US20150272571A1 - Surgical instrument utilizing sensor adaptation - Google Patents

Surgical instrument utilizing sensor adaptation Download PDF

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Publication number
US20150272571A1
US20150272571A1 US14/226,116 US201414226116A US2015272571A1 US 20150272571 A1 US20150272571 A1 US 20150272571A1 US 201414226116 A US201414226116 A US 201414226116A US 2015272571 A1 US2015272571 A1 US 2015272571A1
Authority
US
United States
Prior art keywords
reference value
surgical instrument
processor
sensor
microcontroller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/226,116
Other languages
English (en)
Inventor
Richard L. Leimbach
Shane R. Adams
Mark D. Overmyer
Brett E. Swensgard
Thomas W. Lytle, IV
Frederick E. Shelton, IV
Kevin L. Houser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cilag GmbH International
Original Assignee
Ethicon Endo Surgery Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ethicon Endo Surgery Inc filed Critical Ethicon Endo Surgery Inc
Priority to US14/226,075 priority Critical patent/US9743929B2/en
Priority to US14/226,111 priority patent/US9750499B2/en
Priority to US14/226,094 priority patent/US20150272580A1/en
Priority to US14/226,093 priority patent/US10028761B2/en
Priority to US14/226,125 priority patent/US10201364B2/en
Priority to US14/226,106 priority patent/US20150272582A1/en
Priority to US14/226,116 priority patent/US20150272571A1/en
Assigned to ETHICON ENDO-SURGERY, INC. reassignment ETHICON ENDO-SURGERY, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ADAMS, SHANE R., LYTLE, THOMAS W., IV, OVERMYER, MARK D., HOUSER, KEVIN L., LEIMBACH, RICHARD L., SHELTON, FREDERICK E., IV, SWENSGARD, BRETT E.
Priority to CN202211103333.8A priority patent/CN115444481A/zh
Priority to CN201580027540.1A priority patent/CN106413579A/zh
Priority to CN201580027780.1A priority patent/CN106456170B/zh
Priority to PCT/US2015/019822 priority patent/WO2015148117A1/en
Priority to CN201580027530.8A priority patent/CN106456168A/zh
Priority to JP2016558590A priority patent/JP2017513559A/ja
Priority to PCT/US2015/019824 priority patent/WO2015148119A1/en
Priority to PCT/US2015/019818 priority patent/WO2015148113A2/en
Priority to JP2016558597A priority patent/JP6532090B2/ja
Priority to JP2016558613A priority patent/JP6710640B2/ja
Priority to PCT/US2015/019820 priority patent/WO2015148115A2/en
Priority to PCT/US2015/019823 priority patent/WO2015148118A2/en
Priority to BR112016021967-8A priority patent/BR112016021967B1/pt
Priority to PCT/US2015/020101 priority patent/WO2015148140A2/en
Priority to PCT/US2015/020103 priority patent/WO2015148141A1/en
Priority to CN201580027853.7A priority patent/CN106456171B/zh
Priority to JP2016558619A priority patent/JP6517229B2/ja
Priority to EP18150883.9A priority patent/EP3326549B1/en
Priority to PL15161163T priority patent/PL2923659T3/pl
Priority to EP19170600.1A priority patent/EP3542728A1/en
Priority to PL15161177T priority patent/PL2923660T3/pl
Priority to EP15161156.3A priority patent/EP2923646B1/en
Priority to EP15161151.4A priority patent/EP2923657B1/en
Priority to EP22195367.2A priority patent/EP4169457A1/en
Priority to EP15161190.2A priority patent/EP2923662B1/en
Priority to EP20183230.0A priority patent/EP3741310B1/en
Priority to EP15161163.9A priority patent/EP2923659B1/en
Priority to PL15161156T priority patent/PL2923646T3/pl
Priority to EP20186528.4A priority patent/EP3750486A1/en
Priority to EP15161177.9A priority patent/EP2923660B1/en
Priority to EP15161160.5A priority patent/EP2923651B1/en
Priority to EP18150867.2A priority patent/EP3326548B1/en
Priority to EP17188417.4A priority patent/EP3326545B1/en
Priority to EP20183212.8A priority patent/EP3735914B1/en
Priority to EP15161189.4A priority patent/EP2923653A3/en
Publication of US20150272571A1 publication Critical patent/US20150272571A1/en
Assigned to ETHICON ENDO-SURGERY, LLC reassignment ETHICON ENDO-SURGERY, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON ENDO-SURGERY, INC.
Assigned to ETHICON LLC reassignment ETHICON LLC CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON ENDO-SURGERY, LLC
Priority to US16/041,145 priority patent/US20180333169A1/en
Priority to US16/433,468 priority patent/US20200060713A1/en
Priority to US16/587,803 priority patent/US20200093506A1/en
Assigned to CILAG GMBH INTERNATIONAL reassignment CILAG GMBH INTERNATIONAL ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON LLC
Abandoned legal-status Critical Current

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Definitions

  • the present invention relates to surgical instruments and, in various circumstances, to surgical stapling and cutting instruments and staple cartridges therefor that are designed to staple and cut tissue.
  • FIG. 1 is a perspective view of a surgical instrument that has an interchangeable shaft assembly operably coupled thereto;
  • FIG. 2 is an exploded assembly view of the interchangeable shaft assembly and surgical instrument of FIG. 1 ;
  • FIG. 3 is another exploded assembly view showing portions of the interchangeable shaft assembly and surgical instrument of FIGS. 1 and 2 ;
  • FIG. 4 is an exploded assembly view of a portion of the surgical instrument of FIGS. 1-3 ;
  • FIG. 5 is a cross-sectional side view of a portion of the surgical instrument of FIG. 4 with the firing trigger in a fully actuated position;
  • FIG. 6 is another cross-sectional view of a portion of the surgical instrument of FIG. 5 with the firing trigger in an unactuated position;
  • FIG. 7 is an exploded assembly view of one form of an interchangeable shaft assembly
  • FIG. 8 is another exploded assembly view of portions of the interchangeable shaft assembly of FIG. 7 ;
  • FIG. 9 is another exploded assembly view of portions of the interchangeable shaft assembly of FIGS. 7 and 8 ;
  • FIG. 10 is a cross-sectional view of a portion of the interchangeable shaft assembly of FIGS. 7-9 ;
  • FIG. 11 is a perspective view of a portion of the shaft assembly of FIGS. 7-10 with the switch drum omitted for clarity;
  • FIG. 12 is another perspective view of the portion of the interchangeable shaft assembly of FIG. 11 with the switch drum mounted thereon;
  • FIG. 13 is a perspective view of a portion of the interchangeable shaft assembly of FIG. 11 operably coupled to a portion of the surgical instrument of FIG. 1 illustrated with the closure trigger thereof in an unactuated position;
  • FIG. 14 is a right side elevational view of the interchangeable shaft assembly and surgical instrument of FIG. 13 ;
  • FIG. 15 is a left side elevational view of the interchangeable shaft assembly and surgical instrument of FIGS. 13 and 14 ;
  • FIG. 16 is a perspective view of a portion of the interchangeable shaft assembly of FIG. 11 operably coupled to a portion of the surgical instrument of FIG. 1 illustrated with the closure trigger thereof in an actuated position and a firing trigger thereof in an unactuated position;
  • FIG. 17 is a right side elevational view of the interchangeable shaft assembly and surgical instrument of FIG. 16 ;
  • FIG. 18 is a left side elevational view of the interchangeable shaft assembly and surgical instrument of FIGS. 16 and 17 ;
  • FIG. 18A is a right side elevational view of the interchangeable shaft assembly of FIG. 11 operably coupled to a portion of the surgical instrument of FIG. 1 illustrated with the closure trigger thereof in an actuated position and the firing trigger thereof in an actuated position;
  • FIG. 19A is a first portion of a schematic for controlling a surgical instrument
  • FIG. 19B is a second portion of the schematic of FIG. 19A ;
  • FIG. 20 is a schematic of a switch circuit for use with a surgical instrument
  • FIG. 21 is another schematic of a switch circuit for use with a surgical instrument
  • FIG. 22A is a first portion of a schematic for controlling a surgical instrument utilizing the switch circuit of FIG. 21 ;
  • FIG. 22B is a second portion of the schematic of FIG. 22A .
  • proximal and distal are used herein with reference to a clinician manipulating the handle portion of the surgical instrument.
  • proximal referring to the portion closest to the clinician and the term “distal” referring to the portion located away from the clinician.
  • distal referring to the portion located away from the clinician.
  • spatial terms such as “vertical,” “horizontal,” “up,” and “down” may be used herein with respect to the drawings.
  • surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.
  • FIGS. 1-6 depict a motor-driven surgical cutting and fastening instrument 10 that may or may not be reused.
  • the instrument 10 includes a housing 12 that comprises a handle 14 that is configured to be grasped, manipulated and actuated by the clinician.
  • the housing 12 is configured for operable attachment to an interchangeable shaft assembly 200 that has a surgical end effector 300 operably coupled thereto that is configured to perform one or more surgical tasks or procedures.
  • an interchangeable shaft assembly 200 that has a surgical end effector 300 operably coupled thereto that is configured to perform one or more surgical tasks or procedures.
  • housing may also encompass a housing or similar portion of a robotic system that houses or otherwise operably supports at least one drive system that is configured to generate and apply at least one control motion which could be used to actuate the interchangeable shaft assemblies disclosed herein and their respective equivalents.
  • frame may refer to a portion of a handheld surgical instrument.
  • frame may also represent a portion of a robotically controlled surgical instrument and/or a portion of the robotic system that may be used to operably control a surgical instrument.
  • the interchangeable shaft assemblies disclosed herein may be employed with various robotic systems, instruments, components and methods disclosed in U.S. patent application Ser. No.
  • the housing 12 depicted in FIGS. 1-3 is shown in connection with an interchangeable shaft assembly 200 that includes an end effector 300 that comprises a surgical cutting and fastening device that is configured to operably support a surgical staple cartridge 304 therein.
  • the housing 12 may be configured for use in connection with interchangeable shaft assemblies that include end effectors that are adapted to support different sizes and types of staple cartridges, have different shaft lengths, sizes, and types, etc.
  • the housing 12 may also be effectively employed with a variety of other interchangeable shaft assemblies including those assemblies that are configured to apply other motions and forms of energy such as, for example, radio frequency (RF) energy, ultrasonic energy and/or motion to end effector arrangements adapted for use in connection with various surgical applications and procedures.
  • RF radio frequency
  • end effectors, shaft assemblies, handles, surgical instruments, and/or surgical instrument systems can utilize any suitable fastener, or fasteners, to fasten tissue.
  • a fastener cartridge comprising a plurality of fasteners removably stored therein can be removably inserted into and/or attached to the end effector of a shaft assembly.
  • FIG. 1 illustrates the surgical instrument 10 with an interchangeable shaft assembly 200 operably coupled thereto.
  • FIGS. 2 and 3 illustrate attachment of the interchangeable shaft assembly 200 to the housing 12 or handle 14 .
  • the handle 14 may comprise a pair of interconnectable handle housing segments 16 and 18 that may be interconnected by screws, snap features, adhesive, etc.
  • the handle housing segments 16 , 18 cooperate to form a pistol grip portion 19 that can be gripped and manipulated by the clinician.
  • the handle 14 operably supports a plurality of drive systems therein that are configured to generate and apply various control motions to corresponding portions of the interchangeable shaft assembly that is operably attached thereto.
  • the handle 14 may further include a frame 20 that operably supports a plurality of drive systems.
