RU2663713C2 - Rotary powered surgical instruments with multiple degrees of freedom - Google Patents

Abstract

FIELD: medicine.SUBSTANCE: invention relates to medical equipment. Surgical instrument comprises a drive system that is configured to electrically generate a plurality of discrete rotary control motions. Surgical instrument includes an elongate shaft assembly that is operably couplable to the drive system for receiving a first rotary control motion therefrom for rotating the elongate shaft assembly about a shaft axis. End effector is operably coupled to the elongate shaft assembly to rotate about the shaft axis. Elongate shaft assembly is configured to receive and transmit a second rotary control motion from the drive system to the surgical end effector and to transmit a third rotary control motion from the drive system to an articulation joint that communicates with the elongate shaft assembly and the surgical end effector to change the position of the surgical end effector by an articulation axis that is transverse to the shaft axis.EFFECT: invention can be used for stapling.8 cl, 117 dwg

Description

FIELD OF THE INVENTION

The present invention relates to surgical instruments and, in various designs, to surgical cutting and stapling staples instruments and cassettes with staples used in them that are capable of dissecting and stapling tissue with staples.

BACKGROUND OF THE INVENTION

Surgical staplers are often used to insert staples into soft tissues to reduce or eliminate bleeding from soft tissues, especially from dissected soft tissues, for example. Surgical staplers such as, for example, an endocater, have an end effector that can move or rotate relative to the elongated trunk unit. The end effectors are often made with the possibility of fixing soft tissue between the first and second branches, the first branch often includes a cassette with brackets, made with the possibility of storing and removing staples from it, and the second branch often includes a thrust plate. Such surgical staplers include a clamping system for rotating the thrust plate relative to the cassette with brackets.

Surgical staplers, as described above, can be designed to rotate the stop element of the end effector relative to the cassette with brackets in order to clamp soft tissue between them. Under various circumstances, the abutment plate may be designed to apply a fixing force to the soft tissue to firmly hold the soft tissue between the abutment plate and the cassette with brackets. However, if the surgeon is not satisfied with the position of the end effector, he should usually activate the release mechanism of the surgical stapler to rotate the stop member to the open position, and then move the end effector. Further, the staples, as a rule, are fed from the cassette with brackets using an ejector that passes through the groove in the cartridge with brackets, which causes the brackets to deform against the stop element and fasten the layers of soft tissues. As is known to those skilled in the art, for more reliable bonding of tissue layers, staples are often placed in several lines or rows. The end effector may also include a cutting tool, for example, a knife, that extends between two rows of staples to excise soft tissue after stapling stapled layers of soft tissue.

Such surgical staplers and effectors may be of appropriate size and design for insertion into the body cavity through a trocar or other incision for access. An end effector is typically attached to an elongated rod of the appropriate size for passage through a trocar or incision. The design of the elongated shaft is often functionally connected to a handle that supports monitoring systems and / or triggers for monitoring the action of the end effector. For greater convenience, the exact location and orientation of the end effector within the body, many surgical instruments are designed to simplify the articulation of the end effector relative to a portion of the elongated shaft.

The above commentary is intended only to illustrate various aspects of the relevant technology in the field of application of the invention at the time of registration, and should not be construed as limiting the patent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of the present invention, as well as the method for their achievement, will become more apparent, and the invention itself will become more clear after reading the description of the embodiments of the present invention below in conjunction with the accompanying figures, where:

FIG. 1 is a perspective view of a surgical stapler according to one form of the present invention;

FIGURE 2 is another perspective view of the surgical instrument of Figure 1 with a portion of the handle body removed;

FIG. 3 is an exploded view of a structure of one of the effectors of the present invention.

FIG. 4 is a partial cross-sectional view of a portion of an end effector and an elongated shaft assembly of a surgical instrument of FIGS. 1 and 2 with a stop element assembly in an open position;

FIG. 5 shows another partial cross-sectional view of an end effector and an elongated rod assembly shown in FIG. 4 with a thrust plate in a closed position before being actuated;

FIG.6 is another partial cross-sectional view of the end effector and the elongated rod assembly of FIGS. 4 and 5 after the fabric cutting part has been extended to the most distal position within the end effector;

FIG. 7 is a perspective view of a connector assembly that is part of the present invention;

FIG. 8 shows a disassembled coupling assembly shown in FIG. 7;

FIG. 9 is a perspective view of a proximal end of an end effector and a distal end of an elongated shaft assembly and a coupler assembly connected thereto;

FIG. 10 is a plan view of the proximal end of the end effector of FIG. 9;

FIG. 11 is a plan view of the distal end of the connector assembly of FIG. 9;

12 is a perspective view of an assembled portion of an end effector and an elongated rod assembly before connecting an end effector to it;

FIG. 13 is another perspective view of a portion of an end effector and an elongated rod assembly after the end effector has been initially connected to a portion of a coupling of the elongated rod assembly;

FIG. 14 is another perspective view of the components depicted in FIG. 13 after the end effector has been connected to the elongated shaft assembly using a coupling assembly;

15 is a perspective view of a hinge control structure that is part of the present invention;

On Fig presents a perspective view of part of a segment of the construction of the hinge rod;

On Fig presents a perspective view of the design of the swivel, which is part of the present invention, in disassembled form;

On Fig presents a perspective view of the design of the swivel shown in Fig.17;

FIG. 19 is a plan view of the hinge structure shown in FIGs. 17 and 18;

FIG. 20 is a sectional view of the components shown in FIG. 19;

FIG. 21 is another sectional view of the hinge shown in FIG. 19 and 20;

FIG. 22 is another cross-sectional view of the hinge shown in FIG. 21 in a bent position;

FIG. 23 is a perspective view of a design of a launch system that is part of the present invention;

FIG. 24 is a perspective view of an end effector rotation system as part of the present invention;

FIG. 25 is a perspective view of a part of a swivel and a coupler assembly that are part of the present invention;

FIG. 26 is a perspective view of a structure of a shaft rotation system as part of the present invention;

FIG.27 is a perspective view of a surgical instrument with FIGS. 1 and 2 in a disassembled form;

FIG. 28 is an exploded perspective view of a removable transmission assembly that is part of the present invention;

FIG. 28A is a plan view of a portion of an assembled removable transmission assembly from FIG. 28 attached to an engine mount;

FIG. 28B is a perspective view of a portion of the structure of the removable transmission assembly and the engine mount assembly of FIG. 28A;

FIG. 29 is a cross-sectional view of a portion of a structure of a handle assembly;

FIGURE 30 is a disassembled view of a removable transmission assembly and engine mount within the handle housing;

On FIG presents a view with a spatial separation of the components of the engine mount.

FIGURE 32 is another view of a removable transmission unit and the engine mount within the handle of the device disassembled in section;

FIG. 33 is a top and side view of a portion of a handle assembly, on which some components are missing for ease of perception;

34 is a bottom perspective view of a switch structure that is part of the present invention;

FIG. 35 shows an exploded view of the structure of the switch shown in FIG. 34;

FIG. 36 is a sectional view of a portion of a switch structure of FIGS. 34 and 35 located in the handle assembly, where a portion of the control lever switch is in an inactive position;

FIG. 37 is a sectional view of a part of the switch of FIG. 36 located in the handle, where part of the control lever switch is in the activated position;

FIG. 38 is a sectional side view of a switch structure shown in FIG. 36;

FIG. 39 is a sectional side view of a switch structure shown in FIG. 37;

On FIG presents a top view and side view of the design of the switch shown in FIG 34-39;

On FIG presents a frontal top view of the design of the switch shown in FIG 34-40;

FIG. 42 is another exploded view of the switch structure shown in FIGS. 34-41;

On FIG presents a rear view and top view of the node of the disk switch with blades in the activated position;

On Fig presents another view of the rear and top of the node of the disk switch with blades in another activated position;

FIG. 45 shows another partial cross-sectional view of the end effector and the structure of the drive rod assembly;

FIG. 46 is an enlarged sectional view of a part of a swivel assembly and a coupling assembly with a connected end effector;

FIG. 47 is a perspective view of a portion of a handle assembly with remote components of the handle housing;

On Fig presents an enlarged perspective view of part of the handle of the device, illustrating the design of the conductor connection;

On Fig presents a perspective view of part of another design of the coupling and the design of the swivel disassembled;

FIG. 50 is a perspective view of yet another swivel design as part of the present invention;

FIG. 51 illustrates an articulated joint shown in FIG. 50 disassembled;

FIG. 52 is a sectional view of the structure of the articulated joint shown in FIGs. 50 and 51.

FIG. 53 shows another cross-sectional view of the design of the swivel shown in FIG. 50-52.

On Fig presents a perspective view of another design of the swivel, which is part of the present invention;

FIG. 55 illustrates an articulated joint shown in FIG. 54 in an exploded view;

FIG. 56 is a partial sectional view of the structure of the articulated joint shown in FIGs. 54 and 55.

FIG. 57 is a partial sectional view of the structure of the articulated joint shown in FIGs. 54-56.

FIG. 58 shows another partial cross-sectional view of the structure of the swivel shown in FIG. 54-57.

FIG. 59 shows another partial cross-sectional view of the structure of the swivel shown in FIG. 54-58 with the connection in the activated position;

FIG. 60 shows another partial cross-sectional view of the structure of the swivel shown in FIG. 54-59 with the connection in another activated position;

On Fig presents a perspective view of another design of the swivel, which is part of the present invention;

FIG. 62 shows another perspective view of the design of the swivel shown in FIG. 60, in the activated position;

FIG.63 is a perspective view of the node swivel shown in FIG.61 and 62;

On Fig presents a view in section of the design of the swivel shown in FIG.61-63;

On FIG presents another view in section of the design of the swivel shown in FIG.61-64.

 FIG. 66 is another partial cross-sectional view of the structure of the swivel shown in FIGs. 61-65 with a swivel in an activated orientation;

FIG. 67 is a perspective view of yet another design of an engine mount assembly as part of the present invention;

In FIG. 68 is a front elevational view of the structure of the engine mount assembly shown in FIG. 67;

FIG.66 is an exploded view of the engine mount assembly shown in FIGS. 67 and 68;

FIG 70 shows a perspective view of some forms of electrical surgical end effector for use with surgical instruments;

FIG. 71 is a perspective view of some forms of the end effector of the surgical instrument shown in FIG. 70, with closed jaw elements and a distal end of the axis-moving element in a partially extended position;

FIG. 72 is a perspective view of some forms of the end effector displaced along the axis of the element shown in FIG. 70;

FIG. 73 is a sectional view of some shapes of the end effector shown in FIG. 70;

FIGS. 74 and 75 illustrate one form of ultrasonic end effector for use with a surgical instrument;

FIGS. 76 and 77 show additional views of one of the forms of the end effector displaced along the axis of the element shown in FIG. 74;

FIG. 78 illustrates one form of end effector of linear staples for use with surgical instruments;

FIG. 79 illustrates one form of end effector of round staples for use with surgical instruments;

FIG. 80 illustrates several examples of power cables for use in surgical instruments;

FIG illustrates several examples of rods for use in surgical instruments;

FIG is a block diagram of the handle of a surgical instrument, showing various controls;

FIG. 83 shows one form of various tool portions of an end effector including contours as described in the present invention;

FIG. 84 is a block diagram illustrating one form of control structure for use in a control circuit for monitoring a surgical instrument;

FIG. 85 is a sequential diagram showing an example of the flow pattern of the application of the control algorithm depicted in FIG. 84;

FIG is a block diagram showing another form of control structure for use in a control circuit for controlling a surgical instrument;

FIG. 87 is a sequential diagram showing an example of a flow pattern of a process for applying the control algorithm depicted in FIG. 86;

FIG.88 illustrates one form of surgical instrument containing a relay station in the handle;

FIG. 89 illustrates one form of an end effector with a sensor module designed to transmit a received signal;

FIG 90 is a block diagram showing one form of a sensor module;

FIG is a block diagram showing one form of a relay station;

FIG. 92 is a block diagram showing one form of a relay station designed to convert a received low power signal;

FIG is a serial diagram of one of the forms of the method of relaying a signal indicating the state of the end effector;

FIG. 94 illustrates a distal portion of a tool comprising a mechanical stop as shown in FIG. 1, in accordance with certain aspects described herein;

FIG. 95 is a diagram of a system adapted for use with an electromechanical stop comprising an energy source, a control system, and a drive motor according to some aspects described in the present invention;

FIG. 96 is a graphical illustration describing the current changes in time associated with an instrument comprising an electromechanical stop without a soft stop, in accordance with some aspects described in the present invention;

FIG. 97 illustrates a distal part of a tool equipped with a mechanical stop comprising a soft stop, where the moving part is brought into position in front of the soft stop in a second position at the end of the beat, in accordance with some aspects described in the present invention;

FIG. 98 shows the tool shown in FIG. 97, where the moving part is activated through a first position at the end of a measure to a second position at the end of a measure in accordance with some aspects of the present invention;

99 is a graphical illustration describing the current changes in time associated with a tool comprising an electromechanical stop with a soft stop, in accordance with some aspects described in the present invention;

FIG. 100 is a perspective view of an alternative engine mount that engages a gear transmission assembly;

FIG. 101 shows another perspective view of the engine mount assembly shown in FIG. 100, the distal shaft housing is removed for ease of perception;

FIG. 102 is another perspective view of the engine mount assembly shown in FIGS. 100 and 101;

FIG. 103 is a cross-sectional view of an engine mount assembly shown in FIGS. 100-102; and

FIG. 104 is a plan view of an engine mount assembly shown in FIGs. 100-103;

FIG. 105 illustrates one form of a surgical instrument, comprising a sensor-aligned end effector in an activated position;

FIG. 106 shows a surgical instrument with FIG. 105 in a straightened state;

FIG. 107 illustrates one form of a straightened end effector inserted into a surgical external tube;

FIG. 108 illustrates one form of an end effector rectified by a sensor inserted into a surgical external tube in an activated state;

FIG. 109 illustrates one form of a rectified end effector in an activated position;

FIG. 110 illustrates one form of the end effector rectified by a sensor shown in FIG. 109 in a rectified state;

FIG. 111 shows one form of a magnetic ring for use with a sensor-rectified end effector;

FIGURE 112 illustrates one form of rectified using a sensor end effector containing a magnetic ring;

FIG.113 illustrates one form of a sensor with a magnetic tongue;

FIG.114 illustrates one form of the control platform of a modular engine;

FIG illustrates one form of the control platform of a modular engine, containing several pairs of engine-controller;

FIG. 116 illustrates one form of a modular engine control platform comprising a main controller and a secondary controller;

FIG. 117 illustrates one form of control process applicable to a surgical instrument controlled by multiple engines.

DETAILED DESCRIPTION OF THE INVENTION

The applicant of this application also owns the following patent applications filed on the same day and fully incorporated into this document by reference:

- US Patent Application entitled “Swivel Joints for Surgical Instruments with Power Supply”, Patent Attorney File No. END7188USNP / 120280;

- US patent application entitled “Articulated Swivel Surgical Instruments with Conduction Trunks for Signal Transmission”, Patent Attorney File No. END7187USNP / 120279;

- US Patent Application entitled “Rotary Knob Switch Mechanism for Surgical Instruments”, Patent Attorney Dossier No. END7189USNP / 120281;

- US Patent Application entitled “Lever Switch Assemblies for Surgical Instruments”, Patent Attorney Dossier No. EN7192USNP / 120284;

- US patent application entitled "Electromechanical soft stops for surgical instruments", dossier of the patent attorney END7196USNP / 120288;

- US patent application entitled “Electromechanical Surgical Instruments with Alarm Relay Mechanism,” Patent Attorney Dossier No. END7190USNP / 120282;

- US patent application entitled “End effector rectified by a sensor during retrieval through a trocar”, dossier of patent attorney No. END7193USNP / 120285;

- US patent application entitled "Multiprocessor engine management system for modular surgical instruments", dossier of patent attorney No. END7091USNP / 120283; and

- US patent application entitled "Methods of controlling surgical instruments with removable working parts", dossier of patent attorney No. END7194USNP / 120286;

For a more complete understanding of the design, principles of operation, production and use of the devices and methods described herein, the following is a description of individual examples of embodiments of the invention. one or more examples of such embodiments are shown in the accompanying drawings. Professionals with sufficient experience in this field will understand that the devices and methods described in detail herein and shown in the accompanying illustrations are non-limiting examples of embodiments and the scope of various embodiments of the present invention is determined only by the claims. Features illustrated or described with reference to one example of an embodiment may be combined with features of other embodiments. The scope of the present invention is intended to cover all modifications and variations.

The terms “contain” (and any of its forms, such as “contains” and “containing”), “have” (and any of its forms, such as “has” or “having”), “include” (and any of its forms, such as “includes” and “including”) and “enclose” (and any of its forms, such as “encloses” and “enclosing”) are multivariate connecting verbs. As a result, a surgical system, device, or apparatus that "contains," "has," "includes," or "accommodates" one or more elements, has these one or more elements, but is not limited to having one or more elements. Likewise, an element of a system, device, or apparatus that "contains," "possesses," "includes," or "accommodates" one or more characteristics, has these one or more characteristics, but is not limited to having one or more characteristics.

The terms "proximal" and "distal" in this document are defined with respect to the physician managing the handle of the surgical instrument. The term "proximal" refers to the part lying closer to the doctor, and the term "distal" refers to the part removed from the doctor. It is also proposed to use spatial terms such as “vertical”, “horizontal”, “up” and “down” in relation to the drawings for convenience and clarity. However, since the use of surgical instruments involves many orientations and provisions, these terms should not be interpreted as limiting and (or) absolute.

In laparoscopic manipulations and surgical operations with minimal intervention, various typical devices and methods are used. However, specialists in this field will be able to appreciate the various methods and devices described in this document, which can be used in numerous surgical procedures and applications, including, for example, those associated with open surgical procedures. In the course of this detailed description, it will be further apparent to those skilled in the art that the various instruments described herein can be inserted into the body in any way, such as through a natural opening, through an incision or puncture hole formed in the tissue, etc. The working parts or parts of the end effector of the instruments can be inserted directly into the patient’s body or can be inserted through an access device having a working channel through which the end effector can be advanced and long shaft of a surgical instrument.

As for the drawings, in which through digital notation is used to indicate similar elements in different images, FIGS. 1-3 show a surgical apparatus 10 capable of applying rotary activating movements to a working part 100 connected to it. As will be described in more detail below, tool 10 can be effectively used with an assortment of different working parts that can be alternately connected to the tool 10. The design of FIGS. 1 and 2, for example, is shown connected to the end effector 102, which the first is designed to cut and staple tissue. However, using tool 10, it is possible to operate with other working structures.

End effector

The end effector 102 shown in FIGS. 1-6 includes an elongated part with a chute 110, which can be designed for operable and movable support of the cassette with brackets 130. The cartridge with brackets 130 may include an upper surface or surface of the cassette 132, containing many pockets for staples 134 loosely arranged in lines on each side of the elongated slot 136. See FIG. 3. Many surgical staples 140 are held on ejector brackets 138, which are moveable in staple pockets 134. Also, as shown in FIG. 3, in one form, end effector 102 includes end base 150 designed to connect the proximal end of the cassette with brackets 130 and located at the proximal end of the elongated groove 110. For example, the end base 150 may be formed with distally protruding latches 152, which are designed to engage with the corresponding latches 142 n and the surface of the cassette 132. Additionally, the end base 150 may be equipped with laterally protruding additional mounting bosses 154 for attaching the end base 150 to the elongated groove 110. For example, the mounting bulges 154 may be designed to engage with the corresponding mounting holes 112 in the elongated groove 110.

In one form, the end base 150 includes a centrally located slot 156 that is designed to support the cutting fabric of the part 160 and the slide 170. The cutting fabric of the part 160 may include a housing part 162 in which there is a cutting fabric part 164 connected in one way or another. The housing 162 can be threadedly mounted on the drive screw of the end effector 180, which is rotatably mounted inside the elongated groove 110. The slide 170 is held for axial movement relative to the drive screw 180 and can be designed to interact with the cutting fabric housing 162 of the part 160 As the cutting fabric part 160 moves distally, the slide 170 moves distally with the cutting fabric of the part 160. As the slide 170 moves distally, wedges 172 are provided on they serve to move the pushers 138 upwardly within the staple cartridge 130.

The end effector 102 may also include a stop element assembly 190, which is supported for selective movement relative to the cassette with brackets 130. In at least one form, the stop element assembly 190 may include a first part of the stop element 192, which is connected to the back of the stop element 194 and the upper part of the stop element 196. The rear of the stop element 194 may have a pair of laterally protruding rollers 198, which are designed to receive in the corresponding holes for the support rollers or grooves 114 in the elongation the chute 110, for the convenience of moving or pivoting the assembly of the stop element 190 with respect to the elongated chute 110 and the cassette with brackets 130 located there.

The tissue cutting part 160 may be equipped with two laterally protruding tongues for actuating 166, which are designed to slide into the slots 199 of the assembly of the abutment member 190. Additionally, the tissue cutting part 160 may also have a heel portion 168 that is sized so that engage the lower part of the elongated groove 110 so that the cutting tissue part 160 moves distally, the tongues 166 and the heel 168 cause the assembly of the abutment element 190 to move to a closed position. The tongues 166 and the heel 168 can serve to accommodate the node of the stop element 190 relative to the cartridge with brackets 130 in the desired position as the tissue is cut and stitched. The first part of the abutment element 192 may have a staple-forming lower part 193 to form surgical staples 140 as they move to the contacting position. FIG. 4 illustrates the position of the assembly of the abutment member 190 and the cutting fabric of the part 160 when the assembly of the abutment member 190 is in an open position. FIG. 5 illustrates the position of the assembly of the abutment member 190 and the cutting fabric of the part 160 after closing the assembly of the abutment member 190, but before the cutting fabric, the part 160 was distally advanced or “triggered”. 6 illustrates the position of the cutting fabric of the part 160 after moving to the most distal position inside the cartridge with brackets 130.

The drive screw of the end effector 180 can be rotatably supported inside the elongated groove 110. In one form, for example, the drive screw of the end effector 180 can have a proximal end 182 that is connected to a movable mounting element of the rod 184, which is designed to interact with the connecting node couplings 200. The removable element of the drive rod 184 can be designed to connect with the proximal end 182 of the drive screw of the end effector 180. For example, a removable element of the drive rod 184 may have a hexagonal protrusion 186 adapted to receive non-rotatably a corresponding hexagonal socket, comprising a part of starting system, generally designated as 500. Rotation of the drive of the end effector 180 in a first direction causes the cutting tissue member 160 move distally. In various forms, the cartridge with brackets 130 may carry a pair of shock absorbers 174 that serve to absorb the slide 170 when they reach the most distal position within the elongated groove 110. Each of the shock absorbers 174 may have a spring 176 to provide the shock absorber with a desired degree of softening.

end effector coupler assembly

Various forms of the working parts 100 can be operatively connected to the surgical instrument 10 by means of the coupling assembly 200. One of the shapes of the coupling coupling 200 is shown in FIGS. 7-14. the coupling assembly 200 may include a coupling housing segment 202 that is designed to operably support the drive gear assembly, generally designated 220. In at least one form, the drive gear assembly 220 includes an input gear 222, a transmission gear 228, and an output gear 232. See FIG. 8. The input gear 222 is located or formed on the input shaft 224, which is rotatably supported by the first and second support walls 204, 206. The input shaft 224 has a proximal end 226 constructed in accordance with the distal trigger shaft segment 510, which contains a portion of a unique and innovative trigger system 500, which will be described in detail below, For example, the proximal end 226 can be designed hexagonal with a bevel for insertion without the possibility of rotation in a hexagonal socket Health 512, formed at the distal end of the distal segment of the starter shaft 510. The gear gear 228 is located or formed on the gear shaft 230, which is rotatably supported by the support walls 204, 206. The output gear 232 is located or formed on the output shaft 234, which is supported rotation by the support walls 204, 206. For assembly needs, the distal end 236 of the output shaft 234 can be designed to be rotatably connected to the output socket 238, which th protrudes distally through the distal end of the cover 210. In one construction, the distal end cap 210 may be attached to the body of the coupler 202 via the fasteners 208 or other suitable mounting structures. An output receptacle 238 may be secured to a distal end 236 of the output drive rod 234. An output receptacle 238 may be designed to be rotatably connected to a removable member of the drive rod 184. For example, the output receptacle 238 may be designed in a hexagonal shape so that it can be combined with a hexagonal protrusion 186 on a removable element of the drive rod 184. Additionally, for a more convenient operable connection of the working part 100 to the node of the coupling 200, the mounting thickening may be grammed on or attached to the end cap 210.

One of the designs of the coupling assembly 200 may also include a locking assembly, generally designated 240. In at least one form, the locking assembly 240 includes a spring locking member or pin 242 that is movably held in a locking slot 214 formed in a housing segment. the coupling 202. The locking pin 242 may be axially movable within the locking slot 214, so that the locking end 244 protrudes from the hole 211 in the end cap 210. See FIG. 8. The blocking spring 246 is mounted by threading on the blocking pin 242 to bias the blocking pin 242 into the blocking slot 214 in the distal direction "DN". The activation lever 248 may be formed or secured to the blocking pin 242 to enable the user to apply the unlocking movement to the blocking pin 242 in the proximal direction “PN”.

As can be seen in FIGS. 3, 9 and 10, the elongated groove 110 of the end effector 102 may have a proximal end wall 116, in which there is a connecting lumen 118 formed therein to receive the fastening thickening 212. In one design, for example, the fastening thickening 212 may include a neck portion 213 with a mushroom-shaped mounting head 215 formed thereon. The connecting lumen 118 may have a first circular section 120 suitable in size to the mounting head 215, which should be inserted into it. The connecting gap 118 may also have a narrow slot 122 having a size that allows the neck 213 to be received. The proximal end wall 116 may also have a blocking hole 124 for receiving the distal end 244 of the blocking pin 242.

One of the methods for connecting the end effector 102 to the connector assembly 200 of the surgical instrument 10 can be understood after referring to FIGS. 12-14. For example, to connect the end effector 102 to the coupler 200 assembly, the user can align the hexagonal protrusion 186 on the drive shaft of the joining portion 184 with the hexagonal outlet socket 238. In the same way, the mushroom head 215 can be aligned with the round portion 120 of the connecting gap 118, as shown in FIGS. 9 and 12. Then, the user can insert the protrusion 186 into the socket 238, moving it along the axis, and the mounting head 215 into the connecting lumen 118, as shown in FIG. 13. After that, the user can rotate the end effector 102 (represented by an “R” arrow in FIG. 14) to force the neck 213 to enter slot 122 and allow the distal end 244 of the locking pin 242 to snap into the locking hole 124 to prevent subsequent relative rotation between the end an effector 102 and a coupling assembly 200. A similar design serves for operably connecting the end effector 102 to a surgical instrument 10.

To disconnect the end effector 102 from the coupling assembly 200, the user can apply the unlocking movement to the activating arm 246 to bias the locking pin in the proximal direction “PN”. This movement of the locking pin 242 causes the distal end 244 of the locking pin 242 to exit the blocking hole 124 in the end wall 116 of the elongated groove 110. The user can then freely rotate the end effector 102 relative to the coupler assembly in the opposite direction to remove the neck portion 213 of the fastening button 212 from the slot 122 to be able to remove the mounting head 215 by pulling along the axis from the connecting lumen 118 in the end effector 102, and thus disconnect the end effector 1 02 from the coupling assembly 200. As can be seen from the foregoing, the coupling coupling assembly 200 provides a unique and innovative design for operably connecting the surgical working part 100, which is possible by applying the movement (s) of the rotary drive to the surgical instrument 10. In particular, the block the coupling 200 makes it possible to operatively connect a number of different surgical instruments 100 or end effectors 102 to the elongated shaft unit 30 of the surgical instrument 10.

Hinge system

As can be seen in FIGS. 1 and 2, the block of the elongated rod 30 can define the axis of the rod AA. In at least one form, the elongated shaft unit 30 may include a hinge system 300 for selectively rotating the end effector 102 around a pivot axis BB, which is substantially transverse to the axis of the rod AA. One form of the hinge system 300 is shown in FIGS. 15 and 16. As can be seen in these figures, the hinge system 300 may include a swivel joint with power supply 310. In at least one design, the swivel joint 310 includes a distal connecting portion or a distal bracket 312, which is supported to rotate on a proximal protruding portion of the hub 203 of the housing segment of the coupler 202 by a distal housing bearing 314. See FIG. The distal bracket 312 can be rotatably connected to the proximal portion of the hinge or proximal bracket 330 by a hinge pin 332 that defines the hinge axis BB. See FIG. 18. The distal bracket 312 may include a distally protruding connecting hub 316, suitable in size for receiving at the proximal end of a portion of the housing of the coupler 202. The connecting hub 316 may have an annular groove 318 designed to receive the connecting pins 320. See FIG. 8. The connecting pins 320 are used to connect part of the housing of the coupling 202 to the distal bracket 312, so that the segment of the housing of the coupling 202 can rotate relative to the distal bracket 312 around the axis of the rod AA. As can be seen in FIG. 20, the distal segment of the launch rod 510 passes through part of the hub 203 of the housing segment of the coupler 202 and is supported for relative rotation by the distal bearing of the launch rod 322 mounted inside the part of the hub 203.

To simplify the use of a rotary drive or the starting movement of the end effector 102, as well as to simplify the rotation of the end effector 102 with respect to the elongated rod 30 around the pivot axis AA, while maintaining the ability to rotate the end effector 102 relative to the node of the elongated rod 30 around the hinge axis B-B , swivel 310 may include a unique and innovative “nested” gear system, generally designated 350 and located in the area of the gear 351 between the distal bracket 312 and proximal bracket 330. See FIG. 18-20. In at least one of the forms, for example, the socket design of the gears 350 may include an internal gear system of the drive shaft or a “first gear system” 360 that is “housed” with an external end effector gear system or a “second gear system” 380. Applicable to the present invention, the term “housed” may mean that no part of the first gear system 360 extends radially outward from any part of the second gear system 380. Such a unique and innovative design from the gear is compact and simplifies the transfer of rotary control movements to the end effector, while also allowing parts of the distal bracket to rotate relative to part of the proximal bracket. As will be discussed in more detail below, the internal gear system of the drive shaft 360 simplifies the application of the rotary drive or triggering movements from the proximal segment of the launch rod 520 to the distal segment of the launch rod 510 by a swivel 310. Similarly, the external gear system of the end effector 380 simplifies the use of rotary control movements to the coupling assembly 200 from the rotation system of the end effector 550, as will be discussed in more detail below.

