BR112019026927A2 - systems and methods for displaying the status of the surgical instrument - Google Patents

Abstract

the present invention relates to a surgical instrument. the surgical instrument includes a circuit configured to supply RF energy to a cartridge arranged in an end actuator configured to receive the cartridge, a closing mechanism configured to transition the end actuator between an open position and a closed position, a screen and a control circuit operationally coupled to the screen. the control circuit is configured to determine the amount of RF energy delivered to a tissue through the cartridge, show the amount of RF energy on the screen, determine a position of the closing mechanism and show the position of the closing mechanism on the screen.

Description

Invention Patent Descriptive Report for "SYSTEM

BUT AND METHODS OF DISPLAY OF THE STATE OF SURGICAL INSTRUMENT ". TECHNICAL FIELD

[0001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for sealing and cutting and staple cartridges for them, which are designed to seal and cut fabrics.

BACKGROUND

[0002] In a surgical sealing and stapling instrument, it may be useful to display a variety of information captured by the sensors of the surgical instrument to the operator so that the operator can ensure that the instrument is functioning properly or take corrective action if conditions unexpected tissue are being found or if the instrument is not functioning properly.

SUMMARY

[0003] In one aspect, a surgical instrument is provided. The surgical instrument comprises a circuit configured to supply RF energy to a cartridge arranged on an end actuator configured to receive the cartridge; a closing mechanism configured to transition the end actuator between an open position and a closed position; a screen; a control circuit operationally coupled to the screen, the control circuit being configured to: determine an amount of RF energy supplied to a tissue through the cartridge; show the amount of RF energy on the screen; determine a position of the closing mechanism; and show the position of the closing mechanism on the screen.

[0004] In another aspect, the surgical instrument comprises a circuit configured to supply RF energy to a cartridge arranged in an end actuator; a closing mechanism configured to transition the end actuator between an open position and a closed position; a screen; a processor operationally coupled to the screen; a memory operationally coupled to the processor, and the memory stores program instructions that, when executed by the processor, cause the processor to: determine a state of RF energy supplied to a tissue through the cartridge; show RF energy status; determine a state of the closing mechanism; and show the state of the closing mechanism.

[0005] In another aspect, a method of controlling a screen on a surgical instrument is provided. The surgical instrument comprises a circuit configured to supply RF energy to a cartridge disposed in an end actuator configured to receive the cartridge, a closing mechanism configured to transition the end actuator between an open position and a closed position. - input, a screen and a control circuit operationally coupled to the screen. The method comprises determining, by means of the control circuit, an amount of RF energy supplied to a tissue through the cartridge; show, through the control circuit, the amount of RF energy on the screen; determine, through the control circuit, a position of the closing mechanism; and show, through the control circuit, the position of the closing mechanism on the screen.

FIGURES

[0006] The innovative features of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in terms of organization and methods of operation, can be better understood by referring to the description below, taken in conjunction with the attached drawings.

[0007] Figure 1 is a perspective view of a surgical system that includes a handle set attached to an interchangeable surgical tool set that is configured to be used in conjunction with conventional surgical clip / clamp cartridges and radio frequency (RF) cartridges according to one aspect of this description.

[0008] Figure 2 is an exploded perspective view of the surgical system in Figure 1, according to an aspect of this description.

[0009] Figure 3 is another perspective view explored of portions of the handle set and the interchangeable surgical tool set of Figures 1 and 2, according to one aspect of this description.

[0010] Figure 4 is an exploded view of a proximal portion of the interchangeable surgical tool set of Figures 1 to 3, according to an aspect of this description.

[0011] Figure 5 is another exploded view of a distal portion of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of this description.

[0012] Figure 6 is a partial cross-sectional view of the end actuator represented in Figures 1 to 5 that supports an RF cartridge in it and with the tissue stuck between the cartridge and the anvil, according to an aspect of this description.

[0013] Figure 7 is a partial cross-sectional view of the shoulder of Figure 6, according to an aspect of this description.

[0014] Figure 8 is another exploded view of a portion of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of this description.

[0015] Figure 9 is another exploded view of the interchangeable surgical tool set and the handle set of Figures 1 and 2, according to an aspect of the present description.

[0016] Figure 10 is a perspective view of an RF cartridge and an elongated channel of the interchangeable surgical tool set of Figures 1 to 5, according to an aspect of that description.

[0017] Figure 11 is a partial perspective view of portions of the RF cartridge and elongated channel of Figure 10 with a knife member, in accordance with an aspect of this description.

[0018] Figure 12 is another perspective view of the RF cartridge installed in the elongated channel of Figure 10 and which illustrates a portion of a flexible drive shaft circuit arrangement, in accordance with an aspect of this description.

[0019] Figure 13 is an end view in cross section of the RF cartridge and elongated channel of Figure 12, taken along lines 13-13 in Figure 12, according to an aspect of this description.

[0020] Figure 14 is a top cross-sectional view of a portion of the interchangeable surgical tool set in Figures 1 and 5 with its end actuator in an articulated position, according to one aspect of this description.

[0021] Figure 15 is a perspective view of an integrated circuit board and RF generator layout plus configuration, according to an aspect of this description.

[0022] Figures 16A and 16B are a block diagram of a control circuit for the surgical instrument of Figure 1 comprising two drawing sheets, according to one aspect of this description.

[0023] Figure 17 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the handle assembly, the supply assembly and the handle assembly and the drive shaft assembly interchangeable according to one aspect of the present description.

[0024] Figure 18 is a schematic diagram of a surgical instrument configured to control various functions, according to an aspect of this description.

[0025] Figure 19 is a side elevation view of the surgical instrument with the casing removed showing a trigger detection set, the closing trigger being in the non-actuated position, according to one aspect of the present description.

[0026] Figure 20 is a side elevation view of the surgical instrument with the casing removed showing a trigger detection set, the closing trigger being in the actuated position, in accordance with an aspect of the present description.

[0027] Figure 21 is a perspective view of an end actuator comprising a tissue thickness sensing assembly, in accordance with an aspect of the present description.

[0028] Figure 22 is a schematic view of a sensor of the tissue thickness detection assembly, according to an aspect of the present description.

[0029] Figure 23 is an exploded perspective view of a position detection set, according to an aspect of the present description.

[0030] Figure 24 is a diagram of a circuit and a position sensor of a position detection set, according to an aspect of the present description.

[0031] Figure 25 is a block diagram of an example of a surgical instrument configured to display various states of the surgical instrument, according to an aspect of the present description.

[0032] Figure 26 is a screen representing the information of the RF energy status of the surgical instrument, according to an aspect of this description.

[0033] Figure 27 is a screen representing the information of the RF energy status of the surgical instrument, according to an aspect of this description.

[0034] Figure 28 is a screen representing the information of the RF energy status of the surgical instrument, according to an aspect of this description.

[0035] Figure 29 is a screen representing the information of the RF energy status of the surgical instrument, according to an aspect of this description.

[0036] Figure 30 is a screen representing the temperature information of the surgical instrument, according to an aspect of the present description.

[0037] Figure 31 is a screen representing the information of the water content of the tissue of the surgical instrument, according to an aspect of the present description.

[0038] Figure 32 is a screen representing information about the progress of the surgical instrument, according to one aspect of the present description.

[0039] Figure 33 is a screen representing information about the progress of the surgical instrument, according to one aspect of the present description.

[0040] Figure 34 is a screen representing the tissue information and the progress of the surgical instrument's operation, according to one aspect of the present description.

[0041] Figure 35 is a screen representing a warning from the surgical instrument, according to an aspect of the present description.

[0042] Figure 36 is a screen representing a warning from the surgical instrument, according to an aspect of the present description.

[0043] Figure 37 is a screen representing the status, progress of operation and tissue information of the surgical instrument,

according to one aspect of the present description.

[0044] Figure 38 is a screen representing the status information of the RF cartridge of the surgical instrument, according to an aspect of the present description.

[0045] Figure 39 is a screen representing the status information of the RF cartridge of the surgical instrument, according to an aspect of the present description.

DESCRIPTION

[0046] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document by way of reference in their respective totalities:

[0047] Power of attorney document number END8184USNP / 170063, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, by the inventors Jeffrey D. Messerly et al., Deposited on June 28, 2017.

[0048] Power of attorney document number END8190USNP / 170065, entitled SHAFT MODULE CIRCUITRY ARRANGEMENTS, by inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.

[0049] Power of attorney document number END8189USNP / 170066, entitled SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR INDEPENDENT ENERGY DELIVERY OVER SEGMENTED SECTIONS, by inventors Jeffrey D. Messerly et al., Deposited on June 28 2017.

[0050] Power of attorney document number END8185USNP / 170067, entitled FLEXIBLE CIRCUIT ARRANGEMENT FOR SURGICAL FAS- TENING INSTRUMENTS, by inventors Jeffrey D. Messerly et al., Filed on June 28, 2017.

[0051] Power of attorney document number END8188USNP / 170068, entitled SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND HAVING A PLURALITY OF RADIO-FREQUENCY ENERGY RETURN PATHS, by the inventors Jeffrey D. Messerly et al., filed on June 28,

2017.

[0052] Power of attorney document number END8181USNP / 170069, entitled SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR AN INDEPENDENT ENERGY DELIVERY OVER SEGMENTED SECTIONS, by inventors David C. Yates et al., Deposited on June 28, 2017 .

[0053] Power of attorney document number END8187USNP / 170070, entitled SURGICAL END EFFECTOR FOR APPLYING ELECTROSUR-

GICAL ENERGY TO DIFFERENT ELECTRODES ON DIFFERENT TIME PERIODS, by the inventors Tamara Widenhouse et al., Filed on June 28, 2017.

[0054] Power of attorney document number END8182USNP / 170071, entitled ELECTROSURGICAL CARTRIDGE FOR USE IN THIN PRO-FILE SURGICAL CUTTING AND STAPLING INSTRUMENT, by inventors Tamara Widenhouse et al., Filed on 28 June 2017.

[0055] Power of attorney document number END8186USNP / 170072, entitled SURGICAL END EFFECTOR TO ADJUST JAW COMPRES-SION, by the inventors Frederick E. Shelton, IV et al., Filed on June 28, 2017.

[0056] Power of attorney document number END8224USNP / 170073, entitled CARTRIDGE ARRANGEMENTS FOR SURGICAL CUTTING

AND FASTENING INSTRUMENTS WITH LOCKOUT DISABLEMENT FEATURES, by the inventors Jason L. Harris et al., Filed on June 28, 2017.

[0057] Power of attorney document number END8229USNP / 170074, entitled SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS, by the inventors Jeffrey D. Messerly et al., Deposited on June 28, 2017.

[0058] Electrosurgical devices can be used in many surgical operations. Electrosurgical devices can apply electrical energy to the tissue to treat the tissue. An electrosurgical device can comprise an instrument that has a distally mounted end actuator that comprises one or more electrodes. The end actuator can be positioned against the fabric, so that electric current can be introduced into the fabric. Electrosurgical devices can be configured for monopolar or bipolar operation. During monopolar operation, current can be introduced into the tissue by an active electrode (or source) in the end actuator and returned via a return electrode. The return electrode can be a grounding block located separately on a patient's body. During bipolar operation, the current can be introduced into the fabric and returned from it, respectively, by the active and return electrodes of the end actuator.

[0059] The end actuator can include two or more claw members. At least one of the claw members can have at least one electrode. At least one claw can be movable from a spaced position of the opposite claw to receive tissue in a position where the space between the claw members is less than that of the first position. This movement of the movable claw can compress the tissue retained between it. The heat generated by the current flow through the tissue in combination with the compression obtained by the movement of the claw can form hemostatic seals within the tissue and / or between tissues and, therefore, can be particularly useful for sealing blood vessels, for example. The end actuator can comprise a cutting member. The cutting element can be movable in relation to the tissue and the electrodes to transpose the tissue.

[0060] Electrosurgical devices may also include mechanisms for securing the tissue, such as a stapling device, and / or mechanisms for cutting the tissue, such as a tissue knife. An electrosurgical device may include a drive shaft to place the end actuator in a position adjacent to the tissue being subjected to treatment. The drive shaft can be straight or curved, foldable or non-foldable. In an electrosurgical device that includes a straight and foldable drive shaft, the drive shaft can have one or more articulated joints to allow controlled flexing of the drive shaft. Such joints may allow a user of the electrosurgical device to place the end actuator in contact with the tissue at an angle to the drive axis when the tissue being treated is not readily accessible using an electrosurgical device that has an axis non-folding straight drive.

[0061] The electrical energy applied by the electrosurgical devices can be transmitted to the instrument by a generator in communication with the handpiece. The electrical energy can be in the form of radio frequency energy ("RF"). RF energy is a form of electrical energy that can be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). In application, an electrosurgical instrument can transmit RF energy at low frequency through the tissue, which causes friction, or ionic agitation, that is, resistive heating, which, therefore, increases the tissue temperature. Due to the fact that a precise boundary is created between the affected tissue and the surrounding tissue, surgeons can operate with a high level of precision and control, without sacrificing adjacent non-target tissue. The low operating temperatures of the RF energy are useful for removing, shrinking or sculpting soft tissues while simultaneously cauterizing blood vessels. RF energy works particularly well in connective tissue, which mainly comprises collagen and shrinks when it comes in contact with heat.

[0062] RF energy can be in a frequency range described in document EN 60601-2-2: 2009 + A11: 2011, Definition

201.3.218 - "HIGH FREQUENCY". For example, the frequency in monopolar RF applications can typically be restricted to less than MHz. However, in bipolar RF applications, the frequency can be almost any. Frequencies above 200 kHz can typically be used for monopolar applications in order to avoid unwanted nerve and muscle stimulation, which would result from the use of a low frequency current. Lower frequencies can be used for bipolar applications if the risk analysis shows that the possibility of neuromuscular stimulus has been mitigated to an acceptable level. Typically, frequencies above 5 MHz are not used in order to minimize problems associated with high frequency dispersion currents. Higher frequencies can, however, be used in the case of bipolar applications. It is generally accepted that 10 mA is the lower threshold for thermal effects on tissue.

[0063] Figures 1 and 2 depict a motor-driven surgical system 10 that can be used to perform a variety of different surgical procedures. In the illustrated arrangement, the surgical system 10 comprises an interchangeable surgical tool set 1000 which is operationally coupled to a handle set

500. In another aspect of the surgical system, the interchangeable surgical tool set can be effectively employed with a tool drive set from a robotic or automated controlled surgical system. For example, the surgical tool set 1000 disclosed here can be used with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in US Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DE- PLOYMENT ARRANGEMENTS ", which is hereby incorporated by reference in its entirety.