  • the frame 20 can operably support a “first” or closure drive system, generally designated as 30 , which may be employed to apply closing and opening motions to the interchangeable shaft assembly 200 that is operably attached or coupled thereto.
  • the closure drive system 30 may include an actuator in the form of a closure trigger 32 that is pivotally supported by the frame 20 . More specifically, as illustrated in FIG. 4 , the closure trigger 32 is pivotally coupled to the housing 14 by a pin 33 .
  • the closure drive system 30 further includes a closure linkage assembly 34 that is pivotally coupled to the closure trigger 32 .
  • the closure linkage assembly 34 may include a first closure link 36 and a second closure link 38 that are pivotally coupled to the closure trigger 32 by a pin 35 .
  • the second closure link 38 may also be referred to herein as an “attachment member” and include a transverse attachment pin 37 .
  • the first closure link 36 may have a locking wall or end 39 thereon that is configured to cooperate with a closure release assembly 60 that is pivotally coupled to the frame 20 .
  • the closure release assembly 60 may comprise a release button assembly 62 that has a distally protruding locking pawl 64 formed thereon.
  • the release button assembly 62 may be pivoted in a counterclockwise direction by a release spring (not shown).
  • the closure release assembly 60 serves to lock the closure trigger 32 in the fully actuated position.
  • the clinician desires to unlock the closure trigger 32 to permit it to be biased to the unactuated position, the clinician simply pivots the closure release button assembly 62 such that the locking pawl 64 is moved out of engagement with the locking wall 39 on the first closure link 36 .
  • the closure trigger 32 may pivot back to the unactuated position.
  • Other closure trigger locking and release arrangements may also be employed.
  • FIGS. 13-15 illustrate the closure trigger 32 in its unactuated position which is associated with an open, or unclamped, configuration of the shaft assembly 200 in which tissue can be positioned between the jaws of the shaft assembly 200 .
  • FIGS. 16-18 illustrate the closure trigger 32 in its actuated position which is associated with a closed, or clamped, configuration of the shaft assembly 200 in which tissue is clamped between the jaws of the shaft assembly 200 .
  • FIGS. 14 and 17 the reader will appreciate that, when the closure trigger 32 is moved from its unactuated position ( FIG. 14 ) to its actuated position ( FIG. 17 ), the closure release button 62 is pivoted between a first position ( FIG. 14 ) and a second position ( FIG. 17 ).
  • the rotation of the closure release button 62 can be referred to as being an upward rotation; however, at least a portion of the closure release button 62 is being rotated toward the circuit board 100 .
  • the closure release button 62 can include an arm 61 extending therefrom and a magnetic element 63 , such as a permanent magnet, for example, mounted to the arm 61 .
  • the magnetic element 63 can move toward the circuit board 100 .
  • the circuit board 100 can include at least one sensor configured to detect the movement of the magnetic element 63 .
  • a Hall effect sensor 65 for example, can be mounted to the bottom surface of the circuit board 100 .
  • the Hall effect sensor 65 can be configured to detect changes in a magnetic field surrounding the Hall effect sensor 65 caused by the movement of the magnetic element 63 .
  • the Hall effect sensor 65 can be in signal communication with a microcontroller 7004 ( FIG. 59 ), for example, which can determine whether the closure release button 62 is in its first position, which is associated with the unactuated position of the closure trigger 32 and the open configuration of the end effector, its second position, which is associated with the actuated position of the closure trigger 32 and the closed configuration of the end effector, and/or any position between the first position and the second position.
  • the handle 14 and the frame 20 may operably support another drive system referred to herein as a firing drive system 80 that is configured to apply firing motions to corresponding portions of the interchangeable shaft assembly attached thereto.
  • the firing drive system may 80 also be referred to herein as a “second drive system”.
  • the firing drive system 80 may employ an electric motor 82 , located in the pistol grip portion 19 of the handle 14 .
  • the motor 82 may be a DC brushed driving motor having a maximum rotation of, approximately, 25,000 RPM, for example.
  • the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor.
  • the motor 82 may be powered by a power source 90 that in one form may comprise a removable power pack 92 .
  • the power pack 92 may comprise a proximal housing portion 94 that is configured for attachment to a distal housing portion 96 .
  • the proximal housing portion 94 and the distal housing portion 96 are configured to operably support a plurality of batteries 98 therein.
  • Batteries 98 may each comprise, for example, a Lithium Ion (“LI”) or other suitable battery.
  • the distal housing portion 96 is configured for removable operable attachment to a control circuit board assembly 100 which is also operably coupled to the motor 82 .
  • a number of batteries 98 may be connected in series may be used as the power source for the surgical instrument 10 .
  • the power source 90 may be replaceable and/or rechargeable.
  • the electric motor 82 can include a rotatable shaft (not shown) that operably interfaces with a gear reducer assembly 84 that is mounted in meshing engagement with a with a set, or rack, of drive teeth 122 on a longitudinally-movable drive member 120 .
  • a voltage polarity provided by the power source 90 can operate the electric motor 82 in a clockwise direction wherein the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in a counter-clockwise direction.
  • the drive member 120 will be axially driven in the distal direction “DD”.
  • the handle 14 can include a switch which can be configured to reverse the polarity applied to the electric motor 82 by the power source 90 .
  • the handle 14 can also include a sensor that is configured to detect the position of the drive member 120 and/or the direction in which the drive member 120 is being moved.
  • Actuation of the motor 82 can be controlled by a firing trigger 130 that is pivotally supported on the handle 14 .
  • the firing trigger 130 may be pivoted between an unactuated position and an actuated position.
  • the firing trigger 130 may be biased into the unactuated position by a spring 132 or other biasing arrangement such that when the clinician releases the firing trigger 130 , it may be pivoted or otherwise returned to the unactuated position by the spring 132 or biasing arrangement.
  • the firing trigger 130 can be positioned “outboard” of the closure trigger 32 as was discussed above.
  • a firing trigger safety button 134 may be pivotally mounted to the closure trigger 32 by pin 35 .
  • the safety button 134 may be positioned between the firing trigger 130 and the closure trigger 32 and have a pivot arm 136 protruding therefrom. See FIG. 4 .
  • the safety button 134 When the closure trigger 32 is in the unactuated position, the safety button 134 is contained in the handle 14 where the clinician cannot readily access it and move it between a safety position preventing actuation of the firing trigger 130 and a firing position wherein the firing trigger 130 may be fired. As the clinician depresses the closure trigger 32 , the safety button 134 and the firing trigger 130 pivot down wherein they can then be manipulated by the clinician.
  • the handle 14 can include a closure trigger 32 and a firing trigger 130 .
  • the firing trigger 130 can be pivotably mounted to the closure trigger 32 .
  • the closure trigger 32 can include an arm 31 extending therefrom and the firing trigger 130 can be pivotably mounted to the arm 31 about a pivot pin 33 .
  • the closure trigger 32 is moved from its unactuated position ( FIG. 14 ) to its actuated position ( FIG. 17 )
  • the firing trigger 130 can descend downwardly, as outlined above.
  • the firing trigger 130 can be depressed to operate the motor of the surgical instrument firing system.
  • the handle 14 can include a tracking system, such as system 800 , for example, configured to determine the position of the closure trigger 32 and/or the position of the firing trigger 130 .
  • the tracking system 800 can include a magnetic element, such as permanent magnet 802 , for example, which is mounted to an arm 801 extending from the firing trigger 130 .
  • the tracking system 800 can comprise one or more sensors, such as a first Hall effect sensor 803 and a second Hall effect sensor 804 , for example, which can be configured to track the position of the magnet 802 .
  • the reader will appreciate that, when the closure trigger 32 is moved from its unactuated position to its actuated position, the magnet 802 can move between a first position adjacent the first Hall effect sensor 803 and a second position adjacent the second Hall effect sensor 804 .
  • the reader will further appreciate that, when the firing trigger 130 is moved from an unfired position ( FIG. 17 ) to a fired position ( FIG. 18A ), the magnet 802 can move relative to the second Hall effect sensor 804 .
  • the sensors 803 and 804 can track the movement of the magnet 802 and can be in signal communication with a microcontroller on the circuit board 100 .
  • the microcontroller can determine the position of the magnet 802 along a predefined path and, based on that position, the microcontroller can determine whether the closure trigger 32 is in its unactuated position, its actuated position, or a position therebetween.
  • the microcontroller can determine the position of the magnet 802 along a predefined path and, based on that position, the microcontroller can determine whether the firing trigger 130 is in its unfired position, its fully fired position, or a position therebetween.
  • the longitudinally movable drive member 120 has a rack of teeth 122 formed thereon for meshing engagement with a corresponding drive gear 86 of the gear reducer assembly 84 .
  • At least one form also includes a manually-actuatable “bailout” assembly 140 that is configured to enable the clinician to manually retract the longitudinally movable drive member 120 should the motor 82 become disabled.
  • the bailout assembly 140 may include a lever or bailout handle assembly 142 that is configured to be manually pivoted into ratcheting engagement with teeth 124 also provided in the drive member 120 .
  • the clinician can manually retract the drive member 120 by using the bailout handle assembly 142 to ratchet the drive member 120 in the proximal direction “PD”.
  • Patent Application Publication No. US 2010/0089970 discloses bailout arrangements and other components, arrangements and systems that may also be employed with the various instruments disclosed herein.
  • the interchangeable shaft assembly 200 includes a surgical end effector 300 that comprises an elongated channel 302 that is configured to operably support a staple cartridge 304 therein.
  • the end effector 300 may further include an anvil 306 that is pivotally supported relative to the elongated channel 302 .
  • the interchangeable shaft assembly 200 may further include an articulation joint 270 and an articulation lock 350 ( FIG. 8 ) which can be configured to releasably hold the end effector 300 in a desired position relative to a shaft axis SA-SA. Details regarding the construction and operation of the end effector 300 , the articulation joint 270 and the articulation lock 350 are set forth in U.S.
  • the interchangeable shaft assembly 200 can further include a proximal housing or nozzle 201 comprised of nozzle portions 202 and 203 .
  • the interchangeable shaft assembly 200 can further include a closure tube 260 which can be utilized to close and/or open the anvil 306 of the end effector 300 .
  • the shaft assembly 200 can include a spine 210 which can be configured to fixably support a shaft frame portion 212 of the articulation lock 350 . See FIG. 8 .
  • the spine 210 can be configured to, one, slidably support a firing member 220 therein and, two, slidably support the closure tube 260 which extends around the spine 210 .
  • the spine 210 can also be configured to slidably support a proximal articulation driver 230 .
  • the articulation driver 230 has a distal end 231 that is configured to operably engage the articulation lock 350 .
  • the articulation lock 350 interfaces with an articulation frame 352 that is adapted to operably engage a drive pin (not shown) on the end effector frame (not shown).
  • a drive pin not shown
  • the spine 210 can comprise a proximal end 211 which is rotatably supported in a chassis 240 .
  • the proximal end 211 of the spine 210 has a thread 214 formed thereon for threaded attachment to a spine bearing 216 configured to be supported within the chassis 240 . See FIG. 7 .
  • Such an arrangement facilitates rotatable attachment of the spine 210 to the chassis 240 such that the spine 210 may be selectively rotated about a shaft axis SA-SA relative to the chassis 240 .
  • the interchangeable shaft assembly 200 includes a closure shuttle 250 that is slidably supported within the chassis 240 such that it may be axially moved relative thereto.
  • the closure shuttle 250 includes a pair of proximally-protruding hooks 252 that are configured for attachment to the attachment pin 37 that is attached to the second closure link 38 as will be discussed in further detail below.
