol that is detrimental to the filtration system. Referring primarily to the exhaust system 50900 of FIG. 19, a recirculation valve 50990 is provided (see FIG. (as shown). Additional droplets can be removed from the fluid by recirculating the fluid. As a result, referring again to FIG. 25, the fluid content detected by the fluid detection sensor 50836 located upstream of the filter 50970 can decrease until it is below the fluid content threshold C _T 52102 . In various examples, the airflow path through the ejector housing can be adjusted at time _t1 to maintain the motor duty cycle, as shown in FIG.

Still referring to the graphical representation of FIG. 25, when the smoke is recirculated through a fluid trap that captures some of the aerosols and/or droplets, the downstream fluid detection sensor 50836 detects less liquid content in the smoke. begins to detect However, the upstream fluid detection sensor 50830 continues to detect an increase in the amount of liquid in the smoke. Further, at time t ₂ , downstream fluid detection sensor 50836 again detects fluid content above fluid content threshold C _T 52102 . To cope with the increased fluid content despite smoke recirculation through the fluid trap, the duty cycle of the pump motor is adjusted so that more liquid can be extracted from the smoke before it enters the pump. is decreased at time _t2 , reducing the speed of the pump. When the pump is adjusted to a reduced duty cycle, the fluid trap can more effectively trap aerosols and/or droplets in the smoke, and the fluid content detected by fluid detection sensor 50836 will begins to decrease until it drops below the fluid content threshold C _T 52102.

In certain examples, the volume of fluid in the fluid trap and/or the levelness of the housing is used to set a threshold limit that may correspond to reaching the exit port of the fluid trap to the anti-spill baffle and/or particulate filter. It can be determined whether the internal fluid level is approaching. Liquids can damage and/or reduce the efficiency of particulate filters, as further described herein. To prevent liquid from entering the particulate filter, the processor can adjust the motor to minimize the likelihood of drawing liquid into the particulate filter. For example, when a predetermined volume of liquid enters the fluid trap and/or when the liquid in the trap reaches a set marker or level within the housing above a predetermined safe level, the processor may be configured to slow down. to the motor can be instructed.

In various examples, the motor control program can be further influenced by using the pressure differential between pressure sensors in the drainage system, such as pressure sensors 50840 and 50846 (FIG. 19) in the surgical drainage system 50900. There is For example, based on the pressure differential across filter 50970 and the speed of the motor of pump 50906 , the processor of surgical drainage system 50900 can be configured to predict the actual flow rate through filter 50970 . Additionally, the flow rate can be adjusted (eg, by adjusting the motor speed) to limit the flow rate and reduce the likelihood that fluid will be drawn from the reservoir in the fluid trap 50960 into the filter 50970.

As described herein, a surgical evacuation system includes one or more sensors configured to detect the presence of aerosols in the smoke (e.g., liquid-to-gas ratio) and carbonized particulates in the smoke. and one or more sensors configured to detect presence (eg, parts per million measurements). By determining whether the extracted fluid is primarily vapor, primarily smoke, and/or corresponding proportions of each, the surgical drainage system can assist clinicians, intelligent electrosurgical instruments, robotic systems, hubs, and , and/or provide useful information to the cloud. For example, the steam to smoke ratio can indicate the degree of tissue fusion and/or collagen ablation. In various examples, an energy algorithm of an electrosurgical instrument and its generator can be adjusted based on the vapor to smoke ratio.

In one aspect of the present disclosure, if the extracted fluid is predominantly vapor or has a high aerosol fraction, the processor adjusts the amplitude and/or power of an ultrasonic generator, such as generator 800 (FIG. 58). can do. For example, a smoke evacuation system processor can be communicatively coupled to the generator 800 . In one example, excessive vapor or aerosol may be generated if the power is too high for a particular surgical scenario. In such instances, the power level of the generator can be reduced to reduce vapor/aerosol generation by the energy tool. In other examples, the processor can adjust the power level of the generator for higher particle ratios. For example, the power level can be decreased for particle ratios above a threshold. In certain examples, the voltage can be adjusted to reduce particulates generated by the energy tool.

Referring now to FIG. 26, a surgical drainage system adjustment algorithm 52200 is shown. Various surgical drainage systems disclosed herein can utilize the calibration algorithm 52200. Further, the reader will readily appreciate that, in certain examples, adjustment algorithm 52200 can be combined with one or more additional adjustment algorithms described herein. Adjustments to the surgical evacuation system can be performed by a processor in signal communication with the motor of the ejector pump (see, eg, processor and pump in FIGS. 5 and 6). For example, adjustment algorithm 52200 may be implemented by processor 50408 in signal communication with motor driver 50428 and/or a controller for a diverter valve, as further described herein. The processor is configured to monitor characteristics of the emitted smoke using various sensors. In one aspect of the present disclosure, referring to FIG. 26, the processor is configured to determine whether the inspiratory smoke contains particles and aerosols above a threshold.

At the beginning of the tuning algorithm 52200, at block 52202, a standard flow rate may be initiated, and at block 52204, one or more characteristics of the inspiratory smoke may be monitored. At block 52206, the sensor may be configured to identify particles in the fluid. If no particles are detected by the sensor, at block 52202 the normal flow rate and/or power level may be maintained. In one example, the standard flow rate may be a minimum flow rate or an idle flow rate, as further described herein. If a particle is detected at block 52206 and the particle is determined not to be an aerosol particle at block 52208, at block 52210 a first adjustment to the flow rate and/or power level can be made. For example, flow rate and power levels can be increased to increase particle, or smoke, evacuation from the surgical site. In a particular example, if the particle is determined to be an aerosol particle at block 52208, or if the portion of the particle is an aerosol particle, a second adjustment may be performed.

In one aspect of the disclosure, the second adjustment may depend on the percentage of aerosols in the smoke. For example, if the percentage of aerosol is determined to be greater than a first threshold amount, such as X % of block 52212 of FIG. Conversely, if the aerosol concentration in the smoke is less than or equal to the threshold amount X%, then at block 52216 the smoke may be directed to bypass the fluid trap. Conduits and valves for directing fluid flow within the smoke evacuation system are further described herein. In certain examples, flow rates and/or power levels can be adjusted to sufficiently draw fluid along a selected flow path, such as toward and/or around a fluid trap, for example. In one aspect of the present disclosure, additional power and/or suction may be required to draw fluid into the fluid trap.

Still referring to FIG. 26, upon exiting the fluid trap, if more aerosol particles are detected in the smoke at block 52218 and if the aerosol concentration is greater than a second threshold amount, such as Y% in FIG. 26 at block 52220. , block 52224, the flow rate can be decreased to ensure proper extraction of the aerosol from the smoke. Conversely, if the aerosol concentration downstream of the fluid trap is less than or equal to the second threshold amount Y%, then at block 52222 the flow rate may be maintained. As shown in FIG. 26, once the adjustment algorithm 52200 has redirected the flow path and/or adjusted and/or maintained the flow rate, the adjustment algorithm returns to block 52204 to adjust one or more parameters of the smoke evacuation system. can continue to monitor. In certain examples, the adjustment algorithm 52200 can be continuously cycled such that smoke characteristics are continuously monitored and/or transmitted to the processor in real time or near real time. In other examples, adjustment algorithm 52200 may repeat predetermined times and/or intervals.

In certain examples, the surgical drainage system can further include a chemical sensor, such as chemical sensor 50832 (FIGS. 18 and 19). A chemical sensor 50832 is located near the entrance 50822 of the surgical drainage system 50800 and near the entrance 50922 of the surgical drainage system 50900 . Chemical sensor 50832 is configured to detect chemical properties of particles expelled by the surgical evacuation system. For example, chemical sensor 50832 can identify the chemical composition of particles in smoke expelled from a patient's abdominal cavity during an electrosurgical procedure. Different types of chemical sensors can be utilized to determine the type of substance extracted by the surgical drainage system. In certain examples, the smoke evacuation system may be controlled based on what is being extracted from the surgical site, such as what is being detected by chemical sensor 50832 .

Chemical analysis of extracted fluids and/or particles can be used to adjust generator function, such as that of generator 800 (FIG. 58). For example, generator function can be adjusted based on detection of cancerous substances by chemical sensor 50832 . In certain examples, if cancerous material is no longer detected by the chemical sensor 50832, the clinician can be alerted that all cancerous material has been removed and/or the generator may initiate operation of the energy device. can be stopped. Alternatively, if cancerous material is detected by the chemical sensor 50832, the clinician can be alerted and the generator can optimize the operation of the energy device to remove the cancerous material.

In certain examples, generator function may be adjusted based on tissue properties detected by the surgical system. Referring primarily to FIG. 29, a flowchart illustrating a surgical system adjustment algorithm 52500 is shown. Various surgical systems disclosed herein can utilize adjustment algorithm 52500 . Further, the reader will readily appreciate that, in certain examples, adjustment algorithm 52500 can be combined with one or more additional adjustment algorithms described herein. Adjustments to the surgical system can be performed by a processor (see, eg, processor 50308 of FIG. 5). In various aspects of the present disclosure, processor 50308 (FIG. 5) can be configured to receive information from multiple sources in order to determine tissue type.

Still referring to FIG. 29, one or more sensors 52502 within the surgical drainage system can provide information to the processor 50308 (FIG. 5). 28, particle sensor(s) 52502a, chemical sensor(s) 52502b of a surgical drainage system, which may be similar to the sensors shown in FIGS. 18 and 19, for example. , and/or the fluid detection sensor(s) 52502c can provide data to the processor 50308 indicative of tissue type. Additionally, external sensor(s) 52504 can provide information to processor 50308 . The external sensor 52504 may be remote to the surgical drainage system, but may be located on other surgical devices involved in the surgical procedure. For example, one or more external sensor(s) 52504 can be located on surgical instruments, robotic tools, and/or endoscopes. In certain examples, internal sensors 52502 and external sensors 52504 can provide information to a situational awareness module or surgical hub, which can provide situational awareness 52506 to various sensors 52502,52504. In addition, situational awareness 52506 can notify processor 50308 regarding various sensor data. Based on the situational awareness 52506 and data from the sensors 52502, 52504, at block 52510 the tissue type can be determined by the processor 50308 (FIG. 5).

In certain instances, the elastin to collagen ratio of the extracted material can be determined from the tissue type. For example, elastin can correspond to a first melting temperature and collagen can correspond to a second melting temperature that is higher than the first melting temperature. When the external sensor 52504 is configured to detect the speed of the clamp arm and/or the parameter of the electric motor corresponding to the clamping speed, the external sensor 52504 indicates the melting temperature of the tissue and hence the ratio of elastin to collagen. be able to. Elastin and collagen also define different indices of refraction and absorption. In certain examples, infrared spectrometers and/or refractive camera sensors may be utilized to determine and/or confirm tissue type.

In certain examples, the energy modality can be adjusted based on the detected tissue type (elastin, collagen, and/or the ratio of elastin to collagen). For example, certain energy devices are more efficient at dissolving collagen than elastin, but can be tuned to better dissolve elastin by adjusting the energy modality. In other instances, it may be desirable to dissolve collagen and retain elastin. Additionally or alternatively, the ratio of elastin to collagen can indicate the type of physical structure, such as veins or arteries, which can be communicated to the system's situational awareness 52506. For example, if collagen is detected at block 52510, energy modality A can be implemented at block 52512. In another example, if elastin is detected at block 52510, energy modality C can be implemented at block 52516. As yet another example, if a combination of collagen and elasticity is detected at block 52510, energy modality B can be implemented at block 52514. The reader will readily appreciate that additional and/or alternative energy modalities are envisioned. For example, different modalities may be utilized depending on the particular ratio of elastin to collagen and/or based on the surgical procedure and/or steps being performed.

In various surgical procedures that use an energy device to treat tissue, fluids and/or particles are emitted, thereby removing the atmosphere in and/or around the surgical site, as further described herein. May contaminate. For example, contaminants can be drawn into a smoke evacuation system to improve atmospheric visibility at the surgical site. Additionally, air quality can be improved by filtering suspended fluids and/or particles as contaminants are directed along the airflow path within the smoke evacuation system. Depending on the efficiency of the smoke evacuation system and/or the amount of smoke and/or contaminants generated after activation of the electrosurgical instrument, smoke may accumulate in the surgical site and/or in the surrounding atmosphere. Accumulation of such contaminants can, for example, prevent a clinician from viewing the surgical site.

In one aspect of the present disclosure, a surgical system can include a smoke evacuation system including a particle sensor, an electrosurgical instrument, and a generator. Such smoke evacuation systems can monitor particulate concentrations as electrosurgical instruments apply energy to tissue during a surgical procedure. For example, when a clinician requests that an electrosurgical instrument be powered, the generator is configured to provide the requested power. A processor within the surgical system is configured to analyze the monitored particulate concentration and the power requested by the clinician from the generator. If the power requested by the clinician produces contaminants that lead to particulate concentrations above a predetermined threshold, the processor can prevent the generator from providing the requested power. Alternatively, in such instances, the generator can be powered at a level that brings the particulate concentration back below a predetermined threshold.

In such instances, the clinician(s) and/or assistant(s) need not individually monitor particulate concentrations and adjust energy modalities accordingly. Instead, the instruments and devices of the surgical system communicate among themselves to instruct the generator to deliver specific power levels in specific situations based on inputs from sensors within the smoke evacuation system. be able to. The reader will readily appreciate that situational awareness can further inform the generator's decision-making process. Various algorithms for implementing the aforementioned monitoring processes and/or adjustments are further disclosed herein.

A surgical system can include an electrosurgical device, a generator configured to power the electrosurgical device, and a smoke evacuation system. The smoke evacuation system can include a sensor system configured to monitor the size and/or concentration of particulates within the smoke and/or intake air exhaust conduit. Referring again to Figures 18 and 19, particle sensor 50838 is shown. Particle sensors 50838 are internal sensors located at locations along flow path 50804 (FIG. 18) and flow path 50904 (FIG. 19). In various examples, particle sensor 50838 is positioned at a point on flow path 50804, 50904 prior to filtration by filter systems 50870, 50970, respectively. However, internal particle sensors 50838 may be placed at any suitable location along flow paths 50804, 50904 to monitor contaminated air entering from the surgical site. In various examples, the smoke evacuation system 50800 and/or 50900 can include two or more internal particle sensors 50838 positioned at various locations along the flow paths 50804 and/or 50904, respectively. The reader will readily appreciate that a variety of particle measurement means are possible. For example, the particulate concentration sensor may be an optical sensor, laser sensor, photoelectric sensor, ionization sensor, electrostatic sensor, and/or any suitable combination thereof. Various sensors are further described herein.

An electrosurgical generator is a key component in an electrosurgical circuit because it produces an electrosurgical waveform. The generator is configured to convert electricity into a high frequency waveform and generate a voltage for electrosurgical current flow. In various examples, the generator is configured to produce different waveforms, each waveform having a different effect on tissue. A "cutting current" cuts tissue but provides little hemostasis. A "coagulation current" provides coagulation through a limited tissue incision and increases the depth of heating. A "blend current" is an intermediate current between the cutting current and the coagulation current, but the blend current is generally not a combination of the cutting current and the coagulation current. Rather, the blend current may be a cutting current that is reduced from 100 percent to about 50 percent of the time that the current actually flows. In various examples, the generator automatically monitors tissue impedance and adjusts power output to the energy device to reduce tissue damage for efficient and precise cutting at the lowest possible setting. can have an effect.

An additional mode of electrosurgical cutting known as Advanced Cutting Effect (ACE) provides the clinician with a scalpel-like cutting effect that results in little to no thermal necrosis and no hemostasis. When the generator is placed in ACE mode, a constant voltage is maintained at the tip of the electrode on the end effector. An active electrode on the end of the end effector delivers RF current from the generator to the surgical site. By utilizing the ACE mode, the clinician may use the electrosurgical device on the skin, often with a scalpel, needle, and/or to cause wounds and/or punctures in the patient. Ability to achieve comparable wound healing results without the use of specific surgical instruments such as any surgical instruments and/or without any personnel handling them.

In various aspects of the present disclosure, an electrosurgical device comprises an ACE cutting system.

Contaminants and/or smoke may be generated throughout the duration of the surgical procedure. If the atmosphere in and/or around the surgical site is not efficiently filtered by the smoke evacuation system, contaminants will condense in the atmosphere, making it difficult for clinicians and/or assistants to see the surgical site. Additional concerns regarding smoke in operating rooms are further disclosed herein. In various examples, a processor within a surgical system stores information in memory specific to the amount of smoke and/or contaminants generated when a clinician uses a particular surgical instrument for a particular duration of time. can be memorized. Such information can be stored directly in the processor's memory in the centralized hub and/or in the cloud. In various examples, the processors and memories shown in FIGS. 5 and 6 can be used to store such information.