[0064] In the illustrated aspect, the handle assembly 500 may comprise a handle compartment 502 that includes a pistol handle portion 504 that can be held and handled by the physician. As will be briefly discussed below, the handle set 500 operationally supports a plurality of drive systems, which are configured to generate and apply various control movements to the corresponding portions of the interchangeable surgical tool set 1000. As shown in Figure 2, the handle assembly 500 may also include a handle structure 506 that operationally supports the plurality of drive systems. For example, the 506 handle structure can operationally support a "first" closing drive system or system, generally designated as 510, which can be used to apply closing and opening movements to the assembly interchangeable surgical tool

1000. In at least one way, the closing drive system 510 can include an actuator in the form of a closing trigger 512 that is pivotally supported by the 506 handle structure. This arrangement allows the lock trigger 512 is handled by a doctor, so that when the doctor wields the pistol grip assembly portion 504 of the grip assembly 500, the lock trigger 512 can be easily rotated from one position initial or "not actuated" to an "acted" position and, more particularly, to a completely compressed or fully actuated position. In use, to actuate the closing drive system 510, the physician presses the trigger trigger 512 towards the pistol grip portion 504. As described in more detail in US Patent Application Serial No. 14 / 226,142, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", now US Patent Application Publication No. 2015/0272575, which is hereby incorporated by reference in its entirety into the present invention, when the physician presses the 512 lock trigger fully to achieve the "full" closing stroke, the closing drive system 510 is configured to lock the closing trigger 512 in the fully depressed or fully actuated position. When the physician wishes to release the closing trigger 512 to allow it to be held in the unacted position, the physician simply activates a set of closing release button 518 that allows the closing trigger to return to the position not acted upon. The closing release button set 518 can also be configured to interact with various sensors that communicate with a microcontroller in the grip set 500 to track the position of the closing trigger 512. A further discussion regarding The configuration and operation of the 518 lock release button set can be found in US Patent Application publication No. 2015/0272575.

[0065] In at least one form, the handle assembly 500 and the handle structure 506 can operationally support another drive system called in the present invention a trigger drive system 530, which is configured to apply trigger movements to the corresponding portions of the interchangeable surgical tool set that is attached to it. As described in detail in US Patent Application Publication No. 0272575, the firing drive system 530 may employ an electric motor 505 which is located in the pistol grip portion 504 of the handle assembly 500. In various forms, the 505 motor can be a brushed DC motor with a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the 505 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. The motor 505 can be powered by a power supply 522 which, in one form, can comprise a removable power source. The power source can support a plurality of lithium ion batteries ("Li ions") or other suitable ones therein. Several batteries connected in series or in parallel can be used as the 522 power source for the surgical system 10. In addition, the 522 power source can be replaceable and / or rechargeable.

[0066] The electric motor 505 is configured to drive axially a longitudinally movable driving member 540 (Figure 3) in the distal and proximal directions depending on the polarity of the motor. For example, when the 505 electric motor is driven in a direction of rotation, the longitudinally movable drive member will be axially driven in a distal "DD" direction. When motor 505 is driven in the opposite rotating direction, the longitudinally movable drive member 540 will be driven axially in the proximal direction "PD". The handle assembly 500 may include a key 513 that can be configured to reverse the polarity applied to the electric motor 505 by the power source 522 or otherwise control the motor

505. The handle set 500 can also include a sensor or sensors (not shown) that are configured to detect the position of the drive member and / or the direction in which the drive member is being moved. The actuation of the motor 505 can be controlled by a trigger trigger (not shown) which is in a position adjacent to the closing trigger 512 and pivotally supported in the handle set 500. The trigger trigger can be pivoted between an unacted position and an acted position. The trigger can be moved to the unacted position by means of a spring or other propensity arrangement so that when the doctor releases the trigger, it can be rotated or otherwise returned to the untreated position. actuated by means of the spring or the propensity arrangement. In at least one way, the trigger trigger can be positioned "away from the center" of the closing trigger

512. As discussed in US Patent Application Publication 2015/0272575, the grip handle 500 can be equipped with a trigger trigger safety button (not shown) to prevent inadvertent trigger trigger actuation. When the lock trigger 512 is in the unacted position, the safety button is contained in the grip set 500, where the doctor cannot readily access it and move it between a safety position, which avoids the trigger trigger action, and a trigger position, in which the trigger can be triggered. As the physician presses the closing trigger, the safety button and the trigger trigger pivot down to a position where they can then be manipulated by the physician.

[0067] In at least one shape, the longitudinally movable drive member 540 may have a tooth rack 542 formed thereon for engagement with a corresponding drive arrangement (not shown) that interacts - face with the engine. See Figure 3. Additional details regarding those features can be found in US Patent Application Publication No. 2015/0272575. In at least one arrangement, however, the longitudinally movable drive member is insulated to protect it from inadvertent RF energy. At least one form also includes a manually actuated "retraction" set, which is configured to allow the physician to manually retract the longitudinally movable drive member, in case the 505 engine stops running. The retract assembly may include a retract handle or lever assembly that is stored inside the grip assembly 500 under a removable door 550. See Figure 2. The lever can be configured to be manually pivoted into a ratchet hitch. the teeth on the drive member. In this way, the physician can manually retract drive member 540 using the retract handle assembly to engage the drive member in the proximal "PD" direction. US Patent Application No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE Fl- RING SYSTEM, the full description of which is incorporated herein by reference in the present invention, discloses retraction provisions and other components, provisions and systems that can also be used with the various interchangeable surgical tool sets disclosed in the present invention.

[0068] In the illustrated aspect, the interchangeable surgical tool set 1000 includes a surgical end actuator 1500 comprising a first jaw 1600 and a second jaw 1800. In one arrangement, the first jaw comprises an elongated channel 1602 which is configured to operationally support a conventional surgical (mechanical) staple / fastener cartridge 1400 (Figure 4) or a 1700 radio frequency (RF) cartridge (Figures 1 and 2) in it. The second claw 1800 comprises an anvil 1810 which is pivotally supported in relation to the elongated channel 1602. The anvil 1810 can be selectively moved towards and in the opposite direction to a surgical cartridge supported in the elongated channel 1602 between the open and closed positions. through the actuation of the closing drive system 510. In the illustrated arrangement, the anvil 1810 is pivotally supported on a proximal end portion of the elongated channel 1602 for selective pivoting displacement around a geometric pivot axis that is transverse to the axis of the drive shaft SA. The actuation of the closing drive system 510 may result in the distal axial movement of a proximal closing member or proximal closing tube 1910 that is attached to a 1920 hinge connector.

[0069] Returning to Figure 4, the hinge connector 1920 includes upper and lower protrusions 1922, 1924 that project distally from a distal end of the hinge connector 1920 to be movably coupled to a closure sleeve. end actuator or distal closing tube segment 1930. See Figure 3. The distal closing tube segment 1930 includes an upper protrusion 1932 and a lower protrusion (not shown) that project proximally from an ex - proximal tremor of the same. An upper double pivot link 1940 includes proximal and distal pins 1941, 1942 that engage the corresponding holes in the upper protrusions 1922, 1932 of the articulation connector 1920 and the distal closing tube segment 1930, respectively. Similarly, an upper double pivot link 1944 includes proximal and distal pins 1945, 1946 that engage the corresponding holes in the lower protrusions 1924 of the articulation connector tube segment 1920 and the distal closing tube segment 1930, respectively .

[0070] Still referring to Figure 4, in the illustrated example, the distal closing tube segment 1930 includes positive claw opening features or flaps 1936, 1938 that correspond to the corresponding portions of the anvil 1810 to apply opening movements to the anvil 1810, as the distal closing tube segment 1930 is retracted in the proximal direction PD to an initial position. Additional details related to the opening and closing of the 1810 anvil can be found in the US patent application, entitled SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES, power of attorney document number END8208USNP / 170096, filed on the same date of this document, whose The description is hereby incorporated by reference in the present invention.

[0071] As shown in Figure 5, in at least one arrangement, the interchangeable surgical tool set 1000 includes a tool frame set 1200 comprising a tool frame 1210 that operationally supports a nozzle set 1240 on the same. As additionally discussed in detail in the US patent application, entitled SURGICAL INSTRUMENT WITH AXI- ALLY MOVABLE CLOSURE MEMBER, power of attorney document END8209USNP / 170097, filed on the same date as this document, and which is incorporated herein by reference in its entirety in the present invention, the tool chassis 1210 and the nozzle arrangement 1240 facilitate the rotation of the surgical end actuator 1500 about a geometric axis of the SA drive shaft in relation to the tool chassis 1210. Such displacement rotational is represented by the arrow R in Figure 1. As also shown in Figures 4 and 5, the interchangeable surgical tool set 1000 includes a central column set 1250 that operationally supports the proximal closing tube 1910 and is coupled to the end actuator surgical strength 1500. In various circumstances, for ease of assembly, the central column assembly 1250 can be manufactured from an upper center column segment 1251 and a lower center column segment 1252 which are interconnected together by snap-fit, adhesive, welding, etc. In assembled form, the center column assembly 1250 includes a proximal end 1253 that is swiveled on the tool frame

1210. In an arrangement, for example, the proximal end 1253 of the center column assembly 1250 is attached to a dorsal bearing (not shown) that is configured to be supported within the tool chassis 1210. This arrangement facilitates the swivel attachment of the assembly center column 1250 to the tool chassis, so that the center column assembly 1250 can be selectively rotated around a geometry axis of the drive shaft SA relative to the tool chassis 1210.

[0072] As shown in Figure 4, the upper central column segment 1251 ends in a upper tab assembly feature 1260 and the lower central column segment 1252 ends in a lower tab assembly feature 1270. The upper tab assembly feature 1260 is formed with a tab groove 1262 in it which is adapted to mount a top assembly link 1264 in a passable manner. Similarly, the lower tab assembly feature 1270 is formed with a tab slot 1272 in it that is adapted to passably support a lower link 1274 in it. The upper link 1264 includes a pivot socket 1266 in which it is displaced from the axis of the drive shaft SA. The pivot socket 1266 is adapted to pivot a pivot pin 1634 which is formed on a cap retainer or channel anvil 1630 which is attached to a proximal end portion 1610 of the elongated channel 1602. O lower mounting link 1274 includes a lower pivot pin 1276 which is adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. The lower pivot pin 1276, as well as the pivot orifice 1611 is offset in relation to the axis of the drive shaft SA. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define the AA pivot geometry axis around which the surgical end actuator 1500 can pivot in relation to the SA pivot axis geometry. See Figure 1. Although the geometric axis of articulation AA is transversal to the geometric axis of the drive axis SA, in at least one arrangement, the geometric axis of articulation AA is laterally displaced from it and does not cross the axis drive shaft geometry SA.

[0073] Returning to Figure 5, a proximal end 1912 of the proximal closing tube 1910 is rotationally coupled to a reciprocating closing element 1914 by a connector 1916 that is seated in an annular groove 1915 in the closing pipe segment proximal 1910. The reciprocating closing element 1914 is supported for axial displacement inside the tool frame 1210 and has a pair of hooks 1917 in it configured to engage the closing drive system 510 when the tool frame 1210 is coupled to the grip frame 506. The tool frame 1210 additionally supports a locking set 1280 to releasably lock the tool frame 1210 to the grip frame 506. Additional details related to tool frame 1210 and locking set 1280 can be found in US Patent Application, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, power of attorney document number END8209U SNP / 170097, deposited on the same date as this document and the complete description of which is incorporated herein by reference.

[0074] The trigger drive system 530 in the handle set 500 is configured to be operationally coupled to a trigger system 1300 that is operationally supported in the interchangeable surgical tool set 1000. The trigger system 1300 can include a portion intermediate firing drive shaft 1310 which is configured to be axially moved in the distal and proximal directions in response to the corresponding firing movements applied to it by the firing drive system 530. See Figure 4. As shown in Figure 5, a proximal end 1312 of the middle portion of the firing drive shaft 1310 has a firing shaft fixing lug 1314 formed therefrom that is configured to be seated on a 544 base (Figure 3 ) located at the distal end of the longitudinally movable drive member 540 of the trigger drive system 530 within the set d and handle 500. This arrangement facilitates axial movement of the intermediate portion of the firing drive shaft 1310 through the actuation of the firing drive system 530. In the illustrated example, the intermediate portion of the firing drive shaft 1600 is configured for attachment to a distal cutting portion or knife bar 1320. As shown in Figure 4, knife bar 1320 is connected to a firing member or knife member 1330. The knife member 1330 comprises a body of knife 1332 which operationally supports a cutting blade of fabric 1334 therein. The knife body 1332 may additionally include flaps or anvil engaging features 1336 and channel engaging features or a foot 1338. Anvil engaging features 1336 can serve to apply additional closing movements to the anvil 1810 as the knife member 1330 is advanced distally through end actuator 1500.

[0075] In the illustrated example, the surgical end actuator 1500 is selectively pivotable about the geometric hinge axis AA by a hinge system 1360. In one form, hinge system 1360 includes proximal hinge driver 1370 which is pivotally coupled to a pivot link 1380. As can be seen more particularly in Figure 4, a displacement fixing tab 1373 is formed at a distal end 1372 of the proximal pivot actuator 1370. A pivot hole 1374 is formed on the displacement fixation tab 1373 and is configured to pivotively receive a proximal connecting pin 1382 formed at the proximal end 1381 of the link 1380. A distal end 1383 of the link link 1380 includes a pivot 1384 which is configured to pivotively receive a channel pin 1618 formed at the proximal end portion 1610 of the elongated channel 1602. Thus, the hand axial movement of the proximal articulation actuator 1370 will thus apply articulation movements to the elongated channel 1602 to thereby cause the surgical end actuator 1500 to articulate about the geometric axis of articulation AA in relation to the central column assembly 1250. In various circumstances, the 1370 proximal articulation trigger can be held in position by the 1390 articulation lock when the 1370 proximal articulation trigger is not being moved in the proximal or distal directions. Additional details related to an exemplary form of the 1390 joint lock can be found in US Patent Application, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME, power of attorney document END8217USNP / 170102, filed at same date as this document, the description of which is incorporated herein by reference in the present invention.

[0076] In addition to the above, the interchangeable surgical tool set 1000 can include a set of displacer 1100 that can be configured to selectively and releasably couple the

articulation connector proximal 1310 to the firing system 1300. As shown in Figure 5, in a form, the shifter assembly 1100 includes a locking collar or locking sleeve 1110 positioned around the intermediate portion of the drive shaft firing system 1310 of firing system 1300, in which locking sleeve 1110 can be rotated between an engaged position, in which locking sleeve 1110 operationally couples proximal articulation actuator 1370 to firing member assembly 1300, and a disengaged position, in which the proximal pivoting actuator 1370 is not operationally coupled to the firing member assembly 1300. When the locking sleeve 1110 is in its engaged position, the distal movement of the firing member assembly 1300 can move the proximal articulation actuator 1370 distally and correspondingly, the proximal movement of the trigger member assembly 1300 can move the proximal articulation actuator 1370 proximally. When the locking sleeve 1110 is in its disengaged position, the movement of the firing member 1300 is not transmitted to the proximal pivoting actuator 1370 and, as a result, the firing member 1300 can move independently of the proximal articulation actuator 1370. In many circumstances, the proximal articulation actuator 1370 can be held in position by the articulated lock 1390 when the proximal articulation actuator 1370 is not being moved in the proximal or distal direction by the limb assembly firing time 1300.

