JP7438951B2 - Surgical discharge sensing and motor control - Google Patents

Description

(Cross reference to related applications)
This application is a United States Provisional Application filed June 28, 2018, entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL," the entire disclosure of which is incorporated herein by reference under 35 U.S.C. 119(e). Claims priority benefit of patent application no. 62/691,219.

This application is filed under 35 U.S.C. Provisional Patent Application No. 62/650,887, entitled “SURGICAL SMOKE EVACUATION SENSING AND CONTROLS,” filed March 30, 2018, U.S. Provisional Patent Application No. 62/650,877, “SMOKE EVACUATION MODULE FO R INTERACTIVE SURGICAL 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 claims priority.

This application is further filed under 35 U.S.C. 119(e) entitled ``TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR,'' March 8, 2018, each disclosure of which is incorporated herein by reference in its entirety. and U.S. Provisional Patent Application No. 62/640,415, filed March 8, 2018, entitled “ESTIMATION STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR.” of Claim the right of priority.

This application further relates to a United States provisional patent filed December 28, 2017 entitled "INTERACTIVE SURGICAL PLATFORM," each disclosure of which is hereby incorporated by reference in its entirety under 35 U.S.C. 119(e). Applications 62/611, 341, and "CLOUD -BASED MEDICAL Analytics" Applications on December 28, 2017. 2017 1217 entitled "LATFORM" Claims priority benefit of U.S. Provisional Patent Application No. 62/611,339, filed May 28th.

The present invention relates to a surgical system and its ejector. Surgical smoke evacuators are configured to evacuate smoke, as well as 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 evacuation system includes a pump, a motor configured to drive the pump, and a housing. The housing includes an inlet port, an outlet port, and a flow path defined through the housing from the inlet port to the outlet port. A pump is arranged along the flow path. The surgical drainage system further includes a sensor positioned along the flow path. The sensor is configured to detect particulate concentration in a volume of fluid moving past the sensor. The surgical drainage system further includes a control circuit configured to receive a signal from the sensor indicative of a particulate concentration in the volume of fluid. The control circuit is further configured to send a drive signal to the motor to automatically change the speed of the motor based on the signal from the sensor.

In various embodiments, a non-transitory computer-readable medium storing computer-readable instructions is disclosed. When executed, the computer readable instructions cause the machine to receive a signal from a sensor of the surgical evacuation system. The surgical evacuation system further includes a pump, a motor configured to drive the pump, a housing having an inlet port and an outlet port, and a flow path defined through the housing from the inlet port to the outlet port. include. A sensor is disposed along the flow path and configured to detect a particulate concentration in a volume of fluid moving past the sensor. The computer readable instructions, when executed, further cause the machine to automatically send a drive signal to the motor to change the speed of the motor based on the signal from the sensor.

In various embodiments, a surgical evacuation system includes a pump, a motor configured to drive the pump, a filter receptacle, and a housing. The housing includes an inlet port, an outlet port, and a flow path defined through the housing. A flow path fluidly couples the inlet port, filter receptacle, pump, and outlet port. The surgical drainage system further includes a first sensor disposed within the flow path upstream of the filter receptacle. The first sensor is configured to detect particulates in a fluid moving through the flow path. The surgical drainage system further includes a second sensor positioned within the flow path downstream of the filter receptacle. The second sensor is configured to detect a concentration of particulates in a fluid moving through the flow path. The surgical evacuation system further includes a control circuit configured to receive a first signal from the first sensor. The first signal is indicative of the particulate concentration present in the fluid upstream of the filter receptacle. The control circuit is further configured to receive a second signal from a second sensor. The second signal is indicative of the particulate concentration present in the fluid downstream of the filter receptacle. The control circuit is further configured to send a drive signal to change the speed of the motor based on at least one of the first signal and the second signal.

The features of various aspects are set forth in detail in the appended claims. However, various aspects of both the mechanism and the method of operation, together with further objects and advantages thereof, can best be understood by reference to the following description, taken in conjunction with the accompanying drawings, in which: FIG.
1 is a perspective view of an ejector housing of a surgical evacuation 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. FIG. 3 is an elevational view of a surgical evacuation tool releasably secured to an electrosurgical pencil in accordance with at least one aspect of the present disclosure. 1 is a schematic diagram illustrating internal components within an ejector housing of a surgical evacuation system in accordance with at least one aspect of the present disclosure; FIG. 1 is a schematic diagram of an electrosurgical system including a smoke evacuator, according to at least one aspect of the present disclosure. FIG. 1 is a schematic diagram of a surgical evacuation system according to at least one aspect of the present disclosure. FIG. 1 is a perspective view of a surgical system including a surgical evacuation system in accordance with at least one aspect of the present disclosure; FIG. 8 is a perspective view of an ejector housing of the surgical evacuation system of FIG. 7, in accordance with at least one aspect of the present disclosure; FIG. 9 is an elevational 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. 1 is a perspective view of a filter of an 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 a central longitudinal plane of the filter, in accordance with at least one aspect of the present disclosure; FIG. 8 is a pump for a surgical evacuation system, such as the surgical evacuation system of FIG. 7, in accordance with 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 elevational cross-sectional view of the fluid trap of FIG. 14 in accordance with at least one aspect of the present disclosure. FIG. 15 is an elevational cross-sectional view of the fluid trap of FIG. 14 with portions removed for clarity, with liquid trapped within the fluid trap and smoke flowing through the fluid trap, in accordance with at least one aspect of the present disclosure; FIG. It shows. 1 is a schematic illustration of an ejector housing of an evacuation system in accordance with at least one aspect of the present disclosure; FIG. FIG. 3 is a schematic illustration of an ejector housing of another evacuation system in accordance with at least one aspect of the present disclosure. 1 is a schematic diagram of a photoelectric sensor of a surgical evacuation system in accordance with at least one aspect of the present disclosure; FIG. FIG. 3 is a schematic illustration of another photoelectric sensor of a surgical evacuation system in accordance with at least one aspect of the present disclosure. 1 is a schematic illustration of an ionization sensor for a surgical evacuation system in accordance with at least one aspect of the present disclosure; FIG. 2A and 2B are graphical representations of (A) particle count over time and (B) motor speed of a surgical evacuation system over time, in accordance with at least one aspect of the present disclosure. 1 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; FIG. 24B is a cross-sectional view of the diverter valve of FIG. 24A in a second position, according to at least one aspect of the present disclosure. FIG. 2 is a graphical representation of (A) airflow fluid content over time and (B) duty cycle of a surgical drainage system over time, in accordance with at least one aspect of the present disclosure. 3 is a flowchart illustrating a regulation algorithm for a surgical evacuation system in accordance with at least one aspect of the present disclosure. 3 is a flowchart illustrating a regulation algorithm for a surgical evacuation system in accordance with at least one aspect of the present disclosure. 3 is a flowchart illustrating a regulation algorithm for a surgical evacuation system in accordance with at least one aspect of the present disclosure. 3 is a flowchart illustrating a surgical system adjustment algorithm 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. 3 is a flowchart illustrating an algorithm for displaying efficiency data for a surgical drainage system in accordance with at least one aspect of the present disclosure. 3 is a flowchart illustrating a regulation algorithm for a surgical evacuation system in accordance with at least one aspect of the present disclosure. 2 is a graphical representation of (A) particle count over time and (B) RF current to voltage ratio of a surgical system over time, in accordance with at least one aspect of the present disclosure. 3 is a flowchart illustrating a surgical system adjustment algorithm 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 evacuation system and a second signal received from a second sensor of the evacuation system, according to at least one aspect of the present disclosure. This is a flowchart for 2 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. . A graphical representation of a ratio of a pressure detected at a first sensor to a pressure detected at a second sensor and a pulse width modulation duty cycle of a motor of an evacuation system over time in accordance with at least one aspect of the present disclosure. be. 3 is a graphical representation of (A) particles counted over time and (C) air flow rate over time of an evacuation system, in accordance with at least one aspect of the present disclosure. 1 is a block diagram of a computer-implemented interactive surgical system in accordance with at least one aspect of the present disclosure. FIG. 1 is a surgical system used to perform a surgical procedure within an operating room, according to at least one aspect of the present disclosure. 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. 1 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; FIG. 1 is a perspective view of a combination generator module with bipolar, ultrasonic, and monopolar contacts and smoke evacuation components in accordance with at least one aspect of the present disclosure; FIG. FIG. 6 illustrates individual power bus attachments of a plurality of lateral docking ports of a lateral modular housing configured to receive a plurality of modules in accordance with at least one aspect of the present disclosure. 2 illustrates a vertical modular housing configured to receive a plurality of modules in accordance with at least one aspect of the present disclosure. Connecting a modular device located in one or more operating rooms of a medical facility, or any room within a medical facility with specialized equipment for surgical procedures, to the cloud in accordance with at least one aspect of the present disclosure. 1 illustrates a surgical data network with a modular communications hub configured in FIG. 1 illustrates a computer-implemented interactive surgical system according to at least one aspect of the present disclosure. 3 illustrates a surgical hub with multiple modules coupled to a modular control tower in accordance with at least one aspect of the present disclosure; FIG. 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 surgical instrument or tool control system in accordance with at least one aspect of the present disclosure. 1 illustrates a control circuit configured to control aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure. 2 illustrates a combinational logic circuit configured to control aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure. 3 illustrates a sequential logic circuit configured to control aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure. 1 illustrates a surgical instrument or tool with multiple motors that can be activated to perform various functions, according to at least one aspect of the present disclosure. 1 is a schematic illustration of a robotic surgical instrument configured to manipulate the surgical tools described herein, according to at least one aspect of the present disclosure. FIG. FIG. 3 illustrates a block diagram of a surgical instrument programmed to control distal translation of a displacement member in accordance with at least one aspect of the present disclosure. 1 is a schematic illustration of a surgical instrument configured to control various functions in accordance with 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 generator that is one form of the generator of FIG. 20, in accordance with at least one aspect of the present disclosure. 3 is a timeline illustrating situational awareness of a surgical hub, according to one aspect of the present disclosure.

The applicant of this application owns the following United States patent applications filed June 29, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- U.S. Patent Application No. _____, Attorney Docket No. END8542USNP/170755, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS";
- United States Patent Application No. _____, Attorney Docket No. END8543USNP/170760, entitled "CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS";
- U.S. Patent Application No. ``SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE INFORMATION,'' Attorney Docket No. END8543USNP1/170760- 1,
- United States Patent Application No. _____, Attorney Docket No. END8543USNP2/170760-2, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING";
- United States 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. _____ entitled "SYSTEMS FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE," Attorney Docket No. END8543USNP5/170760-5;
- United States Patent Application No. _____, Attorney Docket No. END8543USNP6/170760-6, entitled "SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES";
- United States Patent Application No. _____, Attorney Docket No. END8543USNP7/170760-7, entitled "VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY";
- United States Patent Application No. _____, Attorney Docket No. END8544USNP/170761, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE";
- U.S. Patent Application No. _____, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT," Attorney Docket No. END8544USNP1/170761-1;
- U.S. Patent Application No. _____, entitled "SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY," Attorney Docket No. END8544USNP2/170761-2;
- United States Patent Application No. _____, Attorney Docket No. END8544USNP3/170761-3, entitled "SURGICAL SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES";
- U.S. Patent Application No. _____, entitled "SURGICAL EVACUATION SENSOR ARRANGEMENTS," Attorney Docket No. END8545USNP1/170762-1;
- United States Patent Application No. _____, Attorney Docket No. END8545USNP2/170762-2, entitled "SURGICAL EVACUATION FLOW PATHS";
- United States 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'';
・“COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL P U.S. Patent Application No. ``LATFORM'', Attorney Docket No. END8546USNP/170763;
- U.S. Patent Application No. ``SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM,'' Attorney Docket No. END 85 46USNP1/170763-1
・“SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE” United States Patent Application No. _____, Attorney Docket No. END8547USNP/170764, and ``DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS'' ”, United States Patent Application No. _____, Attorney Docket No. END8548USNP/170765.

The applicant of this application owns the following United States Provisional Patent Applications filed June 28, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- 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 EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL P U.S. Provisional Patent Application No. 62/691,257 entitled ``LATFORM'';
・“SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE” U.S. Provisional Patent Application No. 62/691,262 entitled ``DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS''; Provisional Patent Application No. 62/691,251.

The applicant of this application owns the following United States patent applications filed March 29, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- U.S. Patent Application No. 15/940,641 entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES";
- U.S. Patent Application No. 15/940,648 entitled "INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES";
- U.S. Patent Application No. 15/940,656 entitled "SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES";
- U.S. Patent Application No. 15/940,666 entitled "SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS";
- 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 No. 15/940,632 entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD";
・“COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUDS BASED U.S. Patent Application No. 15/940,640 entitled ``ANALYTICS SYSTEMS'';
- U.S. Patent Application No. 15/940,645 entitled "SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT";
- U.S. Patent Application No. 15/940,649 entitled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME";
- U.S. Patent Application No. 15/940,654 entitled "SURGICAL HUB SITUATIONAL AWARENESS";
- U.S. Patent Application No. 15/940,663 entitled "SURGICAL SYSTEM DISTRIBUTED PROCESSING";
- U.S. Patent Application No. 15/940,668 entitled "AGGREGATION AND REPORTING OF SURGICAL HUB DATA";
- U.S. Patent Application No. 15/940,671 entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER";
- U.S. Patent Application No. 15/940,686 entitled "DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR 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 No. 15/940,704 entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT";
U.S. Patent Application No. 15/940,722 entitled "CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY" U.S. Patent Application No. 15/940,742 entitled ``UAL CMOS ARRAY IMAGING''.

The applicant of this application owns the following United States patent applications filed March 29, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- U.S. Patent Application No. 15/940,636 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES";
- U.S. Patent Application 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,"
・“CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGE DATA SE U.S. patent application Ser. No. 15/940,679, entitled
- U.S. Patent Application No. 15/940,694 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION" No.,
- U.S. Patent Application No. 15/940,634 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES";
・U.S. Patent Application No. 15/940,706 entitled ``DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK,'' and ``CLOUD INTERFACE FOR COUPLED SURGIC.'' US patent application Ser. No. 15/940,675 entitled ``AL DEVICES''.

The applicant of this application owns the following United States patent applications filed March 29, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- U.S. Patent Application No. 15/940,627 entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- U.S. Patent Application No. 15/940,637 entitled "COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- U.S. Patent Application No. 15/940,642 entitled "CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- U.S. Patent Application No. 15/940,676 entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- U.S. Patent Application No. 15/940,680 entitled "CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- U.S. Patent Application No. 15/940,683 entitled "COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
- U.S. Patent Application No. 15/940,690 entitled "DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS" No. 15/940,711 entitled "SURGICAL PLATFORMS."

The applicant of this application owns the following United States Provisional Patent Applications filed March 28, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- 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 STRIPPING 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,” and ・“SENSING ARRANGEMENTS FOR ROBOT-A U.S. Provisional Patent Application No. 62/649,323 entitled “SSISTED SURGICAL PLATFORMS” issue.

The applicant of this application owns the following United States Provisional Patent Applications filed April 19, 2018, the disclosures of each of which are incorporated herein by reference in their entirety.
- U.S. Provisional Patent Application No. 62/659,900 entitled "METHOD OF HUB COMMUNICATION."

Before describing various aspects of the surgical device and generator in detail, it should be noted that the illustrated embodiments are not limited in application or use to the details of construction and arrangement of parts shown in the accompanying drawings and description. It should be kept in mind. The example embodiments may be implemented or incorporated into other aspects, variations, and modifications and may be practiced or carried out in various ways. Furthermore, unless otherwise stated, the terms and expressions used herein have been selected for the convenience of the reader to describe exemplary embodiments and are not intended to be limiting. . Furthermore, one or more of the aspects, implementations of the aspects, and/or examples described below may be combined with any one or more of the other aspects, implementations of the 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 that utilize 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 ultrasound devices with ultrasound blades. It will be done. For electrosurgical devices, the generator is configured to generate an oscillating current to energize the electrodes. For ultrasonic devices, the generator is configured to generate ultrasonic vibrations and energize the ultrasonic blade. Generators are described further herein.

Ultrasonic energy can be utilized to coagulate and cut tissue. Ultrasonic energy coagulates and cuts tissue by vibrating an energy delivery surface (eg, an ultrasound blade) in contact with the tissue. The ultrasonic blade can be coupled to a waveguide that transmits vibrational energy from an ultrasonic transducer that generates mechanical vibrations and is powered by a generator. By vibrating at a high frequency (e.g., 55,500 times per second), the ultrasonic blade creates a vibration between the blade and the tissue, denaturing proteins within the tissue and forming a sticky coagulum. Friction and heat are generated at the interface. The pressure exerted on the tissue by the blade surface causes the blood vessel to collapse, allowing the clot to form a hemostatic seal. The precision of cutting and coagulation can be controlled, for example, by clinician technique 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 coagulation hemostasis substantially simultaneously, desirably minimizing 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. Ultrasonic end effectors transmit ultrasonic energy to tissue in contact with the end effector. Ultrasonic instruments of this nature may be configured, for example, for open surgical applications, including robot-assisted surgery, laparoscopic surgery or endoscopic surgery.

Electrical energy can also be utilized for coagulation and/or cutting. Electrosurgical devices typically include a handpiece and an instrument having an end effector (eg, one or more electrodes) attached to a distal end. The end effector can be positioned against and/or adjacent tissue such that 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 electrode or tip of the electrosurgical device is small at the point of contact with the patient so as to generate a high frequency current with a high current density to produce the surgical effect of coagulating and/or cutting tissue by cautery. It has become a thing. The return electrode carries the same radio 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 monopolar operation, electrical current is introduced into the tissue by the active electrode of the end effector and returned through a return electrode (eg, a ground pad) located separately at or relative to the patient's body. The heat generated by the electrical current flowing through tissue may form a hemostatic seal within and/or between tissues, and thus may be particularly useful, for example, for sealing blood vessels. The end effector of the electrosurgical device may also include a cutting member movable relative to the tissue and the electrode to transect the tissue.

During application, the electrosurgical device can transmit low frequency RF current through the tissue, which creates ion agitation or friction (ie, resistive heating), thereby increasing the temperature of the tissue. A boundary is created between the diseased tissue and the surrounding tissue, allowing the clinician to 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 primarily composed 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 techniques, among others. The techniques disclosed herein apply to ultrasound, bipolar and/or monopolar RF (electrosurgical), irreversible and/or reversible electroporation, and/or microwave based surgical instruments, among others. It is possible.

Electrical energy applied by the electrosurgical device can be transferred from the generator to the instrument. The generator is configured to convert electricity into a high frequency waveform consisting of an oscillating current that is transmitted to the electrodes to affect tissue. The electric current is passed through the tissue to cauterize the tissue (a form of coagulation in which a current arc against the tissue produces tissue charring), desiccate (direct energy application that drives out cellular water), and/or cut (vaporize cellular fluids). (indirect energy application that causes cell explosion). Tissue response to electrical current is a function of tissue resistance, current density passing 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 tissues of different characteristics, as further described herein. For example, different types of tissue - vascular tissue, neural 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 unipolar RF applications are typically limited to less than 5 MHz to minimize problems associated with high frequency leakage currents. Frequencies above 200 kHz may be used for monopolar applications, typically 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 potential for neuromuscular stimulation has been mitigated to an acceptable level. It is generally recognized that 10 mA is the lower threshold for thermal effects on tissue. Higher frequencies can also be used in the case of bipolar technology.

In certain examples, the generator is configured to digitally generate and provide an output waveform to the 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 ultrasound generator. For example, a single generator can supply energy to a monopolar device, a bipolar device, an ultrasound device, or a combined electrosurgical/ultrasound device. The generator can promote tissue-specific effects through waveform shaping and/or drive RF energy and ultrasound energy simultaneously and/or sequentially into a single surgical instrument or multiple surgical instruments. can do.

In one example, a surgical system may include a generator and various surgical instruments usable therewith, including ultrasonic surgical instruments, RF electrosurgical instruments, and hybrid ultrasound/RF electrosurgical instruments. can. The generator is described in TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SUR, filed September 14, 2016, which is hereby incorporated by reference in its entirety. U.S. Patent Application No. 15/265 entitled ``GICAL INSTRUMENTS'', No. 279, now U.S. Patent Application Publication No. 2017/0086914, may be configurable for use with a variety of surgical instruments.

As described herein, medical procedures that cut tissue and/or cauterize blood vessels are often produced by a generator and delivered to a patient's tissue via electrodes operated by a clinician. This is done by utilizing RF electrical energy. The electrode delivers an electrical discharge to the cytoplasm of the patient's body adjacent to the electrode. This electrical discharge heats the cytoplasm, 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 the tissue is exposed to the high temperatures associated with electrosurgery, the more likely the tissue will undergo thermal necrosis. In certain instances, thermal necrosis of tissue not only reduces the speed of cutting tissue and increases the incidence of thermal damage to tissues located away from the cutting site, but also increases the risk of 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 away from the cutting site. With standard electrode shapes, RF energy tends to be evenly distributed over a relatively large area adjacent the intended incision site. The generally uniform distribution of RF energy discharge increases the likelihood of extraneous charge loss to surrounding tissue, which can increase the likelihood of unwanted tissue damage in the surrounding tissue.

Typical electrosurgical generators produce 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 used and the needs of the physician during the electrosurgical procedure. The specific operating frequency and power output level can be adjusted manually on the generator by the clinician or other operating room personnel. Properly adjusting these various settings requires a great deal of knowledge, skill, and care on the part of the clinician or other personnel. Once the clinician makes the desired adjustments to the various settings on the generator, the generator can maintain those output parameters during the electrosurgical procedure. Generally, waveform generators used in electrosurgery are designed to generate RF waves with output powers ranging from 1 to 300 W in cutting mode and 1 to 120 W in coagulation mode, and frequencies ranging from 300 to 600 kHz. compliant. 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 by contacting the electrode with the patient, the power level of the generator will rapidly increase and remain at 50W. It turns out. Setting the power level to a particular setting, such as 50W, would allow the clinician to cut the patient's tissue, but maintaining such high power levels could result in thermal necrosis of the patient's tissue. increase the possibility of

In some forms, the generator provides sufficient power to effectively perform electrosurgery in conjunction with an electrode that increases the concentration of the RF energy discharge while limiting undesirable tissue damage; Constructed to reduce post-operative complications and promote faster healing. For example, the waveform from the generator can be optimized by control circuitry throughout the surgical procedure. However, the subject matter claimed herein is not limited to aspects that eliminate any disadvantages or that operate only in environments such as those described above. Rather, this background is provided merely to illustrate an example of a technical field in which certain aspects described herein may be practiced.

As provided herein, energy devices can be used to treat tissue (e.g., to cut tissue, cauterize blood vessels, and/or coagulate tissue in and/or near a target tissue). delivering mechanical and/or electrical energy to the target tissue. Cutting, cauterizing, and/or coagulating tissue can result in the release of fluid and/or particulates into the air. Such fluids and/or particulates released during surgical procedures 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 substances. Approximately 90% of endoscopic and open surgeries generate some level of smoke. Smoke can be unpleasant to the olfactory senses of the clinician(s), assistant(s), and/or patient(s), and may impede the clinician(s)' visibility of the surgical site. In certain cases, it may be harmful to your health if inhaled. For example, smoke generated during electrosurgical procedures can contain acrolein, acetonitrile, acrylonitrile, acetylene, alkylbenzenes, benzene, butadiene, butenes, carbon monoxide, creosol, ethane, ethylene, formaldehyde, free radicals, hydrogen cyanide, isobutene, methane, Contains toxic chemicals, including phenol, polycyclic aromatic hydrocarbons, propene, propylene, pylidene, pyrrole, styrene, toluene, and xylene, as well as dead and living cell material (including blood fragments), and viruses. There are things to do. Certain substances that have been identified in surgical smoke have been identified as known carcinogens. It is estimated that one gram of tissue ablated during an electrosurgical procedure can be equivalent to six unfiltered cigarettes of toxic and carcinogenic substances. Additionally, exposure to smoke emitted during electrosurgical procedures has been reported to cause eye and lung irritation in medical personnel.

In addition to the toxicity and odor associated with substances in surgical smoke, the size of particulate matter in surgical smoke can be May be harmful to the respiratory system. In certain instances, microparticles may 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 exhaust system that captures smoke resulting from a surgical procedure and directs the captured smoke away from the clinician(s) and/or patient through a filter and exhaust port. use For example, the exhaust system can be configured to exhaust fumes generated during electrosurgical procedures. Although the reader may refer to such an evacuation system as a "smoke evacuation system," it is understood that such an evacuation system may be configured to not only exhaust smoke from the surgical site. Probably. Throughout this disclosure, "smoke" emitted by an evacuation system is not limited to just smoke. Rather, the smoke 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 of biological origin and/or may be introduced to the surgical site from an external source during the procedure. Fluids can include, for example, water, saline, lymph, blood, exudate, and/or purulent discharge. Additionally, the fluid can include particulates or other materials (eg, cytoplasm or debris) that are ejected by the evacuation system. For example, such particulates may be suspended in a fluid.

Evacuation systems often include pumps and filters. The pump creates suction that draws smoke into the filter. For example, suction can be configured to draw smoke from the surgical site to the conduit opening, through the evacuation conduit, and into the ejector housing of the evacuation system. The ejector housing 50018 of the surgical evacuation system 50000 is shown in FIG. In one aspect of the disclosure, the pump and filter are located within the ejector housing 50018. Smoke drawn into the ejector housing 50018 travels to the filter via the suction conduit 50036, and harmful toxic substances 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 a discharge conduit and/or a vacuum tube and/or a discharge conduit. The filtered air can then exit the surgical evacuation system as exhaust air. 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, a suction conduit 50036 from ejector housing 50018 (FIG. 1) may terminate in a handpiece, such as handpiece 50032. Handpiece 50032 includes an electrosurgical instrument that includes an electrode tip 50034 and a drainage conduit opening near and/or adjacent to electrode tip 50034. The drainage conduit opening is configured to capture fluid and/or particulates released during a surgical procedure. In such an example, evacuation system 50000 is integrated into electrosurgical instrument 50032. Still referring to FIG. 2, smoke S has been drawn into suction conduit 50036.

In certain examples, the evacuation system 50000 can include a separate surgical tool with a conduit opening and configured to draw smoke into the system. In yet another example, the tool with the evacuation conduit and opening can be snapped onto an electrosurgical tool such as that shown in FIG. For example, a portion of suction conduit 51036 may be disposed around (or adjacent to) 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 with a clip or other fastener.

Various internal components of 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. 1. 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. The 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, evacuation mechanism 50520, and pump 50506 are disposed in series and in line with flow path 50504 through ejector housing 50518 between inlet port 50522 and outlet port 50524. Inlet port 50522 can be fluidly coupled to a suction conduit, such as suction conduit 50036 of FIG. 1, for example, and the suction conduit can include a distal conduit opening positionable at the surgical site.

Pump 50506 is configured to create a pressure differential within flow path 50504 through mechanical action. The pressure differential is configured to draw smoke 50508 from the surgical site into the inlet port 50522 and along the flow path 50504. After smoke 50508 travels through filter 50502, smoke 50508 can be considered filtered smoke or air 50510, which continues through flow path 50504 and exits through exit port 50524. be done. Flow path 50504 includes a first zone 50514 and a second zone 50516. A first zone 50514 is upstream from pump 50506. A second zone 50516 is downstream from pump 50506. The pump 50506 is configured to pressurize the fluid in the flow path 50504 such that the fluid in the second zone 50516 has a higher pressure than the fluid in the 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 may be comprised of a tube or other conduit that substantially contains fluid moving through the flow path 50504 and/or separates it 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 evacuation mechanism 50520. The flow path 50504 also extends through the filter 50502, the pump 50506, and the evacuation mechanism 50520 such that the flow path 50504 extends continuously from the inlet port 50522 to the outlet port 50524.

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

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

Situational awareness encompasses the ability of some aspects of a surgical system to determine or infer information relevant to a surgical procedure from data received from a database and/or instruments. The information may include the type of procedure being performed, the type of tissue being operated on, or the body cavity being treated. Contextual information related to a surgical procedure allows the surgical system, for example, to control modular equipment (e.g., a smoke evacuation system) connected to it and that provides contextualized information or suggestions to the clinician during the course of the surgical procedure. The method can be improved. Situational awareness is further discussed herein and in U.S. Provisional Patent Application No. 62/611,341, filed December 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," which is incorporated herein by reference in its entirety. Are listed.

In various examples, the surgical systems and/or evacuation systems disclosed herein can include a processor. The processor may be programmed to control one or more operating parameters of the surgical system and/or 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 that includes a processor 50308. The electrosurgical system 50300 is powered by an AC power source 50302 that provides either 120V or 240V alternating current. The voltage provided by the AC power source 50302 is directed to an AC/DC converter 50304 that converts 120V or 240V alternating current to 360V direct current. The 360V DC is then directed to a 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 adjust 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. The power converter 50306 can be instructed to step down the voltage to a specified level to do so. 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 360V to the level determined by the processor 50308, providing the desired output power level, the reduced voltage is applied to the electrode tip 50334 to accomplish electrosurgical treatment of the patient's tissue. and then to the return or ground electrode 50335. Voltage sensor 50314 and current sensor 50316 are adapted to detect voltages and currents present within the electrosurgical circuit and communicate the sensed parameters to processor 50308, thereby causing processor 50308 to determine the output power. You can determine whether to adjust the level. As mentioned herein, typical waveform generators are adapted to maintain selected settings throughout the electrosurgical procedure. In other examples, the generator operating parameters may be input to the processor 5308 by one or more inputs, e.g., from a surgical hub, a cloud, and/or a situational awareness module, as further described herein. can be optimized during the surgical procedure based on input.

Processor 50308 is coupled to communication device 50318 for communicating over a network. The communication device includes a transceiver 50320 configured to communicate via 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 communication transceiver. communication transceiver (NFC), but is not limited to these. The communication device 50318 can include a mobile phone, a sensor system (e.g., environment, location, movement, etc.) and/or a sensor network (wired and/or wireless), a computing system (e.g., server, workstation computer, desktop computer, laptop, etc.). computers, tablet computers (e.g., iPad®, Galaxy Tab®, etc.), ultra-portable computers, ultra-mobile computers, netbook computers, and/or sub-notebook computers, etc.); can be configured to communicate with. In at least one aspect of this disclosure, one of these devices may be a coordinator node.

Transceiver 50320 receives serial transmission data from processor 50308 via a corresponding UART, modulates the serial transmission data onto an RF carrier, generates a transmit RF signal, and transmits the transmit RF signal via a corresponding antenna. It can be configured to: The transceiver(s) receives a received RF signal including an RF carrier modulated with serially received data via a corresponding antenna, demodulates the received RF signal to extract the serially received data, and transmits the received RF signal to the processor. The UART is further configured to provide serially received data to a corresponding UART for providing. Each RF signal has an associated carrier frequency and an associated channel bandwidth. Channel bandwidth may be related to 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 to which transceiver(s) 50320 may comply. In other words, each transceiver 50320 uses a selected wireless communication standard and/or protocol, such as IEEE 802.11a/b/g/n for Wi-Fi and/or Zigbee routing. It can support implementation of IEEE802.15.4 for mesh networks.

