RU2690595C2 - Rotary handle switch configuration for surgical instruments - Google Patents

Abstract

FIELD: medicine.SUBSTANCE: invention refers to medical equipment, namely to surgical instruments and, in various designs, to surgical cutting and suturing tools and cartridges with staples for them, which are made with possibility of stapling and stapling tissue. Surgical cutting and suturing instrument comprises a handle assembly, an elongated shaft assembly, an engine, a switch body assembly and a control assembly with a rotary handle. Assembly of elongated shaft is functionally connected to the handle assembly and is made with possibility of functional attachment to the surgical end effector. Engine is supported by handle assembly and is configured to apply rotary movement to one of elongated shaft assembly and associated surgical end effector. Switch body assembly is installed inside the handle assembly, wherein the switch housing assembly comprises a fixed sensor mounted on the switch body, and a stop ledge formed on the switch body. Control unit with rotary handle comprises rotary handle collar, actuator, first sensor and second sensor. Collar of rotary handle comprises a slot. Actuator is attached to rotary handle collar. First sensor is movable and is installed on the rotary handle collar. Second sensor is movable and installed on the rotary handle collar. Control assembly with rotary handle is configured to be functionally supported on the handle assembly and is coupled to the motor such that when the actuator of the control unit rotates with the rotary handle in the first direction, engine applies rotary movement in first direction to unit of elongated shaft, and at rotation of actuator in second direction, engine applies rotary movement in second direction to unit of elongated shaft. Fixed sensor is configured to control the direction of rotation of the elongated shaft assembly depending on proximity of the first and second sensors relative to the fixed sensor. Locking ledge of the housing of the switches is configured to interact with the cutout collar of the rotary handle so as to prevent contact between the first sensor and the second sensor.EFFECT: invention is characterized by the fact that presence of lock ledge and slit provides for prevention of contact between movable sensors and fixed sensor, this prevention of contact provides more reliable operation of tool.6 cl, 117 dwg

Description

SCOPE OF THE INVENTION

The present invention relates to surgical instruments and, in various designs, to surgical cutting and stapling instruments and cartridges with brackets for them, which are made with the possibility of cutting and stitching tissue with staples.

BACKGROUND OF THE INVENTION

Surgical stapling instruments are often used to place staples in soft tissues to reduce or eliminate bleeding from soft tissues, in particular, for example, when dissecting tissue. Such surgical stapling devices, such as, for example, the endocater, have an end clamp that can move or rotate relative to the block of the elongated stem. End clamps are often made with the possibility of fixing the soft tissue between the first and second branches, and the first branch often includes a cartridge with brackets, made with the possibility of storing in it and removing the brackets from it, and the second branch often includes a stop plate. Such surgical stapling devices include a clamping system for rotating the anvil with respect to the staple cartridge.

Surgical stapling instruments, as briefly described above, can be made with the possibility of rotating the stop of the end clip relative to the cartridge with brackets in order to grip the soft tissue between them. In various circumstances, the abutment may be adapted to apply a compressive force to the soft tissue in order to keep the soft tissue between the abutment and the staple cartridge. However, if the surgeon is not satisfied with the position of the end clamp, the surgeon, as a rule, must activate the release mechanism on the surgical suturing instrument to rotate the support to the open position, and then change the position of the end clamp. After that, as a rule, the staples are placed from the cartridge with brackets with the help of an ejector, which passes through the channel in the cartridge with brackets, which causes deformation of the brackets against the support and fixes the layers of soft tissue together. As is known to those skilled in the art, for more secure bonding of layers of fabric, staples are often applied in several lines, or rows. The end clamp may also include a cutting tool, such as a knife, which extends between two rows of staples to excise the soft tissue after stapling the layers of soft tissue.

Such surgical stapling instruments and clamps can be in shape and size adapted to be inserted into the body cavity via a trocar or other access opening. The end clamp is usually connected to an elongated barrel, the size of which allows it to pass through a trocar or a hole. The elongated stem assembly is often functionally connected to a handle that supports control systems and / or triggers designed to control the operation of the end clamp. To facilitate proper placement and orientation of the end clamp within the body, many surgical instruments are designed to facilitate the hinge rotation of the end clamp relative to a portion of the elongated stem.

The above description is intended only to demonstrate various aspects of the relevant technology in the field of application of the invention at the moment, and it should not be construed as limiting the scope of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of the present invention, as well as the method of achieving them, will become more apparent, and the invention itself will become more understandable after reading the following description of embodiments of the present invention in combination with the accompanying drawings, moreover:

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

in FIG. 2 is another perspective view of the surgical instrument shown in FIG. 1 with a part of the handle body removed;

in FIG. 3 is an exploded perspective view of the components of one clamp design of the present invention;

in FIG. 4 shows a partial cross-sectional view of a portion of an end clamp and an elongated stem assembly of the surgical instrument shown in FIG. 1 and 2, with a stop in the open position;

in FIG. 5 shows another partial view in cross section of the end clamp and the elongated stem assembly shown in FIG. 4, with the stop assembly in the closed position before starting;

in FIG. 6 shows another partial view in cross section of the end clamp and the elongated stem assembly shown in FIG. 4 and 5, after advancing the cutting element to the most distal position within the end clamp;

in FIG. 7 is a perspective view of the construction of the joint assembly of the present invention;

in FIG. 8 shows a general view with a spatial separation of the components of the node of the connecting element shown in FIG. 7;

in FIG. 9 is a perspective view of the proximal end of the terminal clamp and the distal end of the elongated stem assembly and the connecting member assembly connected thereto;

in FIG. 10 is a vertical elevation view of the proximal end of the end clip shown in FIG. 9;

in FIG. 11 presents a view in vertical projection of the distal end of the node of the connecting element shown in FIG. 9;

in FIG. 12 shows a general perspective view of a part of an end clip and an elongated stem assembly before attaching an end clip to it;

in FIG. 13 shows another perspective view of a part of the terminal clamp and the construction of the elongated stem assembly after the terminal clamp has entered primary engagement with a portion of the assembly of the coupling element on the elongated stem assembly;

in FIG. 14 is another perspective view of the components shown in FIG. 13, after the terminal clamp has been connected to a part of the assembly of the coupling element on the assembly of the elongated shaft;

in FIG. 15 is a perspective view of the structure of the hinge control device of the present invention;

in FIG. 16 is a perspective view of a part of the design of a hinge shaft segment;

in FIG. 17 is a perspective view with a spatial separation of the components of the articulation structure of the present invention;

in FIG. 18 is a perspective view of the articulation structure shown in FIG. 17;

in FIG. 19 is a top view of the articulation structure shown in FIG. 17 and 18;

in FIG. 20 is a cross-sectional view of the components shown in FIG. nineteen;

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

in FIG. 22 shows another cross-sectional view of the articulation shown in FIG. 21, pivotally rotated;

in FIG. 23 is a perspective view of the construction of the launch system of the present invention;

in FIG. 24 is a perspective view of the structure of the rotation system of the end clip of the present invention;

in FIG. 25 is a perspective view of a part of the hinge joint and the joint part of the present invention;

in FIG. 26 is a perspective view of the construction of the barrel rotation system of the present invention;

in FIG. 27 is a perspective view with a spatial separation of the components of the surgical instrument shown in FIG. 1 and 2;

in FIG. 28 is an exploded perspective view of the structure of the detachable drive cartridge of the present invention;

in FIG. 28A is an end view in elevation view of a portion of the design of the detachable drive cartridge shown in FIG. 28 attached to the engine assembly assembly;

in FIG. 28B is a perspective view of a part of the structure of the detachable drive cartridge and the construction of the engine assembly shown in FIG. 28A;

in FIG. 29 is a cross-sectional view of a part of the construction of the handle assembly;

in FIG. 30 is an exploded perspective view of the components of the detachable drive cartridge and the motor assembly inside the parts of the handle body;

in FIG. 31 shows a general view with a spatial separation of the components of the assembly design of engines;

in FIG. 32 shows another general view in cross section with a spatial separation of the components of the detachable drive cartridge and the motor assembly inside the parts of the handle body;

in FIG. 33 is a side elevational view of a portion of a handle assembly, where various components are excluded for clarity;

in FIG. 34 is a bottom perspective view of the switch mechanism of the present invention;

in FIG. 35 is an exploded perspective view of the components of the switch mechanism shown in FIG. 34;

in FIG. 36 is a cross-sectional view of a portion of the switch mechanism shown in FIG. 34 and 35, mounted with a knot of the handle, and the control part of the joystick is in the non-activated position;

in FIG. 37 is another view in cross section of the switch mechanism shown in FIG. 36, with the control part of the joystick in the activated position;

in FIG. 38 is a side view in cross section of the switch mechanism shown in FIG. 36;

in FIG. 39 is a side view in cross section of the switch mechanism shown in FIG. 37;

in FIG. 40 is a side elevational view of the switch mechanism shown in FIG. 34-39;

in FIG. 41 is a front view in elevation of the switch mechanism shown in FIG. 34-40;

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

in FIG. 43 shows a rear view in vertical projection of the mechanism of the control unit with a blade rotary knob in the activated position;

in FIG. 44 shows another rear view in vertical projection of the mechanism of the control unit with a blade rotary knob in another activated position;

in FIG. 45 shows another partial view in cross section of the structures of the end clamp and the elongated stem assembly;

in FIG. 46 is an enlarged cross-sectional view of a part of the articulation structure design and the construction of the joint element assembly with an end clamp connected to it;

in FIG. 47 is a perspective view of the construction of the handle assembly, with part of the handle body omitted;

in FIG. 48 is an enlarged perspective view of a portion of the handle assembly illustrating the construction of the conductor connection;

in FIG. 49 shows a perspective view with a spatial separation of the components of part of the design of another node of the connecting element and the design of the hinge joint;

in FIG. 50 is a perspective view of another articulation design of the present invention;

in FIG. 51 is an exploded perspective view of the components of the articulated joint structure shown in FIG. 50;

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

in FIG. 53 presents another view in cross section in perspective of the design of the articulated joint shown in FIG. 50-52;

in FIG. 54 is a perspective view of another articulation design of the present invention;

in FIG. 55 is an exploded perspective view of the components of the articulated joint design shown in FIG. 54;

in FIG. 56 shows a partial cross-sectional view of the articulated joint structure shown in FIG. 54 and 55;

in FIG. 57 shows another partial cross-sectional view of the articulated joint structure shown in FIG. 54-56;

in FIG. 58 is another partial perspective view in cross section of the articulated joint design shown in FIG. 54-57;

in FIG. 59 is another partial perspective view in cross section of the articulated joint design shown in FIG. 54-58, with articulation in pivotally rotated orientation;

in FIG. 60 is another partial perspective view in cross section of the articulated joint design shown in FIG. 54-59, with a joint in another pivotally rotated orientation;

in FIG. 61 is a perspective view of another articulation design of the present invention;

in FIG. 62 is another perspective view of the articulation structure shown in FIG. 60, in pivotally rotated orientation;

in FIG. 63 is an exploded perspective view of the articulation components shown in FIG. 61 and 62;

in FIG. 64 is a cross-sectional view of the articulated structure shown in FIG. 61-63;

in FIG. 65 is another cross-sectional perspective view of the articulated joint design shown in FIG. 61-64;

in FIG. 66 shows another view in cross-section in perspective of the design of the articulated joint shown in FIG. 61-65, in pivotally rotated orientation;

in FIG. 67 is a perspective view of another construction of the engine assembly of the present invention;

in FIG. 68 shows a front view in vertical projection of the construction design of the engine assembly shown in FIG. 67;

in FIG. 69 shows a general view with a spatial separation of the components of the design of the assembly of the engines shown in FIG. 67 and 68;

in FIG. 70 is a perspective view of some forms of an electrosurgical end clamp for use with a surgical instrument;

in FIG. 71 is a perspective view of some forms of the terminal clamp shown in FIG. 70, with closed branches and with the distal end of the element, made with the possibility of movement along the axis, in a partially advanced position;

in FIG. 72 is a perspective view of some forms of an element configured to move along an axis, an end clamp shown in FIG. 70;

in FIG. 73 is a cross-sectional view of some forms of the terminal clamp shown in FIG. 70;

in FIG. 74-75 show one form of ultrasonic end clamp for use with a surgical instrument;

in FIG. 76-77 are additional views of a single form of the element, made with the possibility of movement along the axis, of the end clamp shown in FIG. 74;

in FIG. 78 shows one form of a linear terminal clamp with brackets suitable for use with a surgical instrument;

in FIG. 79 shows one shape of a circular terminal clamp with brackets suitable for use with a surgical instrument;

in FIG. 80 shows a few examples of power cords for use with a surgical instrument;

in FIG. 81 shows several examples of trunks suitable for use with a surgical instrument;

in FIG. 82 is a block diagram of a surgical instrument handle assembly with indication of various control elements;

in FIG. 83 shows one form of various terminal clamp tools comprising the circuits described herein;

in FIG. 84 is a block diagram showing one form of control configuration implemented by a control circuit for controlling a surgical instrument;

in FIG. 85 is a block diagram of one exemplary embodiment of the process implementing the control algorithm shown in FIG. 84;

in FIG. 86 is a block diagram showing another form of control configuration implemented by a control circuit for controlling a surgical instrument;

in FIG. 87 is a block diagram of one exemplary embodiment of the process implementing the control algorithm shown in FIG. 86;

in FIG. 88 shows one form of surgical instrument comprising a relay station in a handle;

in FIG. 89 shows one form of an end terminal with a sensor module therein adapted to transmit a signal;

in FIG. 90 is a block diagram illustrating one form of sensor module;

in FIG. 91 is a block diagram illustrating one form of relay station;

in FIG. 92 is a block diagram illustrating one form of relay station adapted to convert a received low power signal;

in FIG. 93 is a block diagram of a single form for a method of retransmitting a signal indicating the state of an end terminal;

in FIG. 94 shows the distal part of the tool containing a mechanical stop, as shown in FIG. 1, in accordance with some aspects described herein;

in FIG. 95 is a diagram of a system that is adaptable for use with an electromechanical stop, comprising a power source, a control system, and a drive motor, in accordance with certain aspects described herein;

in FIG. 96 is a graphical depiction showing a temporary change in the current associated with a tool containing an electromechanical stop without a soft stop, in accordance with certain aspects described herein;

in FIG. 97 shows the distal part of the instrument, equipped with a mechanical stop, containing a soft stop, in which the drive element moves to a position before contact with a soft stop in the second position of the end of the stroke, in accordance with certain aspects described herein;

in FIG. 98 shows the tool shown in FIG. 97, in which the drive member moves through the first end position of the beat to the second end position of the beat, in accordance with some aspects described herein;

in FIG. 99 is a graphical depiction showing a temporary change in the current associated with a tool containing an electromechanical stop with a soft stop, in accordance with certain aspects described herein;

in FIG. 100 is a perspective view of an alternative motor assembly that uses a gear drive cartridge assembly;

in FIG. 101 is another perspective view of the engine assembly shown in FIG. 100, in which the body of the distal stem is excluded for clarity;

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

in FIG. 103 is a cross-sectional view of the engine mounting assembly shown in FIG. 100-102;

in FIG. 104 is a top view of the engine assembly shown in FIG. 100-103;

in FIG. 105 shows one form of a surgical instrument comprising an end clamp straightened with a sensor in a pivotally rotated state;

in FIG. 106 shows the surgical instrument shown in FIG. 105, straightened;

in FIG. 107 shows one shape of an end clamp straightened with a sensor inserted into a surgical outer tube;

in FIG. 108 shows one shape of an end clamp straightened with a sensor inserted into a surgical outer tube in a pivotally rotated state;

in FIG. 109 shows one shape of an end clamp straightened with a sensor in a pivotally rotated state;

in FIG. 110 shows one shape of an end clamp straightened by the sensor shown in FIG. 109, straightened;

in FIG. 111 shows one shape of a magnetic ring for use with an end clamp straightened with a sensor;

in FIG. 112 shows one shape of an end clamp rectified by a sensor comprising a magnetic sensor;

in FIG. 113 shows one form of magnetic sensor with a reed contact;

in FIG. 114 shows one form of a modular engine control platform;

in FIG. 115 shows one form of a modular engine control platform comprising a plurality of pairs of engine and controller;

in FIG. 116 shows one form of a modular engine control platform comprising a main controller and a slave controller;

in FIG. 117 shows one form of control process implemented by a surgical instrument controlled by a plurality of engines.

DETAILED DESCRIPTION

The applicant of this application also owns the following patent applications filed on the same day, each of which is fully incorporated herein by reference:

- U.S. patent application entitled “Rotary driven surgical instruments with multiple degrees of freedom”, filed by patent attorney No. END7195USNP / 120287;

- U.S. Patent Application entitled “Rotary Actuator Articulated Joints for Surgical Instruments”, Patent Attorney No. END7188USNP / 120280;

- U.S. patent application entitled “Articulated Surgical Instrument with Conductive Paths for Communication Signal”, patent attorney no. END7187USNP / 120279;

- U.S. Patent Application entitled “Joystick Switch Hubs for Surgical Instruments”, Patent Attorney No. END7192USNP / 120284;

- US patent application entitled “Electromechanical Soft Supports for Surgical Instruments”, file of patent attorney No. END7196USNP / 120288;

- U.S. patent application entitled “Electromechanical Surgical Device with Signal Relay Design” filed by patent attorney No. END7190USNP / 120282;

- US patent application entitled “End Clamp Straightened Using a Sensor During a Trocar Extraction”, Patent Attorney No. END7193USNP / 120285;

- U.S. Patent Application entitled “Multiprocessor Motor Control for a Modular Surgical Device,” patent dossier No. END7091USNP / 120283 and

- U.S. Patent Application entitled “Ways to Control Surgical Instruments with Removable Working Parts”, Patent Attorney No. END7194USNP / 120286.

To ensure a complete understanding of the principles of operation of the design, operation, production and use of the devices and methods described in this document, some embodiments are described. One or more examples of these embodiments are shown in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting examples of implementation and that the scope of the various embodiments of the present invention is defined only by the claims. The features shown or described in connection with one embodiment may be combined with those of other embodiments. The scope of the present invention is intended to include such 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" and "having"), "include" (and any of its forms, such as "includes" and "inclusive"), "contain" (and any of its forms, such as "contains" and "containing") are unlimited connecting verbs. As a result, a surgical system or device that “contains”, “has”, “includes” or “contains” one or more elements has this one or more elements, but possession is not limited to only one or more elements. Similarly, an element of a system or device that "contains", "has", "includes" or "contains" one or more elements has one or more elements, but possession is not limited to only one or more elements.

In this document, the terms “proximal” and “distal” are used with reference to a physician manipulating a portion of the handle of a surgical instrument. The term "proximal" refers to the part placed closest to the doctor, and the term "distal" refers to the part placed away from the doctor. It should also be understood that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “top” and “bottom” may be used in relation to pictures in this document. But since surgical instruments are used in a variety of orientations and positions, these terms should not be interpreted as limiting and / or absolute.

Various examples of devices and methods for laparoscopic and minimally invasive surgical interventions are proposed. However, it will be understood by those of ordinary skill in the art that the various methods and devices described herein can be used to perform a variety of surgical interventions and in many applications, including, for example, those associated with performing “open” surgical interventions. In the course of this detailed description, those skilled in the art will be able to further appreciate that the various tools described herein can be inserted into the body in any way — through a natural opening, through a notch or puncture hole made in a fabric, etc. or parts of the end clamp of the instruments can be inserted into the patient’s body either directly or through an access device having a working channel through which the end clamp and the surgical elongation stem can be advanced The instrument.

Referring to the figures in which the same numbers denote the same components in several types, in FIG. 1-3, a surgical instrument 10 is shown that is capable of transmitting start-up movements to a functionally connected working part 100. As will be described in more detail below, the tool 10 can be effectively applied to a variety of different tools that can be interchangeably connected with the tool 10. The design shown in FIG. 1 and 2, for example, is shown connected to an end clip 102 configured to cut and staple the fabric. However, through tool 10, it is also possible to control tools with other structures.

Terminal clamp

102 depicted in FIG. 1-6, includes an elongated element 110 with a channel that can be configured to functionally and removably support the cartridge 130 with brackets. The staple cartridge 130 may include a top surface or cartridge platform 132 that includes a plurality of recesses 134 for staples staggered by lines on each side of the elongated groove 136. See. FIG. 3. A plurality of surgical brackets 140 are supported on the respective ejector 138 brackets, which are functionally supported inside the recesses 134 for the brackets. As can also be seen in FIG. 3, in one form, the end clamp 102 includes an end base 150 configured to connect to the proximal end of the staple cartridge 130 and installed inside the proximal end of the elongated channel 110. For example, the end base 150 may be formed with distally directed retaining tabs 152, made for insertion into the corresponding locking grooves 142 in the cartridge platform 132. In addition, the end base 150 may be equipped with laterally-directed mounting lugs 154 for connecting the end base 150 to the elongated passage 110. For example, the fastening lugs 154 may be configured to receive into the corresponding mounting holes 112 in the elongated passage 110.

In one form, the end base 150 includes a centrally located groove 156, configured to support the fabric cutting element 160 and the sled 170. The fabric cutting element 160 may include a casing part 162 on which the cutting fabric part 164 is made or otherwise attached be mounted through the thread on the drive screw 180 end clamp, mounted to rotate inside the elongated channel 110. The slide 170 is supported with the possibility of movement along the axis relative to the drive screw 180 end clamping and can be made to interact with the casing part 162 of the fabric cutting element 160. When pushing out the fabric cutting element 160 distally, the slide 170 is pushed out by fabric 160 distally at the fabric cutting element. up the ejector 138 inside the cartridge 130 with brackets.

The terminal clamp 102 may further include a stop assembly 190 supported selectively with respect to the staple cartridge 130. In at least one form, the stop assembly 190 may comprise a first stop portion 192 connected to the back portion 194 of the stop and the upper portion 196 of the stop. The rear portion 194 of the stop may have a pair of laterally protruding support rollers 198 configured to receive holes in the corresponding rollers or cavities 114 in the elongated channel 110 in order to provide rotational movement or movement with the ability to move the anchor node 190 relative to the elongated channel 110 and supported in it cartridge 130 with brackets.

The fabric cutting element 160 may be equipped with a pair of laterally protruding drive tongues 166, which are adapted for sliding inside the grooves 199 in the stop assembly 190. In addition, the fabric cutting element 160 may additionally have a shoe 168, the size of which allows it to engage with the lower part of the elongated channel 110, so that when the distal fabric cutting element 160 is ejected, the tongues 166 and the shoe 168 force the stop assembly 190 to move to the closed position. The tabs 166 and the shoe 168 can be used to separate the node 190 of the stop and the cartridge 130 with brackets at the desired distance in the process of cutting and sewing the fabric. In the first part 192 of the abutment, there may be a lower part 193 forming the brackets for forming the surgical brackets 140 when they are pushed in contact with it. In FIG. 4 shows the position of the anvil assembly 190 and the cutting member 160 when the anvil assembly 190 is in the open position. In FIG. 5 shows the position of the anvil assembly 190 and the cutting element 160 after the anvil 190 is closed, but before the fabric cutting element 160 is advanced distally or “activated”. In FIG. 6 shows the position of the fabric cutting element 160 after advancing to the most distal position inside the cartridge 130 with the staples.

The drive screw of the end clamp can be supported to pivot inside the elongated channel 110. For example, in one form, the drive screw 180 of the end clamp can have a proximal end 182 connected to the fastening element 184 of the drive shaft, which is adapted to dock with the connecting element 200. The drive shaft fastener 184 may be adapted to attach an end clamp to the proximal end 182 of the drive screw 180. For example, the actuator shaft fastener 184 may have a hexagonal protrusion 186 directed away from it, which is designed to be inserted without being able to rotate into the corresponding hexagonal socket, which is part of the starting system, essentially designated as element 500. Turning the end cap drive screw 180 cutting fabric element 160 to move in the distal direction. In various forms, the cartridge 130 with brackets can be equipped with a pair of shock absorbers 174, which serve to dampen the slide 170 when they reach the most distal position inside the elongated channel 110. Each of the shock absorbers 174 may have a spring 176 to give the shock absorber the desired damping capacity.

End clamp assembly

The various forms of the tools 100 can be functionally connected to the surgical instrument 10 by means of the connecting element unit 200. One form of the joint unit 200 is shown in FIG. 7-14. The node 200 of the connecting element may include a body portion 202 of the connecting element, configured to functionally support the drive gear assembly, collectively referred to as element 220. In at least one form, the drive gear assembly 220 includes input gear 222, transmission gear 228 and output gear 232 See FIG. 8. The input gear 222 is mounted or formed on the input shaft 224 supported rotatably by the first and second partitioning members 204, 206. The input barrel 224 has a proximal end 226 configured to mate with the distal segment 510 of the starting barrel that is part of a unique new the launch system 500, which will be described in more detail below. For example, the proximal end 226 may be made with a hexagonal cross-sectional shape for insertion without the possibility of turning into a hexagonal socket 512 formed at the distal end of the distal segment 510 of the starting shaft. The transmission gear 228 may be mounted or formed on the transmission barrel 230 supported rotatably by the partition members 204, 206. The output gear 232 may be mounted or formed on the output drive shaft 234 supported rotatably by the partition members 204, 206. for assembly purposes, the distal end 236 of the output drive shaft 234 may be attached without the possibility of rotation to the output slot 238 protruding distally through the distal end cap 210. In one embodiment, the distal end cap 210 may be attached to the housing 202 of the connecting element with fasteners 208 or any other suitable fastening structures. The output slot 238 can be attached on a pin to the distal end of the 236 output drive shaft 234. The output slot 238 can be mated without the possibility of rotation with the fastening element 184 of the drive shaft. For example, the outlet 238 of the outlet can be made hexagonal, so that it can be combined with the hexagonal protrusion 186 on the fastening element 184 of the drive shaft. In addition, to ensure the functional connection of the tool 100 to the node 200 of the connecting element on the end cap 210 can be formed or attached mounting lug.

One embodiment of the assembly 200 of the connecting member may further include a block assembly, substantially designated as element 240. In at least one form, the block assembly 240 includes a spring-loaded locking element or pin 242 supported movably within the locking groove 214 formed in the body portion 202 connecting element. The locking pin 242 may be configured to move axially inside the locking groove 214, so that its locking end 244 protrudes through the hole 211 in the end cap 210. See. FIG. 8. A blocking spring 246 is mounted on the blocking pin 242 to bias the blocking pin 242 inside the blocking slot 214 in the distal direction DD. An activation lever 248 may be formed on / attached to the locking pin 242, allowing the user to transfer to the locking pin 242 an unlocking movement in the proximal direction PD.

As can be seen in FIG. 3, 9, and 10, the elongated bore 110 of the end clip 102 may have a proximal end wall 116 in which a connecting hole 118 is formed to receive a fastening tab 212 into it. For example, in one embodiment, the fastening tab 212 may include a neck 213 on which the fastening cap 215. The connecting hole 118 may have a first circular portion 120, the size of which allows the fastening cap 215 to be inserted into it. A narrow groove 122 may also be formed in the connecting hole 118, the size of which allows to receive into it neck 213. The proximal end wall 116 may also have a blocking hole 124 for receiving the distal end 244 of the blocking pin 242 therein.

One way to attach the end clip 102 to the joint assembly 200 of the surgical instrument 10 can be understood by referring to FIG. 12-14. For example, in order to attach the end clip 102 to the connecting element assembly 200, a user may align the hex protrusion 186 on the drive shaft mounting member 184 with the hex socket 238 of the outlet. Similarly, the cap 215 can be combined with the circular portion 120 of the connecting hole 118, as shown in FIG. 9 and 12. Next, the user can move the protrusion 186 into the slot 238 by moving it in an axis, and the mounting cap 215 into the connecting hole 118, as shown in FIG. 13. The user can then rotate the end clip 102 (as shown by the arrow R in FIG. 14), causing the neck 213 to enter the groove 122 and allowing the distal end 244 of the locking pin 242 to snap into the blocking hole 124 to prevent the end clip 102 from further turning relative to the assembly 200 connecting element. This design serves for the functional connection of the end clip 102 to the surgical instrument 10.

To detach the end clip 102 from the connecting member assembly 200, the user can apply an unlocking motion to the activating lever 246 to move the locking pin in the proximal direction PD. Such movement of the locking pin 242 causes the distal end 244 of the locking pin 242 to exit the locking hole 124 in the end wall 116 of the elongated channel 110. The user can then freely rotate the end clamp 102 relative to the connecting element assembly in the opposite direction, withdrawing the neck 213 of the fixing protrusion 212 from the groove 122 and allowing the fastening cap 215 to go out in the axial direction from the connecting hole 118 in the end clip 102, and thus disconnecting the end clip 102 from the node 200 will connect ceiling elements element. From the foregoing it is clear that the node 200 of the connecting element forms a new unique design for the functional connection of the surgical instrument 100, which functions by supplying a rotary drive motion (movements) to the surgical tool 10. In particular, the node 200 of the connecting element allows you to attach a variety of surgical instruments 100 or end clamps 102 to the node 30 of the elongated barrel of the surgical instrument 10.

Swivel system

As can be seen in FIG. 1 and 2, the elongated stem assembly 30 may form the stem axis A-A. In at least one form, the elongated stem assembly 30 may include a hinge system 300 for selectively pivoting the end clamp 102 around the axis of the B-B hinge, which is substantially perpendicular to the axis of the A-A stem. One form of the hinge system 300 is shown in FIG. 15 and 16. As can be seen in the illustrated figures, the articulation system 300 may include an articulated articulation 310 with power supply. In at least one design, the articulation 310 includes a distal coupling part or a distal bracket 312, which is supported rotatably on a proximally directed sleeve 203 of the housing element 202 of the connecting element by means of a distal bearing body 314. See. FIG. 20. The distal bracket 312 may pivotally attach to the proximal connecting portion or proximal bracket 330 by means of a hinge pin 332, which forms the axis of the B-B hinge. See FIG. 18. The distal bracket 312 may include a distally protruding fastening sleeve 316, the size of which allows it to be taken inside the proximal end of the body portion 202 of the connecting element. In the fastening sleeve 316, there may be an annular groove 318, configured to receive fastening pins 320 therein. See. FIG. 8. The fastening pins 320 serve to secure the body part 202 of the connecting element to the distal bracket 312 so that the body part 202 of the connecting element can rotate relative to the distal bracket 312 around the axis of the barrel A-A. As can be seen in FIG. 20, the distal segment 510 of the starting barrel passes through the sleeve 203 of the body part 202 of the connecting element and is supported rotatably with respect to it by means of the distal bearing 322 of the starting trunk mounted inside the sleeve 203.