In various examples, a communication path is established between the smoke evacuation system and the generator to control power supplied to the electrosurgical instrument. Such power effectively guides electrosurgical instruments to produce less smoke and/or emit less contaminants, as well as to enable efficient filtering of the surgical site. controlled to In various examples, components of the surgical system can communicate directly with each other. In various examples, the components of the surgical system communicate with each other via a centralized hub, eg, as further described herein with respect to FIGS. 39-60. The reader will readily appreciate that any suitable communication path may be used.

Once the surgical procedure begins and the electrosurgical instrument is activated, sensors within the smoke evacuation system are configured to monitor parameters related to air quality. Such parameters may include, for example, particle count and/or concentration, temperature, fluid content, and/or contamination rate. The sensor is configured to communicate monitored parameters to the processor. In various examples, sensors automatically communicate monitored parameters after detection. In various examples, the sensor communicates monitored parameters to the processor after the sensor is interrogated. However, the reader will understand that any suitable method of communicating the monitored information may be used. In various examples, the sensor continuously communicates monitored information to the processor. However, the reader will understand that any suitable sample rate can be used. The monitored information can be communicated in real time or near real time, for example.

In various examples, the processor stores information regarding predetermined thresholds. The predetermined threshold varies based on parameters monitored by sensors in the smoke evacuation system. For example, when the sensor is monitoring particle counts and/or concentrations, such thresholds may result in particles in the atmosphere of the surgical site that effectively and/or unsafely obscure a clinician's view within the surgical site. You can indicate the level. In other examples, the threshold may correspond to a filtration system within the ejector housing and the ability of the filtration system to adequately filter particles. For example, if the particulate concentration is above a certain threshold, the filtration may not adequately filter particulates from the smoke, and toxic substances may pass through and/or block the filters of the exhaust system and/or Or it may clog. Once the processor receives information regarding the monitored parameter(s) from the sensor(s) of the smoke evacuation system, the processor compares the monitored parameter(s) to predetermined threshold(s) to determine threshold value(s). configured to ensure that the (singular or plural) has not been exceeded.

In various examples, when the processor recognizes that a predetermined threshold has been exceeded and/or is about to be exceeded, the processor can control various motor functions of the smoke evacuation system. By increasing or decreasing the speed of the motor, the processor can adjust the flow rate of the smoke evacuation system to more effectively filter contaminants from the surgical site. For example, if the sensor communicates information to the processor indicating that the particle threshold has been reached, the processor increases the speed of the motor to filter more fluid, and possibly more contaminants, from the surgical site. can be drawn into the smoke evacuation system for

In various examples, when the processor recognizes that the predetermined threshold has been exceeded and/or is approaching to be exceeded, the processor varies the power supplied by the generator to the electrosurgical instrument. can be done. For example, if the sensor communicates information to the processor indicating that a particle threshold has been reached, the processor may prevent the generator from supplying any additional requested power to the handheld electrosurgical instrument. become. Once the smoke evacuation system has filtered pollutants from the atmosphere to levels that fall below the particle threshold, the processor can then enable the generator to provide the required power to the handheld electrosurgical instrument. .

FIG. 33 is a graphical representation of the correlation between detected particle count and power level over time during a surgical procedure. Top graph 53300 shows the number of particles and/or particulates detected by internal particle sensor 50838 (FIGS. 18 and 19) as particles and contaminants are filtered from the surgical site into smoke evacuation system 50800 and/or 50900. represents concentration. The particulate concentration C _T represents a predetermined number of particles and/or concentration thresholds in the volume of fluid dispensed. The lower graph 53302 was reached during the surgical procedure, including the power requested by the clinician via the handheld electrosurgical instrument (dashed line) and the power actually delivered by the generator of the surgical system (solid line). Represents power level(s). Power level(s) is defined as the ratio of RF current to voltage of the electrosurgical system.

A baseline particulate concentration 53304 is detected prior to initiation of the surgical procedure at time t< _t1 . When the clinician and/or assistant activates the electrosurgical instrument at time _t1 , the clinician and/or assistant requests that a particular power level be supplied to perform a particular function. Such functions include dissecting and/or cutting tissue within a surgical site. Application of power to tissue generates smoke and/or contaminants that can be directed into a smoke evacuation system, for example, to improve visibility within the surgical site. At time _t1 , the generator provides the requested power. The detected particulate concentration is below the threshold _CT . However, internal particle sensor 50838 begins to detect an increase in particulate concentration at time _t2 after activation of the electrosurgical instrument at time _t1 .

In the graphical representation of FIG. 33, the clinician does not request additional power until time _t3 . An “off” time 53306 between t ₁ and t ₃ can, for example, allow the tissue to cool to cause some degree of hemostasis. As can be seen in FIG. 33, the detected particulate concentration and power level decrease between time _t2 and time _t3 . At time _t3 , the clinician requests a higher power level that, when supplied by the generator, causes an increase in particulate concentration at time _t4 . Ultimately, the clinician requests a power level that causes the particulate concentration to rise near a predetermined threshold _CT at time _t5 . In some cases, exceeding the threshold C _T indicates poor visibility within the surgical site due to accumulation of contaminants and/or particles, an inefficient smoke evacuation system, and/or an inoperable smoke evacuation system. I have something to show you.

In response to the particle concentration exceeding the particle threshold _CT at time _t5 , the surgical system processor is configured to adjust the generator power supply to return the particle concentration to below the particle threshold _CT . ing. As shown in FIG. 33, the power delivered by the generator is less than the power requested by the handpiece when the particle threshold _CT is reached and/or exceeded due to the high power requested by the handpiece. is different. _When the particulate concentration returns to and/or falls below the threshold C _T , such as at time _t6 , the generator again supplies power levels as required by the handheld electrosurgical instrument. Further, as the power requested by the handpiece decreases after time _t6 , the particle concentration detected by particle sensor 50838 also decreases.

FIG. 34 shows a representation of instructions 53400 stored by a memory of a surgical system, such as the memory of FIGS. 5 and 6, for example. In various examples, the surgical systems disclosed herein can utilize instructions 53400. For example, instructions 53400 may include adjustment algorithms for the surgical system. Further, the reader will readily appreciate that in certain examples instructions 53400 may be combined with one or more additional algorithms and/or instructions described herein. Instructions 53400 may be implemented by a processor such as processor 50308 in FIG. 5, for example.

At block 53402 of instructions 53400, the processor may receive a request for power from the electrosurgical instrument. For example, electrosurgical instruments can include handheld devices and/or robotic tools. The requested power may be provided by a user via a controller and/or control console, for example. As noted above, the sensor is configured to monitor parameters associated with fluid passing through the evacuation system. Such parameters may include, for example, particle size, temperature, fluid content, and/or contamination rate. A processor is configured to receive the monitored parameter from the sensor. In various examples, the processor receives such information in response to interrogating the sensor, as indicated at block 53404 . In various examples, sensors automatically communicate information upon detection. The processor then determines at block 53406 whether the received information is above a predetermined threshold. If the threshold has been exceeded and/or is about to be exceeded, the processor at block 53408 prevents the generator from supplying any or all of the requested power to the electrosurgical instrument. is configured to In other examples, the genital waveform may be adjusted at block 53410 to reduce smoke generated by the surgical device, as described further herein.

In various examples, the generator can supply power at a level that does not allow the threshold to be exceeded. If the threshold has not been exceeded, the processor is configured at block 53410 to enable the generator to supply the requested power to the electrosurgical instrument. In various examples, the processor receives information from sensors of the smoke evacuation system throughout the duration of the surgical procedure, or at least as long as the processor receives a request from the electrosurgical instrument for delivery of power. It is configured.

In various surgical procedures, radio frequency (RF) power can be used to cut tissue and coagulate bleeding. When RF power is used to treat tissue, fluids and/or particulates may be emitted thereby contaminating the air in and/or around the surgical site. For example, contaminated air inside the surgical site can be drawn into a smoke evacuation system to improve visibility of the surgical site for the clinician. As the contaminated air is directed along the airflow path, airborne fluid and/or particulates can be filtered from the contaminated air. The filtered air eventually exits the evacuation system through an exit port and is released into the operating room atmosphere. Depending on the efficiency and/or effectiveness of the smoke evacuation system, the filtered air may still contain fluids and/or particulates when released into the operating room atmosphere. Residual contaminants may be offensive to the olfactory senses of, for example, clinician(s), assistant(s), and/or patient(s), and contaminants may, in certain instances, be May be unhealthy if inhaled.

The smoke evacuation system was configured to monitor the detected size and/or concentration of particulates in the air at various points along the airflow path, including locations external to the exhaust system and internal to the exhaust system. A sensor system can be provided. In one aspect of the present disclosure, the smoke evacuation system measures the efficiency of the exhaust system based on comparing particulate concentrations outside the exhaust system and inside the exhaust system and/or by monitoring particulate concentrations over time. can be determined. Additionally, the smoke evacuation system can alert the clinician(s) of contaminated air in the operating room via a display.

The clinician(s) can perceive the level of contaminants such as fluids and/or particulates suspended in the operating room atmosphere. Indications of contaminants in the air indicate air quality in the operating room and indicate to the clinician(s) and/or assistant(s) that the smoke evacuation system needs adjustment and/or maintenance. Be warned.

A smoke evacuation system may include a sensor system configured to monitor the size and/or concentration of particles in the air. Referring again to Figures 18 and 19, particle sensors 50838 and 50852 are shown. Particle sensor 50838 is an internal sensor located at a position along the flow path. In various examples, the particle sensor 50838 is placed at a point on the pre-filtration channel 50804 (FIG. 18), 50904 (FIG. 19). However, the internal particle sensor 50838 can be placed at any suitable location along each flow path 50804, 50904 to monitor contaminated air entering from the surgical site. In various examples, the smoke evacuation system 50800, 50900 can include two or more internal particle sensors 50838 positioned at various locations along the flow paths 50804, 50904, respectively.

The particle sensor 50852 is an external sensor located on the exterior of the smoke evacuation system 50800 (Fig. 18), 50900 (Fig. 19). In various examples, the smoke evacuation system 50800, 50900 can include two or more external particle sensors 50852. In various examples, the external particle sensor 50852 is located within a recess in the housing of the smoke evacuation system 50800, 50900. However, the external particle sensor 50852 can be placed on any suitable surface to detect air quality within the operating room. In various examples, the external particle sensor 50852 is positioned at the inlet 50822 (FIG. 18) of the smoke evacuation system 50800, 50900 to ensure that unfiltered air does not escape from the surgical site into the operating room atmosphere. 50922 (FIG. 19). In various examples, an external particle sensor 50852 is positioned near an exit port 50824 (FIG. 18), 50924 (FIG. 19) of the smoke evacuation system 50800, 50900, respectively, to analyze air exiting the smoke evacuation system 50800, 50900. Located in

The reader will readily appreciate that the external particle sensor(s) 50852 can be positioned in any suitable location for adequate monitoring of the operating room atmosphere. Additionally, the reader will readily appreciate that a variety of particle measurement means are possible. For example, particle sensor 50852 may be any suitable particulate concentration sensor such as an optical sensor, laser sensor, photoelectric sensor, ionization sensor, electrostatic sensor, and/or any suitable combination thereof. Various sensors are further described herein.

In various examples, the sensor system of the smoke evacuation system is configured to assess the particle size and/or concentration of contaminants in the operating room and indicate the detected air quality. Display of such information can, for example, communicate the effectiveness of the smoke evacuation system. In various examples, the information communicated includes detailed information about the filter(s) in the smoke evacuation system to prevent contaminated air and/or smoke from accumulating in the operating room atmosphere. be able to. The smoke evacuation system senses, for example, particulate concentration, temperature, fluid content, and/or pollution rate and communicates it to the generator to adjust its output, as further described herein. can be configured to In one aspect of the present disclosure, the smoke evacuation system adjusts its flow rate and/or motor speed to adjust the generator output power or waveform to reduce the amount of smoke produced by the end effector at a given particle level. can be configured to operably affect the

In various examples, airborne contaminants and/or smoke are adequately and efficiently removed by filter(s) in a smoke extraction system using the sensor systems described herein. It is possible to detect whether By sensing the operating room air quality level(s), the smoke evacuation system is configured to prevent high levels of contamination from accumulating in the operating room atmosphere. Parameters monitored by the sensor system can be used to inform the clinician whether the smoke evacuation system is functioning and/or performing its intended purpose. In various examples, the monitored parameters can be used by clinicians and/or assistants to determine when filters in the smoke evacuation system need to be repaired and/or replaced. For example, if the external sensor 50852 (FIGS. 18 and 19) detects a contaminant particle size and/or concentration above a predetermined and/or acceptable threshold, the clinician may remove filters in the smoke evacuation system. You will be instructed to see if it needs to be repaired and/or replaced.

In various examples, as described above, a processor within the smoke evacuation system compares the detected parameters of the external sensors to the parameters detected by the internal sensors. In various examples, the smoke evacuation system includes multiple internal sensors located at various points along the flow path, such as, for example, after each individual filter. The reader will appreciate that internal sensors can be placed at any point throughout the flow path to provide a meaningful comparison of filter efficiency. Using this detected information, a clinician can determine that a filter in a particular location is not effectively removing contaminants and/or smoke from the air. In such instances, the clinician is indicated the exact location of the filter (or filtration layer) that needs attention for repair and/or replacement.

In various examples, the sensor system is configured to assess dilution of contaminants and/or particles in the operating room air. As described herein, the internal sensor(s) can be located at any suitable location along the flow path. When the internal sensor is located near the exit port of the smoke evacuation system and downstream of the filter(s), the internal sensor effectively measures the size and/or concentration of particles emitted into the atmosphere of the operating system. ing. In other words, the internal sensor is configured to detect particles and/or contaminants that were not captured during the filtration process. The external sensor is configured to monitor the concentration and/or size of diluted particles throughout the operating room atmosphere. The difference between readings of internal and external sensors can be important for determining air quality in a particular operating room.

The size and/or concentration of particles emitted into the atmosphere can have different effects on the air quality in the operating room, for example based on parameters such as the size of the operating room and/or the ventilation in the operating room. In one example, the size and/or concentration of the emitted particles may affect air quality when released in a smaller operating room than the same size and/or concentration of particles released in a larger operating room. may have harmful effects. In various examples, the presence and/or efficiency of a ventilation system in an operating room can affect how air quality varies in response to particle emissions from the smoke evacuation system. For example, in operating rooms without ventilation systems or operating rooms with inefficient ventilation systems, emitted particles from smoke evacuation systems accumulate more rapidly to potentially harmful levels and can lead to unsatisfactory air quality in

In various examples, the information detected by the sensor system can be used to control one or more motor functions of the smoke evacuation system. An external sensor can detect an initial air quality level before the start of a surgical procedure. Air quality can be monitored continuously throughout the surgical procedure. However, the reader will appreciate that air quality can be monitored at any suitable rate. The external sensor communicates detected information to the smoke evacuation system's processor (eg, processors 50308 and 50408 of FIGS. 5 and 6, respectively). The processor uses the initial air quality level as a baseline to compare to successively detected air quality levels. If the processor determines that the air quality level(s) detected by the external sensor 50852 is indicative of higher contaminant particle size and/or concentration in the operating room air, the processor determines that the higher Instruct the motor to operate at level. By operating the motors at an increased speed, more contaminated air and/or smoke is drawn from the surgical site into the smoke evacuation system 50800, 50900 for filtration. In various examples, the processor detects contamination directed into the smoke evacuation system 50800, 50900 during a procedure when the internal sensor 50838 determines that a smoke-producing ablation device and/or other electrosurgical device is active. It stores commands to increase the flow rate of air and/or smoke delivered. By detecting activation of a smoke-producing surgical device, the smoke evacuation system 50800, 50900 prevents high levels of contamination from accumulating in the operating room atmosphere via motor controls.

In various examples, the motor speed level is automatically controlled when the processor determines that the operating room atmosphere has an unacceptable air quality level. In various examples, the motor speed level is automatically controlled when the processor determines that the smoke generating surgical device has been activated. For example, when the external sensor 50852 detects a pollution level in the operating room air above a predetermined threshold, the processor can automatically direct the motor to run at a faster speed. The processor then automatically reduces the speed of the motor when the external sensor 50852 detects the level of contamination falling below a predetermined threshold. In various examples, the motor speed level is manually controlled after the clinician is notified of an unacceptable air quality level. In various examples, the motor speed level is manually controlled after the clinician activates the smoke-generating surgical device. The reader will appreciate that any suitable combination of automatic and/or manual controls may be implemented and/or incorporated into the control algorithm of the smoke evacuation system 50800, 50900.

In various examples, the processor of the smoke evacuation system can recognize when the external sensor 50852 detects an unacceptable and/or increased pollution level of the operating room atmosphere. Such detection indicates that the smoke evacuation system 50800, 50900 is inefficient. Detected inefficiencies can indicate that one or more filters are not functioning and/or need to be replaced. Once the clinician is notified of the non-functioning filter, the clinician can ensure replacement filters are in stock for future maintenance to prevent delay(s).