Processor 50308 is coupled to a sensing and intelligent control device 50324 coupled to smoke evacuator 50326. The smoke evacuator 50326 can include one or more sensors 50327 and can also include a pump and a pump motor controlled by a 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 control device 50324 includes sensor algorithms 50321 and communication algorithms 50322 that facilitate communication between smoke evacuator 50326 and other devices to adapt their control programs. Sensing and intelligent controller 50324 can, for example, evaluate fluids, particulates, and gases extracted via exhaust conduit 50336 to improve smoke extraction efficiency and/or as further described herein. Configured to reduce smoke output of the device. In certain examples, the sensing and intelligent control device 50324 is connected 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 connected.

In certain examples, the processor may be located within an ejector housing of a surgical evacuation system. For example, referring to FIG. 6, processor 50408 and memory 50410 therefor are located within ejector housing 50440 of surgical evacuation 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. Communication device 50418 can enable processor 50408 within surgical evacuation system 50400 to communicate with other devices within the surgical system. For example, the communication device 50418 may communicate with 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 and/or may enable wired and/or wireless communication to the tool. In certain examples, the reader will readily appreciate that the surgical evacuation system 50400 of FIG. 6 can be incorporated into the electrosurgical system 50300 of FIG. 5. Surgical evacuation system 50400 also includes a pump 50450 including its pump motor 50451, an evacuation conduit 50436, and an exhaust port 50452. Various pumps, evacuation conduits, and vents are described further herein. Surgical evacuation system 50400 may also include a sensing and intelligent control device, which may be similar in many respects to sensing and intelligent control device 50324, for example. For example, such sensing and intelligent control devices can 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 evacuation 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 influenced based on one or more algorithms stored in memory that perform the surgical operation. Various example aspects disclosed herein can be implemented by, for example, such algorithms.

In one aspect of the disclosure, processors and sensor systems, such as processors 50308 and 50408 and corresponding sensor systems in communication therewith (FIGS. 5 and 6), may be used, for example, in smoke evacuation systems, and/or electrosurgical systems, energy devices, etc. and/or configured to sense airflow through the vacuum source to adjust parameters of external devices and/or systems used in conjunction with the smoke evacuation system, such as a generator. In one aspect of the disclosure, a sensor system can include a plurality of sensors positioned along an airflow path of a surgical evacuation system. The sensor can measure a pressure difference within the exhaust system to detect a state or condition of the system between the sensors. For example, the system between two sensors may be a filter, which uses the pressure difference to increase the speed of the pump motor when the flow through the filter is reduced in order to maintain the flow rate through the system. can be done. As another example, the system may be a fluid trap for an evacuation system, and the pressure differential may be used to determine the air flow path through the evacuation system. In yet another example, the system may be an inlet and an outlet (or outlet) of the evacuation system, using a pressure differential to maintain the maximum suction load below a threshold. The 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 in communication therewith (FIGS. 5 and 6), detect aerosols or carbonized particulates in fluid extracted from a surgical site, i.e. Configured to detect the proportion of smoke. For example, the sensing system may include a sensor that detects particle size and/or composition used to select an airflow path through the exhaust system. In such an example, the evacuation system can include a first filtration path or first filtration state and a second filtration path or second filtration state that can have different characteristics. In one example, the first path includes only a particulate filter and the second path includes both a fluid filter and a 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 abdominal cavity of a patient. is configured to do so. 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 generate less smoke. In another example, the sensor system may include a sensor to detect the particle number, temperature, fluid content, and/or rate of contamination of the discharged fluid and to adjust the output of the generator. , the detected characteristic(s) may be communicated to the generator. For example, the smoke evacuator 50326 and/or the sensing and intelligent control device 50324 therefor 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 operatively influenced to reduce smoke.

In one aspect of the disclosure, processors and sensor systems, such as processors 50308 and 50408 and their corresponding sensor systems (FIGS. 5 and 6), are configured to detect one or more of the ambient air and/or exhaust air from the ejector housing. The apparatus is configured to evaluate particle counts and contamination in an operating room by evaluating the characteristics. Particle counts and/or air quality can be measured, e.g. on ejector housings, to communicate information to clinicians and/or to establish the effectiveness of the smoke extraction system and its filter(s). May be displayed on the smoke extraction system.

In one aspect of the disclosure, a processor, such as processor 50308 or processor 50408 (FIGS. 5 and 6), determines the correlation and/or the revolutions-per-minute (RPM) speed of the pump. The sample velocity image obtained from the endoscope is configured to compare the sample velocity image obtained from the endoscope to the ejector particle count from the sensing system (eg, sensing and intelligent controller 50324). 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, a cloud communication system, and/or a 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 evacuation device and the extent of the surgical field at a given time. Based on the needs, the smoke evacuator's motor parameters can be adapted to adjust its filtration efficiency. In one example, an adaptive airflow pump speed algorithm is provided to automatically change motor pump speed based on sensed particulates entering the smoke evacuator inlet and/or exiting the smoke evacuator outlet or exhaust port. be done. For example, sensing and intelligent control 50324 (FIG. 5) can include, for example, user selectable speeds and automatic mode speeds. At automatic mode speeds, the airflow through the exhaust system may be scalable based on the lack of smoke entering the exhaust system and/or filtered particles exiting the smoke exhaust system. In certain examples, automatic mode speeds can provide automatic sensing and compensation for laparoscopic mode.

In one aspect of the present disclosure, the evacuation system includes an electrical and communications architecture (see, e.g., FIGS. 5 and 6) that provides data collection and communication capabilities to improve interactivity with the surgical hub and the cloud. can include. In one example, the surgical evacuation system and/or its processors, such as processor 50308 (FIG. 5) and processor 50408 (FIG. 6), are configured to check for system errors, shorts, and/or safety checks. may include a segmented control circuit that is energized in a stepwise manner. The segmented control circuit may also be configured to have a portion that is energized and a portion that is not energized until the energized portion performs the first function. The segmented control circuit may include circuit elements for identifying and displaying status updates to a user of the attached component. The segmented control circuit also provides a first state in which the motor is activated by the user, and a second state in which the motor is not activated by the user but causes the pump to operate more quietly and at a slower speed. Contains circuit elements for operating the motor. A segmented control circuit may allow, for example, to energize the smoke evacuator in stages.

The electrical and communications architecture of the evacuation system (see, e.g., Figures 5 and 6) also facilitates the interaction of the smoke evacuator with other components within the surgical hub for interaction and communication of data with the cloud. Connectivity can be provided. Communication of surgical evacuation system parameters to the surgical hub and/or cloud may be provided to influence the output or operation of other attached devices. The parameter may be operable or sensed. Operating parameters include air flow, pressure differential, and air quality. Sensed parameters include particulate concentration, aerosol fraction, and chemical analysis.

In one aspect of the present disclosure, an evacuation system, such as, for example, surgical evacuation system 50400, can also include a housing, replaceable components, controls, and a display. Circuitry is provided for communicating security identification (ID) between such interchangeable components. For example, communication between filters and smoke evacuation electronics may be used to verify component reliability, remaining life, to update parameters within components, to log errors, and/or or may be provided to limit the number and/or types of components that can be identified by the system. In various examples, the communication circuitry can authenticate features for enabling and/or disabling configuration parameters. The communication circuitry may employ encryption and/or error handling schemes to manage security and proprietary relationships between the components and the smoke evacuation electronics. Disposable/reusable components are included in particular examples.

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

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

The electrosurgical system can include a signal generator, an electrosurgical instrument, a return electrode, and a surgical evacuation system. The generator may be an RF wave generator that generates RF electrical energy. Connected to the electrosurgical instrument is a utility conduit. The utility conduit includes a cable that transfers electrical energy from the signal generator to the electrosurgical instrument. The utility conduit also includes a vacuum hose that conveys captured/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 electrosurgical instrument 50630 to generator 50640. A second electrical connection 50644, eg, a wire, extends from the electrosurgical instrument 50630 to an electrode, ie, a 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 installed within the ejector housing 50618 of the evacuation system 50600.

In other examples, the distal conduit opening 50634 of the evacuation 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 does not include a tissue-conducting surface. In certain examples, the distal conduit opening 50634 of the evacuation 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 terminating in a distal conduit opening, which may be releasably attached to a surgical tool (see, eg, FIG. 3).

Electrosurgical instrument 50630 applies electricity to a target tissue of a patient to cut tissue and/or cauterize blood vessels in and/or near the target tissue, as described herein. 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 close contact with or adjacent to the electrode tip. Heating of the tissue occurs at a suitably high temperature so that electrosurgical procedures can be performed using electrosurgical instrument 50630. A return electrode 50646 is applied to the patient (depending on the type of return electrode) to complete the circuit and provide a return electrical path to the generator 50640 for energy entering the patient's body. either placed in close proximity to.

Heating a patient's cytoplasm with an electrode tip, or ablating blood vessels to prevent bleeding, often results in the release of smoke where the ablation is performed, as further described herein. In such instances, 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 the electrosurgical instrument 50630 into the conduit opening 50634 and into the suction hose 50636 toward the ejector housing 50618 of the evacuation system 50600.

Referring now to FIG. 8, the ejector housing 50618 of the evacuation system 50600 (FIG. 7) is shown. Ejector housing 50618 includes a socket 50620 sized and structured to receive a filter. The ejector housing 50618 can fully or partially enclose internal components of the ejector housing 50618. Socket 50620 includes a first receptacle 50622 and a second receptacle 50624. A transition surface 50626 extends between the first receptacle 50622 and the 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 that communicates with a flow path 50699 through ejector housing 50618. Filter 50670 (FIGS. 10 and 11) may be removably disposed with socket 50620. For example, filter 50670 may be inserted into and removed from first end 50621 of socket 50620. Second receptacle 50624 is configured to receive a connecting nipple of filter 50670.

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

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

Once smoke enters filter 50670, it can be filtered by components housed within filter body 50676. The filtered smoke can 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 an evacuation system, suction generated within the ejector housing 50618 of the evacuation system 50600 is communicated to the filter 50670 via the filter outlet 50680 to filter 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 may be, for example, a high-efficiency particulate air (HEPA) filter or an ultra-low penetration air (ULPA) filter. ULPA filtration utilizes a depth filter similar to a maze. Particulates can be filtered using at least one of the following methods: Direct interception (particles larger than 1.0 microns are trapped because they are too large to pass through the fibers of the media filter. ), inertial collisions (0.5-1.0 micron particles collide with fibers and remain there), and diffusional blockade (Brownian random thermal motion as particles “search” and attach to fibers). 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, for example, be from activated virgin coconut shells.

Referring now to FIG. 11, filter 50670 includes a coarse media filter layer 50684 followed by a fine particulate filter layer 50686. In other examples, filter 50670 may consist of a single type of filter. In yet 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, smoke is drawn through a carbon reservoir 50688 within filter 50670 to remove gaseous contaminants in the smoke, such as volatile organic compounds, for example. It will be done. 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 the filter outlet 50680 into the exhaust system 50600 for further processing 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, such as, for example, a fine particulate filter 50686 and a carbon reservoir 50688. Additionally, a third dam 50694 is positioned intermediate the carbon reservoir 50688 and filter outlet 50680. Dams 50690, 50692, and 50694 can include gaskets or O-rings that are configured to prevent movement of components within filter body 50676. In various examples, the size and shape of dams 50690, 50692, and 50694 can be selected to prevent expansion of the filter component in the direction of applied suction.

Coarse media filter 50684 can include, for example, a low air resistance filter material, such as a fiberglass, polyester, and/or pleated filter, configured to remove most particulate matter larger than 10 μm. In some aspects of the disclosure, this includes at least 85% of the particulate matter larger than 10 μm, greater than 90% of the particulate matter larger than 10 μm, greater than 95% of the particulate matter larger than 10 μm, A filter that removes more than 99% of substances, more than 99.9% of particulate matter larger than 10 μm, or more than 99.99% of particulate matter larger than 10 μm.

Additionally or alternatively, coarse media filter 50684 can include a low air resistance filter that removes most particulate matter larger than 1 μm. In some aspects of the disclosure, this includes at least 85% of the particulate matter larger than 1 μm, greater than 90% of the particulate matter larger than 1 μm, greater than 95% of the particulate matter larger than 1 μm, A filter that removes more than 99% of substances, more than 99.9% of particulate matter larger than 1 μm, or more than 99.99% of particulate matter larger than 1 μm.

Fine particulate filter 50686 can include any filter with higher efficiency than coarse media filter 50684. This includes, for example, a filter that can filter a higher percentage of particles of the same size as coarse media filter 50684 and/or that can filter particles of a smaller size than coarse media filter 50684. In some aspects of the present disclosure, fine particulate filter 50686 can 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, coarse media filter 50684 includes a pleated HEPA filter and fine particulate filter 50686 includes a pleated ULPA filter.

After particulate filtration, the smoke enters a downstream portion of filter 50670 that includes carbon reservoir 50688. Carbon reservoir 50688 is defined by porous partitions 50696 and 50698 disposed 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 spatial volume for carbon reservoir 50688.

The carbon reservoir 50688 can include additional adsorbents that act cumulatively with the carbon particles or independently from the carbon particles to remove gaseous contaminants. Additional adsorbents may include, for example, adsorbents such as magnesium oxide and/or copper oxide, which can, for example, absorb gaseous pollutants such as carbon monoxide, ethylene oxide, and/or ozone. It can act as an adsorbent. In some aspects of the present disclosure, additional adsorbent is distributed throughout the reservoir 50688 and/or disposed in a separate layer above, below, or within the reservoir 50688.

Referring again to FIG. 4, the evacuation system 50500 includes a pump 50506 within an ejector housing 50518. Similarly, the evacuation system 50600 shown in FIG. 7 includes an ejector housing 50618 that can generate suction to draw smoke from the surgical site through the suction hose 50636 and through the filter 50670 (FIGS. 10 and 11). The pump may include a pump disposed within the pump. During operation, the pump can create a pressure differential within the ejector housing 50618 that moves smoke into the filter 50670 and out the evacuation mechanism (e.g., evacuation mechanism 50520 of 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 placed 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 trapping (sealing) a first volume of gas and reducing that volume to a second, smaller volume as the gas moves through the pump. A closed positive displacement flow path can be created. By reducing the volume of trapped gas, the pressure of the gas increases. A second pressurized volume of gas can be discharged from the pump at a pump outlet. For example, the pump may be a compressor. More specifically, the pump may include a hybrid regenerative blower, a claw pump, a lobe compressor, and/or a scroll compressor. Positive displacement compressors can provide improved compression ratios and operating pressures while limiting vibration and noise generated by the exhaust system 50600. Additionally or alternatively, the evacuation system 50600 can include a fan to move fluid.

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

In use, gas can enter scroll compressor pump 50650 at inlet 50658. As moving scroll 50654 orbits relative to stator scroll 50652, inlet gas is initially captured within compression chamber 50656. Compression chamber 50656 is configured to move a discrete volume of gas along the helical shape of scrolls 50652 and 50654 toward the center of scroll compressor pump 50650. Compression chamber 50656 defines an enclosed space in which gas is present. Furthermore, as moving scroll 50654 moves the trapped gas toward the center of stator scroll 50652, compression chamber 50656 decreases in volume. This reduction in volume 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. Once the pressurized gas reaches the center of scroll compressor pump 50650, the pressurized gas is discharged through outlet 50659.

Referring now to FIG. 13, a portion of evacuation system 50700 is shown. Evacuation system 50700 may be similar in many respects to evacuation system 50600 (FIG. 7). For example, evacuation system 50700 includes ejector housing 50618 and suction hose 50636. Referring again to FIG. 7, the evacuation system 50600 is configured to generate suction and thereby draw smoke from the distal end of the suction hose 50636 into the ejector housing 50618 for processing. Notably, the suction hose 50636 is not connected to the ejector housing 50618 through the filter end cap 50603 of FIG. Rather, suction hose 50636 is connected to ejector housing 50618 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 performs a first process of extracting and retaining at least a portion of a fluid (e.g., liquid) from the smoke before relaying the partially treated smoke to exhaust system 50700 for further processing and filtration. It is a point. The exhaust system 50700 processes and filters smoke to reduce or eliminate unpleasant odors or other problems associated with smoke production in an operating room (or other operating environment), as described herein. , and otherwise configured to clean. In certain examples, by extracting droplets and/or aerosols from the smoke before being further processed by the evacuation system 50700, the fluid trap 50760 increases the efficiency of the evacuation system 50700 and/or is used in conjunction with the evacuation system 50700, among other things. The lifespan 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 an inlet port 50762 defined in a 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 suction hose 50636 can be at least partially inserted into inlet port 50762 and secured therebetween with an interference fit. In various examples, the interference fit may be a fluid-tight and/or air-tight fit such that substantially all of the smoke passing through the suction hose 50636 is transferred into the fluid trap 50760. In some cases, coupling the suction hose 50636 to the inlet port 50762, such as, for example, a latch-based compression fit, an O-ring, a 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 gas-tight fit between the suction hose 50636 and the fluid trap 50760 prevents fluids and/or other substances in the smoke expelled at or near the junction of these components. It is constructed to prevent leakage. In some cases, 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 air-tight and/or fluid-tight connection 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 external environment. In some cases, exhaust port 50766 is sized and shaped to be closely associated with a surgical exhaust 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 done. In certain examples, the exhaust port 50766 can extend away from the front plate, top surface, or side of the 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 water or other liquid collected within the fluid trap 50760 to pass through the exhaust port 50766 while allowing air, water, and/or steam to freely enter the ejector housing 50618. It can act to prevent entry into the ejector housing 50618. For example, high flow microporous polytetrafluoroethylene (PTFE) may be placed downstream of exhaust port 50766 and upstream of the pump to protect the pump or other components of exhaust system 50700 from damage and/or contamination. I can do it.

Fluid trap 50760 also includes a gripping area positioned and dimensioned to assist a user in handling fluid trap 50760 and/or connecting fluid trap 50760 with suction hose 50636 and/or ejector housing 50618. Contains 50772. Grasping region 50772 is depicted as being an elongated recess. However, the reader should note that the gripping area 50772 may include, for example, at least one recess, groove, protrusion, tassel, and/or ring, which may 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, an internal chamber 50770 of fluid trap 50760 is shown. The relative placement of inlet port 50762 and exhaust port 50766 is configured to facilitate extraction and retention of fluid from smoke as it enters fluid trap 50760. In certain examples, the inlet port 50762 can have a notched cylindrical shape, which directs the smoke and associated fluid toward the fluid reservoir 50774 of the fluid trap 50760 or otherwise directs the exhaust port to the exhaust port. It can be directed away from 50766. Examples of such fluid flow are shown 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 (e.g., longer upper sidewall 50761 and shorter lower sidewall 50763), smoke entering inlet port 50762 initially 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 smoke that was initially directed downward rotates downward and is directed laterally away from its source; toward the top of fluid trap 50760 and out of exhaust port 50766 in substantially opposite but parallel paths (indicated by arrows D and E).

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). Additionally, the relative placement of the exhaust port 50766 vertically above the inlet port 50762 when the fluid trap 50760 is in the upright position does not substantially impede the flow of fluid into and out of the fluid trap 50760, while at the same time preventing smoke from flowing. The flow is configured to inhibit unintentional transport of liquid through the exhaust port 50766. Additionally, in certain examples, the configuration of the inlet port 50762 and outlet port 50766, and/or the size and shape of the fluid trap 50760 itself, can enable the fluid trap 50760 to be hermetic.

In various examples, the evacuation system can include multiple sensors and intelligent controls, for example, as described further herein with respect to FIGS. 5 and 6. 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 be included. The temperature sensor may be arranged to detect the temperature of fluid at the surgical site traveling through the surgical drainage system and/or being discharged from the surgical drainage system into the operating room. A pressure sensor may be arranged to detect pressure within the evacuation system, such as within the ejector housing. For example, a pressure sensor 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 may be arranged to detect pressure within the ambient environment outside of the evacuation system. Similarly, a particle sensor can be positioned to detect particles within an evacuation system, such as within an ejector housing. The 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, particle sensors can be arranged to detect particles in the surrounding environment, for example, to determine air quality within an operating room.

The ejector housing 50818 of the evacuation system 50800 is shown schematically in FIG. Ejector housing 50818 may be similar in many respects to ejector housings 50018 and/or 50618, for example, and/or may be incorporated into various evacuation systems disclosed herein. Ejector housing 50818 includes a number of sensors as 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 ejector housings 50018 and 50618 disclosed herein, 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 a flow path 50804 through ejector housing 50818 between inlet 50822 and outlet 50824.

The ejector housing may include modular and/or replaceable components, as further described herein. For example, the ejector housing can include a socket or receptacle 50871 sized to receive a modular fluid trap and/or a replaceable filter. In certain examples, the fluid traps and filters 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, which may be modular and/or replaceable, and may be removably installed within a receptacle 50871 within the ejector housing 50818. . In other examples, fluid trap 50860 and filter 50870 can be separate and distinct modular components that can be assembled together within ejector housing 50818 and/or installed separately. I can do it.

With further reference to the ejector housing 50818, the ejector housing 50818 includes a plurality of sensors for detecting various internal parameters and/or parameters of the surrounding environment. Additionally or alternatively, one or more modular components installed within the ejector housing 50818 can include one or more sensors. For example, with further reference to FIG. 18, replaceable module 50859 includes a plurality of sensors for detecting various parameters therein.

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

In operation, smoke from the surgical site can be drawn from the inlet 50822 through the fluid trap 50860 and into the ejector housing 50818. The flow path 50804 through the ejector housing 50818 of FIG. 18 can include sealed conduits or tubes 50805 extending between the various in-line components. In various examples, smoke can flow through a fluid detection sensor 50830 and a chemical sensor 50832 to a 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, fluid detection sensor 50830 can be a continuity sensor. For example, fluid detection sensor 50830 can include two spaced apart electrodes and a sensor for detecting the degree of continuity therebetween. For example, if no fluid is present, continuity may be zero or substantially zero. Chemical sensor 50832 can detect chemical characteristics 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 toward 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. Fluid detection sensor 50836 can ensure that any fluid within the ejector housing is completely or at least substantially captured within 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 described further herein. Smoke can be filtered through a pleated ultra-low permeability air (ULPA) filter 50842 and a charcoal filter 50844, as shown in FIG.

Upon exiting the filter, the filtered smoke can flow past a pressure sensor 50846 and then continue along flow path 50804 within ejector housing 50818 toward pump 50806. Traveling through the pump 50806, the filtered smoke can flow through 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 described further 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 surrounding environment, such as the environment within an 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 discussed further herein. Additionally, in various examples, alternative sensing means may be utilized with the smoke evacuation systems disclosed herein. Further disclosed herein are alternative sensors for counting particles and/or determining particulate concentration in a fluid, for example.

In various examples, the fluid trap 50860 shown in FIG. 18 can be configured to prevent escape and/or leakage of the trapped fluid. For example, the geometry of fluid trap 50860 may be selected to prevent trapped fluid from escaping and/or leaking. In certain examples, fluid trap 50860 can include a baffle and/or splatter screen, such as screen 50862, to prevent captured fluid from splashing out of fluid trap 50860. In one or more examples, fluid trap 50860 can include a sensor to detect the volume of fluid within the fluid trap and/or determine whether fluid trap 50860 is filled to capacity. Fluid trap 50860 may include a valve for emptying fluid therefrom. The reader will readily appreciate that a variety of alternative fluid trap configurations and geometries may be used to capture fluid drawn into the ejector housing 50818.

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

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

Various sensors within the evacuation system, such as the sensor shown in FIG. 18, may communicate with the processor. The processor may be integrated into the evacuation system and/or may be a component of another surgical instrument and/or surgical hub. Various processors are described further herein. The onboard processor can be configured to adjust one or more operating parameters of the ejector system (eg, a motor for pump 50806) based on input from the sensor(s). Additionally or alternatively, the onboard processor is configured to adjust 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 FIG. 19, another ejector housing 50918 of evacuation 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. A fluid trap 50960, a filter 50970, and a pump 50906 are arranged in series intermediate the inlet 50922 and the outlet 50924. Ejector housing 50918 can include, for example, a socket or receptacle 50971, similar to receptacle 50871, sized to receive a modular fluid trap and/or a replaceable filter. At the diverter valve 50934, fluid can be directed into the condenser 50935 of the fluid trap 50960 and the smoke can continue toward the filter 50970. In certain examples, fluid trap 50960 can include a baffle, such as baffle 50964, and/or a splatter screen, such as screen 50962, to prevent captured fluid from splattering from fluid trap 50960, for example. Filter 50970 includes a pleated ultra-low permeability air (ULPA) filter 50942 and a charcoal filter 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, described further herein and shown in FIGS. 18 and 19.

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. Centrifugal blower arrangement 50980 engages recirculation conduit 50982 to generate recirculation suction within recirculation conduit 50982. More specifically, when the recirculation valve 50990 is opened and the pump 50906 is activated, the suction generated by the pump 50906 downstream of the filter 50970 causes rotation of the first centrifugal blower or squirrel cage 50984. This can be communicated to a second centrifugal blower or squirrel cage 50986 that draws fluid to be recycled into the fluid trap 50960 through a recirculation valve 50990.

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

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

The power supplied to the pump can be modulated to control the flow of smoke through the evacuation system based on input from one or more sensors along the flow path. The output from the sensor may, for example, be indicative of the condition or quality of the smoke extraction system and/or of the emitted smoke, such as the substance(s) and proportions, chemical properties, density, and/or size of particulates. Can exhibit one or more characteristics. In one aspect of the present disclosure, a pressure difference between two pressure sensors within an evacuation system can be indicative of the condition of an area therebetween, such as, for example, the condition of a filter, fluid trap, and/or the overall system. . Based on the sensor input, operating parameters of the pump 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, adjusting the flow rate of smoke through the exhaust system can improve filter efficiency and/or protect the motor from burnout.

The surgical evacuation system may include one or more particle counters or particles sensors for detecting the size and/or concentration of particulates in the smoke. Referring again to FIGS. 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, the particle sensor may be an optical sensor, a laser sensor, a photoelectric sensor, an ionization sensor, an electrostatic sensor, and/or a combination thereof. Various particle sensors are further described herein.

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

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

In at least one example, the particle sensor can be placed downstream of the filter, and in certain examples, at or near the outlet of the filter. For example, particle sensor 50848 is located 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. Because the particle sensor 50848 is positioned downstream of the filter(s) 50870, 50970, the particle sensor is configured to ensure that the filter(s) 50870, 50970 has removed sufficient particulates from the smoke. It is configured. In various examples, such sensors may be adjacent to exhaust outlets 50824, 50924 of ejector housings 50818, 50918, respectively. In one aspect of the present disclosure, electrostatic particle sensors can be utilized. For example, the exhaust outlet 50824, 50924 can include an electrostatic particulate sensor through which the exhaust passes downstream of the filtration system and 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 housing 50818, 50918 and/or the ejector (eg, electrosurgical instrument 50032 of FIG. 2) can include indicators such as one or more lights and/or a display screen. 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 concentration of particulates in the ambient air as detected by an air quality sensor (e.g., particle sensor 50852) exceeds a threshold amount, the clinician(s) within the operating room may activate the indicator(s). ) may be notified.

In certain examples, surgical evacuation systems may include optical sensors. Optical sensors can include electronic sensors that covert light or changes in light into electronic signals. Optical sensors can utilize light scattering methods to detect and count particles in smoke to determine the concentration of particles in smoke. In various examples, the light is laser-based. For example, in one example, the laser light source is configured to illuminate the particles as they move through the detection chamber. As the particles pass through the laser beam, the light source is obscured, deflected, and/or absorbed. The 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 the size and amount of particles corresponding to the particulate concentration in the smoke. The particulate concentration in smoke can be calculated in real time, for example by a laser optical sensor. In one aspect of the disclosure, at least one of particle sensors 50838, 50848, 50852 is a laser optical sensor.

The 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 90 degrees from light source 51006. When the 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 concentration of particulates 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 the reflective photoelectric sensor 51000 may be an input to a control algorithm for a motor and/or an input to a surgical hub.

A passing type 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 a 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. 5 and 6. The processor 51106 can affect motor operating parameters based on the electrical signal and the corresponding particulate concentration. For example, the output signal from the photoelectric sensor 51100 may be an input to a control algorithm for a motor and/or an input to a surgical hub.

In a photoelectric sensor of a surgical evacuation system, 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 the sensor 51000 to the correct combination(s). Water vapor, even denser water vapor, absorbs light at specific wavelengths. For example, water vapor absorbs infrared light instead of reflecting it. Due to these absorption properties of water vapor, infrared light, in the presence of water vapor, can be useful for accurately counting particles in fluids within surgical drainage systems.

In certain examples, ionization sensors can be used to detect particles in smoke. Ionization sensors include two electrodes and a radioactive material that converts air molecules into positive and negative ions. Cations move toward the negative electrode, and negative ions move toward the positive electrode. When the smoke passes between the electrodes, it combines with the 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.

Ionization sensor 51200 is shown in FIG. Ionization sensor 51200 utilizes americium-241 to ionize air within an enclosed area. Sensor 51200 includes a compact ionization chamber 51202 with two spaced apart electrodes 51204. The ionization chamber 51202 can be made of polyvinyl chloride or polystyrene, for example, and the electrodes 51204 can be spaced about 1 cm apart within the ionization chamber 51202, for example. An americium-241 source 51208 can provide americium-241 to the ionization chamber 51202. Approximately 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 radiation 51206. The gold foil matrix is configured to retain the radioactive material while still allowing alpha radiation 51206 to pass through. In various instances, alpha radiation is preferred over beta radiation and gamma radiation because it easily ionizes air particles, has low penetrating power, and can be easily contained.

During ionization, electrons are knocked off oxygen and nitrogen molecules, thereby creating charged ions. Charged ions are attracted to the oppositely charged electrodes, thus creating an electrical current within the chamber. Because the smoke particles 51210 are larger than 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 within the ionization chamber 51202 and reducing the overall current. The drop in current can be converted into 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, that can, for example, affect operating parameters of the motor. For example, the output signal from the ionization sensor 51200 may be an input to a control algorithm for a motor and/or an input to a surgical hub, as further described herein.

In various examples, dual ionization chambers can be used. The first chamber, which acts as a 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 flow path but is still influenced by humidity and atmospheric pressure. By using two chambers, changes in humidity and atmospheric pressure can be minimized because the output from both chambers is affected equally and cancels each other out. For example, depending on the type of surgical procedure, the surgical device(s) used, and the type of tissue encountered, dual ionization chambers , may be useful in smoke extraction systems to compensate for pressure and humidity fluctuations.

In certain examples, a combinatorial approach can be utilized to determine particulate concentration in smoke. For example, multiple different types of smoke detectors or sensors may be utilized. Such sensors can be arranged in line in series with the flow path. For example, multiple particle sensors can be placed along flow path 50804 in FIG. 18 and/or flow path 50904 in FIG. 19. Various sensors can provide input to pump motor control algorithms, such as the various regulation 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, type of surgical procedure, and/or type of tissue. Surgical devices often produce a predictable type of smoke. For example, for certain treatments, a predictable type of smoke may be smoke with high water vapor content. In such instances, infrared photoelectric sensors can be used since infrared radiation is substantially absorbed by water vapor and not reflected. Additionally or alternatively, a 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 may be provided to the surgical evacuation system by a clinician, an intelligent electrosurgical instrument in signal communication with the surgical evacuation 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 the computer-implemented interactive surgical system are used to determine and/or confirm, for example, the surgical device, surgical procedure type and/or step, and/or tissue type utilized in the 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 steps therein to determine what type of smoke is likely to occur. The sensor can be adjusted based on the type of smoke expected.