To facilitate the supply of a rotary drive or starting movement to the end clamp 102, as well as to ensure that the end clamp 102 rotates relative to the elongated barrel 30 around the axis of the AA shaft, while maintaining the possibility of the hinge rotation of the end clamp 102 relative to the elongated shaft unit 30 around the axis of the hinge BB 310 may include a new unique “nested” gear assembly, essentially designated as element 350 and located inside gear zone 351 between distal bracket 312 and proximal bracket oh 330. See FIG. 18-20. For example, in at least one form, the embedded gear assembly 350 may include an internal gear assembly 360 of the drive shaft (or “first gear assembly”) that is “nested” in the external clamp gear assembly 380 (or a “second gear assembly”). In this document, the term “nested” may mean that no part of the first gear unit 360 passes radially beyond any part of the second gear unit 380. This unique new gear design is compact and allows for the transmission of pivotal control movements to the terminal clamp, while simultaneously allowing the distal bracket to rotate relative to the proximal bracket. As will be described in more detail below, the internal drive shaft gear unit 360 delivers pivotal drive or start movements from the proximal starting shaft segment 520 to the distal start shaft segment 510 through the articulated joint 310. Similarly, the external gear terminal unit 380 provides end turning movement to the node 200 of the connecting element from the system of rotation 550 end clamp, as will be described below in more detail.

For example, in at least one form, the internal block 360 of the gears of the drive shaft may include

distal bevel gear 362 drive shaft, which can be attached to the proximal end of the distal segment 510 of the starting shaft by means of a screw 364. See FIG. 17. The inner block 360 of the drive shaft gears may also include a proximal bevel gear 366 of the drive shaft, which is attached to the proximal segment 520 of the starting shaft with a screw 368. See. FIG. 20. In addition, the internal drive shaft gear unit 360 may also include a drive shaft gear 370 mounted on a gear wheel bearing 374, which is mounted on the transverse shaft of the gear wheel 372. See FIG. 17. Such an internal unit 360 of drive shaft gears can transmit pivot drive motions from the proximal starting shaft segment 520 through the articulated articulation 310 to the distal stem shaft 510 segment.

As indicated above, the embedded gear assembly 350 also includes an external gear clamp gear assembly 380 that provides pivoting control movements to the coupling member assembly 200 from the end clamp rotator system 550 through an articulated joint 310. At least in the form clamp can, for example, include output bevel gear 382, which is installed without the possibility of rotation (for example, on the key) on the proximally directed sleeve 203 of the housing part 202 of the connecting an item. The outer gearbox 380 gear assembly may additionally include an input bevel gear 384, which is attached without rotation (for example, on a key) to the proximal segment 552 of the rotary shaft of the end clamp rotation system 550. In addition, the outer gear 380 gear assembly may additionally include a gear a rotary shaft gear 388 mounted on a bearing of an external transmission gear 386, which is supported on a transversely directed hinge pin 332. See. FIG. 17. The hinge pin 332 extends through the hollow transverse shaft 372 of the gear and serves to swivel the distal bracket 312 with the proximal bracket 330 in order to swivel around the transverse axis of the B-B hinge. The hinge pin 332 can be held in place by the spring clips 334. This unique new articulation joint 310 and the inserted gear assembly 350 provide for the transmission of various control movements from the handle assembly 20 through the extension barrel assembly 30 to the terminal clamp 102 and allows the terminal clamp 102 to rotate around the axis AA elongated stem and pivotally rotate around the axis of the hinge BB.

The rotation of the end clip 102 around the axis of the hinge B-B relative to the node 30 of the elongated stem can be accomplished with the help of the hinge control system 400. In various forms, the hinge control system 400 may include a hinge control motor 402, which is functionally supported in a handle assembly 20. See FIG. 15. The hinge control engine 402 may be connected to the hinge actuator assembly 410, which is functionally supported on a detachable drive cartridge 700, which is removably supported in the crank assembly 20, as will be described in more detail below. In at least one form, the hinge actuator assembly 410 may include a proximal hinge actuator shaft segment 412 that is rotatably supported in the barrel housing assembly 710 of the detachable drive chuck 700. See Fig. 27 and 28. For example, the proximal segment 412 of the articulated drive shaft can be supported rotatably within the distal part 712 of the barrel housing by means of hinge bearings 414. In addition, the proximal segment 412 of the articulated shaft can be supported rotatably in the proximal part 714 of the barrel housing by bearings 415. See FIG. 28. The hinge control system 400 may also include a hinge proximal segment 420, which is rotatably driven around the axis of the barrel A-A by the hinge control motor 402. As can be seen also in FIG. 15, the pivot drive assembly 410 may also include a pair of pivot drive rollers 416, 417, which drive the pivot drive belt 418. Thus, activation of the hinge control motor 402 may result in rotation of the proximal hinge segment 420 around the shaft axis A-A. See FIG. 15.

As can be seen in FIG. 15 and 16, the proximal hinge shaft segment 420 has a threaded portion 422 configured to be threadedly connected to the hinge actuating strap 424. Rotation of the distal segment 420 of the drive shaft of the hinge in the first direction can move the joint bar 424 of the hinge actuator axially in the distal direction DD, and rotation of the distal segment 420 of the drive shaft of the hinge in the opposite or second direction can move the joint bar 424 of the joint drive axially in the proximal direction PD . Connecting strap 424 drive hinge can be connected to the rail 426 hinge through the pin 428. The rail 426 hinge, in turn, can be connected to the distal bracket 312 through the pin 429. See. FIG. 17. Thus, when the doctor needs to rotate the end clamp102 or tool 100 around the BB hinge axis relative to the elongated stem node 30, the doctor activates the hinge control motor 402 so that the hinge control motor 402 rotates the hinge proximal segment 420, thus moving the hinge rail 426 to the desired position to rotate the distal bracket 312 (and attached end clip 102 thereto) in the desired direction. See pic. 21 and 22.

Starting system

As indicated above, the end clamp 102 can be actuated by pivoting control movements applied to the drive screw 180 of the terminal clamp by the starting system 500, which includes the distal segment 510 of the starting barrel and the proximal segment 520 of the starting barrel. See FIG. 23. The proximal segment 520 of the starting barrel contains part of the node 30 of the elongated stem and can be supported to be rotatable inside the hollow proximal segment 552 of the rotary barrel by means of a sleeve 522 of the distal bearing. See FIG. 20. Returning to FIG. 23, in at least one form, the starting system 500 includes a starting engine 530, which is functionally supported in the handle assembly 20. The proximal end of the proximal starting stem segment 520 may be supported to pivot within the detachable drive chuck 700 and may be configured to connect to the starting motor 530 as described in detail below. As can be seen in FIG. 30, the proximal end of the proximal segment 520 of the starting barrel can be supported rotatably in a thrust bearing 524 installed with a distal partition plate 722 of the drive cartridge partition 720. Activation of the starting motor 530 ultimately results in the rotation of the drive screw 180 of the end clamp and the feeding of the rotary control movement to the end clamp 102.

End Clamping System

In various forms, the surgical instrument 10 may also include an end clip rotation system or a “distal rotation system” 550 for selectively rotating the end clip 102 relative to the elongated stem assembly 30 around the axis of the barrel A-A. End clamp rotation system 550 may include a proximal segment of the rotary shaft 552, which also contains part of the elongated shaft assembly 30. As can be seen in FIG. 20, the proximal pivot shaft segment 552 can be rotatably supported inside the proximal bracket 330 by the distal bearing 554 and the proximal bearing 556. Furthermore, the pivot shaft proximal segment 552 can be rotated rotatably inside the proximal segment 420 of the pivot shaft by the distal bearing sleeve 558 559 proximal bearing. See Fig. 20 and 30. The proximal end of the proximal segment 552 of the rotary barrel can also be supported rotatably inside the drive cartridge partition 720 by means of the proximal bearing 555, as can be seen in FIG. thirty.

In at least one form, the system for rotating the end clip 550 may include a motor turning the end clip (or “distal rotating motor”) 560, which is functionally supported in the handle assembly 20. See FIG. 24. Motor 560 rotate the end clip can be connected to the node 570 of the rotary actuator, which is functionally supported on a detachable drive cartridge 700. In at least one form, the node 570 of the rotary actuator includes a proximal segment 572 of the shaft of the rotary actuator, which is rotatably supported in the node 710 barrel housing detachable drive chuck 700. See FIG. 27. For example, the proximal segment 572 of the shaft of the rotary actuator can be supported to rotate inside the distal part 712 of the barrel by means of bearings 576. In addition, the proximal segment 572 of the shaft of the rotary actuator can be rotated in the proximal part 714 of the barrel by means of the bearing 577. See FIG. 28. As can be seen in FIG. 24 and 28, the rotary actuator assembly 570 may also include a pair of rotary actuator rollers 574, 575 that drive the rotary actuator belt 578. Thus, the activation of the motor 560 rotation of the end clamp leads to the rotation of the proximal segment 552 of the rotary shaft around the axis of the stem A-A. The rotation of the proximal segment 552 of the rotary shaft leads to the rotation of the node 200 of the connecting element and in the end attached to it end clamp 102.

Barrel rotation system

The various forms of the surgical instrument 10 may also include a barrel rotation system, essentially referred to as element 600. In this document, the stem rotation system may also be referred to as a “proximal rotation system”. In at least one form, the stem rotation system 600 includes a proximal outer stem segment 602, which also contains part of the elongated stem assembly 30. The proximal external stem segment 602 has a distal end 604 connected without being able to rotate with the proximal bracket 330. As can be seen in FIG. 19 and 26, at the distal end 604, there is a gaping notch 606, so that the hinge rail 426 is activated relative to it. The barrel rotation system 600 may include a stem rotation engine (or “proximal rotation engine”) 610, which is functionally supported in the handle assembly 20. The barrel rotation engine 610 may be connected to the stem drive assembly 620, which is functionally supported on the detachable drive chuck 700. In at least one form, the stem drive assembly 620 includes a proximal drive shaft segment 622 that is rotatably supported in the distal part 712 of the barrel housing detachable drive chuck 700 by means of bearings 624. See FIG. 28. In addition, the proximal segment 622 of the drive shaft is supported rotatably in the proximal part 714 of the drive shaft housing by means of the bearing 626. As can be seen in FIG. 26 and 28, the barrel actuator assembly 620 may also include a pair of rotary actuator rollers 630, 632 that drive the trunk actuator belt 634. The drive roller 632 is attached without rotation to the proximal segment 602 of the drive shaft, so that the rotation of the drive roller 632 causes the turn of the proximal segment 602 of the drive shaft and the end clip 102 attached to it around the axis of the A-A shaft. As can be further seen in FIG. 28 and 30, the proximal segment of the drive shaft 602 is rotatably supported within the distal portion 712 of the barrel housing by means of a pair of bearing sleeves 607 and 608.

The new unique designs of the hinge systems of the present invention provide a plurality of degrees of freedom of the end clip and provide pivoting control movements to it. For example, during some surgical procedures, it may be necessary to place the end clamp in the same plane as the target tissue. Various designs of the present invention provide an end clamp at least three degrees of freedom while satisfying the dimensional constraints requirements that are often encountered when performing surgical procedures, for example, by laparoscopic technique.

The various forms of the present surgical instrument provide the user with improved handling capabilities, accuracy and efficiency when placing the end clip relative to the target tissue. For example, in conventional hinge joints of the trunk, commonly used to transfer force, universal hinge (s), vertebral hinge joints and deformed bends are often used. For all of these methods, performance limitations may be characteristic, including bending radius limits and excessive lengths. The various forms of the new unique elongated stem assemblies and drive systems described in this document, for example, make it possible to minimize the distance between the hinge axis and the end clamp in comparison with other conventional hinge designs. The design of the elongated stem and articulation assemblies described in this document provides for the transfer of at least one rotary control movement to the terminal clamp, and also provides the terminal clamp with multiple degrees of freedom, allowing the terminal clamp to be accurately positioned relative to the target tissue.

After applying the terminal clamp 102 or tool 100, it can be detached from the connector assembly 200 of the surgical instrument 10 and either disposed of or separately subjected to repeated processing and sterilization using appropriate sterilization methods. Surgical instrument 10 can be applied multiple times in combination with new terminal clamps / instruments. Depending on the particular application, it may be necessary to re-sterilize the surgical instrument 10. For example, the instrument 10 may be re-sterilized before being used in another surgical procedure.

Surgical instruments must be sterile before use. A common way to sterilize medical devices is by treating the device with water vapor at the right temperature for the right period of time. Such sterilization procedures, although effective, are essentially poorly suited for sterilizing surgical instruments that use electrical components, due to the high temperatures created in the case of methods under steam sterilization conditions. Such devices are usually sterilized by exposing them to a gas, such as ethylene oxide.

Various forms of the surgical instrument 10 can be sterilized using conventional sterilization techniques. In at least one form, for example, the elongated stem assembly 30 can be made from components and materials that can be effectively sterilized by methods associated with the use of relatively high sterilization temperatures. However, sterilization methods may be needed that have lower processing temperatures when sterilizing, for example, the handle assembly, to avoid possible damage to electrical components. Consequently, it may be necessary to sterilize the handle assembly 20 containing various electrical components separately from the trunk 30 assembly. To facilitate the use of such separate sterilization procedures, the elongated stem assembly 30, in at least one form, can be separated from the handle assembly 20.

Detachable drive cartridge assembly

More specifically, and with reference to FIG. 28, the detachable drive chuck assembly 700 is functionally supported within a portion of the handle assembly 20. For example, in one form, the assembly 700 of the detachable drive cartridge may be installed inside the distal segments 21 and 22 of the handle body, which may be connected using snap elements, screws or other fastening structures. Distal segments 21 and 22 of the handle body connected together may be referred to herein as the “distal part of the handle body” or “body” 25. The detachable drive cartridge assembly 700 may, for example, include a barrel housing assembly 710 containing a distal trunk housing 712 and proximal body 714 barrel. The detachable drive cartridge assembly 700 may also include a drive cartridge partition 720 that includes a distal partition plate 722 and a proximal connecting plate partition 724. As described above in at least one form, the node 700 of the detachable drive cartridge can functionally support the node 410 of the hinge actuator, the proximal end of the proximal segment 520 of the starting barrel, the rotary actuator assembly 570 and the barrel actuating assembly 620. To facilitate quick connection of the starting shaft segment 520, the hinge drive unit 410, the rotary drive unit 570, and the barrel drive unit 620 to the starting engine 530, the hinge control engine 402, the end clamp rotating motor 560, and the new turning structure 610, respectively .

Engine Mounting

In at least one form, for example, the assembly 700 of the detachable drive cartridge can be made detachably connected to a motor assembly, essentially designated as element 750. The motor assembly 750 can be supported inside the arm housing segments 23 and 24, which are joined together snaps, screws, etc., and serve to form part 26 of the pistol grip of the handle assembly 20. See FIG. 1. Segments 23 and 24 of the handle body connected together may be referred to herein as the “proximal part of the handle body” or the “body” 28. As shown in FIG. 29-32, the engine mounting assembly 750 may include a motor fastener 752, which is removably supported inside the handle housing segments 23 and 24. In at least one form, for example, the engine mount 752 may include a bottom plate 754 and a vertically directional plate-bulkhead assembly 756 of the engines. A fastening tongue 758 may be formed on the bottom plate 754, configured to create a retaining connection when receiving a detachable drive cartridge 700 into the bottom plate 730. In addition, in the engine bulkhead assembly 756, the right position pin 772 and the left position pin 774 are installed, which protrude it distally into the corresponding right and left socket tubes 716, 718, formed in the proximal part 714 of the trunk. See FIG. 32.

In at least one configuration, the assembly 700 of the detachable drive cartridge can be removably connected to the engine mounting assembly 750 by means of the release structures 760. As can be seen, for example, in FIG. 31, a release design 760 with the possibility of release may be placed on each of the sides of the engine assembly 750. Each release release design 760 may include a release shoulder 762, which is hinged to the engine bulkhead assembly 756 with a corresponding pin 764. Each clamp shoulder 762 may protrude through a corresponding fastening hook 766 formed on the distal side of the engine partition portion 756. The fastening hooks 766 can be made with the possibility of sliding inside ingestion of the respective receiving elements 726, which protrude proximally from the proximal plate 724 of the partition of the connecting element. See pic. 30 and 32. When the drive chuck assembly 700 is engaged with the engine mounting assembly 750, the fastening hooks 766 slid into the respective receiving members 726 such that the shoulders 762 of the clips engage the holding gear with the locking part 728 of the corresponding receiving member 726. Each latch arm 762 is associated with a latch spring 768 corresponding to it, which biases the latch arm 762 into retaining engagement with a corresponding latching part 728, holding the detachable drive unit 700 o cartridge connected to the assembly node 750 engines. In addition, in at least one form, each design 760 of the lock further includes a release button 770, attached with the ability to move to the partition 756 engines and oriented for selective contact with the lock. Each release button 770 may include a release spring 771, which dislodges the button 770 from contact with its corresponding locking arm 762. When the doctor needs to detach the node 700 of the detachable drive cartridge from the engine mounting assembly 750, the doctor simply presses each button 770 inwards, displacing the shoulders 762 of the retainers from the retaining engagement with the fixing parts 728 on the receiving members 726, and then pulls the node 700 of the detachable drive cartridge, removing it out of engagement with the assembly node 750 engines. You can use other designs of latches with the possibility of release for detachable connection of the node 700 detachable drive cartridge and the mounting node 750 engines.

In at least one form of the surgical instrument 10, connecting element assemblies can also be used for connecting control motors with their respective drive units, functionally mounted in a detachable drive cartridge 700. More specifically and with reference to FIG. 28-32, the connecting element assembly 780 is used to detach the connection between the joint drive assembly 410 and the hinge control motor 402. The node 780 of the connecting element may include a proximal connecting part 782, functionally connected to the drive shaft 404 of the engine 402 control the hinge. In addition, the node 780 of the connecting element may further include a distal connecting part 784 attached to the proximal shaft 412 of the hinge actuator. See pic. 28 and 32. Each distal connecting part 784 may contain a plurality (three shown) connecting protrusions 786, which are designed to be aligned without rotation with the corresponding recessed sections 788 formed in the proximal connecting part 782. See FIG. 30. Similarly, another distal coupling portion 784 may be attached to the proximal shaft 572 of the rotary actuator assembly 570, and the corresponding proximal coupling portion 782 is attached to the rotation shaft drive shaft 562. In addition, the other distal connecting part 784 may be attached to the proximal segment 520 of the starting shaft, and the corresponding proximal connecting part 782 is attached to the driving shaft 532 of the starting engine. Another distal connecting portion 784 may be attached to the proximal segment 622 of the drive shaft of the stem drive assembly 620, and the corresponding proximal connection portion 782 is attached to the drive shaft 612 of the stem turning engine 610. Such nodes 780 connecting element simplify the connection of control motors with the corresponding drive units, regardless of the position of the drive shafts and motor trunks.

The above-described various forms of the new unique handle assembly design make it easy to detach the elongated stem assembly 30 from the rest of the handle assembly 20 comprising motors 402, 530, 560 and 610 and various electrical components comprising a control system substantially designated as element 800. By themselves the elongated stem assembly 30 and the detachable drive cartridge 700 can be sterilized separately from the rest of the handle assembly housing the motors and the control system, which can be damaged by using sterilization using high temperatures. This new unique design of the detachable drive chuck can also be used in combination with designs in which the drive system (motors and control components) is part of a robotic system that can be portable or non-portable.

The design of the gear drive cartridge

In FIG. 100-103 an alternative drive cartridge 5700 is presented, which uses a set of gear drives for transmitting drive motions from the engines to their respective shafts. As can be seen in FIG. 100, the drive chuck 5700 may include a distal trunk barrel assembly 5710, which includes a distal trunk trunk 5712, functionally supporting a variety of designs with gear units.

The distal body 5712 of the barrel is adapted to be removably mounted on a proximal partition plate 5724 of a connecting element having a pair of mounting sockets 5725 for receiving corresponding fixing hooks 5713 protruding from the distal body 5712 of the barrel, as can be seen in FIG. 100. As in the above-described structures, the barrel of the starting or cutting engine 530 is directly connected to the proximal segment 5520 of the starting barrel by means of the connecting element 5780 of the connecting element, as can be seen in FIG. 103. The proximal segment 5552 of the rotary shaft of the turn clamp rotation system 550 is rotated by means of a gear block essentially designated as element 5565. In at least one form, for example, gear block 5565 includes a driven gear 5566 attached to the proximal segment 5552 of the rotary shaft and supported in gearing with drive gear 5567. As can be seen in most detail in FIG. 103, the drive gear 5567 is mounted on a protruding shaft 5568, which is supported rotatably in the distal housing 5712 of the barrel. The protruding barrel 5568 is connected to the shaft of the motor turning the end clip or the engine 560 distal rotation through the node 5780 connecting element.

The hinge proximal segment 5420 is rotated by means of a gear unit substantially designated as element 5430. In at least one form, for example, gear unit 5430 includes driven gear 5432 attached to proximal hinge shaft 5420 and supported in gear with drive gear 5434 As can be seen in most detail in FIG. 102, the drive gear 5434 is mounted on a protruding shaft 5436, which is rotatably supported in the distal housing 5712 of the barrel. The protruding barrel 5436 is connected to the trunk of the engine 402 control the hinge through the node 5780 connecting element.

The outer shaft proximal segment 5602 is rotated by means of a gear unit substantially designated as element 5640. In at least one form, for example, the gear unit 5640 includes a driven gear 5642 attached to the outer trunk proximal segment 5602 and supported in gear with a double-sided bevel gear 5644, which is supported to rotate inside the distal body 5712 of the trunk. The double-sided bevel gear 5644 is in gearing with the node 5646 of the drive bevel gear mounted on the protruding shaft 5648, which is also supported rotatably in the distal body 5712 of the barrel. The protruding barrel 5648 is connected to the barrel of the engine turning the barrel or the engine 610 proximal rotation through the node 5780 connecting element. See FIG. 101. Alternative engines and gear units of the drive chuck 5700 can be used to actuate and control the surgical instrument using the methods described herein.

Power and control systems

In various forms in a surgical instrument 10, a control system may be used, essentially designated as element 800, for controlling the various motors used in the instrument. Engines 402, 530, 560, and 610 and associated control components may also be referred to herein as an “electric drive system,” essentially referred to as element 398. In one form, the electric drive system 398 serves to “electrically generate” a variety of control movements. The term "electrical generation" means the use of electrical signals to activate a motor or other device powered by electricity, and this can be distinguished from control motions created manually or by other mechanical means without the use of electric current. In one form, the electric drive system 398 can be functionally maintained within the handle assembly, which the physician can hold in the hand or in the hands. However, in other forms, the electrically driven system 398 may be part of and / or may be driven and / or maintained by a robotic system.

In one form, engines 402, 530, 560 and 610 and associated control components

can receive electricity from a battery 802 placed inside the pistol grip portion 26 of the grip assembly 20. In other designs, the battery can be supported, for example, by a robotic system. However, in other embodiments, the handle assembly 20 may have a power cord (not shown) extending from it to supply power from another source of electrical energy. In other configurations, motors and electrical components may receive power and control signals from a robotic system. The control system 800 may include various components of the control system, which may include, for example, a distal printed circuit board 810, which is supported on a detachable drive cartridge 700. The distal printed circuit board 810 may include electrical connectors 812 and / or electrical components that can be sterilized using conventional steam techniques. sterilization, as well as other low-temperature sterilization methods. The control system 800 may further include a proximal printed circuit board 820, which is supported in a portion of the handle assembly 20 formed by the handle housing segments 23 and 24. The proximal printed circuit board 820 is adapted to be electrically connected to the distal printed circuit board 810 when the detachable drive cartridge 700 is connected to the motor assembly 750.

In various forms of the surgical instrument 10, a new and unique mechanism 830 of the control switch can be used, which can functionally fit inside or be supported by part 26 of the pistol grip of the handle assembly 20. For example, in at least one form, the control switch mechanism 830 may include a new unique control joystick 840, allowing the user to maximize the functional control of various aspects of the surgical instrument 10 through a single interface. More specifically and referring to FIG. 33-39, one form of control joystick 840 may include a control stick 842 joystick, functionally attached to a joystick switch node 850 that fits within the switch body assembly 844 so that it can be moved. The switch housing assembly 844 may be mounted inside the pistol grip portion 26 of the handle assembly 20. In at least one form, for example, the switch body assembly 844 may include a case body 846 and a case back plate 848. As can be seen in most detail in FIG. 35-39, the joystick circuit board 852 can be functionally supported on the joystick assembly 850 of the switches by means of the rear mounting plate 854. The rear mounting plate 854 can be configured to move as a single unit with the joystick assembly 850 of the joystick and circuit board 852 of the joystick inside the switch housing 844. A joystick spring 856 may be supported between the rear housing plate 848 and the rear mounting plate 854 by moving the joystick switch assembly 850 and the joystick control shaft 842 forward or in the distal direction. See pic. 36 and 38.

The control stick 840 may be electrically connected to the proximal printed circuit board 820 and the battery 802 of the control system 800 via various interconnecting cables 864, providing power control to various motors 402, 530, 560 and 610 of the surgical instrument 10. For example, by deflecting or otherwise activating joystick barrel 842; the user can control the joint control engine 402 and / or the distal rotation engine 560 and / or the proximal rotation engine 610.

The joystick switch assembly 850 may be referred to herein as a “first switch” for controlling one or more motors of an electric drive system. The joystick 840 may additionally include a first sensor 860, which may include, for example, a magnet, which may be mounted on the joystick PCB 852 to move with it. In addition, a second or fixed sensor 862 may be installed inwardly from the back plate 848 of the housing. The second sensor 862 may include, for example, a “Hall sensor” or similar determining device. In at least one embodiment, for example, the sensor 862 may be configured to communicate with a starting motor 530. The first and second sensors 860, 862 herein may be referred to as a “second switch”, essentially designated as element 858. The aforementioned design allows joystick node 850 switches move along the axis inwards and outwards when the user presses the joystick control trunk 842. Through the use of inward and outward movement of the entire joystick assembly 850 of the switches in at least one form, the structure essentially comprises a switch inside the switch. In the inactivated position, the joystick spring 856 moves the joystick assembly 850 of the switches forward (in the distal direction). When the doctor presses the joystick 842 inwards (proximally), the first sensor 860 moves closer to the second sensor 862. Moving the first sensor 860 closer to the second sensor 862 can activate the so-called second switch 858, which can activate the dissecting motor or the starting engine 530.

When performing the procedure using the end clamp 102, the doctor may need to open and close the stop assembly 190 to move the target tissue to the desired position without cutting or cutting the tissue. In one form, when the doctor initially presses the joystick control trunk 842, the second switch 858 activates the starting motor 530, thus causing the tissue cutting element 160 to start moving distally. In various forms, the cutting fabric element 160 is located inside the end clip 102 so that the initial movement of the cutting fabric element 160 in the distal direction causes the stop assembly 190 to close (i.e., turn to the cartridge 130 with brackets without cutting the fabric or starting surgical staples). When the doctor releases the joystick control barrel 842, the joystick spring 856 displaces the joystick assembly 850 of the switches distally, thus moving the first sensor 860 from the second sensor 862. Moving the sensor 860 from the second sensor 862 can reduce the speed of rotation of the starting engine 530 until the starting engine 530 stops or shut down completely. In at least one form, this mechanism of the second switch 858 can be designed so that the speed of rotation of the starting engine 530 is directly proportional to the speed at which the user presses the joystick control shaft 842.

After the physician completes the placement and grabbing of the target tissue with the end clamp 102, the end clamp 102 can be activated or "triggered" by fully pressing the joystick control trunk 842. In various forms, the joystick node 850 of the switches may also include a third compression switch 866, made with this node completely, also associated with the control system 800. Fully pressing the joystick control shaft 842 may lead to activation of the third switch 866. At least in one form with activation of the third switch 866 starting engine 530 will remain activated even after the doctor releases the control trunk 842 joystick. After completion of the starting stroke (i.e., when the fabric cutting element 160 has been pushed to its most distal position in the terminal clamp 102), the user can again press the joystick control shaft 842 and release the third switch 866, thus returning the control of the starting motor 530 to the second switch 858. Thus, if the doctor releases the joystick control trunk 842 after fully pressing it a second time, the joystick spring 856 will move the joystick assembly 850 of the switches to the initial position. The control system 800 will cause the starting motor 530 to rotate in the opposite direction until the fabric cutting element 160 returns to its original position, where the stop assembly 190 again moves to the open position, allowing the end clip 102 to release the dissected fabric.

In various forms, the switch mechanism 830 can also use the new unique control unit 870 with a rotary knob. As can be seen in FIG. 42, a rotary knob control unit 870 can be pivotally mounted on a distally protruding part 845 of the hub of the switch body assembly 844 so that the rotary knob control unit 870 can rotate around the axis of the SA-SA switch. In such a position, the actuator element 872 of the rotary knob of the control unit 870 with the rotary knob is conveniently placed in a position in which the doctor can turn it with his thumb and / or index finger while holding in part part 26 of the pistol grip of the handle unit 20. The actuator element 872 of the rotary knob can be attached to the collar 874 of the rotary knob fitted on the hub portion 845 and can be held in a rotatable position by means of a mounting flange 27 formed by the handle segments 23 and 24. The left sensor (magnet) 876 and the right sensor (magnet) 878 are mounted on the collar 874 of the knob, as shown in FIG. 41. Sensors 876 and 878 may have opposite polarities. A fixed sensor 880 may be installed on the switch body assembly 844 so that it is centrally located between the left sensor 876 and the right sensor 878. The stationary sensor 880 may be, for example, a Hall sensor, and may be attached to the proximal printed circuit board 820 control system 800 to control one of the control engines. For example, the control unit 870 with a rotary knob can be used, for example, to control the engine of the proximal rotation or the engine 610 of turning the barrel. In other designs, the control unit 870 with a rotary knob can be used to control the engine 560 distal rotation to rotate the end clip around the axis of the trunk relative to the node of the elongated barrel. You can use a pair of centering springs 882 to move the collar 874 of the knob to the center or neutral position. When the collar 874 of the knob is in the neutral position, as shown in FIG. 41, the stem rotation motor or the proximal rotation motor 610 (or the distal rotation motor 560 — as appropriate) is stopped.