  • a proximal end 261 of the closure tube 260 is coupled to the closure shuttle 250 for relative rotation thereto.
  • a U shaped connector 263 is inserted into an annular slot 262 in the proximal end 261 of the closure tube 260 and is retained within vertical slots 253 in the closure shuttle 250 . See FIG.
  • Such an arrangement serves to attach the closure tube 260 to the closure shuttle 250 for axial travel therewith while enabling the closure tube 260 to rotate relative to the closure shuttle 250 about the shaft axis SA-SA.
  • a closure spring 268 is journaled on the closure tube 260 and serves to bias the closure tube 260 in the proximal direction “PD” which can serve to pivot the closure trigger into the unactuated position when the shaft assembly is operably coupled to the handle 14 .
  • the interchangeable shaft assembly 200 may further include an articulation joint 270 .
  • the articulation joint 270 includes a double pivot closure sleeve assembly 271 .
  • the double pivot closure sleeve assembly 271 includes an end effector closure sleeve assembly 272 having upper and lower distally projecting tangs 273 , 274 .
  • An end effector closure sleeve assembly 272 includes a horseshoe aperture 275 and a tab 276 for engaging an opening tab on the anvil 306 in the various manners described in U.S. patent application Ser. No.
  • An upper double pivot link 277 includes upwardly projecting distal and proximal pivot pins that engage respectively an upper distal pin hole in the upper proximally projecting tang 273 and an upper proximal pin hole in an upper distally projecting tang 264 on the closure tube 260 .
  • a lower double pivot link 278 includes upwardly projecting distal and proximal pivot pins that engage respectively a lower distal pin hole in the lower proximally projecting tang 274 and a lower proximal pin hole in the lower distally projecting tang 265 . See also FIG. 8 .
  • the closure tube 260 is translated distally (direction “DD”) to close the anvil 306 , for example, in response to the actuation of the closure trigger 32 .
  • the anvil 306 is closed by distally translating the closure tube 260 and thus the shaft closure sleeve assembly 272 , causing it to strike a proximal surface on the anvil 360 in the manner described in the aforementioned reference U.S. patent application Ser. No. 13/803,086.
  • the anvil 306 is opened by proximally translating the closure tube 260 and the shaft closure sleeve assembly 272 , causing tab 276 and the horseshoe aperture 275 to contact and push against the anvil tab to lift the anvil 306 .
  • the shaft closure tube 260 is moved to its proximal position.
  • the surgical instrument 10 may further include an articulation lock 350 of the types and construction described in further detail in U.S. patent application Ser. No. 13/803,086 which can be configured and operated to selectively lock the end effector 300 in position.
  • an articulation lock 350 of the types and construction described in further detail in U.S. patent application Ser. No. 13/803,086 which can be configured and operated to selectively lock the end effector 300 in position.
  • Such arrangement enables the end effector 300 to be rotated, or articulated, relative to the shaft closure tube 260 when the articulation lock 350 is in its unlocked state. In such an unlocked state, the end effector 300 can be positioned and pushed against soft tissue and/or bone, for example, surrounding the surgical site within the patient in order to cause the end effector 300 to articulate relative to the closure tube 260 .
  • the end effector 300 may also be articulated relative to the closure tube 260 by an articulation driver 230 .
  • the interchangeable shaft assembly 200 further includes a firing member 220 that is supported for axial travel within the shaft spine 210 .
  • the firing member 220 includes an intermediate firing shaft portion 222 that is configured for attachment to a distal cutting portion or knife bar 280 .
  • the firing member 220 may also be referred to herein as a “second shaft” and/or a “second shaft assembly”.
  • the intermediate firing shaft portion 222 may include a longitudinal slot 223 in the distal end thereof which can be configured to receive a tab 284 on the proximal end 282 of the distal knife bar 280 .
  • the longitudinal slot 223 and the proximal end 282 can be sized and configured to permit relative movement therebetween and can comprise a slip joint 286 .
  • the slip joint 286 can permit the intermediate firing shaft portion 222 of the firing drive 220 to be moved to articulate the end effector 300 without moving, or at least substantially moving, the knife bar 280 .
  • the intermediate firing shaft portion 222 can be advanced distally until a proximal sidewall of the longitudinal slot 223 comes into contact with the tab 284 in order to advance the knife bar 280 and fire the staple cartridge positioned within the channel 302 As can be further seen in FIGS.
  • the shaft spine 210 has an elongate opening or window 213 therein to facilitate assembly and insertion of the intermediate firing shaft portion 222 into the shaft frame 210 .
  • a top frame segment 215 may be engaged with the shaft frame 212 to enclose the intermediate firing shaft portion 222 and knife bar 280 therein. Further description of the operation of the firing member 220 may be found in U.S. patent application Ser. No. 13/803,086.
  • the shaft assembly 200 can include a clutch assembly 400 which can be configured to selectively and releasably couple the articulation driver 230 to the firing member 220 .
  • the clutch assembly 400 includes a lock collar, or sleeve 402 , positioned around the firing member 220 wherein the lock sleeve 402 can be rotated between an engaged position in which the lock sleeve 402 couples the articulation driver 360 to the firing member 220 and a disengaged position in which the articulation driver 360 is not operably coupled to the firing member 200 .
  • lock sleeve 402 When lock sleeve 402 is in its engaged position, distal movement of the firing member 220 can move the articulation driver 360 distally and, correspondingly, proximal movement of the firing member 220 can move the articulation driver 230 proximally.
  • lock sleeve 402 When lock sleeve 402 is in its disengaged position, movement of the firing member 220 is not transmitted to the articulation driver 230 and, as a result, the firing member 220 can move independently of the articulation driver 230 .
  • the articulation driver 230 can be held in position by the articulation lock 350 when the articulation driver 230 is not being moved in the proximal or distal directions by the firing member 220 .
  • the lock sleeve 402 can comprise a cylindrical, or an at least substantially cylindrical, body including a longitudinal aperture 403 defined therein configured to receive the firing member 220 .
  • the lock sleeve 402 can comprise diametrically-opposed, inwardly-facing lock protrusions 404 and an outwardly-facing lock member 406 .
  • the lock protrusions 404 can be configured to be selectively engaged with the firing member 220 .
  • the lock protrusions 404 are positioned within a drive notch 224 defined in the firing member 220 such that a distal pushing force and/or a proximal pulling force can be transmitted from the firing member 220 to the lock sleeve 402 .
  • the second lock member 406 is received within a drive notch 232 defined in the articulation driver 230 such that the distal pushing force and/or the proximal pulling force applied to the lock sleeve 402 can be transmitted to the articulation driver 230 .
  • the firing member 220 , the lock sleeve 402 , and the articulation driver 230 will move together when the lock sleeve 402 is in its engaged position.
  • the lock protrusions 404 may not be positioned within the drive notch 224 of the firing member 220 and, as a result, a distal pushing force and/or a proximal pulling force may not be transmitted from the firing member 220 to the lock sleeve 402 .
  • the distal pushing force and/or the proximal pulling force may not be transmitted to the articulation driver 230 .
  • the firing member 220 can be slid proximally and/or distally relative to the lock sleeve 402 and the proximal articulation driver 230 .
  • the shaft assembly 200 further includes a switch drum 500 that is rotatably received on the closure tube 260 .
  • the switch drum 500 comprises a hollow shaft segment 502 that has a shaft boss 504 formed thereon for receive an outwardly protruding actuation pin 410 therein.
  • the actuation pin 410 extends through a slot 267 into a longitudinal slot 408 provided in the lock sleeve 402 to facilitate axial movement of the lock sleeve 402 when it is engaged with the articulation driver 230 .
  • a rotary torsion spring 420 is configured to engage the boss 504 on the switch drum 500 and a portion of the nozzle housing 203 as shown in FIG.
  • the switch drum 500 can further comprise at least partially circumferential openings 506 defined therein which, referring to FIGS. 5 and 6 , can be configured to receive circumferential mounts 204 , 205 extending from the nozzle halves 202 , 203 and permit relative rotation, but not translation, between the switch drum 500 and the proximal nozzle 201 .
  • the mounts 204 and 205 also extend through openings 266 in the closure tube 260 to be seated in recesses 211 in the shaft spine 210 .
  • the nozzle 201 may be employed to operably engage and disengage the articulation drive system with the firing drive system in the various manners described in further detail in U.S. patent application Ser. No. 13/803,086.
  • the shaft assembly 200 can comprise a slip ring assembly 600 which can be configured to conduct electrical power to and/or from the end effector 300 and/or communicate signals to and/or from the end effector 300 , for example.
  • the slip ring assembly 600 can comprise a proximal connector flange 604 mounted to a chassis flange 242 extending from the chassis 240 and a distal connector flange 601 positioned within a slot defined in the shaft housings 202 , 203 .
  • the proximal connector flange 604 can comprise a first face and the distal connector flange 601 can comprise a second face which is positioned adjacent to and movable relative to the first face.
  • the distal connector flange 601 can rotate relative to the proximal connector flange 604 about the shaft axis SA-SA.
  • the proximal connector flange 604 can comprise a plurality of concentric, or at least substantially concentric, conductors 602 defined in the first face thereof.
  • a connector 607 can be mounted on the proximal side of the connector flange 601 and may have a plurality of contacts (not shown) wherein each contact corresponds to and is in electrical contact with one of the conductors 602 . Such an arrangement permits relative rotation between the proximal connector flange 604 and the distal connector flange 601 while maintaining electrical contact therebetween.
  • the proximal connector flange 604 can include an electrical connector 606 which can place the conductors 602 in signal communication with a shaft circuit board 610 mounted to the shaft chassis 240 , for example.
  • a wiring harness comprising a plurality of conductors can extend between the electrical connector 606 and the shaft circuit board 610 .
  • the electrical connector 606 may extend proximally through a connector opening 243 defined in the chassis mounting flange 242 . See FIG. 7 .
  • U.S. patent application Ser. No. 13/800,067 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, is incorporated by reference in its entirety.
  • the shaft assembly 200 can include a proximal portion which is fixably mounted to the handle 14 and a distal portion which is rotatable about a longitudinal axis.
  • the rotatable distal shaft portion can be rotated relative to the proximal portion about the slip ring assembly 600 , as discussed above.
  • the distal connector flange 601 of the slip ring assembly 600 can be positioned within the rotatable distal shaft portion.
  • the switch drum 500 can also be positioned within the rotatable distal shaft portion. When the rotatable distal shaft portion is rotated, the distal connector flange 601 and the switch drum 500 can be rotated synchronously with one another.
  • the switch drum 500 can be rotated between a first position and a second position relative to the distal connector flange 601 .
  • the articulation drive system may be operably disengaged from the firing drive system and, thus, the operation of the firing drive system may not articulate the end effector 300 of the shaft assembly 200 .
  • the switch drum 500 is in its second position, the articulation drive system may be operably engaged with the firing drive system and, thus, the operation of the firing drive system may articulate the end effector 300 of the shaft assembly 200 .
  • the switch drum 500 is moved between its first position and its second position, the switch drum 500 is moved relative to distal connector flange 601 .
  • the shaft assembly 200 can comprise at least one sensor configured to detect the position of the switch drum 500 .
  • the distal connector flange 601 can comprise a Hall effect sensor 605 , for example, and the switch drum 500 can comprise a magnetic element, such as permanent magnet 505 , for example.
  • the Hall effect sensor 605 can be configured to detect the position of the permanent magnet 505 .
  • Hall effect sensor 605 can detect changes in a magnetic field created when the permanent magnet 505 is moved.
