End effector detection and firing rate modulation systems for surgical instruments

• US 10,201,349 B2
• Filed: 03/10/2017
• Issued: 02/12/2019
• Est. Priority Date: 08/23/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Leimbach, Richard L., Shelton, IV, Frederick E., Morgan, Jerome R., Schellin, Emily A.
• Primary Examiner(s): Desai, Hemant M
• Assistant Examiner(s): Imam, Tanzim
• Application Number:
  US15/455,611
• Publication Number:
  US 20170196560A1
• Time in Patent Office: 704 Days
• Field of Search: None
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00137 Details of operation mode
• CPC Class Codes: A61B 2017/00154 pulsed
• CPC Class Codes: A61B 2017/0019 Means for setting or varying the pulse width
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00402 Piezo electric actuators
• CPC Class Codes: A61B 2017/00407 Ratchet means
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00464 : for use with different instruments
• CPC Class Codes: A61B 2017/00473 : Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 : with a code
• CPC Class Codes: A61B 2017/00486 : Adaptors for coupling parts with incompatible geometries
• CPC Class Codes: A61B 2017/00734 : battery operated
• CPC Class Codes: A61B 2017/07214 : Stapler heads
• CPC Class Codes: A61B 2017/07228 : Arrangement of the staples
• CPC Class Codes: A61B 2017/07257 : characterised by its anvil
• CPC Class Codes: A61B 2017/07271 : characterised by its cartridge
• CPC Class Codes: A61B 2017/07278 : characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 : characterised by its cutter
• CPC Class Codes: A61B 2017/2901 : Details of shaft
• CPC Class Codes: A61B 2017/291 : the position of the handle being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2923 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 : with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2941 : Toggle linkages
• CPC Class Codes: A61B 2017/2946 : Locking means
• CPC Class Codes: A61B 2034/252 : indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 : being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/256 : having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/035 : preventing further rotation
• CPC Class Codes: A61B 2090/037 : with a frangible part, e.g. by reduced diameter
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0804 : Counting number of instruments used; Instrument detectors
• CPC Class Codes: A61B 2090/0807 : Indication means
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 2090/0811 : for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 2090/372 : Details of monitor hardware
• CPC Class Codes: A61B 2560/0214 : of power generation or supply
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G06F 21/60 : Protecting data
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0416 : Control or interface arrangements specially adapted for digitisers
• CPC Class Codes: G06F 3/04817 : using icons graphical or visual programming using iconic symbols G06F8/34
• CPC Class Codes: G06F 3/0482 : Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/04845 : for image manipulation, e.g. dragging, rotation, expansion or change of colour
• CPC Class Codes: G06F 3/0488 : using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G09G 5/14 : Display of multiple viewports
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H01M 10/425 : Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing printed circuits H05K1/00
• CPC Class Codes: H01M 10/48 : Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte constructional details of current conducting connections for detecting conditions inside cells or batteries, e.g. details of voltage sensing terminals, H01M50/569
• CPC Class Codes: H01M 2220/30 : Batteries in portable systems, e.g. mobile phone, laptop
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/00 : Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
• CPC Class Codes: H02J 7/0068 : Battery or charger load switching, e.g. concurrent charging and load supply H02J7/0013 takes precedence
• CPC Class Codes: H02J 7/342 : The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging with circuits for polarity protection H02J7/0034
• CPC Class Codes: H02J 9/061 : for DC powered loads
• CPC Class Codes: H03K 2217/96062 : with tactile or haptic feedback
• CPC Class Codes: Y02E 60/10 : Energy storage using batteries

Abstract

A surgical instrument system can comprise a surgical instrument for use with a loading unit comprising an end effector, wherein the loading unit is releasably attachable to the surgical instrument. The surgical instrument comprises a motor configured to drive a firing member and is configured to determine whether the loading unit includes a datum identifying the loading unit or is otherwise identifiable. If the loading unit is identifiable, then the motor of the surgical instrument fires a first firing rate. If the loading unit is not identifiable, then the motor of the surgical instrument fires at a second firing rate.

Claims

1. A surgical system, comprising:

a surgical instrument for use with a loading unit comprising an end effector, the surgical instrument comprising;

a shaft releasably engageable with the loading unit;

a firing member movable between a first position and a second position to actuate the end effector of the loading unit;

a motor configured to drive the firing member between the first position and the second position;

a processor; and

a memory operably connected to the processor, the memory storing instructions that, when executed by the processor, cause the surgical instrument to;

receive a signal from the loading unit, wherein the signal contains a first checksum value;

compute a second checksum value for the signal;

determine a status of a comparison of the first checksum value and the second checksum value as either identical or non-identical;

responsive to determining that the status of the comparison is identical, cause the motor to move the firing member between the first position and the second position at a first firing rate; and

responsive to determining that the status of the comparison is non-identical, cause the motor to move the firing member between the first position and the second position at a second firing rate, wherein the second firing rate is a safety default firing rate.

2. The surgical system of claim 1, further comprising the loading unit.

3. The surgical system of claim 2, wherein the loading unit comprises a transmitter;

and the surgical instrument comprises a receiver configured to receive a wireless signal transmitted by the transmitter of the loading unit over a wireless connection; and

wherein the processor is configured to determine an identity of the loading unit based on the wireless signal.

4. The surgical system of claim 2, wherein the loading unit comprises an electrical contact;

and the surgical instrument comprises an electrical contact configured to engage the electrical contact of the loading unit over a wired connection;

wherein the processor is configured to determine an identity of the loading unit via an electrical signal transmitted over the wired connection.