In certain examples, one or more of the particle sensors disclosed herein can be a fluid detection sensor. For example, particle sensors can be arranged and configured to determine whether aerosols and/or droplets are present in the expelled smoke. In one aspect of the present disclosure, the size and/or concentration of the detected particles may correspond to an aerosol, droplet, solid material, and/or a combination thereof. In certain examples, situational awareness can determine and/or confirm whether a detected particle is an aerosol or a solid material. 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 notify the identification of particles in the fluid.

Referring now to FIG. 23, shown is a graphical representation of particle count 51300 and motor speed 51302 over time for a surgical evacuation system, such as, for example, surgical evacuation system 50400 (FIG. 6). The target motor speed 51304 may be predefined and stored in the memory of a processor in signal communication with the motor (see, eg, FIGS. 5 and 6). In various examples, the processor may be configured to maintain 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 may continue to operate at the target motor speed 51304 unless otherwise communicated.

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

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 decreased below the threshold amount 51306; Processor 50408 may instruct motor driver 50428 to reduce the speed of motor 50451. For example, at time t ₁ of FIG. 23, the particle number or particulate concentration 51300 has decreased below a threshold amount 51306. Since the number of particles 51300 has fallen below the threshold amount 51306, the motor speed 51302 may be reduced below the target motor speed 51304. Thereafter, if particle sensor 50838 (FIGS. 18 and 19) detects that particle number 51300 again exceeds threshold amount 51306, such as at time _t2 , processor 50408 increases the speed of motor 50451 to reach target motor speed 51304. The motor driver 50428 can be instructed to restart the motor driver 50428. Particulate concentration can correspond to the size of particles in the smoke. For example, smoke may contain smaller particles between time _t1 and time _t2 . By reducing the speed of motor 50451, the suction generated by pump 50450 can be reduced, which can ensure that smaller particles are not aspirated through the filter of surgical evacuation system 50400. For example, by reducing motor speed or reducing pump pressure, you ensure that the filtration system has adequate time and capacity to capture particulates, and that fine media filters capture smaller particles. You can be sure that you can. In other words, slower speeds 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. 19. Particle sensor 50848 is positioned downstream of the filter assembly such that particle sensor 50848 is configured to detect particulates in the exhaust from, for example, surgical evacuation system 50800 or evacuation system 50900. In other words, such particle sensor 50848 is configured to detect particulates that pass through the ejector housing 50818, 50918 and are emitted into the ambient air. A particle sensor 50848 is positioned adjacent the outlet 50824, 50924 of the ejector housing 50818, 50918, respectively. In one example, when the particulate concentration in the exhaust air (e.g., the particulate concentration detected by particle sensor 50848) exceeds a predetermined threshold amount, processor 50308 (FIG. 5) and/or processor 50408 (FIG. 6) makes adjustments to the pump. can be carried out. For example, referring again to FIG. 6, the speed of motor 50451 can be adjusted to improve the filtration efficiency of surgical evacuation system 50400.

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

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

In certain examples, the surgical evacuation system may include an override option that causes the evacuation system to continue operating and/or continue operating at a predetermined power level despite exceeding a set threshold. For example, in override mode, the surgical evacuation system may continue to operate and evacuate particles even if a particle sensor downstream of the filter detects a particle concentration above a threshold amount. The operating room operator may activate 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. I can do it.

Referring now to FIG. 27, a flowchart illustrating a surgical evacuation system adjustment algorithm 52300 is shown. Various surgical evacuation systems disclosed herein can utilize the adjustment algorithm 52300 of FIG. 27. Furthermore, 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 may be performed by a processor in signal communication with the ejector pump motor (see, eg, the processor and pump of FIGS. 5 and 6). For example, processor 50408 may implement adjustment algorithm 52300. Such a processor may also be in signal communication with one or more sensors within the surgical evacuation system.

In various examples, the surgical evacuation system may initially operate in a standby mode 52302 as shown in FIG. Operates at low power as shown. For example, in standby mode 52302, a small fluid sample may be evacuated from the surgical site by a surgical evacuation 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 a threshold X, as shown at block 52312, the surgical evacuation system may enter automatic evacuation mode 52304 . In automatic evacuation mode 52304, the motor speed may be increased at block 52314 to draw additional smoke from the surgical site. For example, the particle number 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 automatic evacuation mode 52304 based on the detected particulate concentration. For example, as the particulate concentration detected by particle sensor 50838 increases, the motor speed can increase accordingly. In certain examples, the predetermined motor speed may 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 number or particulate 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, then 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 a smoke extraction system.

Still referring to FIG. 27, if the particle sensor 50848 downstream of the filter detects a particle number greater than the threshold amount Z at block 52318, the motor may be turned off at block 52322 to terminate the evacuation procedure and the surgical The evacuation system can be in override mode 52306. For example, the threshold Z may correspond to an air quality risk to clinicians and/or other personnel within the operating room. In certain examples, the operator may selectively override the shutdown function, as further provided 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 power level of the pump may be a function of the pressure differential across at least a portion of the surgical evacuation system. For example, a surgical evacuation system can include at least two pressure sensors. Referring again to FIGS. 18 and 19, ambient pressure sensor 50854 is configured to detect pressure within the ambient chamber. Pressure sensor 50840 is configured to detect pressure in flow path 50804 intermediate fluid trap 50860 and filter or filtration system 50870 in FIG. 18, and fluid trap 50960 and filter system 50970 in FIG. 50904. In addition, pressure sensor 50846 is configured to detect pressure in flow path 50804 intermediate filtration system 50870 and pump 50806 of FIG. 18 and flow path 50904 intermediate filtration system 50970 and pump 50906 of FIG. has been done. Finally, pressure sensor 50850 is configured to detect the 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. 18 and 19. Probably. Additionally, pressure sensors can be placed in alternative locations throughout the surgical drainage system. For example, one or more pressure sensors may be located within the smoke evacuator device, e.g. along the exhaust conduit extending between the ejector and the housing, and at different layers upstream of the fluid trap and/or in between the filtration system. can be placed within the housing.

Referring now to FIG. 28, a flow chart illustrating a surgical evacuation system adjustment algorithm 52400 is shown. In various examples, the surgical evacuation systems disclosed herein can utilize the adjustment algorithm of FIG. 28. Additionally, 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 may be performed by a processor in signal communication with the ejector pump motor (see, eg, the processor and pump of FIGS. 5 and 6). For example, processor 50408 may implement adjustment algorithm 52400. The processor may also be in signal communication with one or more pressure sensors within the surgical evacuation system.

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

The flow rate of smoke through the exhaust system can be a function of the pressure difference. In one example, if the pressure differential across the exhaust 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 difference, the flow rate can be determined more accurately.

Additionally, a blockage within the flow path can correspond to an increase in pressure differential. For example, as the filter captures particles from the smoke, the pressure differential across the filter may increase for a given pump speed. Depending on the predetermined pressure drop across the filter, the motor speed and corresponding pump speed 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 (e.g., pressure sensor 50840) can be placed upstream of the filter, and a second pressure sensor (e.g., pressure sensor 50846) can be placed upstream of the filter. It can be placed downstream of the filter. The pressure difference between pressure sensor 50840 and pressure sensor 50846 can correspond to a 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 the increase in pressure differential, the processor may adjust motor operating parameters to maintain flow through 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 may correspond to a blockage in the exhaust conduit. In one example, the speed of the motor and the speed of the corresponding pump may be reduced, for example, to avoid tissue damage when the evacuation conduit becomes occluded with tissue. Reducing the pump speed in such instances can be configured to avoid potential tissue trauma.

In another example, a first pressure sensor can be placed upstream of the fluid trap and a second pressure sensor can be placed downstream of the fluid trap (eg, pressure sensor 50840). The pressure difference between the sensors can correspond to a pressure drop across the fluid trap, which can correspond to a 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 sufficient removal of liquid from the smoke before it enters downstream filter(s) and pumps. In such instances, the pressure differential may be reduced by reducing the motor speed and the corresponding pump speed.

In yet other examples, the first pressure sensor can be located at the inlet to the surgical evacuation system or its ejector housing, and the second pressure sensor can be located at the outlet of the surgical evacuation system. (e.g., pressure sensor 50850). The pressure difference 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. If the pressure drop exceeds a threshold amount, the processor may adjust operating parameters of the motor (eg, slow the motor) to reduce the pressure difference.

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

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

The sensor can be configured to detect parameters of fluid moving through the drainage system. Based on the parameters detected by the sensor(s), the surgical evacuation system can direct the ejected fluid along an appropriate flow path. For example, fluid containing a proportion of droplets above a certain threshold parameter can be directed through a fluid trap. As another example, fluid containing particulates above a threshold size can be directed through a coarse media filter, and fluid containing particulates below a threshold size can bypass the coarse media filter and filter through a 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 usable 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 FIGS. 24A and 24B. In one aspect of the present disclosure, diverter valves 50834 and 50934 shown in surgical drainage systems 50800 and 50900, respectively, of FIGS. 18 and 19 can include 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 operated ball valve with a controller. For example, a processor of the surgical evacuation system, such as processor 50408 (FIG. 6), can send a signal to a ball valve controller to initiate rotation of ball valve 52396 to change the smoke flow path. When the diverter valve 52934 is in the first position (FIG. 24A), smoke intake through the diverter valve 52934 is directed along a first path 52940. When diverter valve 52934 is in the second position (FIG. 24B), smoke intake through diverter valve 52934 is directed along second path 52938.

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

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

Referring again to FIGS. 18 and 19, fluid detection sensor 50830 is configured to detect the presence of aerosol or liquid-gas ratio in 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 the socket for receiving the filter 50870. Examples of fluid detection sensors are described further herein. For example, fluid detection sensor 50830 can include one or more of the particle sensors further disclosed herein. Additionally or alternatively, in one aspect of the disclosure, fluid detection sensor 50830 includes a continuity sensor.

In one example, if the fluid detection sensor 50830 detects a liquid-gas ratio above a threshold, the intake air can be diverted to a 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. A condenser may include a plurality of baffles or other structures configured to cause liquid to condense. As smoke flows through the condenser, liquid can condense on internal baffles and be directed to drip downward into a fluid reservoir.

Referring primarily to FIG. 18, internal diverter valve 50834 is positioned to direct smoke intake to bypass condenser 50835 so that smoke flows directly to filter 50870. When bypassing condenser 50835, surgical evacuation 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, the intake air can bypass the condenser 50935 and be directed directly to the filter 50970.

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

In various examples, the surgical drainage system may 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 above a threshold valve, inhaled smoke can be diverted to a particulate filter. Conversely, if the laser particle sensor detects a particulate concentration below the threshold, the inhaled smoke may bypass the particulate filter. Similarly, different flow paths can accommodate different sizes and/or types of particles. For example, if larger particles are detected by particle sensor 50838, smoke may be directed along a different path than if smaller particles were detected. For example, a surgical evacuation system can include different types of particulate filters (e.g., large media filters and fine media filters), and based on the detected size (or size range) of the particles, direct blocking, inertial impingement, etc. Different filtration methods can be utilized, such as , diffusion blocking, and diffusion blocking. Different flow paths can 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 upon detection of a fluid parameter above a threshold limit, fluid may be diverted to a less direct flow path. Less direct flow paths may require more power.

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

The smoke liquid-gas ratio 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 may affect pump efficiency. Additionally, different types of pumps may operate differently in the presence of aerosols. In certain examples, the pump speed can be accelerated, and in other examples, the pump speed can be decreased. The processor may be configured to adjust the motor driving the pump to optimize the efficiency of the pump for each liquid-gas ratio. In other words, the motor control program can operatively adjust the pump speed based on the detected liquid-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 treat aerosols within the smoke path. In such instances, the incompressible (or less compressible) fluid may reduce the rotational speed of the pump to increase vacuum air handling. Other pumps may be more sensitive to fluids with high liquid-gas ratios and may 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 rate of the compressor. The algorithm can determine an appropriate aspiration rate based on the flow rate and/or one or more detected parameters of the smoke (eg, particulate concentration, liquid-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 its fluid trap to extract more liquid from the smoke before it enters the pump. The flow rate through a surgical drainage system including a surgical evacuation system can be reduced. Liquids can damage certain pumps. For example, lobe pumps and regeneration blowers may 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 evacuation 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 the 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. The fluid content detected by both sensors 50830 and 50836 continues to rise as the treatment continues.

At time _t1 , the fluid content detected by both sensors 50830 and 50836 exceeds the fluid content threshold (C _T ) 52102 and the smoke is removed from the fluid trap 50860 and / or diverted through a fluid trap such as the 50960. The fluid content threshold C _T 52102 can 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 (see FIG. (as shown) can be opened. By recirculating the fluid, additional droplets can be removed from 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 may be reduced 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. 25.

Still referring to the graphical representation of FIG. 25, as the smoke is recirculated through the fluid trap that captures a portion of the aerosol and/or droplets, the downstream fluid detection sensor 50836 detects a lower liquid content in the smoke. begins to be detected. However, the upstream fluid detection sensor 50830 continues to detect an increase in the amount of liquid in the smoke. Additionally, at time t ₂ , downstream fluid detection sensor 50836 again detects fluid content above fluid content threshold C _T 52102. To cope with the increasing fluid content despite smoke recirculation through the fluid trap, the pump motor duty cycle 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 capture aerosols and/or droplets in the smoke, and the fluid content detected by the fluid detection sensor 50836 is lower than the final begins to decrease until it drops below the fluid content threshold C _T 52102.

In certain instances, the volume of fluid within the fluid trap and/or the levelness of the housing may be utilized to reach a threshold limit that may correspond to reaching the exit port of the fluid trap to the spill prevention baffle and/or particulate filter. It can be determined whether the internal fluid level is approaching. Liquids may damage the particulate filter and/or reduce its efficiency, as further described herein. To prevent liquid from entering the particulate filter, the processor may adjust the motor to minimize the possibility of drawing liquid into the particulate filter. For example, when a predetermined volume of liquid enters the fluid trap and/or when liquid within the trap reaches a set marker or level within the housing that exceeds a predetermined safety level, the processor may cause the processor to slow down. can be instructed to the motor.

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

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

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

Referring now to FIG. 26, a surgical evacuation system adjustment algorithm 52200 is shown. Various surgical evacuation systems disclosed herein may utilize adjustment algorithm 52200. Additionally, 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 may be performed by a processor in signal communication with the ejector pump motor (see, eg, the processor and pump of FIGS. 5 and 6). For example, the regulation algorithm 52200 may be implemented by a processor 50408 in signal communication with a 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 utilizing various sensors. In one aspect of the present disclosure, referring to FIG. 26, the processor is configured to determine whether the inspired smoke includes particles and aerosols above a threshold.

At the beginning of the adjustment algorithm 52200, a standard flow rate may be initiated at block 52202 and one or more characteristics of the inspired smoke may be monitored at block 52204. 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 standard 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 described further herein. If a particle is detected at block 52206 and the particle is determined not to be an aerosol particle at block 52208, then at block 52210 a first adjustment to the flow rate and/or power level may be made. For example, flow rates and power levels can be increased to increase particle, or smoke, emission from the surgical site. In a particular example, if the particle is determined to be an aerosol particle at block 52208, or if a 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 proportion of aerosol in the smoke. For example, if the percentage of aerosol is determined to be greater than a first threshold amount, such as X% in block 52212 of FIG. 26, smoke may be directed to the fluid trap at block 52214. 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 smoke extraction systems are described further herein. In certain examples, the flow rate and/or power level may be adjusted to sufficiently draw fluid along a selected flow path, such as toward and/or around a fluid trap. 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 further aerosol particles are detected in the smoke at block 52218, and at block 52220, the aerosol concentration is greater than a second threshold amount, such as Y% of FIG. , the flow rate may be reduced at block 52224 to ensure proper extraction of 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 redirects the flow path and/or adjusts and/or maintains the flow rate, the adjustment algorithm returns to block 52204 to adjust one or more parameters of the smoke evacuation system. You 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 a processor in real time or near real time. In other examples, adjustment algorithm 52200 can 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). Chemical sensor 50832 is located near inlet 50822 of surgical evacuation system 50800 and near inlet 50922 of surgical evacuation system 50900. Chemical sensor 50832 is configured to detect chemical characteristics of particles ejected 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 material 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 by what is being detected by chemical sensor 50832.

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

In certain examples, generator functions may be adjusted based on tissue characteristics 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. Additionally, 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 (eg, see processor 50308 in FIG. 5). In various aspects of the present disclosure, to determine the type of tissue, processor 50308 (FIG. 5) may be configured to receive information from multiple sources.

Still referring to FIG. 29, one or more sensors 52502 within the surgical evacuation system can provide information to processor 50308 (FIG. 5). Still referring primarily to FIG. 28, a surgical drainage system particle sensor(s) 52502a, chemical sensor(s) 52502b, which may be similar to the sensors shown in FIGS. 18 and 19, for example. , and/or fluid detection sensor(s) 52502c can provide data indicative of the tissue type to the processor 50308. Additionally, external sensor(s) 52504 can provide information to processor 50308. External sensor 52504 may be remote to the surgical evacuation system, but may also be located on other surgical equipment involved in the surgical procedure. For example, one or more external sensor(s) 52504 can be placed on a surgical instrument, robotic tool, and/or endoscope. In particular 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 the various sensors 52502, 52504. Additionally, situational awareness 52506 can inform processor 50308 regarding various sensor data. Based on situational awareness 52506 and data from sensors 52502, 52504, the tissue type may be determined by processor 50308 (FIG. 5) at block 52510.

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. If the external sensor 52504 is configured to detect the speed of the clamp arm and/or a parameter of the electric motor corresponding to the clamp speed, the external sensor 52504 is indicative of the melting temperature of the tissue and thus the elastin to collagen ratio. be able to. Elastin and collagen also define different refractive indices and absorption rates. In certain examples, an infrared spectrometer and/or refractive camera sensor may be utilized to determine and/or confirm tissue type.

In certain examples, energy modalities can be adjusted based on the type of tissue detected (elastin, collagen, and/or elastin to collagen ratio). For example, certain energy devices are more efficient at dissolving collagen than elastin, but by adjusting the energy modality, they can be tuned to better dissolve elastin. In other instances, it may be desirable to dissolve collagen and retain elastin. Additionally or alternatively, the elastin to collagen ratio can be indicative of the type of physical structure, such as a vein or an artery, which can inform the system's situational awareness 52506. For example, if collagen is detected at block 52510, energy modality A may be performed at block 52512. In another example, if elastin is detected at block 52510, energy modality C may be implemented at block 52516. In yet another example, if a combination of collagen and elasticity is detected at block 52510, energy modality B may 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 process being performed.

In various surgical procedures that use energy devices to treat tissue, fluids and/or particles are emitted, thereby disrupting the atmosphere within and/or surrounding the surgical site, as further described herein. May be contaminated. To improve the visibility of the atmosphere at the surgical site, for example, contaminants can be drawn into the smoke extraction system. Additionally, when pollutants are directed along an airflow path within a smoke extraction system, airborne fluids and/or particles can be filtered to improve air quality. 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 within the surgical site and/or in the surrounding atmosphere. Accumulation of such contaminants may, for example, prevent a clinician from being able to see the surgical site.

In one aspect of the present disclosure, a surgical system can include a smoke evacuation system that includes 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 surgical procedures. For example, when a clinician requests power to an electrosurgical instrument, 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 would produce a contaminant that would result in a particulate concentration above a predetermined threshold, the processor may prevent the generator from providing the requested power. Alternatively, in such instances, the generator may be powered at a level that returns the particulate concentration below a predetermined threshold.

In such instances, clinician(s) and/or assistant(s) do not need to individually monitor particulate concentration and adjust energy modalities accordingly. Instead, the surgical system's instruments and devices communicate among themselves to instruct the generator to provide specific power levels in specific situations based on input 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.

The surgical system can include an electrosurgical device, a generator configured to power the electrosurgical device, and a smoke evacuation system. The smoke evacuation system may 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 FIGS. 18 and 19, particle sensor 50838 is shown. Particle sensor 50838 is an internal sensor located 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 system 50870, 50970, respectively. However, the internal particle sensor 50838 may be placed at any suitable location along the flow path 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 path 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, a laser sensor, a photoelectric sensor, an ionization sensor, an electrostatic sensor, and/or any suitable combination thereof. Various sensors are further described herein.

An electrosurgical generator is a key component within an electrosurgical circuit for generating electrosurgical waveforms. 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 generate different waveforms, each waveform having a different effect on the tissue. A "cutting current" cuts tissue but provides little hemostasis. The "coagulation current" provides coagulation with limited tissue dissection and increases the depth of heating. A "blend current" is an intermediate current between a cutting current and a coagulation current, although a blending current is generally not a combination of a cutting current and a coagulation current. Rather, the blending current may be a cutting current where the time the current is actually flowing is reduced from 100 percent to about 50 percent of the time. In various instances, the generator automatically monitors tissue impedance and adjusts power output to the energy device to reduce tissue damage, ensuring efficient and accurate cutting at the lowest possible settings. can bring about effects.

An additional mode of electrosurgical cutting known as Advanced Cutting Effect (ACE) provides clinicians with a scalpel-like cutting effect that produces 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 ACE mode, a clinician may use an electrosurgical device on the skin, often with a scalpel, needle, and/or causing a wound and/or puncture to the patient. It has the 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 includes an ACE cutting system.

Contaminants and/or smoke may be generated throughout the duration of a surgical procedure. If the atmosphere in and/or surrounding the surgical site is not effectively filtered by the smoke extraction system, contaminants will aggregate in the atmosphere, making it difficult for the clinician and/or assistant to see the surgical site. Additional concerns regarding smoke within the operating room are further disclosed herein. In various examples, a processor within a surgical system stores information specific to the amount of smoke and/or contaminants produced when a clinician uses a particular surgical instrument for a particular duration of time. Can be memorized. Such information may be stored directly in the memory of processors in a centralized hub and/or in the cloud. In various examples, the processor and memory shown in FIGS. 5 and 6 may be used to store such information.

In various examples, a communication path is established between the smoke evacuation system and the generator to control the power provided to the electrosurgical instrument. Such power can effectively guide electrosurgical instruments to produce less smoke and/or emit fewer contaminants, as well as to efficiently filter the surgical site. controlled to. In various examples, components of a surgical system can communicate directly with each other. In various examples, components of the surgical system communicate with each other via a central hub, eg, as described further 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 instruments are activated, sensors within the smoke evacuation system are configured to monitor parameters related to air quality. Such parameters may include, for example, particle number and/or concentration, temperature, fluid content, and/or rate of contamination. The sensor is configured to communicate the monitored parameter to the processor. In various examples, the sensor automatically communicates the monitored parameter after detection. In various examples, the sensor communicates the monitored parameter to the processor after the sensor is interrogated. However, the reader will appreciate that any suitable method of communicating monitored information may be used. In various examples, the sensor continuously communicates monitored information to the processor. However, the reader will appreciate that any suitable sample rate can be used. Monitored information can be communicated in real time or near real time, for example.

In various examples, the processor stores information regarding the predetermined threshold. The predetermined threshold varies based on parameters monitored by sensors of the smoke evacuation system. For example, when a sensor is monitoring particle numbers and/or concentrations, such a threshold may be a threshold for particles in the atmosphere at the surgical site that effectively and/or unsafely obstructs the clinician's view within the surgical site. You can show your level. In other examples, the threshold may correspond to a filtration system within the ejector housing and the filtration system's ability to adequately filter particles. For example, if the particulate concentration is above a certain threshold, filtration may not be able to adequately filter particulates from the smoke, and toxic substances will pass through the exhaust system and/or block the filter and/or Or it may get clogged. When 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 the predetermined threshold(s) and determines the threshold value. configured to ensure that no more than one or more

In various examples, if the processor recognizes that a predetermined threshold has been exceeded and/or is close to being 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 efficiently filter contaminants from the surgical site. For example, if a sensor communicates information to a processor suggesting that a particle threshold has been reached, the processor increases the speed of the motor to filter more fluid, and perhaps more contaminants, from the surgical site. It can be drawn into the smoke extraction system for this purpose.

In various examples, if the processor recognizes that a predetermined threshold has been exceeded and/or is approaching being exceeded, the processor may vary the power provided to the electrosurgical instrument by the generator. I can do it. 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 providing any additional requested power to the handheld electrosurgical instrument. become. Once the smoke extraction system filters contaminants from the atmosphere to a level that falls below a particle threshold, the processor may then enable the generator to provide the requested power to the handheld electrosurgical instrument. .

FIG. 33 is a graphical representation of the correlation between number of particles detected and power level over a period of time during a surgical procedure. The top graph 53300 shows the number of particles and/or particulates detected by the internal particle sensor 50838 (FIGS. 18 and 19) as particles and contaminants are filtered from the surgical site into the smoke extraction system 50800 and/or 50900. Represents concentration. The particulate concentration C _T represents a predetermined particle number and/or concentration threshold in the volume of ejected fluid. The bottom graph 53302 includes the power requested via the handheld electrosurgical instrument by the clinician (dashed line) and the power actually delivered by the surgical system's generator (solid line) arrived at during the surgical procedure. Represents power level(s). Power level(s) is defined as the ratio of RF current to voltage of an electrosurgical system.

A baseline particulate concentration 53304 is detected prior to the start of the surgical procedure at time t<t ₁ . When the clinician and/or assistant activates the electrosurgical instrument at time t ₁ , the clinician and/or assistant requests that a particular power level be provided to perform a particular function. Such functions include incising and/or cutting tissue within the surgical site. Application of power to tissue generates smoke and/or contaminants that can be directed into a smoke evacuation system to improve visibility within the surgical site, for example. At time _t1 , the generator supplies 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 . The "off" time 53306 between t ₁ and t ₃ can, for example, allow the tissue to cool and create 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 high power level which, when provided 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 around a predetermined threshold C _T at time t ₅ . In some cases, exceeding the threshold _CT may indicate poor visibility within the surgical site due to contaminant and/or particulate accumulation, an inefficient smoke evacuation system, and/or an inoperable smoke evacuation system. There is something to show.

In response to the particulate concentration exceeding the particle threshold _CT at time _t5 , the processor of the surgical system is configured to adjust the generator power supply to return the particulate concentration below the particle threshold _CT . ing. As shown in Figure 33, the power supplied by the generator is less than the power required by the handpiece when the particle threshold _CT is reached and/or exceeded due to the high power required by the handpiece. is different. When the particulate concentration returns to and/or falls below the threshold C _T , such as at time t ₆ , the generator again provides _the power level as required by the handheld electrosurgical instrument. Furthermore, as the power required by the handpiece decreases after time _t6 , the particulate 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 can include a surgical system adjustment algorithm. Furthermore, the reader will readily appreciate that in particular examples, instructions 53400 can 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 of FIG. 5, for example.

At block 53402 of instructions 53400, the processor may receive a request for power from an electrosurgical instrument. For example, electrosurgical instruments can include handheld devices and/or robotic tools. The requested power may be provided by the user via the control and/or control console, for example. As mentioned above, the sensor is configured to monitor parameters related to fluid passing through the drainage system. Such parameters can include, for example, particle size, temperature, fluid content, and/or rate of contamination. The 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 shown at block 53404. In various examples, sensors automatically communicate information upon detection. The processor then determines whether the received information exceeds a predetermined threshold at block 53406. If the threshold is exceeded and/or is close to being exceeded, the processor, at block 53408, causes the generator to prevent the generator from providing any or all of the requested power to the electrosurgical instrument. It is composed of In other examples, the genic waveform may be adjusted to reduce smoke produced by the surgical device at block 53410, as further described herein.

In various examples, the generator may provide power at a level that does not cause the threshold to be exceeded. If the threshold is not exceeded, the processor is configured to enable the generator to provide the requested power to the electrosurgical instrument at block 53410. In various examples, the processor is configured to receive information from the sensors of the smoke evacuation system throughout the duration of the surgical procedure, or at least as long as the processor receives requests 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 clot bleeding. When RF power is used to treat tissue, fluids and/or particulates may be emitted thereby contaminating the air within and/or surrounding the surgical site. To improve visibility of the surgical site for the clinician, for example, contaminated air inside the surgical site can be drawn into a smoke extraction system. Once the contaminated air is directed along the air flow path, airborne fluid and/or particulates can be filtered from the contaminated air. The filtered air ultimately exits the exhaust system through an exit port and is released into the operating room atmosphere. Depending on the efficiency and/or effectiveness of the smoke extraction system, the filtered air may still contain fluids and/or particulates when released into the operating room atmosphere. The remaining contaminants may, for example, be unpleasant to the olfactory senses of clinician(s), assistant(s), and/or patient(s); May be harmful to health 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 evacuation system and internal to the evacuation system. A sensor system can be provided. In one aspect of the present disclosure, the smoke evacuation system determines the efficiency of the evacuation system by comparing particulate concentrations outside the evacuation system and inside the evacuation system and/or by monitoring the particulate concentration over time. can be determined. Furthermore, the smoke evacuation system can alert the clinician(s) of contaminated air within the operating room via a display.

Clinician(s) may be aware of the level of contaminants, such as fluids and/or particulates, suspended in the operating room atmosphere. Indication of airborne contaminants indicates the air quality within the operating room and alerts the clinician(s) and/or assistant(s) that the smoke extraction system requires adjustment and/or maintenance. Can warn you.

The smoke extraction system can include a sensor system configured to monitor the size and/or concentration of particles in the air. Referring again to FIGS. 18 and 19, particle sensors 50838 and 50852 are shown. Particle sensor 50838 is an internal sensor located along the flow path. In various examples, the particle sensor 50838 is placed at a point on the flow path 50804 (FIG. 18), 50904 (FIG. 19) prior to filtration. However, internal particle sensors 50838 may be placed at any suitable location along the respective flow paths 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 path 50804, 50904, respectively.

