Surgical stapler having motor control based on a drive system component

• US 10,327,769 B2
• Filed: 09/23/2015
• Issued: 06/25/2019
• Est. Priority Date: 09/23/2015
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Overmyer, Mark D., Yates, David C., Shelton, IV, Frederick E., Adams, Shane R., Harris, Jason L.
• Primary Examiner(s): Long, Robert F
• Application Number:
  US14/862,421
• Publication Number:
  US 20170079640A1
• Time in Patent Office: 1,371 Days
• Field of Search: 2271751, 2271761
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: H02P 7/00 Arrangements for regulating or controlling the speed or torque of electric DC motors
• CPC Class Codes: H02P 7/06 for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current

Abstract

A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The drive system includes a movable drive member. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an accelerometer. The control system is configured to control a force applied to the drive system based on an acceleration of the movable drive member.

Claims

1. A surgical stapler, comprising:

a drive system comprising a movable drive member, wherein the movable drive member is configured for linear movement and comprises a plurality of teeth;

an electric motor mechanically coupled to the drive system;

a battery electrically couplable to the electric motor; and

a control system electrically connected to the electric motor, the control system comprising;

an H-bridge circuit electrically couplable to the electric motor; and

an accelerometer coupled to the drive system, wherein the control system is configured to control a force applied to the drive system based on an acceleration of the movable drive member.

2. The surgical stapler of claim 1, wherein the drive system further comprises:

a drive gear meshingly engaged with the movable drive member; and

a rotatable shaft mechanically coupled to the drive gear.

3. The surgical stapler of claim 2, further comprising first and second magnets connected to the rotatable shaft, wherein a polarity of the first magnet is opposite a polarity of the second magnet.

4. The surgical stapler of claim 3, wherein the first and second magnets are magnetically coupled to the accelerometer.

5. The surgical stapler of claim 1, wherein the accelerometer comprises a piezoelectric component.

6. The surgical stapler of claim 1, wherein the accelerometer comprises a piezoresistive component.

7. The surgical stapler of claim 1, wherein the accelerometer comprises a capacitive component.

8. The surgical stapler of claim 1, further comprising:

a magnet connected to the movable drive member; and

a sensor magnetically coupled to the magnet.

9. The surgical stapler of claim 8, wherein the control system is further configured to control the force applied to the drive system based on a position of the movable drive member.

10. A surgical stapler, comprising:

a drive system comprising a gear assembly and a movable drive member meshingly engaged with the gear assembly, wherein the movable drive member is configured for linear movement;

an electric motor mechanically coupled to the drive system;

a battery electrically couplable to the electric motor; and

a control system electrically connected to the electric motor, the control system comprising;

an H-bridge circuit electrically couplable to the electric motor;

a sensor coupled to the movable drive member; and

an accelerometer coupled to the gear assembly, wherein the control system is configured to control a force applied to the drive system based on;

a position of the movable drive member; and

an acceleration of the movable drive member.

11. The surgical stapler of claim 10, wherein the gear assembly comprises:

a drive gear meshingly engaged with the movable drive member;

a rotatable shaft mechanically coupled to the drive gear; and

first and second magnets connected to the rotatable shaft, wherein a polarity of the first magnet is opposite a polarity of the second magnet.

12. The surgical stapler of claim 11, further comprising a third magnet connected to the movable drive member.

13. The surgical stapler of claim 10, wherein the accelerometer comprises a piezoelectric component.

14. The surgical stapler of claim 10, wherein the accelerometer comprises a piezoresistive component.

15. The surgical stapler of claim 10, wherein the accelerometer comprises a capacitive component.

16. A surgical stapler, comprising:

a drive system comprising a gear assembly and a movable drive member meshingly engaged with to the gear assembly, wherein the movable drive member is configured for linear movement;

an electric motor mechanically coupled to the drive system;

a battery electrically couplable to the electric motor; and

a control system electrically connected to the electric motor, the control system comprising;

an H-bridge circuit electrically couplable to the electric motor; and

a sensor coupled to the movable drive member, wherein the control system is configured to control a force applied to the drive system based on a velocity of the movable drive member.

17. The surgical stapler of claim 16, wherein the gear assembly comprises:

a drive gear meshingly engaged with the movable drive member; and

a rotatable shaft mechanically coupled to the drive gear.

18. The surgical stapler of claim 17, further comprising a magnet connected to the movable drive member.

19. The surgical stapler of claim 18, further comprising a second magnet connected to the rotatable shaft.

20. The surgical stapler of claim 16, wherein the control system is further configured to control the force applied to the drive system based on a position of the movable drive member.