In various examples, a smoke evacuation system can be used in conjunction with a camerascope during a surgical procedure to effectively manage the evacuation of contaminants and/or smoke from the surgical site. For example, smoke evacuation system 50800, 50900 can be used in combination with imaging module 238 and endoscope 239 (FIG. 47). In one aspect of the present disclosure, a surgical hub, such as hub 206 (FIG. 48), can coordinate communication between imaging module 238 and a surgical evacuation system, such as smoke evacuator 226 (FIG. 48), for example. can. A camera scope is configured to monitor visual occlusions in air by capturing a series of images at a specific sample rate. The collected images are sent to a processor (eg, processors 50308, 50408 of FIGS. 5 and 6, respectively) for evaluation. In various examples, the processor is also configured to receive monitored data from a sensor system, which can include internal sensors 50838 and/or external sensors 50852, as described herein. The processor compares the image received from the camera scope with the particle count and/or concentration received from the sensor system to determine the correlation(s) and the smoke and/or smoke from the surgical site and/or the operating room atmosphere. /or configured to improve pollutant discharge efficiency.

In such an example, the visual occlusion determined by the camerascope and the particle count and/or concentration determined by the sensor system may be adjusted to match the particle count measurements to the speed of the motor of the smoke evacuation system. , are compared. Comparing the data collected from the sensor system and the camera scope, the processor can perform any of a number of steps. For example, based on the comparison, the processor may turn on the smoke evacuation system, increase the motor speed of the smoke evacuation system, decrease the motor speed of the smoke evacuation system, and/or turn off the smoke evacuation system. can decide to In various examples, the comparison is done automatically. However, the reader will appreciate that such comparisons can be made after manual activation.

In various examples, the image captured by the camera scope and the particle count and/or concentration detected by the sensor system can be stored in memory as a baseline comparison. In future surgical procedures, clinicians and/or assistants can use the images collected by the camerascope alone to ascertain the density of smoke and/or contaminants. In such examples, visual occlusions detected by the camerascope are associated with specific particle counts and/or concentrations. After the processor analyzes the air, the processor can perform any of a number of steps. For example, based on the analyzed images captured by the camera scope in view of the stored baseline comparison, the processor turns on the smoke evacuation system, increases the motor speed of the smoke evacuation system, It may be decided to decrease the motor speed of the smoke evacuation system and/or turn off the smoke evacuation system.

In various examples, situational awareness can further inform the decision-making processes described herein. For example, images from a scope may be meaningful in the context of a particular surgical procedure and/or process thereof, which is configured and/or determined based on the situational awareness of the smoke evacuation system and/or hub communicating therewith. be able to. For example, more smoke may be expected during certain surgical procedures and/or certain steps thereof and/or when treating certain types of tissue.

In various examples, the smoke evacuation system wirelessly communicates with other surgical devices and/or hubs located within the operating room to improve efficiency of smoke evacuation during surgical procedures. For example, activation of the surgical device's generator may be communicated to a centralized hub that forwards the information to the smoke evacuation system. The centralized hub can detect current through the surgical energy device and/or sense changes in generator power draw for communication to the smoke evacuation system. In various examples, the centralized hub can store information related to surgical procedures and/or activated surgical devices. Such information can include, for example, the expected amount of smoke that will be generated during a particular surgical procedure, using information related to a particular surgical device and/or a particular patient's tissue composition. can be used to determine the expected quantity. Receiving such information may enable the smoke evacuation system to predict a particular smoke evacuation rate to move smoke and/or contaminants from the surgical site more efficiently. The reader will appreciate that various surgical devices can communicate information directly to the smoke evacuation system and/or indirectly through a centralized hub. The centralized hub can be, for example, a surgical hub such as surgical hub 206 (FIG. 48).

In various examples, the smoke evacuation system is in wired communication with other surgical devices and/or hubs located within the operating room to improve efficiency of smoke evacuation during surgical procedures. Such wired communication may be established via a cable interconnection between the generator and the smoke evacuation system for communication of generator activation. For example, an activation indication signal cable may be connected between the generator of the surgical device and the smoke evacuation system. When the generator is activated and a signal is received via the wired connection, the smoke evacuation system automatically activates.

Wireless and/or wired communication between the surgical device's generator and/or the central hub and/or the smoke evacuation system can contain information regarding the activated surgical device. Such information may include, for example, information regarding the current mode of operation of the surgical device and/or specific energy settings and/or intensity of delivery. In various examples, once such information is communicated from the surgical device, the memory of the centralized hub and/or smoke evacuation system is configured to store such information for future use. . For example, a centralized hub may store information regarding surgical devices used during a particular procedure, as well as average smoke and/or pollutant counts and/or concentrations. In future surgical procedures, when the same (or similar) surgical device is activated in the same (or similar) surgical procedure treating the same (or similar) type of tissue, the centralized hub will emit smoke and/or Such information can be communicated to the smoke evacuation system prior to accumulation of pollutants.

In various examples, the smoke evacuation system is configured to notify the clinician of detected pollution levels in the operating room atmosphere. The smoke evacuation system may utilize a sensor system to monitor the difference between particle size and/or concentration detected by the first internal sensor and the second external sensor. In various examples, the monitored parameters of the sensor system can be used to alert a clinician and/or an assistant when a detected contamination level exceeds a predetermined threshold.

In various examples, the processor directs the display to show the parameters monitored by the sensor system. In various examples, the display is located outside the housing of the smoke evacuation system. The processor can also communicate the monitored parameters to other surgical instruments and/or hubs located within the operating room to assist in situational awareness of the interactive surgical system. In this manner, other surgical instruments and/or hubs can be used together more efficiently. In situations where monitored parameters are communicated throughout the operating room, clinicians and/or assistants may see contamination warnings from various displays around the operating room. The monitored parameters can be displayed on multiple monitors in the operating room in addition to the display on the smoke evacuation system. The reader will appreciate that any suitable combination of displays may be used to communicate the detected air quality within the operating room.

FIG. 30 is an exhaust system configured to monitor ambient air quality in an operating room and alert a clinician when the detected air quality exceeds a predetermined threshold and/or becomes potentially harmful. Smoke system 53000 is shown. Smoke evacuation system 53000 is similar in many respects to smoke evacuation system 50600 (FIG. 7). For example, smoke evacuation system 53000 includes generator 50640 , first electrical connection 50642 , surgical instrument 50630 and suction hose 50636 . As shown in FIG. 30, in various examples the smoke evacuation system 53000 comprises a display or air quality indicator screen 53002. As shown in FIG. The air quality indicator screen 53002 includes sensors including one or more of the sensors 50830, 50832, 50836, 50838, 50840, 50846, 50848, 50850, 50852 further described herein and shown in FIGS. configured to display information detected by a sensor system such as the system. A processor, such as processor 50308 and/or 50408 (FIGS. 5 and 6), can be in signal communication with the sensor system and air quality indicator screen 53002. In various examples, the air quality indicator screen 53002 displays pollutant particle counts monitored by the external sensor 50852 to verify that pollutants are not circulating into the operating room atmosphere at harmful levels. is configured as

In various examples, the smoke evacuation system 53000 includes a latch door 53004 that is accessible to the clinician to replace and/or replace a filter housed within the ejector housing of the smoke evacuation system 53000. For example, by monitoring the particulate concentration through the smoke extraction system 53000, the processor may determine that one or more filters are substantially clogged and nearing the end of their useful life and therefore need to be replaced. It can be determined that there is In such instances, a clinician can open the latch door 53004 and replace one or more filters. As further described herein, the specific filter and/or filter(s) that need to be replaced can be identified based on the relative placement of internal sensors within the smoke evacuation system 53000 .

In various examples, a processor, such as processor 50308 and/or 50408 (FIGS. 5 and 6), is configured to communicate smoke parameters, such as detected particle size and/or concentration, to display 53002. Display 53002 is configured to display such detected information in any suitable manner. For example, the display 53002 can show contamination levels detected by each of the internal and external sensors throughout the sensor system. In various examples, display 53002 is configured to display information only if air quality does not meet a predetermined threshold. In various examples, the display 53002 includes a touch screen that allows the clinician to determine what information is displayed and/or where the information is displayed.

In various examples, display 53002 includes a graphical interface, LCD screen, and/or touch screen. The reader will appreciate that any suitable means of displaying detected information and/or combinations thereof may be used with the smoke evacuation system 53000 . For example, an LED light can be used as the display 53002. When the processor 50308 and/or 50408 (FIGS. 5 and 6) determines that unacceptable air quality exists within the operating room, the processor 50308 and/or 50408 is configured to activate the LED light.

FIG. 31 shows a representation of instructions 53100 stored by a memory of a surgical ejection system, such as memories 50310 and 50410 of FIGS. 5 and 6, for example. In various examples, the surgical drainage systems disclosed herein can utilize instructions 53100 of FIG. Further, the reader will readily appreciate that in certain examples instructions 53100 of FIG. 31 may be combined with one or more additional algorithms and/or instructions described herein. Instructions 53100 stored in memory may be implemented by a processor such as processors 50308 and/or 50408 in FIGS. 5 and 6, for example.

Still referring to FIG. 31, as discussed above, internal sensors such as sensor 50838 (FIGS. 18 and 19) are configured to monitor internal parameters such as fluid particle size and/or concentration. As the fluid flows through the flow path, particles and/or contaminants are filtered before the fluid exits the surgical drainage system. External sensors, such as sensor 50852 (FIGS. 18 and 19) located on the external housing of the surgical drainage system, are configured to monitor external parameters as the filtered fluid exits the surgical drainage system. . Such external parameters include, for example, particle size and/or concentration in the air in the operating room.

At block 53102 of instructions 53100, the processor is configured to query the internal and external sensors regarding the detected internal and external parameters, respectively. In various examples, the processor continuously interrogates internal and external sensors for this information. However, any suitable sample rate can be used. The processor is then configured to analyze the information received from the internal and external sensors at block 53104 to determine the efficiency level of the surgical drainage system. After determining the efficiency level of the surgical drainage system, the processor is configured at block 53106 to display the determined efficiency level on the display. Such indications may include raw information received from internal and external sensors, efficiency levels determined by a processor, and/or warnings to a clinician when the efficiency level is below a predetermined threshold. Being less than a predetermined threshold can indicate, for example, that the filter needs to be replaced and/or that particles are not being efficiently filtered and are accumulating in the operating room atmosphere. .

FIG. 32 shows a representation of instructions 53200 stored by the memory of a surgical ejection system similar to those represented in FIG. In various examples, the surgical drainage systems disclosed herein can utilize the instructions of FIG. Further, the reader will readily appreciate that the instructions of FIG. 32 can be combined with one or more additional algorithms and/or instructions described herein in certain examples. The instructions may be stored in a memory and executed by a processor, such as, for example, memory 50310 and/or 50410 and/or processor 50308 and/or 50408 of FIGS.

Still referring to FIG. 32, prior to initiation of the surgical procedure at block 53202, the processor is configured to interrogate external sensors such as sensor 50852 (FIGS. 18 and 19) for baseline air quality parameters. Baseline air quality parameters indicate operating room air quality prior to surgery. At block 53204, the processor is configured to continuously interrogate internal sensors to recognize that a surgical procedure is in progress. After the processor determines that a surgical procedure is being performed, the processor continues to interrogate external sensors at block 53206 . For example, if the processor determines that the air quality detected by the external sensor is deteriorating, such as at block 53208, the processor increases the speed of the motor at block 53210 to force more fluid into the surgical drainage system. designed to face inwards. If the detected air quality is the same as the baseline air quality, such as at block 53212, the processor is configured at block 53214 to maintain the speed of the motor. For example, if the detected air quality is improving from the baseline air quality, such as at block 53216, the processor is configured at block 53218 to maintain or decrease the speed of the motor. In various examples, the processor continuously interrogates internal and external sensors for information. However, any suitable sample rate can be used.

Smoke evacuation systems play an important role in electrosurgical systems by removing harmful toxins and/or unpleasant odors from the operating room. However, control and regulation of certain smoke evacuation systems may be lacking, which may result in reduced motor life and/or degraded filter life, for example.

In one aspect of the present disclosure, the sensor may be arranged and configured to detect the presence of particles in a fluid traveling through various points within the flow path of the evacuation system. In some aspects of the present disclosure, a control circuit may be utilized to alter the speed of the motor that drives the pump of the evacuation system based on detected particulate concentrations at various points along the flow path. . Additionally or alternatively, a control circuit may be utilized to vary the speed of the motor based on sensed pressures at various points within the flow path.

Efficient adjustment of the exhaust system motor speed can increase motor life and/or increase filter life. Further advantages include, for example, potential energy savings and reduced noise in the operating room.

As described herein, electrosurgical instruments deliver energy to target tissue of a patient to cut tissue and/or cauterize blood vessels in and/or near the target tissue. . Cutting and cauterizing can result in smoke being released into the air. In various instances, smoke is unpleasant, obstructs the practitioner's vision, and can be unhealthy if inhaled, as further described herein. Electrosurgical systems can employ evacuation systems that capture the resulting smoke, direct the captured smoke through one or more filters, and exhaust the filtered smoke. More specifically, the smoke can travel through the exhaust system via the vacuum tube. Harmful toxins and unpleasant odors can be filtered from the smoke as it travels through one or more of the filters in the exhaust system. The filtered air can then exit the exhaust system as exhaust through the exhaust port.

In various aspects of the disclosure, the evacuation system includes a filter receptacle or socket. The filter receptacle is configured to receive a filter. The evacuation system also includes a pump having a sealed positive displacement flow path and a motor driving the pump. A sealed positive displacement flow path of a pump can include one or more circulation paths for fluid within the pump. In one aspect of the disclosure, a pump has a first operating pressure and a second operating pressure. In certain examples, the pump can compress the incoming fluid to create a pressure differential along the flow path, as described further herein.

As shown in FIG. 4, evacuation system 50500 includes pump 50506 coupled to and driven by motor 50512 . As described herein, the pump 50506 may be a positive displacement pump, such as, for example, a positive displacement reciprocating pump, a positive displacement rotary pump, or a positive displacement linear pump. In various examples, pump 50506 may be, for example, a hybrid regenerative blower, a claw pump, a lobe compressor, or a scroll compressor. In one aspect of the present disclosure, motor 50512 may be a permanent magnet synchronous direct current (DC) motor. Some aspects can include brushless DC motors.

According to aspects of the present disclosure, the motor 50512 may, for example, maintain flow, increase motor efficiency, increase motor life, increase pump life, increase filter life, and/or conserve energy. can be adjusted and/or controlled for a variety of reasons, including: When the control circuit of the evacuation system (see, for example, the control schematics of FIGS. 5 and 6) recognizes certain conditions, such as blockages in flow paths, undesirable pressures, and/or undesirable particle counts, The control circuit can regulate the motor 50512 to regulate or maintain flow rate, thereby, for example, increasing motor efficiency, increasing motor life, increasing pump life, increasing filter life, and/or energy can be saved.

In one aspect of the disclosure, referring to FIG. 6, the processor may be internal to the evacuation system. For example, the processor 50408 may be inside the ejector housing 50618 of FIG. In other aspects of the present disclosure, the processor may be near the exterior of the evacuation system 50600. For example, external processor 50308 is shown in FIG. The external processor may be the surgical hub's processor. In yet another aspect, an internal processor and an external processor can communicate to cooperatively control motor 50512 .

According to one aspect of the present disclosure, the motor 50512 may be regulated by control circuitry to increase motor efficiency. For example, referring to the evacuation system of Figures 18 and 19, the fluid detection sensor 50830 is positioned upstream of the filter(s) and filter receptacle. In various examples, the fluid detection sensor 50830 is configured to detect fluid upstream of the filter(s). For example, the fluid detection sensor 50830 is configured to detect whether aerosols or droplets are present in the exhaled smoke. Based on the output from the fluid detection sensor 50830, the control circuit can adjust control parameters of the smoke evacuation system, such as adjusting power to valves and/or motors.

In certain examples, the evacuation system can detect whether fluid (eg, smoke) is present within the flow path. In a particular example, when a clinician initiates treatment of patient tissue using an electrosurgical instrument, such as when electrosurgical instrument 50630 (FIG. 7) is activated by generator 50640 (FIG. 7), The fluid detection sensor 50830 can automatically scan for fluids or certain types of fluids. Alternatively, or in combination with the fluid detection sensor 50830, a separate sensor, such as, for example, an end effector of a surgical instrument or an imaging device, can be configured to detect fluid(s) at the surgical site. . In one example, a separate sensor may be placed near the tip of electrosurgical instrument 50630 . When the fluid detected by one or more of the fluid detection sensor(s) is below a threshold, the control circuit activates the pump's motor to a level sufficient to monitor the presence of fluid or the particular type of fluid. Speed can be adjusted. The motor speed in such examples may be the minimum or idle motor speed that allows accurate readings at the fluid detection sensor(s). Alternatively, the motor speed can be reduced to zero and periodically increased to a minimum or idle motor speed to monitor the presence of fluid or a particular type of fluid.