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, 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 connected to the inlet 50822 (FIG. 18) of the smoke evacuation system 50800, 50900 to ensure that unfiltered air does not leak from the surgical site into the operating room atmosphere. 50922 (FIG. 19) are located near each. In various examples, the external particle sensor 50852 is installed near the outlet ports 50824 (FIG. 18), 50924 (FIG. 19) of the smoke extraction systems 50800, 50900, respectively, to analyze the air exiting the smoke extraction systems 50800, 50900. Located in

The reader will readily appreciate that the external particle sensor(s) 50852 can be located at any suitable location to adequately monitor the operating room atmosphere. In addition, 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, a laser sensor, a photoelectric sensor, an ionization sensor, an 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 contamination in the operating room and display the detected air quality. Display of such information may, for example, communicate the effectiveness of the smoke evacuation system. In various examples, the information communicated includes detailed information regarding filter(s) within the smoke extraction system to prevent contaminated air and/or smoke from accumulating in the operating room atmosphere. be able to. The smoke extraction system senses, for example, particulate concentration, temperature, fluid content, and/or rate of contamination and communicates it to the generator to adjust its output, as further described herein. It can be configured to: In one aspect of the present disclosure, a smoke evacuation system adjusts its flow rate and/or motor speed and generator output power or waveform to reduce the amount of smoke produced by an end effector at a predetermined particle level. may be configured to operably affect the

In various examples, the sensor systems described herein can be used to ensure that airborne pollutants and/or smoke are properly and efficiently removed by filter(s) within a smoke extraction system. It is possible to detect whether By detecting the air quality level(s) in the operating room, the smoke evacuation system is configured to prevent high levels of pollution from accumulating in the operating room atmosphere. Parameters monitored by the sensor system can be used to inform a clinician whether the smoke evacuation system is functioning and/or performing its intended purpose. In various examples, the monitored parameters can be used by a clinician and/or assistant to determine the need to repair and/or replace a filter in a smoke extraction system. 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 the filter in the smoke extraction system. You will be prompted to check 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 sensor to the parameters detected by the internal sensor. In various examples, the smoke evacuation system includes multiple internal sensors located at various points along the flow path, such as after each individual filter. The reader will appreciate that internal sensors can be placed at any point throughout the flow path to provide meaningful comparisons regarding filter efficiency. Using this detected information, a clinician can determine that a filter at a particular location is not effectively removing pollutants and/or smoke from the air. In such instances, the clinician is directed to the exact location of the filter (or filtration layer) that requires attention for repair and/or replacement.

In various examples, the sensor system is configured to assess contaminant and/or particle dilution in the operating room atmosphere. As described herein, the internal sensor(s) may be located at any suitable location along the flow path. When the internal sensor is located near the exit port of the smoke extraction 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 internal and external sensor readings can be important for determining the air quality of a particular operating room.

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

In various examples, information detected by the sensor system can be used to control one or more motor functions of the smoke evacuation system. Prior to the start of the surgical procedure, external sensors can detect initial air quality levels. Air quality can be continuously monitored throughout the surgical procedure. However, the reader will appreciate that air quality can be monitored at any suitable rate. The external sensor communicates the detected information to a processor of the smoke evacuation system (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 continuously detected air quality levels. If the processor determines that the air quality level(s) detected by the external sensor 50852 is indicative of a higher particle size and/or concentration of contaminants in the operating room atmosphere, the processor Instructs the motor to operate at level. By operating the motor 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 determines that contamination directed into the smoke evacuation system 50800, 50900 during a procedure when the internal sensor 50838 determines that a smoke-generating ablation device and/or other electrosurgical device is active. instructions to increase the air and/or smoke flow rate. By detecting activation of a surgical device that generates smoke, the smoke evacuation system 50800, 50900 prevents high levels of contamination from building up in the operating room atmosphere via the motor control.

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 surgical device that produces smoke is activated. For example, if the external sensor 50852 detects a level of pollution in the operating room atmosphere above a predetermined threshold, the processor can automatically instruct the motor to operate at a faster speed. The processor then automatically reduces the speed of the motor when the external sensor 50852 detects a contamination level that falls below a predetermined threshold. In various examples, motor speed levels are manually controlled after a clinician is notified of an unacceptable air quality level. In various examples, the motor speed level is manually controlled after a clinician activates a surgical device that generates smoke. 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 smoke evacuation system processor can recognize when external sensor 50852 detects unacceptable and/or increased contamination levels in the operating room atmosphere. Such detection indicates that the smoke evacuation system 50800, 50900 is inefficient. The detected inefficiency may indicate that one or more filters are not functioning and/or need to be replaced. Once the clinician is notified of a non-functioning filter, the clinician can ensure that a replacement filter is in stock for future maintenance to prevent delay(s).

In various examples, smoke evacuation systems can be used in conjunction with camera scopes during surgical procedures to efficiently manage contaminant and/or smoke emissions from the surgical site. For example, smoke evacuation systems 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), may coordinate communication between, for example, imaging module 238 and a surgical evacuation system, such as smoke evacuator 226 (FIG. 48). can. The camera scope is configured to monitor visual occlusions in the 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 that can include internal sensors 50838 and/or external sensors 50852, as described herein. The processor compares the images received from the camera scope and the number and/or concentration of particles received from the sensor system to determine correlation(s) and detect smoke and/or smoke from the surgical site and/or operating room atmosphere. and/or configured to improve pollution evacuation efficiency.

In such instances, the visual occlusion determined by the camera scope and the particle number and/or concentration determined by the sensor system are , compared. Upon comparing the data collected from the sensor system and camera scope, the processor can take 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 do so. In various examples, the comparison is made automatically. However, the reader will understand that such comparisons can be made after manual activation.

In various examples, images captured by the camera scope and particle counts and/or concentrations detected by the sensor system can be stored in memory as a baseline comparison. In future surgical procedures, the clinician and/or assistant may use the images collected by the camera scope alone to confirm the density of smoke and/or contaminants. In such an example, the visual occlusion detected by the camera scope is associated with a particular particle number and/or concentration. After the processor analyzes the air, the processor can perform any of a number of steps. For example, taking into account the stored baseline comparison and based on the analyzed image captured by the camera scope, the processor may turn on the smoke evacuation system, increase the motor speed of the smoke evacuation system, A decision may be made to reduce the motor speed of the smoke evacuation system and/or to turn off the smoke evacuation system.

In various examples, situational awareness can further inform the decision-making process described herein. For example, images from a scope may be meaningful in the context of a particular surgical procedure and/or its process, which is configured and/or determined based on the situational awareness of the smoke evacuation system and/or the 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 equipment and/or hubs located within the operating room to improve the efficiency of smoke evacuation during surgical procedures. For example, activation of a surgical device's generator may be communicated to a central hub that forwards information to a smoke evacuation system. The centralization hub can detect electrical 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 central hub may store information related to surgical procedures and/or activated surgical devices. Such information may include, for example, the expected amount of smoke generated during a particular surgical procedure, using information related to a particular surgical device and/or a particular patient's tissue composition. The expected amount can then be determined. Receiving such information may enable the smoke evacuation system to predict a particular smoke evacuation rate to more efficiently move smoke and/or contaminants from the surgical site. The reader will appreciate that various surgical devices can communicate information directly to the smoke evacuation system and/or indirectly through a central hub. The centralization hub may 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 equipment and/or hubs located within the operating room to improve the 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 a generator of a surgical device and a 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 communications between the surgical device's generator and/or central hub and/or smoke evacuation system may include 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 particular energy settings and/or intensity of delivery. In various examples, once such information is communicated from the surgical device, the memory of the central hub and/or smoke evacuation system is configured to store such information for future use. . For example, the central hub may store information regarding surgical equipment used during a particular procedure, as well as the number and/or concentration of average smoke and/or contaminants. 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 centralization hub will Such information can be communicated to the smoke extraction system prior to contaminant accumulation.

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

In various examples, the processor directs the display to indicate parameters monitored by the sensor system. In various examples, the display is located external to the housing of the smoke evacuation system. The processor can also communicate the monitored parameters with other surgical instruments and/or hubs located within the operating room to support situational awareness of the interactive surgical system. In this way, 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 can see contamination alerts from various displays around the operating room. The monitored parameters can be displayed on multiple monitors within 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 detected air quality within the operating room.

FIG. 30 shows an exhaust system configured to monitor the air quality of an operating room atmosphere and alert a clinician when the detected air quality exceeds a predetermined threshold and/or is 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 a generator 50640, a first electrical connection 50642, a surgical instrument 50630, and a suction hose 50636. As shown in FIG. 30, in various examples, the smoke evacuation system 53000 includes a display or air quality indicator screen 53002. Air quality indicator screen 53002 includes one or more of sensors 50830, 50832, 50836, 50838, 50840, 50846, 50848, 50850, 50852 as further described herein and shown in FIGS. The sensor system is configured to display information detected by a sensor system such as a sensor 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, air quality indicator screen 53002 displays pollutant particle counts monitored by external sensor 50852 to verify that pollutants are not being circulated into the operating room atmosphere at harmful levels. It is configured as follows.

In various examples, the smoke evacuation system 53000 includes a latching door 53004 that is accessible to a clinician to replace and/or replace a filter contained within the ejector housing of the smoke evacuation system 53000. For example, by monitoring particulate concentrations through the smoke extraction system 53000, the processor may determine that one or more filters are substantially blocked and nearing the end of their useful life and therefore need to be replaced. It can be determined that there is. In such an example, a clinician may open the latch door 53004 to replace one or more filters. As further described herein, the particular 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, display 53002 can show the contamination level detected by each internal and external sensor throughout the sensor system. In various examples, display 53002 is configured to display information only if the air quality does not meet a predetermined threshold. In various examples, display 53002 includes a touch screen that allows the clinician to determine what information to display and/or where that information is displayed.

In various examples, display 53002 includes a graphical interface, an LCD screen, and/or a touch screen. The reader will appreciate that any suitable means of displaying detected information and/or combinations thereof may be used in the smoke evacuation system 53000. For example, an LED light can be used as the display 53002. When processor 50308 and/or 50408 (FIGS. 5 and 6) determines that unacceptable air quality exists within the operating room, 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 evacuation system, such as memories 50310 and 50410 of FIGS. 5 and 6, for example. In various examples, the surgical evacuation systems disclosed herein can utilize instructions 53100 of FIG. 31. Furthermore, the reader will readily appreciate that, in certain examples, instructions 53100 of FIG. 31 can 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 processor 50308 and/or 50408 of 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 channel, particles and/or contaminants are filtered before the fluid exits the surgical drainage system. An external sensor, such as sensor 50852 (FIGS. 18 and 19) located on the external housing of the surgical drainage system, is configured to monitor external parameters as the filtered fluid exits the surgical drainage system. . Such external parameters include, for example, the particle size and/or concentration of particles in the atmosphere within the operating room.

At block 53102 of instructions 53100, the processor is configured to interrogate internal and external sensors for detected internal parameters and detected 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 information received from the internal and external sensors to determine an efficiency level of the surgical drainage system at block 53104. After determining the efficiency level of the surgical evacuation system, the processor is configured to display the determined efficiency level on the display at block 53106. Such indications may include raw information received from internal and external sensors, an efficiency level determined by the processor, and/or a warning to a clinician if the efficiency level is below a predetermined threshold. Being below a predetermined threshold may indicate, for example, that the filter needs to be replaced and/or that particles are not being filtered efficiently and are accumulating in the operating room atmosphere. .

FIG. 32 shows a representation of instructions 53200 stored by the memory of a surgical evacuation system similar to that represented in FIG. In various examples, the surgical evacuation systems disclosed herein can utilize the instructions of FIG. 32. Furthermore, the reader will readily appreciate that, in certain examples, the instructions of FIG. 32 can be combined with one or more additional algorithms and/or instructions described herein. The instructions may be stored in memory and executed by a processor, such as, for example, memory 50310 and/or 50410 and/or processor 50308 and/or 50408 of FIGS. 5 and 6.

Still referring to FIG. 32, prior to beginning the surgical procedure at block 53202, the processor is configured to interrogate an external sensor, such as sensor 50852 (FIGS. 18 and 19), regarding baseline air quality parameters. Baseline air quality parameters indicate the air quality of the operating room prior to the surgical procedure. 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 continuously interrogates external sensors at block 53206. For example, if the processor determines that the air quality as detected by an external sensor is degraded, such as at block 53208, the processor increases the speed of the motor at block 53210 to direct more fluid to the surgical evacuation system. It is designed to face inward. If the detected air quality is the same as the baseline air quality, such as at block 53212, the processor is configured to maintain the speed of the motor at block 53214. If the detected air quality is improved from the baseline air quality, such as at block 53216, the processor is configured to maintain or decrease the speed of the motor at block 53218. 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 toxic substances and/or unpleasant odors from the operating room. However, control and regulation capabilities of certain smoke evacuation systems may be lacking, which may result in reduced motor life and/or filter life, for example.

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

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

As described herein, an electrosurgical instrument delivers energy to a 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 may be unpleasant, obstruct the practitioner's vision, and be unhealthy if inhaled, as further described herein. The electrosurgical system can employ an evacuation system that captures the resulting smoke, directs the captured smoke through one or more filters, and expels the filtered smoke. More specifically, smoke can be moved through the evacuation system via vacuum tubes. Harmful toxic substances 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 air through the exhaust port.

In various aspects of the present 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. The sealed positive displacement flow path of the pump may include one or more circulation paths for fluid within the pump. In one aspect of the disclosure, the 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 further described herein.

As shown in FIG. 4, evacuation system 50500 includes a pump 50506 coupled to and driven by a 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 disclosure, motor 50512 may be a permanent magnet synchronous direct current (DC) motor. Some embodiments may include brushless DC motors.

According to aspects of the present disclosure, motor 50512 maintains flow rate, increases motor efficiency, increases motor life, increases pump life, increases filter life, and/or conserves energy, for example. may 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 a particular condition, such as, for example, a blockage in the flow path, an undesirable pressure, and/or an undesirable number of particles, The control circuit can adjust the motor 50512 to adjust or maintain flow rate, thereby increasing motor efficiency, increasing motor life, increasing pump life, increasing filter life, and so on, for example. 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, processor 50408 may be within ejector housing 50618 of FIG. In other aspects of the disclosure, the processor may be proximate to the exterior of the evacuation system 50600. For example, external processor 50308 is shown in FIG. The external processor may be a surgical hub processor. In yet another aspect, the internal processor and external processor can communicate to cooperatively control the motor 50512.

According to one aspect of the present disclosure, motor 50512 may be regulated by a control circuit to increase motor efficiency. For example, referring to the evacuation system of FIGS. 18 and 19, a fluid detection sensor 50830 is positioned upstream of the filter(s) and filter receptacle. In various examples, fluid detection sensor 50830 is configured to detect fluid upstream of the filter(s). For example, fluid detection sensor 50830 is configured to detect whether aerosols or droplets are present in the expelled 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, for example, 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 certain examples, when a clinician begins treating patient tissue using an electrosurgical instrument, such as when electrosurgical instrument 50630 (FIG. 7) is activated by generator 50640 (FIG. 7), Fluid detection sensor 50830 can automatically scan for fluid or specific types of fluid. Alternatively, or in combination with 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 controls the pump motor to a level sufficient to monitor the presence of the fluid or specific type of fluid. Speed can be adjusted. The motor speed in such instances may be the minimum motor speed or idle motor speed that allows accurate readings at the fluid detection sensor(s). Alternatively, the motor speed may 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 a threshold, the control circuit can adjust the speed of the motor 50512 to a level sufficient to completely drain the fluid from the surgical site. In one example, a cloud, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46), is established to be sufficient to efficiently evacuate fluid for the same or similar surgical procedure. motor speed levels can be tracked and/or stored. In such embodiments, the control circuit may access and/or reference historical motor speed levels stored in the cloud when setting the appropriate motor speed level for the surgical procedure.

Additionally or alternatively, the speed of the motor can be adjusted based on 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. Particle sensor 50838 is positioned upstream of filters 50842, 50844, and receptacle 50871 in surgical drainage system 50800 and upstream of filters 50942, 50944, and receptacle 50971 in 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 evacuation system 50800 and filter(s) 50942, 50944, and receptacle 50971 in surgical evacuation system 50900. is 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 fluid (eg, smoke containing particulate matter) is present. For example, the sensor(s) can detect particulate concentration in smoke. In certain examples, the laser particle counter sensor(s) is activated when a practitioner uses an electrosurgical instrument to treat patient tissue, such as when electrosurgical instrument 50630 is activated by generator 50640. When starting, particles can be automatically scanned and counted.

When the particulate concentration detected by the particle sensor 50838 is less than a threshold, the control circuit can adjust the motor speed to a level sufficient to sample the particulate concentration in 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). I can do it. In such embodiments, upon detecting a particulate concentration above a threshold, the control circuitry increases the speed of motor 50512 (FIG. 4) to a level sufficient to completely evacuate smoke and filter particulates 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 appropriate motor speed levels for the surgical procedure.

In one aspect of the disclosure, 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 it becomes more efficient. In such instances, energy can be saved and noise within the operating room can be minimized. Additionally, if a fluid and/or threshold particulate concentration is detected, motor 50512 establishes an efficient motor speed, i.e., sufficient to efficiently eject fluid and/or particles based on historical data. can be operated at the specified motor speed. This can be done by setting the motor speed level based on a subjective assessment (e.g. a particular clinician's experience) and/or simply by visual and/or olfactory cues (e.g. seeing smoke and/or This is an improvement over other manual methods of adjusting the evacuation system and/or increasing the motor speed level based on the smell of the air.

According to various aspects of the present disclosure, motor parameters, such as motor speed, can be adapted to adjust (e.g., increase) the efficiency of the evacuation system and its filter based on the needs at the surgical site. It is. As described herein, if the smoke detected at the surgical site is below a threshold, it may be inefficient for the evacuation system to unnecessarily filter volumes of air. In such instances, the motor speed may be decreased, reduced to zero, or maintained at zero, thereby reducing, reducing to zero, or maintaining the volume of air filtered by the exhaust box, respectively. maintained at zero. Efficient use of the drainage system ultimately extends the useful life of the drainage system and/or its components (e.g., fluid traps, filters, motors, pumps, etc.) and improves the efficiency of the drainage system and/or its components. Reduce associated repair and/or replacement costs. Stress and wear caused by constantly operating the motor at full speed or well above speed is avoided. Additionally, the motors that drive pumps within the evacuation system may generate varying levels of operating and/or vibration noise. Such operational and/or vibrational noises may, for example, impede communication between surgical staff and/or irritate and/or distract surgical staff and therefore may be It may be undesirable.

In certain instances, reducing the motor speed to zero may not be desirable. For example, electric motors, such as permanent magnet synchronous DC motors, may require high starting torque from a dead stop for use with the various pumps described herein. Referring 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 pump 50506 may result in a high starting torque of motor 50512 to start motor 50512 and rotate pump 50506. In one example, pump 50506 can include a blower (eg, a hybrid regenerative blower). In such embodiments, the blower operates at a compression ratio of, for example, about 1.1 to 1.2 and at an operating pressure of about 1.5 psig to 1.72 psig (e.g., for a fan or compressor). Larger volumes of fluid can be delivered. In another example, pump 50506 can include a compressor (eg, scroll compressor pump 50650 of FIG. 12). In such embodiments, the compressor operates at a compression ratio greater than about 2, for example, to deliver a smaller volume of fluid (e.g., 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 (e.g., 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 A pressure sensor (eg, pressure sensor 50846 in FIGS. 18 and 19) can be placed downstream of the filter receptacle in the flow path. 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 receiving 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 difference in various ways. In a first example, the control circuit can adjust the motor speed based on the pressure difference. In a second example, the control circuit can indicate that maintenance is required based on the pressure differential. For example, an indicator may be displayed on the evacuation system interface and/or the surgical hub interface. The control circuit can calculate the pressure difference continuously, in real time, periodically, or when system computing resources are available.

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

In one aspect of the present disclosure, the control circuit can send a drive signal to provide a regulated current to the motor 50512. Providing 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 embodiments, 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 disclosure, the evacuation system can include a relief valve within the flow path to relieve excess resistance pressure within the evacuation system. A relief valve can, for example, be in fluid communication with the surrounding environment. Relief of excess resistance pressure by such a relief valve may prevent the motor 50512 from having to compensate for, or attempting to compensate for, excess resistance 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 a control circuit.

In various aspects of the present disclosure, the control circuit can recognize the occlusion based on a sensor located within the evacuation system. For example, referring again to FIGS. 18 and 19, pressure sensor 50840 is positioned and configured to detect pressure upstream of one or more filter(s), and pressure sensor 50846 is configured to detect pressure upstream of one or more filter(s). The filter(s) are arranged and configured to detect 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 to the control circuit indicative of the detected pressure. In such an example, the control circuitry 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, the control circuitry may control, 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) if the pressure detected by the pressure sensor 50846 exceeds a certain threshold established for the filter(s); and/or (D) the pressure sensor 50840 If the calculated pressure difference between the filter and the pressure sensor 50846 exceeds a particular threshold established for the filter(s), it can be determined that the filter assembly is occluded. In one example, the control circuitry adjusts the predicted pressure for the filter(s) based on historical data stored in a cloud, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). configured for access and/or reference;

Referring again to FIGS. 18 and 19, pressure sensor 50850 is positioned and configured to detect pressure at or near the outlet of the exhaust system. In addition, 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 circuitry may control the pressure downstream of the filter(s) based on the pressure detected at pressure sensor 50846 and/or the calculated pressure difference between pressure sensor 50846 and pressure sensor 50850. It may be determined that the flow path through the drainage system is at least partially obstructed. In various aspects of the present disclosure, the control circuit controls, for example, if the pressure detected by pressure sensor 50846 exceeds a particular threshold and/or the pressure difference between pressure sensor 50846 and pressure sensor 50850 exceeds a particular threshold. If it exceeds , it can be determined that the flow path is blocked. When comparing the pressure difference between pressure sensor 50846 and pressure sensor 50850, the pressure difference produced by the pump can be taken into account. In one example, the control circuitry accesses and/or the predicted 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 reduce the duty cycle of pulse width modulation (PWM) of the current input to the motor 50512 to reduce the rotational speed of the pump 50506, and/or Alternatively, the PWM duty cycle of the current input to the motor 50512 can be increased to increase the rotational speed of the pump 50506. As described herein, adjustments to the PWM duty cycle can vary the flow rate to a range of inlet pressures (e.g., as measured by pressure sensor 50840), and/or outlet pressures (e.g., as measured by pressure sensor 50850). ) may 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 at upstream pressure sensor 50840 to the pressure detected at downstream pressure sensor 50846 (upstream to downstream pressure ratio) over time. and/or plotted. For example, a control circuit (FIGS. 5 and 6) including processor 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 difference between upstream pressure sensor 50840 and downstream pressure sensor 50846 may increase as the filter becomes occluded. In one aspect of the 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, within the patient's body). The pressure at pressure sensor 50846 may be the pressure drawn by a pump. The increase in pressure ratio can correspond to an occlusion between downstream pressure sensor 50846 and upstream pressure sensor 50840, such as an occlusion in a filter(s). For example, as the filter becomes occluded, the pressure at pressure sensor 50840 may remain the same or substantially the same (pressure at the surgical site), and the pressure at pressure sensor 50846 decreases as the pump continues to draw vacuum. obtain.

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

The progression from a new and unoccluded filter at time t ₀ to an almost occluded filter at time t ₂ is shown in FIG. 37 . As shown in FIG. 37, the ratio of upstream and downstream pressures (pressure at upstream pressure sensor 50840 to pressure at downstream pressure sensor 50846) starts at a non-zero ratio, which is due to the filter components and materials. This may be due to the baseline pressure difference from the air flow through the air. The ratio remains relatively constant from time t ₀ to just before time t ₁ . At time _t1 , 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''. Once the replacement ratio R'' is reached and/or exceeded, the filter is considered to be substantially blocked and should be replaced to avoid damage to the motor and/or pump, for example. . In one example, the control circuit can access and/or reference the exchange ratio R'' for a given filter installed or placed in a filter receptacle of the evacuation system via the cloud. 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% remaining) can be displayed.

Still referring to FIG. 37, the control circuitry may further track and/or plot the pulse width modulation (PWM) duty cycle of the evacuation system motor 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 _t1 , corresponding to the partial occlusion ratio R', the control circuit is configured to increase the PWM duty cycle of the motor at a relatively constant speed with a slope of ^α1 . An increase in duty cycle can be selected to compensate for filter blockage. As occlusions within the filter continue to accumulate during use, the duty cycle can be increased accordingly to compensate for filter occlusions. In various examples, gradient α ¹ can track gradient α, as shown in FIG. 37. The control circuitry accesses and controls the partial occlusion ratio associated with a given filter installed within the filter receptacle of the evacuation system through a cloud, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). / or can be referred to. 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, the pump speed can be increased such that the pump draws more air through the evacuation system by increasing the duty cycle of the motor. 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 transport or affect the movement of fluid along the flow path by mechanical action. In 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 disclosure, the pump can be operated at a first operating pressure that results in a first flow rate of fluid through the flow path, and the pump can operate at a first operating pressure that results in a second flow rate of fluid through the flow path. It can operate at an operating pressure of 2. 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 operating pressure and the second operating pressure of the pump. In one example, as blockages build up within the flow path, the pump may operate at a higher operating pressure to maintain a constant flow rate.

Still referring to the 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 can adjust the duty cycle based on, for example, the sensed pressure(s), the pressure difference(s), and/or the ratio of the sensed pressures. The increased operating pressure may be configured to compensate for a blockage, such as a blockage in the filter starting around time _t1 of FIG. 37, while maintaining a constant flow rate of fluid through the flow path. In such an example, the control circuit may, for example, control the load on the pump as the filter becomes clogged with particles.

In various aspects of the present disclosure, the control circuit can increase the current provided 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 necessary pressure differential to maintain the desired flow rate. For example, the 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 reduce the established motor current threshold for various reasons. For example, the control circuit can reduce an established motor current threshold to prevent inadvertent tissue damage at the surgical site. For example, when a surgical port becomes occluded by patient tissue, the control circuit can reduce the motor current to reduce the pressure within the system and the suction applied to the tissue. In one example, the control circuitry may access and/or reference established motor current thresholds via a cloud, 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 may provide increased power and/or motor speed for limited periods of time based on feedback from the pressure sensor. During this time, indications of pressure(s) and/or occlusion may be communicated to the user via an interface within the operating room, for example. In one example, a clinician may address the occlusion by removing the occlusion and/or changing one or more filter(s) within the filter receptacle. The limited period of time may be determined based on data stored in the cloud, such as, 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, the power and/or speed may be reduced, as further described herein, until the occlusion is appropriately addressed.

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

In one example, the burst rate set by the control circuit is different from the constant operating rate set by the control circuit. For example, after initial startup of the evacuation system and/or upon setting an increased power level of the evacuation system, the control circuit may send a drive signal to provide increased current to the motor to increase the motor speed for a short period of time. can be increased to burst speed. The 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, air flow rate and particle count over time for a surgical drainage system is shown. The control circuitry of the surgical evacuation systems 50800 and 50900 (FIGS. 18 and 19) can adjust the air flow rate, for example, as shown graphically in FIG. 38. More specifically, the air flow rates include burst speeds 54302 and 54304 for the surgical evacuation system motor. 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, the burst rate 54302 determines the desired air flow rate between time _t1 and time _t2 over a portion (e.g., 1/5) of the period between time _t1 and time _t2 . The burst speed 54304 may be the motor speed required to achieve an air flow rate that is at least 20% higher than the flow rate _V1 , for example, similarly, the burst speed 54304 is the period between time _t2 and time _t3 . is the motor speed required to achieve an air flow rate that is at least 20% higher than the desired air flow rate _V2 between time _t2 and time _t3 over a portion (e.g. 1/4) of It's okay. In various examples, the air flow rate may depend on the number of particles within the evacuation system, as described further herein.

According to various aspects of the present disclosure, the transition of the exhaust system from the first air flow rate to the second air flow rate includes the air flow rate immediately before or after the transition, and before the adjustment to the second air flow rate. 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, accordingly, a constant or substantially constant air flow rate. Referring again to the graphical representation of FIG. 38, the air flow rate varies between time _t1 and time _t2 , and again at time t2, except for burst velocities 54302 and 54304 immediately after time _t1 and time _t2 , _respectively . and time _t3 . The substantially constant air flow rate shown in FIG. 38 may correspond to a corresponding constant motor speed in a corresponding mode of operation of the evacuation system.

Still referring to FIG. 38, at time t ₀ the air flow 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 "quiet" mode 54310, the evacuation system can be configured to sample fluid from the surgical site. The sampled fluid can be utilized, for example, to determine the operating status of a smoke evacuation system, an energy device, and/or another component of a surgical system. At time _t1 , the evacuation system may be in "active" mode 54312. In certain examples, "active" mode 54312 can be triggered by one or more sensors within the evacuation system, as described further herein. The increase in air flow rate to speed V ₁ at time t ₁ and/or to speed V ₂ at time t ₂ may be accompanied by a further increase in air flow rate immediately after the transition or initiation of the new speed level. . More specifically, the air flow rate spikes immediately after time t ₁ of FIG. 38 and before the subsequent adjustment at time t ₂ . Additionally, the airflow rate spikes immediately after time _t2 when the airflow transitions from velocity _v1 to velocity _v2 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 the airflow rate immediately 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 rate spike just before returning to a constant "quiet mode" motor speed from the "active mode." In various examples, the burst velocity before quiet mode can flush smoke in a surgical system and/or 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. It can be arranged and configured. Similarly, air quality particle sensors, such as, for example, particle sensor 50852 of FIGS. 18 and 19, are arranged and configured to count particles in the ambient air around the exhaust systems 50800 and 50900 and/or within the operating room. be able to. The various particle sensors (eg, particle sensors 50838, 50848, 50852, etc.) can be further configured to send signals indicative of particle concentration to a control circuit, eg, to adjust air flow rate.

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

Still referring to FIG. 38, the control circuit controls at least one of particle sensors 50838, 50848, and/or 50852 while maintaining a motor speed associated with air flow rate _V1 from time _t1 to time _t2 . The particulate concentration can be continuously detected from the beginning. At time _t2 , the control circuitry 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. It can be determined that the value is higher than that. Threshold C ₂ may correspond to a particle concentration level and/or ratio of particles counted at various sensors along the flow path that is greater than a first threshold C ₁ . In response to exceeding the second threshold C ₂ at time t ₂ , the control circuit increases the air flow rate V ₂ or the increased air flow rate from the motor speed associated with the air flow rate V ₁ or the first “active” mode 54314. The motor speed is configured to increase the motor speed to the motor speed associated with the "active" mode 54314 of 2. Again, the increase from air flow rate V ₁ to air flow rate V ₂ may be accompanied by an air flow rate spike or burst 54304 immediately after time t ₂ .

In various examples, the control circuit determines the particulate concentration by particle sensors 50838, 50848, and/or 50852, e.g., while maintaining a motor speed associated with air flow rate _V2 between time _t2 and time _t3 . can continue to receive input indicating that 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 the air flow rate _V2 back to the "quiet" mode speed associated with the first non-zero air flow rate. As mentioned above, in a particular example, the decrease from air flow rate _V2 back to a non-zero air flow rate may be accompanied by an air flow rate spike immediately 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 present disclosure, the motor may be a variable speed motor. For example, motor 50512 (FIG. 4) may be a variable speed motor. In such instances, 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, motor 50512 (FIG. 4) may be regulated by varying the supply of current to motor 50512. For example, a first amount of current can be provided to motor 50512 to cause motor 50512 to operate at a first operating level. Alternatively, a second amount of current can be provided to motor 50512 to cause motor 50512 to operate at a second operating level. More specifically, changing the current supply may be accomplished by varying the pulse width modulation (PWM) duty cycle of the electrical input to the motor 50512. In other aspects, the current may be varied by adjusting the frequency of the current supplied to the motor. In various aspects of the present disclosure, the motor 50512 may include a rotating mechanism or pump 50506 (e.g., (compressor, blower, etc.) as described in the manual. 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 is to completely turn off the motor 50512 when evacuation and/or suction is not required, and then switch the motor 50512 on when suction is required. It may be more advantageous than putting it back. For example, a clinician may only need to use suction intermittently during an extended surgical procedure. In such embodiments, turning the motor 50512 on from a completely off state requires a high starting torque to overcome the static inertia of the motor 50512. Repeatedly turning the motor 50512 on from a completely off mode in this manner is inefficient and may reduce the life of the motor 50512. Alternatively, employing a lower operating level allows the motor 50512 to remain on during intermittent use of the evacuation system during surgery, requiring higher torque to overcome the static inertia of the motor. Adjustment to higher operating levels (eg, when additional suction is required) is possible without the need for additional suction.