[0077] In the illustrated arrangement, the intermediate portion of the firing drive shaft 1310 of the firing member assembly 1300 is formed with two opposing flat sides with a driving notch 1316 formed there. See Figure 5. As can also be seen in Figure 5, locking sleeve 1110 comprises a cylindrical body,

or at least substantially cylindrical, which includes a longitudinal opening which is configured to receive the intermediate portion of the firing drive shaft 1310 therethrough.

The locking sleeve 1110 can comprise locking protrusions diametrically opposite and facing inwards, which, when the locking sleeve 1110 is in a position, are received in a lockable manner within the corresponding portions of the drive notch 1316 in the intermediate portion of the firing drive shaft 1310 and, when in another position, are not received within the driving notch 1316 to thus allow relative axial movement between the locking sleeve 1110 and the intermediate firing drive shaft ary 1310. As can be seen further in Figure 5, the locking sleeve 1110 additionally includes a locking member 1112 which is dimensioned to be movably received within a notch 1375 at a proximal end of the 1370 proximal articulation driver Such an arrangement allows locking sleeve 1110 to rotate slightly in and out of the engagement with the intermediate portion of the drive shaft firing position 1310, while remaining in position for engagement or engagement with notch 1375 on the 1370 proximal pivoting actuator. More particularly, when locking sleeve 1110 is in its engaged position, the locking projections are positioned inside the drive notch 1316 defined in the middle portion of the trigger drive shaft 1310, so that a distal pushing force and / or a proximal pull force can be transmitted from the trigger member assembly 1300 to the locking sleeve 1110 Such an axial push or pull movement is then transmitted from the locking sleeve 1110 to the proximal articulation actuator 1370, to thus articulate the surgical end actuator 1500. In effect, the firing member assembly 1300 , the locking sleeve 1110 and the proximal hinge driver 1370 will move together when the locking sleeve 1110 is in its engaged (hinge) position. On the other hand, when the locking sleeve 1110 is in its disengaged position, the locking protrusions are not received inside the drive notch 1316 of the intermediate portion of the drive shaft 1310 and, as a result, a force of distal thrust and / or a proximal pull force may not be transmitted from the firing set 1300 to the locking sleeve 1110 (and the proximal hinge driver 1370).

[0078] In the illustrated example, the relative movement of the locking sleeve 1110 between its engaged and disengaged positions can be controlled by the displacer assembly 1100 that interfaces with the 1910 proximal closing tube. Still referring to Figure 5 , the shifter assembly 1100 additionally includes a shifter key 1120 which is configured to be slidably received within a key groove formed on the outer perimeter of the locking sleeve 1110. This arrangement allows the shifter key 1120 moves axially in relation to the locking sleeve 1110. As discussed in more detail in the US patent application, entitled

SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, power of attorney document END8209USNP / 170097, deposited on the same date as this document, the description of which is hereby incorporated by reference in the present invention, a portion of the shifter key 1120 is configured for interact in cam mode with a cam opening (not shown) in the proximal closing tube portion 1910. In addition, in the illustrated example, the shifter assembly 1100 additionally includes a key drum 1130 which is rotatable in a proximal end portion of the proximal closing tube portion 1910. A portion of the shifter key 1120 extends through an axial slot segment in the key barrel 1130 and is received movably within an arcuate slot segment in the key barrel 1130. Key barrel torsion spring 1132 is mounted on key barrel 1130 and engages a portion of nozzle assembly 1240 to apply rotation or force torque that serves to turn the key drum 1130 until the shifter key portion 1120 reaches an end portion of the cam opening in the proximal closing tube portion

1910. When in this position, the key drum 1130 can apply a torsional force to that of the displacer 1120 which in this way causes the locking sleeve 1110 to rotate to its engaged position with the intermediate portion of the firing drive shaft 1310. This position also corresponds to the unactivated configuration of the 1910 proximal closing tube (and the distal closing tube segment 1930).

[0079] In an arrangement, for example, when the proximal closing tube 1910 is in a non-actuated configuration (anvil 1810 is in an open position spaced in the opposite direction to the cartridge mounted in the elongated channel 1602) the intermediate portion of the firing drive shaft 1310 will result in axial movement of the proximal pivot actuator 1370 to facilitate pivoting of the 1500 end actuator. Once the user has pivoted the surgical end actuator 1500 for a desired orientation , the user can then act the proximal closing tube portion

1910. The actuation of the proximal closing tube portion 1910 will result in the distal displacement of the segment of the distal closing tube 1930 to finally apply a closing movement to the anvil

1810. This distal displacement of the proximal closing tube portion 1910 will result in the cam opening in which it interacts in cam mode with a cam portion of the shifter key 1120 to thereby cause the shifter key 1120 to rotate locking sleeve 1110 in one actuating direction. Such rotation of the locking sleeve 1110 will result in the disengagement of the locking protrusions of the drive notch 1316 in the intermediate portion of the trigger drive shaft 1310. When in such a configuration, the trigger drive system 530 can be actuated to actuate the intermediate portion of the firing drive shaft 1310 without activating the proximal articulation trigger 1370. Additional details related to the operation of the key drum 1130 and locking sleeve 1110, as well as actuation and articulation firing arrangements Alternatives that can be used with the various sets of interchangeable surgical tools described here, can be found in US Patent Application Serial No. 13 / 803.086, now US Patent Application Publication No. 2014/0263541 and Publication US Patent Application Serial No. 15 / 019,196, the full disclosures of which are hereby incorporated by reference in the present invention.

[0080] As also illustrated in Figures 5 and 15, the interchangeable surgical tool set 1000 can comprise a set of slip ring 1150 that can be configured to conduct electrical energy to and / or from the surgical end actuator 1500 and / or communicate signals to and / or from the surgical end actuator 1500 back to an integrated circuit board 1152 while facilitating the rotational displacement of the drive shaft and end actuator 1500 around the geometric axis of the drive SA in relation to the tool chassis 1210 by rotating the nozzle assembly 1240. As shown in Figure 15, in at least one arrangement, the integrated circuit board 1152 includes an integrated connector 1154 which is configured to make interface with a compartment connector 562 (Figure 9) that communicates with a microprocessor 560 that is supported on the handle set 500 or robotic system controller, can r example. The 1150 slip ring assembly is configured to interface with a 1153 proximal connector that interfaces with the 1152 integrated circuit board. More details on the 1150 slip ring assembly and associated connectors can be found in the Order US Patent Application Serial No. 13 / 803,086, currently US Patent Application Publication No. 2014/0263541 and US Patent Application Serial No. 15 / 019,196, each of which has been incorporated by reference in its respective entirety as well as in US Patent Application Serial No. 13 / 800,067 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, currently US Patent Application Publication Serial No. 2014/0263552, which is hereby incorporated by reference in its entirety.

[0081] An exemplary version of the interchangeable surgical tool set 1000 disclosed in the present invention can be used in connection with a standard (mechanical) surgical clamp cartridge 1400 or a 1700 cartridge that is configured to facilitate cutting the tissue with the knife limb and seal the cut tissue using radio frequency (RF) energy. Again with reference to Figure 4, a cartridge of the conventional or standard mechanical type 1400 is shown. Such cartridge arrangements are known and may comprise a cartridge body 1402 that is sized and shaped to be removably received and supported in the elongated channel 1602. For example, the cartridge body 1402 can be configured to be removably retained in pressure engagement with the elongated channel 1602. The cartridge body 1402 includes an elongated slot 1404 to accommodate the displacement axis of knife member 1330 therethrough. The cartridge body 1402 operationally supports a plurality of clip drivers (not shown) which are aligned in rows on each side of a centrally arranged elongated slot 1404. The drivers are associated with corresponding clip / fastener pockets 1412 that open through the upper platform surface 1410 of the cartridge body 1402. Each of the clamp drivers holds one or more clamps or surgical clips (not shown) on it. A slide assembly 1420 is supported within a proximal end of cartridge body 1402 and is located proximal to the drivers and fasteners in an initial position when cartridge 1400 is new and not fired. Slider assembly 1420 includes a plurality of inclined or wedge-shaped cams 1422 with each cam 1422 corresponding to a specific line of fasteners or drivers located on one side of slot 1404. Slider assembly 1420 is configured to be placed in contact and driven by knife member 1330, as the knife member is driven distally through the fabric that is trapped between the anvil and the 1410 cartridge platform surface. As the drives are driven upward towards the platform surface of the cartridge 1410, the fastener (or fasteners) supported on them is driven out of their pockets for staples 1412 and through the fabric that is stuck between the anvil and the cartridge.

[0082] Still with reference to Figure 4, the anvil 1810, in at least one shape, includes an anvil mounting portion 1820 that has a pair of anvil sleeves 1822 that project laterally from it to be received articulated in corresponding trunnion bases 1614 formed on the vertical walls 1622 of the proximal end portion 1610 of the elongated channel 1602. Anvil trunnions 1822 are pivotally retained in their corresponding trunnion bases 1614 by the lid or anvil retainer channel 1630. The anvil mounting portion 1820 is supported

moved or pivoted in the elongated channel 1602 for selective pivoting displacement in relation to it around a fixed anvil pivot geometric axis that is transversal to the geometric axis of the drive axis SA. As shown in Figures 6 and 7, in at least one shape, the anvil 1810 includes an anvil body portion 1812 that is manufactured from an electrically conductive metallic material, for example, and has a lower shape surface. clamp 1813 which has a series of claw formation pockets 1814 formed therein on each side of a centrally arranged bevel slit 1815 which is configured to slide the knife member 1330 therein. The slit of the anvil 1815 opens in an upper opening 1816 that extends longitudinally through the body of the anvil 1812 to accommodate the anvil engaging features 1336 on the knife member 1330 during firing. When a staple cartridge / conventional mechanical surgical clamps 1400 is installed in the elongated channel 1602, the clamps / clamps are activated through the T fabric and in formation contact with the corresponding clamp formation pockets

1814. The anvil body 1812 may have an opening in the upper portion of it to facilitate installation, for example. An anvil cover 1818 can be inserted into it and welded to anvil body 1812 to close the opening and improve the overall stiffness of the anvil body 1812. As shown in Figure 7, to facilitate the use of the end actuator 1500 in In connection with RF 1700 cartridges, the segments facing the fabric 1817 of the lower fastener forming surface 1813 may have electrically insulating material 1819 in them.

[0083] In the illustrated arrangement, the interchangeable surgical tool set 1000 is configured with a trigger member locking system, generally designated as 1640. See Figure 8.

As shown in Figure 8, the elongate channel 1602 includes a lower surface or lower portion 1620 that has two vertical side walls 1622 that project from there. A centrally arranged longitudinal channel slot 1624 is formed through the lower portion 1620 to facilitate axial displacement of the knife member 1330 therethrough. The channel slot 1624 opens in a longitudinal passage 1626 that accommodates the channel or foot engagement feature 1338 in the knife member 1330. The passage 1626 serves to define two protruding inwardly extending portions 1628 that serve to engage the portions corresponding to the 1338 channel or foot hitch feature. The triggering member locking system 1640 includes proximal openings 1642 located on each side of channel slot 1624 that are configured to receive corresponding portions of the 1338 channel or foot hitch feature when knife member 1330 is in an initial position. A knife locking spring 1650 is supported at the proximal end 1610 of the elongate channel 1602 and serves to force the knife member 1330 downwards. As shown in Figure 8, knife lock spring 1650 includes two distally terminating spring arms 1652 that are configured to engage corresponding center channel engagement features 1337 on the knife body

1332. The spring arms 1652 are configured to tilt the center channel hitch features 1337 down. In this way, when in the initial (not fired) position, knife member 1330 is angled down so that channel or foot engagement features 1338 are received into the corresponding proximal openings 1642 in elongated channel 1602. When in locked position , if someone tries to advance knife 1330 distally, central channel engaging features 1137 and / or foot 1338 could engage vertical projections 1654 in elongate channel 1602 (Figures 8 and 11) and knife 1330 could not be fired.

[0084] Still referring to Figure 8, the trigger member locking system 1640 also includes an unlocking set 1660 formed or supported at a distal end of the trigger member body 1332. The unlocking set 1660 includes a protrusion that extends distally 1662 which is configured to engage an unlock feature 1426 formed in slide set 1420 when slide set 1420 is in its initial position in an untapped surgical staple cartridge 1400. Thus, when a Surgical staple cartridge not fired 1400 is properly installed in the elongated channel 1602, the protrusion 1662 in the unlocking set 1660 comes into contact with the unlocking feature 1426 in the slide set 1420 which serves to tilt the knife member 1330 upwards , so that the central channel hitch 1137 and / or foot 1338 features clean the vertical projections 1654 at the bottom of the channel 1620 to facilitate the axial passage of the knife member 1330 through the elongated channel 1602. If a partially fired cartridge 1400 is inadvertently installed in the elongated channel, the slide assembly 1420 will not be in the starting position and the knife member 1330 will remain in the locked position.

[0085] The attachment of the interchangeable surgical tool set 1000 to the handle set 500 will now be described with reference to Figures 3 and 9. To start the coupling process, the doctor can position the tool frame 1210 of the set interchangeable surgical tool 1000 above or adjacent to the distal end of the grip structure 506 so that the tapered clamping portions 1212 formed on the tool frame 1210 are aligned with the slot slots 507 in the grip structure 506 The physician can then move the 1000 interchangeable surgical tool set along a geometry axis

IA which is perpendicular to the drive axis SA to seat the tapered fastening portions 1212 in "operational engagement" with the corresponding receiving slots 507 at the distal end of the grip structure 506. When doing this, the tab drive shaft 1314 attachment to the intermediate portion of the drive drive shaft 1310 will also be seated on the base 544 on the longitudinally movable drive member 540 within the handle assembly 500 and the portions of a pin 516 on a closing link 514 will be seated on the corresponding hooks 1917 on the reciprocating closing element 1914. As used in the present invention, the term "operable hitch" in reference to two components means that the two components are engaged with each other in such a way that, by means of application of an actuation movement to them, the components can carry out the desired action, function and / or procedure. In addition, during this process, the integrated connector 1154 in the surgical tool set 1000 is coupled to the compartment connector 562 that communicates with the microprocessor 560 that is supported in the handle set 500 or robotic system controller , for example.