Upon detection of fluid by the fluid detection sensor, or a fluid level above the threshold, the control circuit can adjust the speed of the motor 50512 to a level sufficient to completely evacuate the fluid from the surgical site. In one example, clouds such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46) are established to be sufficient to efficiently drain fluids for the same or similar surgical procedures. Motor speed levels can be tracked and/or stored. In such an embodiment, the control circuit may access and/or reference historical motor speed levels stored in the cloud when setting the appropriate motor speed level for that surgical procedure.

Additionally or alternatively, the speed of the motor can be adjusted based on the particulate concentration detected along the flow path. For example, referring again to FIGS. 18 and 19, evacuation systems 50800 and 50900 include laser particle sensors 50838 and 50848 along respective flow paths 50804 and 50904. As shown in FIG. Particle sensor 50838 is positioned upstream of filters 50842, 50844 and receptacle 50871 within surgical drainage system 50800 and upstream of filters 50942, 50944 and receptacle 50971 within surgical drainage system 50900. Particle sensor 50838 is configured to detect and/or count particles upstream of the filter(s). Particle sensor 50848 is downstream of filter(s) 50842, 50844 and receptacle 50871 in surgical drainage system 50800 and filter(s) 50942, 50944 and receptacle 50971 in surgical drainage system 50900. placed downstream of Particle sensor 50848 is configured to detect and/or count particles downstream of the filter(s).

In such examples, the evacuation system 50800, 50900 can detect (eg, via a laser particle counter sensor) whether a fluid (eg, particulate laden smoke) is present. For example, the sensor(s) can detect particulate concentration in smoke. In a particular example, the laser particle counter sensor(s) are used when a practitioner treats patient tissue using an electrosurgical instrument, such as when electrosurgical instrument 50630 is activated by generator 50640. Particles can be automatically scanned and counted when starting.

When the particulate concentration detected by particle sensor 50838 is below a threshold, the control circuit can adjust the motor speed to a level sufficient to sample the particulate concentration of the flow path. For example, the motor speed can be set to a minimum or idle motor speed that allows accurate readings at the sensor. In an alternative aspect, the motor speed is reduced to zero and periodically increased to a minimum or idle motor speed level sufficient to monitor the presence of fluid (e.g., particulate concentration in smoke above a threshold). can be done. In such embodiments, upon detection of a particulate concentration above a threshold, the control circuit speeds motor 50512 (FIG. 4) to a level sufficient to completely expel smoke and filter particulate from the surgical site. can be adjusted. Again, the cloud tracks the motor speed level established to be sufficient to efficiently eject fluid for the same or similar surgical procedure based on the particulate concentration detected by the sensor. and/or can be stored. In such embodiments, the control circuitry may access and/or reference such historical motor speed levels when setting the appropriate motor speed levels for that surgical procedure.

In one aspect of the present disclosure, the motor 50512 is either off (i.e., zero motor speed) or operating at a predetermined minimum or idle speed unless a fluid and/or threshold particulate concentration is detected. It is more efficient because In such instances, energy can be conserved and noise within the operating room can be minimized. Further, if a fluid and/or threshold particulate concentration is detected, motor 50512 establishes an effective motor speed, i.e., sufficient to efficiently expel fluid and/or particulate based on historical data. can be operated at the specified motor speed. This could be to set the motor speed level based on subjective evaluation (e.g. a particular clinician's experience) and/or simply visual and/or olfactory cues (e.g. seeing smoke and/or reading smoke). It is an improvement over other manual methods of adjusting the evacuation system and/or increasing the motor speed level based on sniffing.

According to various aspects of the present disclosure, motor parameters, e.g., speed of the motor, can be adapted to adjust (e.g., increase) the efficiency of the drainage system and its filters based on the needs at the surgical site. is. As described herein, if smoke detected at the surgical site is below a threshold, it may be inefficient for the evacuation system to filter volumes of air unnecessarily. In such examples, the motor speed can be reduced, reduced to zero, or maintained at zero, thereby reducing, reducing to zero, or reducing, respectively, the volume of air filtered by the discharge box. maintained at zero. Efficient use of the evacuation system ultimately extends the useful life of the evacuation system and/or its components (e.g., fluid traps, filters, motors, pumps, etc.) Reduce associated repair and/or replacement costs. The stresses and wear caused by always running the motor at full speed or above full speed are avoided. Additionally, the motors that drive the pumps within the evacuation system may generate varying levels of operating noise and/or vibration noise. Such operating noise and/or vibration noise may, for example, interfere with communication between surgical staff and/or be irritating and/or distracting to the surgical staff, thus reducing the operating room and/or environment. may not be desirable.

In certain instances, it may be undesirable to reduce the motor speed to zero. For example, electric motors, such as permanent magnet synchronous DC motors, may require significant starting torque from dead stop for use with the various pumps described herein. Referring now again to FIG. 4, pump 50506 creates a pressure differential between fluid entering pump 50506 and fluid exiting pump 50506 . This pressure differential or compression ratio of the pump 50506 may result in a high starting torque of the motor 50512 to start the motor 50512 and rotate the pump 50506 . In one example, the pump 50506 can comprise a blower (eg, a hybrid regenerative blower). In such aspects, the blower operates at a compression ratio of, for example, about 1.1 to 1.2 to operate at an operating pressure of about 1.5 psig to 1.72 psig (eg, relative to the fan or compressor). Larger volumes of fluid can be delivered. In another example, pump 50506 may comprise a compressor (eg, scroll compressor pump 50650 of FIG. 12). In such aspects, the compressor operates, for example, at a compression ratio greater than about 2 to deliver a smaller volume of fluid (e.g., relative to a fan or blower) at an operating pressure greater than about 2.72 psig. be able to.

Aspects of the present disclosure are directed to systems and methods for improving filter assembly life. The filter assembly can include multiple filtration layers. For example, referring again to FIG. 11, the filter assembly includes a coarse media filter 50684, a fine particulate filter 50686 and a carbon reservoir 50688.

According to various aspects of the present disclosure, a first pressure sensor (eg, pressure sensor 50840 of FIGS. 18 and 19) can be positioned upstream of the filter receptacle in the flow path, and a second pressure sensor can (eg, pressure sensor 50846 in FIGS. 18 and 19) can be positioned in the flow path downstream of the filter receptacle. In such examples, the first pressure sensor is configured to detect the first pressure and send a signal indicative of the first pressure to the control circuit. Similarly, the second pressure sensor is configured to detect a second pressure and send a signal indicative of the second pressure to the control circuit. Further, the control circuit, which receives the signal indicative of the first pressure and the signal indicative of the second pressure, is configured to calculate a pressure difference between the first pressure sensor and the second pressure sensor. . The control circuit can utilize the calculated pressure differential in various ways. In a first example, the control circuit can adjust the motor speed based on the pressure differential. In a second example, the control circuit can indicate that maintenance is required based on the pressure differential. For example, indicators may be displayed on the drainage system interface and/or the surgical hub interface. The control circuit can calculate the pressure differential continuously, in real time, periodically, or when system computing resources are available.

Referring again to FIG. 4, in certain instances, particles entering the flow path 50504 of the evacuation system 50500 can cause internal blockages. For example, particles may at least partially clog and/or block a portion of channel 50504 . In one example, the filter 50502 may become clogged with particles. Blockage can occur abruptly or over time as the evacuation system operates. A blockage within the evacuation system 50500 can cause a pressure differential within the flow path 50504 to rise as flow is impeded. The pump 50506 and/or motor 50512 may require more power and/or increased speed to maintain the desired flow rate and compensate for blockages. However, increasing speed and/or power may decrease efficiency of motor 50512 and/or pump 50506 . Additionally, operating motor 50512 and/or pump 50506 at increased speed to compensate for blockages may reduce their life. In other examples, the control circuit can adjust the motor 50512 as described further herein to compensate for the occlusion.

In one aspect of the present disclosure, the control circuit can send drive signals to supply the regulated current to the motor 50512 . Supplying the desired current can be achieved by varying the duty cycle of the pulse width modulation of the electrical input to the motor 50512 . In such aspects, increasing the duty cycle of the current input to the motor can increase the motor speed, and decreasing the duty cycle of the current input to the motor can decrease the motor speed. can.

In one aspect of the present disclosure, the evacuation system can include a relief valve in the flow path to relieve excessive resistive pressure within the evacuation system. A relief valve, for example, may be in fluid communication with the surrounding environment. Releasing excess resistive pressure by such a relief valve may prevent motor 50512 from having to or attempting to compensate for excessive resistive pressure. In various aspects of the present disclosure, such relief valves are configured to operate (eg, open and/or close) upon receiving a signal from the control circuit.

In various aspects of the present disclosure, the control circuit can recognize an occlusion based on sensors located within the evacuation system. For example, referring again to FIGS. 18 and 19, pressure sensor 50840 is arranged and configured to detect pressure upstream of one or more filter(s), pressure sensor 50846 is one Arranged and configured to sense pressure downstream of the filter(s). Pressure sensor 50840 is further configured to send a signal indicative of the detected pressure to the control circuit. Similarly, pressure sensor 50846 is configured to send a signal indicative of the detected pressure to the control circuit. In such examples, the control circuit determines that a portion of the filter assembly is at least partially occluded based on the pressure sensed at 50846 and/or the calculated pressure difference between 50840 and 50846. can do. In various aspects of the present disclosure, for example, if (A) the pressure detected at pressure sensor 50846 exceeds a certain threshold, (B) the calculated pressure between pressure sensor 50840 and pressure sensor 50846 (C) the pressure detected by the pressure sensor 50846 exceeds a certain threshold established for the filter(s); and/or (D) the pressure sensor 50840 and the pressure sensor 50846 exceeds a certain threshold established for the filter(s), it can be determined that the filter assembly is blocked. In one example, the control circuit adjusts the predicted pressure for the filter(s) based on historical data stored in clouds, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). configured to access and/or refer to.

Referring again to Figures 18 and 19, the pressure sensor 50850 is arranged and configured to detect pressure at or near the outlet of the evacuation system. Additionally, the pressure sensor 50850 is configured to send a signal to the control circuit indicative of the pressure detected at or near the outlet. In such an example, the control circuit controls the pressure detected at pressure sensor 50846 and/or the calculated pressure difference between pressure sensor 50846 and pressure sensor 50850 to determine the downstream pressure of the filter(s). It can be determined that a flow path through the evacuation system is at least partially blocked. In various aspects of the present disclosure, the control circuit may, for example, determine if the pressure detected by pressure sensor 50846 exceeds a certain threshold and/or if the pressure difference between pressure sensor 50846 and pressure sensor 50850 exceeds a certain threshold. , it can be determined that the channel is blocked. When comparing the pressure differential between pressure sensor 50846 and pressure sensor 50850, the pressure differential created by the pump can be considered. In one example, the control circuit accesses and/or predicts the pressure for the flow path based on historical data stored in a cloud, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). You can refer to it.

The speed of motor 50512 can correspond to the current being supplied to motor 50512 . In one aspect of the present disclosure, the control circuit can decrease the duty cycle of the pulse width modulation (PWM) of the current input to the motor 50512 to decrease the rotational speed of the pump 50506, and/ Or the PWM duty cycle of the current input to motor 50512 can be increased to increase the rotational speed of pump 50506 . Adjustments to the PWM duty cycle, as described herein, adjust the flow rate to a range of inlet pressure (e.g., as measured by pressure sensor 50840) and/or outlet pressure (e.g., as measured by pressure sensor 50850). ) can be configured to remain substantially constant over a range of .

Referring now to FIG. 37, the control circuit tracks the ratio of the pressure detected by the upstream pressure sensor 50840 to the pressure detected by the downstream pressure sensor 50846 (upstream to downstream pressure ratio) over time. and/or plotted. For example, a control circuit (FIGS. 5 and 6) including processors 50308 and/or 50408 can determine the pressure ratio and make various adjustments to the surgical drainage system based on the pressure ratio.

In one example, referring to graphical representation 54200 of FIG. 37, the pressure differential between upstream pressure sensor 50840 and downstream pressure sensor 50846 may increase as the filter becomes occluded. In one aspect of the present disclosure, the pressure ratio may increase as the downstream pressure measured by pressure sensor 50846 decreases and/or the upstream pressure measured by pressure sensor 50840 increases. The pressure at the pressure sensor 50840 may be equal or substantially equal to the pressure at the surgical site (eg, inside the patient's body). The pressure at pressure sensor 50846 may be the pressure drawn by the pump. An increase in pressure ratio can correspond to an occlusion between the downstream pressure sensor 50846 and the upstream pressure sensor 50840, such as an occlusion in the filter(s). For example, as the filter is occluded, the pressure at pressure sensor 50840 may remain the same or substantially the same (the pressure at the surgical site) and the pressure at pressure sensor 50846 decreases as the pump continues to pull vacuum. obtain.

The ratio of upstream and downstream pressures can indicate filter life. For example, a low ratio can indicate that the filter does not need to be changed, and a high ratio can indicate that the filter needs to be changed.

The progression from a new and unblocked filter at time t ₀ to a nearly blocked filter at time t ₂ is shown in FIG. As shown in FIG. 37, the ratio of the upstream and downstream pressures (the pressure at the upstream pressure sensor 50840 and the pressure at the downstream pressure sensor 50846) starts at a non-zero ratio, which affects the filter components and materials. due to the baseline pressure difference from the airflow through the The ratio remains relatively constant from time _t0 to just before time _t1 . At time t ₁ , the upstream to downstream pressure ratio increases at a relatively constant rate with a slope of α until the upstream to downstream pressure ratio reaches the exchange ratio R″. Upon reaching and/or exceeding the replacement ratio R'', the filter is considered substantially blocked and should be replaced, for example, to avoid damage to the motor and/or pump. . In one example, the control circuit can access and/or reference, via the cloud, the replacement ratio R'' for a given filter installed or located in a filter receptacle of the exhaust system. For example, exchange ratio R'' may be stored in memory 50410 accessible by processor 50408 of FIG. Alternatively, the exchange ratio R'' may be user-defined and/or based on historical local and/or global pressure data in the cloud. In various aspects of the present disclosure, the control circuit utilizes the tracked and/or plotted ratio to display a filter life metric (e.g., 40% is remaining) can be displayed.

Still referring to FIG. 37, the control circuit may also track and/or plot the pulse width modulation (PWM) duty cycle of the motor of the ejection system over time. For example, if the filter(s) is considered relatively new after time _t0 and just before time _t1 , the motor's PWM duty cycle is set to a relatively low constant duty cycle or percentage. . At time t ₁ , corresponding to partial blockage ratio R′, the control circuit is configured to increase the PWM duty cycle of the motor at a relatively constant rate with a slope of α ¹ . The duty cycle increase can be selected to compensate for filter blockage. As blockage in the filter continues to accumulate during use, the duty cycle can be increased accordingly to compensate for filter blockage. In various examples, slope α ¹ can track slope α, as shown in FIG. The control circuit accesses and via clouds, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46), the partial clogging ratio associated with a given filter installed in the filter receptacle of the exhaust system. / or can be referenced. Alternatively, the partial occlusion ratio may be user-defined and/or based on historical local and/or global pressure data in the cloud.

In one aspect of the present disclosure, by increasing the duty cycle of the motor, the pump speed can be increased so that the pump draws more air through the exhaust system. In other words, an increase in pressure differential across the filter can trigger a corresponding increase in the PWM duty cycle of the motor for the pump.

The pump of the evacuation system is configured to move or affect the movement of fluid along the flow path by mechanical action. During operation, the pump can increase the pressure of the fluid as it moves. A pump can have more than one operating pressure. In one aspect of the present disclosure, the pump can operate at a first operating pressure to provide a first flow rate of fluid through the flow path, and the pump can operate at a second operating pressure to provide a second flow rate of fluid through the flow path. 2 operating pressures. The first and second flow rates of fluid through the flow path may be the same or substantially similar regardless of the difference between the first and second operating pressures of the pump. In one example, as blockage builds up in the flow path, the pump can operate at higher operating pressures to maintain a constant flow rate.

Still referring to graphical representation 54200 of FIG. 37, the control circuit can increase the PWM duty cycle of the motor to increase the current supplied to the motor and increase the operating pressure of the pump. The control circuit may, for example, adjust the duty cycle based on sensed pressure(s), pressure differential(s), and/or a ratio of sensed pressures. The increased operating pressure can be configured to compensate for blockages, such as blockages in the filter beginning around time _t1 in FIG. 37, while maintaining a constant flow rate of fluid through the flow path. In such instances, the control circuit can control the load on the pump, for example, as the filter becomes clogged with particles.

In various aspects of the present disclosure, the control circuit can increase the current supplied to the motor to an established motor current threshold. In one aspect, the control circuit can increase the established motor current threshold to achieve the pressure differential required to maintain the desired flow rate. For example, a pressure differential and desired flow rate can be maintained despite blockages in the flow path.

