JP2020525207A - System and method for displaying the status of surgical instruments - Google Patents

Abstract

Abstract Surgical instruments are disclosed. A surgical instrument is a circuit configured to deliver RF energy to a cartridge located within an end effector, the end effector being configured to receive the cartridge, opening the circuit and the end effector. It includes a closure mechanism configured to transition between positions and a display, and a control circuit operably connected to the display. The control circuit should determine the amount of RF energy delivered to the tissue through the cartridge, display the amount of RF energy on the display, and display the location of the closure mechanism on the display. It is configured.

Description

The present disclosure relates to surgical instruments and, in various situations, to surgical sealing and cutting instruments and their staple cartridges designed to seal and cut tissue.

In a surgical sealing and stapling instrument, displaying various information captured by the surgical instrument's sensor to the operator, if an unexpected tissue condition is encountered, or if the instrument is not functioning properly, It may be useful for an operator to be able to confirm that the instrument is functioning properly or take corrective action.

In one aspect, a surgical instrument is provided. The surgical instrument is a circuit configured to deliver RF energy to a cartridge disposed in the end effector, the end effector being configured to receive the cartridge and the circuit opening the end effector. A closure mechanism configured to transition between a position and a closed position, a display, and a control circuit operably coupled to the display to determine the amount of RF energy delivered to tissue through the cartridge. A control circuit configured to perform, to display the amount of RF energy on the display, to determine the position of the closure mechanism, and to display the position of the closure mechanism on the display. And

In another aspect, a surgical instrument is configured to transition an end effector between an open position and a circuit configured to deliver RF energy to a cartridge disposed within the end effector. A closure mechanism, a display, a processor operably coupled to the display, and memory operably coupled to the processor, the memory, when executed by the processor, delivered to the processor, through the cartridge, and to the tissue. Stored program instructions for determining the status of the RF energy, displaying the status of the RF energy, determining the status of the closure mechanism, and displaying the status of the closure mechanism. And a memory.

In another aspect, a method of controlling a display on a surgical instrument is provided. The surgical instrument is a circuit configured to deliver RF energy to a cartridge disposed in the end effector, the end effector being configured to receive the cartridge and the circuit opening the end effector. A closure mechanism configured to transition between a position and a closed position, a display, and a control circuit coupled to the display. The method includes determining, by the control circuit, the amount of RF energy applied to the tissue through the cartridge, displaying the amount of RF energy on the display by the control circuit, and determining the position of the closure mechanism by the control circuit. Determining and displaying the position of the closure mechanism on the display by the control circuit.