In various aspects of the present disclosure, variation ranges can be established or predetermined for motor parameters. In one example, a motor speed range can be predetermined for a variable speed motor. In various aspects, a control circuit as described above can determine that a particular flow rate or increase or decrease in flow rate is required at a surgical site based on feedback from one or more sensors. For example, processors 50308 and/or 50408 within the control circuitry are configured to receive input from one or more sensors and perform adjustments to the flow rate 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 a fluid (e.g., fluid detection sensor 50830 of FIGS. 18 and 19) and/or particles in the fluid (e.g., particle sensor 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. The need for adjustments to the motor can be determined based on the measurements detected by the sensors. Depending on the determined need, the control circuit can send a drive signal to provide drive current to the motor 50512 (FIG. 4) to adjust its speed to the adjusted motor speed. This adjusted motor speed can correspond to a desired specific flow rate.

Alternatively, depending on the determined need, the control circuit may send a drive signal to provide 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 a desired adjusted flow rate. For example, a predetermined motor speed range may prevent the control circuit from adjusting the motor speed to achieve the desired flow rate.

In another aspect of the present disclosure, the motor speed may be selected by a clinician within the operating room, such as when the motor is operating in manual mode. For example, a clinician can manually change a variable speed motor to a desired motor speed via a user interface. The user interface may be on the housing of the evacuation system and/or the surgical hub interface, for example. In various aspects, the user interface can display externally measured parameters (e.g., the amount of smoke and/or particles measured via sensors at or near the surgical site) to the clinician, and The clinician can manually set the motor speed based on externally measured parameters. In such aspects, the user interface can send drive signals to supply drive current to the motor to set, increase, or decrease the motor speed to the 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 a pressure condition detected and/or measured within the evacuation system. For example, referring again to FIGS. 18 and 19, pressure sensors 50840, 50846, 50850, and 50854 can transmit their corresponding pressures to a control circuit, which controls the The first drive signal can be changed to a second drive signal based on one or more. In particular, in such aspects, the actual motor speed may not be equal to the motor speed selected by the user via the user interface. For example, if the measured pressure within the evacuation system exceeds a threshold pressure, damage the motor and/or other components of the evacuation system by allowing an increased motor speed associated with the user-selected motor speed. There are things to do. Accordingly, 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 present disclosure, the motor speed may be automatically selected by the control circuit, such as when the motor is operating in automatic mode. In such embodiments, the control circuit applies 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 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 exhaust system including at least one of pressure and particulate concentration detected by various sensors therein. Drive signals can be sent to set, increase, or decrease motor speed. In one example, pressure sensors 50840, 50846, 50850, and 50854 can transmit their corresponding sensed and/or measured pressures to a control circuit. 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 evacuation system adjustment algorithm 54000 is shown. Various surgical evacuation systems disclosed herein can utilize the adjustment algorithm 54000 of FIG. 35. Furthermore, 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 may be performed by a processor in signal communication with the ejector pump motor (see, eg, the processor and pump of FIGS. 5 and 6). For example, processor 50408 may implement adjustment algorithm 54000. Such a processor may also be in signal communication with one or more sensors within the surgical evacuation system.

In one example, the control circuit 54008 may be similar to the particle sensor 50838 of FIGS. 18 and 19 and may transmit a first signal including the number of detected and/or measured particles at block 54002. The first particulate sensor 54010 may be communicatively coupled to a first particulate sensor 54010. In addition, the control circuit 54008 may be similar in many respects to the particle sensor 50848 of FIGS. It can be coupled to a second particulate sensor 54012, which can be transmitted to a control circuit. The control circuit 54008 may then send a drive signal at block 54006 to apply the determined drive current to the motor of the evacuation system at block 54016. For example, control circuit 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) can detect and/or detect their corresponding detected and/or measured parameters by controlling circuit 54008. can be sent to. In such an alternative aspect, the control circuit may determine the appropriate motor speed based on internally measured parameters. In any case, in various examples, the user interface may display the current motor speed.

In various aspects of the present disclosure, the appropriate motor speed is an ideal motor speed determined based on historical data stored in a cloud, such as cloud 104 (FIG. 39) and/or cloud 204 (FIG. 46). It 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 a threshold pressure. In other words, to avoid damage to evacuation system components and to minimize particulate concentrations, such as, for example, the concentrations measured by particle sensor 50848. In a further aspect, the motor speed automatically selected by the control circuit can be manually adjusted. Such manual override mode allows the user to select a desired motor speed that is different from the automatically selected motor speed. In such aspects, the user interface may display the selected motor speed. In a further aspect of the present disclosure, the user interface is determined by the control circuitry to notify the user that the motor speed and/or flow rate is set lower than (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 parameters supplied to the control circuitry may include an electrical signal supplied to an electrosurgical instrument by a generator, such as to an electrosurgical instrument 50630 by generator 50640 of FIG. The power level of the surgical signal may be included. In such embodiments, the control circuit can increase motor speed proportionally 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 motor speed in proportion to the decrease in power level. Here, in an alternative aspect, the motor speed can be set at the evacuation system (eg, automatically and/or manually as described herein). 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 be changed based on the power level set with the generator 50640. In another aspect, the automatically set motor speed can be changed based on the power level set at the generator 50640.

FIG. 36 shows a graphical representation 54100 of particle counts, power, voltage, and motor speed for a surgical evacuation system, such as evacuation systems 50800 and 50900, for example. The control circuit of the evacuation system is configured to adjust the motor speed based on externally measured parameters and internally measured parameters. In one aspect of the present disclosure, the control circuits of FIGS. 5 and 6 can implement the illustrated motor speed regulation. In FIG. 36, the externally measured parameters are the power of an electrosurgical signal supplied to an electrosurgical instrument (e.g., electrosurgical instrument 50630 by generator 50640 of FIG. 7) by a generator used in a surgical procedure. level. The internally measured parameter is, for example, the number of particles detected by the ejection system, such as the laser particle number counter 50838 of FIGS. 18 and 19. The reader will readily appreciate that in certain instances, the motor speed may 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 number of particles detected by particle sensor 50838 is zero. At time _t1 , a first power level is provided by the generator to the electrosurgical instrument. In one example, the first power level can correspond to a coagulation mode. In parallel with or immediately after the increase in power level at time _t1 , the control circuit sends a drive signal to provide a starting current to the motor. The starting current provides a burst of motor speed 54102 before the motor settles to a baseline (eg, idle) motor speed 54104 between t ₁ and t ₂ . Baseline motor speed 54104 may correspond, for example, to the minimum torque required to rotate the pump. For example, as time approaches _t2 , the motor speed may correspond to a sleep mode 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 t ₂ , particle sensor 50838 detects a first spike 54106 in particle concentration that increases the number of particles above a minimum threshold 54110 corresponding to an “active” mode for smoke evacuation. In response to this first spike 54106, immediately after time _t2 , the control circuit sends a second drive signal to supply increased current to the motor, for example, to bring the motor from the "quiet" mode to the "active" mode. ” mode to increase the flow rate through the evacuation 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 provides a reduced current to the motor 50512 in proportion to the decreasing particle concentration detected by the particle sensor 50838 as the particle concentration decreases. The third drive signal is transmitted as follows. In other words, the motor speed between time t ₂ and time 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 , changes from first power level 54112 to second power level 54114. will be increased to In one example, second power level 54114 may correspond to a disconnected mode. In response to the increase in the power level of the generator, immediately after time _t3 , the control circuit sends a third drive signal to supply an increased current to the motor, again increasing the flow rate through the evacuation system. increase. For example, the motor speed may be changed in response to a change in the waveform at time _t3 . Additionally, due to the increased power level, particle sensor 50838 detects a second spike 54108 of counted particles. The third drive signal can address increased particulate concentration in smoke. As the motor speed increases, the particles counted by particle sensor 50838 decrease between times _t3 and _t4 . Again, the control circuitry actively monitors the particle sensor 50838 and controls the fourth drive to provide a reduced current to the motor in proportion to the decrease in particulate concentration detected by the particle sensor 50838. Send a signal.

At time _t4 , the second power level 54114 provided by the generator, which remained relatively constant between times _t3 and _t4 , remains at a constant rate between times _t4 and _t5 . decreases in Correspondingly, after time _t4 , the particulate concentration detected by particle sensor 50838 also decreases. In reality, the particulate concentration decreases to a level slightly below the minimum threshold 54110 and above the stop threshold 54118 between time t ₄ and time t ₅ and remains relatively constant around the stop threshold 54118 until time t ₅ . It remains as it is. In one example, this may correspond to evacuation of residual smoke from the surgical site. The control circuit continues to monitor the particle sensor 50838 between times _t4 and _t5 and reduces the current to the motor in proportion to the decrease in particulate concentration between times _t4 and _t5 . , transmits subsequent drive signals.

At time _t5 , a third spike 54116 in particulate concentration that increases the number of particles again above the minimum threshold 54110 can be detected by particle sensor 50838. In one example, the 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 if the tissue dries during the procedure. In response to the increase in smoke at time _t5 , the generator waveform is automatically adjusted to minimize smoke. For example, the third power level can be provided by a generator. Furthermore, the voltage that remained at a relatively constant first level between time _t1 and time _t5 decreases to a relatively constant second level after time _t5 until time _t6 . . In a particular example, waveform adjustment 54122 at time t ₅ where 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 power level and voltage of the generator decreases to zero, corresponding to a power-down condition, such as at the completion of a surgical procedure. Furthermore, the particulate concentration detected by particle sensor 50838 decreases below stop threshold 54118 at time _t6 . In response, the control circuit sends a drive signal to provide a reduced current to the motor and reduce the motor speed to a sleep or quiet mode 54120.

In various examples, the evacuation system can automatically sense and compensate for laparoscopic 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 insufflated into a patient's body cavity to inflate the body cavity and create a working and/or viewing space for the practitioner during the surgical procedure. By expanding the body cavity, a pressurized cavity is created. In such an example, the evacuation system disclosed herein senses the pressurized cavity and adjusts a parameter of the evacuation system parameter, such as, for example, motor speed, in response to the pressurized cavity parameter. It can be configured to:

For example, referring again to FIGS. 18 and 19, pressure sensor 50840 can detect pressures above a certain threshold pressure, which may correspond to pressures conventionally utilized for air delivery. In such an example, the control circuit may first determine whether the surgical procedure being performed is laparoscopic surgery. In certain examples, control circuitry of a smoke evacuation system (e.g., processor 50308 and/or 50408 of FIGS. 5 and 6) may interrogate a communicatively coupled surgical hub and/or cloud to determine whether a laparoscopic surgical procedure is being performed. It is possible to determine whether it has been implemented. For example, situational awareness can determine and/or confirm whether a laparoscopic procedure is being performed, as further described herein.

In certain examples, external control circuitry, such as, for example, control circuitry associated with a surgical hub, can interrogate a communicatively coupled cloud. In another aspect, the evacuation system user interface can receive input from a practitioner. The control circuit can receive a signal from the user interface indicating that the surgical procedure being performed is laparoscopic surgery. In the case of non-laparoscopic surgery, the control circuit can determine if the filter is clogged and/or partially clogged as described herein. In the case of laparoscopic surgery, the control circuit can adjust the pressure sensed by pressure sensor 50840 by a predetermined amount to achieve a laparoscopically adjusted pressure at sensor 50840. This laparoscopically adjusted pressure at sensor 50840 can be utilized in place of the actual pressure detected at sensor 50840, according to various aspects described herein. In such embodiments, 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 cavity and adjusts evacuation system parameters (e.g., motor speed) can be adjusted. In such aspects, after a pressure sensor, such as pressure sensor 50840, detects that the evacuation system is being used within a pressurized environment, the control circuitry adjusts one or more operating parameters of the motor to the peritoneal cavity. A drive signal can be sent to change the evacuation rate to an effective one for the mirror procedure. In one embodiment, the applied pressure provided by the pressurized cavity (e.g., via the distal conduit opening 50634 and suction hose 50636 near the tip of the surgical instrument 50630, see FIG. 7) is compensated for. In order to do so, the baseline (eg, idle) motor speed and/or the upper limit motor speed may be adjusted down. In such an example, after a pressure sensor, such as pressure sensor 50840, detects that the evacuation system is being used in a pressurized environment, the control circuitry may respond to a pressure loss across the pressure sensor. Secondary thresholds may be set and/or established secondary thresholds may be monitored.

If the pressure sensed by pressure sensor 50840 drops below such a secondary threshold, the evacuation system may adversely affect surgical site air delivery. For example, an adjustment to motor speed may reduce the pressure at pressure sensor 50840 below a secondary threshold. In certain instances, a separate pressure sensor may be placed on the electrosurgical instrument (i.e., laparoscopically) to initially detect a pressurized cavity and/or monitor pressure within the body cavity during laparoscopic surgery. (as in a body cavity during the procedure). In such embodiments, such pressure sensor would send a signal to a control circuit to appropriately adjust the evacuation system parameters (e.g., motor speed) as described herein. .

The reader will readily appreciate that the various surgical evacuation systems and components described herein can be incorporated into computer-implemented interactive surgical systems, surgical hubs, and/or robotic systems. For example, a surgical evacuation system can communicate data to a surgical hub, a robotic system, and/or a computer-implemented interactive surgical system, and/or a surgical evacuation system can communicate data to a surgical hub, a robotic system, and/or a computer-implemented interactive surgical system. Can receive data from the system. Various embodiments 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 may include one or more surgical systems 102 and a remote server 113 coupled to a cloud-based system (e.g., a storage device 105). cloud 104). Each surgical system 102 includes at least one surgical hub 106 that communicates with a cloud 104 that may include remote servers 113. In one example, as shown in FIG. 39, surgical system 102 includes a visualization system 108, a robotic system 110, and a handheld intelligent surgical instrument 112 configured to communicate with each other and/or with hub 106. and, including. In some aspects, 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 more.

FIG. 40 illustrates an example of a surgical system 102 used to perform a surgical procedure on a patient lying on an operating table 114 within a 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 cart 120 (surgical robot), and a surgical robot hub 122. The patient-side cart 120 is capable of manipulating at least one removably coupled surgical tool 117 while the surgeon views the surgical site via the surgeon's console 118 during a minimally invasive dissection of the patient's body. . Images of the surgical site may be obtained by medical imaging device 124, which may be manipulated by patient cart 120 to orient imaging device 124. Robotic hub 122 may be used to process images of the surgical site for subsequent display to the surgeon via surgeon's console 118.

Other types of robotic systems can be easily adapted for use with surgical system 102. Various examples of robotic systems and surgical tools suitable for use with the present disclosure are disclosed in the application entitled "ROBOT ASSISTED SURGICAL PLATFORM," filed December 28, 2017, the entire disclosure of which is incorporated herein by reference. No. 62/611,339.

Various examples of cloud-based analytics performed by cloud 104 and suitable for use with this disclosure are described in “CLOUD-BASED MEDICAL,” filed December 28, 2017, the entire disclosure of which is incorporated herein by reference. 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.

Optical components of imager 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 reflected or refracted light from the surgical field, including light reflected or refracted from tissue and/or surgical instruments.

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

The invisible spectrum (ie, the non-emissive spectrum) is the portion of the electromagnetic spectrum that lies below and above the visible spectrum (ie, wavelengths less than about 380 nm and greater than about 750 nm). 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 wireless electromagnetic radiation. Wavelengths below about 380 nm are shorter than the violet spectrum, and these constitute invisible ultraviolet, X-ray, and gamma electromagnetic radiation.

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

In one aspect, the imaging device uses multispectral monitoring to distinguish between topography and underlying structure. Multispectral images capture image data within specific wavelength ranges across the electromagnetic spectrum. Wavelengths can be separated by filters or by using instruments sensitive to light from specific wavelengths, including frequencies beyond the visible light range, such as IR and ultraviolet light. Spectral imaging can enable the extraction of additional information that the human eye cannot capture with its red, green, and blue receptors. The use of multispectral imaging techniques is described in "Advanced Imaging" in U.S. Provisional Patent Application No. 62/611,341, entitled "INTERACTIVE SURGICAL PLATFORM," filed December 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 a "surgical theater", i.e. operating room or treatment room, require maximum sterility of all medical equipment and equipment. shall be. Part of that sterilization process is the need to sterilize anything that comes into contact with the patient or enters the sterile field, including the imaging device 124 and its accessories and components. A sterile field may be considered a specific area that is considered free of microorganisms, such as in a tray or on a sterile towel, or a sterile field may be considered the area immediately surrounding a patient prepared for a surgical procedure. It will be understood that what can be done. A sterile field may include cleaned team members wearing appropriate clothing and all equipment and fixtures within the area.

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

As shown in FIG. 40, primary display 119 is positioned within the sterile field so that it is visible to an operator positioned at operating table 114. Additionally, visualization tower 111 is located outside the sterile field. 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 the hub 106 is configured to use displays 107, 109, and 119 to coordinate the flow of information to operators inside and outside the sterile field. 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 live video of the surgical site on primary display 119. I can do it. A snapshot on a non-sterile display 107 or 109 may, for example, allow a non-sterile operator to perform diagnostic steps associated with 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 a primary display 119 within the sterile field and transmits this to a sterile operator located at the operating table. It is also configured so that people can view it. In one example, the input may be in the form of a modification to a snapshot displayed on non-sterile display 107 or 109 that may 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 the flow of information to the display of surgical instrument 112. For example, in U.S. 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 within the sterile field to surgical instrument display 115, where diagnostic input or feedback is input to surgical instrument 112. May be viewed by the operator. For exemplary surgical instruments suitable for use with surgical system 102, see, for example, the section entitled "Surgical Instrument Hardware" and the 2017 publication entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosure of which is incorporated herein by reference. It is described in US Provisional Patent Application No. 62/611,341, filed December 28th.

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 a hub display 135, an imaging module 138, a generator module 140, a communications module 130, a processor module 132, and a storage array 134. In certain aspects, as shown in FIG. 41, the hub 106 further includes a smoke evacuation module 126 and/or a suction/irrigation module 128.

During a surgical procedure, applying energy to tissue for sealing and/or cutting typically involves evacuation of smoke, suction of excess fluid, and/or irrigation of the tissue. Fluid, power, and/or data lines from different sources often become intertwined during surgical procedures. Valuable time may be lost addressing this problem during the surgical procedure. Disentangling the lines may require removing the lines from their corresponding modules, which may require resetting the modules. The hub's modular enclosure 136 provides a unified environment for managing power, data, and fluid lines and reduces 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 includes 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 monopolar RF energy generator component housed within a single unit. In one aspect, the combination generator module further includes a smoke evacuation component, at least one energy supply cable for connecting the combination generator module to a surgical instrument, and a smoke evacuation component and at least one energy delivery cable for connecting the combination generator module to a surgical instrument and for generating smoke generated by application of therapeutic energy to tissue. , fluid, 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 the second fluid line extends from the 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 ultrasound 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 bi-directional communication therebetween. One of the advantages 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. The modular surgical housing includes a first energy generator module configured to generate a first energy for application to tissue and a first docking port that includes a first data and power contact. a first docking station comprising: a first energy generator module slidably movable into electrical engagement with the power and data contacts; and a first energy generator module comprising: The first power and data contact is slidably movable out of electrical engagement with the first power and data contact.

In addition to the above, the modular surgical housing includes a second energy generator module configured to generate a second energy for applying to tissue that is different than the first energy; a second docking station with a second docking port including data and power contacts of the second energy generator module, the second energy generator module being slidably moved into electrical engagement with the power and data contacts. and the second energy generator module is slidably movable out of electrical engagement with the second power and data contacts.

Additionally, the modular surgical housing 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. It further includes a communication bus to and from the port.

41-45, aspects of the present disclosure are presented with respect to a hub modular housing 136 that allows for modular integration of a generator module 140, a smoke evacuation module 126, and an aspiration/irrigation module 128. be done. The hub's modular housing 136 further facilitates bi-directional communication between the modules 140, 126, 128. As shown in FIG. 43, the generator module 140 includes integrated monopolar, bipolar, and It may also be a generator module with ultrasound components. As shown in FIG. 42, generator module 140 can be configured to connect to monopolar device 146, bipolar device 147, and ultrasound device 148. Alternatively, the generator module 140 may include a series of monopolar, bipolar, and/or ultrasonic generator modules that interact through the hub's modular housing 136. The hub's modular housing 136 allows for insertion of multiple generators and bi-directional communication between generators docked in the hub's modular housing 136 so that the multiple generators function as a single generator. The communication may be configured to facilitate communication.

In one aspect, the hub's modular housing 136 includes a modular power and A communication 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. FIG. A docking port 152 with power and data contacts on the rear side of the combination generator module 145 allows the combination generator module 145 to be slid into position within the corresponding docking station 151 of the hub's modular housing 136. A corresponding docking port 150 is configured to engage power and data contacts of a corresponding docking station 151 of the hub's 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 conveys captured/recovered smoke and/or fluid away from the surgical site, eg, to the smoke evacuation module 126. The vacuum suction generated from the smoke evacuation module 126 can draw smoke into the utility conduit opening at the surgical site. The utility conduit connected to the fluid line may be in the form of a flexible tube that terminates in the smoke evacuation module 126. The utility conduits and fluid lines define a fluid path extending toward the smoke evacuation module 126 received within the hub housing 136.

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

In one aspect, a surgical tool includes a shaft having an end effector at a distal end thereof, at least one energy treatment portion associated with the end effector, a suction tube, and an irrigation tube. The 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 entry port proximate to the energy delivery device. The energy delivery instrument is configured to deliver ultrasound and/or RF energy to the surgical site and is initially coupled to the 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 source and/or vacuum source may be housed within the hub housing 136 separately from the aspiration/irrigation module 128. In such embodiments, the fluidic 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's modular housing 136 align the docking ports of the modules with the docking stations of the hub's modular housing 136. may include an alignment mechanism configured to engage these mating parts within. For example, as shown in FIG. 42, the combination generator module 145 includes a side bracket configured to slidably engage a corresponding bracket 156 of a corresponding docking station 151 of the modular housing 136 of the hub. Contains 155. The brackets cooperate to direct the docking port contacts of the combination generator module 145 into electrical engagement with the docking port contacts of the hub's 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, the drawers 151 are of different sizes, each designed to accommodate a particular module.

Further, the contacts of a particular module may be keyed to engage the contacts of a particular drawer to avoid inserting the 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 connect modules housed within the hub's modular enclosure 136. can facilitate two-way communication. Alternatively or additionally, the docking port 150 of the hub modular housing 136 may facilitate wireless two-way communication between modules housed within the hub modular housing 136. Any suitable wireless communication may be used, such as Air Titan-Bluetooth.

FIG. 44 shows individual power bus attachments of a plurality of lateral docking ports of a lateral modular housing 160 configured to receive a plurality of modules of a surgical hub 206. Lateral modular housing 160 is configured to laterally receive and interconnect modules 161. The modules 161 are slidably inserted into a docking station 162 of a lateral modular housing 160 that includes a backplane for interconnecting the modules 161. As shown in FIG. 44, modules 161 are laterally arranged within lateral modular housing 160. As shown in FIG. Alternatively, modules 161 may be arranged vertically within a laterally modular housing.

FIG. 45 shows a vertical modular housing 164 configured to receive multiple modules 165 of surgical hub 106. FIG. The modules 165 are slidably inserted into a docking station or drawer 167 of a vertical modular housing 164 that includes a backplane for interconnecting the modules 165. Although the drawer 167 of the vertical modular housing 164 is vertically oriented, in certain cases the vertical modular housing 164 may include a laterally oriented drawer. Additionally, modules 165 may interact with each other through docking ports in vertical modular housing 164. In the embodiment of FIG. 45, a display 177 is provided for displaying data related to the operation of module 165. In addition, vertical modular housing 164 includes a master module 178 that houses a plurality of submodules that are slidably received within master module 178.

In various aspects, the imaging module 138 includes a built-in video processor and a modular light source, and is adapted for use with a variety of imaging devices. In one aspect, the imaging device is constructed with 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 to a 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 scanned beam imaging. Similarly, the light source module can be configured to deliver white light or different lights 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 a different light source. Temporary loss of vision of the surgical field can have undesirable consequences. The modular imaging device of the present disclosure is configured to allow replacement of the light source module or camera module midstream during a surgical procedure without the need to remove the imaging device from the surgical field.

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

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

Various image processors and imaging devices suitable for use with the present disclosure are described in U.S. Pat. No. 7,995,045. Additionally, 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, provides a method for removing motion artifacts from image data. It describes various systems for doing so. Such a system may be integrated with imaging module 138. Further, U.S. Patent Application Publication No. 2011/0306840, published December 15, 2011, entitled "CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS" and "SYSTEM FOR PERFORM ING A MINIMALLY INVASIVE SURGICAL PROCEDURE” August 28, 2014 Published US Patent Application Publication No. 2014/0243597 is each incorporated herein by reference in its entirety.

FIG. 46 illustrates how 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, can be stored in a cloud-based system (e.g., storage device 205). 2 shows a surgical data network 201 comprising a modular communications hub 203 configured to connect to a cloud 204 which may include a coupled remote server 213. In one aspect, modular communications hub 203 includes a network hub 207 and/or a network switch 209 that communicates with a network router. Modular communication hub 203 may further be coupled to local computer system 210 to provide local computer processing and data manipulation. Surgical data network 201 may be configured as passive, intelligent, or switched. A passive surgical data network acts as a conduit for data, allowing data to go from one device (or segment) to another device (or segment) and to cloud computing resources. The intelligent surgical data network includes additional mechanisms that allow traffic to pass through the monitored surgical data network and configure each port within the 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 1a-1n located in the operating room may be coupled to a modular communication hub 203. Network hub 207 and/or network switch 209 can be coupled to network router 211 to connect devices 1a-1n to cloud 204 or local computer system 210. Data associated with devices 1a-1n may be transferred via a router to a cloud-based computer 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 2a-2m located in the same operating room may also be coupled to network switch 209. Network switch 209 can 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 via network router 211 to cloud 204 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 communications hub 203 may be housed within a modular control tower configured to receive a plurality of devices 1a-1n/2a-2m. Local computer system 210 may also be housed in the modular control tower. The modular communication hub 203 is connected to a display 212 to display images acquired by some of the devices 1a-1n/2a-2m, eg, during a surgical procedure. In various aspects, the devices 1a-1n/2a-2m include, for example, an imaging module 138 coupled to an endoscope, among other modular devices that may be connected to the modular communications hub 203 of the surgical data network 201. , 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(s), and network router(s) that connect devices 1a-1n/2a-2m to the cloud. It may also 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 a local server or personal device. Although the term "cloud" may be used as a metaphor for "Internet," the term is not so limited. Accordingly, the term "cloud computing" may be used herein to refer to "a type of Internet-based computing," in which various services such as servers, storage, and applications are provided to the operating room. (e.g., a fixed, mobile, temporary, or on-site operating room or space) and via the Internet to a modular communication hub 203 and/or computer system 210 located in a fixed, mobile, temporary, or on-site operating room or space. and delivered to devices connected to system 210. 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 within 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 within 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 the data collected by the devices 1a-1n/2a-2m, the surgical data network provides improved surgical outcomes, reduced costs, and improved patient satisfaction. After the tissue sealing and cutting procedure, at least some of the devices 1a-1n/2a-2m can be used to observe the state of the tissue and assess leakage or perfusion of the sealed tissue. . At least one of the devices 1a-1n/2a-2m is configured to use cloud-based computing to examine data including images of samples of body tissue for diagnostic purposes to identify medical conditions such as disease effects. Several can be used. This includes tissue and phenotypic localization and margin confirmation. Devices 1a-1n/2a for identifying body anatomy using various sensors integrated with the imaging device and techniques such as overlaying images captured by multiple imaging devices. ~2m 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. . Data can improve surgical procedures by determining whether further treatments can be performed, such as endoscopic interventions, emerging technologies, targeted radiation, targeted interventions, and the application of precision robotics to tissue-specific sites and conditions. Results can be analyzed to improve. Such data analysis may further employ prognostic analysis processing, using a standardized approach to confirm surgical treatment and surgeon behavior or suggest modifications to surgical treatment and surgeon behavior. You can provide helpful feedback for any of them.

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 to the network hub. Network hub 207, in one aspect, may be implemented as a local network broadcast device that functions on 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 data in the form of packets and sends them in half-duplex mode to the router. 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 via network hub 207 at a time. Network hub 207 has no routing table or intelligence as to where to send the information and broadcasts all network data across each connection and to remote server 213 (FIG. 47) on cloud 204. Although network hub 207 can detect basic network errors such as collisions, broadcasting all information to multiple ports can be a security risk and cause bottlenecks.

In another implementation, operating room devices 2a-2m may be connected to network switch 209 via wired or wireless channels. Network switch 209 functions within the data link layer of the OSI model. The network switch 209 is a multicast device for connecting devices 2a to 2m located in the same operating room to a network. Network switch 209 sends data in the form of frames to network router 211 and functions in full duplex mode. Multiple devices 2a-2m can transmit data simultaneously via 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. The network router 211 sends data packets received from the network hub 207 and/or network switch 211 to the cloud for further processing and manipulation of the data collected by any one or all of the devices 1a-1n/2a-2m. Create a route to send to a base computer resource. Network router 211 is used to connect two or more different networks located at different locations, such as, for example, different networks located in different operating rooms of the same medical facility or different operating rooms of different medical facilities. Good too. Network router 211 sends data in the form of packets to cloud 204 and functions in full duplex mode. Multiple devices can transmit data at the same time. Network router 211 uses 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 extend a single USB port into several tiers so that more ports are available for connecting the device to a host system computer. Network hub 207 may include wired or wireless capabilities for receiving information via 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 within the operating room.

In other embodiments, the operating room devices 1a-1n/2a-2m exchange data over short distances from fixed and mobile devices (using short wavelength UHF radio waves in the ISM band of 2.4-2.485 GHz). ), and can communicate with the modular communication hub 203 via the Bluetooth wireless technology standard to create a personal area network (PAN). In other aspects, the operating room equipment 1a-1n/2a-2m supports Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, Long Term Evolution (LTE), and Ev - DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and their Ethernet derivatives, as well as any other wireless and Communication with modular communication hub 203 may be via a number of wireless or wired communication standards or protocols, including but not limited to wired protocols. A computing module may include multiple communication modules. For example, the first communication module may be dedicated to short-range wireless communication such as Wi-Fi and Bluetooth, and the second communication module may be dedicated to short-range wireless communication such as Wi-Fi and Bluetooth, and the second communication module may be dedicated to short-range wireless communication such as It may also be used exclusively for long-distance wireless communications.