In another aspect of the present disclosure, the control circuit can decrease the established motor current threshold for various reasons. For example, the control circuit can decrease the established motor current threshold to prevent inadvertent tissue damage at the surgical site. For example, when the surgical port is occluded by patient tissue, the control circuit can reduce the motor current to reduce the pressure within the system and the suction force applied to the tissue. In one example, the control circuit can access and/or reference established motor current thresholds via clouds, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). Alternatively, the established motor current threshold may be user-defined and/or based on historical local and/or global data in the cloud.

In various aspects of the present disclosure, the control circuit can provide increased power and/or motor speed for a limited period of time based on feedback from the pressure sensor. During this time, an indication of pressure(s) and/or occlusion may be communicated to the user via an interface within the operating room, for example. In one example, the clinician can address the blockage by removing the blockage and/or changing one or more filter(s) within the filter receptacle. The limited period of time can be determined based on data stored in the cloud, for example, historical data regarding periods of operation at increased power levels and/or speeds prior to motor and/or pump failure. After a limited period of time, power and/or speed can be reduced as described further herein until the blockage is adequately addressed.

According to various aspects of the present disclosure, the evacuation system control circuit provides a drive signal to provide increased or decreased current to the evacuation system motor to adjust the speed of the motor and/or the speed of the pump. can be sent. In one example, the control circuit may send the drive signal to achieve burst speed upon activation of the ejection system and/or during transitions between power levels. For example, the burst rate can be configured to pull the evacuation system to a specified level at the beginning of active evacuation mode. A specified level may correspond to, for example, a specified flow rate and/or a specified pressure. In various examples, the burst rate can effectively pull the ejection system down to a specified level in an energy efficient manner.

In one example, the burst rate set by the control circuit is different than the constant operating speed set by the control circuit. For example, after initial start-up of the ejection system and/or setting an increased power level of the ejection system, the control circuit may send a drive signal to supply increased current to the motor to reduce the motor speed for a short period of time. can be increased to burst rate. A burst speed may be, for example, a motor speed that is at least 20% higher than the constant motor speed required to achieve the desired flow rate. In one aspect of the disclosure, the burst speed is at least 50% or at least 100% higher than the constant motor speed required to achieve the desired flow rate.

Referring now to graphical representation 54300 of FIG. 38, there is shown air flow rate and particle count over time for a surgical drainage system. The control circuitry of surgical drainage systems 50800 and 50900 (FIGS. 18 and 19) can adjust the air flow rate, for example, as graphically shown in FIG. More specifically, the airflow rates include burst velocities 54302 and 54304 for the motors of the surgical evacuation system. For example, the burst speed may be the motor speed required to achieve a higher than desired airflow rate for a short period of time. As shown in FIG. 38, burst rate 54302 is the desired air velocity between time t ₁ and time t ₂ over a portion (eg, ⅕) of the period between time t ₁ and time t _{2 .} It may _{be the} motor speed required to achieve an air flow rate that is at least 20% higher than the flow rate _V1 , e.g. is the motor speed required to achieve an airflow rate at least 20% higher than the desired airflow rate _V2 between times _t2 and _t3 over a portion (e.g., 1/4) of may In various examples, the airflow rate may depend on the number of particles within the exhaust system, as further described herein.

According to various aspects of the present disclosure, the transition of the exhaust system from the first airflow to the second airflow is performed immediately before or after the transition and prior to the adjustment to the second airflow. can be accompanied by an increase in For example, the first air flow rate and the second air flow rate may correspond to a constant or substantially constant motor speed and, correspondingly, a constant or substantially constant air flow rate. Referring again to the graphical representation of FIG. 38, the airflow rate varies between times t ₁ and t 2 and again at time t ₂ , except for burst velocities 54302 and 54304 immediately after times t 1 and _{t 2 respectively .} and time _t3 . The substantially constant airflow velocity shown in FIG. 38 can correspond to a corresponding constant motor speed in a corresponding mode of operation of the ejection system.

Still referring to FIG. 38, at time t ₀ , the airflow rate may be a non-zero value between V ₀ and V ₁ , which may correspond to the motor speed in “Quiet” mode 54310 . In the "quiet" mode 54310, the evacuation system can be configured to sample fluid from the surgical site. The sampled fluid can be utilized to determine the operational state of another component of the smoke evacuation system, the energy device, and/or the surgical system, for example. At time t ₁ , the ejection system can go into “active” mode 54312 . In certain examples, the "active" mode 54312 can be triggered by one or more sensors within the evacuation system, as described further herein. The increase in airflow rate to velocity _V1 at time _t1 and/or to velocity _V2 at time _t2 may be accompanied by a further increase in airflow velocity immediately after the transition or initiation to the new velocity level. . More specifically, the airflow rate spikes just after time t ₁ in FIG. 38 and before the subsequent adjustment at time t ₂ . Additionally, the airflow velocity spikes shortly after time t ₂ when the airflow transitions from velocity v ₁ to velocity v ₂ in the second “active” mode 54314 .

Additionally or alternatively, reducing the power level of the exhaust system from the first airflow rate to the second airflow rate may be accompanied by an initial increase in airflow rate just prior to the reduction. For example, when decreasing the airflow rate from a first constant or substantially constant level to a second constant or substantially constant level, the airflow rate encounters an airflow rate spike similar to that shown in FIG. can do. In one example, the control circuit can affect an airflow speed spike just before returning to a constant "quiet mode" motor speed from "active mode". In various examples, the burst rate before the quiet mode can flush the smoke of the surgical system and/or the evacuation system, for example.

According to aspects of the present disclosure, various particle sensors, such as, for example, particle sensors 50838 and 50848 of FIGS. can be configured to be placed in Similarly, air quality particle sensors, such as, for example, particle sensor 50852 of FIGS. be able to. Various particle sensors (eg, particle sensors 50838, 50848, 50852, etc.) can be further configured to send signals indicative of particle concentrations to control circuitry, for example, to adjust airflow rates.

Referring again to FIG. 38, the ejection system motor can operate at a constant “quiet” mode 54310 speed between times t ₀ and t ₁ . Between time t ₀ and time t ₁ , at least one particle sensor (eg, particle sensors 50838 and/or 50848) can actively count particles flowing through the exhaust system. In certain examples, at least one particle sensor (eg, particle sensor 50852) can actively count particles in ambient air. In at least one example, the control circuit can compare particles counted by particle sensor 50838 and/or particle sensor 50848 to particles counted by particle sensor 50852 . The control circuit can, for example, determine that the particulate concentration detected by particle sensor 50838 and/or particle sensor 50848 exceeds a first threshold, such as threshold _C1 of FIG. Threshold C ₁ can correspond, for example, to particulate concentration levels and/or ratios of particles counted by various sensors along the flow path. Depending on the particle concentration above the first threshold _C1 , the control circuit at time _t1 changes from the "quiet" mode 54310 speed associated with the first non-zero airflow rate to the second motor speed, or Motor speed can be increased to "active" mode 54312 associated with a second airflow rate (eg, _V1 ). As noted above, the increase in airflow rate may be accompanied by an airflow rate spike or burst 54302 just after time _t1 .

Still referring to FIG. 38, the control circuit controls at least one of particle sensors 50838, 50848, and/or 50852 from time _t1 to time _t2 while maintaining a motor speed associated with airflow rate _V1 . It can continue to detect fine particle concentrations. At time _t2 , the control circuit determines that the particle concentration and/or ratio detected by at least one of particle sensors 50838, 50848, and/or 50852 exceeds a second threshold, such as threshold _C2 of FIG. can be determined to exceed The threshold _C2 may correspond to particulate concentration levels and/or ratios of particles counted by various sensors along the flow path that are greater than the first threshold _C1 . In response to exceeding the second threshold _C2 at time _t2 , the control circuit increases the airflow rate _V1 or the motor speed associated with the first "active" mode 54314 to an airflow rate _V2 or a second It is configured to increase the motor speed up to the motor speed associated with the "active" mode 54314 of 2. Again, the increase from airflow rate V ₁ to airflow rate V ₂ may be accompanied by an airflow rate spike or burst 54304 just after time t ₂ .

In various examples, the control circuit controls the particulate concentration via particle sensors 50838, 50848, and/or 50852 while maintaining a motor speed associated with airflow rate _V2 between time _t2 and time _t3 , for example. can continue to receive input indicating At time _t3 , the control circuit determines that the particulate concentration and/or ratio detected by at least one of particle sensors 50838, 50848, and/or 50852 has decreased below a first threshold _C1 . can do. In response, the control circuit may decrease the motor speed from the motor speed associated with airflow rate _V2 back to the "quiet" mode speed associated with the first non-zero airflow rate. As noted above, in certain examples, the decrease from airflow rate _V2 back to a non-zero airflow rate can be accompanied by an airflow rate spike just after time _t3 . The control circuit may continue to detect and/or compare particulate concentrations detected by particle sensors 50838, 50848, and/or 50852 while maintaining "quiet" mode speed after time _t3 , for example.

In various aspects of the disclosure, the motor may be a variable speed motor. For example, motor 50512 (FIG. 4) may be a variable speed motor. In such examples, the speed of the motor may be controlled based on externally measured parameters. For example, the speed of the variable speed motor may be increased, decreased, or maintained based on parameters measured external to the evacuation system.

According to aspects of the present disclosure, the motor 50512 (FIG. 4) can be adjusted by varying the supply of current to the motor 50512. For example, a first amount of current may be supplied to motor 50512 to operate motor 50512 at a first operating level. Alternatively, a second amount of current may be supplied to motor 50512 to operate motor 50512 at a second operating level. More specifically, varying the current supply may be accomplished by varying the pulse width modulation (PWM) duty cycle of the electrical input to motor 50512 . Alternatively, the current can be varied by adjusting the frequency of the current supplied to the motor. In various aspects of the present disclosure, the motor 50512 is rotated by a rotating mechanism or pump 50506 (e.g., as described herein) such that reducing the duty cycle or frequency of the current input to the motor 50512 reduces the rotational speed of the pump 50506 . (compressor, blower, etc.) as described in the literature. Similarly, by increasing the duty cycle or frequency of the current input to motor 50512, the rotational speed of pump 50506 can be increased.

In various aspects of the present disclosure, the lower operating level of the motor 50512 turns the motor 50512 completely off when no evacuation and/or aspiration is required, and then switches the motor 50512 on when aspiration is required. may be more advantageous than reverting. For example, clinicians may only need to use suction intermittently during long-term surgery. In such an aspect, turning the motor 50512 on from a fully off state requires high starting torque to overcome the static inertia of the motor 50512 . Repeatedly turning the motor 50512 on from a fully off mode in this manner is inefficient and may reduce the life of the motor 50512 . Alternatively, a lower operating level can be employed to allow the motor 50512 to remain on during intermittent use of the drainage system during surgery, requiring higher torque to overcome the static inertia of the motor. Adjustments to higher operating levels (eg, when additional suction is needed) are possible without the need to.

In various aspects of the present disclosure, variation ranges may be established or predetermined for motor parameters. In one embodiment, the motor speed range can be predetermined for a variable speed motor. In various aspects, a control circuit, such as those described above, can determine that a particular flow rate or increase or decrease in flow rate is required at the surgical site based on feedback from one or more sensors. For example, the processor 50308 and/or 50408 in the control circuit is configured to receive input from one or more sensors and make adjustments to flow based at least in part on the sensor input(s). be able to. Adjustments can be determined in real time or near real time.

In one aspect, the control circuit detects fluid (eg, fluid detection sensor 50830 of FIGS. 18 and 19) and/or particles in the fluid (eg, particle sensors 50838 and/or 50848 of FIGS. 18 and 19). and/or a separate sensor on an electrosurgical instrument (e.g., electrosurgical instrument 50630 of FIG. 7) positionable at/near the surgical site. A need for adjustment to the motor can be determined based on the measurements detected by the sensors. Depending on the determined need, the control circuit can send drive signals to supply drive current to the motor 50512 (FIG. 4) to regulate its speed to the adjusted motor speed. This adjusted motor speed can correspond to the specific flow rate desired.

Alternatively, depending on the determined need, the control circuit may send a drive signal to supply drive current to the motor 50512 to increase or decrease the motor speed to a speed within a predetermined motor speed range. can. In such instances, the control circuit limits the speed increase or decrease of the variable speed motor to within a predetermined motor speed range. This adjusted motor speed may or may not correspond to the desired adjusted flow rate. For example, a given motor speed range may not allow the control circuit to adjust the motor speed to achieve the desired flow rate.

In another aspect of the present disclosure, motor speed may be selected by a clinician in the operating room, such as when the motor is operating in manual mode. For example, a clinician can manually change the variable speed motor to the desired motor speed via the user interface. The user interface may be, for example, on the housing of the evacuation system and/or the surgical hub interface. In various aspects, the user interface can display externally measured parameters (e.g., amount of smoke and/or particles measured via sensors at or near the surgical site) to the clinician, A physician can manually set the motor speed based on externally measured parameters. In such aspects, the user interface can send a drive signal to supply drive current to the motor to set, increase, or decrease the motor speed to a selected motor speed.

In one aspect of the present disclosure, the control circuit can change the first drive signal to the second drive signal based on pressure conditions detected and/or measured within the evacuation system. For example, referring back to FIGS. 18 and 19, pressure sensors 50840, 50846, 50850, and 50854 can transmit their corresponding pressures to control circuitry, which controls the Based on one or more, the first drive signal can be changed to the second drive signal. Specifically, in such aspects, the actual motor speed may not equal the motor speed selected by the user via the user interface. For example, if the pressure measured within the evacuation system exceeds a threshold pressure, damage the motor and/or other components of the evacuation system by allowing increased motor speeds associated with user-selected motor speeds. I have something to do. Thus, the control circuit can override the user-selected motor speed to prevent damage to the evacuation system and its components.

In another aspect of the disclosure, the motor speed may be automatically selected by the control circuit, such as when the motor is operating in automatic mode. In such aspects, the control circuit provides drive current to the motor based on externally measured parameter(s) (e.g., amount of smoke and/or particles measured at or near the surgical site). A drive signal can be sent to supply to set, increase, or decrease the motor speed to the appropriate motor speed. In an alternative aspect, the control circuit provides drive current to the motor based on parameters measured within the evacuation system including at least one of pressure and particulate concentration detected by various sensors therein. A drive signal can be sent to set, increase, or decrease the motor speed. In one embodiment, pressure sensors 50840, 50846, 50850, and 50854 can transmit their corresponding detected and/or measured pressures to control circuitry. Additionally or alternatively, particle sensors 50838, 50848, and 50852 may transmit their corresponding detected and/or measured particle counts to the control circuit.

Referring now to FIG. 35, a surgical drainage system adjustment algorithm 54000 is shown. Various surgical drainage systems disclosed herein can utilize the adjustment algorithm 54000 of FIG. Further, the reader will readily appreciate that, in certain examples, adjustment algorithm 54000 can be combined with one or more additional adjustment algorithms described herein. Adjustments to the surgical evacuation system can be performed by a processor in signal communication with the motor of the ejector pump (see, eg, processor and pump in FIGS. 5 and 6). For example, processor 50408 can implement adjustment algorithm 54000 . Such processors may also be in signal communication with one or more sensors within the surgical drainage system.

In one example, control circuitry 54008 may be similar to particle sensor 50838 of FIGS. It may be communicatively coupled to the first particulate sensor 54010, which may be capable of. Additionally, control circuitry 54008 may be similar in many respects to particle sensor 50848 of FIGS. It can be linked to a second particulate sensor 54012, which can be sent to the control circuit. The control circuit 54008 may then send a drive signal at block 54006 to apply the determined drive current to the ejection system motor at block 54016 . For example, control circuitry 54008 may be similar in many respects to the control schematics of FIGS. 5 and 6 and may include a processor communicatively coupled to memory. In yet another aspect, any combination of sensors 50840, 50846, 50850, 50854, 50838, 50848, and 50852 (FIGS. 18 and 19) control their corresponding sensed and/or measured parameters to control circuitry 54008. can be sent to In such an alternative aspect, the control circuit can determine the appropriate motor speed based on internally measured parameters. In any case, in various examples, the user interface can display the current motor speed.

In various aspects of the present disclosure, the appropriate motor speed is determined based on historical data stored in clouds, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). may be The ideal motor speed may be, for example, the most efficient speed given the measured external and/or internal parameter(s). In other aspects, the appropriate motor speed may be an ideal motor speed determined such that all measured pressures are below the threshold pressure. In other words, to avoid damage to exhaust system components and to minimize particulate concentrations, such as those measured by particle sensor 50848, for example. In a further aspect, the motor speed automatically selected by the control circuit can be manually adjusted. In such a manual override mode, the user can select a desired motor speed different from the automatically selected motor speed. In such aspects, the user interface can display the selected motor speed. In a further aspect of the present disclosure, the user interface is determined by the control circuit to notify the user that it has been set and/or selected to be lower (or higher) than the ideal motor speed and/or flow rate. The ideal motor speed can be displayed.