In at least one form, for example, the internal gear system 360 may include a distal bevel gear of the drive shaft 362, which can be attached to the proximal end of the distal segment of the launch shaft 510 with a screw 364. See FIG. 17. The internal gear transmission system of the gear 360 may also include a proximal beveled gear of the drive shaft 366, which may be attached to the proximal segment of the start shaft 520 with a screw 368. See FIG. Additionally, the internal gear transmission system of the gear 360 may also include a gear gear of the drive shaft 370, which is located on the gear gear bearing 374, which is located on the transverse shaft of the gear 372. See FIG. Such an internal gear system of the drive shaft 360 can simplify the transmission of rotary gears from the proximal segment of the launch rod 520 through a swivel 310 to the distal segment of the launch rod 510.

As indicated above, the female gear system 350 also includes an external gear system of the end effector 380, which simplifies the application of rotary control movements to the coupling unit 200 from the rotary system of the end effector 550 via a swivel 310. In at least one form, the external gear system of the end gear the effector 380 may, for example, include an output bevel gear 382, which is fixed without rotation (i.e., motionless) on the proximal protruding part of the hub 203 of the housing segment with a single sleeve 202. The external gear system of the end effector 380 may also include an input bevel gear 384, which is mounted rotatably (ie, motionless) on the proximal segment of the rotary shaft 552 of the rotary system of the end effector 550. Additionally, the external gear system of the gear of the end effector 550 380 may also include a transmission gear of the pivot shaft 388, which is located on an external gear gear bearing 386, which is located on a transversely projecting hinge m pin 332. See. 17. The pivot pin 332 passes through the hollow transverse pinion shaft of the gear 372 and serves to press the distal bracket 312 against the proximal bracket 330 for pivoting about the transverse pivot axis BB. The hinge shaft 332 can be locked in position by spring effectors 334. The unique and innovative hinge joint 310 and the socket design of the gears 350 facilitate the transfer of various control movements from the handle assembly 20 through the elongated shaft unit 30 to the end effector 102, while allowing the end effector 102 to rotate around axis of the elongated rod AA and rotate on hinges around the hinge axis BB.

The articulated movement of the end effector 102 around the articulated axis BB in relation to the extension of the elongated shaft 30 can be accomplished using the articulated control system 400. In various forms, articulated control system 400 may include articulated control motor 402, which is functionally supported in handle block 20. See FIG. 15. The swivel control motor 402 may be coupled to the swivel gear assembly 410, which is functionally supported on the removable gear assembly 700, which is removably supported on the handle unit 20, as will be described in more detail below. In at least one form, the articulated drive unit 410 may include a proximal segment of the articulated wire rod 412, which is rotatably supported in the housing block of the shaft 710 of the removable transmission assembly 700. See. 27 and 28. For example, the proximal segment of the articulated drive rod 412 may be rotatably supported within the distal portion of the shaft housing 712 by the spherical bearings 414. Additionally, the proximal segment of the articulated drive rod 412 may be rotatably supported in the proximal part of the shaft housing 714 by bearings 415. See FIG. 28. The hinge control system 400 may also include a proximal segment of the hinge shaft 420, which is rotated around the axis of the rod AA through the hinge control motor 402. As also seen in FIG. 15, the hinge drive assembly 410 may also include a pair of hinge drive pulleys 416, 417, which serve to move the belt of the articulated drive 418. Thus, activation of the articulated control motor 402 can cause the proximal segment of the articulated rod 420 to rotate about the axis of the rod AA. See FIG. 15.

As can be seen from FIGS. 15 and 16, the proximal segment of the hinge rod 420 has a threaded portion 422, which is adapted for threaded connection with the link of the hinged transmission node 424. The rotation of the distal segment of the hinged drive rod 420 in the first direction can axially move the link of the hinged transmission node 424 in the distal direction "DN" and the rotation of the distal segment of the hinge drive rod 420 in the opposite or second direction can axially move the link of the hinged transmission unit 424 in "PN" ksimalnom direction. The link of the articulated transmission unit 424 may be secured to the bar of the hinge 426 with a pin 428. The bar of the hinge 426 may, in turn, be secured to the distal bracket 312 with a pin 429. See FIG. 17. Thus, if you want to pivotally rotate the end effector 102 or the working part 100 around the hinge axis BB in relation to the node of the elongated shaft 30, the clinician activates the articulated control motor 402 to cause the articulated control motor 402 to rotate the proximal segment of the articulated rod 420 so that to engage the hinge bar 426 in the desired direction to rotate the distal bracket 312 (and the end effector 102 attached thereto) in the desired direction. See Fig. 21 and 22.

Starting system

As indicated above, the end effector 102 can be operated by turning the drive screw of the end effector 180 with the launch system 500, which includes the distal segment of the launch rod 510 and the proximal segment of the launch rod 520. See FIG. 23. The proximal segment of the launch rod 520 contains part of the node of the elongated rod 30 and can be rotatably supported within the hollow proximal segment of the hinge rod 552 using the distal bearing sleeve 522. See FIG. 20. Back to FIG. 23: in at least one form, the starting system 500 is the starting engine 530 functionally supported in the handle assembly 20. The proximal end of the proximal segment of the starting rod 520 can be rotatably supported within the removable transmission assembly 700 and designed to be connected to the starting engine 530 in a manner described in detail below. As can be seen from FIG. 30, the proximal end of the proximal segment of the launch rod 520 can be rotatably supported in the biasing element 524 mounted on the distal support plate 722 of the support of the transmission unit 720. Activating the starting motor 530 will necessarily lead to rotation of the drive screw of the end effector 180 for applying a rotary control motion to the end effector 102.

End Effector Rotation System

In various forms, the surgical instrument 10 also includes an end effector rotation system or “distal roller system” 550 for selectively rotating the end effector 102 relative to the elongated shaft assembly 30 around the axis of the shaft AA. The rotation system of the end effector 550 may include a proximal segment of the hinge rod 552, which also includes part of the node of the elongated rod 30. As can be seen in FIG. 20, the proximal segment of the hinge rod 552 can be rotatably supported within the proximal bracket 330 by the distal support wall 554 and the proximal the supporting wall 556. Additionally, the proximal segment of the hinge rod 552 can be rotatably supported within the proximal segment of the hinge segment 420 of the distal op wall 558 and proximal abutment wall 559. See Fig. 20 and 30. The proximal end of the proximal segment of the hinge rod 552 can also be rotatably supported within the support assembly of the transmission assembly 720 by a proximal bearing 555, as can be seen from FIG. 30.

In at least one of the forms, the control system of rotation of the end effector 550 may include a rotation motor of the end effector or a “distal rotational” motor 560, which is functionally supported in the handle unit 20. See FIG. 24. The rotational motor of the end effector 560 can be connected to the rotary drive unit 570, which is functionally supported on the removable transmission unit 700. In at least one form, the rotary drive unit 570 includes a proximal segment of the articulated wire rod 572, which is rotatably supported in the rod housing unit 710 removable transmission unit 700. See FIG. For example, the proximal segment of the articulated drive rod 572 may be rotatably supported within the distal portion of the shaft housing 712 by bearings 576. Additionally, the proximal segment of the articulated drive rod 572 may be rotatably supported in the proximal portion of the housing 714 by bearing 577. See. 28. As can also be seen from FIGS. 24 and 28, the articulated drive assembly 570 may also include a pair of articulated drive pulleys 574, 575 that serve to move the articulated drive belt 578. Thus, driving the articulated motor of the end effector 560 will rotate the proximal segment of the hinge rod 552 around the axis of the rod AA. Rotation of the proximal segment of the hinge rod 552 rotates the coupler 200 and, ultimately, the end effector 102 connected thereto.

Rod rotation system

Various forms of surgical instrument 10 may also include a shaft rotation system, generally designated 600. Also herein, a shaft rotation system may be referred to as a “proximal rotation system”. In at least one form, the rotation system of the rod 600 includes a proximal outer segment of the rod 602, which also contains a portion of the elongated rod 30. The proximal outer segment of the rod 602 has a distal end 604 that is rotatably connected to the proximal bracket 330. As can be seen from FIGS. 19 and 26, the distal end 604 has a dividing slot 606 to permit actuation of its corresponding hinge bar 426. The rotation system of the end effector 600 may include an end rotation motor an effector or “proximal rotational” motor 610, which is functionally supported in the handle unit 20. The rotation motor of the end effector 610 can be connected to a shaft drive unit 620, which is functionally supported on the removable transmission unit 700. In at least one form, the drive unit 620 includes a proximal segment of the drive shaft 622, which is rotatably supported in the distal block of the shaft housing 712 of the removable transmission assembly 700 with bearings 624. See FIG. 28. Additionally, the proximal segment of the drive rod 622 may be rotatably supported in the proximal portion of the housing of the drive rod 714 by a bearing 626. As also shown in FIGS. 26 and 28, the block of the drive rod 620 may also include a pair of pulley drives of the articulated drive 630, 632, which serve to the movement of the drive belt 634. The drive pulley 632 is rotatably connected to the proximal segment of the drive rod 602 so that rotation of the drive pulley 632 rotates the proximal segment of the drive shaft zhnya 602 and the end effector 102 connected thereto about the axis A-A of the rod. As can be seen further in FIGS. 28 and 30, the proximal segment of the drive rod 602 is rotatably supported within the distal portion of the shaft housing 712 by a pair of bearing bushings 607 and 608.

New unique designs of the hinge systems of the present invention provide many degrees of freedom of the end effector and provide the application of rotary control movements to it. For example, in connection with some surgical operations, it may be necessary to place the end effector in a position that is in the same plane with the target tissue. Various constructions of the present invention offer at least three degrees of freedom for the end effector, while taking into account the size limitations that are often encountered when performing, for example, laparoscopic surgical procedures.

The various forms of existing surgical instruments greatly improve the manipulation, accuracy and location efficiency of the end effector relative to the target tissue. For example, conventional swivel rods, which are typically used for power transmission, often use universal joint (s), flexible and rigid joints. All of these methods are affected by limitations during operation, including limitations in bending radius and excessive length characteristics. The various forms of the unique and innovative elongated shaft blocks and drive systems described in the present invention, for example, minimize the distance between the hinge axis and the end effector in comparison with other conventional hinge structures. The elongated shaft blocks and swivel designs disclosed herein make it more convenient to transmit at least one control motion to the end effector, while also allowing multiple degrees of freedom for the end effector to allow the end effector to be accurately positioned relative to the target tissue.

After using the end effector 102 or the working part 100, they can be disconnected from the coupling assembly 200 of the surgical instrument 10 and either disposed of or processed individually and sterilized using appropriate sterilization methods. Surgical instrument 10 can be used repeatedly with connection to fresh end effectors / working parts. Depending on the specific application, it may be necessary to re-sterilize the surgical instrument 10. For example, the instrument 10 may be re-sterilized before use in a completely different surgical procedure.

Before use, the surgical instrument must be sterile. One popular method of sterilizing medical instruments involves treating the instrument with wet steam at an appropriate temperature for an appropriate period of time. Such sterilization procedures, while effective, are generally unsuitable for sterilizing surgical instruments that use electrical components because of the high temperatures that arise when sterilizing with wet steam. Such devices are typically sterilized by exposure to a gas such as, for example, ethylene oxide.

Various forms of surgical instrument 10 can be sterilized using conventional sterilization methods. In at least one form, for example, the elongated shaft block 30 can be made up of components and materials that can be effectively sterilized using methods that involve relatively high sterilization temperatures. However, it may be desirable to use sterilization methods having lower operating temperatures when sterilizing the handle assembly, for example, to avoid possible damage to electrical components. Thus, it may be desirable to sterilize the handle assembly 20, in which various electrical components are housed, separately from the elongated rod assembly 30. For greater convenience in using such separate sterilization procedures, the elongated stem assembly 30, in at least one form, can be separated from the assembly handles 20.

Removable gear unit

In more detail and with reference to FIG. 28, the removable gear assembly 700 is functionally supported within the portion of the handle assembly 20. In one form, for example, the removable gear assembly 700 can be located inside the distal segments of the handle housing 21 and 22, which can be connected by means of latches, screws or other connecting devices. The distal segments of the handle housing 21 and 22, when connected, may be referred to as the “distal portion of the handle housing” or “housing” 25. The removable transmission assembly 700 may, for example, include a shaft housing unit 710 that includes a distal shaft housing 712 and a proximal a shaft housing 714. A removable transmission assembly 700 may also include a transmission assembly support block 720, which comprises a distal support plate 722 and a proximal connecting support plate 724. As described above, in at least one of the molds, the removable transfer unit 700 can functionally support the swivel unit 410, the proximal end of the proximal segment of the trigger rod 520, the articulated drive unit 570 and the drive rod block 620. To simplify the quick connection of the trigger rod segment 520, the articulated drive assembly 410, the rotary assembly drive 570 and the assembly of the drive rod 620 to the starting engine 530, the articulated control engine 402, the rotary motor of the end effector 560 and the rotary motor of the rod 610, respectively, m A unique and innovative coupler design can be used.

Engine mounting block

In at least one form, for example, the removable gear assembly 700 may be reversibly coupled to the engine mount, generally designated 750. The engine mount 750 may be supported within segments of the handle housing 23 and 24 that are capable of connecting among themselves latches, screws, etc. and serve to form part of the pistol grip 26 of the handle assembly 20. See FIG. 1. Segments of the handle housing 23 and 24, when connected, may be referred to as the “proximal portion of the handle housing” or “housing” 28. As can be seen from FIGS. 29-32, the engine mount block 750 may include an engine mount 752 that is reversibly supported inside the segments of the handle body 23 and 24. In at least one form, for example, the engine mount 752 may have a bottom plate 754 and a vertically protruding engine support block 756. The bottom plate 754 may have a mounting tab 758 formed therein and constructed designed for holding reception by a part of the lower plate 730 of the removable transmission assembly 700. Additionally, the right locator pin 772 and the left locator pin 774 are located in the engine support block 756 and protrude from there distally in accordance with the right and left socket tubes 716, 718 formed in the proximal part the body of the rod 714. See FIG. 32.

In at least one of the structures, the removable block of the transmission assembly 700 may be reversibly connected to the engine mount 750 using detachable latch structures. 760. As can be seen from FIG. 31, for example, the design of the detachable latch 760 may be located on each lateral side of the engine mount assembly 750. Each design of the detachable latch 760 may include a latch lever 762 that is rotatably connected to the engine support block 756 by a corresponding pin 764. Each latch lever 762 may protrude outward through a corresponding mounting lug 766 formed on the distal side of the engine mount assembly 756. The mounting lugs 766 can be slidably constructed inside the respective receiving parts 726 that protrude proximally from the proximal connecting support plate 724. See Fig. 30 and 32. When the transmission unit 700 interacts with the engine mount 750, the mountings 766 slide into the respective receiving parts 726 so that the latch arms 762 hold the latch part 728 in the respective receiving part 726. Each latch lever 762 has a corresponding latch spring 768 placed here to bias the latch lever 762 in a retaining engagement with the corresponding portion of the latch 728 to hold the removable gear assembly 700 connected to the engine mount block 750. Additionally, in at least one form, each design of the latch 760 also includes a release button 770 that is movably connected to the engine mount 756 and oriented to selectively contact it. Each release button 770 may include a release spring 771 that biases the button 770 from a contact position with a corresponding latch lever 762. When the clinician wishes to detach the removable gear assembly 700 from the engine mount 750, the clinician simply presses each of the buttons 770 inward to shift the latch levers 762 from retaining interaction with parts of latches 728 on receiving parts 726 and then removes the removable transmission assembly 700 from the connection to the engine mount 750. Other designs releasable latches can be used to releasably engage with a removable assembly of a drive motor 700, and can be reversibly connected to a suspension assembly of an engine 750.

In at least one of the forms, the surgical instrument 10 may also use clutch blocks to connect the control motors to corresponding drive units that are functionally supported on the block of the removable transmission unit 700. In more detail and with reference to FIGS. 28-32, the coupling block 780 is used for reversibly connecting the articulated drive assembly 410 to the articulated control motor 402. The coupling assembly 780 may include a proximal part of the coupling 782, which is operatively connected to the drive m rod 404 of the swivel control motor 402. Additionally, the block of the coupling 780 may also include a distal part of the coupling 784, which is connected to the proximal articulated drive rod 412. See Fig. 28 and 32. Each distal portion of the coupling 784 may have several (three shown) coupling protrusions 786 that are designed to rotate without connecting to corresponding scalloped regions 788 formed on the proximal portion of the coupling 782. See FIG. 30. Similarly, the other distal part of the coupling 784 can be connected to the proximal shaft of the rotary actuator 572 of the rotary actuator assembly 570 and the corresponding proximal part of the coupling 782 is connected to the motor shaft of the rotary actuator 562. Additionally, the other distal part of the coupling 784 can be connected to the proximal segment of the trigger the rod 520 and the corresponding proximal part of the coupling 782 is connected to the starting rod of the engine 532. Another other distal part of the coupling 7 84 can be connected to the proximal segment of the drive rod 622 of the drive rod 620 assembly and the corresponding proximal part of the coupling 782 is connected to the drive rod 612 of the rotation motor of the rod 610. Such connection coupling blocks 780 simplify the connection of control motors to the respective drive nodes, regardless of the positions of the drive rods and engine rods.

The various forms of the unique and innovative design of the handle assembly described above make it easy to detach the elongated shaft assembly 30 from the rest of the handle assembly 20, in which motors 402, 530, 560 and 610 and various electrical components, including the control system, are located in general denoted as 800. Thus, the block of the elongated shaft 30 and part of the removable drive unit 700 can be sterilized separately from the rest of the handle assembly, which houses the motors and the control system, which can be damaged when using sterilization methods using high temperatures. This unique and innovative design of the removable transmission assembly can also be used in conjunction with structures where the drive system (motors and control components) includes a part of a robotic system that may or may not be held by hand.

Gear transmission assembly design

FIGS. 100-103 illustrate an alternative transmission unit 5700 that employs a set of gears for transmitting movements from engines to respective rods. As can be seen in FIG. 100, the transmission unit 5700 may include a distal shaft housing unit 5710, which includes a distal shaft housing 5712, which functionally supports many designs of gear systems.

The housing of the distal shaft 5712 is designed to be reversibly placed on the proximal base plate of the sleeve 5724, in which there is a pair of mounting sockets 5725 for receiving the corresponding mounting bulges 5713 protruding from the housing of the distal shaft 5712, as can be seen in FIG. As in the designs described above, the stem of the starting or cutting motor 530 is directly connected to the proximal segment of the starting rod 5520 by a coupling unit 5780, as can be seen in FIG. The proximal segment of the rotary shaft 5552 of the rotary system of the end effector 550 rotates by a gear system, generally designated 5565. At least in one form, for example, the gear system 5565 includes a driven gear 5566, which is connected to the proximal segment of the rotary drive 5552 and is supported in the gear meshing with the pinion gear 5567. As can be seen in more detail in FIG. 103, the pinion gear 5567 is placed on the gear pin 5568, which is rotatably supported in the housing of the distal rod 5712. Toothed rod 5568 is connected to the rotation rod of the end effector or the distal roller engine 560 by a coupling unit 5780.

The proximal segment of the pivot pin 5420 rotates by a gear system, generally designated 5430. In at least one form, for example, the gear system 5430 includes a pinion gear 5432 that is connected to the proximal segment of the pivot pin 5420 and is engaged in gear engagement with a pinion gear 5434 As can be seen in more detail in FIG. 102, the pinion gear 5434 is placed on a toothed shaft 5436, which is rotatably supported in the housing of the distal shaft 5712. The toothed rod 5436 is connected to by a pivot of the articulated control engine 402 by a coupling unit 5780.

The proximal outer segment of the shaft 5602 is rotated by a gear system, generally designated 5640. In at least one shape, for example, the gear system 5640 includes a driven gear 5642, which is connected to the proximal outer segment of the shaft 5602 and is gear engaged with a bevel block gear 5644, which is rotatably supported inside the housing of the distal shaft 5712. The bevel gear block 5644 is in gear engagement with the drive bevel gear assembly 5646, which is located on a toothed rod 5648, which is also rotatably supported in the housing of the distal rod 5712. The toothed rod 5648 is connected to the rotation shaft or the distal roller motor 610 by a coupling unit 5780. See FIG. 101. The engines and gear systems of the alternative 5700 transmission assembly can be used to power and control a surgical instrument in the ways described herein.

Power and control systems

In various forms, the surgical instrument 10 may use a monitoring system, generally designated 800 for monitoring various motors used in the instrument. Engines 402, 530, 560, and 610 and related control components may also be referred to herein as a “drive system,” generally designated 398. In one form, the drive system 398 serves to “electrically generate” a plurality of control movements. The term "electrical generation" refers to the use of electrical signals to activate an engine or other electrical device and can be defined as different from the control movements, which are generated manually or otherwise without the use of electric current. In one form, the drive system 398 can be functionally supported in a handle unit that the clinician can hold with his hand or hands. However, in other forms, the drive system 398 may include a part that and / or is driven and / or supported by the robotic system.

In one form, motors 402, 530, 560, and 610 and their corresponding control components may be powered by a battery 802 located inside a pistol grip portion 26 of the handle assembly 20. In other designs, the battery may be supported by a robotic system, for example. However, in other embodiments, the handle unit 20 may have a power cable (not shown) protruding from there to supply power from another power source. In still other embodiments, motors and electrical components may receive power and control signals from a robotic system. The control system 800 may comprise various components of the control system, which may include, for example, a distal mounting board 810 that is supported on a removable transmission assembly 700. The distal mounting board 810 may include electrical connectors 812 and / or electrical components that can be sterilized by conventional steam sterilization methods, as well as other sterilization methods using lower temperatures. The control system 800 may also include a proximal mounting plate 820 that is supported in a portion of the handle assembly 20 formed by segments of the handle housing 23 and 24. The proximal mounting plate 820 is designed to electrically connect to the distal mounting plate 810 when the removable transmission assembly 700 is connected to the suspension assembly engine 750.

Various forms of surgical instrument 10 can utilize the unique and innovative design of the control switch 830, which can be functionally placed inside or supported by the pistol grip portion 26 of the handle assembly 20. For example, in at least one form, the design of the control switch 830 may include a unique and 840 innovative control lever switch that allows the user to maximize the functional control of various aspects of the surgical instrument Enta 10 using a single interface. 33-39, in more detail and with reference to one of the forms of the control lever switch 840 may include a rod of the control lever switch 842, which is functionally connected to the block lever switch 850, which is movably placed inside the node of the switch housing 844. The switch housing block 844 can be placed inside part of the pistol grip 26 of the handle assembly 20. In at least one form, for example, the switch housing unit 844 may include a housing 846 and a rear plate of the housing 848. As can be seen in maximum detail 35-39, the printed circuit board of the lever switch 852 can be quickly supported on the lever switch assembly 850 using the rear mounting plate 854. The rear mounting plate 854 can be designed to move together with the lever switch assembly 850 and the printed circuit board 852 inside the switch housing 844. The spring of the lever switch 856 may be supported between the rear plate of the housing 848 and the rear mounting plate 854 to bias the lever switch assembly 850 and the rod to control lever switch 842 forward or backward. See FIG. 36 and 38.

The control of the lever switch 840 can be electrically connected to the proximal mounting plate 820 and the battery 802 of the control system 800 using various connecting cables 864 to provide control power for the surgical instrument engines 402, 530, 560 and 610 10. For example, swinging or otherwise activating the rod control lever switch 842, the user can control the articulated control motor 402 and / or the motor of the distal rollers 560 and / or the motor of the proximal rollers 610.

The control lever switch assembly 850 may be referred to herein as a “first switch” for monitoring one or more motors of the transmission system. The control lever switch 840 may also include a first sensor 860, which may include, for example, a magnet that can be placed on the printed circuit board of the lever switch 852 to be able to move along it. Additionally, a second or stationary sensor 862 may be located inside the rear plate of the housing 848. The second sensor 862 may include, for example, a Hall effect sensor or similar sensory device. In at least one design, for example, a sensor 862 may be designed to communicate with a starting motor 530. The first and second sensors, 860, 862, may be referred to herein as a “second switch,” generally designated 858. The design described above allows the lever switch assembly 850 to axially move in and out when the user presses the control rod of the lever switch 842. By utilizing the movements of the entire lever switch 850 in and out, in at least one form, the design consists entirely of a switch inside the switch. In the non-activated position, the lever switch 856 spring biases the lever switch assembly 850 forward (in the distal direction). When the clinician presses the lever switch 842 inward (proximally), the first sensor 860 moves closer to the second sensor 862. Moving the first sensor 860 closer to the second sensor 862 leads to the activation of the so-called second switch 858, which can lead to the action of the cutting or starting motor 530.

When performing procedures using the end effector 102, the clinician may want to open and close the block of the abutment element 190 to manually move the target tissue to the desired position without cutting or cutting the tissue. In one form, as the clinician initially presses the control rod of the lever switch 842, the second switch 858 causes the trigger motor 530 to be activated, thereby starting to move the cutting tissue part 160 in the distal direction. In various forms, the cutting tissue part 160 is located inside the end effector 102, so that the initial movement of the cutting tissue part 160 in the distal direction causes the block of the abutment element 190 to close (i.e., rotate toward the cassette with brackets 130 without cutting the tissue or triggering surgical staples) . When the clinician releases the control rod of the lever switch 842, the spring of the lever switch 856 will displace the lever switch assembly 850 distally, thereby moving the first sensor 860 from the second sensor 862. The movement of the sensor 860 from the second sensor 862 can reduce the rotation speed of the starting motor 530 until starting motor 530 will not stop or deactivate. In at least one form, the construction of the second switch 858 can be designed so that the rotation speed of the starting motor 530 is directly proportional to the speed at which the user presses the control rod of the lever switch 842.

When the clinician has placed and secured the desired tissue inside the end effector 102, the end effector 102 can be activated or “triggered” by fully depressing the control rod of the lever switch 842. In various forms, the lever switch unit 850 may also have a third compression switch 866 built in and which also contacts the control system 800. Pressing the control rod of the lever switch 842 completely can activate the third switch 866. At least one form when the third switch 866 is activated, the starting motor 530 will remain activated even when the clinician releases the control rod of the lever switch 842. After the start of the cycle (that is, the cutting tissue part 160 has been extended to the most distal position in the end effector 102), the user can again fully press the control rod of the lever switch 842 to release the third switch 866 and thereby return control of the starting motor 530 to the second switch 858. Thus, if linitsist releases the control rod switchhook 842 after completely pressed it a second time, the lever switch spring 856 displace the unit hook switch 850 to the starting position. The control system 800 will cause the starting motor 530 to rotate in the opposite direction until the cutting fabric part 160 returns to its initial position, where the block of the thrust member 190 again moves to the open position, allowing the end effector 102 to release the incised tissue.

In various forms, the design of the switch 830 can also use the unique and innovative disk control unit 870. As can be seen in FIG. 42, the disk control unit 870 can rotate on the distally protruding part of the hub 845 of the switch housing assembly 844, so that the unit The 870 disc control rotates around the axis of the SA-SA switch. This position conveniently places the activating disk part 872 on the disk control unit 870 in a position where the clinician can turn it with the thumb and / or index finger while holding the pistol grip part 26 of the handle assembly 20. The activating disk part 872 can be connected to the disk clamp 874 , which is received by a part of the hub 845 and can be fixed rotatably in position by a mounting flange 27 formed by the segments of the handle 23 and 24. The left sensor (magnet) 876 and the right sensor (magnet) 878 located on the disc clamp 874, as shown in FIG. Sensors 876 and 878 may have the opposite polarity. The stationary sensor 880 can be located on the block housing of the switch 844 in such a way that it is centered between the left sensor 876 and the right sensor 878. The stationary sensor 880 can contain, for example, a Hall effect sensor and be connected to the proximal circuit board 820 of the control system 800 to control one of the control engines. For example, the disk control unit 870 can be used to control, for example, the proximal rollers or the shaft rotation motor 610. In other designs, the disk control unit 870 can be used to control the motor of the distal rollers 560 to rotate the end effector around the shaft axis relative to the elongated shaft assembly . A pair of centering springs 882 can be used to bias the disc clamp 874 to a central or neutral position. When the disk clamp 874 is in the neutral position as shown in FIG. 41, the rotation of the shaft or the motor of the proximal rollers 610 (or the motor of the distal rollers 560 — both are possible) is disabled.

As the user rotates the disk activator 872 in a clockwise direction to the position shown in FIG. 43, the control system 800 may cause the rotary rod motor 610 to rotate the elongated rod block 30 around the axis of the rod AA in a clockwise direction. Similarly, when the user rotates the disk activator 872 counterclockwise to the position shown in FIG. 44, the control system 800 can cause the rotary shaft motor 610 to rotate the elongated shaft block 30 in a counterclockwise direction around the axis of the shaft AA. In other words, while the user rotates the disk activator 872 clockwise or counterclockwise, the stationary sensor 880 monitors the direction of rotation of the elongated shaft assembly 30 based on the distance of the left and right sensors 876, 878 relative to the stationary sensor 880. The response of the stationary sensor 880 may be configured so that as the user increases the rotational speed of the disk activator 872, the relative speed at which the engine 610 rotates the block inennoy rod 30, increases. As can be seen in FIGS. 41-44, a locking collar 847 can be formed on the block of the shaft housing 844 to interact with the slot 875 in the disk clamp to prevent contact between the movable sensors 876, 878 and the stationary sensor 880. Those skilled in the art will understand that the block the disk control 870 can be used to control any other motor of the surgical instrument 10. Similarly, the control of the lever switch 840 can be designed to control any one or more motors of the surgical instrument cient 10. The unique and innovative designs disk control unit described herein, enable the user to have control over the rotation of the functional interaction zone ergonomic disk activator. In alternative forms, movable sensors 876, 878 may include Hall effect sensors, each of which is associated with an engine. Stationary sensor 880 may include a magnet.