  • the Hall effect sensor 605 can be in signal communication with the shaft circuit board 610 and/or the handle circuit board 100 , for example. Based on the signal from the Hall effect sensor 605 , a microcontroller on the shaft circuit board 610 and/or the handle circuit board 100 can determine whether the articulation drive system is engaged with or disengaged from the firing drive system.
  • the chassis 240 includes at least one, and preferably two, tapered attachment portions 244 formed thereon that are adapted to be received within corresponding dovetail slots 702 formed within a distal attachment flange portion 700 of the frame 20 .
  • Each dovetail slot 702 may be tapered or, stated another way, be somewhat V-shaped to seatingly receive the attachment portions 244 therein.
  • a shaft attachment lug 226 is formed on the proximal end of the intermediate firing shaft 222 .
  • the shaft attachment lug 226 is received in a firing shaft attachment cradle 126 formed in the distal end 125 of the longitudinal drive member 120 . See FIGS. 3 and 6 .
  • the latch system 710 includes a lock member or lock yoke 712 that is movably coupled to the chassis 240 .
  • the lock yoke 712 has a U-shape with two spaced downwardly extending legs 714 .
  • the legs 714 each have a pivot lug 716 formed thereon that are adapted to be received in corresponding holes 245 formed in the chassis 240 .
  • Such arrangement facilitates pivotal attachment of the lock yoke 712 to the chassis 240 .
  • the lock yoke 712 may include two proximally protruding lock lugs 714 that are configured for releasable engagement with corresponding lock detents or grooves 704 in the distal attachment flange 700 of the frame 20 . See FIG. 3 .
  • the lock yoke 712 is biased in the proximal direction by spring or biasing member (not shown). Actuation of the lock yoke 712 may be accomplished by a latch button 722 that is slidably mounted on a latch actuator assembly 720 that is mounted to the chassis 240 .
  • the latch button 722 may be biased in a proximal direction relative to the lock yoke 712 .
  • the lock yoke 712 may be moved to an unlocked position by biasing the latch button the in distal direction which also causes the lock yoke 712 to pivot out of retaining engagement with the distal attachment flange 700 of the frame 20 .
  • the lock lugs 716 are retainingly seated within the corresponding lock detents or grooves 704 in the distal attachment flange 700 .
  • an interchangeable shaft assembly that includes an end effector of the type described herein that is adapted to cut and fasten tissue, as well as other types of end effectors
  • the clinician may actuate the closure trigger 32 to grasp and manipulate the target tissue into a desired position. Once the target tissue is positioned within the end effector 300 in a desired orientation, the clinician may then fully actuate the closure trigger 32 to close the anvil 306 and clamp the target tissue in position for cutting and stapling. In that instance, the first drive system 30 has been fully actuated.
  • One form of the latch system 710 is configured to prevent such inadvertent detachment.
  • the lock yoke 712 includes at least one and preferably two lock hooks 718 that are adapted to contact corresponding lock lug portions 256 that are formed on the closure shuttle 250 .
  • the lock yoke 712 may be pivoted in a distal direction to unlock the interchangeable shaft assembly 200 from the housing 12 .
  • the lock hooks 718 do not contact the lock lug portions 256 on the closure shuttle 250 .
  • the lock yoke 712 is prevented from being pivoted to an unlocked position. See FIGS. 16-18 .
  • the clinician were to attempt to pivot the lock yoke 712 to an unlocked position or, for example, the lock yoke 712 was in advertently bumped or contacted in a manner that might otherwise cause it to pivot distally, the lock hooks 718 on the lock yoke 712 will contact the lock lugs 256 on the closure shuttle 250 and prevent movement of the lock yoke 712 to an unlocked position.
  • the clinician may position the chassis 240 of the interchangeable shaft assembly 200 above or adjacent to the distal attachment flange 700 of the frame 20 such that the tapered attachment portions 244 formed on the chassis 240 are aligned with the dovetail slots 702 in the frame 20 .
  • the clinician may then move the shaft assembly 200 along an installation axis IA that is perpendicular to the shaft axis SA-SA to seat the attachment portions 244 in “operable engagement” with the corresponding dovetail receiving slots 702 .
  • the shaft attachment lug 226 on the intermediate firing shaft 222 will also be seated in the cradle 126 in the longitudinally movable drive member 120 and the portions of pin 37 on the second closure link 38 will be seated in the corresponding hooks 252 in the closure yoke 250 .
  • operble engagement in the context of two components means that the two components are sufficiently engaged with each other so that upon application of an actuation motion thereto, the components may carry out their intended action, function and/or procedure.
  • a first system can comprise a frame system which couples and/or aligns the frame or spine of the shaft assembly 200 with the frame 20 of the handle 14 .
  • Another system can comprise a closure drive system 30 which can operably connect the closure trigger 32 of the handle 14 and the closure tube 260 and the anvil 306 of the shaft assembly 200 .
  • the closure tube attachment yoke 250 of the shaft assembly 200 can be engaged with the pin 37 on the second closure link 38 .
  • Another system can comprise the firing drive system 80 which can operably connect the firing trigger 130 of the handle 14 with the intermediate firing shaft 222 of the shaft assembly 200 .
  • the shaft attachment lug 226 can be operably connected with the cradle 126 of the longitudinal drive member 120 .
  • Another system can comprise an electrical system which can signal to a controller in the handle 14 , such as microcontroller, for example, that a shaft assembly, such as shaft assembly 200 , for example, has been operably engaged with the handle 14 and/or, two, conduct power and/or communication signals between the shaft assembly 200 and the handle 14 .
  • the shaft assembly 200 can include an electrical connector 4010 that is operably mounted to the shaft circuit board 610 .
  • the electrical connector 4010 is configured for mating engagement with a corresponding electrical connector 4000 on the handle control board 100 . Further details regaining the circuitry and control systems may be found in U.S. patent application Ser. No. 13/803,086, the entire disclosure of which was previously incorporated by reference herein.
  • the fifth system may consist of the latching system for releasably locking the shaft assembly 200 to the handle 14 .
  • a surgical instrument such as a surgical stapling instrument, for example, can include a processor, computer, and/or controller, for example, (herein collectively referred to as a “processor”) and one or more sensors in signal communication with the processor, computer, and/or controller.
  • a processor can comprise a microcontroller and one or more memory units operationally coupled to the microcontroller. By executing instruction code stored in the memory, the processor may control various components of the surgical instrument, such as the motor, various drive systems, and/or a user display, for example.
  • the processor may be implemented using integrated and/or discrete hardware elements, software elements, and/or a combination of both.
  • Examples of integrated hardware elements may include processors, microprocessors, microcontrollers, integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate arrays (FPGA), logic gates, registers, semiconductor devices, chips, microchips, chip sets, microcontrollers, system-on-chip (SoC), and/or system-in-package (SIP).
  • Examples of discrete hardware elements may include circuits and/or circuit elements such as logic gates, field effect transistors, bipolar transistors, resistors, capacitors, inductors, and/or relays.
  • the processor may include a hybrid circuit comprising discrete and integrated circuit elements or components on one or more substrates, for example.
  • the processor may be an LM 4F230H5QR, available from Texas Instruments, for example.
  • the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F Processor Core comprising on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QED analog, one or more 12-bit Analog-to-Digital Converters (ADC) with 12 analog input channels, among other features that are readily available.
  • Other microcontrollers may be readily substituted for use with the present disclosure. Accordingly, the present disclosure should not be limited in this context.
  • Signal communication can comprise any suitable form of communication in which information is transmitted between a sensor and the processor. Such communication can comprise wired communication utilizing one or more conductors and/or wireless communication utilizing a wireless transmitter and receiver, for example.
  • a surgical instrument can include a first sensor configured to detect a first condition of the surgical instrument and a second sensor configured to detect a second condition of the surgical instrument.
  • the surgical instrument can include a first sensor configured to detect whether a closure trigger of the surgical instrument has been actuated and a second sensor configured to detect whether a firing trigger of the surgical instrument has been actuated, for example.
  • the surgical instrument can include two or more sensors configured to detect the same condition.
  • the surgical instrument can comprise a processor, a first sensor in signal communication with the processor, and a second sensor in signal communication with the processor.
  • the first sensor can be configured to communicate a first signal to the processor and the second sensor can be configured to communicate a second signal to the processor.
  • the processor can include a first input channel for receiving the first signal from the first sensor and a second input channel for receiving the second signal from the second sensor.
  • a multiplexer device can receive the first signal and the second signal and communicate the data of the first and second signals to the processor as part of a single, combined signal, for example.
  • a first conductor such as a first insulated wire, for example, can connect the first sensor to the first input channel and a second conductor, such as a second insulated wire, for example, can connect the second sensor to the second input channel.
  • the first sensor and/or the second sensor can communicate wirelessly with the processor.
  • the first sensor can include a first wireless transmitter and the second sensor can include a second wireless transmitter, wherein the processor can include and/or can be in communication with at least one wireless signal receiver configured to receive the first signal and/or the second signal and transmit the signals to the processor.
  • the processor of the surgical instrument can verify that the surgical instrument is operating correctly.
  • the first signal can include data regarding a condition of the surgical instrument and the second signal can include data regarding the same condition.
  • the processor can include an algorithm configured to compare the data from the first signal to the data from the second signal and determine whether the data communicated by the two signals are the same or different. If the data from the two signals are the same, the processor may use the data to operate the surgical instrument. In such circumstances, the processor can assume that a fault condition does not exist. In various instances, the processor can determine whether the data from the first signal and the data from the second signal are within an acceptable, or recognized, range of data.
  • the processor may use the data from one or both of the signals to operate the surgical instrument. In such circumstances, the processor can assume that a fault condition does not exist. If the data from the first signal is outside of the recognized range of data, the processor may assume that a fault condition exists with regard to the first sensor, ignore the first signal, and operate the surgical instrument in response to the data from the second signal. Likewise, if the data from the second signal is outside the recognized range of data, the processor may assume that a fault condition exists with regard to the second sensor, ignore the second signal, and operate the surgical instrument in response to the data from the first signal.
  • the processor can be configured to selectively ignore the input from one or more sensors.
  • the processor can include a module configured to implement an algorithm configured to assess whether the data from the first signal is between a first value and a second value.
  • the algorithm can be configured to assess whether the data from the second signal is between the first value and the second value.
  • a surgical instrument can include at least one memory device.
  • a memory device can be integral with the processor, in signal communication with the processor, and/or accessible by the processor.
  • the memory device can include a memory chip including data stored thereon. The data stored on the memory chip can be in the form of a lookup table, for example, wherein the processor can access the lookup table to establish the acceptable, or recognized, range of data.
  • the memory device can comprise nonvolatile memory, such as bit-masked read-only memory (ROM) or flash memory, for example.
  • Nonvolatile memory may comprise other types of memory including, for example, programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or battery backed random-access memory (RAM) such as dynamic RAM (DRAM), Double-Data-Rate DRAM (DDRAM), and/or synchronous DRAM (SDRAM).
  • PROM programmable ROM
  • EPROM erasable programmable ROM
  • EEPROM electrically erasable programmable ROM
  • RAM battery backed random-access memory
  • DRAM dynamic RAM
  • DDRAM Double-Data-Rate DRAM
  • SDRAM synchronous DRAM
  • the first sensor and the second sensor can be redundant.
  • the processor can be configured to compare the first signal from the first sensor to the second signal from the second sensor to determine what action, if any, to take.
  • the processor can be configured to compare the data from the first signal and/or the second signal to limits established by the algorithm and/or data stored within a memory device.
  • the processor can be configured to apply a gain to a signal it receives, such as the first signal and/or the second signal, for example.