In yet another aspect of the present disclosure, the externally measured parameter supplied to the control circuit is the electrical power supplied by the generator to the electrosurgical instrument, such as the electrosurgical instrument 50630 by generator 50640 in FIG. It can include the power level of the surgical signal. In such an aspect, the control circuit can increase the motor speed in proportion to the increase in power level. For example, increases in various power levels can be correlated with increases in smoke levels in the cloud database. Similarly, the control circuit can decrease the motor speed in proportion to the decrease in power level. Here, in an alternative aspect, the motor speed can be set (eg, automatically and/or manually as described herein) at the ejection system. Further, in such aspects, the power level set at generator 50640 can affect the set motor speed. In one aspect, the manually set motor speed can change based on the power level set at the generator 50640. In another aspect, the automatically set motor speed can be changed based on the power level set by the generator 50640.

FIG. 36 shows a graphical representation 54100 of particle count, power, voltage, and motor speed for a surgical evacuation system, such as evacuation systems 50800 and 50900, for example. A control circuit of the ejection system is configured to adjust the motor speed based on the externally measured parameter and the internally measured parameter. In one aspect of the present disclosure, the control circuits of FIGS. 5 and 6 can implement the illustrated motor speed adjustments. In FIG. 36, the externally measured parameter is the power of the electrosurgical signal supplied to the electrosurgical instrument by the generator used in the surgical procedure (eg, electrosurgical instrument 50630 by generator 50640 of FIG. 7). level. The internally measured parameter is the particle count detected by an evacuation system, such as laser particle counter 50838 of FIGS. 18 and 19, for example. The reader will readily appreciate that, in certain examples, the motor speed can be adjusted based on one of the externally measured parameters or the internally measured parameters. In certain examples, additional internal or external parameters may be utilized to adjust motor speed.

At time _t0 , the motor speed is zero, the power level supplied to the electrosurgical instrument is zero, and the particle count detected by particle sensor 50838 is zero. At time _t1 , a first power level is supplied by the generator to the electrosurgical instrument. In one example, the first power level can correspond to a coagulation mode. Concurrently with or immediately following the increase in power level at time _t1 , the control circuit sends a drive signal to supply starting current to the motor. The start-up current provides a burst 54102 of motor speed before the motor settles to a baseline (eg, idle) motor speed 54104 between t ₁ and t ₂ . Baseline motor speed 54104 may correspond to, for example, the minimum torque required to rotate the pump. For example, as time approaches _t2 , the motor speed may correspond to sleep or quiet mode, and the smoke evacuator is powered in anticipation of smoke generation. At time _t1 , particle sensor 50838 has no effect on motor speed.

At time _t2 , particle sensor 50838 detects a first spike in particulate concentration 54106 that causes the particle count to increase above a minimum threshold 54110 corresponding to "active" mode for smoke evacuation. In response to this first spike 54106, shortly after time _t2 , the control circuit, for example, sends a second drive signal to supply increased current to the motor, moving it from "quiet" mode to "active mode." ” mode to increase the flow rate through the exhaust system. As the flow rate increases, the particulate concentration counted by particle sensor 50838 begins to decrease between time _t2 and time _t3 . The control circuit actively monitors the output from the particle sensor 50838 and, as the particle concentration decreases, supplies a reduced current to the motor 50512 in proportion to the decreasing particle concentration detected by the particle sensor 50838. A third drive signal is transmitted as follows. In other words, the motor speed between times t ₂ and t ₃ is proportional to the particulate concentration detected by particle sensor 50838 .

At time _t3 , the first power level provided by generator 50640, which remained relatively constant between times _t1 and _t3 , goes from first power level 54112 to second power level 54114. is increased to In one example, the second power level 54114 may correspond to disconnected mode. In response to an increase in the power level of the generator, shortly after time _t3 , the control circuit sends a third drive signal to supply increased current to the motor to increase the flow rate through the exhaust system again. increase. For example, the motor speed may be changed in response to the waveform change at time _t3 . Additionally, due to the increased power level, particle sensor 50838 detects a second spike 54108 of counted particles. A third drive signal can address increased particulate concentrations in the smoke. As the motor speed increases, the particles counted by particle sensor 50838 decrease between times _t3 and _t4 . Again, the control circuit actively monitors the particle sensor 50838 and drives the fourth drive to provide a reduced current to the motor in proportion to the decrease in particle concentration detected by the particle sensor 50838. Send a signal.

At time _t4 , the second power level 54114 supplied by the generator, which remained relatively constant between times _t3 and _t4 , changes to a constant rate between times _t4 and _t5 . decreases with Correspondingly, the particulate concentration detected by particle sensor 50838 also decreases after time _t4 . In fact, the particulate concentration declined to a level slightly below the minimum threshold 54110 and above the stop threshold 54118 between time _t4 and time _t5 , and remained relatively constant around the stop threshold 54118 until time _t5 . remains In one example, this may correspond to the evacuation of residual smoke from the surgical site. The control circuit continues to monitor the particle sensor 50838 between times _t4 and _t5 to reduce the current to the motor in proportion to the decrease in particulate concentration between times _t4 and _t5 . to send subsequent drive signals.

At time t ₅ , a third spike in particulate concentration 54116 can be detected by particle sensor 50838 again increasing the number of particles above minimum threshold 54110 . In one example, additional smoke generated during a surgical procedure and detected by particle sensor 50838 may be a result of tissue conditions. For example, additional smoke may be generated as the tissue dries out during the procedure. In response to the smoke build-up at time _t5 , the generator waveform is automatically adjusted to minimize smoke. For example, a third power level can be supplied by a generator. Further, the voltage, which remained at a relatively constant first level between time _t1 and time _t5 , drops to a relatively constant second level after time _t5 until time _t6 . . In a particular example, waveform adjustment 54122 at time _t5 when power increases and voltage decreases can be configured to generate less smoke.

In response to adjusting the power level to the generator at time _t5 , the particulate concentration detected by particle sensor 50838 steadily decreases between times _t5 and _t6 . At time _t6 , the generator power level and voltage are reduced to zero, corresponding to a power-off condition, eg, upon completion of a surgical procedure. Further, the particulate concentration detected by particle sensor 50838 falls below stop threshold 54118 at time _t6 . In response, the control circuit sends a drive signal to supply reduced current to the motor and reduces the motor speed to sleep or quiet mode 54120.

In various examples, the evacuation system can automatically sense and compensate for laparoscope use. For example, the evacuation system can automatically detect the laparoscopic mode of the surgical system. In laparoscopic surgery, a gas (eg, carbon dioxide) is blown into a patient's body cavity to expand the body cavity and create a working and/or viewing space for the operator during the surgical procedure. Inflating the body cavity creates a pressurized cavity. In such examples, the evacuation system disclosed herein senses the pressurized cavity and adjusts parameters of the evacuation system parameters, e.g., motor speed, in response to parameters of the pressurized cavity. can be configured to

For example, referring back to Figures 18 and 19, the pressure sensor 50840 can detect pressure above a certain threshold pressure, which can correspond to pressures conventionally utilized for insufflation. In such an example, the control circuitry may first determine whether the surgical procedure being performed is a laparoscopic procedure. In certain examples, control circuitry of the smoke evacuation system (eg, processors 50308 and/or 50408 of FIGS. 5 and 6) interrogates a communicatively coupled surgical hub and/or cloud to determine if a laparoscopic procedure should be performed. You can determine if it is implemented. For example, situational awareness can determine and/or confirm whether a laparoscopic procedure is being performed, as described further herein.

In certain examples, an external control circuit, such as, for example, a control circuit associated with a surgical hub, can query the communicatively coupled cloud. In another aspect, the user interface of the evacuation system can receive input from the practitioner. The control circuitry may receive a signal from the user interface indicating that the surgical procedure being performed is laparoscopic. For non-laparoscopic surgery, the control circuitry can determine if the filter is clogged and/or partially clogged as described herein. If it is a laparoscopic procedure, the control circuit can adjust the pressure sensed at the pressure sensor 50840 by a predetermined amount to achieve a laparoscopically adjusted pressure at the sensor 50840 . This laparoscopically adjusted pressure at the sensor 50840 can be used in place of the actual pressure detected at the sensor 50840 according to various aspects described herein. In such aspects, this may avoid inappropriate and/or premature indications that the filter is clogged and/or partially clogged. Furthermore, the aforementioned adjustments can avoid unnecessary motor speed adjustments.

According to various aspects, the evacuation system further senses such pressurized cavities in response to determining that the surgical procedure being performed is a laparoscopic procedure, and extracts evacuation system parameters (e.g., motor speed) can be adjusted. In such aspects, after a pressure sensor, for example pressure sensor 50840, detects that the evacuation system is being used in a pressurized environment, the control circuit sets one or more operating parameters of the motor to the peritoneal cavity. A drive signal can be sent to change the effective ejection speed for the speculum procedure. In one embodiment, compensating for the applied pressure supplied by a pressurized cavity (eg, via distal conduit opening 50634 near the tip of surgical instrument 50630 and suction hose 50636, see FIG. 7). To do so, the baseline (eg, idle) motor speed and/or the upper motor speed can be adjusted down. In such an example, after a pressure sensor, such as pressure sensor 50840, for example, detects that the evacuation system is being used in a pressurized environment, the control circuit will account for the loss of pressure across the pressure sensor. A secondary threshold may be set and/or an established secondary threshold may be monitored.

If the pressure sensed by the pressure sensor 50840 drops below such a secondary threshold, the evacuation system may adversely affect insufflation of the surgical site. For example, adjustments to motor speed may reduce the pressure at pressure sensor 50840 below a secondary threshold. In certain examples, a separate pressure sensor is placed on the electrosurgical instrument (i.e., the laparoscopic (so as to be within a body cavity during the procedure). In such aspects, such pressure sensors will send signals to the control circuit to appropriately adjust ejection system parameters (e.g., motor speed) as described herein. .

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. 39, a computer-implemented interactive surgical system 100 can include one or more surgical systems 102 and a remote server 113 coupled to a cloud-based system (eg, storage device 105). cloud 104) and; 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. 39, surgical system 102 includes visualization system 108, robotic system 110, and handheld intelligent surgical instrument 112 configured to communicate with each other and/or hub 106. and including. 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. 40 shows an example of surgical system 102 used to perform a surgical procedure on a patient lying on operating table 114 in 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, cholangoscopes, 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", i.e. the operating room or treatment room, require maximum sterility of all medical devices and equipment. and Part of that sterilization process is the need to sterilize anything that comes in contact with the patient or enters the sterile field, including 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, one or more image processing units, and one or more storage units strategically placed relative to the sterile field, as shown in FIG. It includes an array 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. 40, 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 it can be viewed by 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. 40, 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, 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. 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. 41 , 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 enclosure 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. 41-45, 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. 43, the generator module 140 is an integrated monopolar, bipolar and monopolar generator supported within a single housing unit 139 that is slidably insertable into the hub's modular housing 136 . It may be a generator module comprising an ultrasound component. As shown in FIG. 42, the generator module 140 can be configured to connect to a monopolar device 146, a bipolar device 147, and an 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. and 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. 43 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 hub modular housing 136 . In one aspect, the combination generator module 145 includes bipolar, ultrasonic, and monopolar modules and a smoke evacuation module integrated together in 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 . 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 fluids 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 of the hub modular housing 136. Alignment features configured to engage their counterparts therein may be included. For example, as shown in FIG. 42, combination generator module 145 has side brackets configured to slidably engage corresponding brackets 156 of corresponding docking stations 151 of hub modular housing 136 . 155 included. 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. 43, the docking port 150 of one drawer 151 is coupled to the docking port 150 of another drawer 151 via a communication link 157 to provide inter-module docking within the hub's modular enclosure 136. two-way communication can be facilitated. 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. 44 shows individual power bus attachments 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 housings 160 that contain backplanes for interconnecting modules 161 . As shown in FIG. 44, the modules 161 are laterally arranged within the lateral modular housing 160 . Alternatively, modules 161 may be arranged vertically within a lateral modular housing.

FIG. 45 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 housings 164 that contain backplanes for interconnecting modules 165 . Although the drawers 167 of the vertical modular housing 164 are vertically oriented, in certain cases the vertical modular housing 164 may include laterally oriented drawers. Additionally, modules 165 may interact with each other via docking ports in vertical modular housing 164 . In the embodiment of FIG. 45, a display 177 is provided for displaying data relating to the operation of module 165 . Additionally, vertical modular housing 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 containing 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, imaging module 138 can be configured to integrate images from different imaging devices.

Various image processors and imagers suitable for use with the present disclosure are described in U.S. Patent No. 1, issued Aug. 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 "SYSTEM FOR PERFORMING A MINIMALLY INVASIVE August 28, 2014 entitled "SURGICAL PROCEDURE" Published US Patent Application Publication No. 2014/0243597 is each incorporated herein by reference in its entirety.

FIG. 46 illustrates a cloud-based system (e.g., storage device 205) of modular devices located in one or more operating rooms of a medical facility, or any room within a medical facility with specialized equipment for surgical procedures. Surgical data network 201 is shown with modular communication hub 203 configured to connect to cloud 204 , which may include remote servers 213 coupled thereto. 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 data conduit, 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 includes network hub(s), network switch(es), and network router(s) that connect devices 1a-1n/2a-2m to the cloud. may include a combination of 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 deployed in the operating room. 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 It is 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 monitor 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 the devices 1a-1n can transmit data through the 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. 47) 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. A network switch 209 is a multicast device for connecting the devices 2a to 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 2 a - 2 m can transmit data simultaneously through network switch 209 . 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 a 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-bandwidth 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 (IEEE802.11 family), WiMAX (IEEE802.16 family), IEEE802.20, 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 the 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 stand-alone 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. 47 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. 48, modular control tower 236 includes modular communication hub 203 coupled to computer system 210 . As illustrated in the embodiment of FIG. 47, 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 an irrigation module 228 , a communications module 230 , a processor module 232 , a storage array 234 , a smart device/instrument 235 optionally coupled to a display 237 , and a contactless sensor module 242 . Operating room equipment is linked 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. 48 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 network connection device, and a computer system 210, eg, for providing local processing, visualization, and imaging. As shown in FIG. 48, 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. It can be transferred to computer system 210, cloud computing resources, or both. As shown in FIG. 48, 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 operating room 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; section, the ultrasound-based non-contact sensor module detects the operating room by transmitting bursts of ultrasound and receiving echoes when the bursts of ultrasound are reflected off the exterior walls of the operating room. where the sensor module is configured to determine the size of the operating room and adjust the distance limit for 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, nonvolatile 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 variety 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. 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 a similar bus architecture.

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 Texas, including 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 It may be the LM4F230H5QR ARM Cortex-M4F processor core available from Instruments.

In one aspect, the processor 244 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 specifically configured 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 nonvolatile 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 computer system 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, and touch pads, 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 the 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 the 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 typically include: Includes many or all of the elements described with respect to a computer system. For simplicity, only the memory storage device is shown along with the remote computer(s). The 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, computer system 210 of FIG. 48, imaging module 238 and/or visualization system 208 of FIG. 48, and/or processor module 232 of FIGS. It may also include any dedicated digital signal processor (DSP) used for processing digital images. 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.

Communications 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. 49 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 and receive ports 304, 306, 308 support both high 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 for managing 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 (tokens 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. 50 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 can 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 single-cycle SRAM, internal ROM with StellarisWare software, 2 KB EEPROM, one or more PWM modules, one or more QEI analog, and/or 12 analog inputs It may be a LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments that includes one or more 12-bit ADCs with 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 embodiment, the battery cells can be lithium ion batteries that can 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 members represent firing bars or I-beams, each of which may be adapted and configured to include a rack of drive teeth. Thus, as used herein, the term displacement member generally 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 to members. 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, the longitudinally moveable 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 after one rotation of the sensor element coupled to the displacement member after the displacement member has moved from point "a" to It is the linear longitudinal distance traveled 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 revolutions 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 position 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 for sensing magnetic fields include, inter alia, searcher 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. The 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) may include U.S. Patent No. 24, May 2016, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," which is incorporated herein by reference in its entirety. 9,345,481, 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, and its entirety; US patent application Ser. Sensor mechanisms such as those that 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 toward 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 members, such as might be required with a conventional rotary encoder that simply counts the number of steps taken forward or backward by the motor 482 to estimate the position of machine 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.

A sensor 474, such as a strain gauge or micro strain gauge, senses one or more parameters of the end effector, such as the amplitude of strain exerted on the anvil during a clamping operation, which can indicate, for example, the closing force applied to the anvil. configured to measure. 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 can correspond to the current drawn by electric 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 force applied to tissue grasped by an end effector includes a strain gauge sensor 474, eg, a micro strain gauge configured to measure one or more parameters of the end effector. 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 grasping motion, 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 hub as shown in FIG.