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 a data type known as a frame. The frames carry data generated by devices 1a-1n/2a-2m. Once the frame is received by modular communication hub 203, the frame is amplified and sent to network router 211, which can transmit the frame to network router 211 using any of the numerous wireless or wired communication standards or protocols described herein. Transfer this data to cloud computing resources.

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

FIG. 47 shows a computer-implemented interactive surgical system 200. Computer-implemented interactive surgical system 200 is similar to computer-implemented interactive surgical system 100 in many respects. For example, computer-implemented interactive surgical system 200 includes one or more surgical systems 202 that are similar to surgical system 102 in many respects. Each surgical system 202 includes at least one surgical hub 206 that communicates with a cloud 204 that may include remote servers 213. In one aspect, computer-implemented interactive surgical system 200 includes a modular control tower 236 connected to a plurality of operating room equipment, such as, for example, intelligent surgical instruments, robots, and other computerized equipment located within the operating room. . As shown in FIG. 48, modular control tower 236 includes a modular communications hub 203 coupled to computer system 210. As shown in FIG. As illustrated in the embodiment of FIG. 47, the modular control tower 236 includes an imaging module 238 coupled to an endoscope 239, a generator module 240 coupled to an energy device 241, a smoke evacuator module 226, a suction/ Coupled to irrigation module 228 , communication module 230 , processor module 232 , storage array 234 , smart device/appliance 235 optionally coupled to display 237 , and non-contact sensor module 242 . Operating room equipment is coupled to cloud computing resources and data storage via a modular control tower 236. Robot hub 222 may also be connected to a modular control tower 236 and cloud computing resources. Among others, devices/appliances 235, visualization system 208 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 a surgical hub 206 with multiple modules coupled to a modular control tower 236. Modular control tower 236 includes a modular communication hub 203, such as a network connection device, and a computer system 210, for example, to provide local processing, visualization, and imaging. As shown in FIG. 48, the modular communication hubs 203 are connected in a layered configuration to expand the number of modules (e.g., devices) that can be connected to the modular communication hubs 203 to transmit data associated with the modules. The information may be transferred to computer system 210, a cloud computing resource, 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 connectivity to cloud computing resources and local display 217. Communication to cloud 204 can occur via either wired or wireless communication channels.

Surgical hub 206 uses non-contact sensor module 242 to measure dimensions of the operating room and generates a map of the operating room using either ultrasound or laser-type non-contact measurement devices. ``Surgical Hub Spatial Awareness Within an Operator'' in U.S. 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. Ating Room Ultrasound-based non-contact sensor modules, as described in section 2.1, detect ultrasound-based non-contact sensor modules in the operating room by transmitting bursts of ultrasound and receiving echoes when the bursts of ultrasound reflect off the exterior walls of the operating room. , where the sensor module is configured to determine the size of the operating room and adjust distance limits for Bluetooth pairing. A laser-based non-contact sensor module, for example, transmits laser light pulses, receives laser light pulses that reflect off the exterior walls of an operating room, and compares the phase of the transmitted pulses with the received pulses to determine the location of the operating room. Scan the operating room by determining size and adjusting Bluetooth pairing distance limits.

Computer system 210 includes a processor 244 and a network interface 245. Processor 244 is coupled to communication module 247, storage 248, memory 249, non-volatile memory 250, and input/output interface 251 via a system bus. System buses include 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 System Interface (SCSI), or any other proprietary bus. The bus architecture may be any of several types of bus structure(s), including a memory bus or memory controller, a peripheral bus or external bus, and/or a local bus, using a typical bus architecture.

Processor 244 may be any single-core or multi-core processor, such as that known under the trade name ARM Cortex from Texas Instruments. In one aspect, the processor includes on-chip memory, e.g., 256 KB of single-cycle flash memory or other non-volatile memory up to 40 MHz, details of which are available in the product data sheet, to improve performance above 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, and one or more 12-bit analog-to-digital converters (ADC) with 12 analog input channels. The LM4F230H5QR ARM Cortex-M4F processor core available from Instruments.

In one aspect, processor 244 may include a safety controller that includes two controller family families, such as the TMS570 and RM4x, also known by the Hercules ARM Cortex R4 trade names from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety limit applications, among other things, to provide advanced integrated safety mechanisms while offering scalable performance, connectivity, and memory options. good.

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

Computer system 210 also includes removable/non-removable, volatile/nonvolatile 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, disk storage can be defined as a storage medium, independently or in the form of a compact disk ROM device (CD-ROM), a compact disk recordable drive (CD-R drive), a compact disk rewritable drive (CD-RW drive), or in combination with other storage media, including, but not limited to, optical disk drives such as digital versatile disk ROM drives (DVD-ROMs). A removable or non-removable interface may be used to facilitate connection of the disk storage device to the system bus.

It should be understood that computer system 210 includes software that acts as an intermediary between users and underlying computer resources as described in the preferred operating environment. Such software includes an operating system. An operating system, which may be stored on disk storage, functions to control and allocate the resources of a computer system. 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 understood that the various components described herein can be implemented with 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, game pads, satellite dishes, scanners, TV tuner cards, digital cameras, digital video cameras, and web cameras. but not limited to. These and other input devices connect to the processor through the system bus through interface port(s). Interface port(s) include, for example, serial ports, parallel ports, game ports, and USB. The output device(s) uses some of the same types of ports as the input device(s). Thus, for example, a USB port may be used to provide input to a computer system and output information from the computer system to an output device. Output adapters are provided to indicate that there are several 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 connection between an output device and a system bus. Note that other devices and/or systems of devices, such as remote computer(s), provide both input and output functionality.

Computer system 210 can operate in a networked environment using logical connections to one or more remote or local computers, such as cloud computer(s). The remote cloud computer(s) may be a personal computer, server, router, network PC, workstation, microprocessor-based device, peer device, or other common network node, and typically: It may include many or all of the elements described in connection with a computer system. For simplicity, only the memory storage device is shown along with the remote computer(s). Remote computer(s) are logically connected to the computer system via a network interface and subsequently physically connected via a communication connection. Network interfaces encompass communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include fiber optic distributed data interface (FDDI), copper wire distributed data interface (CDDI), Ethernet/IEEE802.3, Token Ring/IEEE802.5, and the like. WAN technologies include, but are not limited to, point-to-point links, circuit-switched networks such as Integrated Services Digital Network (ISDN) and its variants, 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. 47 and 48 are image processors, image processing engines, media processors, or It may include any dedicated digital signal processor (DSP) used to process digital images. Image processors can use parallel computing using single instruction multiple data (SIMD) or multiple instruction multiple data (MIMD) techniques to increase speed and efficiency. Digital image processing engines can perform a variety of tasks. The image processor may be a system on a chip with a multi-core processor architecture.

Communication connection(s) refers to the hardware/software used to connect the network interface to the bus. Although the communication connections are shown internal to the computer system for clarity of illustration, the communication connections may be external to the computer system 210. For illustrative purposes only, the hardware/software required to connect to a 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. Can be mentioned.

FIG. 49 illustrates a functional block diagram of an aspect of a USB network hub 300 device, according to an aspect of the present disclosure. In the illustrated embodiment, USB network hub device 300 employs a Texas Instruments TUSB2036 integrated circuit hub. The USB network hub 300 is a CMOS device that provides an upstream USB transceiver port 302 and up to three downstream USB transceiver ports 304, 306, 308, compliant with 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 and receive ports 304, 306, 308 are differential data ports, each port including a differential data plus (DP1-DP3) output paired with a differential data minus (DM1-DM3) output.

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 transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transmit and receive ports 304, 306, 308 support both the highest speed and lower speed devices by automatically setting the slew rate depending on the speed of the device attached to the port. The USB network hub 300 device may be configured in either bus-powered or self-powered mode and includes hub power logic 312 to manage power.

The USB network hub 300 device includes a serial interface engine 310 (SIE). SIE 310 is the front end for 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, SOP, EOP, RESET, and RESUME signal detection/generation, 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-to-parallel/parallel-to-serial conversion may be mentioned. 310 receives a clock input 314 and includes suspend/resume logic as well as to control communication between the upstream USB transceiver port 302 and the downstream USB transceiver port 304, 306, 308 via port logic 320, 322, 324. It is coupled to a frame timer 316 circuit and a hub repeater circuit 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, USB network hub 300 can connect up to 127 functions organized in six logical layers to a single computer. Additionally, the USB network hub 300 can be connected 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. The USB network hub 300 has four types of power management: bus-powered hubs with either individual port power management or ganged port power management; and self-powered hubs with either individual port power management or ganged port power management. may be configured to support two modes. In one aspect, using a USB cable, a USB network hub 300, the upstream USB transceiver port 302 is plugged into a USB host controller and the downstream USB transceiver ports 304, 306, 308 connect USB compatible devices. In other words, they are exposed for the sake of others.

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 circuit includes a microcontroller 461 with a processor 462 and a 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 operably 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 movable displacement member. The position information is provided to a processor 462 that may be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of the firing member, firing bar, and I-beam knife element. Additional motors may be provided at the tool driver interface to control I-beam firing, closure tube movement, shaft rotation, and articulation. 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 that known under the trade name ARM Cortex from Texas Instruments. In one aspect, the main microcontroller 461 has on-chip memory, e.g., 256 KB of single-cycle flash memory or other non-volatile memory up to 40 MHz, the details of which are available in the product data sheet, improving performance above 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 The LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments may include 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 names Hercules ARM Cortex R4 from Texas Instruments. The safety controller can be configured specifically for IEC61508 and ISO26262 safety limit applications, among other things, to provide advanced integrated safety mechanisms while offering scalable performance, connectivity, and memory options. good.

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 a processor 462 and memory 468. Electric motor 482 may be a brushed direct current (DC) motor with a gearbox and mechanical connection to an 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. 2, published October 19, 2017, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT," which is incorporated herein by reference in its entirety. 017/ No. 0296213.

Microcontroller 461 may be programmed to provide precise control over the speed and position of the displacement member and articulation system. Microcontroller 461 may be configured to calculate the response within microcontroller 461 software. The calculated response is compared to 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 suitable calibrated 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, motor 482 may be controlled by motor driver 492 and may be used by a surgical instrument or tool firing system. In various forms, motor 482 may be a brushed DC drive motor having a maximum rotational speed of approximately 25,000 RPM, for example. In other configurations, motor 482 may include a brushless motor, a cordless motor, a synchronous motor, a step motor, or any other suitable electric motor. Motor driver 492 may include, for example, an H-bridge driver including a field effect transistor (FET). Motor 482 may be powered by a power supply assembly releasably mounted to the handle assembly or tool housing to provide control power to the surgical instrument or tool. The power supply assembly may include a battery that may include a number of 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 supply assembly may be replaceable and/or rechargeable. In at least one example, the battery cell may be a lithium ion battery that may be connectable to and separable from the power supply 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 to battery voltages up to 7V and allows the A3941 to operate with reduced gate drive down to 5.5V. . A bootstrap capacitor may be used to provide the battery supply voltage required for the N-channel MOSFET. An internal charge pump for high-side drive allows DC (100% duty cycle) operation. A 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 both the high-side FET and the low-side FET. The power FET is protected from shoot-through by a register-adjustable dead time. Integrated diagnostics indicate low voltage, overtemperature, and power bridge abnormalities and can be configured to protect the power MOSFET 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 includes controlled motor drive circuitry that includes a 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 mating engagement with a corresponding drive gear of a 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 element 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 a member. In one aspect, a longitudinally movable drive member is coupled to the firing member, firing bar, and I-beam. Thus, the absolute positioning system can actually track the linear displacement of the I-beam by tracking the linear displacement of the longitudinally movable drive member. In various other aspects, the displacement member may be coupled to any position sensor 472 suitable for measuring linear displacement. Accordingly, the longitudinally movable drive member, firing member, firing bar, or I-beam, or combinations thereof, may be coupled to any suitable linear displacement sensor. Linear displacement sensors may include contact or non-contact displacement sensors. Linear displacement sensors include linear variable differential transformers (LVDTs), differential variable reluctance transducers (DVRTs), sliding potentiometers, movable magnets, and a series of linear displacement sensors. a magnetic sensing system comprising a Hall effect sensor disposed, a magnetic sensing system comprising a fixed magnet and a Hall effect sensor disposed on a series of movable straight lines, a movable light source and a Hall effect sensor disposed on a series of movable straight lines; It may include 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. .

Electric motor 482 may include a rotary shaft that operably interfaces with a gear assembly mounted in mating 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 revolution 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 a linear actuator by a rack and pinion mechanism or to a rotary actuator by a spur gear or other connection. A power supply can power the absolute positioning system and an output indicator can display an output of the absolute positioning system. The displacement member represents a longitudinally movable drive member with a rack of drive teeth formed thereon for mating 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 position sensor 472 corresponds to a longitudinal linear displacement d1 of the displacement member, which is the displacement of the displacement member from point "a" after one revolution of the sensor element coupled to the displacement member. The straight line distance in the longitudinal direction 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 rotations for a full stroke of the displacement member. The position sensor 472 can complete multiple rotations for a full stroke of the displacement member.

A series of switches (where n is an integer greater than 1), either used alone or in combination with a gear reduction, provide unique position signals for more than one rotation 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 a unique location signal corresponding to dn. The output of position sensor 472 is provided to microcontroller 461. The position sensor 472 of the sensor mechanism may comprise a magnetic sensor, an analog rotation 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 include any number of magnetic sensing elements, such as, for example, magnetic sensors classified based on whether they measure the total field or vector components of the magnetic field. The technology used to produce both types of magnetic sensors involves many aspects of physics and electronics. Techniques used to sense magnetic fields include, inter alia, search coils, fluxgates, optical pumping, nuclear precession, SQUIDs, Hall effects, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance. , magnetostrictive/piezoelectric composites, magnetic diodes, magnetic transistors, optical fibers, magneto-optics, and microelectromechanical systems-based magnetic sensors.

In one aspect, position sensor 472 of tracking system with absolute positioning system 480 comprises a magnetic rotational absolute positioning system. Position sensor 472 may be implemented as an AS5055EQFT single chip magnetic rotary position sensor available from Austria Microsystems, AG. Position sensor 472 works with microcontroller 461 to provide an absolute positioning system. Position sensor 472 is a low voltage, low power component and includes four Hall effect elements in the area of position sensor 472 located above the magnet. Additionally, a high resolution ADC and smart power management controller are provided on-chip. The digit-by-digit method and Boulder method are used to implement concise and efficient algorithms for computing hyperbolic and trigonometric functions that require only addition, subtraction, bit-shifting, and table lookup operations. A Coordinate Rotation Digital Computer (CORDIC) processor, also known as Volder's algorithm, is provided. Angular position, alarm bits, and magnetic field information are transmitted to microcontroller 461 via a standard serial communication interface, such as a Serial Peripheral Interface (SPI) interface. Position sensor 472 provides 12-bit or 14-bit resolution. Position sensor 472 may be an AS5055 chip provided in a small QFN 16 pin 4x4x0.85mm package.

Tracking system 480 with 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) include U.S. Pat. No. 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. U.S. Pat. As described in Patent Application No. 15/628,175 Examples include sensor mechanisms such as those that are present. 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 a finite resolution and sampling frequency. Absolute positioning systems use comparison and combination circuits to combine the calculated response with the measured response, using algorithms such as weighted averaging and theoretical control loops to drive the calculated response towards the measured response. can be provided. The calculated response of a physical system takes into account properties such as mass, inertia, viscous friction, induced drag, etc. in order to predict what the state and output of the physical system will be by knowing the inputs.

Absolute positioning systems do not reset the displacement member (as may be required with conventional rotary encoders where the motor 482 simply counts the number of steps forward or backward that it has taken to estimate the position of a device actuator, drive bar, knife, etc.). Provides the absolute position of the displacement member upon power-up of the instrument without retracting or advancing to the zero or home position.

A sensor 474, such as a strain gauge or microstrain gauge, measures one or more parameters of the end effector, such as the amplitude of strain exerted on the anvil during a clamping operation, which can be indicative of the closing force applied to the anvil, for example. configured to measure. The measured distortion is converted to a digital signal and provided to processor 462. Instead of or in addition to sensor 474, a sensor 476, such as a load sensor, can measure the closing force applied to the anvil by the closure 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 a surgical instrument or tool. The I-beam is configured to engage a wedge-shaped sled, and the wedge-shaped sled is configured to cam the staple driver upwardly to force the staple into deforming contact with the anvil. The I-beam also includes sharp cutting edges 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, strain gauge sensor 474 can be used to measure the force applied to 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, such as, for example, a microstrain gauge configured to measure one or more parameters of the end effector. In one aspect, strain gauge sensor 474 can measure the amplitude or magnitude of strain exerted on the end effector jaw members during a grasping operation, which can be indicative of tissue compression. The measured distortion is converted to a digital signal and provided to the processor 462 of the microcontroller 461. Load sensor 476 can measure the force used to manipulate 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 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 the force required to close the end effector on the tissue, as measured by sensors 474, 476, respectively, are determined based on the selected position of the firing member and/or or 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 during evaluation.

The surgical instrument or tool control system 470 may also include wired or wireless communication circuitry for communicating with a 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 may be configured to implement various processes described herein. Control circuit 500 can include a microcontroller that includes one or more processors 502 (eg, microprocessors, microcontrollers) coupled to at least one memory circuit 504. Memory circuit 504 stores machine-executable instructions that, when executed by processor 502, cause processor 502 to implement machine instructions for implementing the various processes described herein. Processor 502 may be any one of a number of single or multi-core processors known in the art. Memory circuit 504 may include volatile and non-volatile storage media. Processor 502 may include an instruction processing unit 506 and a computing unit 508. The instruction processing unit may be configured to receive instructions from the memory circuit 504 of the present disclosure.

FIG. 52 illustrates a combinational logic circuit 510 configured to control aspects of a surgical instrument or tool, according to one aspect of the present disclosure. Combinatorial logic circuit 510 can be configured to implement various processes described herein. Combinatorial logic circuit 510 is a finite state machine that includes combinational logic 512 configured to receive data associated with a surgical instrument or tool at input 514, process the data through combinational logic 512, and provide output 516. may 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 circuit 520 or combinatorial logic 522 may be configured to implement various processes described herein. Sequential logic circuit 520 may include a finite state machine. Sequential logic circuit 520 may include, for example, combinational logic 522, at least one memory circuit 524, and a clock 529. At least one memory circuit 524 can store the current state of the finite state machine. In particular examples, sequential logic circuit 520 may be synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with a surgical instrument or tool from input 526, process the data through combinational 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 that implements various processes herein. In other aspects, the finite state machine may include a combination of combinational logic circuits (eg, combinational logic circuit 510 of FIG. 52) and sequential logic circuit 520.

FIG. 54 shows a surgical instrument or tool with multiple motors that can be activated to perform various functions. In particular 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 to perform a second function. A fourth 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, closing, and/or articulating motions at the end effector. The firing motion, closing motion, and/or articulation motion can be transmitted to the end effector via the shaft assembly, for example.

In certain examples, a surgical instrument system or tool may include a 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 an end effector, specifically to displace the I-beam element. may be done. In certain examples, the firing motion generated by motor 602 may, for example, deploy staples from a staple cartridge into tissue captured by an end effector and/or advance a cutting edge of an I-beam element. The captured tissue may be cut. The I-beam element can be retracted by reversing the direction of motor 602.

In certain examples, the surgical instrument or tool may include a closure motor 603. Closure motor 603 is configured to specifically displace the closure tube to close the anvil and transmit the closure motion generated by motor 603 to the end effector to compress tissue between the anvil and the staple cartridge. may be operably coupled with a closure motor drive assembly 605, which may be configured. The closing motion may, for example, transition the end effector from an open configuration to an approximation configuration to capture tissue. The end effector may 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 may be operably coupled to corresponding articulation motor drive assemblies 608a, 608b that may be configured to transmit the articulation motion generated by the motors 606a, 606b to the end effector. In certain examples, the articulation may, for example, cause the end effector to articulate relative to the shaft.

As mentioned above, a surgical instrument or tool may include multiple motors that may be configured to perform a variety of independent functions. In certain instances, multiple motors of a surgical instrument or tool may be activated independently or separately to perform one or more functions while other motors remain stopped. I can do it. 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 stopped. Additionally, closure motor 603 may be activated simultaneously with firing motor 602 to advance the closure tube and I-beam element distally, as described in more 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, the 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 a 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 selectively switches from cooperating with one of the plurality of motors of the surgical instrument or tool to cooperating with another of the plurality of motors of the surgical instrument or tool. Can be switched.

In at least one embodiment, a common control module 610 is connected between operative engagement with articulation motors 606a, 606b and operative engagement with either firing motor 602 or closure motor 603. Can be switched selectively. In at least one embodiment, as shown in FIG. 54, switch 614 can be moved or transitioned 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. The switch 614 may electrically couple the common control module 610 with the first articulation motor 606a, and in the third position 618a, the switch 614 may electrically couple the common control module 610 with the first articulation motor 606a, and in the fourth position 618a. At 618b, switch 614 may electrically couple common control module 610 with second articulation motor 606b. In certain examples, a separate and common control module 610 may be electrically coupled to firing motor 602, closure 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 to measure the output torque on the motor's shaft. The force on the end effector may be sensed in any conventional manner, such as by a force sensor outside the jaw or by a torque sensor on the motor actuating the jaw.

In various examples, as shown in FIG. 54, the common control module 610 may include a motor driver 626 that may include one or more H-bridge FETs. Motor driver 626 may modulate the power transferred from power supply 628 to motors coupled to common control module 610, for example, based on input from microcontroller 620 (the “controller”). In certain examples, the microcontroller 620 can be used to determine the current drawn by the motors, for example, while the motors are coupled to a common control module 610, as described above.

In certain examples, microcontroller 620 may include a microprocessor 622 ("processor") and one or more non-transitory computer-readable media or memory units 624 ("memory"). In certain examples, memory 624 may store various program instructions that, when executed, may cause processor 622 to perform multiple 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 certain 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 the surgical instrument 600. A number of battery cells connected in series may be used as the 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 driver 626 to control the position, direction of rotation, and/or speed of motors coupled to common control module 610. In certain examples, processor 622 can signal motor driver 626 to stop and/or disable motors coupled to common control module 610. The term "processor" as used herein refers to any suitable microprocessor, microcontroller, or computer central processing unit (CPU) that combines the functionality of one or up to several integrated circuits. It should be understood to include other basic computing devices integrated above. A processor is a versatile programmable device that accepts digital data as input, processes that data according to instructions stored in memory, and provides results as output. This is an example of sequential digital logic since it has internal memory. Processors operate with numbers and symbols that are represented in a binary system.

In one example, processor 622 may be any single-core or multi-core processor, such as that known under the trade name ARM Cortex from Texas Instruments. In a particular example, microcontroller 620 may be a LM 4F230H5QR available from Texas Instruments, for example. In at least one embodiment, Texas Instruments' LM4F230H5QR has on-chip memory, performance of up to 40 MHz of 256 KB of single-cycle flash memory or other non-volatile memory, among other characteristics readily available in the product data sheet. Prefetch buffer for super-improvement, 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 that includes one or more 12-bit ADCs with channels. Other microcontrollers may be easily substituted for use with module 4410. Therefore, the present disclosure should not be limited to this context.

In certain examples, memory 624 may include program instructions for controlling each motor of surgical instrument 600 that is connectable to common control module 610. For example, memory 624 may include program instructions for controlling firing motor 602, closure motor 603, and articulation motors 606a, 606b. Such program instructions may cause processor 622 to control firing, closure, and articulation functions in accordance with input from a surgical instrument or tool algorithm or control program.

In certain 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 configuration. For example, sensor 630 can alert processor 622 to use program instructions related to firing, closing, and articulating the end effector. In certain examples, sensor 630 may include a position sensor that can be used to sense the position of switch 614, for example. Accordingly, processor 622 may use program instructions associated with firing an I-beam of an end effector upon detecting that switch 614 is in first position 616 via sensor 630, for example. may use program instructions associated with closing the anvil upon detecting that the switch 614 is in the second position 617 via the sensor 630, for example, the processor 622 may Upon detecting that switch 614 is in third position 618a or fourth position 618b, program instructions associated with articulation of the end effector may 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 achieve distal/proximal translation of the displacement member, distal/proximal displacement of the obturator canal, 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 a motor-driven firing member, closure member, shaft member, or one or more articulating members.

In one aspect, the robotic surgical instrument 700 connects, via a plurality of motors 704a-704e, the anvil 716 and I-beam 714 (including sharp cutting edges) portions of the end effector 702, the removable staple cartridge 718, the shaft 740, and a control circuit 710 configured to control one or more articulation members 742a, 742b. Position sensor 734 can 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 704a-704e, 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 circuit 710 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the processor or processors to perform one or more tasks. . In one aspect, timer/counter 731 provides an output signal, such as an 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. , so that the control circuit 710 determines the position of the I-beam 714 at a particular time (t) relative to the starting position or time (t) when the I-beam 714 is at the particular position relative to the starting position. I can do it. 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 functionality of end effector 702 based on one or more tissue conditions. Control circuit 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 closure control program based on tissue conditions. The firing control program can describe distal movement of the displacement member. Different fire control programs can be selected to better handle different tissue conditions. For example, if thicker tissue is present, the control circuit 710 may be programmed to translate the displacement member at a slower speed and/or with less power. If thinner tissue is present, control circuit 710 may be programmed to translate the displacement member at higher speeds and/or with higher power. A closure control program can control the closure force applied to the tissue by anvil 716. Other control programs control the rotation of shaft 740 and articulating members 742a, 742b.

In one aspect, control circuit 710 can generate a motor set point signal. Motor set point signals may be provided to various motor controllers 708a-708e. Motor controllers 708a-708e may include one or more circuits configured to provide motor drive signals to motors 704a-704e to drive 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. But that's fine. Also, in some embodiments, motor controllers 708a-708e may be omitted and 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 during a first open-loop portion of the displacement member stroke. Based on the response of the robotic surgical instrument 700 during the open-loop portion of the stroke, the 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 Examples include the sum of pulse widths of drive signals. After the open loop portion, control circuit 710 may implement the selected firing control program for a second portion of the displacement member stroke. For example, during a closed-loop portion of a 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 speed. You may let them.

In one aspect, motors 704a-704e can receive power from energy source 712. Energy source 712 may be a DC power source powered by a mains AC power source, a battery, a supercapacitor, or any other suitable energy source. Motors 704a-704e are mechanically coupled to individual 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 to couple motors 704a-704e to a movable mechanical element. Position sensor 734 can sense the position of I-beam 714. Position sensor 734 may be or include any type of sensor capable of generating position data indicative of the position of I-beam 714. In some examples, position sensor 734 may include an encoder configured to provide a series of pulses to control circuit 710 as I-beam 714 is translated 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 may provide other signals indicative of I-beam 714 movement. Also, in some embodiments, position sensor 734 may be omitted. If any of the motors 704a-704e are step motors, the control circuit 710 may track the position of the I-beam 714 by summing the number and direction of steps that the motors 704 are commanded to perform. can. Position sensor 734 may be located within end effector 702 or any other portion of the instrument. The output of each motor 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 circuit 710 is configured to drive a firing member, such as an I-beam 714 portion of end effector 702. Control circuit 710 provides motor settings to motor controller 708a, and motor controller 708a provides drive signals to motor 704a. The output shaft of motor 704a is coupled to torque sensor 744a. Torque sensor 744a is coupled to transmission mechanism 706a coupled to I-beam 714. Transmission mechanism 706a includes movable mechanical elements such as rotational elements and firing members to control movement of I-beam 714 distally and proximally along the longitudinal axis of end effector 702. In one aspect, motor 704a may be coupled to a knife gear assembly that includes a knife gear reduction set that includes a first knife drive gear and a second knife drive gear. Torque sensor 744a 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 to control circuitry 710 as a feedback signal. End effector 702 may include an additional sensor 738 configured to provide a feedback signal to control circuit 710. When ready for use, control circuit 710 can provide a firing 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 start-of-stroke position to an end-of-stroke position distal to the start-of-stroke position. be able to. As the firing member is translated distally, I-beam 714 with a cutting element disposed at the 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 an anvil 716 portion of end effector 702. Control circuit 710 provides motor set points to motor control 708b, which provides drive signals to motor 704b. The output shaft of motor 704b is coupled to torque sensor 744b. Torque sensor 744b is coupled to transmission mechanism 706b coupled to anvil 716. Transmission mechanism 706b includes movable mechanical elements such as a rotating element and a closing member to control movement of anvil 716 from open and closed positions. In one aspect, 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 744b provides a closing force feedback signal to control circuit 710. The closure force feedback signal represents the closure 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 within end effector 702 may provide a closure force feedback signal to control circuit 710. A pivotable anvil 716 is positioned on the opposite side of 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 704b advances the 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 set points 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 744c is coupled to transmission mechanism 706c coupled to shaft 740. Transmission mechanism 706c includes a movable mechanical element, such as a rotating element, to control clockwise or counterclockwise rotation of shaft 740 up to and beyond 360 degrees. In one aspect, the motor 704c is formed on (or attached to) the proximal end of the proximal closure tube such that it is operably engaged by a rotating gear assembly operably supported on the tool mounting plate. (attached) to a rotational transmission mechanism assembly including a tubular gear segment. Torque sensor 744c provides a torque feedback signal to control circuit 710. The rotational force feedback signal represents 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 circuitry 710.

In one aspect, control circuit 710 is configured to articulate end effector 702. Control circuit 710 provides motor set points 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 a transmission mechanism 706d coupled to articulation member 742a. Transmission mechanism 706d includes a movable mechanical element such as an articulation element for controlling the ±65° articulation of end effector 702. In one aspect, the motor 704d is coupled to an articulation nut rotatably pivoted on a proximal end portion of the distal spine portion and articulated on a proximal end portion of the distal spine portion. Rotatably driven by a motion gear assembly. Torque sensor 744d provides a joint force feedback signal to control circuit 710. The joint force feedback signal represents the joint force applied to the end effector 702. A sensor 738, such as an articulation encoder, may provide the articulation position of the end effector 702 to the control circuit 710.

In another aspect, the articulation feature of the robotic surgical system 700 may include two articulation members or connections 742a, 742b. These articulating members 742a, 742b are driven by separate disks on a robot interface (rack) driven by two motors 708d, 708e. A separate firing motor 704a is provided to provide resistive holding motion and load to the head when the head is not in motion, and to provide articulation motion when the head is articulating. Each of the articulation connections 742a, 742b may be driven competitively with respect to the other connection. Articulating 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 with other articulation linkage drive systems.

In one aspect, one or more motors 704a-704e may include a brushed DC motor with a gearbox and a mechanical connection to a firing member, closure member, or articulation member. Other examples include 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, surrounding bodies, and physical systems. Such an external influence may be 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 its desired behavior.

In one aspect, position sensor 734 may be implemented as an absolute positioning system. In one aspect, the position sensor 734 may comprise a magnetic rotary absolute positioning system implemented as an AS5055EQFT single chip magnetic rotary 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 is provided to implement a concise and efficient algorithm for calculating hyperbolic and trigonometric functions, requiring only addition, subtraction, bit shifting, and table lookup operations. It may include a plurality of Hall effect elements coupled to a CORDIC processor, also known as the digit-by-digit method and Boulder algorithm.