In various forms, each of the motors of the surgical instrument 10 may be equipped with an appropriate encoding device that communicates with a microprocessor chip on the proximal circuit board 820. For example, the hinge control motor 402 may have an encoder 404 operably connected thereto that communicates with the proximal circuit board 820. The starting or notching engine 530 may have an encoder 534 operably connected thereto, which communicates with a proximal mon by the circuit board 820. The rotation motor of the end effector or the distal rollers 560 may have an encoder 564 operatively connected thereto which is coupled to the proximal mounting plate 820. The rotation motor of the shaft or the proximal rollers 610 may have an encoder 614 operably connected thereto, which communicates with proximal circuit board 820. Encoders can serve to provide feedback to microprocessor-based chips, taking into account the number of turns s and direction of rotation for each of the engines. In some forms, in addition to encoders, the rotary drive unit 570 can use sensor structures to track the rotation of various fragments of the rod. For example, as can be seen from FIGS. 15, 28 and 29, the pulley of the articulated drive 417 may have a first articulated sensor 419 located thereon and adapted to be monitored by a second articulated sensor 421, which may include, for example, a Hall effect sensor, which is located on the distal circuit board 810. The first and second articulated sensors 419, 421 serve to provide additional feedback data for monitoring the rotation position of the proximal articulated rod 420. Similarly, the distal roller pulley 575 of the rotary drive assembly 570 can t have a first distal roller sensor 580 located there, which is adapted to detect a second distal roller sensor 582, which is located on the distal mounting plate 810. See FIG. 24, 28, and 29. The first and second distal rotation sensors 580, 582 serve to provide additional feedback data for monitoring the rotation position of the proximal articulated rod 552. Additionally, the pulley 632 of the proximal rotation drive assembly 620 may have a proximal rotation sensor 634, which is adapted for detection by a second proximal rotation sensor 636, which is located on the distal circuit board 810. See FIG. 26, 28, and 29. The first and second proximal rotation sensors 634, 636 serve to provide additional feedback data to track the rotation position of the proximal outer segment of the rod 602.

Conducting lines from the end effector to the handle block

As discussed above, various forms of surgical instrument 10 can be effectively applied with a range of different end effectors or surgical working parts that require the use of rotational or other movements to act / manipulate the end effector / working part. For example, one form of end effector 102 requires rotational control movements to open and close the assembly of the abutment element 190, which drives the surgical staples and incised tissue. One form of end effector 102 may also be equipped with a distal sensor design to determine the degree or number of closures made by the stop assembly 190 relative to the surgical cassette 130. For example, the stop assembly 190 may include a first support sensor 890 that is located on its distal the end. See FIG. 3. The reference sensor 890 may include, for example, a Hall effect sensor designed to detect a second cassette sensor with brackets (magnet) 892 located at the distal end of the cassette with surgical brackets 130. In at least one form, the first reference sensor 890 may communicate with at least at least one conductor of the end effector 894, which is located on the block of the thrust element 190, as shown. In one form, for example, the end effector conductor 894 comprises a flat metal strip that has a flexible hook 896 formed at its proximal end. In general, as used herein, the terms “conductor” or “conductive” refer to a part or component capable of conducting electricity through itself. A conductor, for example, may comprise a wire or wires, flexible conductive strips or metal reamers, a multi-channel conductive ribbon cable, etc. As used herein, the terms “electrically in contact” or “electrically connected to” mean that the components are designed to conduct electrical current or signals between them.

Now, referring to FIGS. 45 and 46, it can be seen that the flexible hook 896 can be oriented to contact the distal end 244 of the locking pin 242. The locking pin 242 can, for example, be constructed of an electrically conductive material and coated with an insulating coating (e.g. , polymer, etc.) to electrically isolate the locking pin 242 from the body segment of the coupler 202, but have an open tip designed to make electrical contact with the hook 896. Additionally, the locking spring 246 may e it is made of electrically conductive material (e.g., metal). A blocking spring 246 can be connected (eg, soldered, etc.) to the blocking pin 242 so that the blocking pin 242 and the blocking spring 246 form an electrically conductive connecting line for transmitting electric current through the block of the coupling 200. The blocking spring 246 also washes be coated with insulating material to electrically isolate it from the body segment of the coupler 202. The blocking pin 242 and the blocking spring 246 may be referred to collectively as “blocking block” about the pin "249. The blocking spring 246 can end at the proximal end 247, which is designed for sliding electrical contact with the node of the proximal conductor 250 located on the distal bracket 312 of the swivel 310.

 As can be seen in FIG. 8, one form of the proximal conductor assembly 250 may include a conductive wire / wires / reamer 252 and an annular electrical conductor in the form of, for example, a conductive washer 254. As can be seen in FIG. 46, the conductor 252 is connected to the proximal part of the conductor 256, which protrudes outwardly through the distal bracket 312, for communicating with the swivel conductor 258, which is supported by a flexible coating of the joint 900, which extends over the swivel joint 310. In at least one form, the coating of the joint 900 includes and a hollow body 902, which has an open proximal end 904 and an open distal end 906 and a connection receiving groove 908 located between them. The hollow body 902 may comprise a plurality of ribs 910 and be made of a polymer or similar non-conductive material that is capable of stretching in all directions to accommodate the movement of the components of the swivel. However, the coating of compound 900 may also be made of other suitable materials and structures, such as flexible microfibre tubes, etc. Swivel conductor 258 may comprise, for example, a conductive ribbon cable, wire, wires, reamers, etc. As can be further seen on the IG. 46, the proximal end of the swivel conductor 258 is electrically connected to the conductor of the rod 260 on the proximal outer segment of the rod 602.

As can be seen in FIGS. 47 and 48, in at least one form, the proximal end of the conductor of the rod 260 can be oriented for sliding contact with the annular conductor 262, which is located on the handle block 20. A similar design can allow electric current to flow between the conductor of the rod 260 and ring conductor 262 as the block of the elongated rod 30 rotates around the axis of the rod AA relative to the handle assembly 20. As can be further seen in FIGS. 47 and 48, the conductor 264 is connected to the conductive ring 262 and extends proximally through the housing of the handle 20. The conductor 264 may contain a wire or other suitable electrical conductor and have a proximal end 266, which is designed for flexible contact with the tip of the left location pin 774. In particular, for example, the proximal end 266 can pass through the wall of the left location socket 718, so that when the left locating pin 774 is inserted into it, the proximal end portion 266 of the conductor 264 is in contact with the left locating pin 774. In at least one form, the left locating pin 774 is made is made of an electrically conductive material (metal), so that when the proximal end 266 of the conductor 264 makes contact with it, electric current may flow between these components. Additionally, the connecting conductor 776 serves to electrically connect the left location pin 774 to the block of the proximal circuit board 820 to facilitate the transmission of electric current between them.

The above construction simplifies the passage of electric current between the end effector or the surgical working part, which was connected to the elongated shaft block 30 of the surgical instrument 10 and the components of the control system located in the handle block 20 of the surgical instrument 10. This connecting line is held, while also holding the ability to rotate the end the effector relative to the node of the elongated rod, activate the end effector relative to the node of the elongated rod and rotate the end effector and the elongated shaft unit as a whole. Coating compound 900 may provide an electrical communication line between the elongated shaft and the end effector. Compound coating 900 may comprise an electrical flexible strip, wire, reamer, etc. to conduct more than one signal for electrical communication. Thus, many different sensors or electrical components can be used in the end effector to provide various forms of feedback to the user. For example, sensors can be used to determine the number of cycles of use, track the progress of the cutting tool inside the end effector during startup, provide feedback to the control system for automatically monitoring various motors in the handle block, etc.

FIG. 49 illustrates an alternative swivel 310 that is designed to permit passage of electric current or signals through it. In this form, the distal electrical conductor of connection 270 is passed through the distal bracket 312 ′ to contact the distal metal washer 272 embedded therein as shown. The proximal bracket 330 ′ may have a proximal metal washer 274 located there for rotational contact with the distal metal washer 272, while the distal bracket 312 ′ is connected to the proximal bracket 330 ″ in the manner described above. The proximal metal washer 274 may be curved or beveled to maintain contact between the washers 272, 274. The proximal electrical conductor of the connection 276 in the form of, for example, a contact strip, wire or reamer is connected to the washer 274 and is designed to electrically contact the rod conductor 260 at the proximal the outer segment of the rod 602. Thus, such a design simplifies the passage of electric current / signals from the end effector 102 through the blocking pin 242, the blocking spring 242 (i.e., the block pin (249), conductive rings 252, distal electrical conductor of connection 270, washers 272, 274 and proximal electrical conductor of connection 276 to rod conductor 260.

Alternative swivel designs

Another form of swivel 1000 is shown in FIG. 50-53. Such a swivel joint 1000 can simplify the swivel rotation and rotation of the end effector or the surgical working part connected therein relative to the axis of the rod AA of the elongated shaft to which the swivel joint 1000 is connected. The swivel joint can also facilitate similar movements of the end effector or surgical working part, simultaneously also providing rotational control movements of the end effector / working part for their activation or manipulation. Swivel 1000 may be connected to an elongated rod block similar in construction to the elongated rod block 30 described above, or it may be connected to other suitable rod assemblies. An elongated shaft block may be attached to a handle block in which a plurality of motors are located. A single motor can be used to transmit control motions to a flexible cable piece 1010 that passes through an elongated shaft block and that is functionally connected to a swivel joint 1000. For example, a flexible cable 1010 can be connected to a spool or pulley block that is functionally connected or communicates with the rod of the corresponding engine in such a way that the action of the engine activates the cable 1010. The handle block may also include a starting motor, which is functionally connected the proximal trigger rod 1030 that extends through the elongate shaft unit for interaction with the hinge connection 1000 as will be described in more detail below. The handle block may also comprise a motor that is operatively cooperating with the end effector or the distal rotary rod 1040, which transmits rotational control movement to the articulation 1000, which can be used to rotate the end effector or surgical working part around the axis of the rod AA relative to the elongated rod . The handle block may also include a proximal rotary motor, which is used to rotate the elongated shaft assembly about the shaft axis AA in the manner described above.

In at least one form, the swivel 1000 may comprise a proximal bracket unit 1020 that is connected to or formed at the end of an elongated shaft assembly. In the design shown in FIGS. 50-53, a proximal bracket block 1020 is formed at the distal end of the elongated shaft assembly 30 '. As can be seen in the figures, the proximal bracket unit 1020 has a distal end wall 1022 and a pair of bracket-separated brackets 1024, 1026. The proximal bracket 1020 is designed to be rotatably connected to the distal bracket 1050 by a pivot rod 1051, which serves to determine the hinge axis B- AT. The hinge axis BB can be substantially perpendicular to the axis of the rod AA.

The distal bracket 1050 has a socket 1052 formed on it and a pair of levers of the distal bracket 1054, 1056. The pivot rod 1051 extends centrally through the levers of the bracket 1024, 1054, 1056 and 1026 as shown in FIG. The lever of the bracket 1054 may have a cable pulley 1058 formed on it to which a flexible cable 1010 is connected. Thus, rotation of the cable 1010 by its corresponding motor will cause the distal bracket 1050 to rotate relative to the proximal bracket 1020 around the hinge axis BB.

In various forms, the swivel joint 1000 may also include a rotating mounting hub 1060, which is rotatably received into a socket 1052. The mounting hub 1060 may have an annular gear 1062 attached thereto, which is adapted to gear engagement with a distal rotating output gear 1064. The distal rotating the output gear 1064 is connected to the output shaft 1066, which is rotatably supported on the end wall 1053 of the distal bracket 1050. The output shaft 1066 has a distal rotation ayuschuyusya output gear 1068 coupled thereto. The distal rotating output gear 1068 is gear engaged with the distal rotating gear gear 1070, which is rotatably mounted on the rotary shaft 1051 and is gearing with the distal rotating input gear 1072. The distal rotating input gear 1072 is located on the distal rotating shaft 1040. The distal rotating gear the output gear 1068, the distal rotating gear gear 1070 and the distal rotating input gear 1072 are referred to herein the document “distal rotating gear system”, generally designated 1069. The distal rotating gear gear 1070 “rotates freely” on the pivot shaft 1051 so that the rotation of the distal rotary shaft 1040 ultimately causes the distal pinion gear 1064 to rotate without rotating the pivot shaft 1051. Rotation of the distal rotating output gear 1064 within the ring gear 1062 causes the mounting hub 1060 to rotate about the axis of the rod AA. In various forms, the end effector or surgical working part can be directly connected to the mounting hub 1060 so that the rotation of the mounting hub 1060 leads to the rotation of the end effector / working part. For example, a mounting hub 1060 may be formed with a hub socket 1061 that is sized to hold the receiving portion of the end effector / working portion. In an alternative embodiment, the mounting hub 1060 may comprise an integral portion of the end effector, or the end effector may be connected to the mounting hub 1060 by other mounting structures. For example, mounting hub 1060 may be coupled to a coupler unit of the type and design described above, and then the end effector / working part may be reversibly connected to the coupler unit.

The swivel joint 1000 can also make it more convenient to transmit the rotational control motion through the joint 1000 to the connected end effector / working part. As can be seen in FIGS. 52 and 53, the distal end of the proximal starting rod 1030 is rotatably supported on the distal end wall 1022 of the proximal bracket assembly 1020 and has an input starting gear 1080 connected. The input starting gear 1080 is in gear engagement with the starting transmission gear 1082 which is mounted on the pivot shaft 1051. The start gear 1082 is in gearing with the start output gear 1084, which is located on the output start shaft 1090, which d is mounted on a distal end wall 1053 staples 1050. The trigger output shaft 1090 may be designed to drive interaction with a respective drive rod part or on the end effector / working part. For example, the distal end 1092 of the trigger output rod 1090 can be hexagonal so that it can be taken with a corresponding hexagonal socket formed on a mounting flange 1094, which can be designed to connect an end effector / working portion to the drive rod. The starting input gear 1080, the starting transmission gear 1082, and the starting output gear 1084 are referred to herein as the “starting pinion gear system”, generally referred to as 1081. The starting transmission gear 1082 “rotates freely” on the pivot pin 1051, so that the proximal starting pin rotates 1030 ultimately leads to the rotation of the launch output rod 1090 without rotation of the rotary rod 1051. The gear system of the distal shaft 1069 and the gear system of the launch rod 1081 completely "nest together and facilitate articulation of the end effector rotation / working portion relative to the elongate shaft assembly, while simplifying control transmission of rotary motion to the end effector and at the same time simplifying the rotation of the end effector relative to the rod axis A-A.

FIGS. 54-60 illustrate another alternative construction of the swivel 1100. In at least one form, the swivel 1100 may include a proximal bracket 1110, a central bracket 1130 and a distal bracket 1150. The swivel 1100 may be designed to facilitate articulating rotation of the end effector or surgical the working part connected to it, around two different hinge axes bb and cc, which are essentially perpendicular to each other, as well as to the axis of the rod AA of the node of the elongated rod 3 0 '' to which it is connected. For example, the hinge 1100 can be designed so that the central bracket 1130 can rotate around the first hinge axis BB in relation to the first bracket 1110 and the distal bracket 1150 can selectively rotate around the second hinge axis CC relative to the central bracket 1130. The hinge 1100 can also simplify such movements of the end effector or surgical working part, while also providing rotational control movements of the end effector / working part for their activation or manipulating them.

The swivel 1100 may be connected to an elongated rod block similar in construction to the elongated rod block 30 described above, or it may be connected to other suitable rod assemblies. In one design, the proximal bracket 1110 is integrated into the outer tube of the elongated shaft assembly 30 ''. As shown in FIGS. 54-60, the proximal bracket 1110 has an upper proximal bracket lever 1112 and a lower proximal bracket lever 1114. The central bracket 1130 also has an upper central bracket lever 1132 and a lower central bracket lever 1134. The upper proximal bracket lever is rotatably connected to the upper arm of the central bracket 1132 with a proximal pivot pin 1116. The proximal pivot pin 1116 also pivots the lower arm of the proximal bracket 1114 to the lower arm of the central bracket 1134. Proximal The pivot pin 1116 serves to define the first articulated axis BB.

Also, in at least one design, the central bracket 1130 has a right lever of the central bracket 1136 and a left lever of the central bracket 1138. The distal bracket 1150 has a right lever of the distal bracket 1152 and a right lever of the distal bracket 1154. The right lever of the central bracket 1136 is rotatably connected to the right the lever of the distal bracket 1152 with a distal pivot pin 1156. The left lever of the central bracket 1138 is rotatably connected to the left lever of the distal bracket 1154 with a distal pivot pin 1156. The distal pivot pin 1156 defines a second pivot axis C-C. In one design, the distal pivot pin 1156 is rotatably connected to the right and left levers of the distal bracket 1152, 1154, so that the distal pivot pin 1156 rotates with the distal bracket 1150 relative to the central bracket 1130.

The elongated shaft block 30 ″ may be attached to a handle block in which a plurality of motors are located. One motor can be used to transmit control movements to the first flexible cable piece 1170, which extends through the extension bar 30 ″ and which is operatively connected to the swivel 1100. For example, the first flexible cable 1170 can be connected to a first spool or pulley block, which is functionally connected or connected to the rod of the corresponding engine so that the action of the engine leads to the activation of the first cable 1170.

In one design, the first flexible cable 1170 can be used to selectively rotate the central bracket 1130 relative to the proximal bracket 1110 around the first pivot axis BB. In a similar design, for example, the first cable 1170 runs around the first pulley or spool 1180, which is attached to the central bracket 1130. For example, the first pulley 1180 is connected to the upper arm of the central bracket 1132 and mounted to rotate on the proximal pivot pin 1116. Activation of the first cable 1170 will cause the central bracket 1130 to rotate relative to the proximal bracket 1110 around the first hinge axis BB.

The swivel 1100 may also use a second flexible cable 1190, which is received on the spool or pulley block, which is functionally connected or connected to the rod of the corresponding motor inside the handle so that the action of the motor leads to the activation of the second cable 1190. The second flexible cable 1190 can be used to selective rotation of the distal bracket 1150 relative to the Central bracket 1130 around the second hinge axis CC. In such a design, for example, a second cable 1190 runs around a second pulley or spool 1158, which is rotatably connected to the distal pivot pin 1156. Activating the second cable 1190 will rotate the distal pivot pin 1156 and the distal bracket 1150 connected thereto the second hinge axis CC relative to the Central bracket 1130.

 Swivel 1100 can also make it more convenient to transmit rotational control motion through connection 1100 to a connected end effector / working part. The proximal rotational trigger rod 1200 may extend through the elongated shaft block 30 ″ and be operatively connected to the trigger motor in the handle block to transmit rotational trigger movements thereto. In one design, the proximal trigger rod 1200 may be hollow, so that a second cable 1190 can pass through it. The proximal trigger shaft 1200 may functionally cooperate with the proximal trigger gear system 1210 operably supported on the swivel joint 1100. For example, in one design, the first trigger gear system 1210 may include a proximal trigger gear 1212 that is connected to the proximal trigger rod 1200. Proximal trigger trigger gear 1212 is oriented in gearing with the proximal starting gear gear 1214, which is mounted on a rotary st zhne 1116 so that it can rotate freely. The proximal starting transmission gear 1212 is oriented in gear engagement with the proximal starting output gear 1216, which is located on the central starting rod 1218, which rotates through the central network 1131 of the central bracket 1130.

The swivel joint 1100 may also include a distal gear starting system 1220, which works in conjunction with the proximal starting gear system 1210 for transmitting a rotational triggering or controlling movement through the swivel joint 1100. The distal starting gear system 1220 may include a distal starting gear 1222, which is located on the Central the starting rod 1216. The distal starting starting gear 1222 is in gear engagement with the distal starting transmission gear 1224, to The otorium is rotatably mounted on the distal pivot pin 1156, so that it can rotate freely on it. The distal starting transmission gear 1224 is in gearing with the distal starting output gear 1226, which is rotatably mounted inside the distal bracket 1150. The distal starting output gear 1226 can be designed to engage with the corresponding drive part or shaft at the end effector / working part.

Another form of swivel 1300 shown in FIG.61-66. Such a swivel joint 1300 can simplify the swivel rotation and rotation of the end effector or surgical working part connected thereto relative to the axis of the rod AA of the elongated shaft to which the swivel joint 1300 is connected. The swivel joint can also facilitate similar movements of the end effector or surgical working part, simultaneously also providing rotational control movements of the end effector / working part for their activation or manipulation. The swivel 1300 may be connected to an elongated rod block similar in construction to the elongated rod block 30 described above, or it may be connected to other suitable rod assemblies. An elongated shaft block may be attached to a handle block in which a plurality of motors are located. A single motor can be used to transmit control motions to a flexible cable 1310 that passes through an elongated shaft unit and that is functionally connected to a swivel 1300. For example, a flexible cable 1310 can be connected to a spool or pulley block that is functionally connected or connected to a rod the corresponding engine in such a way that the action of the engine leads to the activation of the cable 1310. The handle block may also comprise a starting motor, which is functionally connected to the proxim to the launching rod 1330, which extends through the elongated rod block for engagement with the swivel joint 1300, as will be described in more detail below. The handle block may also comprise a motor that is operatively cooperating with a flexible distal rotational shaft 1340, which transmits a rotational control movement to the articulated joint 1300, which can be used to rotate the end effector or surgical working part around the axis of the shaft AA relative to the elongated shaft. The handle block may also include a proximal rotary motor, which is used to rotate the elongated shaft assembly about the shaft axis AA in the manner described above.

In at least one form, the swivel 1300 may comprise a proximal bracket block 1320 that is connected to or formed at the end of an elongated shaft assembly. In the design shown in FIGS. 61-66, a proximal bracket block 1320 is formed at the distal end of the outer tube forming a portion of the elongated shaft assembly 30 '. As can be seen in these figures, the proximal bracket block 1320 has a distal end wall 1322 and a pair of spaced apart levers of the bracket 1324, 1326. The proximal bracket 1320 is designed to be rotatably connected to the distal bracket 1350 by the upper pivot pin 1351 and the lower pivot pin 1353, which serves to determine the hinge axis BB. The pivot axis BB is substantially perpendicular to the axis of the rod AA.

The distal bracket 1350 has a socket 1352 formed on it and a pair of levers of the distal bracket 1354, 1356. The upper pivot rod 1351 is centered through the levers of the bracket 1324 and 1354. The lower pivot rod 1353 passes through the levers of the bracket 1356 and 1026 as shown in FIG. 64 . The bracket lever 1356 may also have a cable pulley 1358 formed on it or attached to it. The flexible cable 1310 is connected to the cable pulley 1358 in such a way that activation of the cable 1310 will cause the distal bracket 1350 to pivot about the pivot bracket 1320 around the pivot axis 1320.

In various forms, the swivel joint 1300 may also include a rotating mounting hub 1360, which is rotatably received in the socket 1052. The mounting hub 1060 may have a drive gear 1362 attached thereto, which is adapted to gear engagement with a distal rotating output gear 1364. The distal rotating the output gear 1364 is connected to the output shaft 1366, which is rotatably supported on the end wall 1355 of the distal bracket 1350. In at least one design, the distal The rotary output pinion gear 1364 is driven by a flexible distal rotatable shaft 1340, which extends through the proximal support shaft 1342 and passes through an elongated shaft block 30 ″. In various forms, the end effector or surgical working part can be connected directly to the mounting hub 1360 so that the rotation of the mounting hub 1360 leads to the rotation of the end effector / working part. For example, the mounting hub 1360 may be formed with a hub socket 1361, which is sized to hold the receiving portion of the end effector / working part. In an alternative embodiment, the mounting hub 1360 may comprise an integral portion of the end effector, or the end effector may be connected to the mounting hub 1360 by other mounting structures. For example, mounting hub 1360 may be coupled to a coupler unit of the type and design described above, and then the end effector / working part may be reversibly connected to the coupler unit.

The swivel joint 1300 can also make it more convenient to transmit the rotational control motion through the joint 1300 to the connected end effector / working part. As can be seen in FIGS. 63 and 64, the distal end of the proximal trigger rod 1330 is rotatably supported on the distal end wall 1322 of the proximal bracket assembly 1320 and has an input trigger gear 1380 connected. The input trigger gear 1380 is in gear engagement with the trigger gear 1382 which is mounted on the lower pivot shaft 1353. The start gear gear 1382 is in gear engagement with the start output gear 1384, which is located on the output start rod 1390 that extends through the end wall 1355 of the distal bracket 1350 and the end wall 1370 of the mounting hub 1360. The trigger output rod 1390 can be designed to drive engagement with a corresponding drive part or rod on the end effector / working portion. For example, the distal end 1392 of the trigger output rod 1390 can be hexagonal so that it can be a corresponding hexagonal socket formed on a mounting flange 1394, which can be designed to connect an end effector / working portion to the drive rod. The trigger input gear 1380, the trigger gear 1382 and the trigger output gear 1384 are referred to herein as the trigger pinion gear system, generally designated 1381. The trigger gear 1382 “rotates freely” on the lower pivot pin 1353, so that the rotation of the proximal trigger pin 1330 ultimately leads to the rotation of the launch output rod 1390 without rotation of the lower rotary rod 1353. The distal rotating gear system 1369 and the gear system of the launch rod 1381 control they feel the hinged rotation of the end effector / working part relative to the elongated rod assembly, at the same time simplifying the transfer of rotary control movements to the end effector and at the same time simplifying the rotation of the end effector relative to the axis of the rod AA.

Alternative engine mounts

FIGS. 67-69 illustrate alternative engine mounts, generally designated 1750. The engine mount 1750 may be supported within segments of the handle housing 23 and 24, which are capable of being interconnected by latches, screws, etc. and serve to form part of the pistol grip 26 of the handle assembly 20. In at least one form, the engine mount 1750 may include an engine housing 1752 that is supported to be reversibly connected within segments of the handle housing 23 and 24. In at least one shape, to for example, the engine housing 1752 has an engine support block 1756 connected to it. The motor housing 1752 serves to support the engines 402, 530, 560 and 610. Each engine has its own control board 1780 connected to it to control the actions of each engine in various ways described herein.

In some forms, the working part 100 may comprise an electrosurgical end effector using electric energy to treat tissue. Examples of electrosurgical end effectors and related instruments are described in US Patent Application No. 13/536393, entitled "Designs of Jaws and Electrodes of a Surgical End Effector," Dossier of Patent Attorney No. END7137USNP / 120141 and US Patent Application No. 13/536417, entitled " Electrode Components for Surgical Instruments with Rotary Drive, Patent Attorney Dossier No. END7149USNP / 120153, both documents are incorporated herein by reference in their entirety. FIGS. 70-73 illustrate an example of an end effector 3156 with an alternative working part 100. The end effector 3156 can be adapted to capture and dissect tissue and to simultaneously fuse the captured tissue by controlled supply of energy (eg, radio frequency (RF) energy). The first jaw 3160A and the second jaw 3160B can be closed, thereby gripping or engaging the fabric along the longitudinal axis 3194 formed by the axially movable member 3182. The first jaw 3160A and the second jaw 3160B can also exert a compressive effect on the fabric.

FIG 70 shows a perspective view of some forms of electrical surgical end effector 3156 for use with a surgical instrument 10. FIG 70 shows an end effector 3156 with jaws 3160A, 3160B in an open position. FIG. 71 shows a perspective view of some forms of end effector 3156 with branches 3160A, 3160B in a closed position. As indicated previously, the end effector 3156 may comprise an upper first jaw 3160A and a lower second jaw 3160B, which may be straight or curved. The first jaw 3160A and the second jaw 3160B may comprise an elongated groove or channel 3162A and 3162B (FIG. 70), respectively, located externally along their respective middle parts. In addition, the first jaw 3160A and the second jaw 3160B may have tissue-gripping elements, such as teeth 3198 located on the inside of the first jaw 3160A and the second jaw 3160B. The first jaw 3160A may comprise, for example, a case of an upper first jaw 3200A with an outwardly facing upper first surface 3202A and a power supplying upper first surface 3204A. The second jaw 3160B may comprise a lower second jaw 3200B housing with an outwardly facing lower second surface 3202B and an energy supplying lower second surface 3204B. The first power supply surface 3204A and the second power supply surface 3204B may extend around the distal end of the end effector 3156, forming a U-shaped structure. It should be understood that the end effector 3156 may have the ability to rotate and articulate in a manner similar to that described herein with respect to the end effector 102.

72 shows one form of the end effector 3156 that is movable relative to the axis of the element 3182. The axis-movable element 3182 is moved using the threaded drive rod 3151. (FIG. 70) The proximal end of the threaded drive rod 3151 can be designed to rotate without connecting to the output the socket 238 and thus receive the rotational movement provided by the motor 530. The axially movable element 3182 may comprise a threaded blind nut 3153 for receiving a threaded drive unit rust 3151 so that the rotation of the threaded drive rod 3151 causes the axially displaceable element 3182 to move distally and proximally along the axis 3194. (FIG. 72) The axially displaceable element 3182 may contain one or more parts, but in any case, it may be able to move or progressively move relative to the elongated shaft 158 and / or jaw elements 3160A, 3160B. In addition, in at least some forms, the axially displaceable member 3182 may be made of precipitation hardened stainless steel 17-4. The distal end of the axially displaceable element 3182 may comprise an I-beam element with flanges that is slidable within channels 3162A and 3162B in jaw elements 3160A and 3160B. The axis-moving element 3182 can slide inside the channels 3162A, 3162B, opening and closing the first jaw element 3160A and the second jaw element 3160B. The distal end of the axially displaceable member 3182 may also comprise an upper flange, or a c-shaped portion 3182A, and a lower flange, or a c-shaped portion 3182B. Flanges 3182A and 3182B, respectively, form inner curved surfaces 3206A and 3206B for engaging outwardly facing surfaces of the first jaw member 3160A and the second jaw member 3160B. Opening and closing the jaw elements 3160A and 3160B can exert a very strong compressive force on the fabric through the use of cam mechanisms, which can include an axially displaced I-beam element 3182 and outwardly facing surfaces 3208A, 3208B of the jaw elements 3160A, 3160B.

More specifically, as shown in FIGS. 70-72, the inner curved surfaces 3206A and 3206A of the distal end of the axially displaceable member 3182 can collectively be slidably engaged with the first outwardly facing surface 3208A and the second outwardly facing surface 3208B of the first jaw member 3160A and a second jaw element 3160B, respectively. The channel 3162A in the first element of the jaw 3160A and the channel 3162B in the second element of the jaw 3160B can be made in shape and size with the ability to provide movement along the axis of the element 3182, which may contain the cutting fabric element 3210, for example, containing a sharp distal edge. FIG. 71, for example, shows the distal end of an axially displaceable member 3182 advanced at least partially through channels 3162A and 3162B (FIG. 70). The advancement of the axis-moving element 3182 may close the end effector 3156, which is in the open configuration shown in FIG. In the closed position shown in FIG. 71, the upper first jaw element 3160A and the lower second jaw element 3160B form a gap or distance D between the first energy supply surface 3204A and the second energy supply surface 3204B of the first jaw element 3160A and the second jaw element 3160B, respectively . In various forms, the distance D can be, for example, from about 0.0005 inches to about 0.040 inches, and in some forms, for example, from about 0.001 inches to about 0.010 inches. In addition, the edges of the first energy supply surface 3204A and the second energy supply surface 3204B may be rounded to prevent tissue dissection.