  • the processor can apply a first gain to the first signal and a second gain to the second signal.
  • the first gain can be the same as the second gain. In other instances, the first gain and the second gain can be different.
  • the processor can be configured to calibrate the first gain and/or the second gain. In at least one such circumstance, the processor can modify a gain such that the amplified signal is within a desired, or acceptable, range. In various instances, the unmodified gain and/or the modified gain can be stored within a memory device which is integral to and/or accessible by the processor. In certain embodiments, the memory device can track the history of the gains applied to a signal. In any event, the processor can be configured to provide this calibration before, during, and/or after a surgical procedure.
  • the first sensor can apply a first gain to the first signal and the second sensor can apply a second gain to the second signal.
  • the processor can include one or more output channels and can communicate with the first and second sensors.
  • the processor can include a first output channel in signal communication with the first sensor and a second output channel in signal communication with the second sensor.
  • the processor can be configured to calibrate the first sensor and/or the second sensor.
  • the processor can send a first calibration signal through said first output channel in order to modify a first gain that the first sensor is applying to the first signal.
  • the processor can send a second calibration signal through said second output channel in order to modify a second gain that the second sensor is applying to the second signal.
  • the processor can modify the operation of the surgical instrument in view of the data received from the first signal and/or the second signal.
  • the processor can ignore the signal from a redundant sensor that the processor deems to be faulty.
  • the processor can return the surgical instrument to a safe state and/or warn the user of the surgical instrument that one or both of the sensors may be faulty.
  • the processor can disable the surgical instrument.
  • the processor can deactivate and/or modify certain functions of the surgical instrument when the processor detects that one or more of the sensors may be faulty.
  • the processor may limit the operable controls to those controls which can permit the surgical instrument to be safely removed from the surgical site, for example, when the processor detects that one or more of the sensors may be faulty. In at least one circumstance, when the processor detects that one or more of the sensors may be faulty. In certain circumstances, the processor may limit the maximum speed, power, and/or torque that can be delivered by the motor of the surgical instrument, for example, when the processor detects that one or more of the sensors may be faulty. In various circumstances, the processor may enable a recalibration control which may allow the user of the surgical instrument to recalibrate the mal-performing or non-performing sensor, for example, when the processor detects that one or more of the sensors may be faulty. While various exemplary embodiments utilizing two sensors to detect the same condition are described herein, various other embodiments are envisioned which utilize more than two sensors. The principles applied to the two sensor system described herein can be adapted to systems including three or more sensors.
  • the first sensor and the second sensor can be configured to detect the same condition of the surgical instrument.
  • the first sensor and the second sensor can be configured to detect whether an anvil of the surgical instrument is in an open condition, for example.
  • the first sensor can detect the movement of a closure trigger into an actuated position and the second sensor can detect the movement of an anvil into a clamped position, for example.
  • the first sensor and the second sensor can be configured to detect the position of a firing member configured to deploy staples from an end effector of the surgical instrument.
  • the first sensor can be configured to detect the position of a motor-driven rack in a handle of the surgical instrument and the second sensor can be configured to detect the position of a firing member in a shaft or an end effector of the surgical instrument which is operably coupled with the motor-driven rack, for example.
  • the first and second sensors could verify that the same event is occurring.
  • the first and second sensors could be located in the same portion of the surgical instrument and/or in different portions of the surgical instrument.
  • a first sensor can be located in the handle, for example, and a second sensor could be located in the shaft or the end effector, for example.
  • the first and second sensors can be utilized to determine whether two events are occurring at the same time. For example, whether the closure trigger and the anvil are moving, or have moved, concurrently. In certain instances, the first and second sensors can be utilized to determine whether two events are not occurring at the same time. For example, it may not be desirable for the anvil of the end effector to open while the firing member of the surgical instrument is being advanced to deploy the staples from the end effector.
  • the first sensor can be configured to determine whether the anvil is in an clamped position and the second sensor can be configured to determine whether the firing member is being advanced.
  • the processor can interrupt the supply of power to the motor of the surgical instrument, for example.
  • the first sensor can be configured to detect whether an unclamping actuator configured to unclamp the end effector has been depressed and the second sensor can be configured to detect whether a firing actuator configured to operate the motor of the surgical instrument has been depressed.
  • the processor of the surgical instrument can be configured to resolve these conflicting instructions by stopping the motor, reversing the motor to retract the firing member, and/or ignoring the instructions from the unclamping actuator, for example.
  • the condition detected can include the power consumed by the surgical instrument.
  • the first sensor can be configured to monitor the current drawn from a battery of the surgical instrument and the second sensor can be configured to monitor the voltage of the battery.
  • the processor can calculate the electrical power draw of the surgical instrument.
  • the first sensor can be configured to detect the current drawn by a motor of the surgical instrument and the second sensor can be configured to detect the current drawn by a processor of the surgical instrument, for example. As discussed above, such information can be communicated from the first sensor and the second sensor to the processor.
  • the processor can calculate the electrical power draw of the surgical instrument.
  • a sensor could be utilized to detect the current drawn for each component and communicate that information to the processor.
  • Such a system could be referred to as ‘use side’ power monitoring.
  • the processor, and/or an algorithm implemented by the processor can be configured to calculate a state of the device using more than one sensor that may not be sensed directly by only one sensor. Based on this calculation, the processor can enable, block, and/or modify a function of the surgical instrument.
  • the condition of the surgical instrument that can be detected by a processor and a sensor system can include the orientation of the surgical instrument.
  • the surgical instrument can include a handle, a shaft extending from the handle, and an end effector extending from the shaft.
  • a first sensor can be positioned within the handle and a second sensor can be positioned within the shaft, for example.
  • the first sensor can comprise a first tilt sensor and the second sensor can comprise a second tilt sensor, for example.
  • the first tilt sensor can be configured to detect the instrument's orientation with respect to a first plane and the second tilt sensor can be configured to detect the instrument's orientation with respect to a second plane.
  • the first plane and the second plane may or may not be orthogonal.
  • the first sensor can comprise an accelerometer and/or a gyroscope, for example.
  • the second sensor can comprise an accelerometer and/or a gyroscope, for example.
  • Various embodiments are envisioned which comprise more than two sensors and each such sensor can comprise an accelerometer and/or a gyroscope, for example.
  • a first sensor can comprise a first accelerometer arranged along a first axis and a second sensor can comprise a second accelerometer arranged along a second axis which is different than the first axis.
  • the first axis can be transverse to the second axis.
  • the processor can utilize data from the first and second accelerometers to determine the direction in which gravity is acting with respect to the instrument, i.e., the direction of ground with respect to the surgical instrument. In certain instances, magnetic fields generated in the environment surrounding the surgical instrument may affect one of the accelerometers. Further to the above, the processor can be configured to ignore data from an accelerometer if the data from the accelerometers is inconsistent. Moreover, the processor can be configured to ignore data from an accelerometer if the accelerometer is dithering between two or more strong polarity orientations, for example.
  • a surgical instrument can include a screen configured to display images communicated to the screen by the processor, wherein the processor can be configured to change the orientation of the images displayed on the screen when the handle of the surgical instrument is reoriented, or at least when a reorientation of the handle is detected by the accelerometers.
  • the display on the screen can be flipped upside down when the handle is oriented upside down.
  • the processor may prevent the display from being reoriented away from its default position, for example.
  • the orientation of a surgical instrument may or may not be detectable from a single sensor.
  • the handle of the surgical instrument can include a first sensor and the shaft can include a second sensor, for example. Utilizing data from the first sensor and the second sensor, and/or data from any other sensor, the processor can determine the orientation of the surgical instrument. In some instances, the processor can utilize an algorithm configured to combine the data from the first sensor signal, the second sensor signal, and/or any suitable number of sensor signals to determine the orientation of the surgical instrument.
  • a handle sensor positioned within the handle can determine the orientation of the handle with respect to gravity.
  • a shaft sensor positioned within the shaft can determine the orientation of the shaft with respect to gravity.
  • the processor can determine the direction in which the shaft, or the non-articulated shaft portion, is pointing.
  • a surgical instrument can include an end effector which can articulate relative to the shaft.
  • the surgical instrument can include an articulation sensor which can determine the direction and the degree in which the end effector has been articulated relative to the shaft, for example.
  • the processor can determine the direction in which the end effector is pointing.
  • the processor can determine the position of the distal tip of the end effector, for example. With such information, the processor could enable, block, and/or modify a function of the surgical instrument.
  • a surgical instrument can include a redundant processor in addition to a first processor.
  • the redundant processor can be in signal communication with some or all of the sensors that the first processor is in signal communication with.
  • the redundant processor can perform some or all of the same calculations that the first processor performs.
  • the redundant processor can be in signal communication with the first processor.
  • the first processor can be configured to compare the calculations that it has performed with the calculations that the redundant processor has performed.
  • the redundant processor can be configured to compare the calculations that it has performed with the calculations that the first processor has performed.
  • the first processor and the redundant processor can be configured to operate the surgical instrument independently of one another.
  • the first processor and/or the redundant processor can be configured to determine whether the other processor is faulty and/or deactivate the other processor if a fault within the other processor and/or within the surgical instrument is detected.
  • the first processor and the redundant processor can both be configured to communicate with the operator of the surgical instrument such that, if one of the processors determines the other processor to be faulty, the non-faulty processor can communicate with the operator that a fault condition exists, for example.
  • a surgical instrument can include a processor and one or more sensors in signal communication with the processor.
  • the sensors can comprise digital sensors and/or analog sensors.
  • a digital sensor can generate a measuring signal and can include an electronic chip.
  • the electronic chip can convert the measuring signal into a digital output signal.
  • the digital output signal can then be transmitted to the processor utilizing a suitable transmission means such as, for example, a conductive cable, a fiber optic cable, and/or a wireless emitter.
  • An analog sensor can generate a measuring signal and communicate the measuring signal to the processor using an analog output signal.
  • An analog sensor can include a Hall Effect sensor, a magnetoresistive sensor, an optical sensor, and/or any other suitable sensor, for example.
  • a surgical instrument can include a signal filter which can be configured to receive and/or condition the analog output signal before the analog output signal reaches the processor.
  • the signal filter can comprise a low-pass filter, for example, that passes signals to the processor having a low frequency which is at and/or below a cutoff frequency and that attenuates, or reduces the amplitude of, signals with high frequencies higher than the cutoff frequency.
  • the low-pass filter may eliminate certain high frequency signals that it receives or all of the high frequency signals that it receives.
  • the low-pass filter may also attenuate, or reduce the amplitude of, certain or all of the low frequency signals, but such attenuation may be different than the attenuation that it applies to high frequency signals. Any suitable signal filter could be utilized.
  • a high-pass filter for example, could be utilized.
  • a longpass filter could be utilized to receive and condition signals from optical sensors.
  • the processor can include an integral signal filter.
  • the processor can be in signal communication with the signal filter.
  • the signal filter can be configured to reduce noise within the analog output signal, or signals, that it receives.
  • an analog output signal from a sensor can comprise a series of voltage potentials applied to an input channel of the processor.
  • the voltage potentials of the analog sensor output signal can be within a defined range.
  • the voltage potentials can be between about 0V and about 12V, between about 0V and about 6V, between about 0V and about 3V, and/or between about 0V and about 1V, for example.
  • the voltage potentials can be less than or equal to 12V, less than or equal to 6V, less than or equal to 3V, and/or less than or equal to 1V, for example.