[0086] During a typical surgical procedure, the doctor can insert the surgical end actuator 1500 into the surgical site through a trocar or other opening in the patient to access the target tissue. In doing so, the physician typically axially aligns the surgical end actuator 1500 along the geometric axis of the drive shaft SA (non-articulated state). Once the surgical end actuator 1500 passes through the trocar port, for example, the physician may need to articulate the end actuator 1500 to position it advantageously adjacent to the target tissue. That is, before closing the anvil 1810 on the target tissue, so that the closing drive system 510 remains unacted. When in this position, the actuation of the triggering system 530 will result in the application of articulation movements to the proximal articulation driver 1370. Once the end actuator 1500 has reached the desired articulated position, the triggering system 530 is deactivated and the hinge lock 1390 can hold the surgical end actuator 1500 in the hinged position. The physician can then actuate the closing drive system 510 to close the anvil 1810 on the target tissue. Such actuation of the closing drive system 510 can also result in the displacer assembly 1100 which detaches the proximal articulation driver 1370 from the intermediate portion of the firing drive shaft

1310. Thus, once the target tissue has been captured in the surgical end actuator 1500, the physician can again activate the trigger drive system 530 to axially advance the trigger member 1330 through the fastener cartridge / surgical staples 1400 or RF cartridge 1700 for cutting the clamped tissue and firing the clamps / fasteners in the cutting tissue T. Other closing and firing trigger arrangements, actuator arrangements (portable, manual and automated or robotic ) can also be used to control the axial movement of the closing system components, the articulation system components and / or the trigger system components of the surgical tool set 1000 without departing from the scope of the present description.

[0087] As indicated above, the surgical tool set 1000 is configured to be used in conjunction with conventional mechanical surgical clamp / clamp cartridges 1400, as well as with RF 1700 cartridges. In at least one form, the 1700 cartridge it can facilitate the mechanical cutting of the tissue that is stuck between the anvil 1810 and the RF cartridge 1700 with the knife member 1330, while the electric coagulation current is applied to the tissue in the current path. Alternative arrangements for mechanically cutting and coagulating tissue using electrical current are disclosed, for example, in US patent applications No. 5,403,312; No. 7,780,663 and patent application No. US 15 / 142,609, entitled ELECTROSURGICAL INSTRUMENT

WITH ELECTRICALLY CONDUCTIVE GAP SETTING AND TISSUE ENGAGING MEMBERS, the entirety of the disclosures of each of said references being incorporated as a reference in the present invention. Such instruments can, for example, improve hemostasis, reduce surgical complexity, as well as time in the operating room.

[0088] As shown in Figures 10 to 12, in at least one arrangement, the RF surgical cartridge 1700 includes a cartridge body 1710 that is sized and shaped to be received and removably supported in the elongated channel 1602. For example, the cartridge body 1710 can be configured to be removably retained by pressure engagement with the elongated channel 1602. In various arrangements, the cartridge body 1710 can be manufactured from a polymeric material, such as, for example, a engineering thermoplastic such as liquid crystal polymer (LCP) liquid crystal polymer Vectra'Y and the elongated channel 1602 can be made from metal. In at least one aspect, the cartridge body 1710 includes an elongated centrally arranged slot 1712 that extends longitudinally through the cartridge body to accommodate the longitudinal displacement of the knife 1330 therethrough. As shown in Figures and 11, a pair of locking engagement tails 1714 extends proximally from the cartridge body 1710. Each locking input tail 1714 has a locking block 1716 formed on the underside of it. sized to be received within a corresponding proximal opening portion 1642 at the bottom of

nal 1620. Thus, when cartridge 1700 is properly installed in elongated channel 1602, locking tails 1714 cover openings 1642 and projections 1654 to hold knife 1330 in an unlocked position ready for firing.

[0089] Now with reference to Figures 10 to 13, in the illustrated example, the cartridge body 1710 is formed with a centrally arranged electrode block 1720. As can be seen more particularly in Figure 6, the elongated slot 1712 extends through the center of the electrode block 1720 and serves to divide the block 1720 into a left block segment 1720L and a right block segment 1720R. A right flexible circuit set 1730R is attached to the right block segment 1720R and a left flexible circuit set 1730L is attached to the left block segment 1720L. In at least one arrangement, for example, the straight flexible circuit 1730R comprises a plurality of 1732R electrical conductors which may include, for example, wider electrical conductors / conductors for RF purposes and thinner electrical conductors for conventional stapling that are supported or fixed or embedded in a 1734R right insulating sheath / member that is fixed to the 1720R right block. In addition, the 1730R right flexible circuit assembly includes a 1736R "phase one" proximal right electrode and a 1738R "phase two" distal right electrode. Likewise, the left flexible circuit assembly 1730L comprises a plurality of 1732L electrical conductors which may include, for example, wider electrical conductors / conductors for RF purposes and thinner electrical conductors for conventional stapling purposes which are supported or fixed or embedded in a 1734L left insulating sheath / member that is fixed to the left 1720L block. In addition, the 1730L left flexible circuit pack includes a 1736L proximal "phase one" left electrode and a 1738L distal left "phase two" electrode. The 1732L, 1732R left and right electrical conductors are attached to a 1740 distal integrated microcircuit mounted on the distal end portion of the 1710 cartridge body. In one arrangement, for example, each of the 1730R, 1730L right and left flexible circuits can have a total "CW" width of approximately 0.025 inches and each of the 1736R, 1736L, 1738R, 1738R electrodes has an "EW" width of approximately 0.010 inch, for example. See Figure 13. However, other widths / sizes are contemplated that can be used in alternative aspects.

[0090] In at least one arrangement, the RF energy is supplied to the surgical tool set 1000 by a conventional RF generator 400 via a supply conductor 402. In at least one arrangement, the supply conductor 402 includes a set of male plug 406 that is configured to be plugged into corresponding female connectors 410 which are attached to a segmented RF circuit 1160 on an integrated circuit board 1152. See Figure

15. This arrangement facilitates the rotational displacement of the drive shaft end actuator 1500 around the drive shaft geometric axis SA in relation to the tool chassis 1210 by rotating the nozzle assembly 1240 without winding the supply conductor 402 of generator 400. An integrated on / off switch 420 is supported on lock set 1280 and on tool chassis 1210 to turn the RF generator on and off. When tool set 1000 is operationally coupled to handle set 500 or robotic system, the integrated segmented RF circuit 1160 communicates with microprocessor 560 through connectors 1154 and 562. As shown in Figure 1, the set handle 500 can also include a display screen 430 for viewing

use of information on sealing progress, stapling, knife location, cartridge status, fabric, temperature, etc. As can also be seen in Figure 15, the slip ring assembly 1150 interfaces with a distal connector 1162 that includes a strip or flexible circuit assembly 1164 that can include a plurality of narrow electrical conductors 1166 for activities related to stapling and wider 1168 electrical conductors used for RF purposes. As shown in Figures 14 and 15, the flexible drive shaft circuit strip 1164 is centrally supported between the laminated plates or bars 1322 that form knife bar 1320. This arrangement facilitates sufficient flexing of knife bar 1320 and the strip of flexible drive shaft circuit 1164 during articulation of end actuator 1500 while remaining sufficiently rigid to allow knife member 1330 to be distally advanced through the trapped tissue.

[0091] Again with reference to Figure 10, in at least one illustrated arrangement, the elongated channel 1602 includes a channel circuit 1670 supported in a recess 1621 that extends from the proximal end 1610 of the elongated channel 1602 to a distal location 1623 in the lower portion of the elongated channel 1620. The channel circuit 1670 includes a proximal contact portion 1672 that contacts a distal contact portion 1169 of the drive shaft flexible circuit strip 1164 for electrical contact therewith. A distal end 1674 of channel circuit 1670 is received within a corresponding wall recess 1625 formed in one of the walls of channel 1622 and is folded over and attached to an upper edge 1627 of the wall of channel 1622. A series of contacts corresponding exposed 1676 are provided at distal end 1674 of channel circuit 1670, as shown in Figure 10. As can also be seen in Figure 10, an end 1752 of a flexible cartridge circuit 1750 is attached to the distal integrated chip 1740 and is attached to the distal end portion of the cartridge body 1710. Another end 1754 is folded over the edge of the cartridge platform surface 1711 and includes exposed contacts 1756 configured to make electrical contact with the exposed contacts 1676 of the channel circuit

1670. Thus, when the RF cartridge 1700 is installed in the elongated channel 1602, the electrodes, as well as the distal integrated microcircuit 1740 are powered and communicate with the integrated circuit board 1152 through the contact between the flexible cartridge circuit 1750 , the flexible channel circuit 1670, the flexible drive shaft circuit 1164 and the slip ring assembly 1150.

[0092] Figures 16A and 16B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 that comprises two drawing sheets according to an aspect of this description. Referring mainly to Figures 16A and 16B, a handle assembly 702 can include an engine 714, which can be controlled by an engine driver 715 and can be employed by the trigger system of the surgical instrument 10. In various ways, the motor 714 can be a direct current (dc) drive motor with brushes with a maximum rotation speed of approximately 25,000 rpm. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter that comprises field effect transistors (FETs) 719, for example. The motor 714 can be powered by the power set 706 removably mounted on the handle set 500 to supply control energy to the surgical instrument 10. The power set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the power source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack can be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium-ion batteries that can be separately attachable to the 706 power pack.

[0093] The drive shaft assembly 704 can include a drive shaft assembly controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the shaft assembly drive 704 and power supply 706 are coupled to handle assembly 702. For example, the interface may comprise a first portion of interface 725 that may include one or more electrical connectors for coupling coupling with electrical connectors. corresponding drive shaft assembly and a second interface portion 727 which may include one or more connectors for coupling coupling with the corresponding electrical connectors of the power supply set to enable electrical communication between the controller of the drive shaft assembly drive 722 and power management controller 716 while drive shaft assembly 704 and power supply action 706 are coupled to the handle assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the management controller power

716. In response, the power management controller can modulate the battery power output of the power supply 706, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The connectors can comprise switches that can be activated after mechanically coupling the handle assembly 702 to the drive shaft assembly 704 and / or the power supply 706 to allow electrical communication between the controller of drive shaft 722 and the power management controller

716.

[0094] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located in the assembly handle grip 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the supply set 706 are coupled to handle set 702.

[0095] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cor- tex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated 256 KB single cycle flash memory, or other memory non-volatile, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the program StellarisWareGO, 2 KB electronically programmable and erasable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder (QEI) input analogues, one or more 12-bit analog to digital converters (ADC) with 12 channels of analog input, details of which are available for the product data sheet.

[0096] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for critical safety applications IEC 61508 and ISO 26262, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.

[0097] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensing circuit 736. The power management circuit may be configured to modulate the battery output energy based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power assembly 706 are coupled to the handle assembly 702. The con- power management controller 716 can be programmed to control power modulator 738 from the power output of the power supply 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 on the battery power output so that the power management controller 716 can adjust the power output from the supply set 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.

[0098] The surgical instrument 10 (Figures 1 to 5) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with LCD screen, LED indicators), hearing feedback devices (for example, a speaker, a bell) or devices tactile feedback (eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to an user of surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. The output device 742 can instead be integrated with the supply set 706. In these circumstances, communication between the output device 742 and the drive shaft assembly controller 722 can be done via the interface, while the drive shaft assembly 704 is coupled to the handle assembly

702.

[0099] The control circuit 700 comprises circuit segments configured to control the operations of the powered surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2 ). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, a encoder, a motor segment, and a power segment. Each of the circuit segments can be coupled to the safety controller and / or to the main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board (PCBA) assembly inside the energized surgical instrument 10. It should be understood that the term processor, as used here, includes any microprocessor, processor, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The main controller 717 is a programmable multipurpose device that accepts digital data as input, processes it according to the instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described herein.

[0100] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.

[0101] The screen or display segment (segment 4) comprises a display connector coupled to the main controller 717. The display connector couples the primary controller 717 to a display via one or more drivers of the display integrated circuits. The drivers of the integrated circuits of the screen may be integrated with the screen and / or may be located separately from the screen. The display may comprise any suitable display, such as an organic light emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.

[0102] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 500 coupled to surgical instrument 10 (Figures 1 to 5) and / or one or more controls for a 1500 end actuator coupled to the interchangeable drive shaft assembly 500. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a shaft PCBA EEPROM memory. drive. The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or specific programs for the interchangeable drive shaft assembly 500 and / or the drive shaft PCBA. The drive shaft PCBA can be attached to the interchangeable drive shaft assembly 500 and / or can be integral with the surgical instrument

10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second EE-PROM of the drive axis comprises a plurality of algorithms, routines, parameters, and / or other data that correspond to one or more sets of drive axes 500 and / or end actuators 1500 that can make interface with the energized surgical instrument 10.

[0103] The position encoder segment (segment 6) comprises one or more magnetic encoders of the rotation angle position. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 500 and / or an end actuator 1500 of the surgical instrument 10 (Figures 1 to 5). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.

[0104] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 5). The motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.

[0105] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation signal (PWM), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.

[0106] The power segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values for one or more circuit segments. For example, in some examples, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as up to 13 V. The voltage amplifier converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.

[0107] A plurality of keys are coupled to the safety controller and / or the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 5), of the segmented circuit , and / or indicate a state of the surgical instrument 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key from the left pivot side to the right side, one from the right pivot side to the right side, and a central pivot key to the right side are configured to control the articulation of an interchangeable drive shaft assembly 500 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left side and a reverse key on the right side are attached to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the the left side, the central articulation key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flex connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.

[0108] Any suitable mechanical, electromechanical, or solid state keys can be used to implement the plurality of keys in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 5) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device consisting of a mechanically connected actuator

to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid-state switches that work under the influence of a magnetic field, such as Hall effect devices, magnetic resistive devices (MR), giant magnet resistive devices ("GMR" - magneto-resistive gi- ant ), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid-state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include switches without an electrical conductor, ultrasonic switches, accelerometers, inertia sensors, among others.

[0109] Figure 17 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the handle assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the assembly interchangeable drive shaft 704, according to one aspect of the present description. The handle assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a power management circuit 734 which can comprise the power management controller 716, a power modulator

738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the needs of energy of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the feeding assembly 706 are coupled to the handle assembly 702. The energy management controller 716 can be programmed to control the power modulator 738 of the power output of the power supply 706 and the current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the output battery power 707 so that the power management controller 716 can adjust the power output of the power pack 706 to m maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 for electrically coupling the drive shaft assembly 704 to the handle assembly 702. Drive shaft assembly connectors 726, 728 form an interface 725. Main controller 717, drive shaft processor 719 and / or power management controller 716 can be configured to implement one or more of the processes described here.

[0110] The surgical instrument 10 (Figures 1 to 5) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices.

(for example, haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 that may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can provide feedback to a user of surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. The output 742 can be integrated with the supply set 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be done via interface 725 while the interchangeable drive shaft assembly 704 is coupled to the handle assembly 702. Having described a control circuit 700 (Figures 16A, 16B and 6) to control the operation of the surgical instrument 10 (Fig uras 1 to 5), the description now turns to various configurations of the surgical instrument 10 (Figures 1 to 5) and the control circuit 700.

