Modular battery powered handheld surgical instrument with motor control limit profile
First Claim
1. A modular surgical instrument comprising:
- a modular handle assembly configured to receive a battery assembly, a shaft assembly, and a transducer assembly, wherein the transducer assembly comprises a first modular movable component, and wherein the shaft assembly comprises a second modular movable component;
a motor configured to actuate the first and second modular movable component, wherein the first modular movable component is associated with a first motor current profile and a first motor current limiting condition and the second modular movable component is associated with a second motor current profile and a second motor current limiting condition; and
a control circuit located in the modular handle assembly, wherein the control circuit is electrically coupled to the motor, wherein;
the control circuit comprises a motor current sensor configured to transmit a signal to the control circuit indicative of a current drawn by the motor;
the control circuit is configured to monitor the current drawn by the motor according to the first and second motor current profile;
the control circuit is configured to perform a first limiting operation to the current drawn by the motor to limit actuation of the first modular movable component based on reaching the first motor current limiting condition; and
the control circuit is configured to perform a second limiting operation to the current drawn by the motor to limit actuation of the second modular movable component based on reaching the second motor current limiting condition.
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Accused Products
Abstract
A surgical instrument comprises a shaft assembly comprising a shaft and an end effector coupled to a distal end of the shaft; a handle assembly coupled to a proximal end of the shaft; a battery assembly coupled to the handle assembly; a driver configured to drive movement of at least one component of the surgical instrument; a motor powered by the battery assembly and configured to actuate the driver using an output of the motor; and a controller for the motor, configured to perform a first limiting operation to the output of the motor when a first limiting condition is met, wherein the first limiting condition defines a maximum control variable profile of the motor over a range of the movement of the at least one component.
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Citations
15 Claims
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1. A modular surgical instrument comprising:
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a modular handle assembly configured to receive a battery assembly, a shaft assembly, and a transducer assembly, wherein the transducer assembly comprises a first modular movable component, and wherein the shaft assembly comprises a second modular movable component; a motor configured to actuate the first and second modular movable component, wherein the first modular movable component is associated with a first motor current profile and a first motor current limiting condition and the second modular movable component is associated with a second motor current profile and a second motor current limiting condition; and a control circuit located in the modular handle assembly, wherein the control circuit is electrically coupled to the motor, wherein; the control circuit comprises a motor current sensor configured to transmit a signal to the control circuit indicative of a current drawn by the motor; the control circuit is configured to monitor the current drawn by the motor according to the first and second motor current profile; the control circuit is configured to perform a first limiting operation to the current drawn by the motor to limit actuation of the first modular movable component based on reaching the first motor current limiting condition; and the control circuit is configured to perform a second limiting operation to the current drawn by the motor to limit actuation of the second modular movable component based on reaching the second motor current limiting condition. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A modular surgical instrument comprising:
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a modular handle assembly configured to receive a battery assembly, a shaft assembly, and a transducer assembly, wherein the transducer assembly comprises a first modular movable component, and wherein the shaft assembly comprises a second modular movable component; a motor configured to actuate the first and second modular movable component, wherein the first modular movable component is associated with a first control variable profile and a first control variable limiting condition and the second modular movable component is associated with a second control variable profile and a second control variable limiting condition; a control circuit located in the modular handle assembly, wherein the control circuit is electrically coupled to the motor, wherein the control circuit comprises a motor current sensor configured to transmit a signal to the control circuit indicative of a current drawn by the motor, wherein the control circuit is configured to monitor the current drawn by the motor according to the first and second control variable profile; and
wherein;the control circuit is configured to perform a first limiting operation to the current drawn by the motor to limit actuation of the first modular movable component based on reaching the first control variable limiting condition, and the control circuit is configured to perform a second limiting operation to the current drawn by the motor to limit actuation of the second modular movable component based on reaching the second control variable limiting condition. - View Dependent Claims (10, 11, 12)
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13. A method of operating a modular surgical instrument, the modular surgical instrument comprising:
- a modular handle assembly configured to receive a battery assembly, a shaft assembly, and a transducer assembly;
a motor; and
a control circuit located in the modular handle assembly, the method comprising;actuating, by the motor, a first modular movable component and a second modular movable component, wherein the first modular movable component is associated with a first motor current profile and a first motor current limiting condition and the second modular movable component is associated with a second motor current profile and a second motor current limiting condition; transmitting, by a motor current sensor of the control circuit, a signal to the control circuit indicative of a current drawn by the motor; monitoring, by the control circuit, the current drawn by the motor according to the first and second motor current profile; performing, by the control circuit, a first limiting operation to the current drawn by the motor to limit actuation of the first modular movable component based on reaching the first motor current limiting condition; and performing, by the control circuit, a second limiting operation to the current drawn by the motor to limit actuation of the second modular movable component based on reaching the second motor current limiting condition. - View Dependent Claims (14, 15)
- a modular handle assembly configured to receive a battery assembly, a shaft assembly, and a transducer assembly;
Specification