Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
First Claim
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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 the proximal position to the distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an engaged condition, a disengaged condition, and a hold condition;
a control circuit coupled to the motor;
a position sensor coupled to the control circuit, wherein the position sensor is 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 a position input from the position sensor indicative of an articulation position of the articulation member;
identify a predetermined threshold corresponding to the articulation position of the articulation member;
determine a control action of the motor, when the motor is in the disengaged condition, in response to a movement of the articulation member that exceeds the predetermined threshold; and
control the movement of the articulation member, wherein controlling the movement of the articulation member comprises engaging the motor to the hold 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 acceptable range, the control circuit may create a dynamic brake to resist the undesired movement of the end effector. The control circuit may apply pulse width modulated (PWM) current to resist the undesired movement of the end effector outside a predetermined acceptable range.
5783 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 the proximal position to the distal position, wherein the translation of the articulation member causes an articulation joint to articulate, and wherein the motor comprises an engaged condition, a disengaged condition, and a hold condition; a control circuit coupled to the motor; a position sensor coupled to the control circuit, wherein the position sensor is 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 a position input from the position sensor indicative of an articulation position of the articulation member; identify a predetermined threshold corresponding to the articulation position of the articulation member; determine a control action of the motor, when the motor is in the disengaged condition, in response to a movement of the articulation member that exceeds the predetermined threshold; and control the movement of the articulation member, wherein controlling the movement of the articulation member comprises engaging the motor to the hold 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 comprises a longitudinal axis and 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, and wherein the rotation of the gear assembly rotates the rotatable shaft assembly around the longitudinal axis; and 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 threshold corresponding to the rotational position of the rotatable shaft assembly; determine a control action of the motor in response to rotational movement of the rotatable shaft assembly that exceeds the predetermined threshold; and control the rotation of the rotatable shaft assembly, wherein controlling the rotation of the rotatable shaft assembly comprises resisting the rotation of the rotatable shaft assembly around the longitudinal axis. - 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 control circuit comprises an engaged condition, a disengaged condition, and a dynamic brake condition, wherein when the control circuit is in the engaged condition, the control circuit supplies the power source to the motor in a series circuit configuration, wherein when the control circuit is in the disengaged condition, the control circuit disconnects the power source from the motor, and wherein when the control circuit is in the dynamic brake condition, the control circuit places the power source in a parallel circuit condition with the motor. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A surgical instrument, comprising:
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an articulation member translatable relative to an end effector a distance between a proximal position and a distal position, wherein the translation of the articulation member causes an articulation joint to articulate; a motor operable to translate the articulation member, wherein the motor comprises an engaged condition, a disengaged condition, and a hold condition; a control circuit operably coupled to the motor; a position sensor operably coupled to the control circuit, wherein the position sensor is 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 a position input from the position sensor indicative of an articulation position of the articulation member; identify a predetermined threshold corresponding to the articulation position of the articulation member; determine a control action of the motor, when the motor is in the disengaged condition, in response to a movement of the articulation member that exceeds the predetermined threshold; and control the movement of the articulation member, wherein controlling the movement of the articulation member comprises engaging the motor to the hold condition.
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Specification