FIG. 73 is a cross-sectional view of some forms of end effector 3156. The surface 3204B engaging or in contact with the tissue of the lower jaw member 3160B is configured to supply energy to the tissue at least partially through a conductive matrix, such as a variable housing, having a positive temperature coefficient (PTC) resistance. At least one of the upper and lower element of the jaw 3160A, 3160B may have at least one electrode 3212, configured to supply energy from the generator 3164 to the captured tissue. Similar to the conductive resistive matrix (i.e., PTC material), or in some forms, the surface may, for example, be a conductive electrode or an insulating layer, may be located on the surface 3204A of the upper element of the jaw 3160A that engages or is in contact with the fabric. Alternatively, any of the power supply components described in US Pat. No. 6,773,409, filed October 22, 2001, entitled "ELECTROSURGICAL BRANCH STRUCTURE FOR CONTROLLED ENERGY SUPPLY", the description of which is incorporated herein by reference in its entirety, may be located on the engaging surfaces of the jaw elements.

Each of the first power supply surface 3204A and the second power supply surface 3204B may be in electrical communication with the generator 3164. The generator 3164 is connected to the end effector 3156 using a suitable transmitter, such as conductors 3172, 3174. In some forms, the generator 3164 is connected to the controller, such as, for example, the control unit 3168. In various forms, the control unit 3168 may be implemented inside the generator 3164 or may be a module with a separate circuit or a separate device electrically connected to generator 3164 (this option is shown as a dotted line for illustration). The generator 3164 may be made in the form of an external part of the equipment and / or may be built into the surgical instrument 10.

The first surface for supplying energy 3204A and the second surface for supplying energy 3204B may be configured to come into contact with the fabric and supply electrical energy to the captured fabric, providing sealing or welding of the fabric. The control unit 3168 controls the electrical energy supplied by the electric generator 3164, which, in turn, supplies energy for electrosurgery to the first surface for supplying energy 3204A and the second surface for supplying energy 3204B. The control unit 3168 can adjust the power generated by the generator 3164 during the activation process.

As indicated above, the energy for electrosurgery supplied by the electric generator 3164 and regulated or otherwise controlled by the control unit 3168 may be radio frequency (RF) energy or other suitable forms of electrical energy. In addition, the opposing first and second surfaces for energy supply 3204A and 3204B may have cases with variable positive temperature coefficient of resistance (PTC) resistance, which are in electrical communication with the generator 3164 and the control unit 3168. Additional information regarding electrosurgical end effectors, mechanisms closures of jaws and electrosurgical surfaces for energy delivery are described in the following US patents and published patent applications: US patent No. 7087054; 7,083,619; 7,070,597; 7,041,102; 7011657; 6,929,644; 6,926,716; 6,913,579; 6905497; 6802843; 6770072; 6,561,777; 6,533,784; and 6500176; and US Published Patent Applications Serial Nos. 2010/0036370 and 2009/0076506, all of these documents are incorporated herein by reference in their entirety and are part of this specification.

 A suitable 3164 generator is available as model number GEN11 from Ethicon Endo-Surgery, Inc., Cincinnati, Ohio. Also, in some forms, generator 3164 can be implemented as an electrosurgical unit (ESU) capable of delivering sufficient power to perform bipolar electrosurgery using radio frequency (RF) energy. In some forms, the ESU may be an ERBE ICC 350 bipolar device, commercially available from ERBE USA, Inc., Marietta, Georgia. In some forms, for example, when used in bipolar electrosurgery, it is possible to use a surgical instrument having an active electrode and a return electrode, wherein the active and return electrodes can be closely, adjacent and / or in electrical contact with the treated tissue so that current can flow from active electrode through positive temperature coefficient (PTC) housings and to the return electrode through tissue. Thus, in various forms, the electrosurgical instrument 10, using the end effector 3156, creates a feed loop and a return loop, where tissue captured for processing is included in this circuit or closes it. In some forms, the generator 3164 may be a monopolar ESU RF unit, and the electrosurgical instrument 10 may comprise a monopolar end effector into which one or more active electrodes are integrated. In such a system, a generator plate 3164 may require a back plate in close contact with the patient at a location away from the surgical field and / or another suitable return loop. The back plate may be connected to the generator 3164 via cable.

During the operation of the electrosurgical instrument 150, the physician essentially grabs the tissue, supplies energy to the captured tissue to form a fusion or seal, and then drives the cutting tissue member 3210 at the distal end of the axis-moving member 3182 through the captured tissue. In accordance with various forms, the translational movement of the axis-moving element 3182 can be carried out at a predetermined pace or otherwise controlled so that the movement of the axis-moving element 3182 passes at a suitable speed. When controlling the speed of movement increases the likelihood that the captured tissue will be sealed in a proper and functional manner before its dissection by the cutting element 3210.

In some forms, the working part 100 may comprise an ultrasonic end effector using harmonic or ultrasonic energy to treat the tissue. FIG. 74 illustrate one form of ultrasonic end effector 3026 for use with a surgical instrument 10. The end effector unit 3026 includes a clamp arm unit 3064 and a blade 3066 to form jaws of the clamp mechanism. The blade 3066 may be a blade driven by ultrasound acoustically coupled to an ultrasound transducer 3016 located inside the end effector 3026. Examples of small transducers and end effectors containing transducers are presented in simultaneously considered US Patent Application No. 13/538601, entitled "Ultrasound Surgical Instruments with Distal Transducers" and US Published Patent Application No. 2009/0036912. The transducer 3016 may be acoustically coupled (i.e., directly or indirectly mechanically coupled) to the blade 3066 using a waveguide 3078.

The tubular actuator 3058 can move the clamping lever block 3064 to the open position in a direction 3062A in which the clamping lever block 3064 and the blade 3066 are spatially relative to each other in the clamped or closed position in the direction 3062B in which the clamping lever block 3064 and the knife 3066 interact to capture tissue between them. The distal end of the tubular reciprocating actuator element 3058 is mechanically connected to the end actuator assembly 3026. In the illustrated form, the distal end of the tubular reciprocating tubular actuator element 3058 is mechanically connected by a clamping lever assembly 3064 that is rotatable around a support point 3070 to open and closing the clamping arm assembly 3064. For example, in the form shown, the clamping arm assembly 3064 is movable from an open position to the closed position in a direction 3062B around the pivot point 3070 when the reciprocating tubular drive element 3058 is retracted in the proximal direction. The clamping lever block 3064 is configured to move from a closed position to an open position in a direction 3062A with respect to a pivot point 3070 when the reciprocating tubular actuator element 3058 extends in the distal direction. (FIG. 75)

The tubular drive element 3058 can move proximally and distally in accordance with the rotation of the threaded drive rod 3001. The proximal end of the threaded drive rod 3001 can be designed to rotate without connecting to the output socket 238 and thus receive the rotational movement provided by the motor 530. The tubular drive element 3058 may comprise a threaded blind nut 3059 for receiving a threaded drive rod 3001, so that the rotation of the threaded drive rod 3001 causes tubular actuating member 3058 to move distally and proximally. FIGS. 76-77 show additional views of one of the forms of the axially displaced end effector 3058 and the threaded blind nut 3059. In some forms, the tubular drive element 3058 forms a cavity 3003. The waveguide 3078 and / or part of the blade 3066 can pass through the cavity 3003, as shown in FIG.

In one exemplary form, the distal end of the ultrasonic transmission waveguide 3078 may be coupled to the proximal end of the blade 3066 via an internal threaded connection, preferably at or near the antinode. It is contemplated that knife 3066 can be attached to ultrasonic transmission waveguide 3078 by any suitable means, such as a weld or the like. Although the blade 3066 can be detachable from the ultrasonic transmission waveguide 3078, it is also contemplated that a single-element end effector (e.g., blade 3066) and the ultrasonic transmission waveguide 3078 can be made in a single piece.

An ultrasonic transducer 3016, known as a “Langevin amplifier," typically oscillates in response to an electrical signal received from a generator 3005 (FIG. 74). For example, a transducer 3016 may comprise a plurality of piezoelectric elements or other elements for converting an electrical signal from a generator 3005 to mechanical energy, which initially leads to a standing acoustic wave of longitudinal vibrating motion of the ultrasonic transducer 3016 and part of the blade 3066 of the end effector assembly 3026 for ultrasound uk frequencies. Ultrasonic transducer 3016 may optionally have a length equal to an integer of half the system wavelength (nλ / 2: where “n” is any positive integer, for example n = 1, 2, 3) in length. A suitable vibration frequency range for the converter 3016 and blade 3066 may be from about 20 Hz to 32 kHz, and the most suitable vibration frequency range may be about 30 to 10 kHz. A suitable operating vibrational frequency may be approximately 55.5 kHz, for example.

The generator 3005 may be any suitable type of generator located inside or outside the surgical instrument 10. A suitable generator is available as model number GEN11 from Ethicon Endo-Surgery, Inc., Cincinnati, Ohio. When the transducer 3016 receives energy, a standing wave of vibrational motion is generated through the waveguide 3078 and the blade 3066. The end effector 3026 is designed to operate with resonance in such a way that a acoustic standing wave of a predetermined amplitude is produced. The amplitude of the vibrational motion at any point along the transducer 3016, the waveguide 3078, and the blade 3066 depends on the location along these components in which the vibrational motion is measured. The minimum or zero intersection in a standing wave of vibrational motion is usually called a node (i.e., where the movement is minimal), and the local absolute quantitative maximum or peak in a standing wave is usually called antinode (i.e. where local motion is maximum). The distance between the antinode and its nearest node is one fourth of the wavelength (λ / 4).

In one exemplary form, the blade 3066 may have a length substantially equal to an integer factor of half the wavelengths of the system (nλ / 2). The distal end of the blade 3066 may be located near the antinode in order to provide maximum longitudinal deflection of the distal end. When the converter unit is connected to a power source, the distal end of the blade 3066 can be longitudinally movable in the range of, for example, from about 10 to about 500 microns of double amplitude, and preferably in the range of from about 30 to 64 microns at a predetermined vibration frequency, equal, for example, 55 kHz.

In one exemplary form, the blade 3066 can be connected to an ultrasonic transmission waveguide 3078. The blade 3066 and the ultrasonic transmission waveguide 3078, as illustrated, are formed as a unitary structure from a material suitable for transmitting ultrasonic energy. Examples of such materials include Ti6Al4V (a titanium alloy containing aluminum and vanadium), aluminum, stainless steel or other suitable materials. Alternatively, the blade 3066 may be capable of being detached (and made from a different composition of materials) from the ultrasonic transmission waveguide 3078 and connected, for example, by contacts, soldering, adhesive, quick coupling, or other suitable known methods. The length of the ultrasonic transmission waveguide 3078 may be substantially equal to an integer of half the wavelength (nλ / 2), for example. The ultrasonic transmission waveguide 3078 may preferably be made of a solid core rod made of a material suitable for efficient transmission of ultrasonic energy, such as, for example, the titanium alloy described above (i.e., Ti6Al4V) or any suitable aluminum alloy or other alloys.

In some forms, surgical instrument 10 may also be used with other stapler-like end effectors. For example, FIG. 78 illustrates one form of an end effector of linear brackets 3500 for use with a surgical instrument 10. The end effector 3500 comprises a portion of a stop member 3502 and a transmission channel of brackets 3514. A transmission channel of brackets 3514 is capable of translationally moving the brackets in both the distal and in the proximal directions, as indicated by arrow 3516. A threaded drive shaft 3506 may be connected to an output socket 238, for example, as described above herein to receive rotational motion provided by the motor 530. The threaded drive rod 3506 can be connected to the threaded blind nut 3508 fixedly connected to the bracket channel 3514, so that the rotation of the threaded drive rod 3506 translates the channel with brackets 3514 in the directions indicated by arrow 3516. The blind nut 3508 can also connect to drive 3510, which, in turn, can contact the cassette with brackets 3512. As you move in the distal direction, drive 3510 can push the brackets from the cassette with brackets 3512 to the support 3502, thus pushing staples through any fabric located between the channel with brackets 3514 and support 3502.

Also, in some forms, a surgical instrument may be used with an end effector for round staples. FIG. 79 illustrates one form of an end effector for round brackets 3520 for use with a surgical instrument 10. The end effector 3520 includes a support 3522 and a brace part 3524. A threaded drive shaft 3530 extends from a support 3522 through a brace part 3524. The threaded drive rod 3530 may be connected to the output jack 238, for example, as described above in this document for receiving the rotational movement provided by the motor 530. The threaded blind nut 3532 can be connected to the part of the bracket part 3524 so that The threaded drive rod 3530 alternately moves the bracket 3524 distally and proximal, as indicated by arrow 3534. The threaded rod can also be connected to the drive 3528 so that the distal movement of the bracket 3524 pushes the drive 3528 distally into the cassette with brackets 3526 to remove the brackets from cassettes 3526 into any fabric located between the support 3522 and the bracket 3524. In some embodiments, the end effector 3520 may also include a knife or a cutting working part 3535 for cutting fabric before application staples.

In addition to the various end effectors, it should be understood that other working parts may be interchangeable in accordance with the surgical instrument 10. For example, some forms of the surgical instrument 10 use different power cables. FIG. A illustrates several examples of power cables 3540, 3542, 3544 for use in surgical instruments; Each of the power cables 3540, 3542, 3544 contains a socket 3546 for connection to a surgical instrument 10. Power cables 3540, 3542, 3544 can be used to connect the surgical instrument 10 to various power sources. For example, power cables 3540 and 3542 contain jacks 3550, 3552 for connecting to generators, such as Generator Model Number GEN11 from Ethicon Endo-Surgery, Inc., in Cincinnati, Ohio. Such a generator may be provided with power to the instrument 10 and / or may conduct a signal to move the electrosurgical and / or ultrasonic end effector. Power cable 3544 includes a plug 3548, which can be plugged into a wall outlet to transfer power to the tool 10 (for example, instead of a battery 802).

In some forms, the surgical instrument may also contain interchangeable working parts, which include various rods. FIG. 81 illustrates several examples of rods 3554, 3556, 3558 for use in a surgical instrument 10. Each of the rods 3554, 3556, 3558 comprises a portion of a removable transmission assembly 700 ′, 700 ″, 700 ″, similar to that of a removable transmission assembly 700 which can be received by tool 10 as described above in this document. Each of the rods 3554, 3556, 3558 also comprises a connector block 3557 for receiving an end effector, similar to the connector block 200 described above. In some embodiments, different rods are designed to receive different types of end effectors on a 3557 coupler block. Each of the rods 3554, 3556, 3558 may have different characteristics including, for example, different lengths, presence or absence of hinges, passive or active hinges, various degrees joint flexibility, different diameters, different curvatures, etc. For example, the rod 3554 forms a deviation 3559 from the Central axis of the rod. The shaft 3558 forms a hinge joint 3560, which can be bent in a manner similar to that described above with respect to the hinge joint 310.

It becomes apparent that various types of working parts 100 (for example, power cables, rods, end effectors, etc.) require different motors and other components of the surgical instrument 10 to work in different ways. For example, electrical end effectors, such as the electrosurgical end effector 3156 and the ultrasonic end effector 3026, require an energy signal to transmit energy to the electrodes and / or ultrasonic blades. Different end effectors may also require different movements from different motors 402, 560, 530, 610 to activate, including, for example, activating different motors, providing different torsion values, etc. In various forms, the working parts 100 may provide the surgical instrument 10 with control parameters.

82 is a block diagram of a handle assembly 20 of a surgical instrument 10 showing various control elements. The control elements shown in FIG. 82 are designed to receive control parameters from various operating parts and control a surgical instrument 10 based on received control parameters and based on one or more input signals received from a clinician (for example, via a control lever switch 840 or other suitable activating device). The control elements may comprise a control circuit 3702 for monitoring the surgical instrument 10. In various forms, the control circuit 3702 may execute a control algorithm for controlling the surgical instrument 10, including any integrated operating parts. In some forms, the control circuitry 3702 is implemented on the proximal circuit board 820 described above herein. The control circuit 3702 includes a microprocessor 3706 and associated memory and / or data storage 3708. In some forms, the control circuit 3702 may also include a generator circuit 3704 for transmitting an electrical signal to an ultrasound and / or electrosurgical device. Generator circuit 3704 may function as a separate component or in combination with an external generator.

IG. 82 also shows engines 3714, which may correspond to engines 402, 560, 530, 610 described above. Battery 3713 may correspond to the battery 802 described above in this document. The input to the control circuit 3702 may be via a control lever switch 840 or other suitable activating device. The various surgical working parts 100 described herein can be connected to the handle 20 through the respective sockets 3710, 3712. The socket 3712 may receive a rod, such as the rods 3554, 3556, 3558. For example, the socket 3712 may receive the rod in a manner similar to the method by which the handle 20 receives a removable transmission assembly 700, as described above in this document. Socket 3710 may be designed to receive a cable jack, such as jacks 3546 described above in this document.

The control circuit 3702 in combination with various other control elements such as sockets 3710, 3712 can receive control parameters from various built-in operating parts. The control parameters may contain, for example, data describing the properties of the working parts, data describing the algorithms of the tool 10 with integrated working parts, etc. Sockets 3710, 3712 can be mechanically and communicatively connected to various working parts. For example, various operating parts may comprise circuits 3720 for storing control parameters. Similar circuits 3720 are shown in connection with power cables 3540, 3542, 3544 in FIG. 80 and in connection with rods 3554, 3556, 3588 with FIG. 81. FIG. 83 also shows one form of various tool portions of the end effector 3730, 3732, 3734, 3736, 3738, including circuits 3720 as described herein. The 3720 circuits may contain one or more data storage components for storing control parameters to provide a control circuit 3702. Such storage components may include any suitable type of storage device (eg, programmable electrically erasable memory reader (EEPROM), digital recorder, any other type storage device, etc.). Storage devices may also include coils or other hardware components designed to modulate predefined control parameters, for example, in response to a radio frequency identification (RFID) requesting signal. In some forms of the circuit 3720, a direct wired connection is made to the control circuit 3702, for example, through the corresponding sockets 3710, 3712. Accordingly, the control circuit 3702 can directly communicate with various circuits 3720 to obtain control parameters.

In some forms, circuits 3720 contain passive or active RFID devices. The handle 20 may contain one or more antennas 3716, 3718, which can be located on the surface or near the corresponding sockets 3710, 3712. Using antennas 3716, 3718, the control circuit 3702 can request circuits 3720 on the integrated working parts to obtain control parameters. In some forms, control circuitry 3702 is programmed to request various operating parts when turning on and / or at the time of determining the installation and / or removal of the operating part. In response, the control circuit 3702 may receive a reflected signal from the RFID device. The reflected signal may indicate relevant control parameters. In some forms, circuits 3720 may contain active RFID devices that transmit data describing their associated operating parts, for example, during installation.

As shown in FIG. 81, some rod shapes may include antennas 3719 on the distal parts. Antennas 3719 may be coupled to control circuitry 3702 through conductors (not shown) passing through respective terminals, allowing control circuitry 3702 to request RFID devices of circuit 3720 end effectors, such as end effectors 3730, 3732, 3734, 3736, 3738. In some forms antennas 3718 located in the handle can receive and transmit enough energy to query the RFID device of circuit 3720 at the end effector without the need for a separate antenna 379 in the rod. In some designs, circuits 3720 may be designed for wiring with a control circuit 3702. For example, antennas 3716, 3718, 3719 may be removed.

FIG. 84 is a block diagram showing one form of a control structure 3800 for use in a control circuit 3702 for monitoring a surgical instrument 10. According to construction 3800, a control circuit 3702 is programmed by a control algorithm 3802. Control algorithm 3802 receives control parameters from established operating parts in the form of input variables 3801. Input variables 3801 can describe the properties of the installed working parts. The control algorithm 3802 also receives one or more control signals 3818 (for example, from a control lever switch 840, a robotic system, or other suitable activating device controlled by a clinician). Based on input variables 3801, control algorithm 3802 can control the surgical instrument 10 by translating one or more input signals 3818 into the output control signal of the engine 3814 to control the motors 3714 and the optional output energy control signal 3816 to control the ultrasonic and / or electrosurgical end effector. It becomes apparent that not all forms of the surgical instrument 10 need to receive input variables from all of the listed working parts. For example, some forms of surgical instrument contain a single shaft and / or a fixed end effector. Also, some forms of surgical instrument (or its design) may not have a power cable.

The control algorithm 3802 may utilize a variety of functional modules 3804, 3806, 3810, 3812 related to various aspects of the surgical instrument 10. The start-up module 3804 may transmit one or more input control signals 3818 to one or more output signals of the motor control 3814 to control the respective engines 3714 for starting the tool 10. Hinge module 3806 can translate one or more input control signals 3818 into one or more output control signals of the motor 3814 for hinge movement of the tool bar 10. The power module 3812 can direct power to various components of the surgical instrument 10 in accordance with embedded power cable. For instrument forms 10 using energy at the end effector (e.g., ultrasound and / or electrosurgical instruments), the energy module 3810 can transmit one or more input control signals 3818 to the output energy signals 3816 for transmission to the end effector. Energy signals 3816 may be generated by an oscillator 3704 and / or an external oscillator (not shown in FIG. 84) and may be transmitted to a converter 3016 and / or surfaces for supplying energy to the end effector 3204A, 3204B.

Various modules 3804, 3806, 3810, 3812 of control algorithm 3802 may use control parameters in the form of input variables 3801 to translate one or more input control signals 3818 to output signals 3814, 3816. For example, input variables 3801 received from various working parts may affect to control algorithm 3802 in various ways. Input variables 3801 obtained from a power cable, such as 3540, 3542, 3544, can include, for example, the type of cable, whether the cable is connected to an external object, such as a generator or power socket, identification of the external object to which the cable is connected, etc. d. One type of power cable, such as 3544 cable, can be designed to receive power from an external power socket, such as a wall outlet. When the control circuit 3702 determines that this type of cable is installed (for example, in the socket 3710), the power module 3812 can be programmed to configure the control circuit 3702 to power the motors 3714 and / or power elements from the energy received through the built-in cable element. The energy received through the installed cable can be used to supplement or replace the power provided by the 3713 battery.

Another type of cable, such as 3540 and 3542, can be designed to connect to an external generator. Power module 3812 and / or energy module 3810 may configure a control circuit 3702 to power an energy element based on an energy signal received through an installed power cable. Additionally, energy module 3810 may configure a control circuit 3702 to provide input to the generator through an installed power cable. Such an input may include, for example, input control signal 3818, indicating that the clinician has requested energy. In some forms, input variables 3801 received from the power cable may also determine the type of generator to which the power cable is connected and / or designed to connect. Examples of generators may include individual electrosurgical generators, individual ultrasonic generators, combined electrosurgical / ultrasonic generators, etc. In some forms, input variables 3801 received from the cable may also indicate the type of generator for which the cable is designed. In some forms, this type of generator may affect the control algorithm 3802. For example, different types of generators may have a different control interface and expect different forms of instructions from the surgical instrument 10 and / or provide output in different forms.

When a rod, such as one of the rods 3554, 3556, 3558 is a removable working part, input variables 3801 obtained from the rod can determine different properties of the rod. Such properties may include, for example, the length of the rod, the location and degree of bending of the rod (if any), parameters describing the articulation of the rod (if any), etc. The length of the rod and the location and degree of bending of the rod can be used, for example, by the start module 3804 and / or the hinge module 3806 of the control algorithm 3802 to specify the requirements and / or torsion limits. Parameters describing the hinge connection of the rod may indicate or allow the hinge module 3806 to receive various engine motions required for hinging the rod in different directions. In some embodiments, input variables 3801 may also indicate the degree of permitted articulation that the articulation module 3806 can translate into maximum allowable engine movements. In some forms, input variables 3801 received from the rod may also indicate whether the rod supports rotation of the rod and / or rotation of the end effector. Such variables 3801 can be used by control algorithm 3802 to obtain data on which engine or motors 3714 should be activated to rotate the shaft and / or end effector, torsion and number of revolutions indicated for each motor 3714, etc.

The input variables 3801 obtained from the end effector and the working parts can be in different forms depending on the type of end effector used. For example, endocutters and other stapler end effectors, such as end effector 102 described above, can provide various variable values indicating the length of the end effector (e.g. 45 mm or 60 mm staple lines), whether the support and elongated channel straight or curved, an engine 3714 to which a drive rod is connected, such as drive rod 180, etc. Such input variables 3801 may be used by trigger module 3804 to translate input pilot signals 3818 requesting tool 10 to be triggered to motor control output signals 3814. For example, length, curvature, etc. the end effector can specify the activation of the 3714 engine, the required value of force or torsion, the number of engine revolutions required to start, etc. Similarly, input variables 3818 obtained from linear or circular stapler end effectors, such as 3500 and 3520, can be used by trigger algorithm 3804 to specify whether motor 3714 is activated to start, the desired value of force or torsion to provide 3818 input in response to different levels related to starting, the number of engine revolutions required to start, etc.

When the end effector is an energy end effector, such as an electrosurgical end effector 3156 or an ultrasonic end effector 3026, the resulting input variables 3801 can describe information related to the closing movement of the end effector, as well as information describing energy elements, including An example is the timing of energy supply in the context of a launch strike. Information describing the closing movement can be used, for example, by starting module 3804 to determine which engine or engines 3714 should be activated to start and / or retrieve, torsion and the number of revolutions indicated for each engine 3714, etc. Information describing the energy elements can be used, for example, by the energy module 3810 to generate the output energy signal 3816. For example, the energy module 3810 can specify the desired type of output energy signal 3816 (for example, voltage, current, etc.), the signal to be created by the internal generator 3704, are there any blockages for use with the signal. Exemplary interlocks can prevent the starting movement in the absence of energy input and / or can prevent the energy supply if the starting movement does not occur. In some embodiments, energy module 3810 may also receive a timing for delivering an output energy signal 3816 in the context of a tool trigger. For example, with respect to the electrosurgical end effector 3156, the energy module 3810 can obtain the length of the time period during which the energy supply surfaces 3204A, 3204B must be activated before the cutting tissue of the element 3210 extends.

FIG. 85 is a sequential diagram showing an example of a process flow 3600 for applying a control algorithm 3802 with a control circuit 3702. At 3602, a control circuit 3702 may indicate the presence of a working part (eg, power cable, terminal, end effector, etc. ) An instruction can be generated automatically when the working part is installed. For example, in forms where the working part contains active RFID, an indication of the presence of the working part may be provided by the active RFID. Also, in some embodiments, the socket 3710, 3712, through which the working part is connected to the tool 10, may include a switch that indicates the presence of the working part. At 3604, the control circuit 3702 may request input variables 3801 from the working part. When the working part contains a passive RFID device, the request may include highlighting the RFID device with an RF signal. When the working part is in cable connection with the control circuit 3702, the request may comprise sending a request to a storage device associated with the working part.

At 3606, the control circuit 3702 may receive input variables 3801 from the operating part. Input variables 3801 can be obtained in any suitable way. For example, when the working part contains a passive RFID device, input variables 3801 can be obtained by demodulating the return signal from the RFID device. When there is a wired connection between the working part and the circuit 3702, input variables 3801 can be obtained directly from the storage device on the working part, etc. At 3608, the control circuit 3702 may apply the input variables 3801 to the control algorithm 3802, for example, as described above in this document. This may have a design effect on an existing algorithm 3802 for working with tool 10 with any installed working part or parts.

FIG. 86 is a block diagram showing another form of a control structure 3900 for use in a control circuit 3702 for monitoring a surgical instrument 10. In a design 3900, control parameters obtained from various operating parts comprise algorithms for monitoring the respective operating parts. The control circuit 3702 employs the control algorithm of the shell 3902, including the operating system 3904. The operating system 3904 is programmed to query the installed working parts to obtain control parameters, in the form of working algorithms 3906. Each working algorithm 3906 can describe the method of translation of the incoming control signals 3908 into the outgoing control signals engine 3910 and outgoing energy signals 3912. Upon receipt of operational algorithms 3906, operating system 3904 may execute algorithms 3906 for operating instr mind 10.

In some embodiments, operating system 3904 may also negotiate various algorithms 3906. For example, operational algorithm 3906 obtained from an energy end effector may take various configurations depending on whether the tool is in communication with an external generator or uses an internal generator 3704. Accordingly, the operating system 3904 may configure the operational algorithm 3906 for the energy end effector depending on whether the operational algorithm 3906 was received from the power cable for connecting to an external generator. Also, in some forms, the limits and / or number of revolutions required to start the end effector may depend on the design of the rod. Accordingly, the operating system 3904 may be configured to modify the operational algorithm 3906 received from the end effector based on the corresponding operational algorithm 3906 received from the rod.

FIG. 87 is a sequential diagram showing an example of a process flow 3400 for operating the control algorithm 3902 using the control circuit 3702. At 3402, the control circuit 3702 may start the operating system 3904. The operating system 3904 may program the control circuit 3702 to perform various other actions, described herein, taking into account the control structure 3900. At 3404, the control circuit 3702 may request one or more working parts mounted on a surgical instrument 10, for example, as described herein. At 3406, the control circuitry 3702 may receive operational algorithms 3906, as described herein. At 3408, the control circuit 3702 can apply the obtained algorithms 3906 to operate with a surgical instrument. Application of the resulting algorithms 3906 may include, for example, matching algorithms 3906, as described above in this document.

FIGS. 88 and 89 illustrate one form of surgical instrument 4010 comprising a sensor module 4004 located in end effector 4002. In some forms, surgical instrument 4010 may be similar to surgical instrument 10 and end effector 4002 may be similar to end effector 102 described above. The sensor module 4004 may be designed to measure one or more conditions at the end effector 4002. For example, in one design, the sensor module 4004 may include a tissue thickness analysis module that determines the thickness of the tissue fixed in the end effector 4002 between the cassette with brackets 130 and the stop plate 190. The sensor module 4004 can be designed to generate a wireless signal, which is an indicator of one or more measured conditions at the end effector 4002. In accordance with one of 89, the sensor module 4004 can be placed at the distal end of the end effector 4002 so that the sensor module 4004 does not interfere with the passage of the staples from the cassette 130 when stapling is applied. In various forms, the sensor module 4004 may include a sensor, a radio module, and a power source. See FIG. 90. The sensor may be located at the distal end of the end effector 4002 (as shown in FIG. 89), at an electrical swivel 310, or any other suitable part of the working part 100.