When the user turns the rotary knob actuator 872 clockwise to the position shown in FIG. 43, control system 800 may cause the motor 610 to rotate the barrel to rotate the elongated stem assembly 30 around the axis of the barrel A-A clockwise. Similarly, when the user turns the rotary knob actuator 872 counterclockwise to the position shown in FIG. 44, control system 800 may cause the motor to rotate the barrel 610 to rotate the elongated barrel assembly 30 counterclockwise in the axis of the barrel A-A. In other words, when the user rotates the rotary knob actuator 872 clockwise or counterclockwise, the fixed sensor 880 controls the direction of rotation of the elongated shaft assembly 30 depending on the proximity of the left and right sensor 876, 878 to the fixed sensor 880. The reaction of the fixed sensor 880 can adjust so that as the user rotates the rotary knob actuator 872, the relative speed at which the engine 610 rotates the node 30 of the elongated st ol increased. As can be seen in FIG. 41-44, a locking protrusion 847 may be formed at the switch housing assembly 844 to interact with the slot 875 in the knob collar to prevent contact between the sensors 876, 878, which are movable, and the fixed sensor 880. A person skilled in the art will understand that the control unit 870 with the knob can be used to control any other motors of the surgical instrument 10. Similarly, the control joystick 840 can be configured to control any one or more engines in a surgical instrument 10. The new unique designs of the control unit with a rotary knob, described in this document, allow the user to perform functional control by turning the ergonomic element of the rotary knob actuator. In alternative forms, the sensors 876, 878, which are movable, may include Hall sensors, each of which is associated with an engine. Stationary sensor 880 may contain a magnet.

In various forms, each of the motors of the surgical instrument 10 may be equipped with a corresponding code position sensor, which is connected to a microprocessor circuit on the proximal printed circuit board 820. For example, the hinge control motor 402 may have a function encoder 404 which is functionally connected to it, which is connected to the proximal printed circuit. board 820. The starter motor or slitting motor 530 may have a function encoder 534 positionally connected to it, which is connected to a proximal printed area that 820. The terminal clamp rotation motor or the distal rotation motor 560 may have a function encoder 564 which is functionally connected to it, which is connected to a proximal printed circuit board 820. The motor of rotation of the trunk or a motor 610 proximal rotation may have a function encoder 614 which is functionally connected to it, which is connected to a proximal printed circuit board 820. Position encoders can serve to provide microprocessor-based circuits with feedback regarding speed and direction of rotation company of each of the motors. In some forms, in addition to coded position sensors, the rotation drive assembly 570 can use sensor designs to track the rotation of various segments of the barrel. For example, as can be seen in FIG. 15, 28 and 29, a first hinge sensor 419 may be mounted on the hinge drive roller 417, configured to be detected by a second hinge sensor 421, which may be, for example, a Hall sensor mounted on a distal printed circuit board 810. The first and second sensors 419, 421 hinges serve as additional feedback to track the turning position of the proximal trunk 420 of the hinge. Similarly, the first distal rotation sensor 580 can be mounted on the distal rotation roller 575 of the rotation drive assembly 570, which can be detected by the second distal rotation sensor 582 mounted on the distal printed circuit board 810. See FIG. 24, 28, and 29. The first and second distal rotation sensors 580, 582 provide additional feedback to track the rotational position of the proximal segment 552 of the rotary shaft. In addition, the roller 632 node 620 drive the proximal rotation can have a first sensor 634 proximal rotation, made with the possibility of its detection by the second sensor 636 proximal rotation, mounted on the distal printed circuit board 810. See FIG. 26, 28, and 29. The first and second proximal rotation sensors 634, 636 provide additional feedback to track the pivotal position of the proximal outer trunk segment 602.

Electrically conductive paths from the terminal clamp to the handle assembly

As described herein, various forms of the surgical instrument 10 can be effectively used with a variety of end clamps or surgical instruments that require or use pivoting or other movements during the actions / manipulations of the end clamp / instrument. For example, one form of the end clip 102 requires swiveling control movements for opening and closing the stop assembly 190, ejecting the surgical staples and cutting the tissue. One form of the end clamp 102 can also be equipped with a distal sensor design for sensing the degree or amount of closure reached by the stop 190 relative to the surgical cartridge 130 with brackets. For example, an anvil assembly 190 may include a first anvil sensor 890 mounted at the distal end of the anvil. See FIG. 3. The stop sensor 890 may be, for example, a Hall sensor adapted to detect the second sensor 892 of the staple cartridge (magnet) mounted on the distal end of the surgical cartridge 130 with the staples. In at least one form, the first stop sensor 890 may be associated with at least one end clamp conductor 894 mounted on the stop assembly 190, as shown. In one form, for example, the terminal clamp conductor 894 comprises a flat metal strip, at the proximal end of which a flexible hook 896 is formed. Essentially as used in this document, the terms conductor or conductive refer to an element or component capable of carrying electrical current. For example, a conductor may contain wires or wires, flexible conductive strips or metal tracks, a multicore flat conductive cable, etc. In this document, the term “has electrical contact with” or “electrically connected with” means that components are capable of transmitting between is an electrical current or signals.

In FIG. 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 be made, for example, of electrically conductive material and coated with an insulating coating (for example, polymer, etc.) for electrically isolating the locking pin 242 from the body part 202 of the connecting element, but may have an open end adapted to come into electrical contact with the hook 896. In addition, the locking spring 246 may also be made of electric also conduct material (e.g., metal). The locking spring 246 may be attached (eg, soldered, etc.) to the locking pin 242 so that the locking pin 242 and the locking spring 246 form an electrically conductive connecting element for conducting electrical current through the connecting element 200. The blocking spring 246 may also be covered with an insulating coating for electrically insulating it from the body portion 202 of the connecting element. The locking pin 242 and the locking spring 246 may be collectively referred to herein as the “locking pin assembly 249”. The blocking spring 246 may end with a proximal end 247, which is adapted to engage in sliding electrical contact with the proximal guide assembly 250 mounted on the distal bracket 312 of the hinge joint 310.

As can be seen in FIG. 8, one form of the proximal conductor assembly 250 may include an electrically conductive wire / wires / track 252 and an annular electrical conductor in the form, for example, of a conducting washer 254. As can be seen in FIG. 46, the conductor 252 is connected to the proximal conductor portion 256, which protrudes through the distal bracket 312 to communicate with the articulation conductor 258, supported by the flexible joint cover 900, which extends over the articulation joint 310. At least in one form, the joint cover 900 includes a hollow case 902, which has an open proximal end 904, an open distal end 906, and an articulation passage 908 directed between them. The hollow case 902 may comprise a plurality of ribs 910 and may be made of a polymer or similar non-conductive material that can stretch in all directions, adapting to the movements of the articulated components. However, the joint cover 900 may also be made of other suitable materials and structures, such as flexible tubes with micro-cuts, etc. The articulated conductor 258 may include, for example, a flat conductive cable, wire, wires, tracks, etc. As you can additionally see in FIG. 46, the proximal end of the articulated conductor 258 has electrical contact with the trunk conductor 260 on the proximal segment of the external trunk.

Turning further to FIG. 47 and 48, in at least one form, the proximal end of the barrel conductor 260 may be oriented to enter into sliding contact with the conductive ring 262 installed in the handle assembly 20. Such a design may allow an electric current to flow between the barrel conductor 260 and the conductive ring 262 when the long barrel assembly 30 rotates about the axis of the barrel A-A relative to the handle assembly 20. As can be further seen in FIG. 47 and 48, the conductor 264 is connected to the conductive ring 262 and passes proximally through the handle body 20. Conductor 264 may contain a wire or other suitable conductor and may have a proximal end 266 configured to flexibly contact the end of the left position pin 774. In particular, for example, the proximal end 266 may pass through the wall of the left position socket 718 so that when inserted into it the left position pin 774 proximal end portion 266 of the conductor 264 came into contact with the left position pin 774. In at least one form, the left position pin 774 is made of electrically conducting its material (metal), so that when the proximal end 266 of the conductor 264 enters into contact with it, electric current can flow between these components. In addition, the connecting conductor 776 serves to electrically connect the left position pin 774 to the proximal printed circuit assembly 820 to facilitate the transfer of electrical current between them.

The design described above simplifies the passage of electrical current between an end clamp or a surgical instrument attached to the node 30 of the elongated barrel of the surgical instrument 10 and components of the control system housed in the node 20 of the handle of the surgical instrument 10. This electrically conductive path remains while node of the elongated stem, hinged rotation of the end clip relative to the node of the elongated stem and rotation of the end clamp and knot elongated stem as a whole. The articulation cover 900 may provide an electrical connection path between the elongated stem and the end clamp. The articulation cover 900 may comprise a flexible electrical strip, wire, track, etc., for conducting more than one signal in order to provide an electrical connection. Consequently, a variety of different sensors or electrical components can be used in the terminal clamp to provide different forms of user feedback. For example, sensors can be used to determine the number of application cycles, track the passage of the cutting tool inside the terminal clamp during start-up, to feedback with the control system to automatically control various motors in the handle assembly, etc.

In FIG. 49 shows an alternative articulation joint 310 ′ adapted to conduct an electric current or signals through it. In this form, a distal electrical connection conductor 270 is provided, passing through the distal bracket 312 'and in contact with the distal metal washer 272 embedded in it, as shown. A proximal metal washer 274 can be installed on the proximal bracket 330 'to provide pivotal contact with the distal metal washer 272 when the distal bracket 312' is connected to the proximal bracket 330 'in the manner described above. The proximal metal washer 274 may be bent or chamfered to maintain sliding contact between the washers 272, 274. The proximal electrical connection conductor 276 in the form of, for example, a contact strip, wire or track is attached to the washer 274 and is configured to make electrical contact with the trunk conductor 260 at proximal segment 602 of the external trunk. Consequently, this design allows the passage of electrical current / signals from the end clamp 102 through the locking pin 242, the locking spring 242 (i.e. the locking pin assembly 249), the conductive ring 252, the distal conductor 270 of the electrical connection, the washers 272, 274, and the proximal conductor 276 electrical connections to the conductor 260 of the trunk.

Alternative articulation designs

Another form of articulation 1000 is shown in FIG. 50-53. Such an articulation 1000 can provide an articulated rotation and rotation of an end clamp attached to it or a tool around the axis AA of the elongated shaft to which the articulation 1000 is attached. The articulation can also provide such movement of an end clamp or a surgical instrument while ensuring the rotation of the steering movement on the terminal clamp / tool for activating or manipulating it. The articulation 1000 can be connected to an elongated stem assembly, similar in construction to the elongated stem assembly 30 described above, or it can be connected to other suitable stem assemblies. The elongated stem assembly may be connected to a handle assembly accommodating a plurality of engines. One engine can be used to feed control movements to a flexible cable element 1010 passing through an elongated stem assembly and functionally connected to an articulated joint 1000. For example, a flexible cable 1010 can be attached to a bobbin or roller assembly that is functionally attached or connected to the trunk of the corresponding engine so that engine operation activates cable 1010. The handle assembly can also include a starting motor, functionally attached to the proximal starting Olu 1030, which passes through the node of the elongated stem and interacts with the articulation joint 1000, as will be described in more detail below. The handle assembly may also include a motor functionally interacting with an end clip or a distal rotation stem 1040, which transmits a pivotal control movement to the articulation 1000 and which can be used to rotate the tip clamp or a surgical instrument around the axis of the stem A-A relative to the elongated stem. The handle assembly may also include a proximal rotation motor used to rotate the elongated stem assembly around the axis A-A in the manner described above.

In at least one form, the articulation 1000 may include a proximal clevis assembly 1020 attached or formed at the end of the elongated stem assembly. In the design shown in FIG. 50-53, the node 1020 of the proximal bracket is formed at the distal end of the node 30 of the elongated stem. As can be seen in these figures, the proximal clevis assembly 1020 has a distal end wall 1022 and a pair of divided clevis arms 1024, 1026. The proximal bracket 1020 is configured to swivel to distal bracket 1050 by means of a rotating shaft 1051, which serves to form the axis of the B-B hinge. The hinge axis B-B may be substantially perpendicular to the axis of the stem A-A.

On the distal bracket 1050 there is a slot 1052, formed on it, and a pair of shoulders 1054, 1056 of the distal bracket. Rotating barrel 1051 passes centrally through the shoulders of 1024, 1054, 1056 and 1026 brackets, as shown in FIG. 53. On the shoulder 1054 of the bracket, there may be a roller 1058 formed thereon for the cable to which the flexible cable 1010 is attached. Consequently, turning the cable 1010 with an appropriate motor causes the distal bracket 1050 to rotate relative to the proximal bracket 1020 around the axis of the B-B hinge.

In various forms, the articulation 1000 may also include a rotatable mounting sleeve 1060, which is rotatably received inside the socket 1052. On the mounting sleeve 1060 there may be an annular gear 1062 attached to it, which is able to gear with the drive gear 1064 distal rotation. The drive gear 1064 distal rotation attached to the shaft 1066 drive gear, supported with the possibility of rotation in the end wall 1053 distal bracket 1050. On the trunk 1066 drive gear there is attached to it the output gear 1068 distal rotation. The output gear 1068 distal rotation is supported in gearing with the transmission gear 1070 distal rotation, which is mounted with the possibility of rotation on the rotating shaft 1051 and is in gear with the input gear 1072 distal rotation. Input gear 1072 distal rotation mounted on the trunk 1040 distal rotation. Distal rotation output gear 1068, distal rotation transmission gear 1070, and distal rotation input gear 1072 are referred to herein as “distal rotation gear assembly” and are essentially referred to as element 1069. Distal rotation gear 1070 is “freely rotating” on a rotating shaft 1051 such rotation of the trunk 1040 distal rotation ultimately leads to the rotation of the drive gear 1064 distal rotation without rotation of the rotating shaft 1051. The rotation of the driving gear 1064 distal rotation inside the annular gear 1062 leads to the rotation of the mounting sleeve 1060 around the axis of the stem A-A. In various forms, the end clamp or the surgical instrument can be directly connected to the mounting sleeve 1060 so that the rotation of the mounting sleeve 1060 causes the end clip / tool to rotate. For example, the mounting sleeve 1060 may be formed with a sleeve slot 1061, the size of which allows it to be received with the possibility of holding a part of an end clip / tool. In alternative designs, the mounting sleeve 1060 may be an integral part of the end clip, or the end clip may be attached to the mounting sleeve 1060 by other fastening structures. For example, the mounting sleeve 1060 may be attached to a connecting member assembly of the type and construction described above, and then the end clamp / tool can be detachably attached to the connecting fitting assembly.

The articulation 1000 may also facilitate the transmission of a pivotal steering movement through the articulation 1000 to an attached end clamp / tool. As can be seen in FIG. 52 and 53, the distal end of the proximal starting shaft 1030 is rotatably supported by the distal end wall 1022 of the proximal bracket assembly 1020, and an input starting gear 1080 is attached to it. The input starting gear 1080 is in gear with the starting transmission gear 1082, mounted on the rotating shaft 1051. The transfer starter gear 1082 is in gear with the output starter gear 1084 mounted on the starting output shaft 1090 mounted in the end wall 1053 of the distal sk to 1050. The trigger output shaft 1090 can be configured to drive engagement with the respective drive element or a barrel end clamp / instrument. For example, the distal end 1092 of the starting output barrel 1090 may be given a hexagonal shape so that it can fit into the corresponding hexagonal socket formed in the mounting flange 1094, which can be configured to attach an end clamp / tool to the drive shaft. A starting input gear 1080, a starting transmission gear 1082 and a starting output gear 1084 are herein referred to as a “starting shaft gear unit”, essentially referred to as element 1081. The transfer starting gear 1082 is “freely rotating” on the rotating shaft 1051 in such a way that rotation the proximal starting barrel 1030 ultimately leads to the rotation of the starting output barrel 1090 without rotation of the rotary trunk 1051. The gear unit 1069 of the distal rotation and the gear unit 1081 starting barrel vlyayutsya substantially "nested" into each other, jointly facilitating pivoting clamp terminal / tool assembly relative to the elongated stem, while ensuring transmission of rotary movements in the control terminal connector while providing terminal clamp rotation about the barrel axis A-A.

In FIG. 54-60, another alternative articulation structure 1100 is presented. In at least one form, the articulation 1100 may include a proximal bracket 1110, a central bracket 1130 and a distal bracket 1150. The articulation 1100 may be configured to provide a hinge rotation of the end attached to it a clamp or a surgical instrument around two different hinge axes, BB and CC, which are essentially perpendicular to each other, as well as to the axis of the AA stem of the 30 ″ long stem assembly to which it is attached articulation. For example, the articulation 1100 can be designed so that the central bracket 1130 can rotate around the first axis of the BB hinge relative to the first bracket 1110, and the distal bracket 1150 can selectively rotate around the second axis of the CC hinge relative to the central bracket 1130. The hinge joint 1100 can also provide such a rotation of the terminal clamp or a surgical instrument and at the same time ensure that the rotary control movement is applied to the terminal clamp / instrument for its activation or manipulation I told them.

The articulation 1100 may be connected to an elongated stem assembly, similar in construction to the elongated stem assembly 30 described above, or it may be connected to other suitable stem assemblies. In one embodiment, the design of the proximal bracket 1110 is made completely with the outer tube of the elongated stem assembly 30 ″. As can be seen in FIG. 54-60, the proximal bracket 1110 has an upper shoulder 1112 of the proximal bracket and a lower shoulder 1114 of the proximal bracket. The central bracket 1130 also has an upper shoulder 1132 of the central bracket and a lower shoulder 1134 of the central bracket. The upper shoulder of the proximal bracket is pivotally connected to the upper shoulder 1132 of the central bracket by means of the proximal hinge pin 1116. The proximal hinge pin 1116 also joins the lower shoulder of the proximal bracket 1114 to the lower shoulder 1134 of the central bracket. The proximal hinge pin 1116 serves to form the first axis of the B-B hinge.

Also in at least one design, the central bracket 1130 has a right shoulder 1136 of the central bracket and a left shoulder 1138 of the central bracket. The distal bracket 1150 also has a right shoulder 1152 distal bracket and a left shoulder 1154 distal bracket. The right shoulder 1136 of the central bracket is pivotally connected to the right shoulder 1152 of the distal bracket by the distal hinge pin 1156. The left shoulder 1138 of the central bracket is pivotally connected to the left shoulder 1154 of the distal bracket by the distal hinge pin 1156. The distal hinge pin 1156 forms a second pin. In one embodiment, the distal hinge pin 1156 is attached without the possibility of rotation to the right and left shoulders 1152, 1154 of the distal bracket in such a way that the distal hinge pin 1156 rotates with the distal bracket 1150 relative to the central bracket 1130.

An elongated stem assembly 30 ″ may be attached to a handle assembly accommodating a plurality of engines. One engine can be used to feed the control movements to the first flexible cable element 1170, passing through the elongated shaft 30 ″ and functionally connected to the articulated joint 1100. For example, the first flexible cable 1170 can be attached to a first spool or roller node that is functionally attached or associated with the trunk of the corresponding engine so that the engine will activate the first cable 1170.

In one embodiment, the first flexible cable 1170 may be used to selectively rotate the central bracket 1130 relative to the proximal bracket 1110 around the first axis of the hinge B-B. In such a construction, for example, the first cable 1170 passes around the first roller (or spool) 1180, which is attached to the central bracket 1130. For example, the first roller 1180 is attached to the upper arm 1132 of the central bracket and rotated onto the proximal hinge pin 1116. The first cable 1170 will cause the center bracket 1130 to rotate relative to the proximal bracket 1110 around the first axis of the hinge BB.

In the articulation 1100, you can also use a second flexible cable 1190, which is put on a bobbin or roller assembly functionally attached or connected to the trunk of the corresponding engine inside the handle assembly so that the engine activates the second cable 1190. The second cable 1190 can be used to selectively rotate the distal brackets 1150 relative to the central bracket 1130 around the second axis of the hinge CC. In this design, for example, the second cable 1190 passes around the second roller (or spool) 1158, which is attached without turning to the distal hinge pin 1156. Activating the second cable 1190 will cause the distal hinge pin 1156 and the distal clip 1150 attached to it to rotate around the second hinge axis CC relative to central bracket 1130.

The articulation 1100 can also facilitate the transfer of a pivotal control movement through the articulation 1100 to an attached end clamp / tool. A proximal swiveling starting shaft 1200 can pass through an elongated trunk 30 "and can functionally connect to a starting motor in the handle assembly to transmit a turning starting movement to it. In one embodiment, the proximal starting shaft 1200 may be hollow so that a second cable can pass through it 1190. The proximal starting shaft 1200 can functionally interact with the proximal starting block of gears 1210, which is functionally supported in the hinge joint 1100. For example, one in The design of the first gear starter unit 1210 may include a proximal input gear 1212 attached to the proximal starting shaft 1200. The proximal input gear 1212 is oriented for gearing with the proximal 1214 gear gear imparted to the projectile 1214, imprinted on the body of the child, imparted to the speed of the adversary, 12-year-old gear, 1214, and 12-year-old gear is imparted to gears with a proximal starting gear 1214, which is attached to the gear, which is attached to the body of the child, imparted 1214, put on the gear, and put on the object, which is used to put on it. The proximal starting transmission gear 1212 is oriented for gearing with the proximal starting output gear 1216, connected with a central starting barrel 1218, passing with the possibility of rotation through the central partition 1131 of the central bracket 1130.

The articulation 1100 may also include a distal gear starter block 1220, interacting with a proximal gear starter block 1210 for transmitting a rotary starter or control movement through the articulation 1100. The distal gear starter block 1220 may include a distal input gear 1222 that is connected to the center of the central unit 1222, which is connected to the center of the center, 12 . The distal input starter gear 1222 is in gearing with the distal starting gear gear 1224, which is installed with the possibility Rotating at a distal pivot pin 1156 so that it can rotate freely thereon. Distal starting gear 1224 is in gearing with distal starting output gear 1226, which is supported to rotate inside distal bracket 1150. Distal starting gear 1226 can be made with the possibility of gear engagement with the appropriate drive element or barrel in the terminal clamp / tool.

Another form of articulation 1300 is shown in FIG. 61-66. Such an articulation 1300 can provide an articulated rotation and rotation of an end clamp or tool connected thereto around the axis AA of an elongated shaft to which an articulation 1300 is attached. on the terminal clamp / tool for activating or manipulating it. The articulation 1300 may be connected to an elongated stem assembly, similar in construction to the elongated stem assembly 30 described above, or it may be connected to other suitable stem assemblies. The elongated stem assembly may be connected to a handle assembly accommodating a plurality of engines. One engine can be used to feed control movements to a flexible cable 1310, passing through an elongated stem assembly and functionally connected to an articulated joint 1300. For example, a flexible cable 1310 may be attached to a bobbin or roller assembly that is functionally attached or connected to the trunk of the corresponding engine in this way so that the engine can activate the cable 1310. The handle assembly can also include a starting motor, functionally attached to the proximal starting shaft 1330, which passes through the node of the elongated stem and interacts with the articulation 1300, as will be described in more detail below. The handle assembly can also include an engine that interacts with a flexible distal-rotating stem 1340, which transmits a pivotal control movement to the articulation 1300 and that can be used to rotate an end clamp or a surgical instrument around the axis of the A-A stem relative to the elongated stem. The handle assembly may also include a proximal rotation motor used to rotate the elongated stem assembly around the axis A-A in the manner described above.

In at least one form, the articulation 1300 may include a proximal clevis assembly 1320 attached or formed at the end of the elongated stem assembly. In the design shown in FIG. 61-66, the proximal clevis assembly 1320 is formed at the distal end of the outer tube forming part of the elongated stem assembly 30. As can be seen in these figures, the proximal clevis assembly 1320 has a distal end wall 1322 and a pair of split clevis arms 1324, 1326. The proximal clevis 1320 is pivotally connected with distal bracket 1350 by means of an upper rotating shaft 1351 and a lower rotating shaft 1353, which serve to form the axis of the hinge BB.The axis of the hinge BB is essentially perpendicular to the axis of the stem AA.

On the distal bracket 1350 there is a slot 1352 formed on it, and a pair of shoulders 1354, 1356 of the distal bracket. The upper rotating barrel 1351 passes centrally through the shoulders 1324 and 1354 brackets. The lower rotating barrel 1353 passes through the shoulders 1356 and 1026 of the bracket, as shown in FIG. 64. On the shoulder 1356 of the bracket there is additionally a cable 1358 formed on it or attached to it. The flexible cable 1310 is attached to the cable roller 1358 in such a way that the activation of the cable 1310 causes the hinged rotation of the distal bracket 1350 around the axis of the B-B hinge relative to the proximal bracket 1320.

In various forms, the articulation 1300 may also include a rotatable mounting sleeve 1360, which is rotatably received inside the socket 1052. On the mounting sleeve 1060, there may be a driven gear 1362 attached to it, which is able to gear with the driving gear 1364 of distal rotation. The drive gear 1364 distal rotation attached to the shaft 1366 drive gear, supported with the possibility of rotation in the end wall 1355 distal bracket 1350. In at least one design variant, the driving gear 1364 distal rotation is driven by a flexible shaft 1340 distal rotation, which is directed through a proximal support stem 1342, directed through an elongated stem 30 ". In various forms, an end clamp or a surgical instrument can be directly connected to a mounting sleeve 1360 This means that turning the mounting sleeve 1360 rotates the end clip / tool. For example, the mounting sleeve 1360 can be formed with a sleeve slot 1361, the size of which allows you to accept with part of the end clip / tool. In alternative designs, the mounting sleeve 1360 It may be an integral part of the terminal clamp, or the terminal clamp may be attached to the mounting sleeve 1360 with other fastening structures. For example, the mounting sleeve 1360 may be attached to a connecting member assembly of the type and construction described above, and then the end clamp / tool may be detachably attached to the connecting member assembly.

The articulation 1300 can also facilitate the transfer of a pivotal steering movement through the articulation 1300 to an attached end clamp / tool. As can be seen in FIG. 63 and 64, the distal end of the proximal starting shaft 1330 is rotatably supported by the distal end wall 1322 of the proximal bracket assembly 1320, and the starting input gear 1380 is attached to it. The input starting gear 1380 is in gear with the starting transmission gear 1382, mounted on the lower rotating gear the trunk 1353. The transfer starter gear 1382 is in gear with the output start gear 1384 mounted on the start output shaft 1390, which passes through the end wall 1355 distal bracket 1350 and end wall 1370 of the mounting sleeve 1360. The starting output shaft 1390 can be made with the possibility of drive engagement with a corresponding drive element or barrel in the terminal clamp / tool. For example, the distal end 1392 of the starting output shaft 1390 can be given a hexagonal shape so that it can fit into the corresponding hex socket formed in the mounting flange 1394, which can be configured to attach an end clamp / tool to the drive shaft. The starting input gear 1380, the starting transmission gear 1382 and the starting output gear 1384 are referred to herein as the starting barrel gear unit, essentially designated element 1381. The transfer starting gear 1382 is “free-rotating” on the lower rotating shaft 1353 in such a way that the proximal rotation the starting shaft 1330 ultimately leads to the rotation of the starting output shaft 1390 without turning the lower rotating shaft 1353. The gear unit 1369 of the distal rotation and the gear unit 1381 starting This tool facilitates the rotation of the end clamp / tool relative to the elongated stem assembly, while ensuring that the rotary control movements are transmitted to the end clamp and at the same time allowing the end clamp to rotate around the axis of the barrel A-A.

Alternative engine mounts

In FIG. 67-69 presents an alternative engine assembly, essentially designated as element 1750. Engine assembly 1750 can be supported within arm housing segments 23 and 24, which are joined together with latches, screws, etc., and serve to form the pistol grip portion 26 20 handles. In at least one form, the engine mount 1750 may comprise a motor housing 1752, which is removably supported within the arm housing segments 23 and 24. In at least one form, for example, the housing of the 752 engine contains an engine partition wall attached to it. Engine housing 1752 is designed to support engines 402, 530, 560 and 610. Each engine has its own board attached to it with a 1780 control circuit designed to control the operation of each engine in various ways described in this document.

In some forms, the working portion 100 may include an electrosurgical end clamp using electrical energy to act on the tissue. Examples of electrosurgical end clamps and related instruments are described in US Patent Application No. 13/536,393, entitled “Branches of Surgical End Clamp and Electrode Configuration,” filed by patent attorney No. END7137USNP / 120141, and in US Patent Application No. 13 / 536.417, entitled "Electrode Connections for Rotary-Driven Surgical Instruments", the file of patent attorney No. END7149USNP / 120153, both of which are fully incorporated herein by reference. In FIG. 70-73 shows an example of a terminal clamp 3156, forming an alternative working portion 100. The terminal clamp 3156 can be performed with the ability to grab and cut tissue and for simultaneous welding of the captured tissue using a controlled power supply (for example, radio frequency (RF) energy). The first branch 3160A and the second branch 3160B can be closed, thus grasping or hooking the fabric along the longitudinal axis 3194, formed by the element 3182, which can be moved along the axis. The first branch 3160A and the second branch 3160B may also apply a compressive effect to the tissue.

In FIG. 70 is a perspective view of some forms of the electrosurgical end clamp 3156 for use with a surgical instrument 10. FIG. 70 shows the terminal clamp 3156 with open branches 3160A, 3160B. In FIG. 71 is a perspective view of some forms of a terminal clamp 3156 with closed jaws 3160A, 3160B. As noted above, the terminal clamp 3156 may include an upper first jaw 3160A and a lower second jaw 3160B, which may be straight or curved. Each of the first branches 3160A and the second branches 3160B may contain an elongated groove or channel 3162A and 3162B (FIG. 70), respectively, located outside along their respective middle parts. In addition, the first jaw 3160A and the second jaw 3160B may have tissue-grabbing elements, such as teeth 3198, located on the inside of the first jaw 3160A and the second jaw 3160B. The first branch 3160A may comprise a casing 3200A of the upper first branch with the upper first surface 3202A facing outward and the upper first surface 3204A supplying energy. The second branch 3160B may comprise a lower second branch housing 3200B with an outwardly facing second second surface 3202B and an energy supplying lower second surface 3204B. The first energizing surface 3204A and the second energizing surface 3204B can both bend around the distal end of the end clamp 3156 U-shaped around. It should be understood that the terminal clamp 3156 can be made with the possibility of rotation and pivotal rotation in the same way as described in this document in relation to the terminal clamp 102.