[0111] Figure 18 is a schematic diagram of a surgical instrument 600 configured to control various functions, in accordance with an aspect of the present description. In one aspect, the surgical instrument 600 is programmed to control the distal translation of a displacement member, such as the beam with a | 614. The surgical instrument 600 comprises an end actuator 602 that can comprise an anvil 616, a beam with a profile in | 614 and a removable staple cartridge 618 that can be interchanged with an RF 609 cartridge (shown in dashed line). The end actuator 602, the anvil 616, the beam with profile | 618 and the RF cartridge 609 can be configured as described here, for example, with reference to Figures 1 to 15. For brevity and clarity of the description, various aspects of the present description can be described with reference to

Figure 18. It will be understood that the components shown schematically in Figure 18 such as control circuit 610, sensors 638, position sensor 634, end actuator 602, beam with profile in | 614, staple cartridge 618, RF cartridge 609, anvil 616, are described in connection with Figures 1 to 17 of the present description.

[0112] Consequently, the components represented schematically in Figure 18 can be readily replaced by the equivalent physical and functional components described in connection with Figures 1 to 17. For example, in one aspect, the control circuit 610 can be implemented as the control circuit 700 shown and described in connection with Figures 16 and 17. In one aspect, sensors 638 can be implemented as a limit switch, electromechanical device, solid state switches, Hall effect devices, magnetoresistive devices (MR) giant magnetorresistive devices (GMR), magnetometers, among others. In other implementations, 638 sensors can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). In other implementations, 638 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors, among others. In one aspect, the 634 position sensor can be implemented as an absolute positioning system, which comprises a rotating magnetic absolute positioning system implemented as a single integrated circuit rotating magnetic position sensor, ASSOSSEQFT , available from Austria Microsystems, AG. The position sensor 634 can interface with the control circuit 700 to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor (for Digital Computer for Coordinate Rotation), also known as the digit by digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, bit shift and lookup table operations. In one aspect, end actuator 602 can be implemented as a surgical end actuator 1500 shown and described in connection with Figures 1, 2 and 4. In one aspect, the beam with | 614 can be implemented as knife member 1330 comprising a knife body 1332 that operationally supports a tissue cutting blade 1334 therein and may additionally include flaps or anvil engaging features 1336 and channel engaging features or a foot 1338, as shown and described in connection with Figures 2 to 4.8, 11 and 14. In one aspect, the staple cartridge 618 can be implemented as the standard (mechanical) surgical clamp cartridge 1400 shown and described in connection with Figure 4. In one aspect, the RF 609 cartridge can be implemented as the 1700 radio frequency (RF) cartridge shown and described in connection with Figures 1,2,6 and 10 to 13. In one aspect, anvil 616 can be implemented with the anvil 1810 shown and described in connection with Figures 1,2,4e6. These and other sensor arrangements are described in Commonly Owned US Patent Application No. 15 / 628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, which is incorporated here reference title in its entirety.

[0113] The position, movement, displacement and / or translation of a member of linear displacement, such as the beam with profile in | 614,

can be measured by an absolute positioning system, sensor position and position sensor represented as the 634 position sensor. Due to the beam with | 614 be coupled to a longitudinally movable drive member 540, the beam position with | 614 can be determined by measuring the position of the longitudinally movable driving member 540 using the position sensor 634. Consequently, in the following description, the position, displacement and / or translation of the closing member 614 can obtained by the 634 position sensor, as described in the present invention. A control circuit 610, like the control circuit 700 described in Figures 16A and 16B, can be programmed to control the translation of the displacement member, such as the beam with | 614, as described in the present invention. The control circuit 610, in some examples, may comprise one or more microcontrollers, microprocessors, or other processors suitable for executing instructions that cause the processor or processors to control the displacement member, for example, the beam with profile in | 614, in the manner described. In one aspect, a timer / counter circuit 631 provides an output signal, such as elapsed time or a digital count, to control circuit 610 to correlate the beam position with | 614, as determined by the position sensor 634, with the output of the timer / counter circuit 631 so that the control circuit 610 can determine the position of the beam with profile in | 614 at a specific time (t) in relation to an initial position. The timer / counter circuit 631 can be configured to measure elapsed time, count external events, or measure external events.

[0114] Control circuit 610 can generate a 622 motor setpoint signal. The 622 motor setpoint signal can be supplied to a 608 motor controller. The 608 motor controller can comprise one or more circuits configured to provide a motor 624 drive signal to motor 604 to drive motor 604, as described in the present invention. In some examples, motor 604 may be a brushed direct current (DC) electric motor, such as motor 505 shown in Figure 1. For example, the speed of motor 604 may be proportional to the drive signal of motor 624 In some instances, motor 604 may be a brushless electric motor (DC) and the motor drive signal 624 may comprise a pulse width modulated (PWM) signal supplied to one or more motor stator windings 604. In addition, in some instances, the motor controller 608 can be omitted, and the control circuit 610 can generate the drive signal of motor 624 directly.

[0115] The 604 motor can receive power from a power source

612. The energy source 612 can be or include a battery, a super capacitor, or any other suitable energy source 612. The motor 604 can be mechanically coupled to the beam with profile in | 614 by means of a transmission 606. The transmission 606 may include one or more gears or other connecting components for coupling the motor 604 to the beam with profile in | 614. A 634 position sensor can detect a beam position with | 614. The position sensor 634 can be or can include any type of sensor that is capable of generating position data that indicate a beam position with profile in | 614. In some examples, the 634 position sensor may include an encoder configured to supply a series of pulses to the 610 control circuit according to the beam with profile | 614 moved distally and proximally. Control circuit 610 can track pulses to determine the position of the beam with profile in | 614. Another suitable position sensor can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with profile in | 614. In addition, in some examples, the 634 position sensor may be omitted. When motor 604 is a stepper motor, control circuit 610 can track the position of the beam with profile in | 614 by adding the number and orientation of the steps that the 604 engine was instructed to perform. The 634 position sensor can be located on the end actuator 602 or any other portion of the instrument.

[0116] Control circuit 610 can be in communication with one or more 638 sensors. Sensors 638 can be positioned on end actuator 602 and adapted to work with surgical instrument 600 to measure the various derived parameters such as distance the gap in relation to time, the compression of the tissue in relation to time and the deformation of the anvil in relation to time. The 638 sensors may comprise, for example, a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator

602. 638 sensors can include one or more sensors.

[0117] The one or more 638 sensors may comprise a strain gauge, such as a micro strain gauge, configured to measure the magnitude of the strain on the anvil 616 during a stuck condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 638 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 616 and the staple cartridge 618. The 638 sensors can be configured to detect the impedance of a section of tissue situated between the anvil

616 and the staple cartridge 618 which is indicative of the thickness and / or completeness of the fabric located between them.

[0118] The 638 sensors can be configured to measure the forces exerted on the 616 anvil by the closing drive system. For example, one or more sensors 638 may be at an interaction point between the closing tube 1910 (Figures 1a4) and the anvil 616 to detect the closing forces applied by the closing tube 1910 to the anvil 616. The forces exerted on the anvil 616 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 616 and the staple cartridge 618. The one or more sensors 638 can be positioned at various points of interaction throughout the closing drive system for detect the closing forces applied to the anvil 616 by the closing drive system. The one or more sensors 638 can be sampled in real time during a gripping operation by a processor as described in Figures 16A to 16B. The control circuit 610 receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time, the closing forces applied to the anvil 616.

[0119] A current sensor 636 can be used to measure the current drained by the 604 motor. The force required to advance the beam with profile in | 614 corresponds to the current drained by the motor 604. The measured force is converted into a digital signal and supplied to the control circuit 610.

[0120] The RF 400 power source is coupled to the end actuator 602 and is applied to the RF cartridge 609 when the RF cartridge 609 is loaded on the end actuator 602 in place of the clamp cartridge 618. Control circuit 610 controls the supply of RF energy to the RF cartridge 609.

[0121] In several respects, the surgical instrument can include one or more sensors that are configured to measure a variety of different parameters associated with the operation of the surgical instrument. Such parameters can include the state of the RF energy applied by the surgical instrument, the temperature of the tissue being sealed by the surgical instrument, the water content of the tissue, the operating status of the surgical instrument, and the thickness of the attached tissue. The surgical instrument can be configured to monitor these various parameters and present information associated with them to the instrument operator, for example, through screen 430 (Figure 1). In various aspects, the screen 430 can present the monitored parameters to the operator through a graphical display.

[0122] In some aspects, the surgical instrument may include a sensor or sensor set configured to detect the position of the closing trigger, that is, if the closing trigger is activated. One of these aspects is represented in Figures 19 and 20, which are seen in lateral elevation of the surgical instrument 2000 with the casing removed, in which the closing trigger 2002 is alternately in the actuated and not actuated positions, according to one or more aspects of this description. As described in more detail above, the unactivated position of the closing trigger 2002 is associated with an open or unstuck position of the end actuator 1500 (Figure 1) in which the fabric can be positioned between the claws 1600, 1800 and the position actuation of the closing trigger 2002 is associated with a closed or clamped position of the end actuator 1500 in which the fabric can be clamped between the claws 1600, 1800. The closing trigger 2002 may comprise a arm 2004 that is directly connected or directly to it through a mechanical coupling, so that the arm 2004 rotates with the action of the closing trigger 2002. In one aspect, a trigger detection set 2005 comprises a magnetic element 2006, such as a permanent magnet, arranged at a distal end of the arm 2004 and a sensor 2008 that is configured to detect the movement of the magnetic element 2006. The sensor 2008 can comprise, for example, a configured Hall effect sensor to detect changes in a magnetic field surrounding the Hall effect sensor caused by the movement of the magnetic element (2006). When the sensor 2008 can detect the movement of the magnetic element 2006 and the movement of the magnetic element 2006 corresponds to the position of the closing trigger 2002 in a known manner, the trigger detection set 2005 can therefore detect whether the closing trigger 2002 is in the actuated position, in the not acted position or in another intermediate position.

[0123] In another aspect, the trigger detection set 2005 comprises a sensor or switch that is activated when the closing trigger system 510 (Figure 1) locks the closing trigger 2002 to the fully depressed or fully depressed position. triggered. In this respect, the key can generate a signal that indicates that the lock is engaged and, thus, that the closing trigger 2002 is fully pressed.

[0124] In another aspect described in US Patent Application Publication No. 2014/0296874, entitled ROBOTICALLY-CON-TROLLED END EFFECTOR, which is incorporated by reference in its entirety, the trigger set 2005 comprises a sensor of force positioned between the closing trigger 2002 and the pivot pin 2003 around which the closing trigger 2002 rotates. In this regard, pulling the closing trigger 2002 towards the handle portion of the pistol 2001 causes the closing trigger 512 to exert a force on the pivot pin 2003. The force sensor is configured to detect this force and generate a signal in response to that.

[0125] The detection trigger set 2005 can communicate by signal with a 2102 controller (Figure 25) via a wired or wireless connection so that any signal generated by the detection trigger set 2005 is transmitted to the controller 2102. The trigger detection set 2005 can be configured to continuously monitor the position of the closing trigger 2002 throughout the operation of the instrument by sampling the detected parameter (s) or transmission a feedback signal indicating the detected parameter (s) with a minimum delay. In several respects, the 2005 trigger trigger assembly may comprise an analog sensor configured to generate a signal corresponding to the degree of force exerted on the closing trigger 2002 and / or a specific position of the closing trigger 2002 In these aspects, an analog-to-digital converter can be positioned between the trigger detection set 2005 and the controller 2102. In several other aspects, the trigger detection set 2005 can comprise a digital sensor configured to generate an indicative signal only the possibility of the closing trigger 2002 being activated or not activated.

[0126] In some aspects, the surgical instrument may include a sensor or sensor set that is configured to detect the thickness of the tissue attached by the end actuator. One of these aspects is represented in Figures 21 and 22, which are a perspective view of an end actuator 2020 comprising a fabric thickness detection set 2022 and a schematic view of a sensor 2024 of the fabric thickness detection set 2022, in accordance with one or more aspects of the present description. The tissue thickness detection assembly 2022 may comprise a sensor 2024 arranged in a first claw 2034 or an RF cartridge 2042 and a magnetic element 2032, such as a permanent magnet, arranged in a second claw 2036 of the end actuator 2020 .

In one aspect, the sensor 2024 is arranged or adjacent to the distal end 2038 of the first claw 2034, so that it is positioned distally from the electrodes of the RF cartridge, and the magnetic element 2032 is correspondingly arranged in or adjacent to the distal end 2040 of the second claw 2036. The sensor 2024 may comprise a magnetic field detection element 2026 that is configured to detect the movement of the magnetic element 2006, such as a Hall effect sensor, configured to detect changes in a field magnet surrounding the Hall effect sensor caused by the movement of the magnetic element 2032. When the operator closes the end actuator 2020, the magnetic element 2032 rotates downwards closer to the magnetic field detection element 2026, thus varying the magnetic field detected by the magnetic field detection element 2026 as the claw or claws rotate to the closed (or clamped) position. The strength of the magnetic field from the magnetic element 2032 detected by the magnetic field detection element 2026 is indicative of the distance between the first jaw 2034 and the second jaw 2036, which in turn is indicative of the thickness of the tissue trapped between them.

For example, a greater distance between the first claw 2034 and the second claw 2036 and therefore a weaker magnetic field detected by the magnetic field detection element 2026, may indicate that thick tissue is present between the first claw 2034 and the second claw 2036. For example, a shorter distance between the first claw 2034 and the second claw 2036, and therefore a stronger magnetic field detected by the magnetic field detection element 2026, may indicate that thin tissue is present between the first claw 2034 and the second claw 2036. The magnetic field detection element 2026 can be configured to detect and generate a signal corresponding to the relative or absolute strength

fight of the detected magnetic field, thus allowing the surgical instrument to detect the relative or absolute thickness of the trapped tissue, according to the resolution of the sending of elements by the magnetic field 2026.

[0127] In another aspect, the fabric thickness detection set 2022 may comprise a displacement sensor that is arranged in the articulation joint between the first claw 2034 and the second claw 2036. In that aspect, the displacement sensor is configured to detect the position of the claws 2034, 2036, in relation to each other, which, in turn, is indicative of the thickness of the tissue stuck between them when the end actuator 2020 is in the clamped position. For example, in an aspect described in patent application publication No. 2014/0296874, in which the anvil 1810 comprises pivot pins that are received inside the corresponding openings arranged in the elongated channel (Figure 4), the thickness detection set of tissue 2022 may comprise a sensor positioned adjacent or within the openings of the elongated channel 1602. In this respect, as the anvil 1810 is closed, the pivot pins slide through the openings and come into contact with the sensor , causing the sensor to generate a signal indicating that the anvil 1810 is closed.