FIG. 51 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 can 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 implement machine instructions for implementing various processes described herein. Processor 502 may be any one of numerous single or multi-core processors known in the art. Memory circuit 504 can 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. 52 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 may 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. 53 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. 51) and a finite state machine implementing various processes herein. In other aspects, the finite state machine may include a combination of combinatorial logic (eg, combinatorial logic 510 of FIG. 52) and sequential logic 520 .

FIG. 54 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 be In certain examples, the firing motion generated by motor 602 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 example, to The captured tissue 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 one or more articulation motors 606a, 606b, for example. 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 may be activated independently or separately to perform one or more functions while other motors remain deactivated. can be done. 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 embodiment, common control module 610 controls between operable engagement with articulation motors 606a, 606b and operable engagement with either firing motor 602 or closing motor 603. It can be switched selectively. In at least one embodiment, as shown in FIG. 54, 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 606a may be electrically coupled to 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. 54, 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 unit (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 provides 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. 32KB single-cycle SRAM, internal ROM with StellarisWare software, 2KB EEPROM, one or more PWM modules, one or more QEI analog, 12 analog inputs An ARM Cortex-M4F processor core containing one or more 12-bit ADCs with 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 use 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. 55 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 can 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 one or more motorized firing members, closure members, shaft members, or 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, As well as 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, control circuitry 710 may comprise one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause a processor or processors to perform one or more tasks. . 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 as 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 be done. 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 can control the closure force applied to tissue by the anvil 716 . Other control programs control 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 may 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. . 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 examples, motors 704a-704e may be brushless DC electric motors, and each motor drive signal includes a PWM signal provided to one or more stator windings of motors 704a-704e. It's okay. 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 can 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 transmission mechanisms 706a-706e. good too. Transmission mechanisms 706a-706e may include one or more gears or other coupling components for coupling motors 704a-704e to movable mechanical elements. A position sensor 734 can sense the position of the 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 commanded 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 mechanism 706 a which is coupled to I-beam 714 . Transmission mechanism 706a includes moveable mechanical elements, such as rotating and firing members, for controlling movement of I-beam 714 distally and proximally along the longitudinal axis of end effector 702. FIG. 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. Upon distal translation of the firing member, I-beam 714 , which has a cutting element disposed 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 744 b is coupled to transmission mechanism 706 b that is coupled to anvil 716 . Transmission mechanism 706b includes moveable mechanical elements such as rotating elements and closure 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 mechanism 706 c which is coupled to shaft 740 . Transmission mechanism 706c includes moveable mechanical elements, such as rotating elements, 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 mechanism 706d which is coupled to articulation member 742a. Transmission mechanism 706 d includes moveable mechanical elements, such as articulation elements 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 a brushed DC motor with a gearbox 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, closure 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. Any other suitable sensors for measuring the above parameters may be provided. Sensor 738 may include one or more sensors. A sensor 738 may be positioned on the deck of the staple cartridge 718 to determine 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) load and position sensing 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 created 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. indicates

In one aspect, sensor 738 may be 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. good. 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 conductorless switches, ultrasonic switches, accelerometers, and inertial sensors, among others.

In one aspect, sensor 738 can 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 exerted by the closure tube on the anvil 716 . 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 can be positioned at various interaction points along the closure drive system to detect the closing force exerted on 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 movable 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 can 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. 56 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 (which includes a sharp cutting edge), and an end effector 752 that can 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 the longitudinally movable drive member, the position of I-beam 764 is determined by measuring the position of the longitudinally movable drive member using position sensor 784. be able to. 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 may be one or more microcontrollers, microprocessors, or processors for executing instructions that cause the displacement member, e.g., I-beam 764, to be controlled in a manner as described. may comprise other suitable processors. 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 . A motor setpoint signal 772 may be provided to the motor controller 758 . Motor controller 758 may comprise one or more circuits configured to provide motor drive signals 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 mechanism 756 . Transmission mechanism 756 may include one or more gears or other coupling components for coupling motor 754 to I-beam 764 . A position sensor 784 can 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 commanded 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 . Sensors 788 are disposed on end effector 752 and adapted to work with surgical instrument 750 to measure various derived parameters such as gap distance vs. time, tissue compression vs. time, and anvil strain vs. time. good too. Sensors 788 measure one or more parameters of end effector 752, inductive sensors such as magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or end effector 752. Any other suitable sensor may be provided for doing so. 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 created 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 exerted on 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 can be positioned at various interaction points along the closure drive system to detect the closing force exerted on 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 . Control circuitry 760 receives real-time sample measurements to provide and analyze time-based information to assess the closing force applied to 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 can 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 can 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 a brushed DC motor with mechanical connections to the articulation and/or knife system. is configured to Another example is an electric motor 754 that operates, eg, displacement members and articulation drivers of interchangeable shaft assemblies. 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 acting 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 comprising an end effector 752 having motorized surgical stapling and cutting means. For example, motor 754 may drive the displacement member 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 the instrument 750 is ready for use, the clinician can provide a firing signal by, for example, pressing the trigger of the 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 disposed at its distal end can cut tissue between staple cartridge 768 and anvil 766 .

In various embodiments, surgical instrument 750 may include control circuitry 760 programmed to control distal translation of a displacement member, eg, I-beam 764, based on one or more tissue conditions. good. 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. 57 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, with 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 disclosed in commonly owned U.S. Patent Application Serial No. 15/628,175, entitled "TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT").

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 the longitudinally movable drive member, the position of I-beam 764 is determined by measuring the position of the longitudinally movable drive member using position sensor 784. be able to. 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, as described herein. In some embodiments, the control circuit 760 may be one or more microcontrollers, microprocessors, or processors for executing instructions that cause the displacement member, e.g., I-beam 764, to be controlled in a manner as described. may comprise other suitable processors. 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 . A motor setpoint signal 772 may be provided to the motor controller 758 . Motor controller 758 may comprise one or more circuits configured to provide motor drive signals 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 mechanism 756 . Transmission mechanism 756 may include one or more gears or other coupling components for coupling motor 754 to I-beam 764 . A position sensor 784 can 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 commanded to perform. The position sensor 784 can be located within the end effector 792 or any other portion of the instrument.

Control circuitry 760 may communicate with one or more sensors 788 . Sensors 788 are disposed on end effector 792 and adapted to work with surgical instrument 790 to measure various derived parameters such as gap distance vs. time, tissue compression vs. time, and anvil strain vs. time. good too. Sensors 788 measure one or more parameters of the end effector 792, inductive sensors such as magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or end effector 792. Any other suitable sensor may be provided for doing so. 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 created 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 exerted on 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 can be positioned at various interaction points along the closure drive system to detect the closing force exerted on 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 . Control circuitry 760 receives real-time sample measurements to provide and analyze time-based information to assess the closing force applied to 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 .

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. 58 is a simplified block diagram of a generator 800 configured to provide, among other advantages, inductorless tuning. Additional details of generator 800 are provided in U.S. Pat. No. 9,060,775, entitled "SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES," filed Jun. 23, 2015, which is incorporated by reference in its entirety. incorporated herein by reference. Generator 800 may include patient isolation stage 802 in communication 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. Providing tap configurations (e.g., center-tap or non-center-tap configurations) for defining drive signal outputs 810a, 810b, 810c for delivering drive signals to various surgical instruments, such as functional surgical instruments; can be done. 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 (e.g., 100V RMS drive signals) to the RF electrosurgical instrument with drive signal output 810b corresponding to the center tap of power transformer 806. You may

In certain forms, the ultrasonic and electrosurgical drive signals are separate surgical instruments and/or a multi-function surgical instrument capable of delivering both ultrasonic and electrosurgical energy to tissue. may be delivered simultaneously to a single surgical instrument such as. 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 sub-quantal signals can be used, for example, to monitor tissue or instrument conditions and provide feedback to the generator. For example, ultrasound and RF signals can be 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. . 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 include a power amplifier 812 having an output connected to a primary winding 814 of power transformer 806 . In certain forms, power amplifier 812 may include 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 include, 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 described below, logic device 816 implements a number of DSP-based and/or other control algorithms in conjunction with a processor (eg, a DSP described below) to control generator 800. can control the parameters of the drive signal output by .

Power may be supplied to the power rail of power amplifier 812 by a switch mode regulator 820, eg, a power converter. In certain forms, switch mode regulator 820 may include, for example, an adjustable buck regulator. The non-isolated stage 804 may further include a first processor 822, which in one form may be, for example, an Analog Devices ADSP-21469 SHARC DSP available from Analog Devices (Norwood, MA). A DSP processor may be included, although in various aspects any suitable processor may be used. In certain forms, DSP processor 822 may control the operation of switch mode regulator 820 in response to voltage feedback data that DSP processor 822 receives through 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, via a 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 determine the waveform shape, frequency, and/or amplitude of the drive signal output by generator 800. may be controlled. In one form, for example, the logic device 816 by calling waveform samples stored in a dynamically updated lookup table (LUT), such as a RAM LUT that may be embedded within an FPGA. , may implement the DDS control algorithm. 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. Based on the drive signal, the waveform shape of the drive signal output by generator 800 is affected by various sources of distortion present in the output drive circuit (e.g., power transformer 806, power amplifier 812). Voltage and current feedback data can be input to algorithms, such as error control algorithms implemented by DSP processor 822, to dynamically and continuously (e.g., in real-time) generate waveforms stored in LUTs. Distortion is compensated by suitably pre-distorting or modifying the sample. 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, the error being 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.

A non-isolated stage 804 is a first ADC circuit coupled to the output of the power transformer 806 via respective isolation transformers 830, 832 to sample the voltage and current, respectively, of the drive signal output by the generator 800. 826 and a second ADC circuit 828 may also be included. In certain forms, the ADC circuits 826, 828 may be configured to sample at high speeds (eg, 80 mega samples per second (MSPS)) to allow oversampling of the drive signal. can be done. 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 is particularly useful in computing the complex currents flowing through the operating branches (which is used in a particular form to implement the DDS-based waveform shape control described above). ), which can enable accurate digital filtering of the sampled signal and calculation of real power consumption with high precision. The voltage and current feedback data output by ADC circuits 826, 828 may be received and processed by logic device 816 (eg, first-in-first-out (FIFO) buffers, multiplexers). , may be stored in data memory for subsequent reading by the DSP processor 822, for example. 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. It may be necessary for the voltage and current feedback data pairs 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 implemented 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 the UI processor 836 include audible and visual user feedback, communication with peripherals (eg, via a USB interface), communication with footswitches, input devices (eg, 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, via an SPI bus). UI processor 836 may primarily support UI functionality, but in certain forms may also cooperate with DSP processor 822 to implement 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 an error condition may be detected. When detected, the drive output of generator 800 may 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 performed 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 presented 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 required 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 sensor, capacitive touch screen used to turn generator 800 on and off). can. 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 can 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 the “powered off” state, the controller 838 continues to receive operating power (eg, via a line from the power supply of the generator 800, such as the power supply 854 described below). may In this way, the controller 838 can continue to monitor the input device for turning the generator 800 on and off (eg, a capacitive touch sensor located on the front panel of the generator 800). When the generator 800 is in the power off state, the controller 838 can activate the power supply (e.g., one or more DC /enable operation of DC voltage converter 856). 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 initiates a sequence to transition generator 800 to the power-off state. can be done. In certain forms, for example, the controller 838 can report activation of an “on/off” input device to the UI processor 836, resulting in the process sequence required to transition the generator 800 to a power off state. to implement. In such a 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-control circuitry, such as logic device 816, DSP processor 822, and/or UI processor 836, for example. An instrument interface circuit 840 may be included to provide a communication interface between the components of isolation stage 804 . The instrument interface circuit 840 configures the unisolated stage 804 via a communication link that maintains a suitable degree of electrical isolation between the isolated stage 802 and the unisolated stage 804, such as an IR-based communication link. Elements and information can be exchanged. 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 can include logic circuitry 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, by 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 be The control circuit may include a number of switches, resistors, and/or diodes such that the state or configuration of the control circuit is individually identifiable based on one or more characteristics. The above characteristics (eg, amplitude, rectification) may be modified. In one form, for example, the signal conditioning circuit 844 can include an ADC circuit for generating 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) can 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 elements of the instrument interface circuit 840) located within or otherwise within the surgical instrument. Information may be exchanged with the associated first data circuit. In certain forms, for example, the first data circuit is in a cable integrally attached to a surgical instrument handpiece, or in a cable for interfacing with a particular surgical instrument type or model having a generator 800 . It may be located 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 include suitable circuitry (eg, a separate logic device, processor) to interface between the logic circuit 842 and the first data circuit interface 846 . It may allow communication to and from data circuits. 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 (eg, by logic circuitry 842) for presentation to a user via an output device and/or for control of generator 800 functions or operations. It may be communicated to components of isolation 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. 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 noted 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 read functionality, due to, for example, different signal schemes, design complexity and cost. be. The instrument configurations discussed herein are designed to economically use data circuitry that may be implemented in existing surgical instruments and to maintain compatibility between surgical instruments and modern generator platforms. Address these concerns by minimizing changes.

In addition, configurations of generator 800 may enable 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 may be 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 particular forms, 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). hand). 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 certain forms, the second data circuit may transmit data acquired by one or more sensors (eg, instrument-based temperature sensors). In particular forms, the second data circuit receives data from the generator 800 and provides an indication (eg, a light emitting diode indication or other visible indication) to the user based on the received data. good too.

In particular forms, the second data circuit and second data circuit interface 848 provide communication between the logic circuit 842 and the second data circuit via additional conductors for this purpose (eg, a handpiece). can be provided without the need to provide a dedicated conductor of the cable connecting 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 direct 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 current leakage from a point between blocking capacitors 850-1 and 850-2 is reduced by, for example, It is monitored by an ADC circuit 852 to sample the leakage current induced voltage. The samples may be received by logic circuitry 842, for example. Based on changes in leakage current (as indicated by the voltage samples), generator 800 determines when at least one of blocking capacitors 850-1, 850-2 has failed, thus providing a single It can provide advantages over single capacitor designs that have a point of failure.

In certain forms, the non-isolated stage 804 can 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 may further comprise one or more DC/DC voltage converters 856 for receiving the output of the power supply and producing DC outputs at the voltages and currents required by the various components of generator 800. can be done. As described above in connection with controller 838, one or more of DC/DC voltage converters 856 receive input from controller 838 when controller 838 detects user activation of an “on/off” input device. can be received and enabled or activated to operate the DC/DC voltage converter 856 .

FIG. 59 shows an example of generator 900, which is a form of generator 800 (FIG. 58). 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 2 or more. 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 the 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 of either 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 is The output may be determined by processor 902 by dividing by the output of current sensing circuit 914 placed in series with the RETURN leg of the secondary side of power transformer 908 . The outputs of the first voltage sensing circuit 912 and the second voltage sensing circuit 924 are provided to separate isolation transformers 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. 59 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. 59, a generator 900, including at least one output port, can provide power, e.g., ultrasound, bipolar or monopolar RF, irreversible and/or or reversible electroporation, and/or a power transformer 908 having a single output and multiple taps to provide an end effector in the form of one or more energy modalities such as microwave energy. can contain. 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 the U.S. Patent, published Mar. 30, 2017, entitled "TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS," which is hereby incorporated by reference in its entirety. Application Publication No. 2017/0086914 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 contain 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 peripherals 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. 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), one or more Available from Texas Instruments, including a pulse width modulation (PWM) module, one or more quadrature encoder input (QEI) analog, one or more 12-bit analog-to-digital converters (ADC) with 12 analog input channels LM4F230H5QR ARM Cortex-M4F processor core.

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 designation Hercules ARM Cortex R4, also manufactured by Texas Instruments. Safety controllers may be specifically configured for IEC61508 and ISO26262 safety limit applications to provide advanced integrated safety mechanisms while offering scalable performance, connectivity, and memory options. good.

Modular devices connect to various modules for connection or pairing with corresponding surgical hubs (e.g., described in connection with FIGS. 41 and 48) receivable within a surgical hub a surgical device or instrument capable of 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 (eg, tissue properties or delivery pressure) during surgery 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, be a modular device (e.g., a robotic arm and/or a robotic surgical system) connected thereto and providing contextualized information or suggestions to the surgeon during the course of the surgical procedure. tools) can be improved.