In one aspect, control circuit 710 may communicate with one or more sensors 738. A sensor 738 is disposed on the end effector 702 and is adapted to operate with the robotic surgical instrument 700 to measure various derived parameters, such as gap distance versus time, tissue compression versus time, and anvil strain versus time. It's okay. Sensor 738 may be one of a magnetic sensor, a magnetic field sensor, a strain gauge, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or the end effector 702 Any other suitable sensor for measuring the above parameters may be provided. Sensor 738 can include one or more sensors. A sensor 738 may be placed on the deck of 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, control circuit 710 determines (1) the closure load experienced by the distal closure tube and its location, (2) the firing member in the rack and its location, (3) which portion of staple cartridge 718 has tissue thereon. and (4) can sense the load and position on both articulating rods.

In one aspect, the one or more sensors 738 may include a strain gauge, such as a microstrain gauge, configured to measure the amount of strain in the anvil 716 during the grasping condition. Strain gauges provide electrical signals whose amplitude varies with the magnitude of strain. Sensor 738 may include a pressure sensor configured to detect pressure generated by the presence of compressed tissue between anvil 716 and staple cartridge 718. Sensor 738 may be configured to detect the impedance of a portion of tissue located between anvil 716 and staple cartridge 718, which impedance may be determined by the thickness and/or fullness of tissue located therebetween. shows.

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 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 738 may include conductor-free 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 closure drive system. For example, one or more sensors 738 may be located at the point of interaction between the closure tube and anvil 716 to detect the closure force exerted on the anvil 716 by the closure tube. The force exerted on anvil 716 may be representative of tissue compression experienced by a portion of tissue captured between anvil 716 and staple cartridge 718. One or more sensors 738 can be placed at various interaction points along the closure drive system to detect the closure force applied to the anvil 716 by the closure drive system. One or more sensors 738 may be sampled in real time during clamping operations by a processor of control circuit 710. Control circuit 710 receives real-time sample measurements, provides and analyzes time-based information, and evaluates the closing force applied to anvil 716 in real-time.

In one aspect, current sensor 736 can be used to measure the current drawn by each of 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 the 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 instrument's actual system response in the controller's software. The displacement member can be actuated to move the I-beam 714 within the end effector 702 at or near a target velocity. Robotic surgical instrument 700 may include a feedback controller, which may include any feedback controller, including, but not limited to, PID, state feedback, linear quadratic (LQR), and/or adaptive controllers. It may be any one of the following. Robotic surgical instrument 700 can include a power source for converting signals from a feedback controller into physical inputs such as, for example, case voltages, PWM voltages, frequency modulated voltages, currents, torques, and/or forces. . Further details are disclosed in U.S. Patent Application No. 15/636,829, entitled "CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT," filed June 29, 2017, which is incorporated herein by reference in its entirety. has been done.

FIG. 56 illustrates a block diagram of a surgical instrument 750 programmed to control distal translation of a displacement member, according to one aspect of the present disclosure. In one aspect, surgical instrument 750 is programmed to control distal translation of a displacement member, such as I-beam 764. Surgical instrument 750 includes an anvil 766, an I-beam 764 (including 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 may be measured by an absolute positioning system, sensor mechanism, and position sensor 784. Because I-beam 764 is coupled to a 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 following discussion, the position, displacement, and/or translation of I-beam 764 may be accomplished by position sensor 784 as described herein. Control circuit 760 may be programmed to control translation of a displacement member, such as I-beam 764. In some embodiments, control circuitry 760 includes one or more microcontrollers, microprocessors, or processors for executing instructions that cause the displacement member, e.g., I-beam 764, to control the displacement member, e.g., I-beam 764, in the manner described. Other suitable processors may also be included. In one aspect, timer/counter 781 provides an output signal, such as an elapsed time or 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 set point signal 772. Motor set point signal 772 may be provided to motor controller 758. Motor controller 758 may include 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 directly generate motor drive signal 774.

Motor 754 can 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 to couple motor 754 to I-beam 764. Position sensor 784 can sense the position of 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 examples, position sensor 784 may include an encoder configured to provide a series of pulses to control circuit 760 as I-beam 764 is translated distally and proximally. Control circuit 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 that motor 754 is commanded to perform. Position sensor 784 may be located within end effector 752 or any other portion of the instrument.

Control circuit 760 can communicate with one or more sensors 788. A sensor 788 is disposed on the end effector 752 and is adapted to operate with the surgical instrument 750 to measure various derived parameters, such as gap distance versus time, tissue compression versus time, and anvil strain versus time. Good too. Sensors 788 may be magnetic sensors, magnetic field sensors, inductive sensors such as strain gauges, pressure sensors, force sensors, eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and/or measure one or more parameters of end effector 752. Any other suitable sensor may also be included. Sensor 788 can include one or more sensors.

One or more sensors 788 may include strain gauges, such as microstrain gauges, configured to measure the amount of strain in anvil 766 during the clamped condition. Strain gauges provide electrical signals whose amplitude varies with the magnitude of strain. Sensor 788 may include a pressure sensor configured to detect pressure generated by the presence of compressed tissue between anvil 766 and staple cartridge 768. Sensor 788 may be configured to detect the impedance of a portion of tissue located between anvil 766 and staple cartridge 768, which impedance may be determined by the thickness and/or fullness of the tissue located therebetween. shows.

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

A current sensor 786 can be used to measure the current drawn by 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 instrument's actual system response in the controller's software. The displacement member can be actuated to move I-beam 764 within end effector 752 at or near a target velocity. Surgical instrument 750 can include a feedback controller, for example, any one of any feedback controllers including, but not limited to, PID, status feedback, LQR, and/or adaptive controllers. It may be one. Surgical instrument 750 can include a power source for converting signals from the feedback controller into physical inputs such as case voltages, PWM voltages, frequency modulated voltages, currents, torques, and/or forces.

The actual drive system for the surgical instrument 750 is a brushed DC motor with a gearbox and a mechanical connection to the articulation and/or knife system to drive the displacement member, cutting member, or I-beam 764. It is composed of Another example is an electric motor 754 that operates an exchangeable shaft assembly, such as a displacement member and an articulation driver. External influences are unmeasured and unpredictable influences such as friction on tissues, surrounding bodies, and physical systems. Such external influences may be 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 its desired behavior.

Various exemplary aspects are directed to a surgical instrument 750 that includes an end effector 752 having a motor-driven 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. End effector 752 may include a pivotable anvil 766 and, when configured for use, a staple cartridge 768 located on the opposite side of anvil 766. A clinician may grasp tissue between anvil 766 and staple cartridge 768, as described herein. When instrument 750 is ready for use, the clinician can provide a firing signal, such as by pressing a trigger on instrument 750. In response to the firing signal, the motor 754 drives the displacement member distally along the longitudinal axis of the end effector 752 from a proximal start-of-stroke position to an end-of-stroke position distal to the start-of-stroke position. I can do it. As the displacement member is translated distally, I-beam 764 with a cutting element disposed at the distal end can cut tissue between staple cartridge 768 and anvil 766.

In various embodiments, surgical instrument 750 may include a control circuit 760 programmed to control distal translation of a displacement member, such as, for example, I-beam 764, based on one or more tissue conditions. good. Control circuit 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 conditions. The firing control program can describe distal movement of the displacement member. Different fire control programs can be selected to better handle different tissue conditions. For example, if thicker tissue is present, control circuit 760 may be programmed to translate the displacement member at a slower speed and/or with less power. If thinner tissue is present, control circuit 760 may be programmed to translate the displacement member at higher speeds and/or with 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 displacement member's stroke. 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 sum of the pulse widths of the motor drive signals. etc. can be mentioned. After the open loop portion, control circuit 760 may implement the selected firing control program for a second portion of the displacement member stroke. For example, during the closed-loop portion of the stroke, the control circuit 760 may modulate the motor 754 in a closed-loop manner based on translational data describing the position of the displacement member to translate the displacement member at a constant speed. Further details may be found in U.S. Patent Application No. 15/720,852, entitled "SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT," filed September 29, 2017, which is incorporated herein by reference in its entirety. has been disclosed.

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 phantom).

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, the sensor 638 may be a solid state switch that operates under the influence of light, such as a light 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 788 may include conductor-free switches, ultrasonic switches, accelerometers, and inertial sensors, among others.

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

In one aspect, the I-beam 764 may be implemented as a knife member with a knife body operably supporting a tissue cutting blade thereon, an anvil-engaging tab or feature and a channel-engaging feature or foot. It may further contain. 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 described in commonly-assigned U.S. patent application Ser. "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, a sensor mechanism, and a position sensor, represented as position sensor 784. Because I-beam 764 is coupled to a 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 following discussion, the position, displacement, and/or translation of I-beam 764 may be accomplished by position sensor 784 as described herein. Control circuit 760 may be programmed to control translation of a displacement member, such as I-beam 764, as described herein. In some embodiments, control circuitry 760 includes one or more microcontrollers, microprocessors, or processors for executing instructions that cause the displacement member, e.g., I-beam 764, to control the displacement member, e.g., I-beam 764, in the manner described. Other suitable processors may also be included. In one aspect, timer/counter 781 provides an output signal, such as an 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 set point signal 772. Motor set point signal 772 may be provided to motor controller 758. Motor controller 758 may include 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 directly generate motor drive signal 774.

Motor 754 can 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 to couple motor 754 to I-beam 764. Position sensor 784 can sense the position of 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 examples, position sensor 784 may include an encoder configured to provide a series of pulses to control circuit 760 as I-beam 764 is translated distally and proximally. Control circuit 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 step 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. Position sensor 784 may be located within end effector 792 or any other portion of the instrument.

Control circuit 760 can communicate with one or more sensors 788. Sensor 788 is disposed on end effector 792 and is adapted to operate with surgical instrument 790 to measure various derived parameters, such as gap distance versus time, tissue compression versus time, and anvil strain versus time. Good too. Sensor 788 measures one or more parameters of magnetic sensor, magnetic field sensor, inductive sensor, such as a strain gauge, pressure sensor, force sensor, eddy current sensor, resistive sensor, capacitive sensor, optical sensor, and/or end effector 792 Any other suitable sensor may also be included. Sensor 788 can include one or more sensors.

One or more sensors 788 may include a strain gauge, such as a microstrain gauge, configured to measure the amount of strain in anvil 766 during the clamped condition. Strain gauges provide electrical signals whose amplitude varies with the magnitude of strain. Sensor 788 may include a pressure sensor configured to detect pressure generated by the presence of compressed tissue between anvil 766 and staple cartridge 768. Sensor 788 may be configured to detect the impedance of a portion of tissue located between anvil 766 and staple cartridge 768, which impedance may be determined by the thickness and/or fullness of the tissue located therebetween. shows.

Sensor 788 can be configured to measure the force exerted on anvil 766 by the closure drive system. For example, one or more sensors 788 may be located at the point of interaction between the closure tube and anvil 766 to detect the closure force exerted on the anvil 766 by the closure tube. The force exerted on anvil 766 may be representative of tissue compression experienced by a portion of tissue captured between anvil 766 and staple cartridge 768. One or more sensors 788 can be placed at various interaction points along the closure drive system to detect the closure force applied to the 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 circuit 760 receives real-time sample measurements, provides and analyzes time-based information, and evaluates the closing force applied to anvil 766 in real-time.

A current sensor 786 can be used to measure the current drawn by 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.

An 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 circuit 760 controls the delivery of RF energy to RF cartridge 796.

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

Generator Hardware FIG. 58 is a simplified block diagram of a generator 800 configured to provide inductorless tuning, among other benefits. Additional details of generator 800 are described in U.S. Pat. Incorporated herein by reference. Generator 800 may include a patient isolation stage 802 in communication with a non-isolated stage 804 via a power transformer 806. The secondary winding 808 of the power transformer 806 is housed within the isolation stage 802 and is capable of carrying multiple energy sources including, for example, ultrasonic surgical instruments, RF electrosurgical instruments, and ultrasonic and RF energy modes that can be delivered singly or simultaneously. Providing a tap configuration (e.g., a center tap or non-center tap configuration) for defining drive signal outputs 810a, 810b, 810c for delivering drive signals to various surgical instruments, such as functional surgical instruments. I can do it. Specifically, the drive signal output units 810a, 810c may output an ultrasonic drive signal (e.g., 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 ultrasound and electrosurgical drive signals are applied to separate surgical instruments and/or to a multifunctional surgical instrument that has the ability to deliver both ultrasound energy and electrosurgical energy to tissue. may be supplied simultaneously to a single surgical instrument such as. The electrosurgical signal provided to either a dedicated electrosurgical instrument and/or a combined multifunctional ultrasound/electrosurgical instrument may be either a therapeutic or subtherapeutic level signal; It will be appreciated that sub-quantitative signals may be used, for example, to monitor tissue or instrument status and provide feedback to the generator. For example, ultrasound and RF signals may be delivered separately or simultaneously from a generator with a single output port to provide a desired output signal to a surgical instrument, as discussed in more detail below. . Thus, the generator can combine ultrasound energy and electrosurgical RF energy to deliver combined energy to a multifunctional ultrasound/electrosurgical instrument. Bipolar electrodes can be placed on one or both jaws of the end effector. One jaw may be driven by ultrasound energy in addition to electrosurgical RF energy, working simultaneously. While ultrasound energy may be used to dissect tissue, electrosurgical RF energy may be used for vessel sealing.

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, non-isolated stage 804 may include 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 certain forms, logic device 816 may include, for example, a programmable gate array (PGA), FPGA, programmable logic device (PLD), among other logic circuits. Accordingly, by controlling the input of power amplifier 812 via DAC circuit 818, logic device 816 controls many parameters (e.g., frequency, waveform, amplitude) can be controlled. In certain forms, and as discussed below, logic device 816 may work with a processor (e.g., a DSP, discussed below) to implement a number of DSP-based and/or other control algorithms to control generator 800. It is possible to control the parameters of the drive signal output by.

Power may be provided 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 is, for example, an Analog Devices ADSP-21469 SHARC DSP available from Analog Devices (Norwood, Mass.). Any suitable processor may be used in various configurations, although a DSP processor may be included. In certain forms, DSP processor 822 may control operation of switch mode regulator 820 in response to voltage feedback data that DSP processor 822 receives from power amplifier 812 via ADC circuit 824 . In one form, for example, DSP processor 822 may receive as input the waveform envelope of the signal (eg, RF signal) amplified by power amplifier 812 via ADC circuit 824 . DSP processor 822 may then control switch-mode regulator 820 (eg, via a PWM output) such that the rail voltage provided 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 relative to fixed rail voltage amplifier schemes.

In certain forms, logic device 816 implements digital synthesis circuitry, such as a direct digital synthesizer control scheme, in conjunction with DSP processor 822 to modify the waveform shape, frequency, and/or amplitude of the drive signal output by generator 800. May be controlled. In one form, for example, logic device 816 may be configured to retrieve waveform samples stored in a dynamically updated lookup table (LUT), such as a RAM LUT that may be embedded within an FPGA. , a DDS control algorithm may be implemented. This control algorithm is particularly useful in ultrasound applications where an ultrasound transducer, such as an ultrasound transducer, can be driven by a well-defined sinusoidal current at its resonant frequency. Since other frequencies may excite parasitic resonances, minimizing or reducing the total distortion of the operational branch currents may correspondingly minimize or reduce undesirable resonance effects. Because the waveform shape of the drive signal output by generator 800 is influenced by various sources of distortion present within the output drive circuit (e.g., power transformer 806, power amplifier 812), The voltage and current feedback data can be input into an algorithm, such as an error control algorithm, implemented by the DSP processor 822 to dynamically, continuously (e.g., in real time) store the waveforms in the LUT. Distortion is compensated for by suitably predistorting 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, where the error is determined on a sample-by-sample basis. In this way, the pre-distorted LUT sample, when processed by the drive circuit, generates a working branch drive signal with the desired waveform shape (e.g. a sine wave) in order to optimally drive the ultrasound transducer. can occur. In such a form, the LUT waveform samples therefore do not represent the desired waveform of the drive signal, but are necessary to ultimately generate the desired waveform of the operational branch drive signal, when distortion effects are taken into account. represents a waveform.

The non-isolated stage 804 includes a first ADC circuit coupled to the output of the power transformer 806 via a respective isolation transformer 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. In certain forms, the ADC circuits 826, 828 are configured to sample at a high rate (e.g., 80 mega samples per second (MSPS)) to enable oversampling of the drive signal. I can do it. 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 through a bidirectional multiplexer. The use of high-speed sampling in the form of generator 800 facilitates, among other things, the calculation of the complex current flowing through the operating branch (which is used in certain forms to implement the DDS-based waveform shape control described above). ), can enable accurate digital filtering of the sampled signal and calculation of real power consumption with high accuracy. Voltage and current feedback data output by ADC circuits 826, 828 may be received and processed by logic devices 816 (e.g., first-in-first-out (FIFO) buffers, multiplexers). , for example, may be stored in data memory for subsequent retrieval by DSP processor 822. As described above, voltage and current feedback data may be used as input to an algorithm to predistort or modify LUT waveform samples on a dynamic and progressive basis. In certain forms, this means that when voltage and current feedback data pairs are obtained, each stored The voltage and current feedback data pair may need to be indexed. Synchronization of LUT samples with voltage and current feedback data in this manner contributes to accurate 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 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. impedance phase measurement accuracy and correspondingly improve impedance phase measurement accuracy. Determination of phase impedance and frequency control signals may be implemented, for example, in DSP processor 822, with the frequency control signals provided as inputs to a 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 a current amplitude set point. The current amplitude setting may be specified directly or determined indirectly based on the specified voltage amplitude and power setting. 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, scaling of LUT waveform samples stored in logic device 816 and/or scaling of the DAC circuit 818 via DAC circuit 834 to suitably control the current amplitude of the drive signal. (which provides the input to power amplifier 812).

Non-isolated stage 804 may further include a second processor 836 to provide user interface (UI) functionality, among other things. In one form, UI processor 836 may include, for example, an Atmel AT91SAM9263 processor with an ARM 926EJ-S core available from Atmel Corporation (San Jose, California). Examples of UI functions supported by UI processor 836 include audible and visual user feedback, communication with peripheral devices (e.g., via a USB interface), communication with footswitches, input devices (e.g., touch communication with a screen display) as well as communication with an output device (eg, a speaker). UI processor 836 can communicate with DSP processor 822 and logical device 816 (eg, via an SPI bus). Although UI processor 836 may primarily support UI functionality, in certain forms it may also cooperate with DSP processor 822 to perform risk mitigation. For example, the UI processor 836 may be programmed to monitor various aspects of user input and/or other input (e.g., touch screen input, foot switch input, temperature sensor input) and detect erroneous conditions. Once 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 status of generator 800, for example. With respect to DSP processor 822, the operational state of generator 800 may represent, for example, which control and/or diagnostic processes are performed by DSP processor 822. With respect to the UI processor 836, the operational state of the 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 a master in this relationship and determine when transitions between operating states occur. UI processor 836 may recognize valid transitions between operating states and may verify that a particular transition is appropriate. For example, when DSP processor 822 commands UI processor 836 to transition to a particular state, UI processor 836 may verify that the requested transition is valid. If the required transition between states is determined to be invalid by UI processor 836, UI processor 836 may place generator 800 into a failure mode.

The non-isolated stage 804 can further include a controller 838 for monitoring input devices (e.g., a capacitive touch sensor, a capacitive touch screen used to turn the generator 800 on and off). can. In certain 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 configured to monitor user input provided via one or more capacitive touch sensors (e.g., a Meg168 8-bit controller available from Atmel). can include. In one form, controller 838 can include a touch screen controller (eg, a QT5480 touch screen controller available from Atmel) to control and manage the acquisition of touch data from a capacitive touch screen.

In certain forms, when generator 800 is in a “power off” state, controller 838 continues to receive operating power (e.g., via a line from a power source of generator 800, such as power source 854, described below). It's okay. In this manner, controller 838 may continue to monitor an input device (eg, a capacitive touch sensor located on the front panel of generator 800) for turning generator 800 on and off. When generator 800 is in a powered off state, controller 838 may activate the power source (e.g., one or more DC /enables operation of DC voltage converter 856). As a result, controller 838 may initiate a sequence to transition generator 800 to a "power on" state. Conversely, if activation of the "on/off" input device is detected while generator 800 is in the powered-on state, controller 838 may initiate a sequence to transition generator 800 to the powered-off state. I can do it. In certain forms, for example, the controller 838 can report the activation of an "on/off" input device to the UI processor 836, resulting in the process sequence necessary to transition the generator 800 to a powered off state. Implement. In such a configuration, controller 838 may not have a separate ability to remove power from generator 800 after the power-on state of generator 800 is 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 begun. Such warnings may be provided at the beginning of a power-on or power-off sequence and before the start of other processes associated with the sequence.

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

In one form, instrument interface circuit 840 can include logic circuit 842 (eg, logic circuit, programmable logic circuit, PGA, FPGA, PLD) in communication with signal conditioning circuit 844. Signal conditioning circuit 844 can be configured to receive a periodic signal (eg, a 2 kHz square wave) from logic circuit 842 to generate bipolar interrogation signals having the same frequency. The interrogation signal can be generated using, for example, a bipolar current source provided by a differential amplifier. The interrogation signal is communicated to the surgical instrument control circuit (e.g., by using a conductive pair in a cable connecting the generator 800 to the surgical instrument) and monitored to determine the status or configuration of the control circuit. may be done. 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 of one of the interrogation signals. The above characteristics (eg, amplitude, rectification) may be modified. In one form, for example, the signal conditioning circuit 844 may include an ADC circuit to generate samples of the voltage signal appearing across the input of the control circuit resulting from the path through which the interrogation signal passes. Logic circuit 842 (or a component of non-isolated stage 804) can then determine the state or configuration of the control circuit based on the ADC circuit samples.

In one form, instrument interface circuit 840 includes a first data circuit interface 846 and communicates with logic circuit 842 (or other elements of instrument interface circuit 840) located within a surgical instrument or otherwise. and an associated first data circuit. In certain configurations, for example, the first data circuit is in a cable integrally attached to the surgical instrument handpiece for interfacing with a particular surgical instrument type or model having the generator 800; It may be located within the adapter. The first data circuit may be implemented in any suitable manner, e.g., in communication 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 (e.g., a separate logic device, processor) and interface between the logic circuit 842 and the first data circuit interface 846 . It may also enable communication with data circuits. In other forms, first data circuit interface 846 may be integral to 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, a model number, serial number, number of operations in which the surgical instrument was used, and/or any other type of information. This information is read by instrument interface circuitry 840 (e.g., by logic circuitry 842) for presentation to a user via an output device and/or for control of functionality or operation of generator 800. 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 most recent number of surgeries in which the surgical instrument was used and/or the date and/or time of its use.

As mentioned above, surgical instruments may be removable from the handpiece to facilitate interchangeability and/or disposability of the instruments (e.g., multi-function surgical instruments may be removable from the handpiece). may be possible). In such cases, conventional generators may have limited ability to recognize the particular instrument configuration being used and optimize control and diagnostic processes accordingly. However, adding readable data circuitry to surgical instruments to address this problem is problematic from a compatibility standpoint. For example, it may be impractical to design a surgical instrument to be backward compatible with a generator that lacks the necessary data reading functionality, e.g. due to different signaling schemes, design complexity and expense. be. The instrument configurations discussed herein are designed to economically use data circuitry that may be implemented on existing surgical instruments and maintain compatibility of surgical instruments with modern generator platforms. Address these concerns by minimizing changes.

Additionally, the configuration of generator 800 may enable communication with instrument-based data circuitry. For example, generator 800 can be configured to communicate with a second data circuit housed within an instrument (eg, a multi-function surgical instrument). In some forms, the second data circuit may be implemented much like that of the first data circuit described herein. Instrument interface circuit 840 can include a second data circuit interface 848 to enable this communication. In one form, second data circuit interface 848 may include a tri-state digital interface, although other interfaces may also be used. In certain forms, the second data circuit may be any circuit for transmitting and/or receiving data in general. In one form, for example, the second data circuit may store information regarding a particular surgical instrument with which the second data circuit is associated. Such information may include, for example, a 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 ultrasound characteristics of an associated ultrasound transducer, end effector, or ultrasound drive system. For example, the first data circuit may exhibit 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 (e.g., using logic circuit 842). hand). Such information may include, for example, the most recent number of operations in which the instrument 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, an instrument-based temperature sensor). In certain forms, the second data circuit receives data from the generator 800 and provides an indication (e.g., a light emitting diode indication or other visual indication) to a user based on the received data. Good too.

In certain forms, the second data circuit and second data circuit interface 848 facilitates communication between the logic circuit 842 and the second data circuit through additional conductors for this purpose (e.g., a hand piece). can be provided without requiring the provision of a dedicated conductor (of a cable connecting to the generator 800). In one form, one wire bus communication scheme is implemented over existing cabling, for example, one of the conductors used transmits an interrogation signal from signal conditioning circuit 844 to control circuitry within the handpiece. can be used to communicate information to and from a second data circuit. In this way, 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, since different types of communications carried out on a common physical channel can be separated in frequency bands. , 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 be required, for example, to comply with medical regulations or standards. Although failures in single capacitor designs are relatively rare, such failures can still 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, e.g. It is monitored by an ADC circuit 852 to sample the voltage induced by leakage current. The samples may be received by logic circuit 842, for example. Based on the change in leakage current (as indicated by the voltage sample), the generator 800 determines when at least one of the blocking capacitors 850-1, 850-2 has failed and therefore It can provide advantages over single capacitor designs with failure points.

In certain forms, non-isolated stage 804 can include a power source 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. The power supply 854 further comprises one or more DC/DC voltage converters 856 for receiving the output of the power supply and producing a DC output at the voltages and currents required by the various components of the generator 800. I can do it. As described above in connection with controller 838, one or more of DC/DC voltage converters 856 receive input from controller 838 when activation of an "on/off" input device by a user is detected by controller 838. may be received and enable or activate operation of the DC/DC voltage converter 856.

FIG. 59 shows an example of a 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 provides RF and ultrasound signals, either alone or simultaneously, for delivering energy to a surgical instrument. The RF signal and ultrasound signal may be provided alone, in combination, or simultaneously. As mentioned above, at least one generator output can 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. These signals can be delivered to the end effector individually or simultaneously to treat tissue.

Generator 900 includes a processor 902 coupled to a waveform generator 904. Processor 902 and waveform generator 904 are configured to generate various signal waveforms based on information stored in a memory coupled to processor 902 (not shown for clarity of disclosure). Digital information related to the waveform is provided to a waveform generator 904 that includes one or more DAC circuits to convert digital inputs to analog outputs. 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 side on the patient isolation 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 a 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" may be used to indicate that up to n ENERGYn terminals may be provided, where n is equal to or greater than two. It will be understood that it is a positive integer. It will also be appreciated that up to "n" return paths (RETURNn) may be provided without departing from the scope of this disclosure.

A first voltage sensing circuit 912 is coupled across the terminals labeled ENERGY1 and RETURN paths and measures 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 placed in series with the RETURN section of the secondary 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 circuit 926 is provided to processor 902 for further processing and calculations. The 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 via interface circuitry 920. Sensors may also be in electrical communication with processor 902 via interface circuitry 920.

In one aspect, the impedance is of either the first voltage sensing circuit 912 coupled across the terminal labeled ENERGY1/RETURN or the second voltage sensing circuit 924 coupled across the terminal labeled ENERGY2/RETURN. The output may be determined by the processor 902 by dividing the output by the output of a current sensing circuit 914 placed in series with the RETURN section of the secondary side of the 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 circuit 926 are provided to processor 902 to calculate impedance. As an example, the first energy modality ENERGY1 may be ultrasound energy and the second energy modality ENERGY2 may be RF energy. Nevertheless, in addition to ultrasound energy modalities and bipolar or unipolar 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 to more than one energy modality, in other aspects multiple return paths RETURNn may be provided for each The energy modality ENERGYn may be provided. 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 impedance of the tissue is determined by dividing the output of the first voltage sensing circuit 912 by the current sensing circuit 914. It may be measured by dividing the output of two voltage sensing circuits 924 by the current sensing circuit 914.

As shown in FIG. 59, the generator 900, which includes at least one output port, can provide power depending on the type of tissue treatment to be performed, such as ultrasound, bipolar or monopolar RF, irreversible and/or or a power transformer 908 having a single output and having multiple taps to provide one or more energy modalities, such as reversible electroporation and/or microwave energy, to an end effector. can be included. For example, the generator 900 drives RF electrodes for tissue sealing with high voltage and low current to drive an ultrasound transducer using either monopolar or bipolar RF electrosurgical electrodes. 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 guided, switched, or filtered to provide a frequency to an end effector of a surgical instrument. The connection of the ultrasonic transducer to the output of the generator 900 will preferably be located between the output labeled ENERGY1 and the output labeled RETURN shown in FIG. In one embodiment, the connection of the RF bipolar electrode to the output of generator 900 will preferably be located between the output labeled ENERGY2 and the output labeled RETURN. For unipolar outputs, the preferred connection would be an active electrode (eg, a pencil or other probe) to a suitable return pad connected to the ENERGY2 output and the RETURN output.

Further details may be found in TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INST, which is incorporated herein by reference in its entirety. U.S. Patent Application Publication No. 2017/0086914 published March 30, 2017 entitled “RUMENTS” Disclosed in the issue.

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

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. This 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 a number of dedicated "processors".

As used herein, a system on a chip or system on a chip (SoC or SOC) refers to an integrated circuit (also known as an "IC" or "chip") that integrates all the components of a computer or other electronic system. ). This can include digital, analog, mixed signal, and often high frequency functionality, all on a single substrate. SoCs integrate microcontrollers (or microprocessors) with modern peripherals such as graphics processing units (GPUs), Wi-Fi modules, or coprocessors. The SoC may or may not include built-in memory.

As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuitry and memory. A microcontroller (or microcontroller unit MCU) may be implemented as a miniature computer on a single integrated circuit. This may be similar to an SoC, which may include a microcontroller as one of its components. A microcontroller can house one or more core processing units (CPUs) as well as memory and programmable input/output peripherals. 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 individual 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 a link between the two parts of a computer or controller on an external device that manages the operation of (and the connection to) the device.

Any processor or microcontroller described herein may be any single-core or multi-core processor, such as that known under the trade name ARM Cortex from Texas Instruments. In one aspect, the processor includes on-chip memory, e.g., 256 KB of single-cycle flash memory or other non-volatile memory up to 40 MHz, details of which are available in the product data sheet, to improve performance above 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), one or more Available from Texas Instruments, including a pulse width modulation (PWM) module, one or more quadrature encoder input (QEI) analog, and one or more 12-bit analog-to-digital converter (ADC) with 12 analog input channels It may be a LM4F230H5QR ARM Cortex-M4F processor core.

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

The modular device connects to various modules for connection or pairing with a module receivable within the surgical hub (e.g., as described in connection with FIGS. 41 and 48) and a corresponding surgical hub. and a surgical device or instrument that can be used. 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 a control algorithm. Control algorithms may be implemented on the modular device itself, on the surgical hub to which a 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, a control algorithm for a modular device relies 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 be related to the patient during surgery (eg, tissue properties or air pressure) or to the modular device itself (eg, advancing knife speed, motor current, or energy level). For example, a control algorithm for a surgical stapling and cutting instrument can control the speed at which the instrument's motor drives the knife through tissue based on the resistance the knife encounters as it advances.