In various designs, the sensor may comprise any suitable sensor for determining one or more conditions for the end effector 4002. For example, and without limitation, the sensor located at the distal end of the end effector 4002 may include a tissue thickness sensor, such as a Hall effect sensor or a reed switch , optical sensor, magnetic inductive sensor, force sensor, pressure sensor, piezoresistive film sensor, ultrasonic sensor, eddy current sensor, pulse oximetry sensor, temperature sensor for tchik, designed to detect the electrical characteristics of the tissue path (such as capacitance or resistance), or any combination thereof. As another example, and without limitation, the sensor located on the electrical hinge 310 may include a potentiometer, a capacitance sensor (slip potentiometer), a piezoresistive film sensor, a pressure sensor, or any other suitable type of sensors. In some designs, the sensor module 4004 may comprise a plurality of sensors located at multiple locations in the end effector 4002. The sensor module 4004 may also contain one or more visual markers to provide visual indications, such as a video feed of the current state at the end effector 4002 to the user.

The sensor module 4004 may include a radio module designed to generate and transmit a wireless signal reporting the condition being measured at end effector 4002. See FIG. 90. The radio module may include an antenna designed to transmit a wireless signal at a first frequency. The transmit power of the sensor module 4004 may be limited by the size of the antenna and a power source that can accommodate in the sensor module 4004. The size of the end effector 4002 can reduce the available space to accommodate an antenna or power source powerful enough to transmit a signal from the sensor module 4004 to a remote location, for example such as a 4014 video monitor. Due to the limited size of the antenna and low power. supplied by the power source to the sensor module 4004, the sensor module 4004 can produce a low power signal 4006 capable of transmitting over short distances. For example, in some forms, the touch model 4004 may transmit a signal from an end effector 4002 to a relay station 4008 located proximate to an end effector 4002. For example, a relay station 4008 may be located on the handle 4020 of a tool 4010 in a rod 4030 (e.g., the proximal portion of a rod 4030) , and / or in an implantable device located on or inside the patient.

The relay station 4008 can be designed to receive a low power signal 4006 from the sensor module 4004. The low power signal 4006 is limited by the size of the antenna and the power supply that can be placed in the end effector 4002 as part of the sensor module 4004. The relay station 4008 can be designed to receive low-power signal 4006 and relay the received signal as a high-power signal 4012. The high-power signal 4012 can be transmitted to a remote network or device, such as a video monitor 4 014, designed to demonstrate a graphical representation of the measured condition at end effector 4002. Although the sensor module 4004 and the relay station 4008 have already been described generally in connection with the surgical tool 4010, those skilled in the art will understand that the design of the sensor module 4004 and the relay station 4008 can be used with any suitable surgical system, as, for example, a robotic surgical system. For example, the relay station 4008 may be located in the rods and / or instrumental part of a robotic surgical instrument. A suitable robotic surgical system is described in US Patent Application No. 13/538700, entitled "Articulated Surgical Instruments," which is incorporated herein by reference in its entirety.

In some forms, video monitor 4014 may include a separate unit for demonstrating the measured condition at the end effector 4002, a standard monitor for viewing for use in endoscopic, laparoscopic or open surgery, or any other suitable monitor. A graphic representation on the display can be presented on top of the video stream or other information presented on the video monitor. In some forms, the high power signal 4012 may interrupt the demonstration of data on the video monitor 4014 and may cause the video monitor to display only a graphical representation of the measured condition at the end effector 4002. The receiver module 4015 can interact with the video monitor 4014 to allow the video monitor 4014 to receive the high power signal 4012 from the relay station 4008. In some designs, a receiving module 4015 may be formed within the video monitor 4014. A high power signal 4012 may be transmitted without by wire, cable, or both. A high power signal 4012 may be received by a wide area network (WAN), a local area network (LAN), or any other suitable network or device.

In some forms, video monitor 4014 may show images based on data contained in the received high power signal 4012. For example, a surgeon can see real-time data characterizing the thickness of the fixed tissue during the entire procedure associated with using device 4010. Video monitor 4014 may include a monitor, such as a CRT monitor, a plasma monitor, an LCD monitor, or any other suitable monitor for visual display. Videomonitor 4014 can demonstrate a graphical representation of the condition on the end effector 4002 based on the data contained in the received high power signal 4012. Videomonitor 4014 can demonstrate the condition on the end effector 4002 in any suitable view, such as for example, placing a graphical representation of the condition on the end effector over the video stream or other data presented on the video monitor 4014. In some forms, the video monitor 4014 may be designed to show exclusively the data ennyh of high power signal 4012. Similarly, a high power signal 4012 may be received by a computer system (not shown). A computer system may comprise a radio frequency module (such as, for example, receiving sodul 4015) for communication with a relay station 4008. A computer system may store data received from a memory unit 4012 (for example, in ROM or on a hard disk), and may process data from using a processor.

In some forms, the relay station 4008 amplifies the power of the low-power signal 4006 into a high-power signal 4012, but does not modify the low-power signal 4006 in any other way. The relay station 4008 can be designed to transmit the high-power signal 4012 to a remote network or device. In some designs, the relay station 4008 can modify or process the received low power signal 4006 before relaying the high power signal 4012. The relay station 4008 can be designed to convert the received signal from the first frequency transmitted by the sensor module 4004 to the second frequency that the remote network can receive or a device, such as a video monitor 4014. For example, in one design, the sensor module 4004 can transmit a low power signal 4006 using the first frequency, rzhaschuyu frequency radio signal providing passage through human tissue. A frequency that allows a radio signal to pass through human tissue may include a frequency that allows a signal to pass through human tissue with minimal signal attenuation. For example, a frequency may be selected outside the water absorption band to limit signal attenuation by human tissue (which may contain a high percentage of water). For example, the sensor module 4004 may use a frequency band dedicated to medical implants (MICS) (402-405 MHz), suitable industrial, scientific and medical (ISM) radio bands (such as 433 MHz center frequency or 915 MHz center frequency), near field communication frequency (13.56 MHz), bluetooth communication band (2.4 GHz), ultrasonic frequency or any other suitable frequency capable of penetrating human tissue or frequency band. A relay station 4008 may receive a low power signal 4006 at a first frequency. A relay station 4008 can convert a low power signal 4006 from a first frequency to a second frequency, which is suitable for long distance transmission by air. The relay station 4008 may use any suitable frequency for transmitting a high power 4012 signal, such as, for example, a Wi-Fi frequency (2.4 GHz or 5 GHz).

In some forms, the relay station 4008 can convert the received low power signal 4006 from the first communication protocol to the second communication protocol before transmitting the high power signal 4012. For example, the sensor module 4004 can transmit the low power signal 4006 using the first communication protocol, such as, for example, Near Field Communication Protocol (NFC), Bluetooth Communication Protocol, Proprietary Communication Protocol or any other suitable communication protocol. A relay station 4008 may receive a low power signal 4006 using the first communication protocol. The relay station 4008 may include a protocol conversion module for converting the received signal from the first communication protocol to a second communication protocol, such as, for example, TCP / IP, UDP, or any other suitable communication protocol.

FIG. 90 is a block diagram showing a sensor module 4104, which is an example of the structure of the sensor module 4004 described above in this document. The sensor module 4104 may include a sensor 4116, a controller 4118, a radio module 4124, and an energy source 4126. The controller 4118 may have a processor unit 4120 and memory 4122. A sensor 4116 may be located at the distal end of the end effector 4002 (as shown in FIG. 89), swivel 310 or any other suitable part of the working part 100. In various forms, the sensor 4116 may include any suitable sensor for determining one or more conditions for the end effector.

In some designs, sensor 4116 may include a tissue thickness sensor, such as, for example, a Hall effect sensor. The tissue thickness sensor can determine the thickness of the tissue fixed in the end effector 4002 based on the magnitude of the magnetic field of a magnet 4042 located, for example, at the distal end of the stop member 190. See FIG. 89. When the surgeon closes the block with the abutment plate 190, the magnet 4042 rotates down and approaches the sensor 4004, changing the magnetic field detected by the sensor 4004 while the assembly of the abutment element 190 rotates to a closed (fixed) position. Detected by the sensor 4004, the magnetic field of the magnet 4042 characterizes the distance between the groove 130 and the node of the stop element 190, which in turn characterizes the thickness of the fabric fixed between the groove 130 and the node of the stop element 190 when the end effector 4002 is in the closed (fixed) position.

The sensor module 4104 may be designed to generate a wireless signal, which is an indicator of the measured condition at the end effector. The wireless signal can be generated by the radio module 4124. In some forms, the transmit power of the radio module 4124 is limited by the size of the antenna included in the radio module 4124 and the size of the power supply 4126 located in the sensor module 4104. The size of the end effector 4002 can reduce the available space for the antenna or power supply 4126, powerful enough to transmit the signal from the sensor 4116 to a remote place, such as a video monitor 4014. For example, due to the limitations of the antenna and the low power provided by the source 4126, the radio module 4124 can only produce a low power signal 4006 capable of transmitting over short distances, such as the distance to the proximal end of the rod 4030. For example, in one form, the radio module 4124 can transmit a low power signal 4006 from the end effector 4002 to the handle of a surgical instrument 4020 4010. In some designs, a power source 4126 capable of delivering a higher power level may generate a low power signal 4006 to extend the operation of surgical instrument 4010.

The memory device 4122 of the controller 4118 may include one or more solid-state drives of read-only memory (ROM) and / or random access memory (RAM). In various designs, the processor 4120 and the memory device 4122 (a) may be integrated into a single integrated circuit (IC) or may be in different ICs. The ROM device may be flash memory. In the device (s) of the ROM, a code can be stored with instructions for the processor 4120 to execute the controller 4118. In addition, the device (s) of the ROM 4122 can store data characterizing the type of cartridge 130. For example, in the device (s) of the ROM 4122 can be stored data indicating the type of model of the cartridge with brackets 130. In some designs, the controller in the handle 4020 of the surgical instrument 4010 may use information about the conditions and the type of model of the cartridge with brackets 130 to determine the correct operation of the surgical instrument 4010. For example, a touch mode The 4004 can be designed to measure tissue thickness. Information about the fabric thickness and type of cassette model can be used to determine whether the tissue sandwiched in the end effector 4002 is too thick or thin based on the specialized tissue thickness range for a particular cassette with brackets 130. The radio module 4124 may be a low-power two-way radio module data over a wireless channel using a wireless data transfer protocol with a relay station 4008 located in the handle 4020 of the tool 4010. The radio module 4124 may include any suitable antenna for transmitting a low power signal 4006. For example, the radio module 4124 may include a dipole antenna, a half-wave dipole antenna, a monopole antenna, a near field communications antenna or any other suitable antenna for transmitting a low power signal 4006. The size of the antenna and thus the available transmit power and frequency may be limited by the size of the end effector 4002.

According to various forms, the radio module 4124 can communicate with a relay station 4008 using a frequency that penetrates human tissue. For example, for communication between the radio module 4124 and the relay station 4008, frequency bands dedicated to medical implants (MICS) (402-405 MHz), suitable industrial, scientific and medical (ISM) radio bands (such as 433 MHz center frequency or 915 MHz center frequency), near-field communication frequency (13.56 MHz), bluetooth communication band (2.4 GHz), ultrasonic frequency or any other suitable frequency that can penetrate human tissue or frequency band. The energy source 4126 may be a suitable battery for supplying energy to the components of the sensor module 4004, for example, a lithium-ion battery or other appropriate battery.

In some forms, the components of the sensor module 4104 can be located on the end effector 4002, on the rod 4030, or in any other suitable place on the surgical instrument 4010. For example, the sensor 4116 can be located at the distal end of the end effector 4002. The controller 4118, the radio module 4124 and the power supply 4126 can be located on rod 4030. One or more wires can connect a sensor 4116 to a controller 4118, a radio module 4124, and a power supply 4126. In some forms, the functions of end effector 4002 and rod 4030 may limit displacement of the sensor module 4104. For example, in the illustrated form, the end effector 4002 can bend and rotate due to the electrical hinge 310. Placing the wires on top of the electric hinge 310 can cause the wires to bend or collapse and may interfere with the operation of the electrical hinge 310. Placing the components of the sensor module 4004 may be limited to a location distal from the electric swivel 310 to prevent difficulties in the operation of the swivel 3 10 or sensor module 4004.

In some designs, the sensor module 4104 may include an analog-to-digital converter (ADC) 4123. The sensor 4116 may generate an analog signal indicating the condition at the end effector 4002. Wirelessly transmitting a signal indicating the condition at the end effector 4002 may require converting the analog signal to digital signal. The analog signal produced by the sensor 4116 can be converted to a digital signal using an ADC 4123 before generating and transmitting a low power signal 4006. The ADC 4123 can be included in a controller 4118 or it can contain a separate controller, such as, for example, a microprocessor, programmable gate array or any other suitable ADC circuit.

FIG. 91 is a block diagram showing a relay station 4208, which is one example of the structure of a relay station 4008 described above in this document. The relay station 4208 may be located proximally to the terminal, for example, adjacent to the battery 4226 and separated from the sensor module 4004 in the end effector 4002 using, for example, the terminal 4030. For example, the relay station 4208 can be located in the handle 4020 of the surgical instrument 4010. Thus, the relay station 4208 may receive a wireless signal from sensor module 4004. Relay station 4208 may include a plug-in module that can selectively communicate with a surgeon arm 4020 rgic tool 4002.

As shown in FIG. 91, the relay station 4208 may include a radio module 4228 and an amplification module 4230. In some designs, the radio module 4228 is designed to receive a low power signal 4006. The low power signal 4006 can be transmitted from the sensor module 4004 and is a status indicator on the end effector 4002 The radio module 4228 of the relay station 4208 receives the low power signal 4006 and transmits the low power signal 4006 to the amplification module 4230. The amplification module 4230 can amplify the low power signal 4006 to the signal high-power signal 4012, suitable for transmission over long distances than the low-power signal 4006. After amplifying the received low-power signal 4006 to a high-power signal 4012, the amplifying module 4230 can transmit a high-power signal 4012 to the radio module 4228 for transmission to a remote essence or device, such as, for example, video monitor 4014. The amplification module 4230 may comprise any suitable amplification circuit, for example, a transistor, an operational amplifier, a full differential amplifier, or any other suitable signal amplifier.

FIG. 92 is a block diagram showing a relay station 4308, which is another example of the structure of a relay station 4008 described above herein. In illustrated form, the relay station 4308 comprises a radio module 4328, an amplification module 4330, and a processing module 4336. An amplification module 4330 can amplify a received low power signal 4006 before being processed by a processing module 4336 after the processing module 4336 has processed the received low power signal 4006 or before and after processing by processing module 4336. The radio module 4328 may comprise a receiver module 4332 and a transmitter module 4334. In some forms, the receiver module 4332 and the transmitter module 4334 may be combined into a module, receiving operedayuschy signal (not shown). A receiving module 4332 may be designed to receive a low power signal 4006 from a sensor module 4004. A receiving module 4332 may transmit the received low power signal 4006 to a processing module 4336.

In the illustrated construction, the processing module 4336 comprises a frequency conversion module 4338 and a protocol conversion module 4340. A frequency conversion module 4338 may be designed to convert the received low power signal 4006 from a first frequency to a second frequency. For example, the sensor module 4004 may transmit a low power signal 4006 using a first frequency that is suitable for transmission through human tissue, such as the MICS or ISM frequency. Receiver module 4332 may receive a low power signal 4006 at a first frequency. The frequency conversion module 4338 can convert a low power signal 4006 from a first frequency to a second frequency that is suitable for long distance transmission through air. The 4338 frequency conversion module can convert the received low power signal 4006 to any suitable frequency for transmitting a high power signal, such as, for example, Wi-Fi frequency (2.4 GHz or 5 GHz frequencies).

The protocol conversion module 4340 may be designed to convert the received signal from the first communication protocol to the second communication protocol. For example, the sensor module 4004 may transmit a low power signal 4006 using a first communication protocol, such as, for example, Near Field Communication Protocol (NFC), Bluetooth communication protocol, proprietary communication protocol, or any other suitable communication protocol. The relay station 4308 may receive a low power signal 4006 using the first communication protocol. The relay station 4308 may include a protocol conversion module 4340 for converting the received signal 4006 from the first communication protocol to a second communication protocol, such as, for example, the TCP / IP protocol, the bluetooth protocol, or any other suitable communication protocol. The processing module 4336, including the frequency conversion module 4338 and the protocol conversion module 4340, may comprise one or more microprocessors, programmable gate arrays, embedded circuits, or any other controller or combination of the above.

In some forms, the frequency conversion module 4338 and / or the protocol conversion module 4340 may be programmable. Networks, video monitors, or other receiving equipment can be designed to receive signals at a specified frequency and protocol. For example, a local area network (LAN) can be designed to receive a wireless signal using the 802.11 wireless standard, requiring 2.4 GHz or 5 GHz transmission, and using the TCP / IP communication protocol. A user may select an 802.11 wireless communication standard from among a plurality of communication standards stored by the relay station 4308. A memory module may be included in the relay station 4308 to store a plurality of communication standards. The user can select the communication standard for the high power signal 4012 from the set of communication standards stored in the memory module. For example, the user can select the communication standard 802.11 as the communication standard for transmitting the high power signal 4012. When the communication standard is selected by the user, the frequency conversion module 4338 or the protocol conversion module 4340 can be programmed by the memory module to convert the received low power signal 4006 to the selected one communication standard by converting the frequency or communication protocol of the received low-power signal 4006. In some designs In stations, relay station 4308 can automatically detect the correct frequency and communication protocol to receive low power signal 4006 or relay high power signal 4012. For example, relay station 4308 can detect a hospital wireless communication network. The relay station 4308 can automatically program the frequency conversion module 4338 and the protocol conversion module 4340 to convert the received low-power signal 4006 to the desired frequency and the protocol for transmitting the high-power signal 4012 to the hospital wireless communication network.

In illustrated form, processing module 4336 may transmit the processed signal to amplification module 4330 to amplify the processed signal to high power signal 4012 before transmission. The amplifying module 4330 can amplify the processed signal to a level suitable for transmission by the transmitting module 4334. The amplifying module 4330 may contain any suitable amplifying circuit, for example, a transistor, an operational amplifier, a full differential amplifier, or any other suitable electronic amplifier. The amplification module 4330 may comprise a battery (not shown) or may be connected to a power supply 4326 located inside the handle 4020 of the surgical instrument 4010. The amplification module 4330 may be programmable to provide one or more amplification levels in response to a choice of the appropriate (?) Type of communication .

Amplifier module 4330 may transmit a high power signal 4012 to transmitting module 4334 for transmission. Although the radio module 4328, the processing module 4336, and the amplifying module 4330 are shown as separate modules, those skilled in the art will understand that any or all illustrated modules can be combined into a signal integrated circuit or a plurality of integrated circuits.

FIG. 93 illustrates one embodiment of relaying a signal indicative of a state at a terminal effector 4400. Method 4400 may comprise generating a 4402 sensor module (eg, sensor module 4004 described herein), a signal indicative of a state at the terminal effector, such as an end effector 4002. The signal can represent any measurable state on the end effector 4002, such as, for example, the thickness of the tissue fixed in the end effector 4002. The sensor module can generate a signal using olzuya sensor such as, for example, the sensor 4116 of the sensor module 4104 shown in FIG.90. Method 4400 may also contain, transmitting 4404 via radio, the generated signal as a low power signal. For example, the radio module 4124 shown in FIG. 90 may transmit a low power signal 4006. In practice, the transmit power of the radio module may be limited by the size of the antenna and power supply, which can accommodate in the end effector 4002. Given the limited space, the transmit power of the radio module be limited by low power signal 4006. Low power signal 4006 can be transmitted using a radio module at a power level that allows low power signal 4006 to be received by relay station 4008 in hand yatke 4020 of surgical tool 4010.

The relay method of a signal indicative of states at the terminal effector 4400 may also include receiving 4406 a low power signal from a relay station, such as, for example, a relay station 4008. After receiving a low power signal, the relay station can convert the 4408 low power signal to a high power signal such as, for example, a high power signal 4012. The conversion of a low power signal into a high power signal may include amplifying the low power signal with an amplifying module such as a fuser module 4230 shown in FIG. Converting the low power signal to a high power signal may also comprise converting the communication standard of the low power signal to a communication standard suitable for transmitting a high power signal. For example, method 4400 may include transforming 4408, using a processing module, to obtain a low power signal from a first frequency to a second frequency.

After converting 4408 a low power signal to a high power signal, method 4400 may also include transmitting a high power signal to a remote location, such as, for example, an operating room viewing screen or hospital network, by a relay station 4410. A high power signal can be received by a 4412 viewing screen, on which a graphical representation of the state at the end effector can be shown to the user. In some designs, the method may comprise, depending on the user's choice, the frequency and / or communication protocol for the high power signal before converting the low power signal. A frequency and a communication protocol may be selected from a plurality of frequencies stored in the memory module of the relay station.

Electromechanical soft stop

In various forms, a surgical instrument may use a mechanical stop adapted to stop or slow down a motor-driven member at the end of or after a drive stroke. According to various forms, a mechanical stop may comprise a hard stop designed to abruptly stop the movement of the engine-driven member and / or a soft stop designed to slow down the engine-driven member at the end of the impact or after it. As described in more detail below, in some forms, such tools may include an electromechanical stop comprising a mechanical stop and a control system designed to measure and / or track the current supplied to the motor used to drive the element. In one form, the control system is designed to cut off power to the engine or otherwise stop the movement of the motor-controlled element when determining the appearance of current corresponding to predefined parameters.

You should be aware that for brevity and ease of understanding, various aspects of the mechanical and electromechanical stops described herein are generally described in accordance with surgical instruments and associated moving elements, including cutting and stapling devices. However, those skilled in the art will understand that the present disclosure is not so limited, and that the various mechanical stops and related electromechanical characteristics disclosed herein may find application in various other devices known in the art. For example, while additional methods of application will be more fully understood below, the various mechanical stops disclosed herein can be used in any instrument containing an electrically controlled motor and / or control of a drive system, for example, as well as non-endoscopic surgical instruments such as laparoscopic instruments. Referring again to FIGS. 1-6, which illustrate an electromechanical surgical instrument 10 equipped with one form of mechanical abutment, in accordance with one aspect. The handle unit 20 is operatively connected to an elongated shaft assembly 30, the distal portion of which is operatively connected to the end effector 102. The end effector 102 has a proximal end 103 and a distal end 104. As described above, the elongated groove 110 can be designed to provide functional and removable support for the cassette with brackets 130, and the support block 190 can be selectively movable relative to the cartridge with brackets 130 between the open position (see FIG. 4) and the open position (see FIG. 6) for gripping tissue.

In some forms, tool 10 comprises a drive element, which may be any part or component of tool 10 that is driven by an engine. In various forms, the drive element may include an elongated shaft block 30, an end effector 102, or one or more parts or components, such as a slide 170 or a fabric cutting element 160, a part of the housing 162 that can be threadedly mounted on the driving screw of the end effector 180 which is rotatably mounted inside the elongated groove 110. As described above, the slide 170 is held for axial movement relative to the propeller 180 and can be designed to interact with the body part 162 of the cutting fabric of the part 160. The driving screw of the end effector 180 may be rotatably supported within the elongated groove 110, as described above. The rotation of the driving screw of the end effector 180 in the first direction causes the cutting tissue part 160 to move in the distal direction by means of a drive impact. As the cutting fabric part 160 moves distally with a drive impact, the slide 170 moves distally with the cutting fabric of the part 160. In various forms, the cartridge with brackets 130 may be supplemented with a mechanical stop containing a soft stop. In one aspect, the soft stop comprises one or more shock absorbers 174 to absorb the slide 170 when they reach the most distal position within the elongated groove 110. Each of the shock absorbers 174 may be associated with a resistance member 175, such as a spring 176, to provide the shock absorber with a desired degree of softening.

As described in more detail above, the slide 170 and the tissue cutting member 160 are capable of moving during a drive strike along the axis of the rod AA, passing between the proximal end 103 of the end effector 102 and the distal end 104 of the end effector 102 to simultaneously cut and staple the fabric. While the illustrated end effector 102 is configured to function as an endocater for clamping, dissecting and stitching tissue, in other aspects, other types of end effectors, such as end effectors for other types of surgical devices, such as effectors, dissecting stitches, can be used. instruments, clip-ons, access devices, drug / gene therapy devices, ultrasound, RF or laser devices, etc.

As shown in FIG. 94, which illustrates the distal end 104 of the end effector 102 shown in FIGS. 1-6, the drive member 158, comprising a slide 170 and a cutting member 160, is able to move during the drive cycle defined along the axis of the rod AA between the proximal starting position and the distal position of the end of the measure. In one aspect, at the end of a measure, a position is determined between the first and second position S ₁ , S ₂ (see FIGS. 97 and 78). In various forms, at least one of the starting positions and the end of the beat include a mechanical stop, such as a hard stop or soft stop, which may physically impede, for example, block or limit additional longitudinal movement of the corresponding stop position. In one form, both the starting position and the end of the measure contain a mechanical stop. As shown in the illustration, the drive element 158 is located distally before or immediately after the end of the cycle.

As described above, the surgical instrument 10 may use a monitoring system to monitor one or more motors and their associated drive components, as described above. FIG. 95 is a diagram describing one form of a system comprising a control system 1400, a drive motor 1402, and a power source 1404 for use with a surgical instrument using an electromechanical stop, which may include a mechanical soft or hard stop in accordance with various aspects. The surgical system comprises a power source 1404 operatively coupled to the drive motor 1402 through a control system 1400. The power source 1404 may be designed to supply power to the drive motor 1402 to move the drive element, such as the drive element 158. In certain aspects, the power source 1404 may comprise any convenient power source, such as a battery, outlet, generator, or the like. The monitoring system 1400 may include various models or circuits and may promptly monitor various system components, such as a drive element 158, a power supply 1404, or a user interface. The control system 1400 can be designed to monitor, monitor or measure various operations, signals. input and output or tool parameters 10, for example.

In various forms, the control system 1400 may be similar to the control system 800 described above. For example, in various aspects, a control system 1400 may be designed to “electrically generate” a plurality of control movements. The term "electrical generation" refers to the use of electrical signals to activate or otherwise control the engine 1402, for example, motors 402, 530, 560 and 610, or other electrical appliances and can be defined as different from the control movements that are generated manually or otherwise without application of electric current. For example, the control system 1400 may electrically generate a control movement, such as a rotational control movement, including supplying power to the drive motor, which may be a response to a user command, such as an electrical signal given to the control system by activating an activator, such as a drive or trigger, connected with handle assembly 20. In certain aspects, the control system 1400 may electrically generate a rotational control movement including termination of delivery Itani to the drive motor 1402, which may be the answer to the user or the displacement mechanism, an activator or trigger returns the trigger in an open position. In at least one aspect, the control system 1400 can electrically generate a rotational control movement, including stopping or reducing power supply to the drive motor 1402 in accordance with a measured electrical parameter reaching a predetermined value. For example, control system 1400 may stop supplying power to drive motor 1402 when the measured current reaches a predetermined threshold.

When considering FIGURE 1 and FIGS. 94 and 95 as a whole in various forms, the surgical instrument 10 comprises a handle unit 20 equipped with a user interface designed to transmit an activation signal from a user, such as a clinician, to the control system 1400 to electrically generate a control movement, respectively an elongated rod assembly 30, end effector 102, or drive element 158. For example, in certain aspects, the user interface comprises a trigger unit containing an activation or trigger portion for transmitting the incoming signal to the control system 1400 to control the supply to the drive motor 1402 such as a starter motor 530 (see. Figure 23). The block may comprise a closing trigger for closing and / or blocking the stop element assembly 190, and a trigger for activating the end effector 102, for example, driving the actuating element 158 through a driving cycle. During operation, the closing trigger can be activated first, thereby bringing the stop block 190 to a closed position, for example, grabbing tissue between the cassette with brackets 130 and the stop element assembly 190. When the surgeon arranges the position of the end effector 102, he can pull back the closing trigger device in a fixed position of full closure. The starter may then be moved from an open position to a closed position to guide the transmission element 158 through the drive cycle. In various aspects, the trigger may return to the open position when the clinician stops pressure, or may be mechanically returned to the open position via an operative connection with activation of the actuator 158 or a separate mechanism. In one aspect, the trigger may be a multiposition trigger where, when the actuator 158 reaches a position near or at the end of a beat, the trigger can be activated from a second open position to a second closed position to activate the actuator 158 proximally in the direction of the starting position. In some such aspects, the first and second open and closed positions may be essentially the same. Depending on the desired design, in certain aspects, the release button or latch may be designed to release the closure from the locked position. As explained in more detail below, after activating the starter from an open position to a closed position, the starter can be quickly disengaged, for example, activating the starter can lead to initial activation of the input signal, which can be sent to the monitoring system 1400 to instruct the monitoring system 1400 activate the drive element 158. In certain designs where there is no correction characteristic by the user, the activation of the trigger element 158 will stopped near or at the end of the clock by the action initiated by the control system, e.g. disconnecting or interrupting the power supply to the drive motor, even if the starting device is in the closed position.

In one form, the starter assembly comprises a control lever switch, which may be similar to the control lever switch 840 described above. For example, as shown in FIGS. 33-39, the control lever switch can advantageously allow the user to maximize the functional control of various aspects of the surgical instrument 10 using a single interface. In one aspect, the control lever switch 842 can be operatively connected to the lever switch block 850, which is movably placed inside the switch housing block 844, so that the switch housing block 844 is located inside the pistol grip 26 of the handle assembly 20. The switch housing block 844 may include a biasing member 856 for shifting the lever switch assembly 850 and the rod of the control lever switch 842 to the desired position when it is not placed outside, for example, by the user. The control lever switch 840 may be electrically connected to the control system 1400 for transmitting control instructions to the control system 1400. For example, manipulating the rod of the control lever switch 842, such as a push or a guiding movement, may allow the user to control various monitoring movements associated with the surgical instrument 10, which may include activation of the drive element 158.

As described above, various forms of the surgical instrument 10 comprise one or more electric motors, such as motors 402, 530, 560 and 610. One or more motors may, for example, be located in a portion of the handle assembly 20 or the elongated shaft 30 of the instrument 10 and may drive the drive element 158 between the starting position and the end of the beat. In one form, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. In certain designs, the engine may operate in a rotational or linear activation mode, such as a linear activator, and may include a transmission coupling between the drive motor 1402 and the drive member 158 to convert the rotational motion of the drive motor 1402 to linear motion, or the rotational joint motion between multiple components. In various forms, a transmission joint including one or more gears or reciprocally engaged elements, such as belts or pulleys, operates to transmit rotational motion from the drive motor 1400 to one or more segments of the elongated shaft assembly 30 to activate the end effector 102. For example, rotation the drive screw of the end effector 180 in the first direction causes the drive element 158 to move in the first direction, for example, the distal direction, along the axis of the rod AA. In various aspects, rotation of the drive screw of the end effector 180 in a second direction opposite to the first causes the drive element 158 to move in the second direction, for example, in the proximal direction along the axis of the rod AA. In one aspect, the drive motor 1400 leads the drive element 158 distally to the end of the beat and has the opposite effect of driving the drive element 158 proximal to the starting position. For example, the drive motor 1402 can become reversible, for example, by changing the polarity in the voltage supply, thereby producing reverse rotation or movement of the motor and, accordingly, reverse movement of the drive element 158. Therefore, the drive element 158 can move between positions along the drive cycle in in both proximal and distal directions by conventional methods, or by the methods disclosed in US Patent Application Serial No. 12/235,782, which is incorporated herein by reference in its entirety. It is noteworthy that although the tools 10 described herein generally relate to tools that should be held in a hand containing a handle in various forms, tools 10 containing mechanical stops that can function as part of an electromechanical stop can be adapted to applications in robotic or similar devices used by robotic systems.