Referring now to FIG. 60, a timeline 5200 illustrating the 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 prompts (e.g., via a display screen), adjust modular devices 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 Electronic Medical Record (EMR) from the hospital's 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 either because it does not correspond to 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 auxiliary devices 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 equipment. When activated, an auxiliary device that is a modular device can automatically pair with surgical hubs 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 types of modular devices that connect to the hub, the surgical hubs 106, 206 generally map 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 monitors) 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 monitor, 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 the modular device and/or patient monitor 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. 40) is used (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 used, among many different methods. may be used to determine contextual information about 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. However, it 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 the energy being delivered at this point in the process (i.e., after the steps of the procedure described above have been completed). It can be determined that the instrument 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 procedure 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. Thus, the particular sequence in which stapling/cutting instruments and surgical energy instruments are used can indicate which step of the procedure the surgeon is performing. Further, in certain instances, robotic tools may be used for one or more steps during the surgical procedure and/or hand-held surgical instruments may be used for one or more steps during the surgical procedure. 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 monitors 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 the patient monitor. As can be seen from this exemplary procedure description, surgical hubs 106, 206 may 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 U.S. Provisional Patent Application No. 62/611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," the disclosure of which is incorporated herein by reference in its entirety. ing. 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. may be controlled by the hub 106, 206 based on the information in the

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

Example 1 - A surgical drainage system comprising a pump, a motor operably connected to the pump, and a flow path fluidly connected to the pump. The flow path includes a first filtration path and a second filtration path. The surgical drainage system further includes a sensor positioned along the flow path upstream of the pump. The sensor is configured to detect a parameter of fluid moving through the flow path. The surgical drainage system further comprises control circuitry configured to direct fluid along the first filtration path until a parameter detected by the sensor exceeds a stored threshold parameter. The control circuit is further configured to direct the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter.

Example 2 - The surgical drainage system of Example 1, wherein the second filtration path includes the fluid filter and the particulate filter, and the first filtration path includes the particulate filter and bypasses the fluid filter.

Example 3 - A first filtration path includes a first particulate filter and bypasses a second particulate filter, and a second filtration path includes the first particulate filter and the second particulate filter. The surgical drainage system of Example 1.

Example 4 - The surgical drainage system of Example 3, wherein the second particulate filter is a finer filter than the first particulate filter.

Example 5 - The flow path includes a diverter valve movable between a first position and a second position, wherein the fluid is directed along the first filtration path when the diverter valve is in the first position. 5. The surgical drainage system of example 1, 2, 3, or 4, wherein the fluid is directed along the second filtration path when the diverter valve is in the second position.

Example 6 - The control circuit includes a processor and memory communicatively coupled to the processor, the memory adapted to adjust operation of the motor when a parameter sensed by the sensor exceeds a second threshold parameter. 6. The surgical ejection system of example 1, 2, 3, 4, or 5, storing instructions executable by the processor.

Example 7 - The surgical drainage system of Example 1, 2, 3, 4, 5, or 6, wherein the sensor comprises a laser particle counter.

Example 8 - The surgical drainage system of Example 1, 2, 3, 4, 5, or 6, wherein the sensor comprises a continuity sensor.

Example 9 - A surgical drainage system comprising a pump, a motor operably connected to the pump, and a flow path fluidly connected to the pump. The flow path includes a first filtration path, a second filtration path, and a diverter valve movable between first and second positions. Fluid is directed along the first filtration path when the diverter valve is in the first position. Fluid is directed along a second filtration path when the diverter valve is in the second position. The surgical drainage system further includes a sensor positioned along the flow path upstream of the pump. The sensor is configured to detect a parameter of fluid moving through the flow path. The surgical drainage system further comprises a control circuit configured to control the diverter valve based on parameters detected by the sensor.

Example 10 - The surgical drainage system of Example 9, wherein the second filtration path includes the condenser and the particulate filter and the first filtration path includes the particulate filter and bypasses the condenser.

Example 11 - A first filtration path includes a first particulate filter and bypasses a second particulate filter, and a second filtration path includes the first particulate filter and the second particulate filter. A surgical drainage system according to Example 9.

Example 12 - The surgical drainage system of Example 11, wherein the second particulate filter is a finer filter than the first particulate filter.

Example 13 - The surgical ejection of example 9, 10, 11, or 12, wherein the control circuit is configured to adjust operation of the motor when the parameter detected by the sensor exceeds the threshold parameter system.

Example 14 - A control circuit includes a processor and memory communicatively coupled to the processor, the memory having instructions executable by the processor to control the diverter valve based on parameters sensed by the sensor. 14. The surgical drainage system of example 9, 10, 11, 12, or 13, wherein the surgical drainage system stores:

Example 15 - The surgical drainage system of Example 9, 10, 11, 12, 13, or 14, wherein the sensor comprises a laser particle counter.

Example 16 - The surgical drainage system of example 9, 10, 11, 12, 13, or 14, wherein the sensor comprises a continuity sensor.

Example 17 - A non-transitory computer readable medium storing computer readable instructions which, when executed, cause a machine to detect a parameter of fluid traveling through a fluid path of a surgical drainage system. The flow path includes a first filtration path and a second filtration path. The computer readable instructions, when executed, further cause the machine to direct fluid along the first filtration path until the parameter detected by the sensor exceeds the threshold parameter, and the parameter detected by the sensor exceeds the threshold parameter. Exceeding directs the fluid along a second filtration path.

Example 18 - The computer readable instructions, when executed, cause the machine to send a signal to the electrically actuated ball valve diverter based on parameters sensed by the sensor, causing the electrically actuated ball valve diverter to move to the first position. 18. The method of embodiment 17, wherein fluid is directed along a first filtration path when the electrically actuated ball valve diverter is in the second position and along a second filtration path when the electrically actuated ball valve diverter is in the second position. non-transitory computer-readable medium.

Example 19 - The non-transitory computer of example 17 or 18, wherein the second filtration path includes a fluid filter and a particulate filter, and the first filtration path includes the particulate filter and bypasses the fluid filter readable medium.

Example 20 - A first filtration path includes a first particulate filter and bypasses a second particulate filter, and a second filtration path includes the first particulate filter and the second particulate filter. The non-transitory computer readable medium of Example 17 or 18.

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 apparatus and/or processes using block diagrams, flowcharts, and/or examples. To the extent such block diagrams, flowcharts and/or examples include one or more features and/or acts, it should be understood by those skilled in the art that such block diagrams, flowcharts and/or examples include Each function and/or operation included may be implemented individually and/or collectively by various hardware, software, firmware, or virtually any combination thereof. One skilled in the art will appreciate that all or part of some aspects of the forms disclosed herein can be implemented as one or more computer programs running on one or more computers (e.g., one or more as one or more programs running on a computer system), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), can be equivalently implemented on an integrated circuit as firmware, or substantially any combination thereof, and designing the circuit and/or writing code for software and/or firmware is It is understood to be within the skill of one of ordinary skill in the art in view of the disclosure. Moreover, those skilled in the art will appreciate that the subject matter described herein may be distributed as one or more program products in a variety of forms, and the subject matter described herein may be distributed as one or more program products. The specific form of is used regardless of the particular type of signal-bearing medium used to actually effect 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. Further, 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, processing units, processors, including one or more individual instruction processing cores, implemented by a microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)), state machine circuit, programmable circuit It can refer to firmware that stores instructions, 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 apparatus 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, communication switches, or optical-to-electrical equipment). Those skilled in the art will recognize that the subject matter described herein may be implemented in analog or digital form, or some combination thereof.

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

As used in any aspect of this specification, the terms “component,” “system,” “module,” etc. 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. The communication devices can communicate with each other using a selected packet-switched network communication protocol. One exemplary communication protocol may include the Ethernet communication protocol, which may use Transmission Control Protocol/Internet Protocol (TCP/IP) to enable communication. The Ethernet protocol may conform to or be 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. can be. Alternatively or additionally, the communication device may V.25 communication protocol can be used to communicate with each other. X. The V.25 communication protocol may conform to or be compatible with standards promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices can communicate with each other using a frame relay communication protocol. The frame relay communication protocol may conform to or be compatible with standards promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT) and/or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be able to communicate with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard published in August 2001 by the ATM Forum under the title "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 expressly specified otherwise, the terms "process," "calculate," "calculate," "determine," and "display" are used throughout the foregoing disclosure as apparent from the foregoing disclosure. Discussions using terms such as and the like refer to data represented as physical (electronic) quantities in the registers and memory of a computer system and to the memory or registers of a computer system or other 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 other data similarly represented as physical quantities within.

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

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, whether within the specification, unless the context requires otherwise, It should be understood that the possibility of including one of those terms, either of those terms, or both of those terms is intended, whether in the claims or in the drawings. One of ordinary skill in the art will recognize that there is. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B."

With regard to the appended claims, those skilled in the art will understand that the operations recited herein can generally be performed in any order. Also, while the flow diagrams of various acts are shown in sequence(s), it is understood that the various acts may be performed in orders other than those illustrated, or may be performed simultaneously. should be understood. 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 phrases "in one aspect," "in an aspect," "in an example," and "in an example" appearing in various places throughout this specification do not necessarily all refer to the same aspect. do not have. 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. The one or more embodiments are intended to illustrate principles and practical applications, thereby enabling a person skilled in the art to utilize the various forms, along with various modifications, as suitable for the particular use envisioned. selected and described. It is intended that the claims presented herewith define the overall scope.

[Mode of implementation]
(1) a pump;
a motor operably connected to the pump;
a flow path fluidly coupled to the pump, the flow path including a first filtration path and a second filtration path;
a sensor positioned along the flow path upstream of the pump, the sensor configured to detect a parameter of fluid moving through the flow path;
A control circuit,
directing the fluid along the first filtration path until the parameter detected by the sensor exceeds a stored threshold parameter;
directing the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter;
a control circuit configured to
comprising
Surgical drainage system.
Clause 2. The surgical drainage of clause 1, wherein the second filtration path includes a fluid filter and a particulate filter, and the first filtration path includes the particulate filter and bypasses the fluid filter. system.
(3) said first filtration path includes a first particulate filter and bypasses a second particulate filter, said second filtration path comprising said first particulate filter and said second particulate filter; 2. The surgical drainage system of embodiment 1, comprising:
(4) The surgical drainage system of Clause 3, wherein the second particulate filter is a finer filter than the first particulate filter.
(5) the flow path includes a diverter valve movable between a first position and a second position, wherein the fluid is in the first position when the diverter valve is in the first position; 2. The surgical drainage system of claim 1, wherein the fluid is directed along the second filtration path when the diverter valve is in the second position.

(6) the control circuit includes a processor and a memory communicatively coupled to the processor, the memory operable to operate the motor when the parameter sensed by the sensor exceeds a second threshold parameter; 2. The surgical ejection system of claim 1, storing instructions executable by the processor to coordinate operation.
Clause 7. The surgical evacuation system of Clause 1, wherein the sensor includes a laser particle counter.
Clause 8. The surgical drainage system of clause 1, wherein the sensor includes a continuity sensor.
(9) a pump;
a motor operably connected to the pump;
a flow path fluidly connected to the pump, the flow path including a first filtration path, a second filtration path, and a diverter valve movable between a first position and a second position; and, when the diverter valve is in the first position, fluid is directed along the first filtration path, and when the diverter valve is in the second position, the fluid is directed to a flow path directed along the second filtration path;
a sensor positioned along the flow path upstream of the pump, the sensor configured to detect a parameter of the fluid moving through the flow path;
a control circuit configured to control the diverter valve based on the parameter sensed by the sensor;
comprising
Surgical drainage system.
Clause 9. The surgical drainage of clause 9, wherein the second filtration path includes a condenser and a particulate filter, and the first filtration path includes the particulate filter and bypasses the condenser. system.

(11) said first filtration path includes a first particulate filter and bypasses a second particulate filter, said second filtration path comprising said first particulate filter and said second particulate filter; 10. The surgical drainage system of embodiment 9, comprising:
Clause 12. The surgical drainage system of Clause 11, wherein the second particulate filter is a finer filter than the first particulate filter.
Clause 13. The surgical evacuation system of Clause 9, wherein the control circuit is configured to adjust operation of the motor when the parameter detected by the sensor exceeds a threshold parameter.
(14) the control circuit includes a processor and memory communicatively coupled to the processor, the memory configured to control the diverter valve based on the parameter sensed by the sensor; 10. The surgical ejection system of embodiment 9, storing instructions executable by the processor.
Clause 15. The surgical evacuation system of Clause 9, wherein the sensor includes a laser particle counter.

Clause 16. The surgical drainage system of Clause 9, wherein the sensor includes a continuity sensor.
(17) A non-transitory computer-readable medium storing computer-readable instructions which, when executed, cause a machine to:
detecting a parameter of a fluid traveling through fluid paths of a surgical drainage system including a first filtration path and a second filtration path;
directing the fluid along the first filtration path until the parameter detected by the sensor exceeds a threshold parameter;
directing the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter;
Non-Transitory Computer-Readable Medium.
(18) the computer readable instructions, when executed, cause the machine to send a signal to an electrically actuated ball valve diverter based on the parameter sensed by the sensor, the electrically actuated ball valve diverter When in the first position, fluid is directed along the first filtration path, and when the electrically actuated ball valve diverter is in the second position, the fluid is directed along the second filtration path. 18. The non-transitory computer-readable medium of embodiment 17, directed.
Clause 19. The non-temporary filter of clause 17, wherein the second filtration path includes a fluid filter and a particulate filter, and wherein the first filtration path includes the particulate filter and bypasses the fluid filter. computer readable medium.
(20) said first filtration path includes a first particulate filter and bypasses a second particulate filter, said second filtration path comprising said first particulate filter and said second particulate filter; 18. The non-transitory computer-readable medium of embodiment 17, comprising:

Claims (11)

A surgical evacuation system configured to evacuate smoke, fluids, and/or particulates from a surgical site, comprising:
a pump;
a motor operably connected to the pump;
a flow path fluidly coupled to the pump, the flow path including a first filtration path and a second filtration path;
A sensor disposed along the flow path upstream of the pump, the sensor configured to detect a parameter of fluid moving through the flow path , the parameter being detected a sensor that is the liquid-gas ratio or the aerosol ratio ;
A control circuit,
directing the fluid along the first filtration path until the parameter detected by the sensor exceeds a stored threshold parameter;
directing the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter;
a control circuit configured to
and
the threshold parameter is a liquid-gas ratio or aerosol fraction;
the first filtration path includes a first particulate filter and bypasses a second particulate filter, the second filtration path includes the first particulate filter and the second particulate filter; Surgical drainage system. The surgical drainage system of any preceding claim, wherein the second particulate filter is a finer filter than the first particulate filter. The control circuit includes a processor and memory communicatively coupled to the processor, the memory adjusting operation of the motor when the parameter sensed by the sensor exceeds a second threshold parameter. The surgical ejection system of claim 1, storing instructions executable by the processor to cause the discharge to occur. The surgical evacuation system of claim 1, wherein the sensor includes a laser particle counter. A surgical evacuation system configured to evacuate smoke, fluids, and/or particulates from a surgical site, comprising:
a pump;
a motor operably connected to the pump;
a flow path fluidly connected to the pump, the flow path including a first filtration path, a second filtration path, and a diverter valve movable between a first position and a second position; and, when the diverter valve is in the first position, fluid is directed along the first filtration path, and when the diverter valve is in the second position, the fluid is directed to a flow path directed along the second filtration path;
A sensor disposed along the flow path upstream of the pump, the sensor configured to detect a parameter of the fluid moving through the flow path , the parameter being detected. a sensor that is a liquid-gas ratio or aerosol fraction ;
a control circuit configured to control the diverter valve based on the parameter sensed by the sensor;
and
said first filtration path including a first particulate filter and bypassing a second particulate filter, said second filtration path including said first particulate filter and said second particulate filter;
The control circuit is
directing the fluid along the first filtration path until the parameter detected by the sensor exceeds a threshold parameter; and
directing the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter;
is configured as
wherein the threshold parameter is a liquid-gas ratio or an aerosol fraction;
Surgical drainage system. The surgical drainage system of claim 5 , wherein the second particulate filter is a finer filter than the first particulate filter. The surgical evacuation system of claim 5 , wherein the control circuit is configured to adjust operation of the motor when the parameter detected by the sensor exceeds the threshold parameter. The control circuit includes a processor and memory communicatively coupled to the processor, the memory executed by the processor to control the diverter valve based on the parameter sensed by the sensor. 6. The surgical evacuation system of claim 5 , which stores possible instructions. The surgical evacuation system of claim 5 , wherein the sensor includes a laser particle counter. The surgical ejection system further comprises a non-transitory computer readable medium storing computer readable instructions which, when executed, cause the surgical ejection system to:
detecting the parameter of the fluid traveling through the flow path of the surgical drainage system, including the first filtration path and the second filtration path ;
directing the fluid along the first filtration path until the parameter detected by the sensor exceeds the threshold parameter;
directing the fluid along the second filtration path when the parameter detected by the sensor exceeds the threshold parameter;
6. The surgical drainage system of claim 5. the diverter valve is an electrically actuated ball valve diverter;
The computer readable instructions , when executed, cause the surgical drainage system to transmit a signal to the electrically actuated ball valve diverter based on the parameter sensed by the sensor to cause the electrically actuated ball valve diverter to is in a first position, fluid is directed along said first filtration path, and when said electrically actuated ball valve diverter is in a second position, said fluid is directed along said second filtration path. 11. The surgical drainage system of claim 10 , wherein the is directed.

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