Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
First Claim
Patent Images
1. A surgical instrument, comprising:
- a motor operable to translate an articulation member along a distance from a proximal position to a distal position, wherein the articulation member is translatable relative to an end effector the distance from a proximal position to a distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an energized condition and a de-energized condition;
a control circuit coupled to the motor;
a position sensor coupled to the control circuit, the position sensor configured to detect a position of the articulation member along at least a portion of the distance; and
wherein the control circuit is configured to;
identify a predetermined desired position corresponding to the position of the articulation member;
receive position input from the position sensor indicative of a current position of the articulation member;
identify the current position corresponding to the position of the articulation member;
determine a control action of the motor in response to the current position of the articulation member that does not correspond to the predetermined desired position; and
control the movement of the articulation member when the current position corresponds to the predetermined desired position, wherein controlling the movement of the articulation member comprises placing the motor in the de-energized condition.
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Accused Products
Abstract
A motorized surgical instrument is disclosed. The surgical instrument includes a control circuit configured to control the movement of an end effector. If the end effector moves outside a predetermined desired position, the control circuit may activate the energized condition of the motor to move the end effector back to the desired position. When the end effector is in the desired position, the control circuit may engage the de-energized condition of the motor and engage an electromagnetic lock.
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Citations
21 Claims
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1. A surgical instrument, comprising:
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a motor operable to translate an articulation member along a distance from a proximal position to a distal position, wherein the articulation member is translatable relative to an end effector the distance from a proximal position to a distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an energized condition and a de-energized condition; a control circuit coupled to the motor; a position sensor coupled to the control circuit, the position sensor configured to detect a position of the articulation member along at least a portion of the distance; and wherein the control circuit is configured to; identify a predetermined desired position corresponding to the position of the articulation member; receive position input from the position sensor indicative of a current position of the articulation member; identify the current position corresponding to the position of the articulation member; determine a control action of the motor in response to the current position of the articulation member that does not correspond to the predetermined desired position; and control the movement of the articulation member when the current position corresponds to the predetermined desired position, wherein controlling the movement of the articulation member comprises placing the motor in the de-energized condition. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A surgical instrument, comprising:
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a motor configured to couple to a gear assembly of a rotatable shaft assembly, wherein the rotatable shaft assembly is configured to rotate about a longitudinal axis, wherein the rotatable shaft assembly comprises a rotational position sensor configured to measure the rotation of the rotatable shaft assembly around the longitudinal axis, wherein the motor is configured to apply a rotary force to rotate the gear assembly, wherein the rotation of the gear assembly rotates the rotatable shaft assembly about the longitudinal axis, and wherein the motor comprises an energized condition and a de-energized condition; a control circuit coupled to the motor, wherein the control circuit is configured to; monitor a rotational position of the rotatable shaft assembly based on a signal from the rotational position sensor; identify a predetermined desired position corresponding to the rotational position of the rotatable shaft assembly; receive rotational input from the rotational position sensor indicative of a current rotational position of the rotatable shaft assembly; determine a control action of the motor in response to the current rotational position of the rotatable shaft assembly that does not correspond to the predetermined desired position; and control the rotation of the rotatable shaft assembly when the current rotational position corresponds to the predetermined desired position, wherein controlling the rotation of the rotatable shaft assembly comprises placing the motor in the de-energized condition. - View Dependent Claims (11, 12, 13, 14)
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15. A surgical instrument, comprising:
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a longitudinal shaft assembly, comprising; a rotatable shaft portion comprising a longitudinal axis and a drive gear, wherein the rotatable shaft portion is configured to rotate about the longitudinal axis; and an articulation joint comprising an articulation gear; a drive assembly, comprising; a motor comprising a drive output; a control circuit configured to control the motor; and a drive member operably connected to the drive output, wherein when the control circuit is in a rotational condition, the drive member is operably connected to the drive gear of the rotatable shaft portion, and wherein when the control circuit is in an articulation condition, the drive member is operably connected to the articulation gear of the articulation joint; and a power source; wherein the motor comprises an energized condition and a de-energized condition, wherein when the motor is in the energized condition, the control circuit supplies the power source to the motor in a series circuit configuration, wherein when the motor is in the de-energized condition, the control circuit disconnects the power source from the motor, and wherein when the motor is in the de-energized condition, an electromagnetic lock is engaged. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A surgical instrument, comprising:
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a motor operable to translate an articulation member along a distance from a proximal position to a distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an energized condition and a de-energized condition; a control circuit coupled to the motor; a position sensor coupled to the control circuit, the position sensor configured to detect a position of the articulation member along at least a portion of the distance; and wherein the control circuit is configured to; receive input from the position sensor indicative of a current position of the articulation member; and place the motor in the de-energized condition when the current position corresponds to a predetermined desired position, wherein the de-energized condition comprises activating an electromagnetic lock.
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Specification