In certain aspects, the surgical instrument 10 comprises a reversible motor and includes a proximal mechanical stop and a distal mechanical stop. In various aspects, as described above, activation of the triggers signals the activation of the drive element 158 through the drive cycle. When the drive element 158 reaches the end of the drive cycle, for example, when the cutting element 160 reaches the distal end of its cutting cycle, the end of the cycle or direction switch, for example, can be switched to the closed position, changing the polarity of the voltage that is supplied to the motor 1402 to change in this way the direction of rotation of the motor 1402. Such a switch may be connected to the control system 1400 and may be an addition or alternative to the cessation of power supply to the drive motor 1402. Notably, however, in other aspects, the manual reset switch may reverse the rotation of engine 1402 and return drive element 158 to its original or initial position.

A mechanical stop is located at or near the end of the beat and is designed to increase resistance to movement of the drive element 158 through the end of the beat. The mechanical stop includes a soft stop containing a pair of shock absorbers 174, each of which is functionally connected to a resistance element 175. The shock absorbers 174 are designed to contact the drive element 158 at or at the end of the beat. For example, the shock absorbers 174 shown in FIG. 94 are designed to contact the contact surface 173 of at least one wedge 172. In various aspects, the shock absorbers 174 may correspond to the size of the contact surface 173. For example, in at least one aspect, the shock absorbers 174 may be appropriate size to represent the oblique surface substantially equivalent to the contact surface 173. In this way, the contact stability between the shock absorbers 174 and the wedges 172 can be increased and the force exerted on the contact surface surface 173 may be distributed over a larger structural region wedges 174. Similarly, in one aspect, shock absorbers 174 comprise a flexible, such as elastic, shock absorbing surface or the contact surface for receiving 173 and to reduce the degree of destruction of components. In one form, the resistance elements 175 each comprise a spring 176 located between the shock absorber 174 and the hard stop 178 to provide resistance and deceleration of the drive element 158 at or near the end of the beat 158.

It becomes apparent that various aspects of the surgical instruments 10 can be provided with numerous shock absorbers 174, and resistance elements 175 can be structured to contact other parts of the drive element 158. For example, the instrument 10 may include an additional stop, which can be an addition or replacement of the upper hard stop 178 and / or soft stop constructions. Thus, in one form, according to FIG. 94, the drive screw 180 may be provided with a stop, which may include a soft stop comprising a shock absorber 290 connected to a resistance element 291 located along the drive stroke and opposing the contact surface 292 of the drive element 158. In one In shape, the resistance element 291 contains an elastomeric material that is capable of being compressed between the shock absorber 292 and the hard stop 294 to absorb the longitudinal force of the drive element 158. In some aspects, numerous soft pores may They can be designed to contact the drive element 158 at various predefined positions. For example, in one form, the drive element 158 contacts the shock absorber 290 to the shock absorbers 174, for example, to supply a more clearly identifiable current peak, for example, to produce a voltage peak containing two clearly visible components of the voltage peak, the magnitude and / or complete separation of which can be used to increase the likelihood of a voltage peak.

In various forms, the resistance elements 175 comprise a compressible part, which may or may not be associated with the hard stop 178. For example, in one aspect, the resistance element 175 can be placed between the hard stop 178 and the shock absorber 174, and may include a compressible part, such as a spring 176 , an elastomeric material such as a polymer, foam or gel. During operation, the shock absorber 174 can be accelerated in the direction of the compressible part in contact with the drive element 158, where the compressible part is compressed to a predetermined degree. In various aspects, the resistance element 175 may include a retarding part, for example, a brake. In one aspect, the retardation element comprises a compressible cell, such as a hydraulic pneumatic cell, through which contact with the actuating element 158 can press on a piston located inside the cell to increase pressure, designed to slow or brake the actuating element 158. In certain aspects, a soft stop may be designed to provide soft or gradually increasing resistance and / or retardation in accordance with time and / or distance. For example, one or more torsion springs having the same or different compressibility can be structured or arranged to precisely control the deceleration or braking of the decelerating element, for example, in a gradual or incremental manner. In one form, a soft stop may be structured to provide increasing resistance to the distal movement of the drive member 158.

In various forms, the soft stop includes a biasing element designed to bias the contact element from the hard stop. It becomes apparent that in some aspects the biasing element may be the same or have components similar to those of the resistance elements 175. Thus, in some forms the biasing element may be structured to compress between the shock absorber 174 and the rigid stop 178 with a longitudinally directed force of the drive element 158 and after that, return to the state preceding compression after the termination of the force. In certain aspects, the biasing member may be activated, moved, and / or compressed to counteract the activation of the movement of the drive member 158. It is noteworthy that compression or other anti-mixing associated with resistance members 175 may result in energy transfer, which may be stored at least temporarily. or fixed with a soft stop in a state of potential energy. In one aspect, resistance elements 175 may be held in a potential energy position by a latch, hook, or obstruction, for example, which may prevent one or more resistance elements 175 from returning to a state prior to compression. As an advantage, the stored energy can be released, for example, by the user and / or the control system 1400, where at least a portion of the stored energy is used to return the drive element 158 to its original position.

In various aspects, resistance elements 175 may include additional structures. For example, in one aspect, one or more magnets, such as permanent magnets, can be positioned to repel the opposite permanent magnet associated with the drive element 158. For example, one or more magnets can be rotated or moved to adjust the size of the repulsive magnetic fields, opposing longitudinal movement. Other various aspects may use magnetic coils electrically connected to the control system to activate before or after successfully decelerating the drive element 158. The additional resistance elements 175 may include reciprocating structures, including structures using pulleys and / or gears, for example.

In various aspects, a mechanical stop comprising a soft stop may or may not be associated with a hard stop 178. For example, in some forms, the soft stop includes a hard stop 178, while in other forms, the soft stop does not include a hard stop or hard stop 178 may function as an axial stop. In some forms, the soft stop may include a spring-loaded hard stop 178 to provide gradual and / or progressive resistance to the drive cycle or to slow down the drive element 158. For example, a soft stop can be designed to gradually reduce the speed of the drive element 158 by creating resistance to proximal or distal force, applied to the drive element 158 by the drive motor 1402, or the presence of inertia of the system. In at least one form, the magnitude of the resistance provided by the soft stop to counteract or slow down activation or movement can be selectively adjusted. For example, the tool 10 may be equipped with one or more soft stops that can selectively slide or rotate in a variety of positions along the drive stroke. Thus, the user can individualize the position of the soft stop for private use. In one form, an electromechanical device comprising a soft stop may include an adjustable disk to control the resistance exerted by the soft stop along the end of the beat. In some such forms, disk control can simultaneously control the longitudinal distance covered by the soft stop and, accordingly, the end of the beat, as well as the limit values associated with determining the peak voltage, as explained in detail below. In one form, a warning signal may be provided by a user when manual tuning is oriented below a predetermined mechanical tolerance.

Referring again to FIG. 95: in various forms, the control system 1400 is designed to generate and / or respond to received information, which can be at least partially obtained from information measured by the control system 1400 or received from other system components. For example, in one aspect, a control system 1400 may be designed to initiate power supply to system components in response to an input signal, such as instructions provided by a user. In certain aspects, the monitoring system 1400 may generate or provide information, such as a warning or instrument status, to a user through a user interface such as a visual or audio display. The signals or inputs generated by the control system 1400 may be, for example, a response to other signals or input commands received from the user, the components of the tool, or may be a function of one or more measurements associated with tool 10. In certain aspects, the control system 1400 may be designed to monitor or obtain various measurements and then interpret, calculate and / or decode information and respond in a predefined way.

In one aspect, the control system 1400 includes, or can be selectively coupled to, a semiconductor, computer chip, or memory device. As indicated above, inputs provided or received from the control system 1400, such as those provided by the user or produced the control system 1400 in response to instructions, signals, or measured parameters, may be analog or digital. Accordingly, in some forms, the monitoring system 1400 may be designed to send and receive analog or digital input data or signals from or to instrument components. In various aspects, the control system 1400 may utilize software that may employ one or more algorithms to further formulate incoming signals to control and monitor tool components. The input signals formulated in this way can be a function of the criteria measured and / or calculated by the control system 1400 or, in some cases, provided to the control system 1400 by another tool component, a user, or a separate system operatively connected to the control system 1400. For example, the control system 1400 may respond by activating or deactivating the drive motor 1402, terminating, initiating power supply to the drive motor 1402 or additional system components, or delivered document or additional input data for these or other operations. In various aspects, the control system 1400 may include circuits, such as transistors or switches, designed to track the electrical parameters associated with the operation of the tool 10. For example, circuits of the control system may be designed to activate or deactivate the starting motor 1402 or open or close the power supply path to drive motor 1402 when the electrical parameters associated with the operation of the tool 10 reach a threshold value, for example, a voltage peak, as set but the design of the circuits.

In certain forms, the surgical instrument 10 and systems that use a mechanical stop may function without feedback. For example, in one form, the tools can function without the aid of a feedback device designed to provide the control system 1400 with information on how the tool 10 responds to incoming information so that the control system 1400 can modify the outgoing data. In various aspects, as presented above, the control system 1400 can monitor the power supply to the drive motor 1402 to determine the position at the end of the clock cycle of the drive element 158. That is, for example, the control system 1400 by applying various voltage tracking techniques by which current, more specifically, voltage peaks can be set and, at least in part, determined using a mechanical stop. For example, the monitoring system 1400 may monitor the voltage to determine the current, taking into account the power supply to the drive motor 1402 and, accordingly, the drive element 158 as described above. Resistance to the drive cycle increases the torsion of the drive motor 1402, resulting in noticeable voltage peaks taking into account the power supplied to the drive motor 1402. Thus, a large peak voltage can be measured by the control system 1400 when the drive element 158 is in contact with the mechanical stop; at this time, the control system 1400 may respond by shutting off the power to the drive motor 1402. Therefore, the mechanical stop provides physical force to slow the drive element 158 and produce a voltage peak that can be determined by the control system 1400 to initiate shutdown of the drive motor 1400.

As described above, in certain aspects, the control system 1400 is designed to control various actions of the tool 10. For example, in certain aspects, the control system 1400 comprises a control circuit 1406 operatively connected to the drive circuit 1408. The drive circuit 1408 may be designed to supply power from a power source. 1404 to a drive motor 1402 for driving the drive member 158. A control circuit 1406 may be designed to control the power supply to the drive circuit 1408. Therefore, a control circuit I circuit 1406 can be designed to control the drive motor 1402 by controlling the supply of energy to the drive circuit 1408. A control circuit 1406 can also be designed to track, for example, sample or measure the power supplied to the drive motor 1402. For example, the control circuit 1406 can do sampling the input / output voltage and / or current at one or more points of the drive circuit 1408 through which the drive motor 1402 receives power to activate the drive element 158. In various aspects, the contact Aulnay circuit 1406 may include or be connected to the drive circuit 1408 through which it can track incoming / outgoing voltage, for example through a resistor connected to the current loop associated with the drive circuit 1408 for example. As those skilled in the art will notice, the above description is only one way to measure and / or track the power supplied to the drive motor 1402, and further understand that power can be similarly measured and / or tracked using alternative methods known in this areas, and, accordingly, similar methods are within the scope of the present disclosure. In some forms, when the control circuit 1406 detects a surge in voltage supplied to the drive motor 1402, the control system 1400 cuts off power to the drive motor 1402 through the drive circuit 1408. In various aspects, the control system 1400 may also interrupt a functional connection, such as a transmission between the drive an engine 1402 and a drive member 158 at least instantly in response to a measured power surge.

In certain designs, when the electromechanical stops contain a hard stop designed to suddenly stop the drive cycle, the tool 10 may be susceptible to mechanical malfunctions in accordance, for example, with the time period between the detection of a power surge and the subsequent release of the activating force provided by the drive motor 1402 Additionally, in accordance with the inertia of the system, for example, the drive element 158 may also continue to be activated or slave after reaching and stroke, despite the termination power supply to the drive motor 1402. In some cases, the delay in releasing the actuating member 158 from an activating power actuating member 158 can cause drive motor 1402, drive screw 180 or other transmission connection to mechanical damage.

FIG. 96 is a graphical illustration describing changes in current over time associated with an instrument 10 using an electromechanical stop that includes a hard stop 178 without a soft stop. The current between the time A corresponding to the position of the drive element 158 proximal to the end of the cycle and the time B corresponding to the position of the drive element 158 in contact with the hard stop 178 at the end of the cycle is relatively low or stable. However, at a point in time, a voltage surge occurs, presenting the contact between the drive element 158 and the hard stop located at the end of the cycle. According to the time period between the detection of a power surge some time after time B and the cessation of power supply to the drive motor 1402, the drive motor 1402 continues to drive the drive element 158, albeit unsuccessfully, to the hard stop 178 until time C, when power is supplied to the drive element 158 ceases. Although not shown, the inertia of the system may also continue to drive the drive element 158 to the hard stop 178 for some time after time C.

As indicated above, making it convenient to work without feedback, surgical instruments operating as shown in FIG. 76 may be vulnerable to mechanical damage due to, for example, the time period between the detection of a power surge and the subsequent release from the activating movement. According to various forms and FIGS. 97 and 98, the tools 10 disclosed herein may comprise electromechanical stops containing a soft stop structure for contacting and decelerating the actuating member 158 until reaching the end of the clock cycle to induce a detectable voltage surge, thereby increasing the amount of time during which the control system 1400 must detect and respond to a power surge. Surgical instrument 10 includes various characteristics similar to those illustrated in FIGS. 1 and 70; thus, similar characteristics are identified by similar numerical designations and, for simplicity, will not be described again. The tool 10 includes an electromechanical stop that contains a soft stop to counter the movement of the drive element 158 at or near the end of the drive beat or its segment, such as the proximal starting position or the distal end of the beat, passing between the first position of the soft stop S ₁ and the second position of the soft stop S ₂ along the axis of the AA rod. The electromechanical stop also contains a hard stop 178 located in position N. The soft stop contains a shock absorber 174 and a resistance element 175 located at or near the end of the beat, for example, at least partially within the first position of the soft stop S ₁ and the second position of the soft stop S ₂ . The shock absorber 174 and the resistance element 175 function to provide resistance to the drive element 158 within the end of the cycle defined between the first position of the soft stop S 1 and the second position of the soft stop S ₂ . In various forms, the shock absorber 174 and the resistance element 175 can also function to slow the drive element 158 from the first position of the soft stop S ₁ to the second position of the soft stop S ₂ . In certain forms, the soft stop may be located at any preferred location where it is desired to provide resistance or to begin to slow down the drive member 158.

FIG. 97 shows a drive member 158 during passage through a drive cycle at a position proximal to the first position of the soft stop S ₁ . FIG. 98 depicts a drive member 158 after it has completely passed through the start cycle for the first position of the soft stop S _{1 of the} end of the beat, so that it is located at the second position of the soft stop S ₂ , end of the beat. Accordingly, the soft stop is positioned so as to contact the actuating member 158 in the first position of the soft stop S _1, and thus the pressure is applied distally towards the second position of the soft stop S ₂ due to the compressive interaction with the hard stop at position N. Accordingly, the second position soft stop S ₂ can effectively contain the position of the hard stop H ^* taking into account the drive element and the extreme distal end often the end of the beat. In various aspects, the actuating member 158 can fully or sufficiently slow down before reaching the position of the hard stop H _* at the second position of the soft stop S ₂ . Thus, in such aspects, the hard stop, if any, may comprise a backup or safety element.

The resistance to the activation movement provided by a mechanical stop, which may be accompanied by a decelerating or stopping force, can be gradual, progressive or stepwise in relation to distance and / or time, for example. Thus, in some aspects, the soft stop represents a path of increased resistance between the first position of the soft stop S ₁ and the second position of the soft stop S ₂ . It is noteworthy that the end of the cycle does not necessarily imply that the functional action of the drive element continues through the entire end of the cycle, for example, to the second position of the soft stop S ₂ . For example, in one form, the end of the measure is located at or slightly proximal to the most distal staple. In another form, the position of the initial contact with the soft stop, for example, at the first position of the soft stop S ₁ is distal relative to the most distal bracket. Thus, the drive element 158 may not contact or experience significant resistance to longitudinal movement through the drive cycle until the distal bracket is pulled out, at which time the resistance and / or deceleration increases. Thus, the movement of the drive element will not be prematurely limited by the control system 1400.

FIG. 75 is a graphical illustration describing the changes in current over time associated with a tool 10 comprising an electromechanical stop with a soft stop, in accordance with some aspects. The current between the time A ^* corresponding to the position of the drive element 158 proximal to the end of the cycle and the time B ^* ₀ corresponding to the position of the drive element 158 in contact with a soft stop, for example, shock absorber 174, is relatively low or stable. However, after time B ^* _{0, the} current gradually begins to show jumps, indicating a growing resistance to the longitudinal movement of the drive element. In various aspects, a gradual increase in resistance can advantageously increase the time interval in which jumps occur, for example, between the time B ^* ₀ and B ^* ₂ , effectively slowing down the response time to allow the control system 1400 reaction time, thereby minimizing the adverse effects of the time interval, explained above with respect to FIG. In certain aspects, the control system 1400 can monitor the voltage and measure the current supplied to the drive motor 1402, as described above. The control system 1400 may be designed to respond in a predetermined manner to current changes. For example, when a threshold value of current is reached, for example, at time point B ^* ₁ , the control system 1400 may cut off the power supply to the drive motor 1402. In one design, the threshold value of the current may comprise a time component. For example, a threshold current may include a current differential in a specified period of time. In certain designs, the current surge may comprise one of a plurality of predetermined threshold current values, each of which is determined by the ratio of the current differential to the time period. As shown in FIG. 99, a gradual increase in resistance can also advantageously reduce the dynamic load on the end effector 102 in contact with the hard stop during B ^* ₂ , as well as reduce the time period B ^* ₂ to C ^* , in which the drive motor 1402 continues move the drive element 158 to the hard stop 178 after the cessation of distal movement.

In certain aspects, the control system 1400 may determine that a predetermined threshold current value, as measured, for example, by increasing or decreasing the current in time, has been reached and may thereafter terminate the power supply signal to the drive motor 1402. For example, in one design, the control system 1400 may monitor the current and, accordingly, cut off the power supply to the drive motor 1402 when the current magnitude exceeds a predetermined value for a given time period. In various aspects, these or other values, such as threshold values, can be adjusted by the user, for example, manually or by accessing the internal protocol through a control link, such as a computer. In at least one design, the drive circuit 1408 or the control circuit 1406 comprises a variable resistor, so that the user can change the current supplied to the drive motor 1402 by changing the degree of activation with a starting device. For example, the rotation of the starting motor 530 may be proportional to the pressure or movement that the user applies to the activator or starting device. In one form, the control circuit 1406 can communicate with the drive circuit 1408, so that the threshold values can be raised or normalized.

In certain designs, a plurality of sensors or electrical components may be used in the end effector 102 to provide various forms of feedback to the user. In one aspect, the sensors may provide feedback to a monitoring system 1400 for automatically monitoring various tool related motors. For example, in one aspect, a surgical instrument comprises several motors, such as motors 402, 530, 560 and / or 610, which are driven by one or more control systems, such as control systems 800 and 1400, to electrically generate control movements. Monitoring systems can be designed for operational monitoring of engines and receiving positional feedback from a variety of sensors designed to track positional information. In certain aspects, control systems may use positional information to electrically generate modified or modulated control movements through monitoring the power supply to one or more motors, or, for example, may provide various positional information to a user. In various aspects, control systems are capable of operating in open / closed hybrid systems. For example, the control system 1400 may be designed to control the drive motor 1402, such as the starting motor 530, in an open loop, as described herein, while also controlling various other motors, such as the rotation motor of the shaft 610, for example, closed loop. In one aspect, the control system 1400 can be designed so that the user can select which motors of the control system 1400 can operate in a closed or open loop, for example, to individualize the operation of the tool 10 as desired.

It becomes apparent that one or more inputs can be provided by the user, which may or may not be subject to evaluation for the control system 1400. For example, the control system 1400 may include an overlapping mode in which one or more inputs provided to the control system 1400 by one or more by users or other control systems associated with the control system 1400 may be transferred and / or provided to tool 10. For example, when the drive element 158 is in its original position, the control system 1400 may block, prevent or ignore instructions for connecting the power supply to the drive motor 1402, or otherwise engage the drive motor 1402 to electrically generate the activation movement of the drive member 158. In at least one aspect, the lock occurs or is the default state or affects the system before one or more events occur, such as the closure of the thrust element 190, or adequate mechanical or electrical feedback such as, for example, component blocking, user initiated overlap, change in the measured parameter to, near or along the path of the drive element.

In various aspects, one or more mechanical stops, including the design of soft stops, according to the present disclosure, may be supplied as a kit. The kit may have specific application for one or more selected devices, or be universal or modifiable for universal use in multiple devices. For example, a set of soft stop constructions may include a spare retarding element, such as a resistance element and / or contact elements, such as shock absorbers. In one form, the kit includes spare or secondary bushings that can be used as or suitable for insertion into a housing sized to support the resistance element in order to increase the resistance provided by the soft stop in one or more locations along the drive cycle. In various forms for adjusting the clearance between the stop and the body of the device, gaskets can be supplied. In some aspects, the contact element may include permanent or temporary, such as a spare, modifiable, or upgradeable, contact protection designed to fit between the drive element and the shock absorber, the resistance element, and / or the hard stop. Contact protection may be formed of an elastic or other material that is capable of at least partially compressing upon contact with the accelerated mass of the drive element or pressing against a soft or hard stop. One aspect of the protection may be a polymer that can be wetted, slid, torn, or smelted into a part, such as the contact surface of the drive element 158. In another aspect, the protection can be placed on the surface of the shock absorber 174. In yet another group of aspects, the shock absorber 174 may comprise a contact designed to contact and at least partially absorb the force of the accelerated mass of the drive element 158 to prevent or partially limit the degree of physical damage or mechanical damage the reference drive element 158, the drive motor 1402, the drive screw 180, or related components.

In some forms, removing a surgical instrument, such as a surgical instrument 10 shown in FIGS. 1 and 2, from a patient may be difficult because the end effector 102 may be in a bent or rotated position, preventing the end effector 102 from passing through a trocar or other point access to the patient. The clinician may not be aware of the current articulated state at the end effector 102, such as, for example, bent along the hinge axis BB, and may try to remove the surgical instrument 10 without first straightening the end effector 102. In various forms, the surgical instrument can be constructed in this way that its end effector is rectified based on input from the sensor (for example, the tool may have an end effector rectified by the sensor). Thus, the clinician can verify that the end effector 102 is straightened relative to the hinge axis BB before removing the end effector 102 from the patient, for example, through a trocar. In various forms, the sensor may be designed to trigger a rectifying event as the end effector is removed from the patient.

FIG. 105 illustrates one form of a surgical instrument 5810 comprising an end effector 5802 equipped with a rectifying sensor. A sensor 5826a, 5826b can detect a rough proximal movement of a surgical instrument 5810. A rough proximal movement may indicate that a surgical instrument 5810 is being removed from a patient, for example through a trocar or an external tube. A minimal threshold proximal movement can be set to prevent straightening of the end effector 5802 as a result of easy proximal regulation of the surgical instrument 5810 during operation. In various forms, when the rough proximal movement of the surgical instrument 5810 exceeds the minimum threshold, the sensor 5826a, 5826b can send a signal to a motor, such as, for example, a swivel control motor 402, causing the motor to straighten the end effector 5802.

In some forms, the sensor 5826a, 5826b may be located in the rod 5831, end effector 5802, handle 5820, or any other location for detecting rough proximal movement of the surgical instrument 5810. In various forms, the sensor 5826a, 5826b may contain any suitable sensor for detecting the movement of the surgical instrument 5810 For example, the sensor 5826a, 5826b may include a sensor designed to measure acceleration, such as an accelerometer. When the accelerometer detects acceleration in the proximal direction that exceeds a predetermined threshold, the accelerometer can send a signal to the articulated control motor 402 to activate the rectification process. As another example, the sensor 5826a, 5826b may comprise a proximity sensor, such as a magnetic sensor, a Hall effect sensor, a reed switch, or any other suitable proximity sensor. In various forms, the proximity sensor may be designed to measure the proximity of the sensor 5826a, 5826b to a fixed point, such as a trocar 5858 or an external tube 5960. As the surgical instrument 5810 is removed in the proximal direction, the proximity between the sensors 5826a, 5826b and the fixed point may increase. causing the sensor 5826a, 5826b to send a signal to the articulated control motor 402 to activate the rectification process of the end effector 5802. In various forms, numerous sensors can be added to provide Ia backup verification rectifying process.

In one form, the first sensor 5826a and the second sensor 5826b can be located on the surgical instrument 5810. The first sensor 5826a can be located on the proximal part of the rod 5831 and the second sensor 5826b can be located on the distal part of the rod 5831. Those skilled in the art will understand that the first and second sensors 5826a, 5826b can be located on any suitable part of the surgical instrument 5810, such as, for example, a handle 5820, a removable surgical module, a rod 5831, or an end effector 5802 rectified by a sensor. in some forms, the first sensor 5826a may comprise an accelerometer designed to detect rough proximal movement of the surgical instrument 5810. In some forms, the second sensor 5826b may include a proximity sensor designed to determine the distance between the second sensor 5826b and a fixed point, such as, for example, a 5858 trocar. In the form illustrated, trocar 5858 contains a plurality of magnets 5822. A plurality of magnets 5822 can generate a constant magnetic field. The second sensor 5826b can be designed to detect an increase in magnetic field intensity, indicating the movement of the second sensor 5826b and, accordingly, aligned with the sensor end effector 5802 in the direction of the trocar 5858.

In one form, the first transducer 5826a and the second transducer 5826b can be designed to activate the rectification process of the end effector 5802 rectified by the transducer. During operation, the first transducer 5826a can detect gross proximal movement of the surgical instrument 5810 by detecting proximal acceleration above a predetermined threshold. The first sensor 5826a may send a first signal to the articulated control motor 402 to activate the rectification process. In some forms, the second sensor 5826b can also detect coarse proximal movement of the end effector by detecting changes in the magnetic field between the sensor 5826b and a fixed point, such as the trocar 5858. The second sensor 5826b can send a second signal to the articulated control motor 402 to activate the rectification process.

As shown in FIG. 105, the end rectifier 5802 rectified by a sensor was bent along the hinge axis BB (shown in FIG. 1). The sensor rectified end effector 5802 can be connected to the rod 5831. The operator can move the surgical instrument 5810 in the proximal direction, causing the rod 5831 and the sensor rectified end effector 5802 to move in the proximal direction. Proximal movement can be detected by the first sensor 5826a. The first sensor 5826a may include an accelerometer. The first sensor 5826a may send a signal to a pivot control motor, such as, for example, a pivot control motor 402 to activate a rectifying process. Proximal movement can also be detected by the second sensor 5826b. The second sensor 5826b may include a magnetic proximity sensor, such as, for example, a Hall effect sensor or a reed switch. The second sensor 5826b may send a signal to the swivel control motor 402 to activate the rectification process. The second sensor 5826b may send a signal to the articulated control engine 402 independently of the first sensor 5826a.

As the clinician retrieves the surgical instrument 5810 from the trocar 5858, the rectification process rectifies the sensor effector 5802 rectified by the sensor. After the rectification process is completed, the sensor effector 5802 rectified is in the rectified state, as shown in FIG. 106. The straightened sensor-aligned end effector 5802 can be removed via the 5858 trocar without causing damage to the patient or the 5858 trocar and without the need for manual alignment of the sensor-aligned end effector 5802 for the clinician. In some forms, the surgical instrument 5810 may provide a feedback to the user to indicate activation or progress of the straightening process. For example, in some forms, an LED may be located on the handle 5820. The LED may be illuminated during the rectification process to provide the user with a visual indication that the rectification process is occurring.

In some forms, the first and second sensors 5826ab 5826b may function as additional verification of the rectification process. For example, in some forms, both the first and second sensors 5826a, 5826b can transmit a rectification process activation signal to the articulated control motor 402. The signal from either the first sensor 5826a or the second sensor 5826b can cause the articulated control motor 402 to rectify the sensor effector 5802 rectified by the sensor In some forms, the rectification process may not be performed until a signal is received from both the first sensor 5826a and the second sensor 5826b. In some forms, either the first sensor 5826a or the second sensor 5826b can independently activate the rectification process, but the process can be interrupted if a signal is not received from both the first and second sensors 5826a, 5826b within a predetermined time limit. For example, the rectification process may be triggered by a signal from the first sensor 5826a. If no signal is received from the second sensor 5826b within a predetermined time limit, the rectification process can be canceled by the surgical instrument 5810.

In some forms, the surgical instrument 5810 may include a stop sensor. The stop sensor can detect contact between the straightened end effector 5802 and the fabric during the straightening process. If the stop sensor detects contact between the end effector 5802 rectified by the sensor and the tissue section, the stop sensor can send a signal to the articulated control motor 402 to deactivate the straightening process to prevent damage to the patient. In some forms, when the stop sensor determines that the sensor rectified end effector 5802 is no longer in contact with part of the fabric, the stop sensor can send a signal to the articulated control motor 402 to continue the straightening process. In some forms, the stop sensor can send a signal to the operator, for example, through a feedback device, in order to inform the user that the end effector 5802 rectified by the sensor has come into contact with a part of the fabric and that the straightening process has been deactivated. The stop sensor may comprise, for example, a pressure sensor located on the end effector 5802 rectified by the sensor.