In FIG. 72 shows one form of an element 3182 adapted to move along an axis, an end clamp 3156. An element 3182 adapted to move along an axis is driven by a threaded driven shaft 3151. (FIG. 70) The proximal end of a threaded driven shaft 3151 can be made can be connected without rotation with the output slot 238 and thus receiving a pivotal movement provided by the engine 530. The element 3182, which can be moved axially, can contain a threaded nut 3153 for receiving of a shaft drive shaft 3151 so that rotation of the screw drive shaft 3151 forces the element 3182, which can move along the axis, move progressively distally and proximally along the axis 3194. (FIG. 72) The element 3182, which can move along the axis, can contain one or more parts, but in any case it can be made with the possibility of movement or translational movement relative to the elongated shaft 158 and / or branches 3160A, 3160B. In addition, at least in some forms, the element 3182, made with the possibility of movement along the axis, can be made of dispersion-hardening stainless steel 17-4. The distal end of the axially movable element 3182 may comprise an I-beam profile with flanges, slidable within the channels 3162A and 3162B in the branches 3160A and 3160B. Element 3182, made with the possibility of moving along the axis, can slide inside channels 3162A, 3162B, opening and closing the first branch 3160A and the second branch 3160B. The distal end of the axially movable element 3182 may also include an upper flange, or a C-shaped part 3182A, and a lower flange, or C-shaped part 3182B. The flanges 3182A and 3182B, respectively, form internal curved surfaces 3206A and 3206B for engaging the outward facing surfaces of the first branch 3160A and the second branch 3160B. The opening-closing of the branches 3160A and 3160B can apply a very strong compressive force to the fabric due to the use of cam mechanisms, which can include an I-beam with the ability to move an element 3182 that can be axially displaced and the surfaces 3160A, 3160B facing the outside.

More specifically, referring to FIG. 70-72, the inner curved surfaces 3206A and 3206B of the distal end of an element 3182, which are axially movable, can be combined with the possibility of sliding engagement with the first outwardly facing surface 3208A and the second outwardly facing surface 3208B of the first branch 3160A and the second branch 3160B respectively. The channel 3162A inside the first jaw 3160A and the channel 3162B inside the second jaw 3160B can be made in shape and size with the ability to move an element 3182 that can be moved along an axis, which can contain a cutting fabric element 3210, for example, containing a sharp distal edge. In FIG. 71, for example, presents the distal end of an axially movable element 3182 advanced at least partially through channels 3162A and 3162B (FIG. 70). The advancement of the axially movable element 3182 may close the end clamp 3156 in the open configuration shown in FIG. 70. In the closed position shown in FIG. 71, the upper first jaw 3160A and the lower second jaw 3160B form a gap or distance D between the first energy supply surface 3204A and the second energy supply surface 3204B of the first junction 3160A and the second junction 3160B, respectively. In various forms, the distance D may be, for example, from approximately 0.01 mm to approximately 1.0 mm (from approximately 0.0005 inch to approximately 0.040 inch), and in some embodiments, for example, from approximately 0.03 mm to about 0.25 mm (from about 0.001 inch to about 0.010 inch). In addition, the edges of the first power supply surface 3204A and the second power supply surface 3204B may be rounded to prevent tissue incision.

In FIG. 73 is a sectional view of some forms of the end clamp 3156. The surface 3204B of the lower branch 3160B, which engages or contacts the fabric, is adapted to supply energy to the fabric, at least partially, through a conductive-resistive matrix, such as a casing with variable resistance, having a positive temperature coefficient (PTC). At least one of the upper and lower branches 3160A, 3160B may be located at least one electrode 3212, made with the possibility of supplying energy from the generator 3164 to the captured tissue. A similar conductive matrix (i.e., a PTC material) may be located on the 32060A top branch 3160A engaging or tissue-contacting surface (i.e., PTC material), or in some forms, the surface may be, for example, a conductive electrode or an insulating layer. In an alternative embodiment, any energizing components described in US Pat. No. 6,773,409, filed October 22, 2001, entitled “STRUCTURE OF ELECTRO SURGICAL BRANCHES FOR MANAGED ENERGY FEED,” can be placed on the hooking surfaces of the branch, the description of which is fully included in this document by reference.

Each of the first energy supply surface 3204A and the second energy supply surface 3204B may be in electrical communication with the generator 3164. The generator 3164 is connected to the terminal clamp 3156 by suitable transmission means, such as conductors 3172, 3174. In some forms, the generator 3164 is connected to a controller, such as, for example, control block 3168. In various forms, control unit 3168 may be implemented in concert with generator 3164, or it may be a module or device with a separate circuit electrically connected to generator 3164 (this variant is shown in dotted lines). The generator 3164 can be made in the form of an external unit of equipment and / or can be made integral with a surgical instrument 10.

The first power supply surface 3204A and the second power supply surface 3204B may be configured to be brought into contact with the fabric and supply electrical energy to the captured fabric, providing a seal or welding 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 power supply surface 3204A and the second power supply surface 3204B. Control unit 3168 can control the power generated by 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 energizing surfaces 3204A and 3204B may have variable resistance housings with a positive temperature coefficient (PTC) that are in electrical communication with the generator 3164 and the control unit 3168. Additional details regarding electrosurgical end-clamps, branch closure mechanisms and electrosurgical surfaces that supply energy are described in the following US patents and published patent applications US Pat. Nos. 7,087,054; 7,083,619; 7,070,597; 7.041.102; 7,011,657; 6,929,644; 6,926,716; 6,913,579; 6,905,497; 6,802,843; 6,770,072; 6,656,177; 6,533,784; 6,500,176; and published applications for US patent No. 2010/0036370 and 2009/0076506, which are all fully incorporated into this document by reference and form part of the present description.

There is a suitable 3164 generator, such as the GEN11 model, manufactured by Ethicon Endo-Surgery, Inc., Cincinnati, Ohio. In addition, in some forms, the generator 3164 can be implemented as an electrosurgical unit (ESU) capable of delivering enough power to perform bipolar electrosurgery using radio frequency (RF) energy. In some forms, the ESU may be an ERBE ICC 350 bipolar device supplied by ERBE USA, Inc., Marietta, Georgia. In some forms, for example, when used in bipolar electrosurgery, you can use a surgical instrument that has an active electrode and a return electrode, and the active and return electrodes can be located adjacent to and / or in electrical communication with the treated tissue so that the current can flow from the active electrode through the shields with a positive temperature coefficient (PTC) and to the return electrode through the fabric. Consequently, in various forms, the surgical instrument 10, which uses end clamp 3156, creates a supply path and a return path, with the captured tissue for processing connecting or closing the circuit. In some forms, the generator 3164 may be a monopolar ESU RF unit, and the surgical instrument 10 may include a monopolar end clamp in which one or more active electrodes are embedded. In such a system, for the generator 3164, a return plate can be used that is in close contact with the patient's body at a location remote from the surgical field and / or another suitable return path. The back plate can be connected to the generator 3164 via a cable.

  During operation of the electrosurgical instrument 150, the user substantially captures the tissue, supplies energy to the captured tissue to form fusion or sealing, and then pushes the cutting fabric 3210 at the distal end of the axis element 3182 that can be moved axially through the captured tissue. In accordance with various forms, the translational movement along the axis of the element 3182, which is made with the possibility of movement, can be carried out at a given pace or otherwise controlled so that the movement of the element 3182, which is capable of moving along the axis, takes place at a suitable speed. By controlling the speed of movement, the likelihood is that the trapped tissue will be sealed in an appropriate and functional way before it is cut by the cutting element 3210.

In some forms, the working portion 100 may include an ultrasonic end clamp using harmonic or ultrasonic vibratory energy to process tissue. In FIG. 74, one form of ultrasonic end clamp 3026 is provided for use with a surgical instrument 10. The end clamp assembly 3026 comprises a clamp arm assembly 3064 and a scalpel 3066 for forming the clamp mechanism branches. The scalpel 3066 can be activated using ultrasound in an acoustic connection with an ultrasound transducer 3016 located inside the terminal clamp 3026. Examples of small transducers and terminal clamps containing transducers are presented in simultaneously filed US patent applications Ser. No. 13 / 538,601, entitled "Ultrasonic surgical instruments with distally located transducers" and published application for US patent No. 2009/0036912. The transducer 3016 may have an acoustic connection (for example, direct or indirect mechanical connection) about a scalpel 3066 by means of a waveguide 3078.

Tubular activating element 3058 can move clamping lever assembly 3064 to the open position in direction 3062A, in which clamping lever assembly 3064 and scalpel 3066 are spatially relative to each other, as well as to clamped or closed position in 3062B direction, in which clamping node 3064 the lever and the scalpel 3066 interact to capture the tissue between them. The distal end of the tubular reciprocating actuator 3058 is mechanically connected to the end clip assembly 3026. In the form shown, the distal end of the tubular reciprocating activating element 3058 is mechanically engaged with the clamp arm 3064, which is pivotably rotated around the turning point 3070 to open and close the clamping lever assembly 3064. For example, in the illustrated form, the clamping lever unit 3064 is configured to move from an open position to a closed position in a direction 3062B around a pivot point 3070, when the tubular reciprocating activating element 3058 is drawn proximally. Clamping lever assembly 3064 is configured to move from a closed position to an open position in direction 3062A relative to a pivot point 3070, when tubular reciprocating activating element 3058 progressively moves distally. (FIG. 75)

Tubular activating element 3058 can progressively move proximally and distally due to the rotation of the threaded actuator shaft 3001. The proximal end of the threaded actuator shaft 3001 can be made to be connected without rotation with the output slot 238 and thus receive a rotary motion provided by the engine 530. Tubular activating element 3058 may contain a threaded nut 3059 for receiving a threaded actuator shaft 3001 so that the rotation of the threaded actuator shaft 3001 leads to The movement of the tubular activating element 3058 is distal and proximal. In FIG. 76-77 shows an additional view of a single form of an element 3058, which is movable axially, and a tubular nut 3059. In some forms, a tubular activating element 3058 forms a cavity 3003. A waveguide 3078 and / or a portion of a scalpel 3066 can pass through a cavity 3003, as shown in FIG. 74.

In one example, the distal end of the ultrasound transmitting waveguide 3078 may be connected to the proximal end of the scalpel 3066 by connecting with an internal thread, preferably at or near the antinode of the wave. It is contemplated that the knife 3066 may be attached to the ultrasonic transmission waveguide 3078 by any suitable means, such as a welded joint or the like. Although the scalpel 3066 can be disconnected from the ultrasound transmitting waveguide 3078, it is also assumed that a single-element terminal clamp (for example, a scalpel 3066) and the ultrasound transmitting waveguide 3078 can be formed as a single part.

The ultrasonic transducer 3016, known as the “Langevin package,” essentially oscillates as a result of the electrical signal generated by the generator 3005 (FIG. 74). For example, the transducer 3016 may contain a plurality of piezoelectric elements or other elements that convert the electrical signal from the generator 3005 into mechanical energy, which results in a predominantly standing acoustic wave of the longitudinal vibratory movement of the ultrasonic transducer 3016 and the scalpel 3066 of the ultrasound frequency terminal node 3026. The ultrasonic transducer 3016 can have (but not necessarily) a length equal to an integer multiplied by half of the system wavelength (nλ / 2; where n is any positive integer; for example, n = 1, 2, 3 ...). A suitable vibration frequency range for the transducer 3016 and a scalpel 3066 can be from about 20 Hz to 32 kHz, and a well-suited frequency range of vibrations can be from about 30 Hz to 10 kHz. For example, a suitable operating frequency of vibrations may be approximately 55.5 kHz.

The generator 3005 may be any suitable type of generator placed inside or outside of the surgical instrument 10. There is a suitable generator, such as model GEN11 from Ethicon Endo-Surgery, Inc., Cincinnati, Ohio. When the transducer 3016 is connected to a power supply, a standing wave of vibratory motion is generated by the waveguide 3078 and a scalpel 3066. The end clamp 3026 is configured to work in resonance in such a way as to create a picture of an acoustic standing wave with a given amplitude. The amplitude of the vibratory motion at any point of the transducer 3016, the waveguide 3078 and the scalpel 3066 depends on the location of the point within these components where the vibratory motion is measured. The minimal or standing zero wave of a vibration motion is essentially called a node (i.e., a place where movement is minimal), and a local absolute maximum or peak value of a standing wave is essentially called an antinode (i.e. a place where local movement is maximal) . The distance between the antinode and the node nearest to it is one quarter of the wavelength (λ / 4).

In one embodiment, the scalpel 3066 may have a length substantially equal to the product of an integer by half the system wavelength (nλ / 2). The distal end of the scalpel 3066 can be located near the antinode, to ensure maximum longitudinal movement of the distal end. When the transducer assembly is connected to power, the distal end of the blade 3066 can be made to move in a range, for example, from about 10 to 500 microns of double amplitude, and preferably in a range from about 30 to 64 microns at a given vibration frequency, for example, 55 kHz .

In one embodiment, the scalpel 3066 may be connected to the ultrasound transmitting waveguide 3078. As shown, the scalpel 3066 and the ultrasound transmitting waveguide 3078 are formed as a single structure from a material suitable for transmitting ultrasonic energy. Examples of such materials include Ti6Al4V (titanium alloy including aluminum and vanadium), aluminum, stainless steel, or other suitable materials. In an alternative embodiment, the scalpel 3066 may be separated (and have a different composition) from the ultrasound transmitting waveguide 3078 and may be attached, for example, by rivet, welding, glue, quick connector or other suitable known methods. The length of the ultrasound-transmitting waveguide 3078 may be, for example, essentially equal to the product of an integer by half the wavelength (nλ / 2). The ultrasound-transmitting waveguide 3078 can preferably be made of a solid core bore from a material suitable for efficiently transmitting ultrasonic energy, such as, for example, the titanium alloy described above (i.e. Ti6Al4V) or from any suitable aluminum alloy or other alloys.

In some forms, surgical instrument 10 may also be used with other stapling-type end clamps. For example, in FIG. 78 shows one shape of a linear stapling end clamp 3500, suitable for use with a surgical instrument 10; End clamp 3500 contains part 3502 stop and channel 3514 for the brackets, made with the possibility of translational movement. The channel 3514 for brackets, made with the possibility of translational movement, can move in the distal and proximal directions, indicated by the arrow 3516. The threaded drive shaft 3506 can be connected to the output slot 238, for example, as shown earlier in this document, in order to receive a turning movement created by the engine 530. The threaded drive shaft 3506 can be connected to a threaded nut 3508 fixedly connected to the clip channel 3514 so that turning the threaded drive shaft 3506 leads to To move the channel 3514 for the staples in the directions indicated by the arrow 3516. The nut 3508 can also be connected to the ejector 3510, which in turn can come in contact with the cartridge 3512 with the staples. As the distal translation moves, the ejector 3510 can push the staples out of the cartridge 3512 with the staples to the stop 3502, thereby pushing the staples through the fabric located between the staple channel 3514 and the stop 3502.

In some forms, a surgical instrument can also be used with a circular stapling end clamp. In FIG. 79 shows one shape of a circular stapling end clip 3520 suitable for use with a surgical instrument 10; End clamp 3520 contains stop 3522 and part 3524 with brackets. Threaded drive shaft 3530 passes from the stop 3522 through part 3524 with brackets. Threaded drive shaft 3530 can be connected to the output slot 238, for example, as shown above in this document, in order to receive a turning movement created by the engine 530. Threaded nut 3532 can be connected to part 3524 with brackets so that the rotation of the threaded drive shaft 3530 alternately progressively moves part 3524 with brackets distally and proximally, as indicated by arrow 3534. The threaded barrel can also be connected to the ejector 3528 in such a way that the distal movement of part 3524 with bracket brackets The ejector 3528 is distal into the cartridge 3526 with brackets to push the brackets out of the cartridge 3526 into the fabric located between the stop 3522 and the part 3524 with brackets. In some embodiments, the terminal clamp 3520 may also include a scalpel or cutting tool 3535 for cutting the fabric before stitching.

It should be understood that along with the different end clamps and other working parts in the surgical tool 10 can be interchanged. For example, in some forms of surgical instrument 10, different power cords are used. In FIG. A presents several examples of power cords 3540, 3542, 3544 for use with a surgical instrument. Each of the power cords 3540, 3542, 3544 contains a slot 3546 for connection to the surgical instrument 10. The power cords 3540, 3542, 3544 can be used to connect the surgical instrument 10 to various power sources. For example, power cords 3540 and 3542 contain sockets 3550, 3552 for connecting to generators, for example, with the GEN11 generator from Ethicon Endo-Surgery, Inc., Cincinnati, Ohio. Such a generator may provide power to the instrument 10 and / or may provide a signal for actuating an electrosurgical and / or ultrasound terminal clamp. The 3544 power cord contains a 3548 plug that can be plugged into a wall outlet to provide power to the tool 10 (for example, when there is no 802 battery).

In some forms, the surgical instrument may also contain interchangeable working parts, including various stems. In FIG. 81 presents several examples of barrels 3554, 3556, 3558 suitable for use with a surgical instrument 10. Each barrel 3554, 3556, 3558 contains a detachable drive cartridge 700 ', 700' ', 700' '', similar to the detachable drive cartridge 700, which can taken into tool 10, as described above in this document. Each stem 3554, 3556, 3558 also contains a coupling element unit 3557 for receiving an end clamp, similar to the coupling element unit 200 described above in this document. In some embodiments, the implementation of different trunks made with the possibility of receiving different types of terminal clamps in the node 3557 connecting element. Each of the trunks 3554, 3556, 3558 may contain different characteristics, including, for example, different lengths, the presence or absence of a hinge, a passive or active hinge, different amounts of hinge rotation, different diameters, different curvatures, etc. For example, the trunk 3554 forms a curve 3559, offset from the central axis of the trunk. Barrel 3558 forms a articulation 3560, which can be articulated to rotate in the same way as described earlier in this document in relation to articulation 310.

It should be understood that different types of working parts 100 (for example, power cords, trunks, end clamps, etc.) require different motors and other components of the surgical instrument 10, which operate differently. For example, electrically operated end clamps, such as the electrosurgical end clamp 3156 and the ultrasonic end clamp 3026, require a power supply signal to power the electrodes and / or ultrasonic scalpels. Different movements of different engines 402, 560, 530, 610 may also be required to activate different end clamps, including, for example, activating different engines, creating different torques, etc. In various forms, working parts 100 can provide a surgical instrument with 10 control parameters .

In FIG. 82 is a block diagram of a handle assembly 20 of a surgical instrument 10 with designation of various control elements. The control elements shown in FIG. 82, configured to receive control parameters from various operating parts and control the surgical instrument 10 based on the received control parameters, as well as on the basis of one or more input control signals received from a physician (eg, using a control joystick 840 or other suitable activating device) . The control elements may comprise a control circuit 3702 for controlling the surgical instrument 10. In various forms, the control circuit 3702 may execute a control algorithm for operating the surgical instrument 10, including all installed working parts. In some forms, control circuitry 3702 is implemented on a proximal printed circuit board 820, described earlier in this document. The control circuit 3702 contains a microprocessor 3706 and its associated memory and / or storage device 3708. In some forms, the control circuit 3702 may also include a generator circuit 3704 for supplying power to an ultrasonic and / or electrosurgical device. The generator circuit 3704 can act as an independent component or in combination with an external generator.

In FIG. 82 also shows engines 3714, which may correspond to engines 402, 560, 530, 610 described above. Battery 3713 may correspond to battery 802 described earlier in this document. The input to control circuit 3702 can come from control joystick 840 or another suitable activating device. The various surgical workpieces 100 described herein can be connected to the handle 20 through the respective slots 3710, 3712. The jack 3712 can receive the barrel, such as barrels 3554, 3556, 3558. For example, the jack 3712 can receive the barrel in the same way as the handle 20 receives a detachable drive cartridge 700, as described above in this document. The socket 3710 may be configured to receive a cord connector, such as connector 3546, described earlier in this document.

The control circuit 3702, in combination with various other control elements, such as jacks 3710, 3712, can receive control parameters from various installed working parts. The control parameters can contain, for example, data describing the properties of the working parts, data describing the algorithms of the tool 10 with installed working parts, etc. The sockets 3710, 3712 can be mechanically or via communication lines connected to various working parts. For example, various working parts may contain circuits 3720 to save control parameters. Such circuits 3720 are shown connected to power cords 3540, 3542, 3544 in FIG. 80 and connected to the trunks 3554, 3556 3558 in FIG. 81. Also in FIG. 83 illustrates one of the shapes of various working portions 3730, 3732, 3734, 3736, 3738 of an end clip, comprising the circuits 3720 described herein. Schemes 3720 may contain one or more storage components to store control parameters for transmission to control circuit 3702. Such storage components may include any suitable type of memory device (for example, electrically erasable programmable read-only memory (EEPROM), a digital register, any other type, etc.). The memory devices may also contain coils or other hardware components capable of modulating the specified control parameters, for example, as a result of a request radio frequency identification (RFID) signal. In some forms, the circuits 3720 form a direct wired connection to the control circuit 3702, for example, through the corresponding jacks 3710, 3712. Accordingly, the control circuit 3702 can directly communicate with various circuits 3720 and receive control parameters.

In some forms, the 3720 circuits contain passive or active RFID devices. The handle 20 may contain one or more antennas 3716, 3718, which may be located in or near the corresponding sockets 3710, 3712. With the help of antennas 3716, 3718, the control circuit 3702 can interrogate the circuits 3720 on the installed working parts and receive control parameters. In some forms, control circuitry 3702 is programmed to send requests to different working parts at startup and / or when indicating that the working part has been installed and / or disconnected. In response, control circuit 3702 can receive a reflection signal from the RFID device. The reflection signal may indicate important control parameters. In some forms, the 3720 circuits may contain active RFID devices that transmit data describing the associated working parts, for example, after installation.

As shown in FIG. 81, some barrel shapes may contain antennas 3719 on the distal portions. Antennas 3719 can be connected to control circuitry 3702 by means of conductors (not shown) directed through appropriate trunks, allowing control circuitry 3702 to interrogate the circuitry of RFID 3720 devices at terminal terminals, such as terminal terminals 3730, 3732, 3734, 3736, 3738. In some The 3718 antenna shapes located in the handle can receive and transmit a sufficiently powerful signal for polling the 3720 circuit of the RFID device at the terminal terminal, without requiring a separate antenna 379 in the barrel. In some designs, the circuits 3720 may be configured to create a wired connection to the control circuit 3702. For example, antennas 3716, 3718, 3719 may be missing.

In FIG. 84 is a block diagram showing one form of control configuration 3800 implemented by control circuit 3702 for controlling a surgical instrument 10. In accordance with configuration 3800, control circuit 3702 is programmed by control algorithm 3802. The control algorithm 3802 accepts control parameters from the established working parts in the form of input variables 3801. The input variables 3801 can describe the properties of the installed working part. The control algorithm 3802 also receives one or more input control signals 3818 (eg, from a control joystick 840, a robotic system, or another suitable activation device that is controlled by a physician). Based on input variables 3801, the control algorithm 3802 can control the surgical instrument 10, converting one or more input control signals 3818 into an engine control output 3814 for controlling motors 3714 and an optional power supply control output 3816 for controlling ultrasonic and / or electrosurgical terminal clamp. It should be understood that not all forms of the surgical instrument 10 need to accept input variables from all of the listed working parts. For example, some forms of surgical instrument contain one stem and / or fixed end clamp. Also, in some forms of surgical instrument (or its configurations), the power cord may be missing.

The control algorithm 3802 can execute a plurality of functional modules 3804, 3806, 3810, 3812 relating to various aspects of the surgical instrument 10. The start module 3804 can convert one or more input control signals 3818 to one or more output control signals 3814 for the engine, which control the corresponding 3714 engines to start the tool 10. The hinge module 3806 can convert one or more input control signals 3818 to one or more output control signals 3814 for the engine, which orachivayut tool barrel 10. Module 3812 may supply power to the various components of the surgical instrument 10 in accordance with the requirements established by the power cord. For those tool forms 10 that use energy in the terminal clamp (for example, in ultrasonic and / or electrosurgical instruments), the energy module 3810 can convert one or more input control signals 3818 to motor output control signals 3816 applied to the terminal clamp. Energy control signals 3816 may be generated by generator 3704 and / or an external generator (not shown in FIG. 84), and may be provided to converter 3016 and / or end-clamp surfaces 3204A, 3204B.

The various modules 3804, 3806, 3810, 3812 of the control algorithm 3802 can use control parameters in the form of input variables 3801 to convert one or more input control signals 3818 to output signals 3814, 3816. For example, input variables 3801, received from different working parts, can differently affect the control algorithm 3802. Input variables 3801 derived from a power cord, such as 3540, 3542, 3544, may include, for example, the type of cord, whether the cord is connected to an external object, such as a generator or power connector, identifying an external object to which the cord is connected, and t One type of power cord, such as the 3544 cord, can be configured to accept power from an external power connector, such as a wall outlet. When control circuit 3702 determines that a power cord of this type is installed (for example, jack 3710), power supply module 3812 can be programmed so that control circuit 3702 supplies power to 3714 motors and / or power supply elements from the installed cord version. Power supplied through the installed version of the cord, can be used as an addition or instead of the power supplied from the battery 3713.

Another type of cord, for example, 3540 and 3542, can be configured to communicate with an external generator. Power module 3812 and / or energy module 3810 may be configured such that control circuit 3702 supplies power to the power supply element based on the power supply signal received through the installed power cord. In addition, the energy module 3810 may be configured such that control circuit 3702 supplies an input signal to the generator through an installed power cord. Such an input signal may include, for example, an input control signal 3818, indicating that the doctor has requested power supply. In some forms, input variables 3801 taken from the power cord may also indicate the type of generator that is provided with (and / or connected) such power cords. Examples of generators may include independent electrosurgical generators, independent ultrasound generators, combined electrosurgical / ultrasound generators, etc. In some forms, the input variables 3801 obtained from the power cord may also indicate the type of generator that the cord is designed to connect to. In some forms, this type of generator can affect the operation of the control algorithm 3802. For example, different types of generators may have different control interfaces, expect different commands from the surgical instrument 10 to arrive, and / or give different output signals in different forms.

If a trunk, such as one of the trunks 3554, 3556, 3558, is a removable working part, then the input variables 3801 received from the trunk may indicate different characteristics of the trunk. Such properties may include, for example, trunk length, trunk position and degree of bending (if any), parameters describing articulation of the trunk (if present), etc. The trunk length, position and degree of bending can be used, for example, in module 3804 start and / or module 3806 hinge control algorithm 3802 to determine the requirements for torque and / or tolerances. Parameters describing the articulation of the trunk may indicate or allow the hinge module 3806 to generate various engine movements necessary to rotate the trunk in different directions. In some embodiments, the implementation of the input variables 3801 may also denote the degree of allowable articulated rotation, which the hinge module 3806 can convert to the maximum allowable movement of the engine. In some forms, the input variables 3801 obtained from the barrel may also indicate whether the mounted barrel supports barrel rotation and / or end clamp rotation. Such variables 3801 can be used by the control algorithm 3802 to determine which engine or engines 3714 should be activated to rotate the barrel and / or end clamp, as well as determine the torque, the number of revolutions of each engine 3714, etc.

Input variables 3801, derived from working parts, end clamps, may have different shapes based on the type of end clamp used. For example, endoscopic dividers and other stitching end clamps, such as the terminal clamp 102 described earlier in this document, may provide values for variables that indicate the length of the terminal clamp (for example, a staple line of 45 mm or 60 mm) are an emphasis and an elongated channel straight or curved , indicate the 3714 engine to which the drive shaft is connected, such as the drive shaft 180, etc. Such input variables 3801 can be used by the start module 3804 to convert input control signals 3818 requesting ck tool 10, the output signals 3814 engine control. For example, the length, bending, etc. of the terminal clamp can determine the activated engine 3714, the required amount of force or torque, the number of revolutions of the engine required for starting, etc. Similarly, the input variables 3818 taken from the linear or circular stitching end terminals, such as 3500 and 3520, can be used by the start-up algorithm 3804 to determine the starting engine 3714 to be activated, the required amount of force or torque as a result of different levels of the input control signal 3818 associated with the start , The engine speed required for starting and m. P.

If the terminal clamp is an energy-supplied clamp, for example, an electrosurgical end clamp 3156 or an ultrasonic terminal clamp 3026, then the received input variables 3801 can describe information related to the closing movement of the terminal clamp, as well as information describing the elements of the energy supply, for example, time power supply in the context of starting tact. Information describing the closing movement can be used, for example, by the start module 3804 to determine which engine or engines 3714 need to be activated to start and / or retract, torque and speed for each engine 3714, etc. Information describing the elements power supply, can be used, for example, the module 3810 energy to generate the output signal 3816 power supply. For example, the energy module 3810 can determine which type of power supply signal 3816 is needed (for example, voltage, current, etc.), whether the signal can be generated by the internal generator 3704, and whether any locks should be executed for the signal. For example, interlocks may prevent starting movement if power is not supplied, and / or may prevent supply of energy if starting is not performed. In some embodiments, the energy module 3810 may also determine the time of the power supply output signal 3816 in the context of the tool start clock. For example, with respect to the electrosurgical end clamp 3156, the energy module 3810 can determine how long the energy supply surfaces 3204A, 3204B should be activated before the cutting element 3210 is advanced.

In FIG. 85 is a block diagram of one exemplary process 3600 that implements a control algorithm 3802 with a control circuit 3702. In subsection 3602, a control circuit 3702 can receive information on the presence of a working part (for example, a power cord, a barrel, an end terminal, etc.). This information can be generated automatically when the work piece is installed. For example, in those forms in which the working part contains the active RFID device, the active RFID device can provide information on the presence of the working part. Also in some embodiments, the implementation of the socket 3710, 3712, through which the working part is connected to the tool 10, may contain a switch indicating the presence of the working part. In subsection 3604, the control circuit 3702 may request input variables 3801 from the working part. If the working part contains a passive RFID device, the survey may consist in irradiating the RFID device with a radio frequency signal. If the working part has a wired connection with the control circuit 3702, then the survey may include sending a request to the memory device associated with the working part.

In subsection 3606, control circuitry 3702 can receive input variables 3801 from the working portion. Input variables 3801 can be taken in any suitable form. For example, if the working part contains a passive RFID device, input variables 3801 can be obtained by demodulating the signal returned by the RFID device. If there is a wired connection between the working part and the circuit 3702, then the input variables 3801 can be obtained directly from the memory device in the working part, etc. In section 3608, the control circuit 3702 can use the input variables 3801 in the control algorithm 3802, for example, as described above in this paper. This can affect the configuration of the existing algorithm 3802 so that the tool 10 works with the working part or parts that have been installed.

In FIG. 86 is a block diagram showing another form of control configuration 3900 implemented by control circuit 3702 for controlling the surgical instrument 10. In configuration 3900, control parameters obtained from different working parts contain algorithms for controlling the corresponding working parts. The control scheme 3702 implements a shell control 3902 algorithm containing the operating system 3904. The operating system 3904 is programmed to interrogate the installed working parts and receive control parameters as implementing algorithms 3906. Each implementing algorithm 3906 can describe a method for converting input control signals 3908 into motor control output signals 3910 and power supply output signals 3912. By adopting implementing algorithms 3906, operating system 3904 can execute algorithms 3906 and work with tool 10.