[0128] In other respects, the tissue thickness detection set 2022 may additionally comprise a "reed switch" sensor, a displacement sensor, an optical sensor, a magnet-induced sensor, a force sensor, a sensor pressure sensor, a piezo-resistive film sensor, an ultrasonic sensor, an eddy current sensor, an accelerometer, a pulse oximeter sensor, a temperature sensor, a sensor configured to detect an electrical characteristic of a tissue path ( capacitance or resistance) or any combination thereof. In one of these

aspects, the fabric thickness detection set 2022 may comprise a first electrical sensor disposed on the first claw 2034 and a second corresponding electrical sensor disposed on the second claw 2036, the first sensor being configured to transmit an electric current that is detected by the second sensor through the tissue captured by the end actuator 2020. The detected current can be used by the tissue thickness detection set 2022 to determine the thickness of the trapped tissue since the tissue resistance is a function of its thickness (and type of fabric, among a variety of other factors).

[0129] The fabric thickness detection set 2022 can communicate by signal with a controller 2102 through a wired or wireless connection so that any signal generated by the fabric thickness detection set 2022 is transmitted to controller 2102. For example, the tissue thickness detection set 2022 may comprise a transmitter 2028 configured to transmit the signals generated by the magnetic field detection element 2026 through a wired or wireless connection with a receiver , which, in turn, is communicably coupled to the controller

2102. The tissue thickness detection set 2022 can be configured to continuously monitor the thickness of the tissue trapped throughout the operation of the instrument by sampling the detected parameter (s) or transmitting a signal from feedback indicating the parameter (s) detected with a minimum delay. In several respects, the 2022 tissue thickness detection set may comprise an analog sensor configured to generate a signal that corresponds to the relative or absolute thickness of the trapped tissue and / or a specific position of the first claw 2034 or se - second claw 2036. In such aspects, an analog-to-digital converter can be positioned between the fabric thickness detection set 2022 and the controller 2102. In several other aspects, the fabric thickness detection set 2022 can comprise a sensor digitally configured to generate a signal indicating the possibility that the claws 2034, 2036 are open or closed.

[0130] In some respects, the tissue thickness detection set 2022 may additionally comprise a power source 2030 operatively connected to the magnetic field detection element 2026. The power source 2030 can be separated from any other source of energy associated with the surgical instrument. Alternatively, the tissue thickness detection set 2022 can be interconnected with one or more energy sources associated with the surgical instrument.

[0131] In some respects, the surgical instrument may include a sensor or a sensor set configured to detect the position of the longitudinally movable driving member 540 (Figure 3), knife bar 1320 (Figure 4), knife member 1330 ( Figure 4), cutting blade 1334 (Figure 4) and / or other components of the trigger drive system 530 (Figure 3). In many respects, the 2050 position sensing set can be configured to track the linear displacement of the 530 trigger drive system component using sensors configured to track the rotation of a 2054 gear arrangement attached to the drive system. trigger drive 530. For example, Figure 23 is an exploded perspective view of a position detection set 2050 configured to detect and track the linear position of the longitudinally movable drive member 540. In the aspect illustrated in Figure 23, the ins - surgical instrument comprises a 2058 drive gear that is operationally driven through a 2056 drive shaft by the 505 electric motor (Figure 1). The drive gear

2058 engages gear rack 542 (Figure 3) of the longitudinally movable drive member 540 in gear, thus enabling the 505 motor to drive the linear displacement of the longitudinally movable drive member 540. The rotation Drive gear 2058 in a first direction causes the longitudinally movable drive member 540 to advance in a distal direction, and rotation of drive gear 2058 in a second direction causes the drive member longitudinally movable 540 retracts in a proximal direction P. In several respects, the gear arrangement 2054 of the position detection assembly 2050 can be positioned on or adjacent to the drive gear 2058 coupled to the longitudinally movable drive member 540 , as shown in Figure 23. In other respects, the 2054 gear assembly of the 2050 position detection assembly can be positioned downstream of the en drive gear 2058 in the 530 firing drive system and / or engaged with other components of the 530 firing drive system.

[0132] In the illustrated aspect, the gear arrangement 2054 of the position detection assembly 2050 comprises a first gear 2052 which rotates about the drive shaft 2056 in accordance with the rotation of the drive gear 2058. Thus, the rotation of the first gear 2052 around the drive shaft 2056 corresponds to the longitudinal translation of the longitudinally movable drive member 540 as it is driven by the drive gear 2058. The position detection set 2050 additionally comprises a magnet 2064 that rotates in a way that corresponds to the rotation of the first gear 2052. In one aspect, the magnet 2064 is arranged in the first gear 2052. In that respect, a revolution of the first gear 2052, and thus of the magnet 2064, corresponds to a revolution of the drive gear 2058. In another aspect, the 2054 gear arrangement is configured to serve as a gear reduction provides an alternative ratio between the number of revolutions of the drive gear 2058 and the magnet 2064. In such an aspect illustrated in Figure 23, the gear arrangement 2054 comprises a second gear 2060, which is in gear engaged in the first gear 2052. In this respect, magnet 2064 is arranged on second gear 2060. The gear ratio connection between first gear 2052 and second gear 2060 can be configured so that a single revolution of the 2064 magnet corresponds to a defined linear displacement of the longitudinally movable drive member 540. For example, the gear ratio connection between the first gear 2052 and the second gear 2060 can be configured so that a single revolution of the magnet 2064 can correspond to a complete stroke of the longitudinally movable drive member 540. Thus, a complete stroke of the longitudinally movable drive member 540, in the distant directions al or proximal, corresponds to a single rotation of the second gear 2060. Since the magnet holder 2064 is coupled to the second gear 260, the magnet 2064 completes a rotation with each complete stroke of the longitudinally movable drive member 540.

[0133] The 2050 position detection set additionally comprises a 2070 position sensor operationally connected to a 2072 circuit. The 2070 position sensor comprises one or more magnetic detection elements, such as Hall effect elements, and is positioned close to to the magnet 2064. As the magnet 2064 rotates, the magnetic sensing elements of the position sensor 2070 determine the absolute angular position of the magnet 2064 during a revolution. In some aspects of the surgical instrument in which a revolution of the magnet 2064 corresponds to a full stroke of the longitudinally movable drive member 540, the specific angular position of the magnet 2064 then corresponds to a specific | longitudinally movable drive

540. In one aspect, the 2050 position sensing set is configured to provide a unique position signal that corresponds to the location of the longitudinally movable drive member 540 according to the exact angular position of the 2064 magnet, as detected by the 2070 position sensor.

[0134] The 2070 position sensor can comprise any number of magnetic detection elements, such as magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. A series of keys n, where n is an integer greater than one, can be used alone or in combination with a gear reduction to provide a single position signal for more than one revolution of the 2064 magnet. The state of the keys can be fed back to a 2080 controller that applies logic to determine an exclusive position signal that corresponds to the linear displacement of the longitudinally movable drive member 540.

[0135] In one aspect, the position sensor 2070 is supported by a position sensor holder 2066, defining an opening 2068 configured to hold position sensor 270 in precise alignment with a magnet 2064 rotating below it. The magnet 2064 can be coupled to a structural element 2062, such as a bracket, which supports the 2054 gear arrangement and the 2072 circuit.

[0136] Figure 24 is a diagram of a 2072 circuit and a 2070 position sensor from a 2050 position detection assembly, according to one or more aspects of the present description. The 2070 position sensor can be implemented as a single integrated circuit magnetic rotary position sensor, ASSOSSEQFT, available from Austria Microsystems, AG.

The 2070 position sensor interfaces with a 2080 controller, such as a microcontroller, to provide a system that is able to detect the absolute positioning of the longitudinally movable drive member 540 and / or other components of the drive system trigger 530. In one aspect, the 2070 position sensor is a low voltage, low power component and includes four Hall effect elements 2078A, 2078B, 2078C, 2078D in an area 2076 of the 2070 position sensor located above the 2064 magnet A 2082 high-resolution AD converter and a 2084 intelligent power management controller are also featured on the integrated circuit.

A 2086 CORDIC (Coordinated Rotation Digital Computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, bit offset and lookup table.

The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as a SPI 2088 interface, to the 2080 controller. The 2070 position sensor provides 12 or 14 bits of resolution.

The 2070 position sensor can be an ASS055 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.

In the ASS5055 2070 position sensor, Hall effect elements 2078A, 2078B, 2078C, 2078D are capable of producing a voltage signal indicative of the absolute positioning of the magnet 2064 in terms of the angle during a single revolution of the magnet 264. This value The angle, which is a single position signal, is calculated by the CORDIC 286 processor and stored integrated in the AS5055 2070 position sensor in a register or a memory. The angle value that is indicative of the position of the 2064 magnet during a revolution is provided to the 2080 controller in a variety of techniques, for example, upon powering up or demand from the 2080 controller.

[0137] Although the 2070 position sensor is shown in Figure 24 as including four Hall effect elements, in other aspects of the surgical instrument, the number of Hall effect elements included in the 2070 position sensor may vary. In general, the number of Hall effect elements will correspond to the desired degree of resolution for the 2070 position sensor since a greater number of Hall effect elements would allow the 2070 position sensor to detect more precise movements than longitudinally movable drive member 540. In many respects, the distance between the Hall effect elements can be uniform, that is, the Hall effect elements can be uniformly positioned, so that each Hall effect element corresponds to a defined travel distance of the longitudinally movable drive member 540. Additional aspects of the 2050 position detection assembly, the 2072 circuit and the 2070 position sensor are described in US Patent Application Publication No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR CONTRACTING A SURGICAL STAPLING AND CUTTING INSTRUMENT, which is incorporated herein by reference in its entirety.

[0138] In other respects, knife bar 1320, knife member 1330, cutting blade 1334 and / or other components of the trigger drive system 530 can alternatively be configured to include a rack of engaging teeth that engage in gear the gear arrangement 2054 of the position detection set 2050. In such aspects of the surgical instrument, the position detection set 2050 is configured to track the linear displacement of the specific component of the trigger drive system 530, instead of being connected to the drive gear 2058 and / or the drive shaft 2056 that drives the displacement of the longitudinally movable drive member 540. Consequently, it must be understood that the principles discussed in relation to the aspect in which the displacement of the longitudinally movable drive member 540 is tracked are equally applicable to aspects of a configured 2050 position detection set to detect the linear displacement of knife bar 1320, knife member 1330, cutting blade 1334 and / or other components of the firing drive system 530.

[0139] In other respects, the 2050 position detection set comprises linear displacement sensors with or without contact configured to track the linear displacement of the triggering system 530. Linear displacement sensors can comprise differential linear transformers ("LVDT" - linear variable differential transformers), differential variable resistance transducers ("DVRT" - differential variable reluctance transducers), a sliding potentiometer, a magnetic detection system comprising a moving magnet and a series of sensors linearly arranged Hall effect, a magnetic detection system comprising a fixed magnet and a series of linearly arranged mobile Hall effect sensors, a mobile optical detection system comprising a mobile light source and a series of photodiodes or linearly arranged photo detectors, an optical detection system comprising a fixed light source and a series linearly arranged photodiodes or photodetectors or any combination thereof.

[0140] Figure 25 is a block diagram of an example of a 2100 surgical instrument programmed to display various states of the 2100 surgical instrument, according to one or more aspects of this description. The surgical instrument 2100 comprises a controller 2102 that is operationally connected to one or more sensors 2104, 2106 and a screen 2108, which can be arranged outside the housing of the surgical instrument 2100. Controller 2102 incorporates or executes a logic that controls operating the surgical instrument 2100 according to a variety of inputs, such as signals received from one or more sensors 2104, 2106 with which controller 2102 is in signal communication. In many respects, controller 2102 comprises a processor, such as a CPU, operationally connected to a memory 2110 that stores program instructions that, when executed by the processor, cause controller 2102 and / or surgical instrument 2100 to execute a process outlined by the program instructions. In other respects, controller 2102 comprises a control circuit that is configured to carry out a process according to the digital or analog signal input. The control circuit can comprise an ASIC, an FPGA, or any other circuit that is fabricable or programmable to execute logic.

[0141] Controller 2102 is configured to display various states associated with the use of the 2100 surgical instrument on screen 2108, according to the input received from a variety of sensors. One of these sensors includes the position sensor 2104, which can include the position detection set 2050 (Figure 23), as described above. Other sensors 2106 from which controller 2102 receives inputs may include the trigger detection set 2005 (Figures 19 and 20) and the tissue thickness detection set 2022 (Figures 21 and 22), as described above.

[0142] The 2100 surgical instrument additionally includes a motor

2116, like an electric motor, which drives a rotary drive shaft 224, which makes operational interface with a gear set 2122 that is mounted in gear engaged with a set, or rack, of drive teeth, as in a rack and pinion arrangement on a displacement member 2118. In position detection kit 2050, displacement member 2118 may include, for example, longitudinally movable drive member 540 of the trigger drive system 530. A sensor element or magnet 2120 can be operationally coupled to a gear assembly 2122, so that a single revolution of the magnet 2120 corresponds to some linear longitudinal translation of the displacement member 2118. The position sensor 2104 can then additionally include a plurality of magnetic detecting elements configured to detect the angular position of the magnet 2120, which corresponds to the linear position of the displacement member 2118 and, This way, it allows the position sensor 2104 to detect the absolute or relative position of the displacement member 2118. The position sensor 2104 can also be configured to relay a feedback signal to controller 2102 which is indicative of the position of the displacement member. 2118. A driver 2114 is operationally connected to motor 2116 and configured to provide a trigger signal while adjusting the speed at which motor 2116 is driven, the current drained by motor 2116, the voltage at which motor 2116 is set or a variety of other features of the 2116 motor. The 2112 power supply provides power to any or all of the 2114 drive, 2116 motor, 2102 controller, 2108 screen, 2104, 2106 sensors, or other components of the surgical instrument 2100.

[0143] In some aspects, the 2100 surgical instrument may include

include a detection set that is configured to detect the progress or advance of the closing mechanism. In many ways, the detection mechanism of the closing mechanism can comprise the trigger detection set 2005 described above. When the closing trigger 512 is used to activate the closing trigger system 510 which, in turn, causes the reciprocating closing element 1914 (Figure 5) to come forward, the actuation or position of the closing trigger closing 512 can therefore be detected as a substitute for progress or advancement of the closing mechanism.

[0144] In other respects, the closing mechanism of the detection mechanism of the closing mechanism may be similar to the position detection set 2050 described above in relation to the trigger drive system 530 and illustrated in Figures 23 and 24. The detection set of the closing mechanism of the surgical instrument 2100 may include the position sensor 2104, which may be supplied in addition to or in place of the position sensor described in relation to the position detection set 2050. In these the displacement member 2118 may include one or more components of the closing mechanism, such as the reciprocating closing element 1914, the proximal closing tube 1910 and / or the distal closing tube 1930, comprising tooth rack actuators that are in gear engaged with a corresponding gear set 2122 that supports a magnet 2120 in it. As the displacement member 2118 of the closing mechanism advances distally or proximally, magnet 2120 is induced to rotate in a first or a second direction. The position sensor 2104 additionally includes a plurality of magnetic detection elements, such as Hall effect elements, which are positioned close to each other.

to the magnet 2120. As the magnet 2120 rotates, the magnetic sensing elements of the position sensor 2104 determine the absolute angular position of the magnet 2120 during a revolution. As the angular position of the magnet 2120 corresponds to the position of the displacement member 2118 of the closing mechanism with which the gear set 2122 is engaged, the detection set of the closing tube can thus detect the positioning absolute component of the closing mechanism. Additional details regarding these aspects of the closing mechanism detection set are described above in relation to the 2050 position detection set.

