Control arrangements for a drive member of a surgical instrument

• US 9,332,987 B2
• Filed: 03/14/2013
• Issued: 05/10/2016
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Leimbach, Richard L., Overmyer, Mark D., Adams, Shane R., Swensgard, Brett E.
• Primary Examiner(s): Smith, Scott A.
• Application Number:
  US13/803,193
• Publication Number:
  US 20140263537A1
• Time in Patent Office: 1,153 Days
• Field of Search: 227/19, 227/175.1, 227/175.2, 227/176.1, 227/180.1, 606/139, 606/219
• US Class Current: 1/1
• CPC Class Codes: A61B 17/064 Surgical staples, i.e. penetrating the tissue
• 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 17/0686 having a forming anvil staying below the tissue during stapling
• 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 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00367 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 2017/00389 Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
• CPC Class Codes: A61B 2017/00393 with means for switching between functions
• 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 2017/00464 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 2017/00716 simulating physical properties
• CPC Class Codes: A61B 2017/00734 : battery operated
• 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 2017/2903 : transferring rotary motion
• CPC Class Codes: A61B 2017/2913 : cams or guiding means
• 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 2017/2931 : with releasable head
• CPC Class Codes: A61B 2017/2943 : Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2018/00172 : Connectors and adapters therefor
• CPC Class Codes: A61B 2018/00297 : Means for providing haptic feedback
• CPC Class Codes: A61B 2018/00303 : active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2018/1455 : having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/2059 : Mechanical position encoders
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/067 : for measuring angles
• 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 34/30 : Surgical robots
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G01D 5/145 : influenced by the relative movement between the Hall device and magnetic fields see G01R33/06

Abstract

A surgical instrument is disclosed. The surgical instrument may be operated compensating for the effect of splay in flexible knife bands on transection length of a powered surgical instrument. The surgical instrument includes a processor and a memory. A relationship between articulation angle of an end effector and effective transection length distal of an articulation joint is characterized. The characterization data is accessed by the processor from the memory of the surgical instrument. The articulation angle of the end effector is tracked by the processor during use of the surgical instrument. The target transection length is adjusted by the processor based on the known articulation angle and the stored characterization data.

Claims

1. A method of compensating for the effect of splay in flexible knife bands on transection length of a surgical instrument comprising a processor and a memory, the surgical instrument comprises stored in the memory characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint, the method comprising:

accessing, by the processor, the characterization data from the memory of the surgical instrument;

tracking, by the processor, the articulation angle of the end effector during use of the surgical instrument; and

adjusting, by the processor, a target transection length by the surgical instrument based on the tracked articulation angle and the stored characterization data.

2. The method of claim 1, wherein accessing the characterization data from the memory of the surgical instrument comprises retrieving and storing the characterization data in a nonvolatile memory of the surgical instrument.

3. The method of claim 1, comprising accessing characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint for a shaft of the surgical instrument.

4. The method of claim 1, comprising characterizing a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint during manufacturing of the surgical instrument.

5. The method of claim 1, wherein the characterization data is accessed from a lookup table implemented in the memory.

6. The method of claim 1, wherein the characterization data is obtained from a best curve fit formula.

7. The method of claim 1, wherein the characterization data comprises accounting for articulation angle and compressive force on the knife bands.

8. The method of claim 1, further comprising defining the effective transection length as a distance between the distal most surface of a knife blade in relationship to a predetermined reference in a handle of the surgical instrument.

9. The method of claim 1, comprising:

establishing communication between a microcontroller and the memory; and

utilizing the characterization data by control software of the microcontroller.

10. A surgical instrument, comprising:

a microcontroller comprising a processor configured to execute computer readable instructions; and

a memory coupled to the microcontroller;

wherein the processor is operative to;

access from the memory characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint;

track the articulation angle of the end effector during use of the surgical instrument; and

adjust a target transection length based on the tracked articulation angle and the stored characterization data.

11. The surgical instrument of claim 10, wherein the memory is a nonvolatile memory.

12. The surgical instrument of claim 10, wherein the processor is operative to access the characterization data from a lookup table implemented in the memory.

13. The surgical instrument of claim 10, wherein the processor is operative to implement a best curve fit formula based on the characterization data.

14. The surgical instrument of claim 10, wherein the memory is located on a shaft, handle, or both, of the surgical instrument.

15. A surgical instrument, comprising:

an end effector comprising an articulation joint;

flexible knife bands configured to translate from a position proximal of the articulation joint to a position distal of the articulation joint;

a microcontroller comprising a processor operative to execute computer readable instructions; and

a memory coupled to the microcontroller;

wherein the processor is operative to;

access from the memory characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of the articulation joint;

track the articulation angle of the end effector during use of the surgical instrument; and

adjust a target transection length based on the known articulation angle and the stored characterization data.

16. The surgical instrument of claim 15, wherein the memory is a nonvolatile memory.

17. The surgical instrument of claim 15, wherein the processor is operative to access the characterization data from a lookup table implemented in the memory.

18. The surgical instrument of claim 15, wherein the processor is operative to implement a best curve fit formula based on the characterization data.

19. The surgical instrument of claim 15, wherein the memory is located on a shaft, handle, or both, of the surgical instrument.

20. The surgical instrument of claim 15, comprising a sensor to measure an articulation angle of the flexible knife bands, the sensor configured to provide feedback of the articulation angle to the processor.