In some embodiments, the implementation of the operating system 3904 can also coordinate various algorithms 3906. For example, the implementing algorithm 3906, adopted from the energy terminal of the terminal clamp, can take different configurations, based on whether the tool is connected to an external generator or uses an internal generator 3704. Accordingly, system 3904 can customize the implementation algorithm 3906 of the energizing end clamp based on whether the implementation algorithm 3906 is received from the corresponding cable. Nia, adapted for connection to an external generator. Also, in some forms, the tolerances and / or revolutions required to start the end clamp may depend on the configuration of the barrel. Accordingly, the operating system 3904 can be configured to modify the implementing algorithm 3906, received from the terminal clamp, based on the corresponding implementing algorithm 3906, obtained from the trunk.

In FIG. 87 is a block diagram of one embodiment of a process 3400 implementing a control algorithm 3902 using control circuit 3702. In paragraph 3402, control circuit 3702 can execute operating system 3904. Operating system 3904 can program control circuit 3702 to perform various other actions described in this document that relate to the management configuration 3900. In 3404, control circuitry 3702 may interrogate one or more working parts mounted on the surgical instrument 10, for example, as described herein. In p. 3406, control circuitry 3702 may obtain implementation algorithms 3906, as described herein. In p. 3408, the control circuit 3702 may apply the adopted algorithms 3906 to work with a surgical instrument. Application of the adopted algorithms 3906 may include, for example, the harmonization of algorithms 3906, as described above in this document.

In FIG. 88 and 89, one form of surgical instrument 4010 is shown, comprising an analysis module 4004, which is housed in an end clip 4002. In some forms, a surgical tool 4010 may be similar to a surgical tool 10, and an end clip 4002 may be similar to an end clip 102, which were described above . The analysis module 4004 may be configured to measure one or more states of the end clip 4002. For example, in one embodiment, the analysis module 4004 may include a tissue thickness analysis module that determines the thickness of the tissue clamped in the end clip 4002 between the staple cartridge 130 and the node 190 stop. The analysis module 4004 may be configured to generate a wireless signal serving as an indicator of one or more measured states of the terminal clamp 4002. In accordance with one embodiment, as shown in FIG. 89, the analysis module 4004 can be placed at the distal end of the terminal clamp 4002 so that the analysis module 4004 does not prevent the staples from passing from the cartridge 130 with brackets when brackets are started. In various forms, the analysis module 4004 may comprise a sensor, a radio module, and a power source. See FIG. 90. The sensor may be located at the distal end of the terminal clip 4002 (as shown in FIG. 89), at the articulated articulation 310 with power supply, or in any other suitable part of the working portion 100.

In various designs, the sensor may be any suitable sensor for detecting one or more states of the end clip 4002. For example, without limitation, a sensor that is located at the distal end of the end clip 4002 may include a fabric thickness sensor, such as a Hall sensor or reed switch, optical sensor, magnetic inductive sensor, power sensor, pressure sensor, piezoresistive film sensor, ultrasonic sensor, eddy current sensor, accelerometer, pulse oximetry sensor, tempera A rotary sensor, a sensor capable of detecting the electrical characteristics of a path through a cloth (for example, capacitance or resistance), or any combination thereof. As another example, and without limitation, a sensor that is housed at the articulated articulation 310 with power supply may include a potentiometer, a capacitive sensor (sliding potentiometer), a sensor with a piezoresistive film, a pressure sensor, or any other suitable sensor. In some designs, the analysis module 4004 may comprise a plurality of sensors located at multiple locations of the terminal clamp 4002. The analysis module 4004 may further comprise one or more visual markers to provide the user with a visual indication, for example, by means of a video signal, of the current status of the terminal clamp 4002.

The analysis module 4004 may include a radio module configured to generate and transmit a wireless signal serving as an indicator of the measured state of the terminal clamp 4002. See FIG. 90. The radio module may include an antenna configured to transmit a wireless signal at a first frequency. The transmit power in the analysis module 4004 may be limited by the dimensions of the antenna and power supply suitable for placement in the analysis module 4004. The size of the terminal clamp 4002 can limit the available space for placing an antenna or power supply that has enough power to transmit a signal from the analysis module 4004 to a remote point, for example, to a video monitor 4014. Due to the limited antenna size and low power supplied by the power supply to the analysis module 4004 , the analysis module 4004 can generate a low power signal 4006 that can be transmitted over short distances. For example, in some forms, the analysis module 4004 may transmit a signal from the terminal clamp 4002 to the relay station 4008 located proximally from the terminal clamp 4002. For example, the relay station 4008 may be placed in the handle 4020 of the tool 4010, in the barrel 4030 (for example , in the proximal part of the barrel 4030) and / or in an implantable device located outside or inside the patient's body.

Relay station 4008 may be configured to receive a low power signal 4006 from analysis module 4004. The low power signal 4006 is limited by the dimensions of the antenna and power source, which can be placed in the terminal clamp 4002 as part of the analysis module 4004. Relay station 4008 may be configured to receive a low power signal 4006 and retransmit 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 4014, configured to display a graphical representation of the measured state of the terminal clamp 4002. Although the analysis module 4004 and the relay station 4008 are essentially described with reference to surgical instrument 4010, this person areas it will be understood that the design with analysis module 4004 and relay station 4008 can be used with any suitable surgical system, such as, for example, robotized This surgical system. For example, the relay station 4008 may be located in the stem and / or in the working part of a robotic surgical instrument. A suitable robotic surgical system is described in US Patent Application No. 13 / 538,700, entitled “Hinged Barrel Surgical Instruments”, which is fully incorporated into this document by reference.

In some forms, the video monitor 4014 may contain an independent unit for displaying the measured state of the end clamp 4002, a standard monitor for viewing for use in endoscopic, laparoscopic or open surgery, or any other suitable monitor. The displayed graphical representation can be displayed on top of the video stream or other information displayed on the video monitor. In some forms, the high power signal 4012 may interrupt the broadcast on video monitor 4014 and cause the video monitor to display only a graphical representation of the measured state of end terminal 4002. Receiver module 4015 can communicate with video monitor 4014, allowing high power 4012 to receive a high power signal 4012 from relay station 4008. Some receiver module 4015 can be formed as part of a video monitor 4014. A high power signal 4012 can be wirelessly transmitted and / or cut wire connection. 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 output an image based on the data contained in the received high power signal 4012. For example, a doctor can see in real time the data characterizing the thickness of the clamped tissue during the entire procedure associated with the use of a surgical instrument 4010. The video monitor 4014 can be a monitor, for example, a cathode ray tube (CRT) monitor, plasma monitor, liquid crystal (LCD) monitor or any other suitable monitor for visual display. The video monitor 4014 may display a graphical representation of the state of the end clip 4002 based on the data contained in the received high power signal 4012. The video monitor 4014 may display the state of the end clip 4002 in any suitable way, for example, by overlaying a graphic representation of the state of the end clip on the video stream or other information displayed on the video monitor 4014. In some forms, the video monitor 4014 may be configured to display only the data that is received with signal 4012 high power. Similarly, a high power signal 4012 may be received by a computer system (not shown). The computer system may contain a radio frequency module (for example, a receiver module 4015) for communicating with relay station 4008. The computer system may store data received with a high power signal 4012 in a memory device (for example, in a ROM or on a hard disk) and can process data using the processor.

In some forms, the relay station 4008 amplifies the power of the low power signal 4006 to the high power signal 4012 without making any other changes to the low power signal 4006. Relay station 4008 may be configured to relay high power signal 4012 to a remote network or device. In some designs, the relay station 4008 may modify or process the received low power signal 4006 before retransmitting the high power signal 4012. The relay station 4008 may be configured to convert the received signal of the first frequency transmitted by the analysis module 4004 to a second frequency suitable for reception by a remote network or device, for example, video monitor 4014. For example, in one embodiment, the analysis module 4004 may transmit a low signal 4006 power using the first frequency, which is a frequency that penetrates through the tissues of the human body. The frequency penetrating through human tissue can be a frequency generated with the possibility of passing through human tissue with minimal attenuation of the signal. For example, you can choose a frequency outside the water absorption band to reduce the attenuation of a signal in human tissue (which may contain a high proportion of water). For example, analysis module 4004 may use the Medical Implant Communication Service (MICS) frequency band (402-405 MHz), a suitable industrial, scientific or medical (ISM) radio band (such as 433 MHz carrier frequency or carrier frequency 915 MHz), near-zone communication frequency (13.56 MHz), Bluetooth communication frequency (2.4 GHz), ultrasonic frequency, or any other frequency or range that penetrates through the tissues of the human body. The relay station 4008 may receive the low power signal 4006 of the first frequency. The relay station 4008 can convert a low power signal 4006 from a first frequency to a second frequency, suitable for transmission over air over long distances. The relay station 4008 can use any suitable frequency to transmit 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 may 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, analysis module 4004 may transmit a low power signal 4006 using a first communication protocol, such as, for example, a near field communication protocol (NFC), a Bluetooth communication protocol, a proprietary communication protocol, or any other suitable communication protocol. The relay station 4008 may receive the low power signal 4006 using the first communication protocol. The relay station 4008 may comprise a protocol conversion module for converting the received signal from the first communication protocol to the second communication protocol, for example, to TCP / IP, UDP, or any other suitable communication protocol.

In FIG. 90 is a block diagram showing an analysis module 4104 that represents an example of the construction of the analysis module 4004 described earlier in this document. The analysis module 4104 may include a sensor 4116, a controller 4118, a radio module 4124, and a power source 4126. The controller 4118 may comprise a processor unit 4120 and a memory device 4122. The sensor 4116 may be located at the distal end of the terminal clamp 4002 (as shown in FIG. 89), the articulation 310 or any other suitable part of the working portion 100. In various forms, the sensor 4116 may comprise any suitable sensor for detecting one or more end clamp states.

In some designs, the sensor 4116 may include a fabric thickness sensor, such as, for example, a Hall sensor. The fabric thickness sensor can detect the thickness of the fabric clamped in the end clip 4002 based on the magnitude of the magnetic field generated by the magnet 4042, which is placed, for example, at the distal end of the stop assembly 190. See FIG. 89. When the doctor closes the stop node 190, the magnet 4042 turns down and approaches the analysis module 4004, thus changing the magnetic field detected by the analysis module 4004 as the stop node 190 rotates to the closed (or clamped) position. The magnetic field strength of the magnet 4042, defined by the analysis module 4004, characterizes the distance between the channel 130 and the stop node 190, which in turn characterizes the thickness of the fabric sandwiched between the channel 130 and the stop node 190 when the end clip 4002 is moved to the closed (or clamped) .

The analysis module 4104 may be configured to generate a wireless signal serving as an indicator of the measured state of the terminal clamp. The wireless signal can be generated by the radio module 4124. In some forms, the transmitted power of the radio module 4124 is limited by the size of the antenna built into the radio module 4124 and the size of the power source 4126 located in the analysis module 4104. The size of the terminal clamp 4002 can limit the available space to accommodate an antenna or power supply 4126 having sufficient power to transmit a signal from the sensor 4116 to a remote location, for example, to a video monitor 4014. Given the limitations of the antenna and the low power delivered by the power supply 4126, the radio 4124 can generate only a low-power signal 4006 that can be transmitted over short distances, for example, to the proximal end of the 4030 trunk. For example, in one form, the radio module 4124 can be give a low power signal 4006 from the end clip 4002 to the handle 4020 of the surgical instrument 4010. In some designs, a low power 4126 power supply capable of delivering higher power can be used to generate the low power signal 4006 in order to extend the operation time of the surgical instrument 4010.

The memory device 4122 of the controller 4118 may include one or more solid-state drives of permanent memory (ROM) and / or random access memory (RAM). In various designs, the processor 4120 and the device (s) of the memory 4122 can be embedded in one integrated circuit (IC) or can be in different ICs. The ROM device can be a flash memory. In the ROM device (s), a code can be stored with commands for execution by the processor 4120 of the controller 4118. In addition, data (indicating the type of the cartridge 130) can be stored in the ROM device (s) 4122. For example, the ROM device (s) 4122 data may be stored indicating the type of cartridge model 130 with brackets. In some designs, the controller in the handle 4020 of the surgical instrument 4010 may use state and model information of the cartridge 130 with brackets to detect the correct operation of the surgical instrument 4010. For example, the analysis module 4004 may be configured to measure the thickness of the tissue. The fabric thickness information and the cartridge model can be used to determine if the fabric clamped in the end clip 4002 is too thick or too thin, based on a predetermined fabric thickness range for a particular staple cartridge 130. The radio module 4124 may be a low-power radio module for two-way wireless communication with the relay station 4008, located in the handle 4020 of the tool 4010, using a wireless data transfer protocol. The radio module 4124 may contain any antenna suitable for transmitting a low power signal 4006. For example, the radio module 4124 may include a symmetrical antenna, a half-wave symmetrical antenna, a single-ended antenna, an antenna for near-field communication, or any other antenna suitable for transmitting a low power signal 4006. The size of the antenna, and therefore the available power and transmission frequencies, can be limited by the size of the terminal clamp 4002.

In accordance with various forms, the radio module 4124 can communicate with the relay station 4008 using a frequency that penetrates the tissues of the human body. For example, the connection between the radio module 4124 and the relay station 4008 may use the Medical Implant Communication Service (MICS) frequency band (402-405 MHz), a suitable industrial, scientific or medical (ISM) radio band (such as carrier frequency 433 MHz or carrier frequency 915 MHz), the communication frequency in the near zone (13.56 MHz), the Bluetooth communication frequency (2.4 GHz), the ultrasonic frequency, or any other suitable frequency or range penetrating through the tissues of the body. The power source 4126 may be a suitable battery for supplying power to the components of the analysis module 4004, for example, a lithium ion battery or some other suitable battery.

In some forms, the components of the analysis module 4104 may be placed in the terminal clamp 4002, on the stem 4030 or in any other suitable location of the surgical instrument 4010. For example, the sensor 4116 may be placed on the distal end of the terminal clamp 4002. The controller 4118, the radio module 4124 and the power source 4126 may placed on the trunk 4030. One or more wires can connect the sensor 4116, the controller 4118, the radio module 4124 and the power source 4126. In some forms, the functions of the terminal clamp 4002 and the trunk 4030 can limit the placement of the analysis module 4104. For example, in one form shown, the terminal clamp 4002 is configured to pivotally rotate and rotate in an articulated articulation 310 with power supply. Placing the wires above the articulated articulation 310 with a power supply can lead to twisting and bending of the wires and can interfere with the action of the articulating articulation 310 with the power supply. The placement of the components of the analysis module 4004 may be limited to places distal from the articulated articulation 310 with power supply in order to prevent the articulation 310 or the analysis module 4004 from being obstructed.

In some designs, the analysis module 4104 may include an analog-to-digital converter (ADC) 4123. A sensor 4116 may generate an analog signal representing the state of terminal terminal 4002. For wireless transmission of the signal representing the state of terminal terminal 4002, it may be necessary to convert the analog signal into a digital signal. The analog signal produced by the sensor 4116 can be converted to a digital signal by the A / D converter 4123 before generating and transmitting the low power signal 4006. The ADC 4123 may be included in the controller 4118 or may be a separate controller, such as a microprocessor, a programmable gate array, or any other suitable ADC circuit.

In FIG. 91 is a block diagram showing a relay station 4208, which represents one example of the design of the relay station 4008 described earlier in this document. The relay station 4208 may be located proximally from the barrel, for example, in the immediate vicinity of the battery 4226, and may be separated from the analysis module 4004 in the terminal clamp 4002, for example, the barrel 4030. For example, the relay station 4208 may be placed in the handle 4020 of the surgical instrument 4010 Thus, the relay station 4208 can receive a wireless signal from the analysis module 4004. Relay station 4208 may be a split module that can selectively connect to the handle 4020 of the surgical instrument 4002.

As shown in FIG. 91, the relay station 4208 may include a radio module 4228 and an amplifier module 4230. In some designs, the radio module 4228 is configured to receive a low power signal 4006. The low power signal 4006 may be transmitted from the analysis module 4004 and serve as an indicator of the state of the terminal terminal 4002. The radio module 4228 of the relay station 4208 receives the low power signal 4006 and supplies the low power signal 4006 to the amplifier module 4230. The low power amplifier signal 426 4012 high power, suitable for transmission over longer 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 network or device, such as a video monitor 4014, for example. , transistor, operational amplifier, fully differential amplifier or any other suitable signal amplifier.

In FIG. 92 is a block diagram showing a relay station 4308, which represents another example of the design of the relay station 4008 described earlier in this document. In the presented form, the relay station 4308 comprises a radio module 4328, an amplifier module 4330 and a processing module 4336. The amplifier module 4330 can amplify the received low power signal 4006 before being processed by the processing module 4336, after processing the received low power signal 4006 by the processing module 4336, or both before and after processing by the 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 signal transceiver module (not shown). The receiver module 4332 may be configured to receive a low power signal 4006 from the analysis module 4004. The receiver module 4332 may supply the received low power signal 4006 to the processing module 4336.

In the present embodiment, processing module 4336 comprises a frequency conversion module 4338 and a protocol conversion module 4340. Module 4338 frequency conversion can be configured to convert the received signal 4006 low power from the first frequency to the second frequency. For example, analysis module 4004 may transmit a low power signal 4006 using a first frequency suitable for transmission through human body tissue, such as a MICS or ISM frequency. Receiver module 4332 can receive a low-power first-frequency signal 4006. Module 4338 frequency conversion can convert the signal 4006 low power from the first frequency to the second frequency, suitable for transmission over the air over long distances. A frequency conversion module 4338 may convert the received low power signal 4006 to any frequency suitable for transmitting a high power signal, such as for example a Wi-Fi frequency (2.4 GHz or 5 GHz).

The protocol conversion module 4340 may be configured to convert the received signal from the first communication protocol to the second communication protocol. For example, analysis module 4004 may transmit a low power signal 4006 using a first communication protocol, such as, for example, a near field communication protocol (NFC), a Bluetooth communication protocol, a proprietary communication protocol, or any other suitable communication protocol. Relay station 4308 may receive a low power signal 4006 using a first communication protocol. Relay station 4308 may comprise a protocol conversion module 4340 for converting a received low power signal 4006 from a first communication protocol to a second communication protocol, for example, TCP / IP, Bluetooth, or any other suitable communication protocol. A processing module 4336, including a frequency conversion module 4338 and a protocol conversion module 4340, may comprise one or more microprocessors, programmable gate arrays, integrated circuits, any other suitable controllers, or any combination thereof.

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 configured to receive signals of a given frequency and a given protocol. For example, a local area network (LAN) can be configured to receive a wireless signal using the 802.11 wireless standard, which requires transmission at a frequency of 2.4 GHz or 5 GHz and the use of the TCP / IP communication protocol. A user may select an 802.11 wireless standard from among a variety of communication standards stored in relay station 4308. A memory module may be included in relay station 4308 to store multiple communication standards. The user can select the communication standard for the high power signal 4012 from among the many communication standards stored in the memory module. For example, a user may select an 802.11 communication standard as a communication standard for transmitting a high power signal 4012. If the communication standard is selected by the user, then 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 communication standard by frequency conversion or the communication protocol of the received low power signal 4006. In some designs, the relay station 4308 may automatically detect the proper frequency and communication protocol for receiving a low power signal 4006 or transmitting a high power signal 4012. For example, relay station 4308 may detect a wireless communication network in a hospital. The relay station 4308 may automatically program the frequency conversion module 4338 and the protocol conversion module 4340 to convert the received low power signal 4006 to the proper frequency and protocol for transmitting the high power signal 4012 to the hospital wireless communication network.

In the presented form, processing module 4336 may feed the processed signal to amplifier module 4330 to amplify the processed signal to a high power signal 4012 before transmission. The amplifier module 4330 may amplify the processed signal to a level suitable for transmission by the transmitter module 4334. The amplifier module 4330 may comprise any suitable amplifier circuit, for example, a transistor, an operational amplifier, a fully differential amplifier, or any other suitable electronic amplifier. The amplifier module 4330 may include a battery (not shown) and may be connected to a power source 4326 located inside the handle 4020 of the surgical instrument 4010. The amplifier module 4330 may be programmable to provide one or more levels of gain as a result of selecting a particular type of communication.

The amplifier module 4330 can send a high power signal 4012 to the transmitter module 4334. Although the radio module 4328, the processing module 4336 and the amplifier module 4330 are shown as separate modules, it will be clear to a person skilled in the art that any or all of the modules shown can be combined into one integrated circuit or a variety of integrated circuits.

In FIG. 93 shows one embodiment of a method for relaying a signal reflecting the state of an end clamp 4400. Method 4400 may include generating 4402, by an analysis module (for example , the analysis module 4004 described herein) of a signal reflecting the state of the end clamp, such as end terminal 4002. Signal can represent any measured state of the terminal clamp 4002, such as, for example, the thickness of the tissue clamped in the terminal clamp 4002. The analysis module can generate a signal using a sensor, such as sensor 4116 module 4104 analysis shown in FIG. 90. Method 4400 may additionally include transmitting 4404 by means of a radio module, the generated signal as a low power signal. For example, the radio module 4124 shown in FIG. 90, can transmit a low power signal 4006. In practice, the power transmitted by the radio module may be limited by the size of the antenna and the power source, which can be placed in the analysis module 4002. Given the limited space, the transmit power of the radio module may be limited by the low power signal 4006. The low power signal 4006 can be transmitted by a radio module with such a power level that allows the low power signal 4006 to be received by the relay station 4008 in the handle 4020 of the surgical instrument 4010.

The method of relaying a signal showing the state of the terminal clamp 4400 may further include receiving 4406 a low power signal by a relay station, for example, a relay station 4008. After receiving a low power signal, the relay station can convert 4408 a low power signal to a high power signal, for example, high power 4012 signal. Converting a low power signal to a high power signal may comprise amplifying a low power signal through an amplifier module, such as the amplifier module 4230 shown in FIG. 91. Converting a low power signal to a high power signal may also include converting a low power signal communication standard to a communication standard suitable for transmitting a high power signal. For example, method 4400 may include converting 4408 a received low power signal from a first frequency to a second frequency by a processing module.

After converting 4408 a low power signal to a high power signal, the method 4400 may further include transmitting a high power signal 4410 via a relay station to a remote location, such as an operating screen or a hospital network, for example. The high power signal can be received 4412 on the viewing screen, which can display a graphical representation of the end terminal status for the user. In some designs, the method may include a user selecting a frequency and / or communication protocol for the high power signal before converting the low power signal. Frequency and communication protocol can be selected from a variety of frequencies stored in the memory module of the relay station.

Electromechanical soft stop

In various forms, a mechanical stop can be used in a surgical instrument, designed to stop or slow down a motorized element at or near the end of an ejection stroke. In accordance with various forms, the mechanical stop may contain a hard stop made with the possibility of abrupt interruption of the movement of the drive element, and / or a soft stop made with the possibility of slowing down the drive element at or near the end of the stroke. As described in more detail below, in some forms such tools may include an electromechanical stop containing a mechanical stop and a control system configured to measure and / or track the current supplied to the motor, which drives the drive element. In one form, the control system is configured to cut off the power supply to the engine or otherwise disengage the engine and move the drive element after determining that the current corresponds to the specified parameters.

It should be understood that for the sake of brevity and simplicity of description, various aspects of the mechanical and electromechanical stops described herein are set forth in relation to the surgical instruments and the associated drive elements containing cutting and fastening devices. However, it will be understood by those skilled in the art that the present description has no such limitations and that the various mechanical stops and associated electromechanical elements described herein can be applied to various other devices known in the art. For example, while additional applications will become more apparent later, the various mechanical stops described herein can be used in any devices, such as those containing an electric motor and / or control or drive system, as well as, in addition to endoscopic surgical instruments, for example laparoscopic instruments. Turn again to FIG. 1-6, which show an electromechanical surgical instrument 10 equipped with one form of mechanical stop in accordance with one aspect. The handle assembly 20 is operatively connected to the elongated stem assembly 30, the distal portion of which is operatively connected to the end clip 102. The end clip 102 comprises a proximal end 103 and a distal end 104. As described above, the elongated element 110 with a channel can be made functional and detachable inserting the cartridge 130 with brackets into it, and the stop assembly 190 may be adapted to selectively move relative to the cartridge 130 with brackets between the open position (see FIG. 4) and the closed position ( m. FIG. 6) to capture tissue therebetween.

In some forms, the tool 10 comprises a drive element, which can be any part or component of the tool 10, which can be moved by the action of an engine. In various forms, the drive element may include an elongated stem assembly 30, an end clamp 102 and one or more components or parts thereof, such as a sled 170 or a cutting fabric element 160, the casing portion 162 of which can be threaded onto the drive screw 180 of the end clamp such in such a way as to be rotatably supported within the elongated channel 110. As described above, the carrier 170 can be supported to be able to move axially relative to the drive screw 180 of the end clamp and can be made with interaction with the fabric cutter part 162 of the element 160. The drive screw 180 of the end clamp can be supported so that it can be rotated inside the elongated channel 110, as described above. Rotating the drive screw 180 of the end clip in the first direction causes the fabric cutting element 160 to move in the distal direction during the ejection stroke. When pushing out the fabric cutting element 160 distally during the pushing stroke, the carrier 170 is pushed out distally by the cutting fabric 160. In various forms, the cartridge 130 with staples can be equipped with a mechanical stop containing a soft stop. In accordance with one aspect, the soft stop comprises one or more shock absorbers 174 to soften the stop of the sled 170 when they reach the end of the stroke close to the most distal position within the elongated channel 110. Each of the shock absorbers 174 may be associated with a damping member 175, such as a spring 176, giving the damper the desired measure of mitigation.

As described above in more detail, the carrier 170 and the cutting fabric element 160 are configured to move along an ejection stroke along the axis of the stem A-A, directed from the proximal end 103 of the end clip 102 to the distal end 104 of the end clip 102 for simultaneously cutting and sewing the fabric. The depicted end clamp 102 is designed to work as an endoscopic divider for clamping, dissecting and stitching tissue; in other aspects, other types of terminal clamps may be used, such as terminal clamps for other types of surgical devices, such as clamps, dividers, stapling instruments, clip-on attachments, access devices, devices for administering drugs and gene therapy, ultrasound, RF or laser devices etc.

As shown in FIG. 94, where the distal end 104 of the terminal clamp 102 shown in FIG. 1-6, the drive element 158, containing the slide 170 and the cutting element 160, is adapted to move along an ejection stroke along the axis of the barrel AA between the proximal initial position and the distal position of the end of the stroke. In one aspect, the position of the end of a stroke is between the first and second positions S ₁ , S ₂ (see FIGS. 97 and 78). In various forms, the initial position and / or position of the end of a stroke includes a mechanical stop, such as a hard stop or soft stop, which can physically impede, for example, block or restrict further longitudinal movement beyond the position of the corresponding stop. In one form, the mechanical stop is contained both in the initial position and in the end position of the stroke. As shown, the drive element 158 has a distal position at or near the end of a stroke.

As described above, in a surgical instrument 10, a control system may be used that controls one or more motors and associated drive components, as described above. In FIG. 95 is a diagram depicting 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, functionally connected to a driving motor 1402 via a control system 1400. The power supply 1404 may be configured to provide power to a driving motor 1402 to drive a drive element, such as a drive element 158. In some aspects, the power supply 1404 may contain any convenient power source, such as a battery, an AC outlet, a generator, etc. The control system 1400 may contain various modules or circuits. and can functionally operate various system components, e.g., drive element 158, the power source 1404 or the user interface. The control system 1400 may be configured to control, track, or measure, for example, various operations, signals, inputs, outputs, or parameters of the tool 10.

In various forms, control system 1400 may be similar to control system 800 described above. For example, in various aspects, control system 1400 may be configured to “electrically generate” a variety of control motions. The term "electrical generation" means using electrical signals to activate or otherwise control the 1402 engine, for example, engines 402, 530, 560, and 610, or another device powered by electricity, and can be distinguished from control movements created manually or otherwise mechanically. without the use of electric current. For example, control system 1400 may electrically generate a control movement, such as a pivoting control movement, applying power to the drive motor, which may occur as a reaction to a user command, such as an electrical signal applied to the control system by activating the actuator, for example, pressing drive or trigger hook associated with the node 20 of the handle. In some aspects, control system 1400 may electrically generate a pivotal control movement, stopping power to the drive motor 1402, which may occur as a result of the actuator or the trigger returning to the open position by the user or a bias mechanism. In at least one aspect, the control system 1400 can electrically generate a pivotal control movement, stopping or reducing the power supply to the drive motor 1402 when the measured electrical parameter reaches a predetermined value. For example, control system 1400 may cut off power to drive motor 1402 when the measured current reaches a predetermined threshold value.

As shown mainly in FIG. 1 and FIG. 94 and 95, in various forms, the surgical instrument 10 comprises a handle assembly 20 equipped with a user interface adapted to transmit an activation signal from a user, such as a physician, to the control system 1400 for the electrical generation of a control motion, with respect to the extension shaft 30, end clamp 102 or a drive element 158. For example, in some aspects, the user interface comprises a trigger assembly comprising an actuator or trigger mechanism provided Chiva input supply to the control system 1400 to control the power supply to the drive motor 1402 such as the starter motor 530 (see. FIG. 23). The assembly may comprise a closing trigger for closing and / or blocking the anvil assembly 190 and a trigger for activating the end clamp 102, for example, driving the drive element 158 with the ejection stroke. During operation, the closing trigger can be activated first, thus leading the stop assembly 190 to the closed position, for example, by grabbing the cloth between the cartridge 130 with brackets and the stop assembly 190. When the doctor is satisfied with the position of the end clip 102, the doctor can move the closing trigger to its fully closed locking position. The trigger can then be moved from the open position to the closed position by activating the drive element 158 during the ejection stroke. In various aspects, the trigger can return to the open position when the doctor stops the pressure, or can mechanically return to the open position through a functional connection with the activation of the drive element 158 or through a separate mechanism. In one aspect, the trigger can be a multi-position hook, and as soon as the actuator 158 reaches the end of the stroke or is close to it, the trigger can be transferred from the second open position to the second closed position, which causes the actuator 158 to move position. In some such aspects, the first and second open and closed positions may be substantially the same. Depending on the desired configuration, in some aspects the release button or latch may be configured to release the closure trigger from the locked position. As explained in more detail below, after transferring the trigger from the open position to the closed position, the trigger can functionally be turned off, for example, activation of the trigger can create a primary activation input that can be sent to control system 1400, causing control system 1400 to trigger activation 158. In some configurations, in the absence of a user override function, activation of the drive element 158 will end at or near the end of the clock. as a result of its action of control system, e.g., uncoupling or interrupting the power supply to the drive motor even if the trigger is in the closed position.