5. The surgical system of claim 2, wherein the loading unit comprises a bar code disposed thereon and the processor is configured to determine an identity of the loading unit via a bar code reader configured to scan the bar code disposed on the loading unit.

6. The surgical system of claim 2, wherein the end effector comprises a staple cartridge including a plurality of staples deployable from the staple cartridge while the firing member moves between the first position and the second position.

7. The surgical system of claim 2, wherein the end effector comprises a cutting member.

8. The surgical system of claim 1, wherein the end effector comprises a datum that is selected from the group consisting of a firing speed of the firing member, a retraction speed of the firing member, a distance the firing member is to travel, a maximum torque to be applied to the firing member, and combinations thereof.

9. The surgical system of claim 2, wherein:

the loading unit comprises a first plurality of electrical contacts;

the surgical instrument comprises a second plurality of electrical contacts configured to engage the first plurality of electrical contacts to define a wired connection therebetween;

the first plurality of electrical contacts includes a first most-proximal contact, where the first most-proximal contact is distinct from a remainder of the first plurality of electrical contacts;

the second plurality of electrical contacts includes a second most-proximal contact, where the second most-proximal contact is distinct from a remainder of the second plurality of electrical contacts; and

the processor is configured to determine an identity of the loading unit via an electrical signal transmitted over the wired connection after the first most-proximal contact meets the second most-proximal contact.

10. A surgical instrument for use with a loading unit that includes an end effector, the surgical instrument comprising:

a shaft configured to releasably engage the loading unit;

a firing member movable between a first position and a second position to actuate the end effector of the loading unit;

a motor configured to drive the firing member between the first position and the second position;

a processor; and

a memory operably connected to the processor, the memory storing instructions that, when executed by the processor, cause the surgical instrument to;

based on a signal received from the loading unit, determine an identity of the loading unit, wherein the signal contains a first checksum value;

compute a second checksum value for the signal;

compare the first checksum value of the signal with the second checksum value;

responsive to the first checksum value being identical to the second checksum value, cause the motor to move the firing member between the first position and the second position at a firing rate corresponding to the identity of the loading unit; and

responsive to the first checksum value not being identical to the second checksum value, cause the motor to move the firing member between the first position and the second position at a default firing rate.

11. The surgical instrument of claim 10, further comprising the loading unit.

12. The surgical instrument of claim 11, wherein the loading unit comprises a transmitter;

and the surgical instrument comprises a receiver configured to receive a wireless signal transmitted by the transmitter of the loading unit over a wireless connection; and

wherein the processor is configured to determine the identity of the loading unit based on the wireless signal.

13. The surgical instrument of claim 11, wherein the loading unit comprises an electrical contact;

and the surgical instrument comprises an electrical contact configured to engage the electrical contact of the loading unit over a wired connection;

wherein the processor is configured to determine the identity of the loading unit via an electrical signal transmitted over the wired connection.

14. The surgical instrument of claim 11, wherein the loading unit comprises a bar code disposed thereon and the processor is configured to determine the identity of the loading unit via a bar code reader configured to scan the bar code disposed on the loading unit.

15. The surgical instrument of claim 11, wherein the end effector comprises a staple cartridge including a plurality of staples deployable from the staple cartridge while the firing member moves between the first position and the second position.

16. The surgical instrument of claim 11, wherein the end effector comprises a cutting member.

17. A surgical instrument for use with a loading unit that includes an end effector, the surgical instrument comprising:

a shaft configured to releasably engage the loading unit;

a firing member movable between a first position and a second position to actuate the end effector of the loading unit;

a motor configured to drive the firing member between the first position and the second position;

a processor; and

a memory operably connected to the processor, the memory storing instructions that, when executed by the processor, cause the surgical instrument to;

receive a signal from the loading unit, wherein the signal contains a first checksum value;

compute a second checksum value for the signal;

determine a status of a comparison of the first checksum value and the second checksum value as either identical or non-identical;

responsive to determining that the status of the comparison is identical, cause the motor to move the firing member between the first position and the second position at a first firing rate; and

responsive to determining that the status of the comparison is non-identical, cause the motor to move the firing member between the first position and the second position at a second firing rate, wherein the second firing rate is a safety default firing rate.

18. The surgical instrument of claim 17, further comprising the loading unit.

19. The surgical instrument of claim 18, wherein the loading unit comprises a transmitter;

and the surgical instrument comprises a receiver configured to receive a wireless signal transmitted by the transmitter of the loading unit over a wireless connection; and

wherein the processor is configured to determine an identity of the loading unit based on the wireless signal.

20. The surgical instrument of claim 18, wherein the loading unit comprises an electrical contact;

and the surgical instrument comprises an electrical contact configured to engage the electrical contact of the loading unit over a wired connection;

wherein the processor is configured to determine an identity of the loading unit via an electrical signal transmitted over the wired connection.

21. The surgical instrument of claim 18, wherein the loading unit comprises a bar code disposed thereon and the processor is configured to determine an identity of the loading unit via a bar code reader configured to scan the bar code disposed on the loading unit.

22. The surgical instrument of claim 18, wherein the end effector comprises a staple cartridge including a plurality of staples deployable from the staple cartridge while the firing member moves between the first position and the second position.

23. The surgical instrument of claim 18, wherein the end effector comprises a cutting member.