[0145] The speed at which the knife bar 1320 is being moved by the trigger drive system 530 and / or the end actuator 1500 is being closed by the closing mechanism can be determined in several respects with the use of a sensor position 2104 to track the position of a displacement member 2118 in combination with a timer or timing circuit. As displacement member 2118 is translated, position sensor 2104 can determine its position of di, da, ... dn over a series of distinct time intervals or timestamps t1, t2, ... th provided by the timer. The timer can include a timer that runs continuously, that is, a clock or a timer that is started by activating any of the trigger or closing mechanisms. In one aspect, for each distinct position measurement obtained by the position sensor 2104, controller 2102 accesses the timer to retrieve a time stamp according to the position measurement receiving time. Controller 2102 can then calculate the speed of displacement member 2118 over a set period of time according to the change in its displacement position over time. Since the speed of the displacement member 2118 corresponds in a known manner both to the speed at which the knife bar 1320 is translated and to the speed at which the end actuator 1500 is closed, the controller 2102 can then determine the firing or closing speed of the surgical instrument

2100.

[0146] The other 2106 sensors may additionally include a cartridge sensor. In one aspect, the cartridge sensor includes channel circuit 1670 (Figure 10), which can be configured to detect the presence and / or status of a 1700 RF cartridge through the exposed contacts 1676 positioned to make contact electrical with the corresponding exposed contacts 1756 of the 1700 RF cartridge. In another aspect, the cartridge sensor includes a sensor, such as the cartridge presence sensor and / or cartridge condition sensor revealed in the Patent Application Publication US No. 2014/0296874, which is positioned with the elongated channel 1602 which comprises electrical contacts that emit a logical zero when the circuit is opened and a logical zero when the circuit is closed, that is, the 1700 RF cartridge is positioned correctly within the elongated channel 1602.

[0147] The other 2106 sensors can additionally include a temperature sensor that is configured to detect the temperature of the fabric being sealed by RF energy. In one aspect, the temperature sensor includes a temperature detection circuit disclosed as described in US Patent No. 8,888,776, entitled ELECTRO-SURGICAL INSTRUMENT EMPLOYING AN ELECTRODE, which is incorporated by reference. In that respect, the temperature detection circuit can be configured to apply a voltage potential which is a function of the temperature detected by the temperature detection circuit. The temperature sensing circuit can be configured to apply a first voltage potential to the door terminal when it detects a first temperature, a second voltage potential when it detects a second temperature and a third voltage potential when it detects detects a third temperature, and so on. In many ways, the temperature detection circuit can decrease the voltage potential applied to the door terminal as the electrode temperature increases. For example, the temperature detection circuit can be configured to apply a first voltage potential to the door terminal when a first temperature is detected by the temperature detection circuit and, in addition, a second voltage potential, which is lower than the first voltage potential, when the temperature detection circuit detects a second temperature that is higher than the first temperature. Correspondingly, the temperature detection circuit can increase the voltage potential applied to the door terminal as the electrode temperature decreases. The change in voltage potential generated by the temperature detection circuit can be detected by, for example, a circuit to generate a feedback signal indicative of the temperature experienced or detected by the circuit that is then transmitted to the 2102 controller. The temperature detection circuit can be included with the first claw 1600 (Figure 3), the second claw 1800 (Figure 3) and / or the cartridge 1700 (Figure 2). In aspects where the 1700 cartridge includes the temperature detection circuit, the feedback signal generated by the temperature detection circuit can be transmitted to the 1670 channel circuit through the electrical connection between the corresponding exposed contacts 1676, 1756. Channel circuit 1670 can then transmit the feedback signal to controller 2102.

[0148] The other 2106 sensors can additionally include tissue sensors that are configured to measure one or more characteristics

characteristics of the tissue subjected to grasping, sealing, stapling and / or cutting operations of the surgical instrument 2100. In one aspect, the other 2106 sensors comprise a tissue impedance sensor that is configured to measure the impedance of the trapped tissue as RF energy is applied.

The tissue impedance sensor comprises, for example, electrodes and an impedance monitoring circuit that are configured to measure the current between the electrodes and / or the tissue impedance between the electrodes, as described in US Patent No. 5,817. 093, entitled IMPEDANCE FEEDBACK MO- NITOR WITH QUERY ELECTRODE FOR ELECTROSURGICAL INSTRUMENT, which is incorporated by reference.

The tissue impedance sensor electrodes can be the same 1736R, 1736L, 1738R, 1738R electrodes for the delivery of therapeutic RF energy or different electrodes.

In aspects where the electrodes of the tissue impedance sensor are different from the therapeutic electrodes, the frequency of RF energy delivered through the electrodes of the tissue impedance sensor may be different from the frequency of energy supplied through the therapeutic electrodes to reduce electrical interference.

The electrodes of the tissue impedance sensor comprise at least two electrically opposed electrodes that are arranged on the end actuator 1500 so that they come into contact with the tissue trapped by it.

The electrodes of the tissue impedance sensor can be located either on the same surface or on opposite surfaces of the end actuator 1500 between a portion of the engaged tissue.

Since the voltage supplied to the electrodes of the tissue impedance sensor by, for example, an RF 400 generator (Figure 1) is known and the current between the electrodes is detectable by the impedance monitoring circuit, the tissue impedance is, thus, calculable.

In one aspect, the impedance monitoring circuit can calculate the impedance of the trapped tissue and then transmit a feedback signal indicative of impedance to controller 2102. In another aspect, the impedance monitoring circuit it can transmit a feedback signal indicative of the current detected between the electrodes to controller 2102, which then calculates the tissue impedance.

[0149] In total, the various sensors or sensor sets described here can be used by the surgical instrument 2100 to monitor the position of the closing trigger 512, the advancement of the closing drive system 510 and / or the components of the mechanism closing depth, the thickness of the stuck tissue, the position of the knife bar 1320 and / or other components of the triggering system 530, the presence of the RF 1700 cartridge, the status of the RF 1700 cartridge, the closing speed of the 1500 end actuator and various other operating situations of the surgical instrument

2100. These states, parameters, positions or other information associated with the operation of the 2100 surgical instrument can be tracked by controller 2102 through feedback signals transmitted from various detection sets. Controller 2102 can then cause screen 2108 to display one or more of the monitored variables associated with the operation of the 2100 surgical instrument in a graph format for viewing by the 2100 surgical instrument operators.

[0150] Figures 26 to 39 are screens representing various states, parameters or other information associated with the operation of the surgical instrument, according to one or more aspects of the present description. In several aspects represented in Figures 26 to 29, the screen 2200 of the surgical instrument can be configured to graphically represent the state of the RF energy being supplied to the surrounding tissue.

triggered by the end actuator 1500 (Figure 1). The state of the RF energy supplied can be represented in the form of a 2202 graph, a numerical value 2204, a disk 2206 or a bar graph

2208. The RF energy delivered to the tissue corresponds to the tissue impedance 2210 measured, for example, by a tissue impedance sensor, as described above. In addition, the impedance of the fabric 2210 varies as a function of time 2212 because the properties of the engaged fabric change due to the application of mechanical force from the claws of the end actuator 1500 and RF energy. One such change in the properties of the engaged fabric is the water leaving the fabric. Another such change in the properties of the engaged tissue is the change in the conductance of the tissue in relation to the fibers as the RF energy is applied. Therefore, in some respects, the screen 2200 can be configured to represent the change in the impedance of the fabric 2210 over time 2212, for example, a curve 2216 in a graph 2202 or a series of bars 2224 indicating the measurements of tissue impedance 2210 at different time intervals on a bar graph 2208. Screen 2200 can be additionally configured to represent an expected curve 2217 of impedance 2210 over time 2212 which is calculated by controller 2102 according to an algorithm executed in this way. In other respects, the screen 2200 can represent the impedance of the fabric 2210 as a number 2218. The number 2218 can represent the absolute value of the impedance measured in, for example, "ohm". Alternatively, the number 2218 can represent the relative value or the impedance ratio measured between a maximum and a minimum impedance value. In addition, the size at which the number 2218 is shown on screen 2200 may correspond to the relative size of the value. The disk format 2206 of the screen 2200 can similarly represent the measured impedance of the fabric in relation to a maximum impedance 2222 and a minimum impedance 2220.

[0151] Screen 2200 can also be configured to represent one or more 2214 alerts or 2226 states, depending on the operation of the 2100 surgical instrument. Alerts 2214 may include warnings that the tissue impedance has exceeded a maximum tissue impedance, that the electrodes have lost energy, that the measured tissue impedance is deviating from an expected tissue impedance as calculated by controller 2102 or stored in memory 2110, and that the RF energy application time has exceeded a maximum or expected time. Status 2226 can include the current or subsequent stage or the process step of using the 2100 surgical instrument.

[0152] In addition to displaying the RF energy being delivered to the fabric, the 2200 screen can also be configured to represent a variety of other parameters, states or other information, as determined by the detection sets communicating with the 2102 controller. In one aspect, screen 2200 can be configured to represent a temperature state of tissue 2228 to which RF energy is being applied. The temperature can be determined using, for example, a temperature detection circuit, as described above. In many respects, the state of temperature 2228 can be represented as an absolute value of the measured temperature or a relative value of the temperature measured between a minimum and a maximum temperature. In one aspect, the state of temperature 2228 can be represented as a curve 2239 of absolute or relative temperature 2236 as a function of time 2238. Screen 2200 can be further configured to represent an expected curve 2240 of temperature 2236 over time 2238 which is calculated by controller 2102 according to an algorithm executed in this way.

[0153] In another aspect, the screen 2200 can be configured to show the state of the water content 2230 of the fabric. The water content of the tissue can be determined, for example, as a function of the change in tissue impedance during the RF gripping and sealing operations performed by the 2100 surgical instrument. Since the change in the mechanical properties of a given type of tissue over time it is experimentally known and the change in tissue impedance as a result of the change in the mechanical properties of the tissue is likewise experimentally known, controller 2102 can isolate these effects from the measured change on fabric impedance over time, calculate the change in the water content of the fabric and then make the screen 2200 represent the state of the calculated water content 2230. As described above in relation to other tissue or parameters of the surgical instrument, screen 2200 can represent the state of water content 2230 in the form of a graph, a number, a disc or any other graphical representation. In one aspect, screen 2200 can represent the change in water content of fabric 2242 over time 2244 as a curve 2246. Screen 2200 can be further configured to represent an expected curve 2248 of water content 2242 over of time 2244 which is calculated by controller 2102 according to an algorithm executed in this way.

[0154] In other respects, the 2200 screen can be configured to represent the 2232 seal completion status or 2234 completion status, depending on the operation of the 2100 surgical instrument. The 2232 seal completion status can correspond, for example, to the RF energy state represented in Figures 26 to 29 and indicate the current measured RF energy supply in relation to an expected value. For example, in Figure 32, the completion status of seal 2232 is plotted as a measured curve 2254 of fabric impedance 2250 over time 2252 compared to an expected curve 2256 of fabric impedance 2250 over time 2252. The ratio between the measured curve 2254 and the expected curve 2256 graphically represents the relative progress of the application of RF energy in relation to an expected progress, which can be determined experimentally and stored in memory 2110 to be accessed by controller 2102 In one aspect, the 2234 completion status can represent the completion status of the fence in an alternative graphic format. In another aspect, the completion status 2234 can represent the percentage of number of steps performed or completed by the 2100 surgical instrument or the percentage completion of any individual step, such as advancing the closing mechanism or the current longitudinal displacement of the knife bar 1320 (Figure 4) in relation to its total longitudinal displacement in the firing step of the cutting bar 1320. Current progress can be tracked by controller 2102 in combination with the various detection sets of the 2100 surgical instrument. Completion status 2234 can be displayed in the form of a disk representing a percentage 2258 between a minimum percentage 2260 and a maximum percentage 2262.

[0155] In several aspects represented in Figures 34 to 37, the screen 2200 can be configured to display the thickness of the fabric engaged by the end actuator 1500, the advance of a displacement member, such as knife bar 1320 and several states associated with tissue thickness and / or displacement limb. The thickness of the fabric engaged by the end actuator 1500 can be detected, for example, by a fabric thickness detection set 2022 in communication with the controller 2102, as described above. In many respects, controller 2102 can cause screen 2200 to represent tissue thickness according to the feedback signal generated by tissue thickness detection set 2202 as an absolute or relative value in a variety of graphic formats - different features, such as a series of distinct zones 2264 in the thin to thick range, such as a 2266 graphic or a 2268 disc, among others.

[0156] The 2200 screen can additionally comprise alerts to provide graphic warnings to users that the fabric is too thick or too thin for a specific operation. For example, an alert may comprise an icon 2274, such as an "X" as shown in Figure 35, which is superimposed on screen 2200 to indicate to the operator that the 2100 surgical instrument is or will be operating outside the desired conditions. In other respects, the icon 2274 may or may not be superimposed in the various graphic formats 2264, 2266, 2268 indicating the thickness of the fabric. Several other graphic warnings can be used, including icons of different designs, changes in color or textual warnings. As another example, an alert may comprise a graphical representation that a curve 2276 of tissue thickness, displacement limb speed, or another parameter measured or calculated from the various detection sets is deviating from an expected curve 2278. In such cases aspects, several other additional alerts can accompany the represented alert, such as text alerts, icons, changes in color and the like.

[0157] In one aspect, the screen 2200 can be further configured to represent the position of the knife bar 1320. The position of the knife bar 1320 can be detected by means of, for example, a position detection set 2050 in communication with controller 2102, as described above. In several respects, controller 2102 can cause screen 2200 to represent knife bar 1320 according to the feedback signal generated by position detection set 2050, such as a linear measured position 2270 of the knife 1320 in relation to a maximum position 2272 thereof. The maximum position 2272 can include a maximum desired incision length for a specific surgical operation or an absolute maximum length that the knife bar 1320 can translate.

[0158] In another aspect, screen 2200 can be additionally configured to represent the advance or state of the closing mechanism. The advance of the closing mechanism can be detected, for example, by a closing trigger detection set 2005 in communication with controller 2102, as discussed above, a position detection set 2050 configured to detect a position from a displacement member 2118 of the closing mechanism, as described above in relation to Figure 25. In several respects, controller 2102 can cause screen 2200 to represent the advance of the closing mechanism according to the feedback signal generated by the trigger detection set 2005 or position detection set 2050 such as, for example, a detected position of the reciprocating closing element 1914 in relation to their maximum position.