In one form, the trigger assembly comprises a control joystick, which may be similar to the control joystick 840 described above. For example, as shown in FIG. 33-39, the control joystick can provide the user with a useful opportunity to exercise maximum operational control of various aspects of the surgical instrument 10 using a single interface. In one aspect, the joystick control barrel 842 may be operatively connected to a switch joystick assembly 850, which is mounted for movement within the switch body assembly 844 such that the switch body assembly 844 is installed inside the pistol grip 26 of the handle assembly 20. The switch body 844 of the switches may contain a bias element 856, which shifts the joystick node 850 of the switches and the control shaft 842 of the joystick to the desired position if its position is not determined by external force, for example, by the user. A control stick 840 may be electrically connected to control system 1400 to transfer control commands to control system 1400. For example, manipulating control stick 842, such as pressing or moving in different directions, may allow the user to control various control movements associated with the surgical instrument 10 which may include activation of the drive element 158.

As described above, the various forms of the surgical instrument 10 contain one or more controlled motors or electrically powered engines, for example, engines 402, 530, 560 and 610. One or more engines may be located, for example, in part of the handle assembly 20 or the trunk assembly 30 tool 10 and can function by moving the drive element 158 between the initial position and the position of the end of the stroke. 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 some designs, the motor may operate in a rotary or linear activation mode, for example, a linear actuator, and may include a transfer connection between the drive motor 1402 and the drive element 158 to convert the rotary motion of the drive motor 1402 into a linear motion or to pair the rotary motion between multiple components . In various forms, a transfer joint containing one or more gears or coupled arcs with other elements, such as belts or rollers, is used for the functional transfer of a rotary motion from a 1400 drive motor to one or more segments of the elongated shaft assembly 30 in order to activate the end clip 102. For example, turning the drive screw 180 of the end clamp in the first direction causes the drive element 158 to move in the first direction, for example, in the distal direction along the axis of the barrel AA. In various aspects, rotating the drive screw 180 of the end clamp in the 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 barrel A-A. In one aspect, the drive motor 1400 moves the drive shaft 158 distal to the position of the end of the stroke and can turn its rotation and move the drive element 158 proximally to the initial position. For example, the drive motor 1402 can reverse its rotation, for example, when the polarity of the applied voltage is changed, thus the motor rotates or moves in the opposite direction and, consequently, the reverse movement of the drive element 158. Thus, the drive element 158 can be moved between the ejection stroke positions both in proximal and distal direction by conventional methods, or by methods such as those set forth in US patent application Ser. No. 12/235 782, which is fully incorporated herein by reference. It should be noted that although the tools 10 described in this document essentially relate to portable tools containing a handle, in various forms tools 10 containing mechanical stops that can function as part of electromechanical stops can be adapted for use with robotic or similar devices. used by robotic systems.

In some aspects, the surgical instrument 10 comprises a reversing motor and includes a proximal mechanical stop and a distal mechanical stop. In various aspects, as described above, activation of the trigger hook gives an activation signal of the trigger element 158 according to the ejection stroke. When the drive element 158 reaches the end of the ejection stroke, for example, when the cutting element 160 reaches the distal end of its cutting stroke, the stroke end switch or direction switch, for example, can be switched to the closed position, reversing the polarity of the voltage applied to the motor 1402 and thus reversing the direction turning the engine 1402. Such a switch may be associated with a control system 1400 and may be used as an adjunct or alternative to stopping the power supply to rivodnoy engine 1402. However, it should be noted that in other aspects of the manual recovery switch may be provided to change the direction of rotation of the engine 1402 and the return of the drive member 158 to its initial or starting position.

Mechanical stop is located at the end of the stroke or near it and is made with the possibility of increasing the resistance to movement of the drive element 158 through the position of the end of the stroke. The mechanical stop includes a soft stop containing a pair of shock absorbers 174, each of which is functionally connected to the damping element 175. The shock absorbers 174 are adapted to come into contact with the drive element 158 at or near the end of the stroke. For example, the shock absorbers 174 shown in FIG. 94, are configured to come into contact with the contact surface 173 of at least one wedge 172. In various aspects, the shock absorbers 174 may have a size that complements the size of the contact surface 173. For example, in at least one aspect, the shock absorbers 174 may be sized to form an inclined surface substantially equivalent to the contact surface 173. Thus, the resistance of the contact between the shock absorbers 174 and the wedges 172 may increase, and the force applied to the contact surface 173 may defined over a larger structural area of the wedges 174. Similarly, in one aspect, the shock absorbers 174 comprise a flexible, for example, elastic or softening surface for receiving the contact surface 173 and reducing damage to the components. In one form, each of the damping elements 175 comprises a spring 176 located between the shock absorber 174 and the hard stop 178 in order to create resistance and slow down the drive element 158 at or near the end of the stroke.

It should be understood that various aspects of the surgical instruments 10 may be equipped with a plurality of dampers 174 and damping members 175, and that the dampers 174 and damping members 175 may be adapted to come into contact with other parts of the driving member 158. For example, the tool 10 may contain an additional stop used as a supplement or replacement of the above-mentioned structures of the fixed stop 178 and / or soft stop. Thus, in one form, as shown in FIG. 94, the drive screw 180 may be equipped with a stop which may include a soft stop comprising a shock absorber 290 associated with the damping member 291 arranged in an ejection stroke lying opposite the contact surface 292 of the drive member 158. In one form, the damping member 291 contains an elastomeric material which can be compressed between the shock absorber 292 and the hard stop 294, absorbing the longitudinal force of the drive element 158. In some aspects, the plurality of soft stops can be made with the possibility of contact with the drive item 158 in various specified locations. For example, in one form, the drive element 158 comes into contact with a shock absorber 290 before contact with a shock absorber 174, for example, to get a better identifiable current peak, for example, to get a current surge containing two separate peak components, the amplitude and / or the time interval between which can be used for confidence in the appearance of surge current.

In various forms, the damping elements 175 comprise a compressible part, which may or may not be associated with a hard stop 178. For example, in one aspect, the damping element 175 may be between the hard stop 178 and the shock absorber 174 and may include a compressible part, for example, spring 176 or an elastomeric material such as a polymer, foam or gel. During operation, shock absorber 174 may rapidly approach the compressible part after contact with the drive element 158, with the result that the compressible part will be compressed to a predetermined degree. In various aspects, the damping member 175 may comprise a retarding portion, such as a brake. In one aspect, the deceleration portion comprises a compressible chamber, for example, a hydraulic pneumatic chamber, whereby contact with the drive element 158 can compress the piston located inside the chamber, resulting in an increase in pressure, which should slow down or brake the drive element 158. In some aspects soft stop can be designed with the ability to provide resistance and / or deceleration, smoothly or gradually changing with respect to time and / or distance. For example, one or more coil springs having the same or different compression parameters can be made or positioned with the ability to accurately control the deceleration or deceleration of the decelerated element, for example, in a smooth or stepwise manner. In one form, a soft stop can be made with the possibility of providing increasing resistance to the distal movement of the drive element 158.

In various forms, the soft stop contains a bias element configured to bias the contact element from the solid one. It should be understood that in some aspects the displacing element may repeat or may have similar components with damping elements 175. Thus, in some forms, the displacing element can be made compressible between the shock absorber 174 and the hard stop 178 under the force of the longitudinal movement of the drive element 158 and the subsequent return to the state before compression at the termination of the force. In some aspects, the bias element may be configured to activate, move, and / or compress to counteract the starting movement of the drive element 158. It should be noted that compression or other opposition to the bias associated with the blanking elements 175 may result in energy transfer at least temporarily store or hold a soft stop, which is in a position with potential energy. In one aspect, the quenching elements 175 can be held in a position with potential energy, for example, by means of a latch, hook or blocker, which may not give one or more of the quenching elements 175 to return to the state they had before compression. The advantage is that the stored energy can be released, for example, by the user and / or control system 1400, with the result that at least part of the stored energy will be applied to return the drive element 158 to its original position.

In various aspects, the blanking elements 175 may comprise additional configurations. For example, in one aspect, one or more magnets, such as permanent magnets, may be arranged to repel an opposite permanent magnet associated with the drive element 158. For example, one or more magnets may be rotatable or moveable to adjust values repulsive magnetic fields opposing longitudinal displacement. In various other aspects, coil magnets electrically connected to the control system can be used to activate before or after successfully decelerating the drive element 158. Additional damping elements 175 may contain structures that perform reciprocating movements, including designs using, for example, rollers and / or gears.

In various aspects, a mechanical stop containing 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 the hard stop 178 may play the role of an auxiliary stop. In some forms, the soft stop may include a spring-loaded hard stop 178 to provide a gradual and / or increasing resistance to pushing or slowing the drive element 158. For example, the soft stop can be made to gradually reduce the speed of the drive element 158 by resisting proximally or distally directed force applied to the drive element 158 by the drive motor 1402, or expressed in inertia of the system. In at least one form, the amount of resistance provided by the soft stop to counteract or slow down the starting or driving movement can be selectively adjusted. For example, tool 10 may be equipped with one or more soft stops that can be selectively shifted or rotated into multiple positions along an ejection stroke. Thus, the user can adjust the position of the soft stop for a particular application. In one form, an electrosurgical device containing a soft stop may include an adjustment disc for adjusting the resistance created by the soft stop at the end of the ejection stroke. In some of these forms, the change in disk adjustment can simultaneously set the longitudinal distance covered by the soft stop, and therefore the position of the end of the cycle, as well as the threshold values associated with determining the current surge, as described in more detail below. In one form, a warning signal can be displayed to the user when the parameter is manually set outside the specified mechanical tolerance.

Referring again to FIG. 95, in various forms, the control system 1400 is configured to generate and / or respond to feedback information, which can be obtained at least in part from measurements made by the control system 1400 or from other components of the system. For example, in one aspect, control system 1400 may be configured to trigger electrical power to system components as a result of an input signal, such as a user command. In some aspects, control system 1400 may generate or provide information to a user, such as a warning or tool status information, via a user interface, such as a visual or sound display. The signals or inputs generated by the control system 1400 may, for example, be a response to other signals or inputs from the user, the components of the tool, or they may depend on one or more measurements associated with the tool 10. In some aspects, the control system 1400 may be performed with the ability to track or receive various measured values and the subsequent interpretation, calculation and / or decoding of information and response in a specified way.

In one aspect, control system 1400 includes or may be selectively coupled to a semiconductor element, computer chip, or memory. As noted above, input signals to or from the control system 1400, such as signals from a user or generated by the control system 1400 as a result of commands, signals, or measured parameters, can be analog or digital. Accordingly, in some forms, the control system 1400 may be configured to send or receive analog or digital inputs or signals to or from instrument components. In various aspects, control system 1400 may employ software that may use one or more algorithms to further generate input signals for controlling and tracking system components. Such generated input signals may depend on criteria measured and / or calculated by the control system 1400 or, in some cases, provided to the control system 1400 by another component of the tool, by the user or by a separate system that is in functional communication with the control system 1400. For example, the control system 1400 can react by activating or deactivating the drive motor 1402, stopping or starting the power supply to the drive motor 1402 or other system components, or by sending eniya commands or additional input signals for these or other operations. In various aspects, the control system 1400 may include a circuit, such as transistors or switches, configured to monitor electrical parameters associated with the operation of the tool 10. For example, the control system circuit may be configured to activate and deactivate the drive motor 1402 or open and close the supply circuit power to the drive motor 1402, when the threshold values of the electrical parameters associated with the operation of the tool 10, for example, current surge, which is determined It wishes to set up the configuration of the circuit.

In some forms, surgical instruments 10 and systems using a mechanical stop can operate without feedback. For example, in one form, the tools can operate without the help of a position feedback device configured to provide information to the control system 1400 regarding how the tool 10 responds to input signals so that the control system 1400 can modify the output signals. In various aspects, as described above, the control system 1400 can monitor the power supply to the drive motor 1402 to determine the tact end position of the drive element 158. Thus, for example, the control system 1400 using various voltage tracking techniques by which the current can be determined namely, current surges, can at least partially determine the mechanical stop. For example, control system 1400 may monitor voltage to determine current usage with respect to drive motor 1402 and, therefore, to drive element 158, as described above. Resistance with an ejection stroke increases the torque on the drive motor 1402, which leads to detectable current surges in relation to the power supply to the drive motor 1402. Thus, a large current surge can be measured by the control system 1400 when the drive element 158 contacts the mechanical stop , and at this moment the control system 1400 can respond by stopping the power supply to the drive motor 1402. Consequently, the mechanical stop creates a physical force, slowing down yuschee actuating member 158, and generates a current output, which controls the system 1400 can determine the start and disengagement of the drive motor 1400.

As noted above, in some aspects, the control system 1400 is configured to control various operations of the tool 10. For example, in some aspects, the control system 1400 includes a control circuit 1406 operatively connected to the drive circuitry 1408. The drive circuit 1408 may be configured to provide power from the power source 1404 to the drive motor 1402 to drive the drive member 158. The control circuit 1406 may be configured to control the power supply to the drive circuit 1408. Consequently, the control circuit 1406 may be configured to control the drive motor 1402 by controlling the power supply to the drive circuitry 1408. The control circuit 1406 may also be configured to monitor, for example, determine or measure the power supply to the drive motor 1402. For example, the control circuit 1406 may determine input / output voltage and / or current at one or more points of the drive circuit 1408, via which the drive motor 1402 receives power to activate the drive element 158. In various aspects, the control circuit 1406 may include or be connected to the drive circuitry 1408, in which it can monitor the input / output one voltage, for example, on a resistor connected to a current loop connected to the drive circuitry 1408. Those skilled in the art will appreciate that the above description is only one way of measuring and / or tracking the current supplied to the drive motor 1402, and it will also be understood that the current can be similarly measured and / or tracked by alternative methods known to those skilled in the art Such methods are within the scope of the present invention. In some forms, when the control circuit 1406 detects a surge of current supplied to the drive motor 1402, the control system 1400 stops supplying power to the drive motor 1402 through the drive circuitry 1408. In various aspects, the control circuit 1400 can also decouple the functional connection, for example, the transmission, between the drive motor 1402 and the drive element 158, at least briefly, as a result of the measured current surge.

In some configurations, if the electromechanical stop has a hard stop that is capable of abruptly stopping the ejection stroke, the tool 10 may be subject to mechanical failure, for example, due to the time delay between detecting a surge current and then removing the drive force provided by the drive motor 1402. In addition, for example, due to the inertia of the system, the drive element 158 can also continue to move after reaching the end of the stroke, despite the loss of power to the drive. hydrochloric engine 1402. In some cases, the delay in removing the driving force from the drive member 158 can lead to mechanical failure of the drive element 158, drive motor 1402, the drive screw 180 or other transmission connections.

In FIG. 96 is a graphical depiction of current versus time in tool 10 using an electromechanical stop containing a hard stop 178 without a soft stop. The current between time A, corresponding to the position of the drive element 158 proximal to the end of the stroke, and time B, corresponding to the position of the drive element 158 in contact with the hard stop 178 at the end of the stroke, is relatively low or constant. However, at time point B, the current produces outliers, representing the contact between the trigger element 158 and the hard stop located at the end of the cycle. Due to the time delay between detecting a surge in current at some point after time B and stopping the power supply to the drive motor 1402, the drive motor 1402 continues to move the drive member 158, although unsuccessfully, to the hard stop 178 until time C, when the power supply to element 158 is terminated. Although not shown, the inertia of the system can also continue to move the drive element 158 to the hard stop 178 for some time after time C.

As noted above, despite the convenience of working without feedback, surgical instruments functioning as shown in FIG. 76, may be subject to mechanical failure, for example, due to the delay between the detection of a surge current and the subsequent cessation of the drive movement. In accordance with various forms, as shown in FIG. 97 and 98, the tools 10 described herein may include electromechanical stops, containing a soft stop structure to come into contact and slow down the drive element 158 before reaching the end of the stroke to form a measurable current surge, thus increasing the time available to the control system 1400, for detection and response to current surge. Surgical instrument 10 includes various elements similar to those shown in FIG. 1 and 70; therefore, similar elements are denoted by similar identification numbers and for brevity will not be described again. The tool 10 includes an electromechanical stop containing a soft stop to counteract the movement of the drive element 158 at or near the end of the ejection stroke or its segment, for example, at the proximal starting position or at the distal end of the stroke when passing between the first position of the soft stop S ₁ and the second position soft stop S ₂ along the axis of the stem AA. The electromechanical stop further comprises a hard stop 178 located in the H position. The soft stop includes a shock absorber 174 and a damping element 175 located at or near the end of the bar, for example, at least partially between the first position of the soft stop S ₁ and the second position soft stop S ₂ . The shock absorber 174 and the damping element 175 provide for the creation of resistance to the drive element 158 in the region of the end of the stroke within the range 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 damping element 175 can also slow down 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 some forms, the soft stop may be located in any preferred location where it is desirable to create resistance or begin to slow down the drive element 158.

In FIG. 97 shows the drive element 158 in the process of guiding the ejection stroke at a position proximal to the first position of the soft stop S ₁ . In FIG. 98 shows the drive element 158 after the full direction of the ejection stroke beyond the first position of the soft stop S ₁ at the end of the stroke so that it is in the second position of the soft stop S ₂ at the end of the stroke. Accordingly, the soft stop is positioned so that it contacts the drive element 158 in the first position of the soft stop S ₁ , then shrinks distally to the second position of the soft stop S ₂ due to the compressive interaction with the hard stop in the H position. Accordingly, the second position of the soft stop S ₂ can essentially be the position of the hard stop H ^* with respect to the drive element and the distal limit of the stroke end. In various aspects, the drive element 158 can fully or significantly slow down until it reaches the position of the hard stop H ^* in the second position of the soft stop S ₂ . Therefore, in such aspects, a hard stop, if present, can be a backup or safety element.

The resistance to a drive motion created by a mechanical stop, which may be accompanied by a slowing down or braking force, may be, for example, smooth, increasing or stepped with respect to distance and / or time. Thus, in some aspects, the soft stop forms a portion of increased resistance between the first position of the soft stop S ₁ and the second position of the soft stop S ₂ . It should be noted that the end of the stroke does not necessarily imply that the functional operation of the drive element continues throughout the end of the stroke, for example, to the second position of the soft stop S ₂ . For example, in one form, the end of a stroke is located at or near the position of the most distal bracket. In another form, the position of the primary contact with the soft stop, for example, in the first position of the soft stop S ₁ , is distal from the distal bracket itself. Thus, the drive element 158 may not contact and not experience significant resistance to its longitudinal movement along the ejection stroke until the distal bracket itself is pushed out, and at this time an increase in resistance and / or deceleration may begin. Thus, the movement of the drive element will not be prematurely limited by the operation of the control system 1400.

In FIG. 75 is a graphical depiction of current versus time in tool 10 using an electromechanical stop containing a soft stop, in accordance with various aspects. The current between the moment A ^* corresponding to the position of the drive element 158 proximal to the end of the stroke and the moment B ^* ₀ corresponding to the position of the drive element 158 when in contact with a soft stop, for example, at shock absorber 174, is relatively low or constant. However, after the moment B ^* _{0, the} current gradually begins to increase, representing an increase in resistance to the longitudinal movement of the drive element. In various aspects, a gradual increase in resistance can have the beneficial effect of increasing the current surge time, for example, between B ^* ₀ and B ^* ₂ , significantly increasing the response time required and giving the control system 1400 a response time, thereby reducing the adverse time delay effects described higher in relation to FIG. 96. In some aspects, the control system 1400 may monitor the voltage and measure the current supplied to the drive motor 1402, as described above. The control system 1400 may be configured to respond in a predetermined manner to a change in current. For example, when a threshold current is reached, for example at time B ^* ₁ , the control system 1400 may stop powering the drive motor 1402. In one configuration, the threshold current may contain a time component. For example, the threshold current may include the difference between the currents for a certain period of time. In some configurations, the current surge may contain one of a number of predetermined current thresholds, each of which is determined by the ratio of the current difference to the time period. As can be seen in FIG. 99, a gradual increase in resistance can also have the predominant effect of reducing the impact of the terminal clamp 102 when in contact with a hard stop at time B ^* ₂ , as well as reducing the time period from B ^* ₂ to C ^* , during which the 1402 drive motor continues to activate drive element 158 to the hard stop 178 after stopping the distal movement.

In some aspects, control system 1400 may determine that a predetermined current threshold has been reached, measured, for example, by increasing current or slope of current versus time curve, and then stop supplying a power supply signal to drive engine 1402. For example, in one configuration 1400 may monitor the current and thus cut off power to the drive motor 1402 when the current amplitude exceeds a predetermined value for a predetermined period of time. In various aspects, these or other values, such as threshold values, can be adjusted by the user, for example, manually or by accessing the embedded protocol via an administrative connection, for example, via a computer. In at least one configuration, a drive circuit 1408 or control circuit 1406 comprises a variable resistor so that the user can change the current supply to the drive motor 1402 by changing the degree of activation relative to the trigger. For example, the rotation of the starting motor 530 may be proportional to the pressure or movement that the user applies to the actuator or the trigger. In one form, the control circuit 1406 may be connected to the drive circuitry 1408 so that the threshold values can be increased or weakened sensitivity to them.

In some configurations, a plurality of sensors or electrical components may be used in the terminal clamp 102 to provide various forms of user feedback. In one aspect, the sensors may provide feedback to the control system 1400 and automatically control various engines associated with the tool. For example, in one aspect, a surgical instrument comprises a plurality of engines, such as engines 402, 530, 560, and / or 610, which can be activated by one or more control systems, such as control systems 800 and 1400, for electrically generating control motions. Control systems can be configured to functionally control the motors and receive positive feedback from a variety of sensors capable of tracking position information. In some aspects, control systems may apply position information to electrically generate modified or modulated control motions by controlling the power supply to one or more motors, or, for example, can report various position information to the user. In various aspects, control systems may operate in a hybrid system without / with feedback. For example, control system 1400 may be configured to control a drive motor 1402, for example, a starting engine 530 in a non-feedback system, as described herein, when controlling various other engines, for example, a barrel rotation engine 610 in a feedback system. In one aspect, control system 1400 can be designed so that the user can selectively choose which engines control system 1400 can control in a closed loop system and which ones in a closed loop system, for example, to tune various tool 10 operations as desired. .

It should be understood that a user may provide one or more input signals that may or may not be evaluated by the control system 1400. For example, the control system 1400 may include an override mode in which one or more of the input signals fed to the control system 1400 are one or more users or other control systems associated with the control system 1400 may be redirected and / or supplied to the tool 10. For example, when the actuator 158 is in the initial position, control system 1400 can block, delay or ignore commands that set power to the drive motor 1402 or otherwise act on the drive motor 1402 to electrically generate starting movement of the drive member 158. In at least one aspect, lock occurs or is the ground state / position of the system to until one or more events occur, such as closing the support 190 or obtaining adequate mechanical or electrical feedback, such as deformations of the components of the fixing overdetermined user command to change the measured parameter / near / along the path of the drive member.

In various aspects, one or more mechanical stops, including soft stop nodes in accordance with the present disclosure, may be provided in a kit. The kit may have a special application in one or more of the selected devices or it may be modified for universal use in many devices. For example, a set of soft stop assembly may contain a removable retarding element, such as damping elements and / or contact elements, such as shock absorbers. In one form, the kit includes interchangeable or spare bushings that can be used as inserts inside the case, the size of which allows you to maintain the damping element in order to increase the resistance provided by the soft stop in one or more places along the ejection stroke. Gaskets may be provided in various forms to regulate the clearance between the abutment and the casing of the device. In some aspects, the contact element may include a permanent or temporary stop, such as a removable, modifiable, or renewable contact stop, adapted to be placed between the drive element and the shock absorber, the damping element and / or the hard stop. The contact stopper may be formed from an elastic or other material that is at least partially compressible when it comes into contact with the accelerated mass of the drive element or when it hits a soft or hard support. In one aspect, the restrictor may be a polymer that may be worn, stretched, inserted or welded to a part, such as the contact surface of the drive element 158. In another aspect, the limiter may be installed or suitable for installation on the front surface of the shock absorber 174. 174 may contain a contact made with the possibility of contact and at least partial absorption of force from the accelerated mass of the drive element 158 to prevent or partially limit the degree of physical Damage to or mechanical failure of the drive element 158, the drive engine 1402, the drive screw 180, or related components.

In some forms, the extraction of a surgical instrument, such as the surgical instrument 10 shown in FIG. 1 and 2, from the patient's body can be difficult, since the terminal clamp 102 can be in a rotated or axially position, which prevents the terminal clamp 102 from passing through a trocar or other access point to the patient's body. The doctor may not know how the end clamp 102 is currently pivotally rotated, such as along the axis of the BB hinge, and may try to remove the surgical instrument 10 without first straightening the end clamp 102. In various forms, the surgical instrument can be performed in this way so that its terminal clamp is rectified on the basis of the input signal of the sensor (for example, a tool may have a terminal clamp rectified by the sensor). Thus, the doctor can be sure that the terminal clamp 102 is straight with respect to the axis of the B-B hinge before removing the terminal clamp 102 from the patient's body, for example, through a trocar. In various forms, the sensor can be configured to trigger an electrically driven rectification event when the end clamp is removed from the patient's body.

In FIG. 105 shows one shape of a surgical instrument 5810 comprising an end clamp 5802 rectified by a sensor. The sensor 5826a, 5826b can detect a strong proximal movement of the surgical instrument 5810. A strong proximal movement may indicate that the surgical instrument 5810 is being removed from the patient's body, for example, through a trocar or an external tube. You can set a minimum threshold for proximal movement to prevent the end clamp 5 from straightening due to the small proximal displacement of the surgical instrument 5810 during treatment. In various forms, when the strong proximal movement of the surgical instrument 5810 exceeds the minimum threshold, the sensor 5826a, 5826b can send a signal to the motor, such as a hinge control motor 402, forcing the motor to straighten the end clamp 5802.

In some forms, the sensor 5826a, 5826b can be placed in the barrel 5831, the terminal clip 5802, the handle 5820 or in any other place suitable for detecting strong proximal movement of the surgical tool 5810. In various forms, the sensor 5826a, 5826b can be any suitable sensor for detecting moving the surgical instrument 5810. For example, the sensor 5826a, 5826b may be a sensor capable of measuring acceleration, such as an accelerometer. When the accelerometer detects acceleration in the proximal direction, exceeding a predetermined threshold, it can send a signal to the hinge control motor 402 to activate the rectification process. In another example, the sensor 5826a, 5826b may be a proximity sensor, such as a magnetic sensor, a Hall sensor, a reed switch, or any other suitable proximity sensor. In various forms, the proximity sensor may be configured to measure the proximity of the sensor 5826a, 5826b to a fixed point, such as a trocar 5858 or an outer tube 5960. When removing a surgical instrument 5810 in the proximal direction, the distance between the sensor 5826a, 5826b and the fixed point may decrease, whereby the sensor 5826a, 5826b sends a signal to the hinge control motor 402 in order to activate the drive process of straightening the terminal clamp 5802. A variety of sensors can be included in various forms for rovedeniya additional check for straightening process.

In one form, the first sensor 5826a and the second sensor 5826b may be located on the surgical instrument 5810. The first sensor 5826a may be located on the proximal part of the barrel 5831, and the second sensor 5826b may be located on the distal part of the trunk 5831. It will be obvious to those skilled in the art that the first and The second sensors 5826a, 5826b can be placed in any suitable part of a surgical instrument 5810, such as for example a handle 5820, a surgical module that can be detached, a barrel 5831, or an end-clamp 5802 that can be straightened using a sensor. In some forms, the first sensor 5826a may be an accelerometer capable of detecting a strong proximal movement of the surgical instrument 5810. In some forms, the second sensor 5826b may be a proximity sensor configured to detect the distance between the second sensor 5826b and a fixed point, for example as a trocar 5858. In the presented form, the 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 configured to detect an increase in the intensity of the magnetic field indicating the movement of the second sensor 5826b and, therefore, the end clamp 5802, rectified by the sensor, to the trocar 5858.

In one form, the first sensor 5826a and the second sensor 5826b can be configured to activate the driving process of rectifying the terminal clamp 5802, rectified by the sensor. During operation, the first sensor 5826a can detect a strong proximal movement of the surgical instrument 5810, detecting that the specified threshold of the proximal acceleration is exceeded. The first sensor 5826a may send a first signal to the hinge control motor 402 to activate the drive rectification process. In some forms, the second sensor 5826b may also detect strong proximal movement of the end clamp, detecting a change in magnetic field intensity between the sensor 5826b and a fixed point, such as trocar 5858. The second sensor 5826b may send a second signal to the articulation drive 402 to activate the rectification drive process.

As shown in FIG. 105, the terminal clamp 5802, rectified by a sensor, was pivotally rotated along the B-B hinge axis (shown in FIG. 1). The end clamp 5802, rectified by the sensor, can be connected to the barrel 5831. The operator can move the surgical instrument 5810 in the proximal direction, causing the barrel 5831 and the end clamp 5802, rotated by the sensor, to move in the proximal direction. Proximal displacement can be detected by the first sensor 5826a. The first sensor 5826a may be an accelerometer. The first sensor 5826a may send a signal to a hinge control motor, such as a hinge control motor 402, for example, to activate a rectifier drive process. Proximal displacement can also be detected by a second sensor 5826b. The second sensor 5826b may be a magnetic proximity sensor, such as a Hall sensor or reed sensor, for example. The second sensor 5826b may send a signal to the hinge control motor 402 to activate the drive rectification process. The second sensor 5826b may send a signal to the articulation control motor 402 independently of the first sensor 5826a.

When the doctor removes the surgical instrument 5810 from the trocar 5858, the motorized straightening process straightens the terminal clamp 5802, straightened with a sensor. After completion of the driving process of straightening, the terminal clamp 5802, rectified by a sensor, is in a straight configuration, as shown in FIG. 106. The terminal clamp 5802, straightened with a sensor, can be removed through trocar 5858 without injuring the patient or damaging the trocar 5858, and without the need for the doctor to manually straighten the terminal clamp 5802, straightened with a sensor. In some forms, the surgical instrument 5810 may provide a feedback signal to the user, indicating activation or performance of the driving rectification process. For example, in some forms, an LED can be placed on the handle 5820. The LED may be lit in the driving process of straightening to provide the user with a visual indication of what is happening in the drive process of straightening.