Situational Awareness Situational awareness is the ability of some aspects of a surgical system to determine or infer information relevant to a surgical procedure from data received from a database and/or instruments. The information may include the type of procedure being performed, the type of tissue being operated on, or the body cavity being treated. Contextual information related to a surgical procedure allows the surgical system to, for example, connect modular devices (e.g., robotic arms and/or tools) can be improved.

Referring now to FIG. 60, a timeline 5200 is shown illustrating situational awareness of a hub, such as surgical hub 106 or 206, for example. Timeline 5200 is an exemplary surgical procedure and the context information that the surgical hub 106, 206 may derive from the data it receives from the data sources at each step of the surgical procedure. Time line 5200 is taken by nurses, surgeons, and other medical personnel during the course of a segmental lung resection surgery, starting with setting up the operating room and ending with transferring the patient to the post-operative recovery room. A typical process is shown below.

The situational awareness surgical hub 106, 206 sources data including data generated each time a medical personnel uses a modular device paired with the surgical hub 106, 206 throughout the course of a surgical procedure. Receive from. The surgical hub 106, 206 receives this data from paired modular devices and other data sources, and receives new data such as which steps of the procedure are being performed at any given time. Once performed, inferences (i.e., contextual information) regarding the ongoing procedure can be continuously derived. The situational awareness system of the surgical hub 106, 206 may, for example, record data regarding a procedure to generate a report, verify steps being taken by medical personnel, or record data that may be related to a particular procedure step. providing prompts (e.g., via a display screen), adjusting the modular device based on context (e.g., activating a monitor, adjusting the field of view (FOV) of a medical imaging device, or ultrasonic surgical (such as 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, the surgical hub 106, 206 determines that the procedure to be performed is a thoracic procedure.

In the second step 5204, personnel scan incoming medical supplies for treatment. The surgical hub 106, 206 cross-references the scanned supplies with a list of supplies utilized in various types of procedures to ensure that the mix of supplies corresponds to the thoracic procedure. Additionally, the surgical hub 106, 206 may also determine that the procedure is not a wedge procedure (incoming supplies do not include certain supplies required for a thoracic wedge procedure, or otherwise (because they are either not compatible with cuneiform procedures).

In a third step 5206, the medical personnel scans 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 the fourth step 5208, medical staff turns on the auxiliary device. The auxiliary equipment utilized may vary according to the type of surgical procedure and the technique used by the surgeon, but in this illustrative case these include a smoke evacuation device, an inhaler, and a medical imaging device. Once activated, an auxiliary device that is a modular device may automatically pair with a surgical hub 106, 206 located within a particular proximity of the modular device as part of its initialization process. . The surgical hub 106, 206 can then derive contextual information regarding the surgical procedure by detecting the type of modular device with which it is paired during this pre-operative or initialization phase. In this particular example, the surgical hub 106, 206 determines that the surgical procedure is a VATS procedure based on this particular combination of paired modular devices. Based on a combination of data from the patient's EMR, the list of medical supplies used in the procedure, and the type of modular equipment that connects to the hub, the surgical hub 106, 206 generally determines the particular procedure that the surgical team will perform. It can be estimated. Once the surgical hub 106, 206 knows what particular procedure is being performed, the surgical hub 106, 206 can then read the steps of that procedure from memory or from the cloud and then connect Data subsequently received from data sources (e.g., modular devices and patient monitoring devices) can be cross-referenced to infer 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. When the surgical hub 106, 206 begins receiving data from the patient monitoring device, the surgical hub 106, 206 confirms that the patient is in the operating room.

In the sixth step 5212, the medical personnel induces anesthesia in the patient. The surgical hub 106, 206 may determine that the patient is under anesthesia based on data from the modular device and/or patient monitoring equipment, including, for example, EKG data, blood pressure data, ventilator data, or a combination thereof. It can be estimated. Upon completion of the sixth step 5212, the preoperative portion of the lung segmentectomy surgery is complete and the surgical portion begins.

In the seventh step 5214, the patient's lung being manipulated is collapsed (while ventilation is switched to the contralateral lung). The surgical hub 106, 206 may, for example, infer from the ventilator data that the patient's lung has collapsed. The surgical hub 106, 206 can compare the detected collapse of the patient's lungs 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 It can be estimated that this has started, thereby determining that collapsing the lung is the first surgical step in this particular procedure.

In an eighth step 5216, a medical imaging device (eg, a scope) is inserted and video footage from the medical imaging device is initiated. The surgical hub 106, 206 receives medical imaging device data (ie, video or image data) through a connection to the medical imaging device. Upon receiving the medical imager data, the surgical hub 106, 206 may determine that the laparoscopic portion of the surgical procedure has begun. Additionally, the surgical hub 106, 206 may determine that the particular procedure being performed is a segmentectomy as opposed to a lobectomy (based on data received in the second step 5204 of the procedure). Note that the wedge-shaped procedure is already discounted by the surgical hub 106, 206). Data from the medical imaging device 124 (FIG. 40) is used (i.e., activated and among many different methods, including by monitoring the number (or medical imaging devices) that are paired with the surgical hub 106, 206; and by monitoring the type of visualization device being used. may be used to determine context information regarding the type of procedure being performed. For example, one technique for performing a VATS lobectomy places the camera above the diaphragm in the anteroinferior corner of the patient's thoracic cavity, whereas one technique for performing a VATS segmentectomy places the camera is placed in the anterior intercostal position relative to the segmental fissure. For example, using pattern recognition or machine learning techniques, a situational awareness system can be trained to recognize the location of a medical imaging device based on visualization of the patient's anatomy. As another example, one technique for performing a VATS lobectomy utilizes a single medical imaging device, while another technique for performing a 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, this is not used in VATS lobectomy. By tracking any or all of this data from medical imaging devices, the surgical hub 106, 206 can determine whether the surgical hub 106, 206 is performing a particular type of surgical procedure and/or is being used for a particular type of surgical procedure. 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 instrument is being fired, and therefore infers that the surgeon is in the process of dissecting and separating the patient's lungs. I can do it. 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 are completed). It can be determined that the instrument is compatible with the cutting process. In certain examples, the energy instrument may be an energy tool attached to a robotic arm of a robotic surgical system.

In 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 cutting instruments indicating that the instruments are being fired, so it can assume 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 cutting instruments with steps in the process that have been read out. . 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 estimate that the surgeon is transecting parenchymal tissue based on data from the surgical stapling and cutting instruments, including data from the cartridge. Cartridge data can correspond, for example, to the size or type of staples fired by the instrument. Because 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 type of staple fired is used in the parenchymal tissue (or other similar tissue type) so that the surgical hub 106, 206 can assume that the segmental resection portion of the procedure is being performed. I can do it.

Subsequently, in a twelfth step 5224, a nodule dissection step is performed. The surgical hub 106, 206 may infer that the surgical team is dissecting the nodule and performing a leak test based on data received from the generator indicating that the RF or ultrasound instrument is being fired. I can do it. For this particular procedure, the RF or ultrasound instruments used after the parenchymal tissue is transected are compatible with a nodule dissection step that allows the surgical hub 106, 206 to make this estimate. It becomes possible. Because different instruments are better suited to specific tasks, surgeons routinely use surgical stapling/cutting instruments and surgical energy (i.e., RF or ultrasonic ) Please note the alternating between the instruments. Thus, the particular sequence in which the stapling/cutting instruments and surgical energy instruments are used can indicate which step of the procedure the surgeon is performing. Additionally, in certain examples, robotic tools may be used for one or more steps during a surgical procedure, and/or handheld surgical instruments may be used for one or more steps during a 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 the thirteenth step 5226, the patient's anesthesia is reversed. The surgical hub 106, 206 may estimate that the patient is emerging from anesthesia based on, for example, ventilator data (ie, the patient's breathing rate begins to increase).

Finally, the fourteenth step 5228 is for the medical personnel to remove the various patient monitoring devices from the patient. Therefore, the surgical hub 106, 206 can assume that the patient is being transferred to the recovery room when the hub loses the EKG, BP, and other data from the patient monitoring device. As can be seen from this exemplary procedure description, based on data received from various data sources communicatively coupled to the surgical hub 106, 206, the surgical hub 106, 206 performs a given surgical procedure. It is possible to determine or estimate when each step is occurring.

Situational awareness is further described in U.S. 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. ing. In certain examples, the operation of a robotic surgical system, including, for example, the 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 of the hub 106, 206.

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

Example 1 - A surgical evacuation system comprising a pump, a motor configured to drive the pump, and a housing. The housing includes an inlet port, an outlet port, and a flow path defined through the housing from the inlet port to the outlet port. A pump is arranged along the flow path. The surgical drainage system further includes a sensor positioned along the flow path. The sensor is configured to detect particulate concentration in a volume of fluid moving past the sensor. The surgical drainage system further includes a control circuit configured to receive a signal from the sensor indicative of a particulate concentration in the volume of fluid. The control circuit is further configured to send a drive signal to the motor to automatically change the speed of the motor based on the signal from the sensor.

Example 2 - The surgical method of Example 1, wherein the sensor is located at a position selected from one of a first position adjacent the inlet port and a second position adjacent the outlet port. Ejection system.

Example 3 - The surgical evacuation system of Example 1 or 2, wherein the control circuit is configured to operate the motor in a first operating state in which the speed of the motor is selected by the operator. The control circuit is further configured to operate the motor in a second operating state in which the speed of the motor is automatically varied based on the signal from the sensor.

Example 4 - The surgical evacuation system of Example 3, wherein the control circuit selectively implements the second operating state when the signal from the sensor exceeds a threshold.

Example 5 - The surgical drainage system of Example 1, 2, 3, or 4 further comprising a filter receptacle along the flow path intermediate the inlet port and the pump. A sensor is located upstream of the filter receptacle. The surgical drainage system further includes a second sensor disposed along the flow path downstream of the filter receptacle. The second sensor is configured to detect particulate concentration in a volume of fluid moving past the second sensor.

Example 6 - The control circuit is configured to receive a second signal from the second sensor, and the drive signal to the motor is also based on the second signal. Ejection system.

Example 7 - The surgical drainage system of Example 5 further comprising a replaceable filter disposed within the filter receptacle.

Example 8 - The surgical evacuation system of Example 1, 2, 3, 4, 5, 6, or 7, wherein the sensor includes a laser particle counter.

Example 9 - The surgical evacuation system of Example 1, 2, 3, 4, 5, 6, 7, or 8, further comprising a user interface, and the speed of the motor is selectable via the user interface. .

Example 10 - A drive signal to a motor for automatically changing the speed of a motor based on a signal from a sensor overrides the speed of the motor selected via a user interface when an override condition is met. , a surgical drainage system as described in Example 9.

Example 11 - further comprising a processor and a memory communicatively coupled to the processor, the memory storing instructions executable by the processor to change the speed of the motor based on the signal from the sensor. The surgical drainage system of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10.

Example 12 - A non-transitory computer readable medium storing computer readable instructions, the computer readable instructions, when executed, cause a machine to receive a signal from a sensor of a surgical evacuation system, the surgical evacuation system , a pump, a motor configured to drive the pump, a housing having an inlet port and an outlet port, and a flow path defined through the housing from the inlet port to the outlet port. computer readable medium. A sensor is disposed along the flow path and configured to detect particulate concentration in a volume of fluid moving past the sensor. The computer readable instructions, when executed, further cause the machine to automatically send a drive signal to the motor to change the speed of the motor based on the signal from the sensor.

Example 13 - Computer readable instructions, when executed, cause the machine to increase the speed of the motor when the particulate concentration is greater than a first threshold amount and to increase the speed of the motor when the particulate concentration is less than a second threshold amount. 13. The non-transitory computer-readable medium of Example 12, which reduces the speed of.

Example 14 - The non-transitory computer-readable medium of Example 12 or 13, wherein the computer-readable instructions, when executed, cause the machine to stop the motor when the particulate concentration exceeds a threshold amount.

Example 15 - A surgical evacuation system comprising a pump, a motor configured to drive the pump, a filter receptacle, and a housing. The housing includes an inlet port, an outlet port, and a flow path defined through the housing. A flow path fluidly couples the inlet port, filter receptacle, pump, and outlet port. The surgical drainage system further includes a first sensor disposed within the flow path upstream of the filter receptacle. The first sensor is configured to detect particulates in a fluid moving through the flow path. The surgical drainage system further includes a second sensor positioned within the flow path downstream of the filter receptacle. The second sensor is configured to detect a concentration of particulates in a fluid moving through the flow path. The surgical evacuation system further includes a control circuit configured to receive a first signal from the first sensor. The first signal is indicative of the particulate concentration present in the fluid upstream of the filter receptacle. The control circuit is further configured to receive a second signal from a second sensor. The second signal is indicative of the particulate concentration present in the fluid downstream of the filter receptacle. The control circuit is further configured to send a drive signal to change the speed of the motor based on at least one of the first signal and the second signal.

Example 16 - The surgical evacuation system of Example 15, further comprising a user interface, wherein the speed of the motor is selectable via the user interface.

Example 17 - The surgical drainage system of Example 15 or 16, further comprising a filter disposed within the filter receptacle.

Example 18 - A control circuit increases the speed of the motor when the particulate concentration upstream of the filter receptacle is greater than a first threshold amount, and increases the speed of the motor when the particulate concentration downstream of the filter receptacle is greater than a second threshold amount. 18. The surgical evacuation system of Example 15, 16, or 17, wherein the surgical evacuation system is configured to reduce the velocity of.

Example 19 - Examples 15, 16, 17, wherein the control circuit is configured to operate in an automatic mode in which the speed of the motor is based on at least one of the first signal and the second signal. or the surgical drainage system according to 18. The control circuit is further configured to operate in a manual mode in which the speed of the motor is based on a user override input.

Example 20 - A control circuit includes a processor and a memory communicatively coupled to the processor, the memory controlling the speed of the motor based on at least one of a first signal and a second signal. 20. The surgical evacuation system of example 15, 16, 17, 18, or 19 storing instructions executable by a processor to modify the surgical evacuation system.

While several embodiments have been illustrated and described, it is not the intention of the applicant to limit or limit the scope of the appended claims to such details. Numerous modifications, variations, changes, permutations, combinations and equivalents of these forms may be implemented and will occur to those skilled in the art without departing from the scope of this disclosure. Furthermore, the structure of each element in connection with the described form may alternatively be described as a means for providing the functionality performed by that element. Also, although materials are disclosed for particular components, other materials may be used. It is therefore intended that the foregoing description and appended claims are intended to cover all such modifications, combinations, and variations as falling within the scope of the disclosed forms. I want you to understand. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents.

The detailed description above has described various forms of apparatus and/or processes using block diagrams, flowcharts, and/or example embodiments. Those skilled in the art will appreciate that such block diagrams, flowcharts, and/or examples include one or more functions and/or operations, insofar as such block diagrams, flowcharts, and/or examples include one or more features and/or operations. Each included feature and/or operation may be implemented individually and/or collectively by a variety of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will appreciate that some aspects of the forms disclosed herein can be implemented, in whole or in part, as one or more computer programs running on one or more computers (e.g., as one or more computer programs running on one or more computers). (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); Designing the circuit and/or writing the software and/or firmware code may equivalently be implemented on an integrated circuit as firmware, or as virtually any combination thereof. It will be understood that it is within the skill of those skilled in the art in view of the disclosure. Additionally, those skilled in the art will appreciate that the features of the subject matter described herein can be distributed as one or more program products in a variety of formats, and the features of the subject matter described herein can The specific form is used regardless of the particular type of signal-bearing medium used to actually effectuate the distribution.

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

As used in any aspect herein, the term "control circuit" refers to, for example, hard-wired 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 Can refer to firmware that stores instructions, and any combination thereof. Control circuits may be used, collectively or individually, in, for example, integrated circuits (ICs), application specific integrated circuits (ASICs), systems on chips (SoCs), desktop computers, laptop computers, tablet computers, servers, smartphones, etc. , may be implemented as a circuit that forms part of a larger system. Accordingly, as used herein, "control circuit" refers to an electrical circuit having at least one individual 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 at least partially executes a process and/or device described herein, or a process described herein) and/or electrical circuits forming memory devices (e.g. in the form of random access memory), and/or communication devices (e.g. Examples include, but are not limited to, electrical circuits forming a modem, communications switch, or optical-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 a software package, code, instructions, instruction sets, and/or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions, or a set of instructions in a memory device, and/or hard-coded (eg, non-volatile) data.

As used in any aspect herein, the terms "component," "system," "module," etc. refer to either hardware, a combination of hardware and software, software, or running software. Can refer to some computer-related entity.

As used in any aspect herein, an "algorithm" refers to a self-consistent sequence of steps leading to a desired result; a "step" may include, but does not require, storage, transfer, combination, Refers to the manipulation of physical quantities and/or logical states, which can take the form of electrical or magnetic signals, which can be compared and 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 or are simply convenient labels applied to these quantities and/or conditions.

The network may include a packet switched network. The communication devices can communicate with each other using a selected packet-switched network communication protocol. One example communication protocol may include the Ethernet communication protocol, which may enable communication using Transmission Control Protocol/Internet Protocol (TCP/IP). The Ethernet protocol shall conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) under the title "IEEE 802.3 Standard" published December 2008, and/or any later version of this standard. is possible. Alternatively or additionally, the communication device is configured to support X. can communicate with each other using the X.25 communication protocol. X. The T.25 communication protocols 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 may communicate with each other using a frame relay communication protocol. The Frame Relay communication protocol is a protocol developed by the Consultative Committee for International Telegraph and Telephone (CCITT) and/or the American National Standards Institute (AN SI) or may be compatible with the standards promulgated by SI. Alternatively or additionally, the transceivers may be capable of communicating with each other using an asynchronous transfer mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard published by the ATM Forum in August 2001 under the title "ATM-MPLS Network Interworking 2.0" and/or with later versions of this standard. . Of course, different and/or later developed connection-oriented network communication protocols are equally contemplated herein.

Unless expressly stated otherwise, the terms "process", "calculate", "calculate", "determine", "display", as is clear from the foregoing disclosures, and throughout the foregoing disclosures. An argument using terms such as "data represented as a physical (electronic) quantity in the registers and memory of a computer system" refers to data represented as a physical (electronic) quantity in 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 manipulate and convert data into other data similarly represented as physical quantities within a computer.

One or more components are herein defined as "configured to," "configurable to," "operable/operating." "operable/operative to", "adapted/adaptable", "able to", "conformable/conformed to" It can be mentioned as such. Those skilled in the art will understand that "configured to" generally refers to components in an active state and/or components in an inactive state and/or configurations in a standby state, unless the context requires otherwise. It will be understood that elements can be included.

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 part closest to the clinician, and the term "distal" refers to the part located away from the clinician. It will be further understood 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 may be used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Those skilled in the art will generally understand that the terms used herein, and particularly in the appended claims (e.g., the text of the appended claims), are generally intended as "open" terms. (For example, the term "including" should be interpreted as "including but not limited to," and the term "having" should 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.). Further, if a specific number is intended in an introduced claim recitation, such intent will be clearly stated in the claim, and if no such statement is made, no such intent exists. will be understood by those skilled in the art. For example, as an aid to understanding, the following appended claims incorporate the introductory phrases "at least one" and "one or more" into claim statements. may be included in order to However, the use of such phrases does not apply when the claim is introduced by the indefinite article "a" or "an," even if the introductory phrase "one or more" or "at least one" appears within the same claim. and the indefinite article "a" or "an," any particular claim containing such an introduced claim statement is limited to a claim containing only one such statement. (e.g., "a" and/or "an" should generally be interpreted to mean "at least one" or "one or more") ). The same applies when introducing claim statements using definite articles.

Furthermore, even if a particular number is specified in an introduced claim statement, such statement is typically to be construed to mean at least the recited number. , as will be recognized by those skilled in the art (e.g., a mere statement of "two entries" without any other modifiers generally means at least two entries, or two or more entries). (meaning a matter). Further, when a notation similar to "at least one of A, B, and C, etc." is used, such construction is generally intended in the sense that a person 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 and/or all of A, B, and C, etc.). When a notation similar to "at least one of A, B, or C, etc." is used, such construction is generally intended in the sense that a person 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, B, and C, etc.). Further, typically any disjunctive words and/or phrases representing two or more alternative terms, whether within the specification, unless the context otherwise requires: It should be understood that the possibility of including one, either, or both of these terms is intended, whether in the claims or in the drawings. Those skilled in the art will understand that. For example, the phrase "A or B" will typically be understood to include the possibilities "A" or "B" or "A and B."

With reference to the appended claims, those skilled in the art will appreciate that the acts recited herein may generally be performed in any order. Additionally, although flow diagrams of various operations are shown in sequence(s), it is understood that the various operations may be performed in an order other than that illustrated, or may be performed simultaneously. should be understood. Examples of such alternative orderings include overlapping, interleaving, interpolating, reordering, incremental, preliminary, additional, simultaneous, reverse, or other different orderings, unless the context requires otherwise. May include. Additionally, terms such as "responsive to," "relating to," or other past tense adjectives generally exclude such variations unless the context requires otherwise. It's not intended.

Any reference to "an aspect," "an aspect," "an example," "an example," etc. refers to the fact that the particular feature, structure, or characteristic described in connection with that aspect is included in at least one aspect. The meaning of this is worth noting. Thus, the words "in one aspect," "in an aspect," "in an example," and "in one example" appearing in various places throughout this specification do not necessarily all refer to the same aspect. do not have. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more aspects.

Any patent application, patent, non-patent publication, or other disclosure material referenced herein and/or listed in any application data sheet is incorporated by reference herein to the extent that the incorporated material is not inconsistent with this specification. , incorporated herein by reference. As such, and to the extent necessary, disclosure expressly set forth herein shall supersede any conflicting disclosure herein incorporated by reference. Any content, or portion thereof, that is inconsistent with current definitions, views, or other disclosures set forth herein shall be incorporated herein by reference, but the references and current disclosures shall be incorporated herein by reference. shall be referred to only to the extent that there is no conflict between them.

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

[Mode of implementation]
(1) Pump and
a motor configured to drive the pump;
A housing,
an inlet port;
an exit port;
a flow path defined through the housing from the inlet port to the outlet port, the pump being disposed along the flow path;
a housing, including;
a sensor disposed along the flow path, the sensor configured to detect a particulate concentration in a volume of fluid moving past the sensor;
A control circuit,
receiving a signal from the sensor indicative of the particulate concentration in the volume of fluid;
transmitting a drive signal to the motor to automatically change the speed of the motor based on the signal from the sensor;
A control circuit configured as follows;
A surgical evacuation system comprising:
(2) The sensor of embodiment 1, wherein the sensor is located at a position selected from one of a first position adjacent the inlet port and a second position adjacent the outlet port. Surgical drainage system.
(3) The control circuit includes:
operating the motor in a first operating state in which the speed of the motor is selected by an operator;
operating the motor in a second operating state in which the speed of the motor is automatically varied based on the signal from the sensor;
The surgical evacuation system of embodiment 1, configured to.
4. The surgical evacuation system of embodiment 3, wherein the control circuit selectively implements the second operating state when the signal from the sensor exceeds a threshold.
(5) a filter receptacle along the flow path intermediate the inlet port and the pump, the sensor being located upstream of the filter receptacle;
a second sensor disposed along the flow path downstream of the filter receptacle, the second sensor detecting particulate concentration in a volume of fluid moving past the second sensor; a second sensor configured to;
4. The surgical drainage system of embodiment 3, further comprising:

(6) According to embodiment 5, the control circuit is configured to receive a second signal from the second sensor, and the drive signal to the motor is also based on the second signal. Surgical drainage system as described.
7. The surgical drainage system of embodiment 5, further comprising a replaceable filter disposed within the filter receptacle.
8. The surgical evacuation system of embodiment 1, wherein the sensor includes a laser particle counter.
9. The surgical evacuation system of embodiment 3, further comprising a user interface, wherein the speed of the motor is selectable via the user interface.
(10) the drive signal to the motor for automatically changing the speed of the motor based on the signal from the sensor is selected via the user interface when an override condition is met; 10. The surgical evacuation system of embodiment 9, overriding the speed of the motor.

(11) further comprising a processor and a memory communicatively coupled to the processor, the memory being executable by the processor to change the speed of the motor based on the signal from the sensor; 2. The surgical evacuation system of embodiment 1, wherein the surgical evacuation system stores instructions.
(12) A non-transitory computer-readable medium storing computer-readable instructions, the computer-readable instructions, when executed, causing a machine to:
receiving a signal from a sensor of a surgical evacuation system, the surgical evacuation system comprising: a pump; a motor configured to drive the pump; a housing having an inlet port and an outlet port; a flow path defined through the housing from an inlet port to the outlet port, the sensor being positioned along the flow path and configured to detect particles in a volume of fluid moving past the sensor. configured to detect the concentration; and
automatically transmitting a drive signal to the motor to change the speed of the motor based on the signal from the sensor;
Non-transitory computer-readable medium.
(13) The computer readable instructions, when executed, cause the machine to:
increasing the speed of the motor when the particulate concentration is greater than a first threshold amount;
reducing the speed of the motor when the particulate concentration is less than a second threshold amount;
13. The non-transitory computer-readable medium of embodiment 12.
14. The non-transitory computer-readable medium of embodiment 12, wherein the computer-readable instructions, when executed, cause the machine to stop the motor when the particulate concentration exceeds a threshold amount.
(15) Pump and
a motor configured to drive the pump;
a filter receptacle;
A housing,
an inlet port;
an exit port;
a flow path defined through the housing, the flow path fluidly connecting the inlet port, the filter receptacle, the pump, and the outlet port;
a housing, including;
a first sensor disposed in the flow path upstream of the filter receptacle, the first sensor configured to detect particulates in a fluid moving through the flow path; , a first sensor;
a second sensor disposed in the flow path downstream of the filter receptacle, the second sensor configured to detect a concentration of particulates in the fluid moving through the flow path; a second sensor,
A control circuit,
receiving a first signal from the first sensor indicative of a particulate concentration present in the fluid upstream of the filter receptacle;
receiving a second signal from the second sensor indicative of a particulate concentration present in the fluid downstream of the filter receptacle;
transmitting a drive signal for changing the speed of the motor based on at least one of the first signal and the second signal;
A control circuit configured as follows;
A surgical evacuation system comprising:

16. The surgical evacuation system of embodiment 15, further comprising a user interface, wherein the speed of the motor is selectable via the user interface.
17. The surgical drainage system of embodiment 15, further comprising a filter disposed within the filter receptacle.
(18) The control circuit includes:
increasing the speed of the motor when the particulate concentration upstream of the filter receptacle is greater than a first threshold amount;
reducing the speed of the motor when the particulate concentration downstream of the filter receptacle is greater than a second threshold amount;
16. The surgical evacuation system of embodiment 15, configured to.
(19) The control circuit includes:
operating in an automatic mode, wherein the speed of the motor is based on at least one of the first signal and the second signal;
operating in manual mode, where the speed of the motor is based on a user override input;
16. The surgical evacuation system of embodiment 15, configured to.
(20) The control circuit includes a processor and a memory communicatively coupled to the processor, and the memory is configured to: 16. The surgical evacuation system of embodiment 15, storing instructions executable by the processor to change the speed of the motor.

Claims (15)

pump and
a motor configured to drive the pump;
A housing,
an inlet port;
an exit port;
a flow path defined through the housing from the inlet port to the outlet port, the pump being disposed along the flow path;
a housing, including;
a filter receptacle along the flow path between the inlet port and the pump;
a sensor disposed along the flow path between the outlet port and the filter receptacle, the sensor detecting particulate concentration in a volume of fluid moving past the sensor downstream of the filter receptacle; a sensor configured to detect;
A control circuit,
receiving a signal from the sensor indicative of the particulate concentration in the volume of fluid;
transmitting a drive signal to the motor to automatically change the speed of the motor from a first non-zero speed to a second non-zero speed based on the signal from the sensor;
A control circuit configured as follows;
A surgical evacuation system comprising:
The control circuit includes:
operating the motor in a first operating state;
operating the motor in a second operating state in which the speed of the motor is automatically varied based on the signal from the sensor;
It is configured as follows.
The control circuit implements the second operating state when the signal from the sensor exceeds a threshold. The surgical evacuation system of claim 1, wherein the sensor is located adjacent the exit port. a second sensor disposed along the flow path upstream of the filter receptacle, the second sensor detecting a particulate concentration in a volume of fluid moving past the second sensor; a second sensor configured to;
The surgical evacuation system of claim 1, further comprising: The surgical method of claim 3, wherein the control circuit is configured to receive a second signal from the second sensor, and the drive signal to the motor is also based on the second signal. evacuation system. The surgical drainage system of claim 3, further comprising a replaceable filter disposed within the filter receptacle. The surgical evacuation system of claim 1, wherein the sensor includes a laser particle counter. The surgical evacuation system of claim 1, further comprising a user interface, wherein the speed of the motor is selectable via the user interface. The drive signal to the motor for automatically changing the speed of the motor based on the signal from the sensor is applied to the motor selected via the user interface when an override condition is met. The surgical evacuation system of claim 7, overriding the speed. further comprising a processor and a memory communicatively coupled to the processor, the memory executing instructions executable by the processor to change the speed of the motor based on the signal from the sensor. The surgical evacuation system of claim 1, wherein the surgical evacuation system stores storage. pump and
a motor configured to drive the pump;
a filter receptacle;
A housing,
an inlet port;
an exit port;
a flow path defined through the housing, the flow path fluidly connecting the inlet port, the filter receptacle, the pump, and the outlet port;
a housing, including;
a first sensor disposed in the flow path upstream of the filter receptacle, the first sensor configured to detect particulates in a fluid moving through the flow path; , a first sensor;
a second sensor disposed in the flow path downstream of the filter receptacle, the second sensor configured to detect a concentration of particulates in the fluid moving through the flow path; a second sensor,
A control circuit,
receiving a first signal from the first sensor indicative of a particulate concentration present in the fluid upstream of the filter receptacle;
receiving a second signal from the second sensor indicative of a particulate concentration present in the fluid downstream of the filter receptacle;
transmitting a drive signal for changing the speed of the motor from a first non-zero speed to a second non-zero speed based at least on the second signal;
A control circuit configured as follows;
A surgical evacuation system comprising: The surgical evacuation system of claim 10, further comprising a user interface, wherein the speed of the motor is selectable via the user interface. The surgical drainage system of claim 10, further comprising a filter disposed within the filter receptacle. The control circuit includes:
increasing the speed of the motor when the particulate concentration upstream of the filter receptacle is greater than a first threshold amount;
reducing the speed of the motor when the particulate concentration downstream of the filter receptacle is greater than a second threshold amount;
11. The surgical evacuation system of claim 10, wherein the surgical evacuation system is configured to. The surgical evacuation system is configured to enter an override mode when predetermined conditions are met, and manual input by an operator controls the speed of the motor configured to drive the pump. 11. The surgical evacuation system of claim 10. The control circuit includes a processor and a memory communicatively coupled to the processor , the memory controlling the processor to change the speed of the motor based on the second signal . 11. The surgical evacuation system of claim 10, storing instructions executable by.

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