  • the voltage potentials can be between about 0V and about ⁇ 12V, between about 0V and about ⁇ 6V, between about 0V and about ⁇ 3V, and/or between about 0V and about ⁇ 1V, for example. In some instances, the voltage potentials can be greater than or equal to ⁇ 12V, greater than or equal to ⁇ 6V, greater than or equal to ⁇ 3V, and/or greater than or equal to ⁇ 1V, for example. In some instances, the voltage potentials can be between about 12V and about ⁇ 12V, between about 6V and about ⁇ 6V, between about 3V and about ⁇ 3V, and/or between about 1V and about ⁇ 1V, for example.
  • the senor can supply voltage potentials to an input channel of the processor in a continuous stream.
  • the processor may sample this stream of data at a rate which is less than rate in which data is delivered to the processor.
  • the sensor can supply voltage potentials to an input channel of the process intermittently or at periodic intervals.
  • the processor can be configured to evaluate the voltage potentials applied to the input channel or channels thereof and operate the surgical instrument in response to the voltage potentials, as described in greater detail further below.
  • the processor can be configured to evaluate the analog output signal from a sensor.
  • the processor can be configured to evaluate every voltage potential of the analog output signal and/or sample the analog output signal.
  • the processor can make periodic evaluations of the signal to periodically obtain voltage potentials from the analog output signal.
  • the processor can compare the voltage potential obtained from the evaluation against a reference value.
  • the processor can calculate a digital value, such as 0 or 1, or on or off, for example, from this comparison. For instance, in the event that the evaluated voltage potential equals the reference value, the processor can calculate a digital value of 1.
  • the processor can calculate a digital value of 0 if the evaluated voltage potential equals the reference value.
  • the processor can calculate a digital value of 1 if the evaluated voltage potential is less than the reference value and a digital value of 0 if the evaluated voltage potential is greater than the reference value.
  • the processor can calculate a digital value of 0 if the evaluated voltage potential is less than the reference value and a digital value of 1 if the evaluated voltage potential is greater than the reference value. In either event, the processor can convert the analog signal to a digital signal.
  • the processor can continuously compare the voltage potential to the reference value, and continuously calculate the digital value.
  • the processor is evaluating the voltage potential of the sensor output signal at periodic intervals, the processor can compare the voltage potential to the reference value at periodic intervals, and calculate the digital value at periodic intervals.
  • the reference value can be part of an algorithm utilized by the processor.
  • the reference value can be pre-programmed in the algorithm.
  • the processor can obtain, calculate, and/or modify the reference value in the algorithm.
  • the reference value can be stored in a memory device which is accessible by and/or integral with the processor.
  • the reference value can be pre-programmed in the memory device.
  • the processor can obtain, calculate, and/or modify the reference value in the memory device.
  • the reference value may be stored in non-volatile memory.
  • the reference value may be stored in volatile memory.
  • the reference value may comprise a constant value.
  • the reference value may or may not be changeable or overwritten.
  • the reference value can be stored, changed, and/or otherwise determined as the result of a calibration procedure.
  • the calibration procedure can be performed when manufacturing the surgical instrument, when initializing, or initially powering up, the instrument, when powering up the instrument from a sleep mode, when using the instrument, when placing the instrument into a sleep mode, and/or when completely powering down the instrument, for example.
  • the processor can be configured to store the digital value.
  • the digital value can be stored at an electronic logic gate.
  • the electronic logic gate can supply a binary output which can be referenced by the processor to assess a condition detected by the sensor, as described in greater detail further below.
  • the processor can include the electronic logic gate.
  • the binary output of the electronic logic gate can be updated.
  • the processor can include one or more output channels.
  • the processor can supply the binary output to at least one of the output channels.
  • the processor can apply a low voltage to such an output channel to indicate an off bit or a high voltage to the output channel to indicate an on bit, for example.
  • the low voltage and the high voltage can be measured relative to a threshold value.
  • the low voltage can comprise no voltage, for example.
  • the low voltage can comprise a voltage having a first polarity and the high voltage can comprise a voltage having an opposite polarity, for example.
  • the electronic logic gate can maintain an output of ‘on’. When an evaluated voltage potential exceeds the reference value, the output of the logic gate can be switched to ‘off’. If the voltage potentials evaluated by the processor are consistently above the reference value, the electronic logic gate can maintain an output of ‘off’. When an evaluated voltage potential is thereafter measured at or below the reference value, the output of the logic gate can be switched back to ‘on’, and so forth.
  • the electronic logic gate may not maintain a history of its output.
  • the processor can include a memory device configured to record the output history of the electronic logic gate, i.e., record a history of the calculated digital value. In various instances, the processor can be configured to access the memory device to ascertain the current digital value and/or at least one previously-existing digital value, for example.
  • the processor can provide an immediate response to a change in the calculated digital value.
  • the processor can immediately modify the operation of the surgical instrument.
  • the processor may not immediately modify the operation of the surgical instrument upon detecting that the calculated digital value has changed from ‘on’ to ‘off’ or from ‘off’ to ‘on’, for example.
  • the processor may employ a hysteresis algorithm. For instance, the processor may not modify the operation of the surgical instrument until after the digital value has been calculated the same way a certain number of consecutive times.
  • the processor may calculate an ‘on’ value and display an ‘on’ binary value at the output logic gate and/or the output channel based on the data it has received from one or more surgical instrument sensors wherein, at some point thereafter, the processor may calculate an ‘off’ value based on the data it has received from one or more of the surgical instrument sensors; however, the processor may not immediately display an ‘off’ binary value at the output logic gate and/or the output channel. Rather, the processor may delay changing the binary value at the output logic gate and/or the output channel until after the processor has calculated the ‘off’ value a certain number of consecutive times, such as ten times, for example.
  • the processor may likewise delay changing the binary value at the output logic gate and/or the output channel until after the processor has calculated the ‘on’ value a certain number of consecutive times, such as ten times, for example, and so forth.
  • a hysteresis algorithm may be suitable for handling switch debounce.
  • a surgical instrument can include a switch debouncer circuit which utilizes a capacitor to filter out any quick changes of signal response.
  • the sampling delay for going from ‘on’ to ‘off’ was the same as the sampling delay for going from ‘off’ to ‘on’.
  • the sampling delays are not equal. For instance, if an ‘on’ value at an output channel activates the motor of the surgical instrument and an ‘off’ value at an output channel deactivates the motor, the ‘on’ delay may be longer than the ‘off’ delay, for example.
  • the processor may not suddenly activate the motor in response to accidental or incidental movements of the firing trigger while, on the other hand, the processor may react quickly to a release of the firing trigger to stop the motor.
  • the processor may have an ‘on’ delay but no ‘off’ delay such that the motor can be stopped immediately after the firing trigger is released, for example.
  • the processor may wait for a certain number of consecutive consistent binary output calculations before changing the binary output value.
  • Other algorithms are contemplated. For instance, a processor may not require a certain number of consecutive consistent binary output calculations; rather, the processor may only require that a certain number, or percentage, of consecutive calculations be consistent in order to change the binary output.
  • a processor can convert an analog input signal to a digital output signal utilizing a reference value.
  • the processor can utilize the reference value to convert the analog input data, or samples of the analog input data, to ‘on’ values or ‘off’ values as part of its digital output signal.
  • a processor can utilize more than one reference value in order to determine whether to output an ‘on’ value or an ‘off’ value.
  • One reference value can define two ranges. A range below the reference value and a range above the reference value. The reference value itself can be part of the first range or the second range, depending on the circumstances. The use of additional reference values can define additional ranges.
  • a first reference value and a second reference value can define three ranges: a first range below the first reference value, a second range between the first reference value and the second reference value, and a third range above the second reference value.
  • the first reference value can be part of the first range or the second range and, similarly, the second reference value can be part of the second range or the third range, depending on the circumstances.
  • the processor can determine whether the sample lies within the first range, the second range, or the third range.
  • the processor can assign an ‘on’ value to the binary output if the sample is in the first range and an ‘off’ value to the binary output if the sample is in the third range.
  • the processor can assign an ‘off’ value to the binary output if the sample is in the first range and an ‘on’ value to the binary output if the sample is in the third range.
  • the processor can assign an ‘on’ value or an ‘off’ value to the binary output if the data sample is in the second range.
  • an analog data sample in the second range may not change the binary output value. For instance, if the processor has been receiving analog data above the second reference value and producing a certain binary output and, subsequently, the processor receives analog data between the first reference value and the second reference value, the processor may not change the binary output. If the processor, in this example, receives analog data below the first reference value, the processor may then change the binary output.
  • the processor may not change the binary output. If the processor, in this example, receives analog data above the second reference value, the processor may then change the binary output.
  • the second range between the first reference value and the second reference value may comprise an observation window within which the processor may not change the binary output signal.
  • the processor may utilize different sampling delays, depending on whether the analog input data jumps directly between the first range and the third range or whether the analog input data transitions into the second range before transitioning into the third range. For example, the sampling delay may be shorter if the analog input data transitions into the second range before transitioning into the first range or the third range as compared to when analog input data jumps directly between the first range and the third range.
  • an analog sensor such as a Hall effect sensor, for example, can be utilized to detect a condition of a surgical instrument.
  • a Hall effect sensor can produce a linear analog output which can include a positive polarity and a negative polarity and, in certain instances, produce a wide range of analog output values. Such a wide range of values may not always be useful, or may not correspond to events which are actually possible for the surgical instrument.
  • a Hall effect sensor can be utilized to track the orientation of the anvil of an end effector which, owing to certain physical constraints to the motion of the anvil, may only move through a small range of motion, such as about 30 degrees, for example.
  • the processor may be programmed to only recognize a range of output from the Hall effect sensor which corresponds to a possible range of motion of the anvil and, to the extent that the processor receives data from the Hall effect sensor which is outside of this range of output, whether above the range or below the range, the processor can ignore such data, generate a fault condition, modify the operation of the surgical instrument, and/or notify the user of the surgical instrument, for example.
  • the processor may recognize a valid range of data from the sensor and any data received from the sensor which is outside of this range may be deemed invalid by the processor.
  • the valid range of data may be defined by a first reference value, or threshold, and a second reference value, or threshold.
  • the valid range of data may include data having a positive polarity and a negative polarity. Alternatively, the valid range of data may only comprise data from the positive polarity or data from the negative polarity.
  • the first reference value and the second reference value can comprise fixed values.
  • the first reference value and/or the second reference value can be calibrated.
  • the first reference value and/or the second reference value can be calibrated when the surgical instrument is initially manufactured and/or subsequently re-manufactured.
  • a trigger such as the closure trigger, for example, can be moved through its entire range of motion during a calibration procedure and a Hall effect sensor, for example, positioned within the surgical instrument handle can detect the motion of the closure trigger, or at least the motion of a magnetic element, such as a permanent magnet, for example, positioned on the closure trigger.
  • the reading taken by the Hall effect sensor can be stored as a first set point which corresponds with the unclamped position of the closure trigger.
  • the reading taken by the Hall effect sensor can be stored as a second set point which corresponds with the fully clamped position of the closure trigger.
  • the first set point can define the first reference value
  • the second set point can define the second reference value.
  • Positions of the closure trigger between its unclamped position and its fully clamped position can correspond to the range of data between the first reference value and the second reference value.
  • the processor can produce a digital output value in response to the data received from the analog sensor.
  • the processor can assign an ‘off’ value to its digital output when the data received from the analog sensor is at or above the first reference value.
  • the processor can assign an ‘off’ value to its digital output when the data received from the analog sensor is above, at, or within about 20% of the range preceding first reference value, for example.
  • Data from the analog sensor which is between the first reference value and about 20% of the range below the first reference value can correspond with a position of the closure trigger which is suitably close to is unclamped position.