FIGS. 107 and 108 illustrate one form of a sensor-rectified end effector 5902. In some forms, a sensor-rectified end effector 5902 can be inserted into a patient through an external tube 5960. The external tube 5960 may include a magnetic ring 5922 located at the distal end external tube 5960. The first sensor 5926a and second sensor 5926b can be designed to detect the movement of the end effector 5902 rectified by the sensor when the rod 5931 is pulled out of the external tube 5960. In some forms, vy 5926a may comprise an accelerometer sensor and a second sensor 5926b may comprise a magnetic proximity detector. The second sensor 5926b can detect a change in the strength of the magnetic field as the second sensor 5926b moves in the proximal direction to the magnetic ring 5922. As the second sensor 5926b approaches the magnetic ring 5922, the second sensor 5926b can generate a signal to initiate the rectification process of the end effector 5902. The second the sensor 5926b may include any suitable sensor for detecting changes in the magnetic field, such as, for example, a reed switch or a Hall effect sensor. As discussed above, the first sensor 5926a and the second sensor 5926b can serve as additional means of checking the rectification process. Those skilled in the art will recognize that in some forms only the first sensor 5926a or the second sensor 5926b may be included. In some forms, additional sensors may be included to detect coarse proximal movement of the 5910 surgical instrument.

FIGS. 109 and 110 illustrate one form of the sensor effector end effector 6002 transitioning from a bent state to a rectified state during retrieval from trocar 6058. In FIG. 109, the sensor effector end effector 6002 is in a bent position relative to rod 6031. Clinician can retrieve the end effector 6002 rectified by the sensor through the trocar 6058 in the proximal direction, as shown by the arrow 'A'. Proximal movement can be detected by the first sensor 6026a, the second sensor 6026b, or both the first and second sensors 6026a, 6026b. The first sensor 6026a may comprise an accelerometer designed to detect coarse proximal movement of the rod 6031. The second sensor 6026b may include a magnetic proximity sensor designed to detect a change in the magnetic field between the second sensor 6026b and a fixed point, such as, for example, a trocar 6058. Trocar 6058 may comprise a magnet 6022 for generating a magnetic field. As the rod 6031 is removed through the trocar 6058, the magnetic field detected by the magnetic sensor 6026b will vary in proportion to the distance between the magnetic sensor 6026b and the magnet 6022. The first sensor 6026a or the second sensor 6026b can generate a signal to the swivel control motor 402 to activate the rectification process rectified using a sensor end effector 6002 relative to the rod 6831.

After the rectification process is completed, the end effector 6002 rectified by the sensor is in the rectified state, as shown in FIG. 110. In the straightened state, the end effector 6002 rectified by the sensor can be removed through the trocar 6058 without damaging the patient, the trocar 6058, and without the need to manually straighten the end effected rectifier using the sensor 6002 for the clinician. In some forms, the clinician can correct the straightening process and keep the end effector 6002 rectified by the sensor in a bent state while retrieving from the 6058 trocar.

FIG. 111 illustrates one form of a magnetic ring 6121 that can be connected to a trocar 5858, 6058, or an external tube 5960. The magnetic ring 6121 may comprise a plurality of magnets 6122 that can generate a magnetic field. A magnetic field can be detected by a magnetic sensor located on a surgical instrument, such as, for example, a second sensor 6026b. The magnetic sensor 6026b may be designed to keep the end effector rectified by the sensor, such as the end effector 6002 in a straightened state, when the magnetic sensor detects a magnetic field generated by the magnetic ring 6121. For example, in one form, the magnetic sensor 6026b can be designed to generate a blocking signal that prevents bending of the end effector if the magnetic sensor 6026b detects a magnetic field exceeding a predetermined threshold value. A predetermined threshold can be set based on the magnetic field generated by the magnetic ring 6121 at a specific distance corresponding to the hinge axis BB located outside the trocar 5858 or the outer tube 5960. In some forms, the magnetic sensor 6026b may activate the rectification process when it is detected the magnetic field strength exceeds a predetermined threshold, and can generate a blocking signal to prevent bending of the end effector 6002 rectified by a sensor to the strength of the detected magnetic field falls below a predetermined threshold.

FIGS. 112 and 113 illustrate one form of a magnetic sensor 6226 containing a reed relay. The reed switch may include an electric switch 6250 operating under the influence of a magnetic field. A pair of contacts can be located ferromagnetic metal tabs in a hermetically sealed glass shell. Contacts can be opened in the normal state, closing in the presence of a magnetic field, or closed in the normal state and open when a magnetic field occurs.

Now turn to FIGS. 105 and 106, which disclosed a method of monitoring rectified using a sensor end effector. Although the control method of the sensor rectified end effector is described herein with respect to FIGS. 105 and 106, those skilled in the art will understand that the method can be applied with any of the forms of the sensor rectified end effector disclosed herein, such as, for example, the forms illustrated by FIG, 107-113. In one form, the method may comprise detecting, by the first sensor 5826a, the rough proximal movement of the surgical instrument 5810. The surgical instrument 5810 may comprise a sensor-aligned end effector 5802. The clinician may bend the sensor-rectified end effector 5802 during operation. When the treatment is finished, the clinician can begin to remove the surgical instrument 5810 from the patient, moving the surgical instrument 5810 in the proximal direction. The proximal movement of the surgical instrument 5810 can be detected by the first sensor 5826a. In some forms, the first sensor 5826a may include an accelerometer designed to detect coarse proximal movement of the surgical instrument 5810. The method may also include the generation by the first sensor 5826a of a signal indicating the detection of coarse proximal movement. A signal may be transmitted by the first sensor 5826a to a controller for the articulated control engine 402, such as, for example, a control circuit such as a control circuit 3702 shown in FIG. 82. Additional engine controllers are presented and described in accordance with FIG. 84, 114-116, etc. The method may also include receiving, by the articulated reference motor 402, a signal from the first sensor 5826a and activating, by the articulated monitoring motor 402, a straightening process for straightening the bend angle of the end effector 5802 rectified by the sensor in response to the received signal. The straightening process may return the end effector 5802 rectified by means of a sensor to the zero bend state.

In some forms, the method may also comprise detecting, with the second sensor 5826b, the rough proximal movement of the surgical instrument 5810. In some forms, the second sensor 5826b may include a magnetic proximity sensor, such as, for example, a Hall effect sensor or a reed switch. The second sensor 5826b may be designed to determine the distance between the second sensor 5826b and a fixed point, such as a trocar 5858 or an external tube 5960. The method for monitoring the sensor rectified end effector 5802 may also include the generation, by the second sensor 5826b, of a signal indicating detection rough proximal movement. The second signal may be transmitted to the swivel control motor 402. The method may also include receiving, by the swivel control motor 402, a second signal and activating, by the swivel control motor 402, a straightening process to straighten the bend angle of the end effector 5802 straightened by the sensor. In some forms the second sensor 5826b may generate a second signal independent of the first sensor 5826a.

In some forms, the first and second sensors 5826ab 5826b may function as additional verification of the rectification process. For example, in some forms, both the first and second sensors 5826a, 5826b can transmit a rectification process activation signal to the articulated control motor 402. The signal from either the first sensor 5826a or the second sensor 5826b can cause the articulated control motor 402 to rectify the sensor effector 5802 rectified by the sensor In some forms, the rectifying process may not be performed until both signals are received from the first and second sensors 5826a, 5826b. In some forms, either the first sensor 5826a or the second sensor 5826b can independently activate the rectification process, but the process can be interrupted if a signal is not received from both the first and second sensors 5826a, 5826b within a predetermined time limit. For example, the rectification process may be triggered by a signal from the first sensor 5826a. If no signal is received from the second sensor 5826b within a predetermined time limit, the rectification process can be canceled by the surgical instrument 5810.

In one form, various surgical instruments may use a modular engine monitoring platform. For example, a modular control platform may be applied by control circuit 3702. FIG 114 shows one form of a modular control platform of engines 6300 comprising a main controller 6306, one or more pairs of engine controllers 6309a-6309c. Platform 6300 can control one or more engines 6318a, 6318b, 6318c. Engines 6318a, 6318b, 6318c may be any motors that are used in a surgical instrument. For example, in some forms, one or more of the motors 6318a, 6318b, 6318c may correspond to one or more of a swivel control motor 402, a starting motor 530, a rotation motor of the end effector 560, and / or a motor of rotation of the shaft 610. In various forms, the respective controllers 6306, 6309a -6309c can be used using one or more processors (e.g., the processors involved in control circuit 3702). The 6300 modular motor control platform may be suitable for controlling a motor-controlled surgical instrument, such as, for example, the surgical instrument 10 shown in FIGS. 1 and 2. In various forms, the main controller 6306 may be located on a distal mounting plate 810 or a proximal mounting circuit board 820. A first motor controller 6314a is operatively connected to a first motor 6318a to provide one or more control signals to a first motor 6318a. The second engine controller 6314b may be operatively connected to the second engine 6318b and the third engine controller 6314c may be operatively connected to the third engine 6318c. The motor controllers 6314a-6314c are in electrical connection with the main controller 6306. The main controller 6306 provides control signals to the motor controllers 6314a-6314c based on the main control process to control one or more functions of the end effector 6302. The main control process may be a predefined process , a user-defined process, or a device-generated process.

 In one form, the main control process can determine one or more surgical procedures that the surgical instrument 10 is capable of performing, containing one or more functions of the rod 30 and the end effector 102. For example, in one form, the main control process can specify the cutting and stapling operations of the surgical tool 10 The cutting and stapling operations may comprise a variety of functions of the surgical instrument 10, such as, for example, a clamping function, a compressing function, a stapling function, a cut function and release function. The user can mark the beginning of the cutting and stapling operation in any suitable way, such as, for example, pressing a button or switch on the handle 20. Those skilled in the art will understand that any suitable input method can be used to activate one or more functions of the surgical instrument 10.

In one form, when the clinician marks the beginning of the cutting and stapling operation, for example, by pressing a button on the handle 20, the main controller 6306 can generate a series of control signals and transmit control signals to one or more controllers 6314a-6314c. For example, at time t ₀ , the cutting and stitching operation may begin. The main controller 6306 may generate a first signal indicating the need to perform a compressive function. The first control signal may be transmitted to a first motor controller 6314a connected to the first motor 6318a, designed to control the compressive movement of the end effector 6302. The first motor controller 6314a may, in turn, provide one or more signals to the first motor 6318a that activates the first motor 6318a for pivoting the assembly of the abutment member 190 of the end effector 102 to compress tissue located between the abutment member 190 and the cartridge 130. The main controller 6306 may request a first The engine controller 6314a reports a status signal until the first engine controller 6314a indicates that the compression operation is completed. At time t _{1, the} first engine controller 6314a can send a signal to the main controller 6306, indicating the end of the compression function.

At time t ₂ , a second control signal may be transmitted from the main controller 6306, indicating the need for a stitching and cutting operation. A second pilot signal may be sent to a second engine controller 6314b coupled to the second engine 6318b. The second engine 6318b can be designed to control the proximal and distal movement of the cutting part 164 and / or the slide 170 located in the end effector 102. The signal for monitoring the stapling and cutting operation instructs the second motor controller 6314b to activate the second motor 6318b to extend the cutting part 164 and / or the sled 170 in the distal direction, causing the cartridge with brackets 130 to work and the cutting part 164 to cut the fabric, compressed by the node of the thrust element 190, as described in more detail above. At time t _{3, the} cutting portion 164 reaches the most distal point and the second motor controller 6314b may send a signal to the main controller 6306, indicating the completion of the stapling and cutting operation. The second engine controller 6314b may automatically generate a pilot for the second engine 6318b to reverse the direction of the cutting part 164 until the cutting part 164 is completely removed.

After receiving a signal from the second engine controller 6314b at time t ₃ , the main controller 6306 may send a third control signal to the first engine controller 6314a, indicating the need to perform the release function. The first engine controller 6314a may generate a pilot signal for the first engine 6318a, causing the first engine 6318a to reverse the previously performed compression operation and open the thrust unit 190. The release function may be performed by the first engine controller 6314a and the first engine 6318a simultaneously with the reverse movement of the second engine 6318b to return the cutting portion 164 to the starting position. The use of the main controller 6306 and individual motor controllers 6314a, 6314b allows the surgical instrument 10 to perform numerous operations without overloading any of the individual controllers 6306, 6314a, 6314b /

Motor controllers 6314a-6314c may comprise one or more independent processes for monitoring and controlling surgical operations, such as, for example, engine movement. In some forms, motor controllers 6314a-6314c may be designed to control one or more feedback control mechanisms. For example, in some forms, motor controllers 6314a-6314c may be designed as closed-loop controllers, such as single-input-single-output (SISO) or multiple-input-multiple-output (MIMO) controllers. In some forms, the 6314a-6314c motor controllers may operate as proportional-integral-differential (PID) controllers. The PID controller can control the control cycle using three correction indicators, a proportional growth indicator, an integral growth indicator and a differential growth term. The PID controller may include a control process designed to measure the specified variable and compare the measured value of the specified variable with the expected value of the specified variable or the specified point of the specified variable. The PID controller can adjust the control variable based on the difference between the measured value and the expected value of the specified variable. In some forms, motor controllers 6314a-6314c may comprise a PID motion speed controller. For example, the first engine controller 6314a may measure the indicated variable, such as position 6314a. The first engine controller 6314a may adjust a control variable, such as the speed of engine 6314a, based on the difference between the measured position of engine 6314a and the set point or expected position of engine 6314a.

In some forms, engine controllers 6314a-6314c may be designed as defect detection controllers. The defect detection controller can control the defect detection process. In some forms, a defect detection controller may control a direct circuit defect recognition process comprising monitoring one or more sensors designed to directly indicate a defect, which may be referred to as defect detection based on signal processing. In some forms, the sensor value provided by the sensor is compared with the expected sensor value taken from a surgical process model controlled by a defect detection controller, which may be referred to as model based defect detection. One skilled in the art will understand that a combination of signal processing or model-based defect detection can be used by a motor controller.

In some forms, motor controllers 6314a-6314c may be designed as current / power limit controllers. A current / force limiting controller may be designed to limit a measured value, such as the current supplied to the motor, or the force developed by the motor to a predetermined value. For example, in one form, the first motor controller 6314a may be designed to limit the force developed during the compression operation to a predetermined value. The power sensor can track the force provided by the first engine 6318a, designed to control the compressive action of a surgical instrument. When the force value measured by the power sensor corresponds to a predetermined value, the first motor controller 6314a may terminate the first motor 6318a. In some forms, the motor controller 6314a-6314c may be designed to track the current supplied to the motor 6318a-6318c. The current involved by the engine 6318a-6318c may indicate one or more functions of the engine 6318a-6318c, such as the speed of the engine or the force developed by the engine during a surgical operation. If the current drawn by the motor 6318a-6318c exceeds a predetermined threshold value, the motor controller 6314a-6314c may terminate the motor to prevent harm to the patient and the surgical instrument.

In some forms, motor controllers 6314a-6314c may provide independent confirmation of the main control process performed by the main controller 6306. For example, motor controllers 6314a-6314c may confirm that the action requested by the main controller 6306 is valid before the requested action is performed. In some forms, the engine controller 6314a-6314c may use status information to confirm the validity of the requested action. For example, in one form, the first motor controller 6314a may receive instructions from the main controller 6306 to perform cutting and stapling operations. The first motor controller 6314a may check the current state of the surgical instrument, such as, for example, checking whether the block of the abutment element 190 is in a compressed position. If the state information corresponds to a valid state for performing the cutting and stapling operation, the first engine controller 6314a may perform the cutting and stapling operation. However, if the status information does not match the valid state for cutting and stitching, the first engine controller 6314a may indicate a problem in the main controller 6306 or the main control process. Specialists in this field will understand that the engine controllers 6314a-6314c may contain one or more control processes and one or more types of control process.

FIG illustrates one form of a modular engine monitoring platform 6400, containing a main controller 6406 and four pairs of engine-controller 6409a-6409d. The 6400 Modular Engine Monitoring Platform can also be used by the control circuitry 3702 described above, for example, using one or more processors. The 6400 Engine Modular Monitoring Platform can be designed to control various engines. For example, the distal rotation motor 6418a may operate in a manner similar to that described herein with respect to the end effector 560 rotation motor. The hinge engine 6418b may operate in a manner similar to that described herein with respect to the swivel motor 402. The proximal rotation motor 6418c may operate in a manner similar to that described herein with respect to the shaft rotation motor 610. The cutting motor 6418d may operate in a manner similar to that described herein relative to the starting of the engine 530.

Main controller 6406 may be electrically connected to one or more motor controllers 6414a-6414d. The main controller 6406 can be connected to one or more motor controllers 6414a-6414d via a wired or wireless connection. In some forms, motors 6418a-6418d may include coupled decoders of engines 6416a-6416d designed to provide a signal indicative of the position of the motor shaft. In some forms, 6416a-6416d engine decoders may not be available. In one form, the main controller 6406 can be designed to communicate with any number of motor controllers 6414a-6414d, such as, for example, from one to ten controllers. In some forms, the main controller 6406 may be designed to communicate with one or more additional peripheral controllers (not shown), where the peripheral controllers are designed to control one or more non-motorized surgical functions, such as, for example, ultrasound functions, electrosurgical functions, or any other suitable function of the surgical instrument.

In one form, the main controller 6406 can synchronously communicate with the motor controllers 6414a-6414d. Communications from the main controller 6406 may include, for example, providing instructions for performing special routines or functions of the 6414a-6414d motor controller, requesting the 6414a-6414d motor controllers to update the status and receive feedback information from the 6414a-6414d motor controllers. Synchronous communication may be direct communication between the main controller 6406 and the motor controllers 6414a-6414d, where the communications are synchronized in time. For example, in the form illustrated in FIG. 114, the main controller 6406 may communicate with each of the motor controllers 6414a-6414d during predetermined time periods. In another form, a marker may be drawn between the 6414a-6414d motor controllers, allowing the 6414a-6414d motor controllers that currently hold the marker to communicate with the main controller 6406 during a predetermined time period.

In one form, the main controller 6406 may perform the main control process. The main control process can track input from the user, perform the operations of the surgical instrument 10, provide the user with feedback, or perform any other functions of the surgical instrument 10. For example, in one form, the main controller 6406 can perform the main control process containing the cutting and stapling operation. In some forms, the main control process may provide control signals to each of the engine controllers 6414a-6414d. The performance of the individual functions of each of the engines 6418a-6418d can be controlled by the controllers of the engines 6414a-6414d. In some forms, the main control process can activate or deactivate one or more engines 6418a-6418d based on connecting or disconnecting a modular surgical component, such as modular shaft 30 or working part 100. Main controller 6406 can provide control signals to motor controllers 6414a-6414d and can receive status signals from engine controllers 6414a-6414d. Status signals may include, for example, a function execution signal, a malfunction signal, a wait signal, or a feedback signal.

In some forms, a functional signal may indicate the operational or completed status of a function that the motor-controller 6409a-6409d pairs can perform. For example, a function signal may indicate that a compress operation is in progress or has been completed. The function signal may also indicate the success of the operation, for example, indicate the amount of force exerted by the compressed tissue during the compression operation. The engine controller 6414a-6414d may generate a malfunction signal if the engine controller 6414a-6414d detects an error in the associated engine 6418a-6418d or in a surgical operation. A malfunction signal may cause the main controller 6406 to generate a malfunction signal to the operator, such as, for example, a visual indicator or an audible indicator. A malfunction signal may also cause the main controller 6406 to send control signals to the motor controllers 6414a-6414d to stop any function currently being performed.

The standby signal may be transmitted by the motor controllers 6414a-6414d to the main controller 6406 to indicate that the associated motor 6418a-6418d is in a standby state and may be used to perform the associated function of the surgical instrument 10. In one form, the standby signal may indicate that the function was performed by the 6418a-6418d engine. For example, in one form, the first engine controller 6414a may receive a pilot from the main controller 6406 to perform a compression operation. The first engine controller 6414a may convert the pilot from the main controller 6406 into one or more pilot signals for the engine 6418a. When the engine 6418a has performed the specified function, the engine controller 6414a may transmit a wait signal to the main controller 6406, indicating that the engine 6418a has performed the requested function.

In various forms, the feedback signal may be transmitted by the motor controllers 6414a-6414d to the main controller 6406. The main controller 6406 may have one or more associated feedback devices (not shown) to provide feedback to the operator. The feedback signals received from the motor controllers 6414a-6414d can be converted to control signals for the feedback devices using the main controller 6406. In some forms, the motor controllers 6414a-6414d can send feedback signals directly to the feedback device.

In some forms, synchronous communication between the main controller 6406 and the motor controllers 6414a-6414d may be interrupted by an overlapping signal. An overlapping signal may cause the main controller 6406 to interrupt synchronous communication and communicate with the motor controller 6414a, generating an overlapping signal. In various forms, an overlapping signal may be generated by the engine controller 6414a as a result of a malfunction of the engine, an incoming signal from the user, or based on a predetermined threshold in one or more feedback signals. The overlapping signal may cause the main controller 6406 to send a signal to each of the 6414a-6414d engine controllers to interrupt all actions of the 6418a-6418d engines until the condition that led to the generation of the overlapping signal is eliminated. In one form, the main controller 6406 may generate a signal for one of the feedback devices to inform the operator of the overlapping signal.

FIG. 116 illustrates one form of a modular engine control platform with a dual controller 6500. The platform 6500 may also be used by the control circuit 3702, as described herein. The 6500 dual-engine modular engine control platform comprises a main controller 6506, a secondary controller 6507, and four engine-controller pairs 6509a-6509d. The 6400 Engine Modular Monitoring Platform can be designed to monitor engines 6518a, 6518b, 6518c, 6518d. For example, the distal rotation motor 6518a may operate in a manner similar to that described herein with respect to the end effector 560 rotation motor. The hinge engine 6518b may operate in a manner similar to that described herein with respect to the swivel motor 402. The proximal rotation motor 6518c may operate in a manner similar to that described herein with respect to the shaft rotation motor 610. The cutting motor 6518d may operate in a manner similar to that described herein relative to the starting of the engine 530.

The 6400 modular engine monitoring platform can be designed to control the articulated motor 402, the starting motor 530, the end effector rotation motor or the “distal rotation motor” 560 and the rod rotation motor or the “proximal rotation motor” 610. Both the main controller 6506 and the secondary controller 6507 may be associated with a subset of available engine controllers. For example, in the illustrated form, the main controller 6506 is connected to the first and second motor controllers 6526a-6526b, and the secondary controller 6507 is connected to the third and fourth motor controllers 6526c-6526d. The main controller 6506 and the secondary controller 6507 may be in electrical communication. In some forms, the secondary controller 6507 may be located on the distal circuit board 810 or the proximal circuit board 820. The secondary controller 6507 can reduce the load on the main controller 6506 by reducing the number of motor controllers 6526a-6526d with which the main controller 6506 must communicate and control them. The main controller 6506 and the secondary controller 6507 may receive one or more control inputs 6508.

In one form, the main controller 6506 may provide pilot signals directly to the first engine controller 6526a and the second engine controller 6526b. The main controller 6506 may also transmit pilot signals to the secondary controller 6507. The secondary controller may transmit pilot signals to a third engine controller 6526c and a fourth engine controller 6526d. By reducing the number of motor controllers 6526a-6526d that the 6506 main controller must request and control, the modular dual-controller 6500 motor control platform can increase the response time or redirect the additional process load of the main controller 6506 to other tasks. In one form, the main controller 6506 can carry out the main control process, and the secondary controller 6507 can carry out the secondary control process to generate one or more signals for motor controllers 6526a-6526d based on input from the main controller 6506. In one form, the secondary controller 6507 can receive control input signals from one or more user control devices, such as, for example, a compression button or a start switch. In one form, the main controller 6506 may communicate with one or more secondary controllers 6507 and may not transmit any control signals directly to the motor controllers 6526a-6526d.

In one form, additional minor controllers 6507 may be added to the system to control additional motor controllers or surgical modules. In one form, the secondary controller 6507 can only be used if a predefined threshold for motor controllers is required. For example, in the form shown in FIG. 115, four motor controllers 6526a-6526d are connected to a modular engine control platform with a dual controller 6500. Both the main controller 6506 and the secondary controller 6507 can be connected to two motor controllers 6526a-6526d. Deactivating one or more motors, for example, by replacing the shaft 30 with another shaft that requires only two engines for articulation, can deactivate the secondary controller 6507, since the additional processing energy of the secondary controller 6507 is not required to reduce the processing load of the main controller 6506. In some deactivating one or more engine controllers 6526a-6526d may result in the assignment of the remaining engine controllers to a pending second a power controller 6507. For example, the deactivation of the third and fourth motors 6518s, 6518d lead to a transition of a secondary monitor 6507 in standby mode. The second motor controller 6526b can be disconnected from the main controller 6506 and connected to the secondary controller 6507 to reduce the processing load on the main controller 6506. One or more load balancing processes can be carried out as part of the main control process to ensure that control is distributed optimally between the main a 6506 controller and one or more minor 6507 controllers.

Returning to FIG. 114-116, it is possible to disclose a method for controlling a modular surgical instrument 10 containing a plurality of motor controllers. Although the method for monitoring a modular surgical instrument 10 is discussed in connection with FIGS. 114-116, those skilled in the art will understand that the method can be applied taking into account any embodiment of the surgical instrument or various monitoring platforms described herein. The method may comprise generating a master control process containing one or more control signals by the main controller 6506. The method may also comprise transmitting pilot signals generated from the main controller 6506 to one or more engines 6526a-6526d. Motor controllers 6526a-6526d may receive transmitted pilot signals. In some forms, a subset of pilot signals received by the first engine controller 6526a may comprise pilot signals transmitted by the main controller 6506 during a certain period of time in which the main controller 6506 and the first motor controller 6526 are in synchronous communication. The method may also comprise monitoring, using the motor controllers 6526a-6526d, one or more associated motors 6518a-6518d, based on the control signals received from the main controller 6506.

In some forms, the method may comprise transmitting, using the main controller 6506, one or more pilot signals to the secondary controller 6507. The secondary controller 6507 may be electrically connected to one or more motor controllers 6526c-6526d. The secondary controller 6507 may perform a secondary monitoring process comprising generating one or more engine control signals based on input received from the main controller 6506. The secondary monitoring process may also comprise transmitting, by the secondary controller 6507, engine monitoring signals to one or more electrically connected controllers engine 6526s-6526d. The method may also include monitoring, with the help of engine controllers 6526c-6526d, one or more associated engines in response to received engine control signals. In various forms, a subset of the generated engine control signals may be synchronously transmitted to each of the engine controllers 6526c-6526d for a predetermined period of time.

FIG. 117 illustrates one form of a master control process 6600 that may be implemented by a master controller, such as, for example, the master controllers shown in FIGS. 114-116, or any other suitable master controller. In one form, the surgical instrument 10 may comprise four motors, such as, for example, a hinge motor 402, a starting motor 530, an end effector rotation motor or a “distal rotary” motor 560, and a shaft rotation motor or a “proximal rotary” motor 610 and a lever switch 842. Surgical instrument 10 may be designed to perform distal rotation functions, compressive functions and trigger functions. The surgical instrument 10 may include one or more buttons for controlling various operations of the surgical instrument 10, such as, for example, a return button, an unload button, a capture button, a compression button, or a start button. The surgical instrument 10 may also include a light emitting diode (LED) for providing visual feedback regarding the actions of the surgical instrument 10 to the user.

In some forms, when the surgical instrument 10 is activated, the main controller 6406 enters the device into default mode. In the illustrated master control process 6600, the default mode is hinge state 6602. Hinge state 6602 may include activating three or four available motors. The activated motors can control the rotation of the rod 30 (for example, the rotation motor of the rod 610), the end effector 102 (for example, the rotation motor of the end effector 560), and / or the articulated bending of the end effector 102 (for example, the hinge engine 410). In articulated mode, the lever switch 842 can be active by default. In articulated mode 6602, the lever switch 842 can be used to control the articulation or rotation of the shaft 30 and end effector 102. The distal rotation function can be active (or available), while the capture, compression and start functions are not available. The return button can also be activated in default mode. The LED should be green to indicate that the surgical instrument 10 is in a state in which the surgical instrument 10 can move safely.

The user can press the return button 6604, causing the surgical instrument 10 to return to its initial state 6606, for example, a starting state in which the end effector 102 is straightened relative to the rod 30 and the rod 30 and the end effector 102 are returned to the zero rotation state. The initial state 6606 may be useful in the transition from one operation to another or may allow the user to quickly reorient the surgical instrument 10 during the operation. When the initial state 6606 is reached, the main control process 6600 can return 6605 to the hinged state by default 6602.

In one form, the end effector 102 illustrated in FIGS. 1 and 2 can be reversibly connected to the shaft 30 to allow the various working parts to be connected to the shaft 30. The shaft 30 can be reversibly connected to the handle 20 to allow the various bars to be connected to the surgical instrument 10. In one form, the main controller 6406 may respond to the ejection 6608 of the end effector 102 or the rod 30 from the surgical instrument 10, and may suspend the operation of the surgical instrument 10 until a new the rye or working part will not be connected to the surgical instrument 10 and the surgical instrument 10 will not return to the initial state 6606. After the main control process 6600 has detected a new end effector 102 and returned to the initial state 6606, the main control process 6600 may enter the mode the default is 6602.

In one form, the surgical instrument 10 may have an attached end effector 102. The end effector 102 may be designed to perform a grip function. The capture function may comprise capturing a region of tissue between the abutment member assembly 190 and the cartridge 130 of the end effector 102. The surgical instrument 10 may include a capture button to activate the capture function. When the user presses the grip button 6614, the surgical instrument 10 can enter grip mode 6616, blocking the movement of the end effector 102, such as rotation or articulation, relative to the shaft 30. Grip mode 6616 can activate a fourth motor (eg, starting motor 530) to force part of the end effector 102 to capture a section of tissue, for example, by moving the assembly of the thrust element 190 from an open position to a closed position. The effector button can be activated when the surgical instrument 10 enters clamping mode.

In some forms, the clinician can press the effector button 6620, causing the surgical instrument 10 to enter clamp mode 6622. In compression mode 6622, the surgical instrument 10 can block the fourth motor to prevent the release of a tissue section during a subsequent operation. Compression mode 6622 can activate the start button located on the handle 20. When the surgical instrument 10 has entered compression mode 6622, the main controller 6406 can change the LED to blue to indicate to the clinician that the tissue is compressed by the stop assembly 190 and that the surgical instrument 10 can be launched to carry out stitching and cutting operations.