[0159] In some respects, controller 2102 can be configured to fill screen 2200 with a variety of icons when certain events or situations occur. For example, a first icon 2280 may indicate that RF energy is being or has been applied correctly to the tissue. A second icon 2282 may indicate that knife bar 1320 is being fired or has been fired successfully. A third icon 2284 may indicate that an error occurred at some point during the operation of the instrument. A fourth 2286 icon may indicate that all steps in the instrument's operation have been completed correctly. A fifth 2288 icon may indicate that an error has occurred with a specific component of the instrument, such as knife bar 1320. Screen 2200 can be additionally configured to display any other type of icon indicating that a step or process is complete or that an error has occurred. event, as an error. The various icons can be configured to light up, become visible or change color when the state is active or the event has happened.

[0160] In some respects, screen 2200 can be configured to indicate whether a correct or incorrect type of cartridge has been loaded in end actuator 1500, that is, inserted into the elongated channel 1602 (Figure 10). The 1670 channel circuit can be configured to read or detect the type of cartridge that is received by the 1500 end actuator via a sensor or electrical communication between the 1670 channel circuit and the cartridge. In one aspect, the cartridges comprise a memory that stores an identifier or indicative value of the type of cartridge that is transmitted to channel circuit 1670 by inserting the cartridge into the elongated channel 1602 of the end actuator 1500. The channel circuit 1670, which is communicably coupled to controller 2102, is configured to transmit the type of cartridge identifier or value to controller 2102. The logic executed by controller 2102 can then compare the type of cartridge to the expected cartridge type. If the cartridge type and the expected cartridge type are not compatible, then controller 2102 can make the 2200 display a first 2290 icon. If the cartridge type and the expected cartridge type are not compatible, then controller 2102 can cause screen 2200 to represent a second icon 2292. In the aspect shown in Figures 38 and 39, the first icon 2290 corresponds to a staple cartridge being inserted when an RF cartridge is expected and the second icon 2292 corresponds to an RF cartridge being inserted when an RF cartridge is expected.

[0161] The various aspects of screen 2200 shown in Figures 26 to 39 can represent individual representations of a screen displayed to an operator or portions of a screen displayed to an operator. In many ways, operators can switch between the various screens via user input or the 2102 controller can automatically adjust the 2200 screen according to the operation of the 2100 surgical instrument. In many ways, the 2200 screen can include an interface - graphical user face that can be manipulated through, for example, a capacitive touchscreen.

[0162] Screen 2200, as described in the present invention, can include one or more screens arranged on or connected to the surgical instrument to display information graphically captured by the various detection sets. In one aspect, screen 2200 comprises a single screen positioned in the outer casing of the surgical instrument compartment, as shown in Figure 1. In aspects that use multiple screens, the screens can be positioned adjacent to each other or separately from one of the another. The 2200 screen can be positioned directly on the surgical instrument, it can be removably connected to the surgical instrument so that the 2200 screen is placed in signal communication with the controller when connected to the surgical instrument or it can be otherwise , associated with the surgical instrument.

[0163] The functions or processes of monitoring various states of the surgical instrument through the various detection sets described here can be performed by any of the processing circuits, individually or in combination, described here, such as the plate integrated circuit 1152 described in relation to Figures 5 and 15, the channel circuit 1670 described in relation to Figure 10, the flexible circuit assemblies 1730L, 1730R described in relation to Figures 10 to 13, the controller 2080 described in relation to Figure 24 and controller 2102 described in relation to Figure 25.

[0164] The aspects of the surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of installation

instructions that operate on data stored in a computer memory. In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of several types of "circuits" electrical ". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit to apply specific circuits, electrical circuits that form a general-purpose computer device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs the processes and / or devices described herein), electrical circuits that form a memory device (for example, random access memory forms), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment). These aspects can be implemented in analog or digital form, or combinations of the same.

[0165] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, several portions of the subject described here can be implemented by means of application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and that designing the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this description.

[0166] The mechanisms of the disclosed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively execute the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), digital tape, computer memory, etc .; and a transmission type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a communications link with an electrical conductor, a communication link without an electrical conductor (for example, example, transmitter, receiver, transmission logic, reception logic), etc.).

[0167] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described for the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope. Examples

[0168] Various aspects of the subject described in this document are defined in the following examples:

[0169] Example 1. A surgical instrument comprises: a circuit configured to supply RF energy to a cartridge arranged in an end actuator configured to receive the cartridge; a closing mechanism configured to transition the end actuator between an open position and a closed position; a screen; and a control circuit operationally coupled to the screen, the control circuit being configured to: determine an amount of RF energy supplied to a tissue through the cartridge; show the amount of RF energy on the screen; determine a position of the closing mechanism; and show the position of the locking mechanism on the screen.

[0170] Example 2. The surgical instrument of Example 1, in which the control circuit is configured to receive a signal from an impedance sensor configured to measure an impedance of the tissue arranged between a first electrode and a second electrode, being that the control circuit is configured to determine the amount of RF energy delivered to the tissue according to the tissue impedance.

[0171] Example 3. The surgical instrument of one or more of Example 1 and Example 2, in which the control circuit is configured to receive a signal from a position sensor configured to detect a position of a displacement member of the closing mechanism, the control circuit being configured to determine the position of the closing mechanism according to the position of the displacement member.

[0172] Example 4. The surgical instrument from one or more from Example 1 to Example 3, which further comprises: a closing trigger configured to activate the closing mechanism between a first position and a second position; and a closing trigger sensor configured to detect a closing trigger position; the control circuit is configured to determine the position of the closing mechanism according to the position of the closing trigger.

[0173] Example 5. The surgical instrument from one or more of Example 1 to Example 4, where the control circuit is configured to receive a signal from a sensor configured to detect a position of the end actuator between the open position and the closed position, the control circuit being configured to determine the position of the closing mechanism according to the position of the end actuator.

[0174] Example 6. The surgical instrument from one or more of Example 1 to Example 5, where the control circuit is configured to receive a signal from a cartridge sensor configured to detect the type of cartridge received by the actuator. the control circuit is configured to show, on the screen, whether the cartridge type corresponds to the expected cartridge type.

[0175] Example 7. A surgical instrument comprising: a circuit configured to supply RF energy to a cartridge disposed in an end actuator; a closing mechanism configured to transition the end actuator between an open position and a closed position; a screen; and a processor operationally coupled to the screen; a memory operationally coupled to the processor, and the memory stores program instructions that, when executed by the processor, cause the processor to: determine a state of RF energy delivered to a tissue through the cartridge; show RF energy status; determine a state of the closing mechanism; and show the state of the closing mechanism.

[0176] Example 8. The surgical instrument of Example 7, in which the memory stores program instructions that, when executed by the processor, cause the processor to receive a signal from an impedance sensor configured to measure a tissue impedance. between a first electrode and a second electrode, the processor being configured to determine the state of RF energy applied to the tissue according to the tissue impedance.

[0177] Example 9. The surgical instrument of Example 7, in which the memory stores program instructions that, when executed by the processor, cause the processor to receive a signal from a sensor configured to detect a position of a dismembering member. location of the closing mechanism, the processor being configured to determine the state of the closing mechanism according to the position of the displacement member.

[0178] Example 10. The surgical instrument of one or more from Example 7 to Example 9, which further comprises: a closing trigger configured to activate the closing mechanism between a first position and a second position; and a closing trigger sensor configured to detect a position of the closing trigger; the surgical instrument determining the state of the closing mechanism according to the position of the closing trigger.

[0179] Example 11. The surgical instrument from one or more of Example 7 to Example 10, in which the memory stores program instructions that, when executed by the processor, cause the processor to receive a signal from a sensor configured to detect a position of the end actuator between the open position and the closed position, the processor being configured to determine the state of the closing mechanism according to the position of the end actuator.

[0180] Example 12. The surgical instrument from one or more of Example 7 to Example 11, in which the memory additionally stores program instructions that, when executed by the processor, cause the processor to receive a signal from a sensor. cartridge configured to detect a type of cartridge received by the end actuator, the processor being configured to show, on the screen, whether the type of cartridge corresponds to an expected type of cartridge.

[0181] Example 13. A method for controlling a screen of a surgical instrument, the surgical instrument comprising a circuit configured to supply RF energy to a cartridge arranged in an end actuator configured to receive the cartridge, a mechanism closing device configured to transition the end actuator between an open position and a closed position, a screen and a control circuit coupled to the screen, the method comprising: determining, through the control circuit, an amount of energy of RF delivered to a tissue through the cartridge; show, through the control circuit, the amount of RF energy on the screen; determine, through the control circuit, a position of the closing mechanism; and show, through the control circuit, the position of the closing mechanism on the screen.

[0182] Example 14. The method of Example 13, which further comprises: measuring, by means of an impedance sensor, a tissue impedance between a first electrode and a second electrode: the control circuit determining the amount of RF energy applied to the tissue according to the tissue impedance.

[0183] Example 15. The method of one or more of Examples 13 and 14, which further comprises: detecting, by means of a position sensor, a position of a displacement member of the closing mechanism; The control circuit determines the position of the closing mechanism according to the position of the displacement member.

[0184] Example 16. The method of one or more from Example 13 to Example 15, which further comprises: detecting, by means of a closing trigger sensor, a position of a closing trigger configured to move the locking mechanism. closing between a first position and a second position; the control circuit determines the position of the closing mechanism according to the position of the closing trigger.

[0185] Example 17. The method of one or more from Example 13 to Example 16 which further comprises: detecting, by means of a sensor, a position of the end actuator between the open position and the closed position, the circuit being The control determines the position of the closing mechanism according to the position of the end actuator.

[0186] Example 18. The method of one or more from Example 13 to Example 17, which further comprises: detecting, by means of a cartridge sensor, a type of cartridge from the cartridge received by the end actuator; show, through the control circuit, if the type of cartridge corresponds to a type of cartridge expected on the screen.

Claims (18)

1. Surgical instrument characterized by the fact that it comprises: a circuit configured to supply RF energy to a cartridge arranged in an end actuator configured to receive the cartridge; a closing mechanism configured to transition the end actuator between an open position and a closed position; a screen; and a control circuit operationally coupled to the screen, the control circuit being configured to: determine an amount of RF energy supplied to a tissue through the cartridge; show the amount of RF energy on the screen; determine a position of the closing mechanism; and show the position of the closing mechanism on the screen. 2. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to receive a signal from an impedance sensor configured to measure an impedance of the tissue disposed between a first electrode and a second electrode, the control circuit is configured to determine the amount of RF energy supplied to the tissue according to the tissue impedance. 3. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to receive a signal from a position sensor configured to detect a position of a displacement member of the closing mechanism, being that the control circuit is configured to determine the position of the closing mechanism according to the position of the displacement member. 4. Surgical instrument, according to claim 1, characterized by the fact that it also includes: a closing trigger configured to activate the closing mechanism between a first position and a second position; and a closing trigger sensor configured to detect a position of the closing trigger; the control circuit is configured to determine the position of the closing mechanism according to the position of the closing trigger. 5. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to receive a signal from a sensor configured to detect a position of the end actuator between the open position and the closed position, the The control circuit is configured to determine the position of the closing mechanism according to the position of the end actuator. 6. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to receive a signal from a cartridge sensor configured to detect the type of cartridge received by the end actuator, the control circuit being is configured to show, on the screen, whether the cartridge type matches the expected cartridge type. 7. Surgical instrument characterized by the fact that it comprises: a circuit configured to supply RF energy to a cartridge disposed in an end actuator; a closing mechanism configured to transition the end actuator between an open position and a closed position; a screen; and a processor operationally coupled to the screen; a memory operationally coupled to the processor, the memory stores program instructions that, when executed by the processor, cause the processor to: determine a state of RF energy supplied to a tissue through the cartridge; show RF energy status; determine a state of the closing mechanism; and show the state of the closing mechanism. 8. Surgical instrument, according to claim 7, characterized by the fact that the memory stores program instructions that, when executed by the processor, cause the processor to receive a signal from an impedance sensor configured to measure an impedance of the tissue between a first electrode and a second electrode, the processor being configured to determine the state of RF energy applied to the tissue according to the tissue impedance. 9. Surgical instrument, according to claim 7, characterized by the fact that the memory stores program instructions that, when executed by the processor, cause the processor to receive a signal from a position sensor configured to detect a position of a displacement member of the closing mechanism, the processor being configured to determine the state of the closing mechanism according to the position of the displacement member. 10. Surgical instrument, according to claim 7, characterized by the fact that it also includes: a closing trigger configured to activate the closing mechanism between a first position and a second position; and a closing trigger sensor configured to detect a position of the closing trigger; the surgical instrument determining the state of the closing mechanism according to the position of the closing trigger. 11. Surgical instrument, according to claim 7, characterized by the fact that the memory stores program instructions that, when executed by the processor, cause the processor to receive a signal from a sensor configured to detect a position of the actuator. end between the open position and the closed position, the processor being configured to determine the state of the closing mechanism according to the position of the end actuator. 12. Surgical instrument, according to claim 7, characterized by the fact that the memory still stores program instructions that, when executed by the processor, cause the processor to receive a signal from a cartridge sensor configured to detect a cartridge type received by the end actuator, and the processor is configured to show, on the screen, whether the type of cartridge corresponds to an expected type of cartridge. 13. Method for controlling a screen of a surgical instrument, the surgical instrument comprising a circuit configured to supply RF energy to a cartridge arranged in an end actuator configured to receive the cartridge, a mechanism closing mechanism configured to transition the end actuator between an open position and a closed position, a screen and a control circuit coupled to the screen, the method being characterized by the fact that it comprises: determining, by means of the control circuit, an amount of RF energy delivered to a tissue through the cartridge; show, through the control circuit, the amount of RF energy on the screen; determine, through the control circuit, a position of the closing mechanism; and show, through the control circuit, the position of the closing mechanism on the screen. 14. Method, according to claim 13, characterized by the fact that it also comprises: measuring, by means of an impedance sensor, a tissue impedance between a first electrode and a second electrode: the control circuit determining the amount of RF energy supplied to the tissue according to the tissue impedance. 15. Method, according to claim 13, characterized by the fact that it also comprises: detecting, by means of a position sensor, a position of a displacement member of the closing mechanism; the control circuit determines the position of the closing mechanism according to the position of the displacement member. 16. Method, according to claim 13, characterized in that it further comprises: detecting, by means of a closing trigger sensor, a position of a closing trigger configured to move the closing mechanism between a first position and a second position; the control circuit determines the position of the closing mechanism according to the position of the closing trigger. 17. Method, according to claim 13, characterized by the fact that it also comprises: detecting, by means of a sensor, a position of the end actuator between the open position and the closed position: the control circuit determining the position of the closing mechanism according to the position of the end actuator. 18. Method, according to claim 13, characterized by the fact that it further comprises: detecting, by means of a cartridge sensor, a type of cartridge cartridge received by the end actuator; and show, through the control circuit, if the type of cartridge corresponds to a type of cartridge expected on the screen.