  • the processor can assign an ‘on’ value to its digital output when the data received from the analog sensor is below the first reference value.
  • the processor can assign an ‘on’ value to its digital output when the data received from the analog sensor is at, below, or within about 40% of the range above the second reference value can correspond with a position of the closure trigger when it has been pulled about 3 ⁇ 4 through its range of motion, for example.
  • the same or similar attributes could be applied to a firing trigger of the surgical instrument, for example.
  • a sensor can be calibrated in view of a reference value. For instance, if a reference value of +2V, for example, is associated with an unclamped position of the closure trigger and the processor detects a sensor output value which is different than +2V when the closure trigger is in its unclamped position, the processor can recalibrate the sensor, or the gain of the sensor, such that the sensor output matches, or at least substantially matches, the reference value.
  • the processor may utilize an independent method of confirming that the closure trigger is in its unclamped position.
  • the surgical instrument can include a second sensor in signal communication with the processor which can independently verify that the closure trigger is in its unclamped position.
  • the second sensor could also comprise an analog sensor, such as a Hall effect sensor, for example.
  • the second sensor could comprise a proximity sensor, a resistance based sensor, and/or any other suitable sensor, for example.
  • the same or similar attributes could be applied to a firing trigger of the surgical instrument, for example.
  • a tracking system 800 can comprise one or more sensors, such as a first Hall effect sensor 803 and a second Hall effect sensor 804 , for example, which can be configured to track the position of the magnet 802 .
  • sensors such as a first Hall effect sensor 803 and a second Hall effect sensor 804 , for example, which can be configured to track the position of the magnet 802 .
  • the magnet 802 can move between a first position adjacent the first Hall effect sensor 803 and a second position adjacent the second Hall effect sensor 804 .
  • the position of the magnet 802 can be detected by the first Hall effect sensor 803 and/or the second Hall effect sensor 804 .
  • the processor of the surgical instrument can use data from the first sensor 803 to determine the position of the magnet 802 and data from the second sensor 804 to independently determine the position of the magnet 802 .
  • the processor can utilize data from the second sensor 804 to verify the integrity of the data from the first sensor 803 .
  • the processor could utilize the data from the first sensor 803 to verify the integrity of the data from the second sensor 804 .
  • the processor can utilize any suitable hierarchy for determining whether the data from a sensor should be used to provide a primary determination or a secondary determination of the position of the magnet 802 .
  • the magnet 802 when the magnet 802 is in its first position, the magnet 802 may provide a larger disturbance to the magnetic field surrounding the first sensor 803 than to the magnetic field surrounding the second sensor 804 and, as a result, the processor may utilize the data from the first sensor 803 as a primary determination of the position of the magnet 802 .
  • the magnet 802 When the magnet 802 is closer to the second sensor 804 than the first sensor 803 , the magnet 802 may provide a larger disturbance to the magnetic field surrounding the second sensor 804 than to the magnetic field surrounding the first sensor 803 and, as a result, the processor may utilize the data from the second sensor 804 as a primary determination of the position of the magnet 802 .
  • the path of the magnet 802 relative to the first sensor 803 can be determined when the magnet 802 moves along a first path segment when the closure trigger 32 is moved between its unclamped position and its clamped position and a second path segment when the firing trigger 130 is moved between its unfired position and its fired position.
  • the range of outputs that the first sensor 803 will produce while tracking the magnet 802 as it moves along its first path segment can define a first valid range of data while the range of outputs that the first sensor 803 will produce while tracking the magnet 802 as it moves along its second path segment can define a second valid range of data.
  • the first valid range of data may or may not be contiguous with the second valid range of data.
  • the path of the magnet 802 relative to the second sensor 804 can also be determined when the magnet 802 moves along its first path segment and its second path segment.
  • the range of outputs that the second sensor 804 will produce while tracking the magnet 802 as it moves along its first path segment can define a first valid range of data while the range of outputs that the second sensor 804 will produce while tracking the magnet 802 as it moves along its second path segment can define a second valid range of data.
  • the processor may assume that an error has occurred, modify the operation of the surgical instrument, and/or notify the operator of the surgical instrument.
  • the processor can be configured to utilize data from the first sensor 803 and the second sensor 804 to determine whether the surgical instrument has been positioned within a strong external magnetic field which can affect the operation of the surgical instrument. For instance, the magnet 802 may move along a path such that the first sensor 803 and the second sensor 804 do not produce the same output at the same time and, in the event that first sensor 803 and the second sensor 804 produce the same output at the same time, the processor can determine that a fault condition exists, for example.
  • the surgical instruments described herein may comprise one or more processors (e.g., microprocessor, microcontroller) coupled to various sensors.
  • processors e.g., microprocessor, microcontroller
  • a storage having operating logic
  • communication interface e.g.
  • the processor may be configured to execute the operating logic.
  • the processor may be any one of a number of single or multi-core processors known in the art.
  • the storage may comprise volatile and non-volatile storage media configured to store persistent and temporal (working) copy of the operating logic.
  • the operating logic may be configured to process the collected biometric associated with motion data of the user, as described above. In various embodiments, the operating logic may be configured to perform the initial processing, and transmit the data to the computer hosting the application to determine and generate instructions. For these embodiments, the operating logic may be further configured to receive information from and provide feedback to a hosting computer. In alternate embodiments, the operating logic may be configured to assume a larger role in receiving information and determining the feedback. In either case, whether determined on its own or responsive to instructions from a hosting computer, the operating logic may be further configured to control and provide feedback to the user.
  • the operating logic may be implemented in instructions supported by the instruction set architecture (ISA) of the processor, or in higher level languages and compiled into the supported ISA.
  • the operating logic may comprise one or more logic units or modules.
  • the operating logic may be implemented in an object oriented manner.
  • the operating logic may be configured to be executed in a multi-tasking and/or multi-thread manner.
  • the operating logic may be implemented in hardware such as a gate array.
  • the communication interface may be configured to facilitate communication between a peripheral device and the computing system.
  • the communication may include transmission of the collected biometric data associated with position, posture, and/or movement data of the user's body part(s) to a hosting computer, and transmission of data associated with the tactile feedback from the host computer to the peripheral device.
  • the communication interface may be a wired or a wireless communication interface.
  • An example of a wired communication interface may include, but is not limited to, a Universal Serial Bus (USB) interface.
  • USB Universal Serial Bus
  • An example of a wireless communication interface may include, but is not limited to, a Bluetooth interface.
  • the processor may be packaged together with the operating logic. In various embodiments, the processor may be packaged together with the operating logic to form a System in Package (SiP). In various embodiments, the processor may be integrated on the same die with the operating logic. In various embodiments, the processor may be packaged together with the operating logic to form a System on Chip (SoC).
  • SiP System in Package
  • SoC System on Chip
  • Various embodiments may be described herein in the general context of computer executable instructions, such as software, program modules, and/or engines being executed by a processor.
  • software, program modules, and/or engines include any software element arranged to perform particular operations or implement particular abstract data types.
  • Software, program modules, and/or engines can include routines, programs, objects, components, data structures and the like that perform particular tasks or implement particular abstract data types.
  • An implementation of the software, program modules, and/or engines components and techniques may be stored on and/or transmitted across some form of computer-readable media.
  • computer-readable media can be any available medium or media useable to store information and accessible by a computing device.
  • Some embodiments also may be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network.
  • software, program modules, and/or engines may be located in both local and remote computer storage media including memory storage devices.
  • a memory such as a random access memory (RAM) or other dynamic storage device may be employed for storing information and instructions to be executed by the processor.
  • the memory also may be used for storing temporary variables or other intermediate information during execution of instructions to be executed by the processor.
  • the functional components such as software, engines, and/or modules may be implemented by hardware elements that may include processors, microprocessors, circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors, and so forth), integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate array (FPGA), logic gates, registers, semiconductor device, chips, microchips, chip sets, and so forth.
  • processors microprocessors, circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors, and so forth), integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate array (FPGA), logic gates, registers, semiconductor device, chips, microchips, chip sets, and so forth.
  • processors microprocessors, circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors
  • Examples of software, engines, and/or modules may include software components, programs, applications, computer programs, application programs, system programs, machine programs, operating system software, middleware, firmware, software modules, routines, subroutines, functions, methods, procedures, software interfaces, application program interfaces (API), instruction sets, computing code, computer code, code segments, computer code segments, words, values, symbols, or any combination thereof. Determining whether an embodiment is implemented using hardware elements and/or software elements may vary in accordance with any number of factors, such as desired computational rate, power levels, heat tolerances, processing cycle budget, input data rates, output data rates, memory resources, data bus speeds and other design or performance constraints.
  • One or more of the modules described herein may comprise one or more embedded applications implemented as firmware, software, hardware, or any combination thereof.
  • One or more of the modules described herein may comprise various executable modules such as software, programs, data, drivers, application program interfaces (APIs), and so forth.
  • the firmware may be stored in a memory of the controller 2016 and/or the controller 2022 which may comprise a nonvolatile memory (NVM), such as in bit-masked read-only memory (ROM) or flash memory.
  • NVM nonvolatile memory
  • ROM bit-masked read-only memory
  • flash memory such as in bit-masked read-only memory (ROM) or flash memory.
  • storing the firmware in ROM may preserve flash memory.
  • the nonvolatile memory may comprise other types of memory including, for example, programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or battery backed random-access memory (RAM) such as dynamic RAM (DRAM), Double-Data-Rate DRAM (DDRAM), and/or synchronous DRAM (SDRAM).
  • PROM programmable ROM
  • EPROM erasable programmable ROM
  • EEPROM electrically erasable programmable ROM
  • RAM battery backed random-access memory
  • DRAM dynamic RAM
  • DDRAM Double-Data-Rate DRAM
  • SDRAM synchronous DRAM
  • various embodiments may be implemented as an article of manufacture.
  • the article of manufacture may include a computer readable storage medium arranged to store logic, instructions and/or data for performing various operations of one or more embodiments.
  • the article of manufacture may comprise a magnetic disk, optical disk, flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application specific processor.
  • the embodiments are not limited in this context.
  • Some embodiments also may be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network.
  • software, control modules, logic, and/or logic modules may be located in both local and remote computer storage media including memory storage devices.
  • any reference to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is comprised in at least one embodiment.
  • the appearances of the phrase “in one embodiment” or “in one aspect” in the specification are not necessarily all referring to the same embodiment.
  • processing refers to the action and/or processes of a computer or computing system, or similar electronic computing device, such as a general purpose processor, a DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein that manipulates and/or transforms data represented as physical quantities (e.g., electronic) within registers and/or memories into other data similarly represented as physical quantities within the memories, registers or other such information storage, transmission or display devices.
  • physical quantities e.g., electronic
  • Coupled and “connected” along with their derivatives. These terms are not intended as synonyms for each other. For example, some embodiments may be described using the terms “connected” and/or “coupled” to indicate that two or more elements are in direct physical or electrical contact with each other. The term “coupled,” however, also may mean that two or more elements are not in direct contact with each other, but yet still co-operate or interact with each other. With respect to software elements, for example, the term “coupled” may refer to interfaces, message interfaces, application program interface (API), exchanging messages, and so forth.
  • API application program interface
  • the disclosed embodiments have application in conventional endoscopic and open surgical instrumentation as well as application in robotic-assisted surgery.
  • Embodiments of the devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. Embodiments may, in either or both cases, be reconditioned for reuse after at least one use. Reconditioning may include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, embodiments of the device may be disassembled, and any number of the particular pieces or parts of the device may be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, embodiments of the device may be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure.
  • reconditioning of a device may utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
  • a new or used instrument may be obtained and when necessary cleaned.