The clinician can press the start button 6626, forcing the surgical instrument 10 to enter 6628 start mode. In the 6628 start mode, the surgical instrument 10 can deactivate motors designed to control the movement of the surgical instrument 10, such as, for example, engine 1-3. Starting mode 6628 may activate a fourth motor, which may be designed to control the stapling and cutting operation, as described above. The start button can be held down, causing the main controller 6406 to generate control signals for the engine controller associated with the fourth engine to activate the stapling and cutting operation, causing the cutting portion 164 and / or the slide 170 to extend inside the cartridge 130 located in the end effector 102 During start-up, the main controller 6406 can set the LED to red to inform the clinician that the surgical instrument 10 is running. The “Launch Label” can be set to “true” by the main controller 6406, indicating that the surgical instrument has been started and may not start again. A main controller 6406 or an engine controller associated with the fourth engine can automatically remove the cutting portion 164 when the cutting portion 164 has reached the distal end of the end effector 102. When the cutting portion 164 has completed the reverse movement and returned to its original position, the main control process 6600 may return 6630 into compression state 6622.

The clinician can deactivate 6624 compression state 6622 by pressing the compression button. Main control process 6600 will generate one or more signals to return to capture state 6616 when compression state 6622 is deactivated. The clinician can then remove the 6618 device from capture mode 6616 and put it into articulated mode 6602 or any other suitable default state. Those skilled in the art will understand that the main control process 6600 can be modified to provide any surgical operation or function that the surgical instrument 10 or any connected surgical module can perform. In some forms, the main control process 6600 may be automatically designed based on attached rods, end effectors, or power modules.

In accordance with one general form, a surgical instrument is provided comprising a handle unit that is designed to simultaneously and independently electrically generate at least two discrete rotary control movements. The surgical instrument may also include an elongated shaft unit that is operatively interacting with the handle assembly to independently and simultaneously receive and transmit at least two discrete rotary control movements to an end effector connected to the elongated shaft unit.

In accordance with another general form, a surgical instrument is provided comprising a handle unit that is designed to simultaneously and independently electrically generate at least three discrete rotary control movements. The surgical instrument may also include an elongated shaft unit that is operatively cooperative with the handle assembly to independently and simultaneously receive and transmit at least three discrete rotary control movements to an end effector connected to the elongated shaft unit.

In accordance with another general form, a surgical instrument is provided comprising a drive system that is designed to electrically generate a plurality of discrete rotary control movements. The surgical instrument may also include an elongated shaft unit that is operatively connected to the drive system to receive a first rotational control motion therefrom to rotate the elongated shaft assembly about the axis of the rod. The elongated rod block can be designed to receive and transmit a second rotational control movement from the drive system to the surgical end effector, which is functionally connected to the elongated rod block to cause the surgical end effector to rotate around the axis of the rod relative to the elongated rod assembly. The elongated rod assembly can also be designed to receive or transmit a third rotational control movement from the drive system to the swivel, which is coupled to the elongated rod assembly and the surgical end effector to bend the surgical end effector around the articulated axis, which is substantially perpendicular to the axis of the rod.

In accordance with yet another general form, a swivel joint for a surgical instrument is provided that includes an elongated shaft unit and a drive system that is designed to generate and apply a plurality of rotary control movements to the elongated shaft unit. In at least one form, the articulation comprises a proximal connecting portion that is connected to the elongated shaft block and a distal connecting portion that is movably connected to the proximal connecting portion and is designed to interface with a surgical end effector. The first gear system can functionally interact with the proximal part of the launch rod of the elongated shaft assembly. The distal trigger rod can functionally interact with the surgical end effector to transmit rotational trigger motion from the proximal trigger rod to the surgical end effector, while making hinged bending of the distal connecting portion relative to the proximal connecting part more convenient. The second gear system can functionally interact with the proximal part of the rotating rod of the elongated rod assembly to transmit the distal rotational control movement to the end effector to make the surgical end effector rotate relative to the elongated rod assembly, while making it more convenient to hinge the distal connecting part relative to the proximal connecting part.

In accordance with yet another general form, there is provided an articulated joint for a surgical instrument in which there is an elongated shaft unit and a drive system that is designed to generate and apply a plurality of rotary control movements to the elongated shaft unit. In at least one form, the hinge includes a proximal bracket that is connected to the elongated rod block, and a distal bracket that is mounted with a pin so that it can rotate on the proximal bracket to selectively rotate there relative to the hinge axis, which is essentially perpendicular to the axis of the rod, which is defined node extended rod. The first gear system can be supported in the gear region located between the proximal and distal brackets, so that no part of the first gear system extends radially outward beyond any part of the articulation. The first gear system can functionally interact with the proximal part of the launch rod of the elongated shaft assembly. The distal trigger rod can functionally cooperate with the surgical end effector to transmit rotational trigger motion from the proximal trigger rod to the surgical end effector, while simultaneously making more convenient the pivotal movement of the distal bracket relative to the proximal bracket. The second gear system can be supported in the gear region, so that no part of the first gear system extends radially outward beyond any part of the articulation. The second gear system can functionally interact with the proximal part of the rotating rod of the elongated rod assembly to transmit the distal rotational control movement to the end effector to make the surgical end effector rotate relative to the elongated rod assembly, while making hinged bending of the distal bracket relative to the proximal bracket more convenient.

In accordance with another general form, a surgical tool is provided comprising a drive system that is designed to generate a plurality of rotary control movements. The elongated rod unit is operatively interacting with the drive system and may comprise an external segment of the rod, which is operatively interacting with the drive system to obtain distal rotary control movements from it. The hinge rod can functionally interact with the drive system to receive rotary articulated movements from it. The elongated shaft block may also include a proximal segment of the launch rod, which functionally interacts with the drive system to receive rotational starting movements from it. The surgical instrument may also include a hinge, which may include a proximal bracket that is connected to the elongated shaft unit, and a distal bracket that is mounted with a pin so that it can rotate on the proximal bracket to selectively rotate there relative to the hinge axis, which is essentially perpendicular to the axis of the shaft, given by the node of the elongated shaft. The coupling block can rotationally interact with the distal bracket and be designed to be connected to a surgical end effector. The distal segment of the trigger shaft can be functionally supported by the coupling assembly and be designed to interact with a portion of the drive shaft of the surgical end effector. The first gear system can functionally interact with the proximal segment of the launch rod and the distal segment of the launch rod to transmit rotational trigger movements from the proximal segment of the launch rod to the distal segment of the launch rod, while allowing the distal bracket to selectively rotate relative to the proximal bracket. The second gear system can functionally interact with the proximal rotary shaft to transmit distal rotary control movements to the coupling unit, while simultaneously allowing the distal bracket to selectively rotate relative to the proximal bracket. The link of the articulated drive can interact with the articulated rod and the distal bracket and be limited in axial movements relative to the articulated joint in response to the application of rotational articulated movements to the articulated rod.

In accordance with yet another general form, a hinge cover is provided that is supported in an elongated shaft block of a surgical instrument that is operatively connected to a surgical end effector that has at least one end effector conductor. In at least one form, the lid comprises an electrically non-conductive hollow body that has an open distal end and an open proximal end and a passage for receiving a connection that extends between them to receive a swivel. The hollow body is designed to allow parts of the swivel to selectively bend relative to each other, while substantially covering parts within the hollow body. At least one electrically conductive line extends from a distal end of the hollow body to a proximal end of the hollow body. Each of the at least one electrically conductive lines has a distal end portion that is designed to electrically contact the corresponding end effector conductor when the end effector is connected to the elongated rod unit, and a proximal end portion that is designed to electrically contact the corresponding rod conductor in the elongated block the rod.

In accordance with another general form, a surgical instrument is provided that includes an elongated shaft unit in which there is at least one electric rod conductor and an articulated joint. In at least one form, the swivel includes a proximal portion of the swivel connected to the elongated shaft block. The distal portion of the joint is movably connected to the proximal portion of the joint for selective articulation relative to that portion. The coupling block is rotatably connected to the distal part of the swivel for selective rotation relative to this part. The coupler unit can be designed to reversibly connect to the surgical end effector and form an electrically conductive connecting line from the end effector conductor to the swivel. The surgical instrument may also include a swivel conductor that includes a conductive connecting line and extends through the swivel to contact a corresponding rod conductor to form an electrically conductive line between them.

In accordance with another general form, a surgical instrument is provided comprising a control system that comprises at least one electrical control component. The surgical instrument also includes an elongated shaft unit, which has an electric rod conductor that is operatively connected to at least one electrical control component. The surgical instrument may also include a swivel that includes a proximal bracket connected to an elongated shaft block. The distal bracket is rotatably connected to the proximal bracket with selective relative rotational movement. The surgical instrument may also include a coupler unit that is connected to the distal bracket, and a surgical end effector that is reversibly connected to the coupler unit. The surgical end effector may include an end effector conductor that is adapted to electrically contact an electrically conductive connecting line formed in the coupler unit when the surgical end effector is connected to the coupler unit. The swivel conductor may pass through the swivel and be in electrical contact with the conductive line through the connector block and the rod conductor.

 In accordance with yet another general form, a surgical instrument is provided that includes a handle unit to which an elongated shaft unit is operatively connected designed to functionally connect to a surgical end effector. The engine is supported by a handle assembly and is designed to apply rotational motion either to an elongated shaft or to a surgical end effector connected to it. The disk control unit is functionally supported on the handle block and communicates with the engine in such a way that when the activating part of the disk control unit is rotated in the first direction, the engine applies a rotational movement to the elongated shaft block or end effector in the first direction, and when the activating part rotates in in the second direction, the motor applies a rotational movement to the elongated rod block or the end effector in the second direction.

In accordance with yet another general form, a surgical instrument is provided that includes a handle unit, in which there is an elongated shaft unit, rotatably connected to it and designed for functional connection with a surgical end effector. The engine is supported by a handle assembly and is designed to apply rotational motion either to an elongated rod block for selective rotation around the axis of the rod. The surgical instrument also includes a disk control unit that includes a disk activating element that is rotatably supported relative to the handle assembly. The first magnet is supported on the disk activating element, and the second magnet is supported on the disk activating element. A stationary sensor is centered between the first and second magnets when the disk activating element is in an inactive position. The stationary sensor communicates with the engine in such a way that when the activating part of the disk control rotates in the first direction, the engine applies a rotational movement to the elongated rod block in the first direction, and when the activating part rotates in the second direction, the motor applies rotational motion to the elongated rod block in the second direction.

In accordance with yet another general form, a surgical instrument is provided that includes a handle unit to which an elongated rod unit is operatively connected, designed to functionally connect to a surgical end effector so that the end effector can selectively rotate around the axis of the rod relative to the elongated rod assembly. The engine is supported by the handle assembly and is designed to apply rotational motion to the end effector or the connecting part of the elongated rod assembly to which the end effector is connected for selective rotation around the axis of the rod. The surgical instrument also includes a disk control unit that includes a disk activating element that is rotatably supported relative to the handle assembly. The first and second magnets are supported on the activating disk element. A stationary sensor is centered between the first and second magnets when the disk activating element is in an inactive position. The stationary sensor communicates with the engine in such a way that when the activating disk element rotates in the first direction, the motor applies rotational motion to the end effector or the connecting part in the first direction, and when the activating disk element rotates in the second direction, the motor applies rotational motion to the end effector or connecting part in the second direction.

In accordance with another general form, a surgical instrument is provided comprising a housing in which a plurality of engines are housed. The surgical instrument also includes a control lever switch unit that includes a first switch unit movably supported by the housing and includes a lever switch that is movably located there so that a pivoting movement of the lever switch relative to the first switch assembly causes at least one corresponding control signal to be sent at least one of the engines connected to it. The lever switch unit also includes a second switch unit, which comprises a first sensor and a second sensor capable of moving with the first switch assembly such that the movement of the second sensor relative to the first sensor causes at least one more control signal to be sent to another of the motors connected to it .

In accordance with another general form, a surgical instrument is provided that includes a handle unit and has an elongated shaft unit rotatably connected to it. The proximal rotary engine is supported by the handle assembly and is designed to apply proximal rotational movements to the elongated shaft assembly in order to cause the extended stem assembly to rotate about the handle assembly about the axis of the shaft. The surgical end effector is functionally connected to the node of the elongated shaft and is designed to perform a surgical procedure when at least one starting motion is applied to it. The starting engine is supported by the handle assembly and is designed to apply starting movements to part of the elongated shaft assembly for transmission to the surgical end effector. The surgical instrument also includes a control lever switch unit, which includes a first switch unit movably supported by the handle assembly by the housing, and includes a lever switch that is movably located there so that a pivoting movement of the lever switch relative to the first switch assembly forces at least one corresponding control signal sent to the proximal rotating motor. The lever switch unit also includes a second switch unit that comprises a first sensor and a second sensor capable of moving with the first switch assembly such that movement of the second sensor relative to the first sensor causes at least one more control signal to be sent to the starting engine.

In accordance with another general form, a surgical instrument is provided that includes a handle unit and has an elongated shaft unit rotatably connected to it. The surgical instrument also includes a swivel that includes a proximal connecting portion that is connected to the elongated shaft block and a distal connecting portion that is movably connected to the proximal connecting portion. The hinge motor is supported by the handle assembly and is designed to apply articulated movements to the hinge joint to force the distal connecting part to move relative to the proximal connecting part. The surgical end effector is functionally connected to the node of the elongated shaft and is designed to perform a surgical procedure when at least one starting motion is applied to it. The starting engine is supported by the handle assembly and is designed to apply starting movements to part of the elongated shaft assembly for transmission to the surgical end effector. The surgical instrument also includes a control lever switch unit, which includes a first switch unit movably supported by the handle assembly by the housing, and includes a lever switch that is movably located there so that a pivoting movement of the lever switch relative to the first switch assembly forces at least one corresponding control signal sent to the hinge engine. The lever switch unit also includes a second switch unit that comprises a first sensor and a second sensor capable of moving with the first switch assembly such that movement of the second sensor relative to the first sensor causes at least one more control signal to be sent to the starting engine.

In accordance with yet another general form, a surgical tissue instrument is presented. The tool comprises at least one processor and operative associative memory, at least one motor associated with the processor, and at least one activating device. The processor is programmed to receive from the removable working part the first variable describing the removable working part. The processor is also programmed to apply the first variable to the instrument control algorithm. In addition, the processor is programmed to receive an incoming control signal from the activating device and to monitor at least one motor for controlling a surgical instrument in combination with a removable working part in accordance with a control algorithm of the instrument involving an incoming control signal.

In accordance with an additional general form, the processor may be programmed to receive from the removable working part a control algorithm of the working part describing the operation of a surgical instrument in combination with a removable working part. The processor can also be programmed to receive an incoming control signal from an activating device and control at least one motor for controlling a surgical instrument in combination with a removable working part in accordance with a control algorithm of the working part, which assumes an incoming control signal.

In accordance with yet another general form, a surgical instrument designed to relay a low power signal from an end effector to a remote device can be disclosed. The surgical instrument may include a handle, a shaft distally protruding from the handle, and an end effector connected to the distal end of the shaft. A sensor may be located on the end effector. The sensor can generate a signal indicating the status at the end effector. A transmitter may be located at the end effector. The transmitter may transmit a signal from the end effector at a first power level. The signal can be received by a relay station located in the handle of a surgical instrument. The relay station is designed to amplify and relay the signal at a second power level, where the second power level is higher than the first power level.

In accordance with a further general form, a relay station may be disclosed for relaying a signal from an end effector of a surgical instrument to a remote device. The relay station comprises a receiver designed to receive a signal from a sensor located in the end effector. The signal is transmitted at the first power level. The relay station also includes an amplifier designed to amplify the signal to a second power level. The transmitter is designed to transmit a signal at a second power level. The second power level is higher than the first power level.

In accordance with a general form, a method for relaying a signal received from a sensor module in an end effector can be disclosed. The method comprises generating, with a sensor, the first signal reporting the status at the end effector. The sensor is located in the end effector. The method also includes transmitting, using a transmitter, a first signal at a first power level and receiving a transmitted signal, using a receiver, at a relay station. The first signal is amplified by the relay station, with an amplifier, to a high power signal containing a second power level. The second power level is higher than the first power level. A high power signal is transmitted using a relay station at a second power level. A high power signal is received by a remote device, such as a video monitor. A video monitor demonstrates a graphical presentation of the condition on a surgical end effector.

Some parts of the above are presented in terms of methods and symbolic representations of operations on data bits in computer memory. These descriptions and representations are used by specialists in this field to most effectively convey the essence of their work to other specialists in this field. Here and in general, the method is used as a self-sufficient sequence of actions (instructions) leading to the desired result. These actions require physical manipulations of physical quantities. As a rule, although not necessarily, these quantities take the form of electrical, magnetic, or optical signals about storage, transmission, combination, comparison, and other manipulations. It is convenient from time to time, mainly for reasons of common practice, to call these signals bits, values, elements, symbols, signs, terms, numbers, etc. Further, it is also convenient from time to time to name some combinations of actions that require physical manipulations of physical quantities, modules or encoders, without loss of generality.

Certain aspects of the present invention include process steps and instructions described herein in the form of a method. It should be noted that the process steps and instructions of the present invention can be embodied in software, firmware or hardware, and when embodied in software can be downloaded to locate and operate on different platforms used by various operating systems.

The present invention also relates to an apparatus for performing the operations described herein. This apparatus can be specially designed for the required work, or it can contain a universal computer, selectively activated or reconstructed by a computer program located on the computer. Such a computer program may be located on any readable storage medium, such as, but not limited to, any type of disk, including floppy disks, optical disks, CD-ROMs, magneto-optical disks, read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic or optical cards, the use of special integrated circuits (ASICs) or any type of media suitable for storing electronic instructions, and each is connected to a computer system. Further, the computers and computer systems specified in the specification may include a single processor or be designs including multiple processor systems to increase computer power.

The methods and displays presented in this document are not inextricably linked with any computers or other devices. Various multi-application systems may also be used with programs as described herein, or may be convenient for constructing a more specialized apparatus for performing the required methodological actions. The required structure for these various systems becomes apparent from the foregoing description. Additionally, the present invention is described without being associated with any programming language. It becomes clear that a number of programming languages can be used to implement the features described in the present invention, and any references to any programming languages are given above to reveal the possibilities of implementation and the best mode for the present invention.

In various forms, a surgical instrument designed to relay a low power signal from an end effector to a remote device is disclosed. The surgical instrument may include a handle, a shaft distally protruding from the handle, and an end effector connected to the distal end of the shaft. A sensor may be located on the end effector. The sensor can generate a signal indicating the status at the end effector. A transmitter may be located at the end effector. The transmitter may transmit a signal from the end effector at a first power level. The signal can be received by a relay station located in the handle of a surgical instrument. The relay station is designed to amplify and relay the signal at a second power level, where the second power level is higher than the first power level.

In various forms, a relay station is disclosed for relaying a signal from an end effector of a surgical instrument to a remote device. The relay station comprises a receiver designed to receive a signal from a sensor located in the end effector. The signal is transmitted at the first power level. The relay station also includes an amplifier designed to amplify the signal to a second power level. The transmitter is designed to transmit a signal at a second power level. The second power level is higher than the first power level.

In various forms, a method for relaying a signal received from a sensor module in an end effector is disclosed. The method comprises generating, with a sensor, the first signal reporting the status at the end effector. The sensor is located in the end effector. The method also includes transmitting, using a transmitter, a first signal at a first power level and receiving a transmitted signal, using a receiver, at a relay station. The first signal is amplified by the relay station, with an amplifier, to a high power signal containing a second power level. The second power level is higher than the first power level. A high power signal is transmitted, using a relay station, at a second power level. A high power signal is received by a remote device, such as a video monitor. A video monitor demonstrates a graphical presentation of the condition on a surgical end effector.

In various forms, an end effector rectified by means of a sensor is disclosed. The end effector rectified by a sensor may comprise an end effector connected to the rod at the point of articulation. The end effector can be bent at an angle relative to the rod. The sensor may be located on the end effector rectified by the sensor, for example, on a rod or on an end effector. The sensor is designed to detect rough proximal movement of a surgical instrument. When rough proximal movement is detected, the sensor can generate a signal to control the motor to straighten the end effector relative to the rod.

In various forms, a surgical instrument is disclosed comprising a straightened end effector using a sensor. A surgical instrument may include a handle. The rod may protrude distally from the handle. The engine can be located in the handle, in order to control the articulation of the surgical instrument. The end effector capable of pivotally bending is located at the distal end of the shaft. The sensor can be located in the handle, on the shaft or on the end effector. A sensor may be designed to detect coarse proximal movement of a surgical instrument. When the sensor detects a rough proximal movement, the sensor can activate the rectification process, causing the motor to straighten the bent end effector. In some forms, multiple sensors may provide backup verification of the rectification process.

In various forms, the method of operation of a surgical instrument is disclosed, comprising an end effector rectified with a sensor. The method may comprise detecting, by a first sensor, the proximal movement of the surgical instrument. The first sensor may be located in any suitable section of the surgical instrument, such as a handle, shaft or end effector. The first sensor may be an accelerometer, a magnetic sensor, or any suitable type of sensor. The sensor may generate a signal indicating a rough proximal movement is detected. The method may also include receiving the engine generated signal from the first sensor. The engine can straighten the angle of the articulated bend of the end effector controlled by the engine in response to the received signal. The second sensor may generate a second signal to provide additional verification.

In various forms, the present disclosure is directed to an engine-driven surgical instrument comprising a modular monitoring platform. The main controller can carry out the main control process to control one or more operations of the surgical instrument. The first engine controller and the second engine controller can be functionally connected to the main controller. The first engine controller may have a first engine associated with it, and the second engine controller may have a second engine associated with it. The main control process can generate control signals for the first and second engine controllers. The first and second engine controllers can operate the first and second engine in response to pilot signals. In some forms, the modular engine control system may comprise a secondary controller designed to monitor one or more engine controllers based on one or more control signals received by the secondary controller from the main controller.

In various forms, a modular engine control system may comprise one or more engine controllers, each of which has an associated engine. One or more motor controllers may be associated with a master controller. The main controller may be designed to provide control signals to the motor controllers as part of the main control process. Motor controllers can monitor their associated motors in response to received control signals. In some forms, one or more motor controllers and associated motors may be located in a handle designed to receive a modular rod, a modular end effector, and a modular power source. The handle can provide interaction between the engines and the modular shaft and the end effector.

In various forms, a surgical instrument may include a modular engine monitoring system. A surgical instrument may comprise a main controller. A surgical instrument may be designed to receive modular surgical components, such as a modular shaft and a working part. A surgical instrument may have one or more motors and associated motor controllers located therein. Motor controllers can be functionally connected to motors. Motors can be designed to control one or more movements of a connected rod or working part. The main controller and motor controllers may be in electrical communication. The main controller may be designed to supply one or more control signals to the motor controllers as part of the main control process. Engine controllers can monitor engines in response to received control signals.

In various forms, a method is disclosed for controlling a motor-driven surgical instrument. The method may include generating, using the main controller, one or more control signals. The first pilot signal may be transmitted to a first engine controller designed to monitor the first engine. The first engine controller may control the first engine in response to a first pilot signal received from the main controller. A second pilot signal may be transmitted to a second engine controller designed to monitor the second engine. The second engine controller may control the second engine in response to a second control signal received from the main controller. In some forms, a second pilot may be generated by a secondary controller.

According to one general form, a surgical instrument is provided comprising a drive motor and a drive member capable of being moved by a drive motor by a drive cycle between the starting position and the end of cycle position. The end of measure position is located between the first position and the second position. The mechanical stop can be located at or near the position of the end of the cycle and can be structured to increase the resistance to movement of the drive element through the drive cycle from the first position to the second position. The mechanical stop may comprise a shock absorber and a resistance element. The shock absorber may be able to move from the first position to the second position and be designed to contact the drive element in the first position. The resistance element can be functionally connected to the shock absorber and designed to increase resistance to movement of the drive element from the first position to the second position. The resistance element may be designed to slow down the drive element before activating the drive element in the second position. In one form, the resistance element is structured to be compressible to gradually increase the resistance to movement of the drive element between the first position and the second position. The resistance element in one of the forms may contain a spring. Shock absorbers may include contact surfaces sized to match the size of the surface of the drive element with which they are in contact in the first position.

In one form, the control system is designed to detect a voltage surge associated with increased resistance to movement of the drive element. The control system can monitor the voltage associated with the power supply to the drive motor to detect a power surge. The voltage step may comprise a predetermined threshold voltage. A predetermined threshold voltage may comprise at least one differential of a predetermined threshold voltage for at least one predetermined time period. When the control system detects a power surge, the power to the drive motor may be interrupted. In one form, the mechanical stop may also comprise a hard stop that may impede the movement of the drive member beyond the second position.

In accordance with one general form, a mechanical stop is provided for use in a surgical instrument to produce a detectable power surge associated with an electromechanical stop. For example, a mechanical stop may be located at or at the end of a cycle associated with a drive cycle of the drive element. The end of measure position can be located between the first position and the second position. A mechanical stop may comprise one or more shock absorbers and one or more resistance elements. Shock absorbers may be able to move from the first position to the second position and be designed to contact the drive element in the first position. Resistance elements can be functionally connected to shock absorbers and designed to increase resistance to movement of the drive element from the first position to the second position. Resistance elements can be designed to slow the drive element before activating the drive element in the second position. One or more resistance elements may be structured to be compressible to gradually increase resistance to movement of the drive element between the first position and the second position. One or more resistance elements may be structured to be compressible and may contain at least one spring. Shock absorbers may include contact surfaces sized to match the size of the surface of the drive element with which they are in contact in the first position. A voltage surge associated with increased resistance can be detected by a control system associated with an electromechanical surgical instrument. The control system may be designed to monitor the voltage associated with the power supply to the drive motor and interrupt the power supply to the drive motor when the power surge contains at least one predetermined threshold voltage. The predetermined threshold voltage may comprise a voltage differential over at least one predetermined time period. In one form, the mechanical stop also comprises a hard stop to prevent the drive member from moving beyond the second position.

The devices described herein can be disposed of after a single use, or can be performed many times. However, in any case, the device can be restored for re-use after at least one application. Recovery may include any combination of the stages of disassembling the device, followed by cleaning or replacing specific parts, and further assembly. In particular, the device can be disassembled and any number of specific parts or parts of the device can be selectively replaced or removed in any combination. After cleaning and / or replacing specific parts, the device can be reassembled for subsequent use either in the restoration workshop or by the surgical team immediately before the surgery. It will be apparent to those skilled in the art that a variety of disassembly, cleaning / replacing, and reassembly techniques can be used to rebuild the device. The use of such techniques, as well as the resulting reconditioned device are included in the scope of this application.

Preferably, the subject matter described herein will undergo treatment prior to surgery. First, after receiving a new or already used tool, it is cleaned if necessary. Then the instrument can be sterilized. According to one sterilization method, the instrument is placed in a closed and sealed container, for example a plastic bag or a Tyvek bag (TYVEK). The container and instrument are then placed in a radiation field that is able to penetrate into the container, such as gamma radiation, x-rays or fast electrons. Radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in a sterile container. A sealed container keeps the instrument sterile until it is opened in a medical facility.

Any patent, publication, or other information that is fully or partially incorporated herein by reference is an integral part of this document to the extent that they do not contradict the definitions, provisions and other information presented in this document. Thus, the description, expressly presented in this document, to the extent that it is necessary, prevails over any information that contradicts the material included in this document by reference. Any material, or part thereof, indicated as incorporated herein by reference, but contrary to existing definitions, provisions or other description material presented herein, will be included in this document only to the extent that between the included material and existing material description does not conflict.

Since examples of embodiments are provided in the description of the present invention, the present invention can be modified within the spirit and scope of its content. This application covers all possible options, methods of application or modification of the invention, consistent with its basic principles. In addition, this application covers such deviations from the present description that fall under the well-known or generally accepted practice in the field of technology to which the present invention relates.

Claims (22)

1. A surgical instrument containing: a handle unit configured to simultaneously and independently electrically generate at least two discrete rotary control movements; and an elongated rod unit operatively interacting with the handle unit for simultaneously and independently receiving and transmitting at least two discrete rotary control movements to an end effector functionally connected to the elongated rod unit, the elongated rod unit also comprising a hinge joint comprising: a proximal articulated bracket operatively associated with the elongated barrel unit, and a distal articulated bracket rotatably connected to the proximal articulated bracket for selective rotational movement relative to the proximal articulated bracket, characterized in that there is the first gear system, operatively interacting with the proximal trigger rod, which is functionally connected to the handle block and the distal trigger rod, which is operatively interacting with the end effector to transmit rotary trigger movement from the proximal trigger rod to the end effector, while simplifying the articulated rotation of the distal articulated bracket relative to proximal articulated bracket; and the second gear system, functionally interacting with the proximal pivot shaft, which is functionally connected to the handle block for transmitting the distal rotary control movement to the end effector, for rotating the end effector relative to the elongated shaft block, while simplifying the articulated rotation of the distal articulated bracket relative to the proximal articulated bracket. 2. The surgical instrument according to claim 1, in which the elongated shaft unit defines the axis of the shaft, and at least two different discrete rotary control movements selected from the group of rotary control movements, consisting of: pivot articulation for pivotally turning the end effector around a pivot axis that is substantially transverse to the axis of the rod; a rotary trigger movement designed to induce the surgical end effector to perform at least one surgical action; rotational rotational movement, designed to cause the end effector to rotate around the axis of the rod relative to the elongated rod; and rotary movement of the rod to rotate the elongated rod and the end effector simultaneously around the axis of the rod. 3. The surgical instrument according to claim 1 or 2, in which the end effector is made for dissection and stitching of tissue when at least one rotary control is applied to it. 4. The surgical instrument according to claim 1, further comprising a hinge rod operably coupled to the handle unit and interacting with the distal hinge bracket so that the application of a pivot hinge movement to the hinge rod causes the distal hinge bracket to pivot about the proximal hinge bracket. 5. The surgical instrument according to claim 4, further comprising: a starting engine functionally supported by the handle block and functionally interacting with the proximal starting rod for applying a rotary starting movement to it; a distal rotation motor functionally supported by the handle unit and functionally interacting with the proximal pivot shaft for applying a distal rotational control displacement thereto; and the hinge engine, functionally supported by the handle unit and functionally interacting with the hinge shaft for applying a swivel articulation to it. 6. The surgical instrument according to claim 5, further comprising a rotary shaft engine, functionally supported by the handle block and operably interacting with the extended shaft block to selectively rotate the extended shaft block relative to the handle block. 7. The surgical instrument according to claim 1, in which the shaft block is configured to selectively disconnect from the handle block. 8. The surgical instrument according to claim 5, further comprising a removable transmission assembly that operatively supports portions of the proximal trigger shaft, the proximal swing shaft and the hinge shaft for detachable connection to the handle block so that the proximal trigger shaft is detachably connected to the trigger motor, the proximal swing the rod is detachably connected to the distal rotation motor, the hinge rod is detachably connected to the distal hinge engine when emny gear assembly coupled to the handle unit.

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