In some forms, the first and second sensors 5826a, 5826b may function as additional means of testing the rectification process. For example, in some forms, both the first and second of the sensors 5826a, 5826b may send a signal to the hinge control motor 402 to activate the rectification process. The signal from the first sensor 5826a or from the second sensor 5826b may cause the hinge control motor 402 to straighten the terminal clamp 5802, rectified by the sensor. In some forms, the drive-driven 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, the first sensor 5826a or the second sensor 5826b can independently activate the drive rectification process, but the process can be interrupted if no signal is received from both the first and second sensors 5826a, 5826b for a specified period of time. For example, the drive rectification process may be triggered by a signal from the first sensor 5826a. If the signal from the second sensor 5826b is not received for a specified period of time, then the driving rectification process can be interrupted by a surgical instrument 5810.

In some forms, surgical instrument 5810 may include a stop sensor. The stop sensor can detect contact between the terminal clamp 5802, straightened with a sensor, and a tissue cut during the straightening process. If the stop sensor detects contact between the terminal clamp 5802, rectified by the sensor, and a tissue cut, the stop sensor can send a signal to the hinge control motor 402 and stop the rectification process to prevent injury to the patient. In some forms, when the stop sensor determines that the end clip 5802, rectified by the sensor, is no longer in contact with the tissue, the stop sensor can send a signal to the hinge 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, notifying the user that the terminal clamp 5802, rectified by the sensor, has come into contact with the tissue section and that the rectification process has been stopped. The stop sensor can be, for example, a pressure sensor located on the end clip 5802, rectified by the sensor.

In FIG. 107 and 108, one end clamp shape 5902 is shown rectified by a sensor. In some forms, the end clamp 5902, rectified by a sensor, can be inserted into the patient's body through an outer tube 5960. The outer tube 5960 can contain a magnetic ring 5922 placed at the distal end of the outer tube 5960. The first sensor 5926a and the second sensor 5926b can be made with the ability to detect the movement of the end clamp 5902, rectified by the sensor, when the barrel 5931 is removed from the outer tube 5960. In some forms, the first sensor 5926a may be an accelerometer, and the second sensor 5926b may represent To be a magnetic proximity sensor. The second sensor 5926b can detect a change in the magnetic field strength as the second sensor 5926b moves in the proximal direction to the magnetic ring 5922. When the second sensor 5926b reaches the magnetic ring 5922, the second sensor 5926b can generate a signal that triggers the driving process of rectifying the terminal clamp 5902. The second sensor 5926b may be any suitable sensor for sensing changes in the magnetic field, such as a reed sensor or a Hall sensor, for example. As described above, the first sensor 5926a and the second sensor 5926b can provide additional verification of the drive rectification process. Those skilled in the art will recognize that in some forms only the first sensor 5926a or only the second sensor 5926b may be included. In some forms, additional sensors may be included to detect strong proximal movement of the 5910 surgical instrument.

In FIG. 109 and 110 show one form of an end clamp 6002, rectified by means of a sensor, changing from a pivotally rotated state to a straightened state in the process of removing 6058 from a trocar. In FIG. 109 The end clamp 6002, straightened by the sensor, is pivotally positioned relative to the barrel 6031. The doctor can begin to remove the end clamp 6002, straightened by the sensor, through the trocar 6058 in the proximal direction indicated by arrow A. The proximal displacement can be detected first a sensor 6026a, a second sensor 6026b, or both the first and second sensors 6026a, 6026b. The first sensor 6026a may be an accelerometer capable of detecting strong proximal movement of the barrel 6031. The second sensor 6026b may be a magnetic sensor made with the ability to detect changes in the magnetic field between the second sensor 6026b and a fixed point, such as a trocar 6058. Trocar 6058 may contain a magnet 6022 for generating a magnetic field. When removing the 6031 through the trocar 6058, the magnetic field strength detected by the 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 for the hinge control motor 402 to activate the end clamp driving process 6002, rectified by the sensor, in relation to the trunk 6831.

After the completion of the driving process of straightening, the terminal clamp 6002, rectified by means of a sensor, is in the direct state, as shown in FIG. 110. In the direct state, the terminal clamp 6002, straightened using a sensor, can be removed through the trocar 6058 without injuring the patient and damaging the trocar 6058, and without the need for the doctor to manually straighten the terminal clamp 6002. In some forms, the doctor may be able to redefine the drive process straightening and leave the terminal clamp 6002, straightened with the help of a sensor, in a pivotally rotated position when it is removed from trocar 6058.

In FIG. 111 represents a single form of a magnetic ring 6121, which can be attached to a trocar 5858, 6058 or an outer tube 5960. A magnetic ring 6121 can contain a plurality of magnets 6122 capable of generating a magnetic field. The magnetic field can be detected by a magnetic sensor located on a surgical instrument, such as, for example, the second sensor 6026b. The magnetic sensor 6026b may be configured to hold an end clamp rectified by a sensor, such as an end clamp 6002, in a straightened state when the magnetic sensor detects a magnetic field generated by a magnetic ring 6121. For example, the magnetic sensor 6026b can be made in one form with the ability to generate a blocking signal preventing the hinge rotation of the end clamp if the magnetic sensor 6026b detects a magnetic field that exceeds a predetermined threshold. A predetermined threshold may be determined based on the magnetic field strength generated by the magnetic ring 6121 at a certain distance corresponding to the location of the BB pivot axis outside of the 5858 trocar or the outer tube 5960. In some forms, the magnetic sensor 6026b may activate the driving rectification process when the detected magnetic field exceeds a predetermined threshold, and can generate a blocking signal to prevent the hinge rotation of the end clamp 6002, rectified by the sensor, to t s long as the detected magnetic field strength falls below a predetermined threshold.

In FIG. 112 and 113 represent one form of a magnetic sensor 6226, which is a reed sensor. The reed switch can contain an electric switch 6250 controlled by an applied magnetic field. A pair of contacts may be located on ferrous metal tongues in a hermetically sealed glass envelope. Contacts can be normally open and close in the presence of a magnetic field, or they can be normally closed and open in the presence of a magnetic field.

As shown in FIG. 105 and 106, describes how to control a rectifiable end clamp using a sensor. Although the method of controlling the terminal clamp rectified by the sensor is described in this document with reference to FIG. 105 and 106, it will be apparent to those skilled in the art that the method can be applied with any form of an end clamp rectified by means of a sensor as described herein, for example, such as the forms shown in FIG. 107-113. In one form, the method may include detecting a strong proximal movement of the surgical instrument 5810 with the first sensor 5826a. Surgical instrument 5810 may include a terminal clamp 5802, rectified by a sensor. The doctor can pivot the end clamp 5802, straightened with a sensor, during treatment. After completion of treatment, the physician may begin to remove the surgical instrument 5810 from the patient’s body by 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 be an accelerometer capable of detecting a strong proximal movement of the surgical instrument 5810. The method may further include generating a signal through the first sensor 5826a, which indicates that a strong proximal movement has been detected. The signal may be transmitted by the first sensor 5826a to the controller of the hinge control engine 402, such as for example a control circuit, such as control circuit 3702 shown in FIG. 82. Additional engine controllers are provided, as described with respect to FIG. 84, 114-116, etc. The method may further include receiving by the engine 402 the control of the hinge signal from the first sensor 5826a and activating the drive process of rectification by the engine 402 of the hinge control in order to straighten the angle of the hinge rotation of the end clip 5802 rectified by the sensor result of the received signal. The driving process of rectification can return the terminal clamp 5802, rectified by means of a sensor, to the zero position of the hinge rotation.

In some forms, the method may further include detecting a strong proximal movement of the surgical instrument 5810 with the second sensor 5826b. In some forms, the second sensor 5826b may be a magnetic proximity sensor, such as a Hall sensor or reed sensor. The second sensor 5826b may be configured to detect the distance between the second sensor 5826b and a fixed point, for example, a trocar 5858 or an outer tube 5960. The method of controlling the end clamp 5802, rectified by the sensor, may additionally include the generation of a signal indicating the detection of strong proximal movement using the second sensor 5826b. The second signal can be transmitted to the engine 402 control the hinge. The method may further include receiving a second signal hinge control motor 402 and activating the drive rectification process by the hinge control motor 402 to straighten the hinge angle of the end clamp 5802 rectified by a sensor. In some forms, the second sensor 5826b may generate a second signal independently of the first sensor 5826a.

In some forms, the first and second sensors 5826a, 5826b may function as additional means of testing the rectification process. For example, in some forms, both the first and second of the sensors 5826a, 5826b may send a signal to the hinge control motor 402 to activate the rectification process. The signal from the first sensor 5826a or from the second sensor 5826b may cause the hinge control motor 402 to straighten the terminal clamp 5802, rectified by the sensor. In some forms, the driving process of rectification may not be performed until both signals are received from both the first and the second of the sensors 5826a, 5826b. In some forms, the first sensor 5826a or the second sensor 5826b can independently activate the drive rectification process, but the process can be interrupted if no signal is received from both the first and second sensors 5826a, 5826b for a specified period of time. For example, the drive rectification process may be triggered by a signal from the first sensor 5826a. If the signal from the second sensor 5826b is not received for a specified period of time, then the driving rectification process can be interrupted by a surgical instrument 5810.

In one form, a modular motor control platform can be used in various surgical instruments. For example, a modular control platform may be implemented by a control circuit 3702. In FIG. 114, one form of a modular engine management platform 6300 is provided, comprising a main controller 6306 and one or more pairs of engine and controller 6309a-6309c. Platform 6300 can drive one or more engines 6318a, 6318b, 6318c. Engines 6318a, 6318b, 6318c can be any engines used in a surgical instrument. For example, in some forms, one or more of the engines 6318a, 6318b, 6318c may correspond to one or more of the hinge motor 402, the starting motor 530, the end clamp rotating motor 560, and / or the stem turning engine 610.

In various forms, the corresponding controllers 6306, 6309a-6309c can be implemented using one or more processors (for example, processors implemented in control circuit 3702). A modular motor control platform 6300 may be suitable for controlling a motorized surgical instrument, for example, a surgical instrument 10 shown in FIG. 1 and 2. In various forms, the main controller 6306 may be mounted on a distal printed circuit board 810 or on a proximal printed circuit board 820. A first motor controller 6314a is functionally connected to a first motor 6318a to provide one or more pilot signals to the first motor 6318a. The second motor control controller 6314b may be functionally connected to the second motor 6318b, and the third motor control controller 6314c may be functionally connected to the third motor 6318c. Motor controllers 6314a-6314c are in electrical communication with the main controller 6306. The main controller 6306 provides control signals to the engine controllers 6314a-6314c based on the main control process that controls one or more functions of the terminal clamp 6302. The main control process may be a predefined process , a user-defined process, or a process generated by a device.

In one form, the main control process may define one or more surgical interventions performed by the surgical instrument 10, which contain one or more functions of the barrel 30 and the terminal clamp 102. For example, in one form, the main control process may define for the surgical instrument 10 a cutting and fastening operation . The cutting and fastening operation may comprise a plurality of functions of the surgical instrument 10, such as, for example, a clamping function, a stitching function, a cutting function and a release function. The user can designate the start of the cutting and bonding operation in any suitable way, such as pressing a button or switch on the handle 20, for example. Those skilled in the art will recognize that any suitable method can be used to activate one or more functions of the surgical instrument 10.

In one form, when the doctor designates the start 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 pilot signals and send pilot signals to one or more engine controllers 6314a-6314c. For example, the operation of cutting and bonding can begin at time t ₀ . A master controller 6306 may generate a first pilot signal indicating that the clamp function is required. The first control signal may be transmitted to the first motor controller 6314a connected to the first engine 6318a, configured to control the clamping movement of the end clamp 6302. The first motor controller 6314a may in turn feed one or more signals to the first engine 6318a, activating the first engine 6318a to rotate the node 190 of the stop of the end clip 102 and clamp the fabric between the stop 190 and the cartridge 130. The main controller 6306 may request the first motor controller 6314a to signal l state until the first motor controller 6314a indicates that the clamping operation has been completed. At time t _{1, the} first motor controller 6314a may send a signal to the main controller 6306 indicating that the clamping function has been completed.

At time t _{2, a} second control signal may be transmitted from the main controller 6306, indicating that a stitching and cutting operation is required. The second control signal may be transmitted to a second engine controller 6314b connected to the second engine 6318b. The second motor 6318b may be configured to control the proximal and distal movement of the cutting member 164 and / or the sled 170 located inside the end clip 102. The control signal of the stitching and cutting operation may cause the second motor controller 6314b to activate the second motor 6318b and advance the cutting member 164 and / or skid 170 in the distal direction, forcing the cartridge 130 with brackets to release brackets, and the cutting element 164 to cut the fabric clamped in the stop assembly 190, as described in more detail above. At time t _{3, the} cutting element 164 reaches the most distal point, and the second motor controller 6314b can send a signal to the main controller 6306, indicating that the stitching and cutting operation has been completed. The second motor controller 6314b may automatically generate for the second motor 6318b a control signal for the reciprocating movement of the cutting element 164 until the cutting element 164 is fully drawn.

After receiving a signal from the second motor controller 6314b at time t _{3, the} main controller 6306 may send a third control signal to the first motor controller 6314a, indicating that a release function is required. The first motor controller 6314a may generate a pilot signal for the first motor 6318a, causing the first motor 6318a to reverse a previously performed clamping operation by opening the anvil assembly 190. The release function may be performed by the first motor controller 6314a and the first motor 6318a simultaneously with the reverse movement of the second motor 6318b, which draws the cutting element 164 to its original position. The use of a main controller 6306 and separate motor controllers 6314a, 6314b allows the surgical instrument 10 to simultaneously perform multiple operations without undue stress on the separate controllers 6306, 6314a, 6314b.

Engine controllers 6314a-6314c may contain one or more independent processes for tracking and controlling surgical operations, such as, for example, engine movement. In some forms, engine controllers 6314a-6314c may be configured to operate with one or more control feedback mechanisms. For example, in some forms, motor controllers 6314a-6314c may be implemented as feedback controllers, such as “single input, single output” (SISO) controllers or “multiple inputs, - multiple output” (MIMO) controllers. In some forms, engine controllers 6314a-6314c may operate as proportional-integral-differential (PID) controllers. The PID controller can operate with control feedback, in which three configuration links are used: a proportional regulator link, an integral regulator link, and a differential regulator link. The PID controller may comprise a control process configured to measure a predetermined variable and compare the measured value of the predetermined variable with the expected or set value of the predetermined variable. The PID controller can control 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 contain a PID speed controller. For example, the first motor controller 6314a may measure a predetermined variable, such as the position of the motor 6314a. The first motor controller 6314a may adjust the control variable, such as engine speed 6314a, based on the difference between the measured position of the engine 6314a and the set or expected position of the engine 6314a.

In some forms, engine controllers 6314a-6314c may be configured as error detection controllers. The error detection controller can execute the error detection process. In some forms, the error detection controller may operate with a direct error recognition process that includes tracking one or more sensors made with the ability to directly display an error, which may be called error detection based on signal processing. In some forms, the value provided by the sensor is compared with the expected value of the sensor obtained from the model of the surgical process controlled by the error detection controller, which may be referred to as error detection based on the model. Those skilled in the art will appreciate that the engine controller can use a combination of error detection based on signal processing and error detection based on the model.

In some forms, motor controllers 6314a-6314c may be implemented as current / force limited controllers. The current / force limited controller can be configured to limit the measured value, for example, the current supplied to the motor, or the force developed by the motor to a given value. For example, in one form, the first motor controller 6314a may be configured to limit the force developed during the clamping operation to a predetermined value. The force sensor can monitor the force developed by the first engine 6318a, configured to control the clamping operation in a surgical instrument. If the amount of force measured by the first sensor corresponds to a predetermined value, then the first motor controller 6314a may stop operating the first engine 6318a. In some forms, the motor controller 6314a-6314c may be configured to monitor the current supplied to the motor 6318a-6318c. The current used by the motor 6318a-6318c may be indicative of one or more engine functions 6318a-6318c, such as motor speed or force developed by the motor during a surgical operation. If the current developed by the engine 6318a-6318c exceeds a predetermined threshold value, then the motor controller 6314a-6314c may stop the engine to prevent injury to the patient or damage to the surgical instrument.

In some forms, engine controllers 6314a-6314c can provide independent verification of the main control process performed by the main controller 6306. For example, engine controllers 6314a-6314c can check whether the action requested by the main controller 6306 is valid before performing the action requested. In some forms, the engine controller 6314a-6314c may use state information in validating the action. For example, in one form, the first motor controller 6314a may receive a command from the main controller 6306 to perform the cutting and stapling operation. The first motor controller 6314a can check the current status of the surgical instrument, for example, whether the stop assembly 190 is in the clamped position. If the status information corresponds to the state allowed to perform the cutting and stapling operation, then the first motor controller 6314a can perform the cutting and stapling operation. However, if the state information does not match the allowable state for cutting and stapling, then the first motor controller 6314a may indicate an error in the main controller 6306 or in the main control process. Those skilled in the art will appreciate that engine controllers 6314a-6314c may contain one or more control processes and one or more types of control processes.

In FIG. 115, one form of a modular engine control platform 6400 is provided, comprising a main controller 6406 and four pairs of engine and controller 6409a-6409d. A modular engine control platform 6400 may also be implemented by control circuitry 3702, described earlier in this document, for example, using one or more processors. The modular platform 6400 engine control can be configured to control various engines. For example, a distal rotation motor 6418a may operate in a manner similar to that described herein with respect to an engine of rotation 560 of an end clip. The hinge 6418b engine may operate in the same manner as described herein with respect to the hinge motor 402. The engine 6418c proximal rotation can work in the same way as described in this document with respect to the engine 610 hinge. The 6418d operating engine may operate in the same manner as described herein with respect to the starting engine 530.

The main controller 6406 may be electrically connected to one or more engine controllers 6414a-6414d. The main controller 6406 may be connected to one or more engine controllers 6414a-6414d using a wired or wireless connection. In some forms, the 6418a-6418d engines may contain associated encoder position sensors 6416a-6416d, configured to provide a signal indicating the position of the engine barrel. In some forms, the encoder 6416a-6416d motor positions may be absent. In one form, the main controller 6406 may be configured to communicate with any number of motor controllers 6414a-6414d, for example, from one to ten engine controllers. In some forms, the main controller 6406 may be configured to communicate with one or more additional peripheral controllers (not shown), and the peripheral controllers are configured to control one or more non-driven surgical functions, such as ultrasound functions, electrosurgical functions, or any other suitable functions of a surgical instrument.

In one form, the main controller 6406 can synchronously communicate with motor controllers 6414a-6414d. Communications emanating from the main controller 6406 may include, for example, sending commands to execute a specific subroutine or engine controller 6414a-6414d function, polling engine controllers 6414a-6414d to update their status, and receiving feedback information from controllers 6414a- 6414d engine. The synchronous communication may be a direct communication between the main controller 6406 and the motor controllers 6414a-6414d, with the interactions synchronized in time. For example, in the form shown in FIG. 114, the main controller 6406 may communicate with each of the motor controllers 6414a-6414d at predetermined time intervals. In another form, a token can be transmitted between engine controllers 6414a-6414d, giving the engine controller 6414a-6414d, which currently owns the marker, the right to interact with the main controller 6406 for a given period of time.

In one form, the main controller 6406 can perform the main control process. The master control process can track user inputs, perform operations on the surgical instrument 10, output feedback signals to the user, or perform any other functions of the surgical instrument 10. For example, the master controller 6406 can perform a master control process containing the cutting and clamping operation in one form. In some forms, the main control process may provide control signals to each of the engine controllers 6414a-6414d. The performance of the separate functions of the 6418a-6418d engines can be controlled by the engine controllers 6414a-6414d. In some forms, the main control process may activate or stop one or more 6418-6418d engines based on attaching or removing a modular surgical component, such as the modular stem 30 or the operating part 100. The main controller 6406 may provide control signals to the motor controllers 6414a-6414d and may receive status signals from motor controllers 6414a-6414d. State signals may include, for example, a function complete signal, an error signal, an inactivity signal, or a feedback signal.

In some forms, the function signal may indicate, for example, the state of an action or the completion of a function performed by the pairs from the engine and controller 6409a-6409d. For example, a function signal may indicate that a clamping operation is being performed or that this operation is completed. The function signal may also indicate the result of the operation, such as, for example, the amount of force applied to the tissue clamped during the clamping operation. The motor controller 6414a-6414d may generate an error signal if the motor controller 6414a-6414d detects an error of the engine 6418a-6418d associated with it or an error at the completion of a surgical operation. An error signal may cause the main controller 6406 to generate an error signal for the operator, for example, a visual signal or a sound signal. The error signal can also cause the main controller 6406 to send control signals to the motor controllers 6414a-6414d to stop all currently running functions.

The idle signal can be sent by motor controllers 6414a-6414d to the main controller 6406 to indicate that the corresponding 6418a-6418d motor is inactive and can be used to perform the corresponding function of the surgical instrument 10. In one form, the idle signal can indicate that the 6418a-6418d motor has executed function. For example, in one form, the first motor controller 6414a may receive a control signal from the main controller 6406 for performing a clamping operation. The first engine controller 6414a may convert the pilot signal from the main controller 6406 to one or more pilot signals for the engine 6418a. After the engine 6418a has performed the specified function, the engine controller 6414a can transmit an idle signal to the main controller 6406, indicating that the engine 6418a has completed the specified function.

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

In some forms, the synchronous interaction between the main controller 6406 and the motor controllers 6414a-6414d may be interrupted by an override signal. The override may cause the main controller 6406 to stop synchronous communication and communicate with the motor controller 6414a, which generates the override signal. In various forms, the override signal may be generated by the motor controller 6414a as a result of a motor failure, input from the user, or based on a predetermined threshold in one or more feedback signals. The override signal may cause the main controller 6406 to send a signal to each of the engine controllers 6414a-6414d to stop all 6418a-6418d engines until the situation that caused the generation of the override signal is resolved. In one form, the main controller 6406 may generate a signal for the feedback device to notify the operator of the override signal.

In FIG. 116, one form of a dual-controller, modular engine management platform 6500 is presented. Platform 6500 may also be implemented by control circuitry 3702, as described herein. The dual controller modular engine management platform 6500 contains a main controller 6506, a slave controller 6507 and four pairs of engine and controller 6509a-6509d. The modular engine control platform 6400 may be configured to control engines 6518a, 6518b, 6518c, 6518c. For example, a 6518a distal rotation motor can operate in a manner similar to that described in this document with respect to a 560 end clamp motor. The hinge engine 6518b may operate in a manner similar to that described herein with respect to the hinge engine 402. The 6518c proximal rotation engine may operate in a manner similar to that described herein with respect to the hinge 610 engine. The operating engine 6518d may operate in a manner similar to that described herein with respect to the starting engine 530.

The modular engine control platform 6400 may be configured to control the hinge motor 402, the starting motor 530, the terminal clamp rotating motor or the “distal rotating motor 560” and the stem rotating motor or the proximal rotation motor 610. Each of the main controller 6506 and the slave controller 6507 may be associated with a subset of the existing engine controllers. For example, in the present form, the main controller 6506 is connected to the first and second engine controllers 6526a, 6526b, and the slave controller 6507 is connected to the third and fourth engine controllers 6526c, 6526d. The main controller 6506 and the slave controller 6507 may be in electrical communication. In some forms, a slave controller 6507 can be placed on a distal PCB 810 or on a proximal PCB 820. A slave controller 6507 can reduce the load on the main controller 6506, reducing the number of engine controllers 6526a-6526d with which the main controller 6506 should interact and which should be controlled . A master controller 6506 and a slave controller 6507 may receive input signals 6508 from one or more controllers.

In one form, the main controller 6506 may provide pilot signals directly to the first engine controller 6526a and the second engine controller 6526. The master controller 6506 may also provide pilot signals to the slave controller 6507. The slave controller may provide pilot signals to the third engine controller 6526c and the fourth engine controller 6526d. By reducing the number of engine controllers 6526a-6526d that the main controller 6506 must poll and control, the two-controller modular platform 6500 of engine management can increase the response time or load more computing power of the main controller 6506 by other tasks. In one form, the main controller 6506 can execute the main control process, and the slave controller 6507 can execute an auxiliary control process to generate one or more signals for the motor controllers 6526a-6526d based on inputs from the main controller 6506. In one form, the slave controller 6507 can receive control inputs from one or more user controls, such as a clamping button or a trigger switch. In one form, the master controller 6506 may communicate with one or more slave controllers 6507 and may not send any control signals directly to the engine controllers 6526a-6526d.

In one form, additional slave controllers 6507 can be added to the system to control additional motor controllers or surgical modules. In one form, the slave controller 6507 can only be used when there is a need for a given threshold number of motor controllers. For example, in one form shown in FIG. 115, four engine controllers 6526a-6526d are connected to a dual-controller modular engine management platform 6500. Each of the main controller 6506 and the slave controller 6507 is connected to two engine controllers 6526a-6526d. Stopping one or more engines, for example, as a result of replacing barrel 30 with another barrel that requires only two engines for articulated rotation, can cause the slave controller 6507 to stop, since no additional computing power is needed for the slave controller 6507 to reduce the load on the main controller 6506. V In some forms, stopping one or more engine controllers 6526a-6526d may cause the remaining engine controllers to be assigned to an inactive slave controller 6507. For example p, stopping the third and fourth engines 6518c, 6518d can cause the slave controller 6507 to be inactive. The second engine controller 6526b can be disconnected from the main controller 6506 and connected to the slave controller 6507 to reduce the computational load on the main controller 6506. One or more load balancing processes can be executed as part of the main control process to provide an optimized control distribution between the main controller 6506 and one or more slave controllers 6507.

Returning to FIG. 114-116, a method for controlling a modular surgical instrument 10 comprising a plurality of engine controllers can be described. Although the control method of the modular surgical instrument 10 is described with respect to FIG. 114-116, those skilled in the art will appreciate that the method can be applied to any embodiment of a surgical instrument or to various control platforms described herein. The method may include the main controller 6506 generating a main control process containing one or more pilot signals. The method may further comprise transmitting the generated control signals from the main controller 6506 to one or more engine controllers 6526a-6526d. Engine controllers 6526a-6526d can receive transmitted control signals. In some forms, the subset of pilot signals received by the first motor controller 6526a may contain pilot signals transmitted by the main controller 6506 for a certain period of time during which the main controller 6506 and the first motor controller 6526a have synchronous communication. The method may further include controlling, by the engine controllers 6526a-6526d, one or more associated engines 6518a-6518d based on control signals from the main controller 6506.

In some forms, the method may comprise transmitting by the master controller 6506 one or more control signals to the slave controller 6507. The slave controller 6507 may have electrical communication with one or more engine controllers 6526c-6526d. The slave controller 6507 may execute an auxiliary control process, which is the generation of one or more control signals for a motor based on input signals received from the main controller 6506. The auxiliary control process may further include the control signal for the motor one or more electrically coupled controllers by the slave controller 6507 6526c-6526d engine. The method may further include controlling, by the engine controllers 6526c-6526d, one or more connected engines as a result of receiving control signals for the engine. In various forms, a portion of the generated control signals for the engine can be synchronously transmitted to each of the engine controllers 6526c-6526d for a predetermined period of time.

In FIG. 117, one form of a main control process 6600 is shown that can be executed by a main controller, such as, for example, the main controllers shown in FIG. 114-116, or any other suitable master controller. In one form, the surgical instrument 10 may contain four engines, such as, for example, a hinge motor 402, a starting motor 530, a terminal clamp rotation motor or a distal rotation motor 560 and a barrel rotation motor or a proximal rotation motor 610 Surgical instrument 10 may be configured to perform the function of the distal rotation, the gripping function, the clamping function, and the start function. The surgical instrument 10 may comprise one or more buttons for controlling various operations of the surgical instrument 10, such as, for example, a home position button, a release button, a capture button, a pinch button, or a start button. The surgical instrument 10 may further comprise an LED for transmitting a visual feedback signal to the user regarding the operation of the surgical instrument 10.

In some forms, when the surgical instrument 10 is activated, the main controller 6406 switches the device to the main mode. In the presented main control process 6600, the main mode is the 6602 state of the hinge rotation. State 6602 of the hinge rotation may include the activation of three or four available engines. Activated engines can control the rotation of the barrel 30 (for example, the motor 610 turning the barrel), the end clip 102 (for example, the motor 560 turning the end clip) and / or the hinge turning the end clip 102 (for example, the motor 410 hinge). In the main swivel mode, the joystick 842 may be active. In state 6602 of the hinge rotation, joystick 842 can be used to control the hinge rotation or rotation of the barrel 30 and end clamp 102. The distal rotation function can be active (or available) when the gripping, clamping, and starting functions are not available. The home button can also be activated in the ground state. The LED may glow green to indicate that the surgical instrument 10 is in the state in which the surgical instrument 10 can be safely moved.

The user can press the home position button 6604, causing the surgical instrument 10 to return to its original state 6606, for example, the initial state in which the terminal clamp 102 is straight with respect to the barrel 30, and the trunk 30 and the terminal clamp 102 are returned to the zero-rotation state. The initial state 6606 may be useful for switching from one operation to another, or it may allow the user to quickly change the orientation of the surgical instrument 10 during treatment. After reaching the initial state 6606, the main control process 6600 can return 6605 to the main state 6602 of the hinge rotation.

In one form, the end clamp 102 shown in FIG. 1 and 2 can be detachably connected to the barrel 30, which allows various tools to be attached to the barrel 30. The barrel 30 can be detachably connected to the handle 20, which allows you to attach various trunks to the surgical instrument 10. In one form, the main controller 6406 may perceive the branch 6608 of the terminal clamp 102 or the barrel 30 from the surgical instrument 10 and may prohibit the operation of the surgical instrument 10 until a new barrel or instrument is attached to the surgical instrument 10 and the surgical instrument 10 returned to its original state 6606. After the main control process 6600 detects a new terminal clamp 102 and returns to its original state 6606, the main control process 6600 can go to the ground state 6602.

In one form, an end clip 102 may be attached to the surgical instrument 10. The end clip 102 may be configured to perform the grip function. The grip function may be the grip of a tissue section between the stop assembly 190 and the cartridge 130 of the end clip 102. The surgical instrument 10 may include a grip button to activate the grip function. When the user presses the 6614 grip button, the surgical instrument 10 can switch to the grip mode 6616, blocking the movement of the end clamp 102, such as turning or pivoting with respect to the barrel 30. The grip mode 6616 can activate a fourth motor (for example, a starting motor 530) , forcing part of the end clip 102 to clamp the tissue, for example, by moving the stop assembly 190 from the open position to the closed position. The clamping button can be activated when the surgical instrument 10 enters the gripping state.

In some forms, the doctor may press the 6620 button of the clamping button, causing the surgical instrument 10 to enter the clamping mode 6622. In the clamping mode 6622, the surgical instrument 10 can block the fourth motor to prevent the tissue portion from being released during subsequent operation. Clamping mode 6622 can activate a start button located on handle 20. After surgical instrument 10 has entered clamping mode 6622, the main controller 6406 can change the LED color to blue, indicating to the doctor that the tissue is clamped in the stop unit 190 and that it can be started surgical instrument 10 to perform the operation of stapling and cutting.