  • the instrument may then be sterilized.
  • the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag.
  • the container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons.
  • the radiation may kill bacteria on the instrument and in the container.
  • the sterilized instrument may then be stored in the sterile container.
  • the sealed container may keep the instrument sterile until it is opened in a medical facility.
  • a device also may be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or steam.
  • any two components so associated also can be viewed as being “operably connected,” or “operably coupled,” to each other to achieve the desired functionality, and any two components capable of being so associated also can be viewed as being “operably couplable,” to each other to achieve the desired functionality.
  • operably couplable include but are not limited to physically mateable and/or physically interacting components, and/or wirelessly interactable, and/or wirelessly interacting components, and/or logically interacting, and/or logically interactable components.
  • Coupled and “connected” along with their derivatives. It should be understood that these terms are not intended as synonyms for each other. For example, some aspects may be described using the term “connected” to indicate that two or more elements are in direct physical or electrical contact with each other. In another example, some aspects may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact. The term “coupled,” however, also may mean that two or more elements are not in direct contact with each other, but yet still co-operate or interact with each other.
  • one or more components may be referred to herein as “configured to,” “configurable to,” “operable/operative to,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc.
  • “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise.

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  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Epidemiology (AREA)
  • Surgery (AREA)
  • Chemical & Material Sciences (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Electrochemistry (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Electromagnetism (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Surgical Instruments (AREA)
  • Battery Mounting, Suspending (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
US14/226,116 2014-03-26 2014-03-26 Surgical instrument utilizing sensor adaptation Abandoned US20150272571A1 (en)

Priority Applications (45)

Application Number Priority Date Filing Date Title
US14/226,075 US9743929B2 (en) 2014-03-26 2014-03-26 Modular powered surgical instrument with detachable shaft assemblies
US14/226,111 US9750499B2 (en) 2014-03-26 2014-03-26 Surgical stapling instrument system
US14/226,094 US20150272580A1 (en) 2014-03-26 2014-03-26 Verification of number of battery exchanges/procedure count
US14/226,093 US10028761B2 (en) 2014-03-26 2014-03-26 Feedback algorithms for manual bailout systems for surgical instruments
US14/226,125 US10201364B2 (en) 2014-03-26 2014-03-26 Surgical instrument comprising a rotatable shaft
US14/226,106 US20150272582A1 (en) 2014-03-26 2014-03-26 Power management control systems for surgical instruments
US14/226,116 US20150272571A1 (en) 2014-03-26 2014-03-26 Surgical instrument utilizing sensor adaptation
CN202211103333.8A CN115444481A (zh) 2014-03-26 2015-03-11 电池更换/手术计数的数目的验证
CN201580027540.1A CN106413579A (zh) 2014-03-26 2015-03-11 用于外科器械的功率管理控制系统
CN201580027780.1A CN106456170B (zh) 2014-03-26 2015-03-11 利用传感器适配的外科器械
PCT/US2015/019822 WO2015148117A1 (en) 2014-03-26 2015-03-11 Modular powered surgical instrument with detachable shaft assemblies
CN201580027530.8A CN106456168A (zh) 2014-03-26 2015-03-11 电池更换/手术计数的数目的验证
JP2016558590A JP2017513559A (ja) 2014-03-26 2015-03-11 外科用器具用の電源管理制御システム
PCT/US2015/019824 WO2015148119A1 (en) 2014-03-26 2015-03-11 Surgical instrument utilizing sensor adaptation
PCT/US2015/019818 WO2015148113A2 (en) 2014-03-26 2015-03-11 Power management control systems for surgical instruments
JP2016558597A JP6532090B2 (ja) 2014-03-26 2015-03-11 電池交換／処置回数の検証
JP2016558613A JP6710640B2 (ja) 2014-03-26 2015-03-11 センサ適合を利用する外科用器具
PCT/US2015/019820 WO2015148115A2 (en) 2014-03-26 2015-03-11 Verification of number of battery exchanges/procedure count
PCT/US2015/019823 WO2015148118A2 (en) 2014-03-26 2015-03-11 Feedback algorithms for manual bailout systems for surgical instruments
BR112016021967-8A BR112016021967B1 (pt) 2014-03-26 2015-03-11 Instrumento cirúrgico
PCT/US2015/020101 WO2015148140A2 (en) 2014-03-26 2015-03-12 Surgical stapling instrument system
PCT/US2015/020103 WO2015148141A1 (en) 2014-03-26 2015-03-12 Surgical instrument comprising a rotatable shaft
CN201580027853.7A CN106456171B (zh) 2014-03-26 2015-03-12 包括可旋转轴的外科器械
JP2016558619A JP6517229B2 (ja) 2014-03-26 2015-03-12 回転可能なシャフトを備える外科用器具
EP18150883.9A EP3326549B1 (en) 2014-03-26 2015-03-26 Surgical instrument comprising a rotatable shaft
PL15161163T PL2923659T3 (pl) 2014-03-26 2015-03-26 Układy sterowania zarządzania zasilaniem dla narzędzi chirurgicznych
EP19170600.1A EP3542728A1 (en) 2014-03-26 2015-03-26 Surgical instrument utilizing sensor adaptation
PL15161177T PL2923660T3 (pl) 2014-03-26 2015-03-26 Złącze pierścienia ślizgowego
EP15161156.3A EP2923646B1 (en) 2014-03-26 2015-03-26 Verification of number of battery exchanges/procedure count
EP15161151.4A EP2923657B1 (en) 2014-03-26 2015-03-26 Modular powered surgical instrument with detachable shaft assemblies
EP22195367.2A EP4169457A1 (en) 2014-03-26 2015-03-26 Feedback algorithms for manual bailout systems for surgical instruments
EP15161190.2A EP2923662B1 (en) 2014-03-26 2015-03-26 Feedback algorithms for manual bailout systems for surgical instruments
EP20183230.0A EP3741310B1 (en) 2014-03-26 2015-03-26 Feedback algorithms for manual bailout systems for surgical instruments
EP15161163.9A EP2923659B1 (en) 2014-03-26 2015-03-26 Power management control systems for surgical instruments
PL15161156T PL2923646T3 (pl) 2014-03-26 2015-03-26 Weryfikacje liczby wymian baterii/liczby zabiegów
EP20186528.4A EP3750486A1 (en) 2014-03-26 2015-03-26 Verification of number of battery exchanges/procedure count
EP15161177.9A EP2923660B1 (en) 2014-03-26 2015-03-26 Slip ring connector
EP15161160.5A EP2923651B1 (en) 2014-03-26 2015-03-26 Surgical instrument utilizing sensor adaptation
EP18150867.2A EP3326548B1 (en) 2014-03-26 2015-03-26 Surgical instrument comprising a rotatable shaft
EP17188417.4A EP3326545B1 (en) 2014-03-26 2015-03-26 Power management control system for surgical instruments
EP20183212.8A EP3735914B1 (en) 2014-03-26 2015-03-26 Feedback algorithms for manual bailout systems for surgical instruments
EP15161189.4A EP2923653A3 (en) 2014-03-26 2015-03-26 Surgical stapling instrument system
US16/041,145 US20180333169A1 (en) 2014-03-26 2018-07-20 Feedback algorithms for manual bailout systems for surgical instruments
US16/433,468 US20200060713A1 (en) 2014-03-26 2019-06-06 Feedback algorithms for manual bailout systems for surgical instruments
US16/587,803 US20200093506A1 (en) 2014-03-26 2019-09-30 Feedback algorithms for manual bailout systems for surgical instruments

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US14/226,093 US10028761B2 (en) 2014-03-26 2014-03-26 Feedback algorithms for manual bailout systems for surgical instruments
US14/226,075 US9743929B2 (en) 2014-03-26 2014-03-26 Modular powered surgical instrument with detachable shaft assemblies
US14/226,106 US20150272582A1 (en) 2014-03-26 2014-03-26 Power management control systems for surgical instruments
US14/226,125 US10201364B2 (en) 2014-03-26 2014-03-26 Surgical instrument comprising a rotatable shaft
US14/226,111 US9750499B2 (en) 2014-03-26 2014-03-26 Surgical stapling instrument system
US14/226,094 US20150272580A1 (en) 2014-03-26 2014-03-26 Verification of number of battery exchanges/procedure count
US14/226,116 US20150272571A1 (en) 2014-03-26 2014-03-26 Surgical instrument utilizing sensor adaptation

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US20150272571A1 true US20150272571A1 (en) 2015-10-01

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US14/226,116 Abandoned US20150272571A1 (en) 2014-03-26 2014-03-26 Surgical instrument utilizing sensor adaptation
US14/226,075 Active 2035-07-19 US9743929B2 (en) 2014-03-26 2014-03-26 Modular powered surgical instrument with detachable shaft assemblies
US14/226,111 Active 2035-12-05 US9750499B2 (en) 2014-03-26 2014-03-26 Surgical stapling instrument system
US14/226,125 Active 2037-08-10 US10201364B2 (en) 2014-03-26 2014-03-26 Surgical instrument comprising a rotatable shaft
US14/226,094 Abandoned US20150272580A1 (en) 2014-03-26 2014-03-26 Verification of number of battery exchanges/procedure count
US14/226,106 Abandoned US20150272582A1 (en) 2014-03-26 2014-03-26 Power management control systems for surgical instruments
US14/226,093 Active 2035-11-30 US10028761B2 (en) 2014-03-26 2014-03-26 Feedback algorithms for manual bailout systems for surgical instruments
US16/041,145 Abandoned US20180333169A1 (en) 2014-03-26 2018-07-20 Feedback algorithms for manual bailout systems for surgical instruments
US16/433,468 Abandoned US20200060713A1 (en) 2014-03-26 2019-06-06 Feedback algorithms for manual bailout systems for surgical instruments
US16/587,803 Pending US20200093506A1 (en) 2014-03-26 2019-09-30 Feedback algorithms for manual bailout systems for surgical instruments

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Application Number Title Priority Date Filing Date
US14/226,075 Active 2035-07-19 US9743929B2 (en) 2014-03-26 2014-03-26 Modular powered surgical instrument with detachable shaft assemblies
US14/226,111 Active 2035-12-05 US9750499B2 (en) 2014-03-26 2014-03-26 Surgical stapling instrument system
US14/226,125 Active 2037-08-10 US10201364B2 (en) 2014-03-26 2014-03-26 Surgical instrument comprising a rotatable shaft
US14/226,094 Abandoned US20150272580A1 (en) 2014-03-26 2014-03-26 Verification of number of battery exchanges/procedure count
US14/226,106 Abandoned US20150272582A1 (en) 2014-03-26 2014-03-26 Power management control systems for surgical instruments
US14/226,093 Active 2035-11-30 US10028761B2 (en) 2014-03-26 2014-03-26 Feedback algorithms for manual bailout systems for surgical instruments
US16/041,145 Abandoned US20180333169A1 (en) 2014-03-26 2018-07-20 Feedback algorithms for manual bailout systems for surgical instruments
US16/433,468 Abandoned US20200060713A1 (en) 2014-03-26 2019-06-06 Feedback algorithms for manual bailout systems for surgical instruments
US16/587,803 Pending US20200093506A1 (en) 2014-03-26 2019-09-30 Feedback algorithms for manual bailout systems for surgical instruments

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US (10) US20150272571A1 (zh)
EP (15) EP2923657B1 (zh)
JP (4) JP2017513559A (zh)
CN (5) CN115444481A (zh)
PL (3) PL2923659T3 (zh)
WO (7) WO2015148113A2 (zh)

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