Monitoring speed control and precision incrementing of motor for powered surgical instruments

• US 9,895,148 B2
• Filed: 03/06/2015
• Issued: 02/20/2018
• Est. Priority Date: 03/06/2015
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Morgan, Jerome R., Harris, Jason L.
• Primary Examiner(s): LEWIS, TISHA D
• Application Number:
  US14/640,831
• Publication Number:
  US 20160256153A1
• Time in Patent Office: 1,082 Days
• 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 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/295 combined with cutting implements
• CPC Class Codes: A61B 2017/0003 of parts of the instruments
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: B25F 3/00 Associations of tools for different working operations with one portable power-drive means; Adapters therefor
• CPC Class Codes: F16H 1/28 with gears having orbital motion
• CPC Class Codes: H02K 11/21 Devices for sensing speed or position, or actuated thereby specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14
• CPC Class Codes: H02K 7/116 with gears
• CPC Class Codes: H02K 7/145 Hand-held machine tool
• CPC Class Codes: H02P 23/28 Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases

Abstract

Motor speed control systems are disclosed that include a motor having an output shaft, a motor speed control system, a sensor to detect the speed of the motor, and a controller to receive a signal from the sensor and to control the speed of the output shaft. A gear reduction assembly is operably coupled to the output shaft and a detectable element located in the gear reduction assembly. The sensor senses the detectable element. The sensor is placed in the radial path of the detectable element. Another system includes a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft, a gear reduction assembly operably coupled to the output shaft, and a sensor placed in proximity to the brushless motor. The sensor communicates with a controller to control the speed of the output shaft.

Claims

1. A motor speed control system comprising:

a motor having an output shaft;

a gear reduction assembly operably coupled to the output shaft;

a detectable element located in the gear reduction assembly; and

at least one sensor to sense the detectable element, the at least one sensor placed in a radial path of the detectable element, the at least one sensor in data communication with a controller configured to receive a signal from the at least one sensor and to control the speed of the output shaft;

wherein the gear reduction assembly comprises a planetary gear train;

wherein the planetary gear train comprises a first stage, wherein the planetary gear train is driven by a sun gear attached directly or indirectly to the motor output shaft, and wherein the sun gear drives one or more first stage planet gears, which in turn engage a first stage annular gear; and

a first stage carrier in communication with the first stage planet gears, the first stage carrier includes or connects to a second stage sun gear that drives a second stage.

2. The motor speed control system of claim 1, wherein the planetary gear train comprises at least one stage connected to a drive gear, which is configured as a final effector in the gear reduction assembly.

3. The motor speed control system of claim 2, wherein a single detectable element is placed on the drive gear.

4. The motor speed control system of claim 1, wherein the detectable element can be affixed or integral with any rotating part or particular stage of the gear reduction assembly to measure the number of times that the rotating part or stage rotates.

5. The motor speed control system of claim 1, wherein the at least one sensor is an inductance sensor and the detectable element is a metallic element.

6. The motor speed control system of claim 5, wherein the inductance sensor is configured to detect a change in inductance caused by the metallic element passing adjacent the inductance sensor.

7. The motor control system of claim 1, wherein the at least one sensor is a magnetic field sensor and the detectable element is a magnetic element.

8. A motor speed control system comprising:

a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft;

a gear reduction assembly operably coupled to the output shaft; and

at least one sensor placed in proximity to the brushless motor, the at least one sensor in data communication with a controller configured to receive a signal from the at least one sensor and to control the speed of the output shaft; and

negative and positive electromagnetic field coils alternately arranged around the central magnetic shaft, wherein the coils are sequentially activated and deactivated to drive the central magnetic shaft.

9. The motor speed control system of claim 8, wherein the at least one sensor is placed adjacent to the negative and positive electromagnetic field coils outside the housing of the brushless motor to monitor motor speed.

10. A powered surgical instrument comprising:

a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft;

a motor speed control system in communication with the brushless motor;

at least one sensor to detect the speed of the brushless motor; and

a controller configured to receive a signal from the at least one sensor and configured to control the speed of the output shaft;

wherein the motor speed control system comprises;

a gear reduction assembly operably coupled to the output shaft; and

the at least one sensor placed in proximity to the brushless motor, the at least one sensor in data communication with a controller configured to receive a signal from the sensor and to control the speed of the output shaft.

11. The powered surgical instrument of claim 10, wherein the motor speed control system comprises:

a detectable element located in the gear reduction assembly;

wherein the at least one sensor is configured to sense the detectable element, the at least one sensor placed in a radial path of the detectable element.

12. The powered surgical instrument of claim 11, wherein the gear reduction assembly comprises a planetary gear train.

13. The powered surgical instrument of claim 12, wherein the planetary gear train comprises a first stage, wherein the planetary gear train is driven by a sun gear attached directly or indirectly to the motor output shaft, and wherein the sun gear drives one or more first stage planet gears, which in turn engage a first stage annular gear.

14. The powered surgical instrument of claim 10, comprising negative and positive electromagnetic field coils alternately arranged around the central magnetic shaft, wherein the coils are sequentially activated and deactivated to drive the central magnetic shaft.

15. The powered surgical instrument of claim 14, wherein the at least one sensor is placed adjacent to the negative and positive electromagnetic field coils outside the housing of the brushless motor to monitor motor speed.