The physician can press the start button 6626, causing the surgical instrument 10 to enter start mode 6628. In start-up mode 6628, the surgical instrument 10 may deactivate the motors configured to control the movement of the surgical instrument 10, such as, for example, motors 1-3. The start mode 6628 may activate a fourth motor, which may be configured to control the stitching and cutting operation, as described above. The start button can be kept pressed, causing the main controller 6406 to generate pilot signals for the engine controller associated with the fourth engine, in order to activate the stitching and cutting operation, causing the cutting part 164 and / or the slide 170 to slide inside the cartridge 130 with brackets in the end clip 102. During the start-up sequence, the main controller 6406 may change the color of the LED to red, warning the doctor that the surgical instrument 10 is starting. The main controller 6406 can set the “start-up marker” to “true”, indicating that the surgical instrument has completed the start-up and cannot start again. The main controller 6406 or the motor controller associated with the fourth engine can automatically pull back the cutting part 164 when the cutting part 164 reaches the distal end of the end clamp 102. After the cutting part 164 has completed the return stroke and returns to its original position, the main control process 6600 can return 6630 to pinned state 6622.

The doctor can deactivate the 6624 clamping condition 6622 by pressing the pinching button. A master control process 6600 generates one or more pilot signals to return to the capture state 6616 after deactivating the clamping state 6622. The doctor can then deactivate 6618 state 6616 capture and make the transition to state 6602 of the hinge rotation or to any other suitable ground state. Those skilled in the art will recognize that the main control process 6600 can be modified to fit any surgical operation or function that the surgical instrument 10 or any attached surgical module can perform. In some forms, the main control process 6600 can be automatically performed based on the connected trunks, end clamps or power supply modules.

In accordance with one general form, a surgical instrument is proposed, comprising a handle assembly that is configured to simultaneously and independently generate at least two separate pivotal control movements. The surgical instrument may additionally include an elongated stem assembly, operatively interacting with the handle assembly for the purpose of independently and simultaneously receiving and transmitting at least two separate pivotal control movements to an end terminal operatively connected to the extended stem assembly.

In accordance with another general form, a surgical instrument is proposed comprising a handle assembly that is capable of simultaneously and independently generating at least three separate pivotal control movements. The surgical instrument may additionally include an elongated stem assembly that is operatively cooperating with the handle assembly for the purpose of independently and simultaneously receiving and transmitting at least three separate pivotal control movements to an end terminal functionally connected to the extended stem assembly.

In accordance with another general form, a surgical instrument is proposed comprising a drive system that is configured to electrically generate a plurality of individual rotary control motions. The surgical instrument may additionally include an elongated stem assembly functionally connected to the drive system in order to receive therefrom a first rotary control motion for rotating the elongated stem assembly about the axis of the trunk. The elongated stem assembly can be configured to receive and transmit a second rotary control motion from the drive system to the surgical end clamp, functionally connected to the elongated stem assembly, to cause the surgical end clamp to rotate around the stem axis relative to the elongated stem assembly. The elongated stem assembly may additionally be configured to receive and transmit a third rotary control motion from the drive system to the articulation, which communicates with the elongated stem assembly and the surgical end clamp, in order to pivot the surgical end clamp around the axis of the hinge substantially perpendicular to the axis of the barrel .

In accordance with another general form, a hinge joint for a surgical instrument, which includes an elongated stem assembly, and a drive system, which is capable of generating and transmitting a plurality of rotary control motions to the elongated stem assembly, is proposed. In at least one form, the articulation contains a proximal part of the articulation, connected to the elongated trunk unit, and a distal part of the articulation, which is connected with the possibility of movement with the proximal part of the articulation and adapted to interact with the surgical end clamp. The first gear unit can functionally interact with the proximal part of the starting shaft of the elongated stem assembly. The distal starting barrel can functionally interact with a surgical end clamp to transmit a rotary starting motion from the proximal starting barrel to the surgical end clamp, making it possible to pivot the distal part of the articulation relative to the proximal part of the articulation. The second gear unit can functionally interact with the proximal part of the rotary shaft of the elongated stem node to transmit the distal rotary control movement to the surgical end clamp to force the surgical end clamp to rotate relative to the elongated stem node and still allow the hinged rotation of the distal joint part relative to the proximal part .

In accordance with another general form, a hinge joint is proposed for a surgical instrument that has an elongated stem assembly and a drive system that is capable of generating and transmitting a plurality of rotary control movements to the elongated stem assembly. In at least one form, the articulation includes a proximal bracket connected to the elongated stem unit and a distal bracket hinged with a pin to the proximal bracket in order to selectively rotate relative to it around the axis of the hinge, essentially perpendicular to the axis of the trunk formed by the elongated stem node . The first gear unit can be supported in the gear area formed between the proximal and distal brackets so that no part of the first gear unit passes radially beyond any part of the articulation. The first gear unit can functionally interact with the proximal part of the starting shaft of the elongated stem assembly. The distal starting barrel can functionally interact with a surgical end clamp to transmit a rotary starting motion from the proximal starting stem to the surgical end clamp, allowing the distal bracket to rotate relative to the proximal bracket. The second gear unit can be supported in the gear area so that no part of the first gear unit passes radially beyond any part of the articulation. The second gear unit can functionally interact with the proximal part of the rotary shaft of the elongated stem node to transmit the distal rotary control movement to the surgical end clamp to force the surgical end clamp to rotate relative to the elongated stem node and at the same time ensure the hinged distal bracket relative to the proximal bracket.

In accordance with another general form, a surgical instrument is proposed that includes a drive system that is configured to generate a plurality of pivotal control movements. The elongated stem assembly functionally interacts with the drive system and may contain an outer stem segment, functionally interacting with the drive system to receive control movements of the distal rotation from it. The hinge shaft can functionally interact with the drive system to receive the swivel movements of the hinge turn from it. The elongated stem assembly may additionally include a proximal starting barrel segment, functionally interacting with the drive system to receive rotational starting movements from it. The surgical instrument may additionally include a hinge joint, which may include a proximal bracket connected to an elongated stem node and a distal bracket hinged by a pin with a proximal bracket, for selective rotational motion relative to it around the axis of the hinge substantially perpendicular to the axis of the shaft formed by the node elongated stem. The node of the connecting element can dock rotatably with the distal bracket and can be made with the possibility of attachment to the surgical end clamp. The distal segment of the starting shaft can be functionally supported by the node of the connecting element and can be configured to interact with part of the drive shaft of the surgical terminal clamp. The first gear unit can functionally interact with the proximal segment of the starting barrel and the distal segment of the starting barrel to transmit rotational starting movements from the proximal segment of the starting shaft to the distal segment of the starting shaft, while allowing the distal bracket to be selectively rotated relative to the proximal bracket. The second gear unit can functionally interact with the proximal rotary barrel to transmit the control movements of the distal rotation to the node of the connecting element while allowing for the selective rotation of the distal bracket relative to the proximal bracket. The connecting plate of the drive of the hinge can interact with the trunk of the hinge and the distal bracket, and its movements can be limited by axial movement relative to the hinge joint as a result of the application of movements of the hinge rotation to the trunk of the hinge.

In accordance with another general form, a lid is provided for a hinge joint, which is supported in an elongated trunk assembly of a surgical instrument, functionally connected to a surgical end clamp having at least one end clamp conductor. In at least one form, the lid is an electrically non-conductive hollow housing having an open distal end and an open proximal end, and a channel for receiving a joint passing between them and intended for introducing a hinge joint thereto. The hollow casing is made so as to give the parts of the articulation to selectively pivotally rotate relative to each other and at the same time essentially enclose these parts within themselves. At least one electrically conductive path extends from the distal end of the hollow casing to the proximal end of the hollow casing. Each of the at least one electrically conductive path has a distal end portion that is electrically connected to a corresponding end clamp conductor when the end clamp is connected to an elongated stem assembly, and a proximal end portion that is electrically connected to an appropriate trunk conductor in the elongated portion the trunk.

In accordance with another general form, a surgical instrument is proposed that includes an elongated stem assembly that has at least one electrical conductor of the trunk, as well as a hinge joint. In at least one form, the articulation contains a proximal part of the articulation connected to the elongated trunk assembly. The distal part of the articulation is connected with the possibility of moving with the proximal part of the articulation for selective pivotal rotation relative to it. The node of the connecting element is connected with the possibility of rotation with the distal part of the articulation in order to selectively rotate relative to it. The node of the connecting element can be made with the possibility of detachable connection with a surgical end clamp and the formation of an electrically conductive path of the connecting element from the conductor end clamp in the end clamp to the hinge joint. The surgical instrument may additionally include an articulating articulation conductor in contact with an electrically conductive connecting element that intersects the articulation and contacts the corresponding articulator conductor to form an electroconductive path between them.

In accordance with another general form, a surgical instrument is proposed that includes a control system that contains at least one electrical control component. The surgical instrument further includes an elongated stem assembly that has an electrical trunk conductor functionally associated with at least one of the electrical control components. The surgical instrument may additionally include a hinge joint, which includes a proximal brace connected to the elongated stem assembly. The distal bracket is connected with the possibility of rotation with the proximal bracket for the purpose of selective rotational movement relative to it. The surgical instrument may further include a connecting member assembly connected to the distal bracket, and a surgical end clip detachably connected to the connecting assembly assembly. The surgical end clamp may include an end clip conductor arranged to electrically contact an electrically conductive connecting element formed in the connecting element unit when the surgical end clip is connected to the connecting element unit. The articulation conductor may intersect the articulation and be in electrical contact with the electrically conductive path through the node of the connecting element and the conductor of the trunk.

In accordance with another general form, a surgical instrument is proposed, including a handle assembly, with which an elongated stem assembly is operatively connected and which is operatively connected to a surgical end clamp. The engine is supported in the handle assembly and is configured to feed a rotary motion to one of the elongated stem assembly and the surgical end clip attached thereto. The rotary knob control unit is functionally supported on the knob assembly and communicates with the engine in such a way that when a part of the actuator of the control unit with a rotary knob rotates in a first direction, the engine delivers a rotary motion to one of the elongated stem assembly and end clamp in the first direction when part of the actuator rotates in the second direction, the engine delivers a pivotal motion to one of the elongated stem assembly and end clamp in the second direction.

In accordance with another general form, a surgical instrument is proposed, including a handle assembly, with which the extended stem assembly is connected with rotation and which is adapted to be operatively attached to the surgical end clamp. The engine is supported in the handle assembly and is configured to feed a pivoting motion to the elongated stem assembly for selective rotation about the axis of the barrel. The surgical instrument further includes a rotary knob control unit, which includes an actuator element with a rotary knob that is hingedly supported relative to the knob assembly. The first magnet is supported on an element of the actuator with a rotary knob, and the second magnet is supported on the element of an executive mechanism with a rotary knob. The stationary sensor is centrally located between the first and second magnets when the element of the actuator with the rotary knob is in the non-activated position. The motionless sensor communicates with the engine in such a way that when the actuator with the rotary knob is rotated in the first direction, the engine delivers a pivotal motion to the elongated trunk assembly in the first direction, and when an element of the actuator with the rotary knob rotates in the second direction, the engine delivers a rotary motion to node elongated trunk in the second direction.

In accordance with another general form, a surgical instrument is proposed, including a handle assembly, with which the extended stem assembly is connected with rotation and which is operable to attach to the surgical end clamp so that the end clamp can selectively rotate around the stem axis relative to the extended assembly the trunk. The engine is supported in the handle assembly and is configured to feed a pivotal movement to an end clamp or a connecting part of an elongated stem assembly, to which the end clamp is connected, for selectively turning it around the axis of the barrel. The surgical instrument further includes a rotary knob control unit, which includes an actuator element with a rotary knob that is hingedly supported relative to the knob assembly. The first and second magnets are supported on an element of the actuator with a rotary knob. The stationary sensor is centrally located between the first and second magnets when the element of the actuator with the rotary knob is in the non-activated position. The fixed sensor communicates with the engine in such a way that when the actuator with a rotary knob is rotated in the first direction, the engine delivers a pivotal motion to the terminal clamp or connecting part in the first direction, and when an element of the actuator with a rotary knob is rotated in the second direction, the engine delivers a rotary movement on the terminal clamp or the connecting part in the second direction.

In accordance with another general form, a surgical instrument is proposed that includes a housing in which a plurality of engines are mounted. The surgical instrument further includes a control joystick assembly that includes a first switch assembly supported in the housing for movement, and includes a joystick mounted for displacement such that the rotational movement of the joystick relative to the first switch assembly causes at least one corresponding control signal to at least one of the associated engines. The joystick assembly further includes a second switch assembly comprising a first sensor and a second sensor configured to move with the first switch node in such a way that moving the second sensor relative to the first sensor causes at least one other pilot signal to be transmitted to at least one related engines.

In accordance with another general form, a surgical instrument is proposed that includes a handle assembly equipped with an elongated stem assembly that is rotatably supported relative to it. The engine of the proximal rotation is supported in the handle assembly and is configured to feed proximal rotational movements to the extended stem assembly, which causes the extended stem assembly to rotate relative to the handle assembly around the stem axis. The surgical end clamp is functionally connected to the elongated stem unit and is intended for performing surgical intervention when at least one starting movement is applied to it. The starting motor is supported in the handle assembly and is configured to apply starting motions to a portion of the extended stem assembly in order to transfer to the surgical end clamp. The surgical instrument further includes a control joystick assembly that contains the first switch assembly supported in the handle assembly for movement, and includes a joystick mounted for movement such that the rotational movement of the joystick relative to the first switch assembly results in the transfer of at least one the corresponding control signal to the engine proximal rotation. The joystick control unit further includes a second switch assembly, which comprises a first sensor and a second sensor, arranged to move together with the first switch node in such a way that the movement of the second sensor relative to the first sensor leads to the transmission of at least one other pilot signal to the starting motor.

In accordance with another general form, a surgical instrument is proposed that includes a handle assembly equipped with an elongated stem assembly that is rotatably supported relative to it. The surgical instrument further includes a hinge joint, which contains a proximal part of the joint, connected to the node of the elongated stem, and a distal part of the joint, which is connected with the possibility of movement with the proximal part of the joint. The engine of the hinge is supported in the knot of the handle and is made with the possibility of supplying pivotally pivoting movements to the hinge joint, which causes the distal part of the articulation to move relative to the proximal part of the articulation. The surgical end clamp is functionally connected to the elongated stem unit and is intended for performing surgical intervention when at least one starting movement is applied to it. The starting motor is supported in the handle assembly and is configured to apply starting motions to a portion of the extended stem assembly in order to transfer to the surgical end clamp. The surgical instrument further includes a joystick control unit that includes a first switch assembly supported in the handle unit for movement, and includes a joystick mounted for movement in such a way that the rotational movement of the joystick relative to the first switch node results in the transfer of at least one The corresponding control signal to the engine joint. The joystick assembly further includes a second switch assembly comprising a first sensor and a second sensor configured to move with the first switch node in such a way that moving the second sensor relative to the first sensor causes at least one other pilot signal to be transmitted to the starting motor.

In accordance with another general form, a surgical instrument is proposed for exposing the tissue. The tool contains at least one processor and functionally associated memory, at least one engine associated with the processor, and at least one activating device. The processor is programmed to receive from the removable working part of the first variable that describes the removable tool. The processor is also programmed to use the first variable in the tool control algorithm. In addition, the processor is programmed to receive an input control signal from an activating device and to control at least one motor to operate a surgical instrument in combination with a removable instrument, according to the tool control algorithm with regard to the input control signal.

In accordance with the additional general form, the processor can be programmed to receive from a removable instrument an instrument control algorithm describing the operation of a surgical instrument in combination with a removable instrument. The processor can also be programmed to receive an input control signal from an activating device and to control at least one motor to operate a surgical instrument in combination with a removable instrument, according to the instrument control algorithm with regard to the input control signal.

In accordance with another general form, a surgical instrument can be described that is adapted to retransmit a low power signal from an end terminal to a remote device. A surgical instrument may comprise a handle, a barrel directed distally from the handle, and an end clip attached to the distal end of the barrel. A sensor can be located in the end clamp. The sensor can generate a signal reflecting the state of the end clamp. A transmitter can be placed in the terminal clamp. The transmitter can transmit a signal of the first power level from the sensor. The signal can be received by a relay station located in the handle of a surgical instrument. The relay station is configured to amplify and retransmit a signal with a second power level, the second power level being higher than the first power level.

In accordance with the additional general form, a relay station can be described for relaying a signal from an end clamp of a surgical instrument to a remote device. Relay station contains a receiver configured to receive a signal from a sensor located in the terminal clamp. The signal is transmitted at the first power level. The relay station further comprises an amplifier, configured to amplify the signal to the second power level. The transmitter is configured to transmit a signal with a second power level. The second power level is higher than the first power level.

In accordance with the general form, a method of relaying a signal received from an analysis module in an terminal terminal can be described. The method includes generating, by means of a sensor, a signal reflecting the state of the surgical end clamp. The sensor is located in the end clamp. The method further includes transmitting by the transmitter a first signal with a first power level and receiving the transmitted signal by the receiver at the relay station. The first signal is amplified by the relay station using an amplifier to a high power signal having a second power level. The second power level is higher than the first power level. The high power signal is transmitted by the relay station at the second power level. A high power signal is received by a remote device, such as a video monitor. The video monitor displays a graphical representation of the state of the surgical end clamp.

Some parts of the above are presented in the form of methods and symbolic representations of operations with data bits inside computer memory. These descriptions and representations are the means that specialists in this field use to most effectively convey the essence of their work to other specialists in this field. In this case and essentially, a method is an independent sequence of actions (commands) leading to the desired result. Under the actions refers to those that require the implementation of physical manipulations with physical quantities. Typically, though not necessarily, these quantities take the form of electrical, magnetic, or optical signals that can be stored, transmitted, combined, compared, and otherwise disposed of. Sometimes, mainly due to the wide use, it is convenient to call these signals bits, values, elements, symbols, letters, terms, numbers, etc. In addition, it is also sometimes convenient to call some configurations of actions that require physical manipulations with physical quantities, modules or code devices, without losing the degree of generalization.

Some aspects of the present invention include the process steps and commands described herein in the form of a method. It should be noted that the process steps and commands of the present invention can be embodied as software, firmware or hardware, and when implemented as software, they can be downloaded for installation and operation on different platforms using various operating systems.

The present invention also relates to a device for performing the operations described herein. This device can be specially created for the required purposes, or it can be a general-purpose computer selectively activated or reconfigured using a computer program stored in a computer. Such a computer program can be stored on computer-readable media, such as (without limitation) disks of any type, including floppy disks, optical disks, CD-ROMs, magneto-optical disks, permanent storage devices (ROM), random access memory (RAM) , EPROM, EEPROM magnetic or optical cards, specialized integrated circuits (ASIC), or any type of media suitable for storing electronic commands and connected to each computer system bus. In addition, computers and computer systems referred to in this specification may include a single processor or may be multiprocessor-based configurations for increasing computing power.

The methods and displays presented in this document are not inherently related to any particular computer or other device. You can also use various general-purpose systems with programs that are in line with the ideas presented in this document, or it may be convenient to design a more specialized device to perform the required actions. The required structure for various similar systems will be apparent from the foregoing description. In addition, the present invention is not described with reference to any particular programming language. It should be understood that various programming languages may be used to implement the ideas of the present invention, as described herein, and any references to specific programming languages mentioned above are proposed to describe the implementation and best practice of using the present invention.

In various forms, a surgical instrument is described that is adapted to retransmit a low power signal from an end terminal to a remote device. A surgical instrument may comprise a handle, a barrel directed distally from the handle, and an end clip attached to the distal end of the barrel. A sensor can be located in the end clamp. The sensor can generate a signal reflecting the state of the end clamp. A transmitter can be placed in the terminal clamp. The transmitter can transmit a signal of the first power level from the sensor. The signal can be received by a relay station located in the handle of a surgical instrument. The relay station is configured to amplify and retransmit a signal with a second power level, the second power level being higher than the first power level.

In various forms, a relay station is described for relaying a signal from an end clamp of a surgical instrument to a remote device. Relay station contains a receiver configured to receive a signal from a sensor located in the terminal clamp. The signal is transmitted at the first power level. The relay station further comprises an amplifier, configured to amplify the signal to the second power level. The transmitter is configured to transmit a signal with a second power level. The second power level is higher than the first power level.

In various forms, a method of relaying a signal received from an analysis module in an end terminal is described. The method includes generating, by means of a sensor, a signal reflecting the state of the surgical end clamp. The sensor is located in the end clamp. The method further includes transmitting by the transmitter a first signal with a first power level and receiving the transmitted signal by the receiver at the relay station. The first signal is amplified by the relay station using an amplifier to a high power signal having a second power level. The second power level is higher than the first power level. The high power signal is transmitted by the relay station at the second power level. A high power signal is received by a remote device, such as a video monitor. The video monitor displays a graphical representation of the state of the surgical end clamp.

An end clamp straightened with a sensor is described in various forms. The end clamp, straightened by the sensor, may be an end clamp connected to the barrel by a hinge joint. End clamp can be made with the possibility of hinge rotation at an angle with respect to the trunk. The sensor can be located on the terminal clamp, straightened using a sensor, for example, on the trunk or on the terminal clamp. The sensor is designed to detect strong proximal movement of a surgical instrument. When a strong proximal movement is detected, the sensor can generate a signal that drives the motor to straighten the end clamp in relation to the barrel.

In various forms, a surgical instrument is described that contains an end clamp straightened with a sensor. A surgical instrument may contain a handle. The barrel can extend distally from the handle. An engine can be located inside the handle to control the hinge rotation of the surgical instrument. The hinged end clamp is located at the distal end of the barrel. The sensor can be located in the handle, on the barrel or on the terminal clamp. The sensor can be configured to detect strong proximal movement of the surgical instrument. When the sensor detects a strong proximal movement, it can activate the driving process of straightening, causing the engine to straighten the hinged end clamp. In some forms, multiple sensors can provide additional checks on the rectification process.

In various forms describes the way to work with a surgical instrument containing an end clamp, straightened with a sensor. The method may include detecting, by the first sensor, the proximal movement of the surgical instrument. The first sensor can be placed in any suitable part of a surgical instrument, for example, in a handle, barrel or terminal clamp. The first sensor may be an accelerometer, a magnetic sensor, or any other suitable type of sensor. The sensor can generate a signal indicating the detection of strong proximal movement. The method may further include receiving a signal generated by the engine from the first sensor. The motor can flatten the pivot angle of the motor-controlled pivot end clamp as a result of receiving a signal. The second sensor can generate a second signal to provide additional verification.

In various forms, the present disclosure relates to a surgical instrument equipped with motors and comprising a modular motor control platform. The master controller may perform a master control process to control one or more surgical instrument operations. The first motor controller and the second motor controller can be functionally connected to the main controller. The first engine can be connected to the first engine, and the second engine can be connected to the second engine controller. The main control process can generate control signals for the first and second motor controllers. The first and second motor controllers can control the first and second motors as a result of pilot signals. In some forms, a modular engine management system may comprise a slave controller configured to control one or more engine controllers based on one or more control signals received by the slave controller from the main controller.

In various forms, a modular engine control system may contain one or more engine controllers, each of which is associated with an engine. One or more motor controllers can communicate with the main controller. The main controller may be configured to provide control signals to the engine controllers during the main control process. Motor controllers can control associated motors as a result of received control signals. In some forms, one or more motor controllers and associated motors may be located within a handle configured to receive a modular trunk, a modular end clamp and a modular power supply. The handle can provide interaction between the engines and the modular trunk and end clamp.

In various forms, a surgical instrument may contain a modular motor control system. A surgical instrument may contain a main controller. A surgical instrument may be configured to receive modular surgical components, such as a modular stem and a working portion. In the surgical instrument can be located one or more engines and associated engine controllers installed in it. Motor controllers can be functionally connected to motors. The engines can be configured to control one or more movements of the attached barrel or working part. The main controller and motor controllers may be in electrical communication. The main controller may be configured to provide one or more control signals to the engine controllers during the main control process. Motor controllers can control motors as a result of received control signals.

In various forms describes the method of controlling a surgical instrument with a drive. The method may include the main controller generating one or more pilot signals. The first control signal may be transmitted to the first motor controller configured to control the first motor. The first motor controller can control the first motor as a result of the first control signal received from the main controller. The second control signal can be transmitted to the second motor controller, configured to control the second motor. The second motor controller may control the second motor as a result of the second control signal received from the main controller. In some forms, the second control signal may be generated by the slave controller.

In accordance with one general form, a surgical instrument is proposed comprising a drive motor and a drive element configured to be moved by the drive motor in a pushing stroke between the initial position and the end position of the stroke. The position of the end of the stroke passes between the first position and the second position. The mechanical stop can be positioned at or near the end of the stroke and can be made with the possibility of increasing the resistance to movement of the drive element in the ejection stroke from the first position to the second position. The mechanical stop may contain a shock absorber and a damping element. The shock absorber can be made to move from the first position to the second position and can be made with the possibility of contact with the drive element in the first position. The damping element can be functionally connected to the shock absorber and can be made with the possibility of increasing the resistance to movement of the drive element from the first position to the second position. The damping element can be adapted to decelerate the drive element before the drive element moves to the second position. In one form, the quenching element may be adapted to be squeezed to increase the resistance to movement of the drive element between the first position and the second position. The damping element can contain a spring in one form. Dampers can have contact surfaces, the size of which complements the surface of the drive element in contact with them in the first position.

In one form, the control system is configured to detect a surge current associated with an increase in resistance to movement of the drive element. The control system can monitor the voltage of the power supply to the drive motor in order to detect current surge. The current surge may be a predetermined threshold current. The predetermined threshold current may be at least one predetermined differential of the threshold current for at least one predetermined period of time. If a current surge is detected by the control system, the power supply to the drive motor may be interrupted. In one form, the mechanical stop may further comprise a hard stop that can prevent the drive element from moving beyond the second position.

In accordance with one general form, a mechanical stop is proposed for use in a surgical instrument in order to generate a detectable current surge associated with an electromechanical stop. For example, the mechanical stop may be located at or near the end of the stroke associated with the pushing-out of the drive element. The position of the end of the stroke can pass between the first position and the second position. The mechanical stop may contain one or more shock absorbers and one or more damping elements. The dampers can be made to move from the first position to the second position and can be made with the possibility of contact with the drive element in the first position. Extinguishing elements can be functionally connected to shock absorbers and can be made with the possibility of increasing the resistance to movement of the drive element from the first position to the second position in order to generate a surge current. The damping elements can be configured to decelerate the drive element before the drive element moves to the second position. The one or more damping elements may be adapted to be squeezed to increase the resistance to movement of the drive element between the first position and the second position. The one or more damping elements may also be compressible and may comprise at least one spring. Dampers can have contact surfaces, the size of which complements the surface of the drive element in contact with them in the first position. A surge in current associated with increased resistance can be detected by a control system associated with an electromechanical surgical instrument. The control system may be configured to monitor the voltage associated with the supply of power to the drive motor and interrupt the supply of power to the drive motor when the current surge contains at least one predetermined threshold current. At least one threshold current may be a current differential for at least one predetermined period of time. In one form, the mechanical stop further comprises a hard stop to prevent the drive element from moving beyond the second position.

Described in this document, the device can be made with the possibility of disposal after a single use or can be made with the possibility of using 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 disassembly stages of the device, followed by cleaning or replacement of 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 assembled again for later 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 restore the device. The use of such techniques, as well as the resulting reconstructed device, are included in the scope of this application.

Preferably, the subject matter described herein will be processed prior to surgery. First, after receiving a new or already used tool, it is cleaned if necessary. The instrument can then be sterilized. According to one method of sterilization, the instrument is placed in a sealed and sealed container, such as a plastic bag or a Tyvek bag (TYVEK). The container and the instrument are then placed in a radiation field that is capable of entering a 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. The sealed container keeps the instrument sterile until it is opened in a medical facility.

Any patent, publication, or other description material that is fully or partially incorporated herein by reference is incorporated herein to the extent that they are not inconsistent with the definitions, provisions, or other description material provided herein. Thus, the description clearly presented in this document, to the extent that it is necessary, prevails over any material contrary to the provisions of this document, which is incorporated herein by reference. Any material (or part thereof) specified 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 material included and the existing The description material does not cause contradictions.

Although examples of industrial designs are presented in the description of the present invention, the present invention can be further modified within the spirit and scope of the present description. Thus, it is intended that the present application covers all variations, methods of application or adaptation of the present invention using its basic principles. It is intended that the present application further covers such deviations from the present description as fall within the well-known or accepted practice in the field to which the present invention relates.

Claims (17)

1. Surgical cutting and stapling instrument containing: knot handle; node of the elongated stem, functionally connected with the node of the handle and made with the possibility of functional attachment to the surgical end effector; a motor supported by the handle assembly and configured to apply a pivoting movement to one of the extended stem assembly and the associated surgical end effector; the switch housing assembly, mounted inside the handle assembly, wherein the switch housing assembly comprises a fixed sensor mounted on the switch housing assembly and a locking projection formed on the switch housing assembly, and a rotary knob control unit containing: collar of the knob containing the slot, an actuator attached to the collar of the knob a first sensor configured to move and mounted on the collar of the rotary knob, and a second sensor configured to move mounted on the collar of the rotary knob, moreover, the control unit with a rotary knob is configured to functionally support the handle unit and is connected to the engine so that when the actuator of the control unit with the rotary handle rotates in the first direction, the engine applies a rotary movement in the first direction to the elongated stem unit the actuator in the second direction, the engine makes a pivotal movement in the second direction to the elongated stem assembly, moreover, the fixed sensor is configured to control the direction of rotation of the node of the elongated stem, depending on the proximity of the first and second sensors relative to the fixed sensor, and moreover, the locking protrusion of the node body of the switches is arranged to interact with the slot of the collar of the rotary knob with the provision of preventing contact between the first and second sensors and the fixed sensor. 2. The tool according to claim 1, wherein the first sensor configured to move and the second sensor configured to move comprise a magnet. 3. The tool of claim 1, wherein the fixed sensor is configured such that the rotational speed of the engine is related to the speed with which the actuator rotates. 4. The tool of claim 1, wherein the fixed sensor is centrally located between the first and second sensors. 5. The tool according to claim 1, wherein the handle assembly comprises a handle housing including a pistol handle portion, and wherein the switch housing assembly is installed within the pistol handle portion. 6. The tool of claim 1, wherein the collar of the rotary knob is configured to deflect to a neutral position with a pair of springs.

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