The novel features of the embodiments described herein are specifically set forth in the appended "Claims". However, these aspects can be better understood with reference to the following description in conjunction with the accompanying drawings, both in terms of construction and method of operation.
A surgical system including a handle assembly coupled to a replaceable surgical tool assembly configured for use with conventional surgical staple/fastener cartridges and radio frequency (RF) cartridges, according to one aspect of the present disclosure. FIG. 3 is a perspective view of the system. FIG. 2 is an exploded perspective assembly view of the surgical system of FIG. 1 according to one aspect of the present disclosure. FIG. 3 is another exploded perspective assembly view of a portion of the handle assembly and replaceable surgical tool assembly of FIGS. 1 and 2 according to one aspect of the present disclosure. FIG. 4 is an exploded view of a proximal portion of the replaceable surgical tool assembly of FIGS. 1-3 according to one aspect of the present disclosure. FIG. 6 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 1-5 in accordance with an aspect of the present disclosure. FIG. 6 is a partial cross-sectional view of the end effector shown in FIGS. 1-5 with an RF cartridge supported therein and tissue clamped between the cartridge and anvil according to one aspect of the disclosure. FIG. 7 is a partial cross-sectional view of the anvil of FIG. 6 according to one aspect of the present disclosure. FIG. 6 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 1-5 according to one aspect of the present disclosure. FIG. 3 is another exploded view of the replaceable surgical tool and handle assembly of FIGS. 1 and 2 according to one aspect of the disclosure. FIG. 6 is a perspective view of an RF cartridge and elongated passageway of the replaceable surgical tool assembly of FIGS. 1-5 according to one aspect of the present disclosure. FIG. 11 is a partial perspective view of a portion of the RF cartridge and elongated passageway of FIG. 10 with a knife member, according to one aspect of the present disclosure. FIG. 11 is another perspective view of an RF cartridge mounted within the elongated passage of FIG. 10 and illustrating a portion of a flexible shaft circuitry, according to one aspect of the disclosure. 13 is a cross-sectional end view of the RF cartridge and elongated passage of FIG. 12 taken along line 13-13 of FIG. 12 according to one aspect of the disclosure. FIG. 6 is a top cross-sectional view of a portion of the replaceable surgical tool assembly of FIGS. 1 and 5, with the end effector in an articulating position, according to one aspect of the disclosure. FIG. 2 is a perspective view of a configuration including a mounted circuit board configuration and an RF generator according to one aspect of the present disclosure. FIG. 2 is a block diagram of control circuitry of the surgical instrument of FIG. 1 across two figures, according to one aspect of the disclosure. FIG. 2 is a block diagram of control circuitry of the surgical instrument of FIG. 1 across two figures, according to one aspect of the disclosure. 1 illustrates a control circuit of the surgical instrument of FIG. 1 illustrating an interface between a handle assembly and a power supply assembly and an interface between a handle assembly replaceable shaft assembly, according to one aspect of the present disclosure. It is a block diagram. FIG. 6 is a schematic illustration of a surgical instrument configured to control various functions in accordance with an aspect of the present disclosure. FIG. 5 is a side view of a surgical instrument with a case removed showing the trigger sensing assembly with the closure trigger in a non-actuated position, according to one aspect of the disclosure. FIG. 6A is a side view of a surgical instrument with a case removed showing the trigger sensing assembly with the closure trigger in an actuated position, according to one aspect of the disclosure. FIG. 6 is a perspective view of an end effector with a tissue thickness sensing assembly, according to one aspect of the disclosure. FIG. 6 is a schematic diagram of a sensor of a tissue thickness sensing assembly according to one aspect of the present disclosure. FIG. 3 is an exploded perspective view of a position sensing assembly according to one aspect of the present disclosure. FIG. 6 is a diagram of a position sensor of a circuit and position sensing assembly according to one aspect of the disclosure. FIG. 8 is a block diagram of an example surgical instrument configured to indicate various statuses of the surgical instrument, in accordance with an aspect of the present disclosure. 6 is a display showing RF energy status information for a surgical instrument, according to one aspect of the disclosure. 6 is a display showing RF energy status information for a surgical instrument, according to one aspect of the disclosure. 6 is a display showing RF energy status information for a surgical instrument, according to one aspect of the disclosure. 6 is a display showing RF energy status information for a surgical instrument, according to one aspect of the disclosure. 8 is a display showing temperature information of a surgical instrument, according to one aspect of the present disclosure. 6 is a display showing tissue water content information for a surgical instrument, according to one aspect of the present disclosure. 7 is a display showing operational progress information for a surgical instrument, in accordance with an aspect of the present disclosure. 7 is a display showing operational progress information for a surgical instrument, in accordance with an aspect of the present disclosure. 6 is a display showing tissue and motion progress information for a surgical instrument, according to one aspect of the disclosure. 6 is a display showing a surgical instrument alert, according to one aspect of the present disclosure. 6 is a display showing a surgical instrument alert, according to one aspect of the present disclosure. 7 is a display showing surgical instrument status, operational progress, and tissue information in accordance with an aspect of the present disclosure. 8 is a display showing status information for a surgical instrument RF cartridge in accordance with an aspect of the disclosure. 8 is a display showing status information for a surgical instrument RF cartridge in accordance with an aspect of the disclosure.

The applicant of this application owns the following patent applications filed concurrently with this application, each of which is hereby incorporated by reference in its entirety.

Agent reference number END8184USNP/170063, inventor Jeffrey D. J., filed June 28, 2017. The title "SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME" by Messally et al.

Agent reference number END8190USNP/170065, inventor Jeffrey D. J., filed June 28, 2017. The title "SHAFT MODULE CIRCUITRY ARRANGEMENTS" by Messerry et al.

Agent reference number END8189USNP/170066, inventor Jeffrey D. J., filed June 28, 2017. The title "SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR INDEPENDENT ENERGY DELIVERY OVER SEGMENTED SECTIONS" by Messerry et al.

Agent reference number END8185USNP/170067, inventor Jeffrey D.L., filed June 28, 2017. The title "FLEXIBLE CIRCUIT ARRANGEMENT FOR SURGICAL FASTENING INSTRUMENTS" by Messerry et al.

Agent reference number END8188USNP/170068, inventor Jeffrey D. J., filed June 28, 2017. The title "SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND HAVING A PLURALITY OF RADIO-FREQUENCY REQUENRY ENERGY ENERGY ENERGY ENERGY ENERGY ENERGY ENERGY ENERGY ENERGY ERRY

Agent reference number END8181USNP/170069, the inventor of the application filed on June 28, 2017, David C. The title "SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR AN INDEPENDENT ENERGY DELIVERY OVER SEGMENTED SECTIONS" by Yates et al.

The title “SURGICAL END EFFECTOR FOR ENGINEERING ENERGY ENERGY EQUIPMENT” is assigned by the inventor Tamara Widenhouse, et al.

Agent EL. No. END8182USNP/170071, the inventor of the application filed on June 28, 2017, Tamara Widenhouse, et al.

Attorney docket number END8186USNP/170072, inventor Frederick E. J. filed June 28, 2017. The title "SURGICAL END EFFECTOR TO ADJUST JAW COMPPRESSION" by Shelton, IV et al.

Agent Serial No. END8224USNP/170073, inventor Jason L., filed June 28, 2017. The title "CARTRIDGE ARRANGEMENTS FOR SURGICAL CUTTING AND FASTENING INSTRUMENTS WITH LOCKOUT DISABLEMENT FEATURES" by Harris et al.

Agent reference number END8229USNP/170074, inventor Jeffrey D. J., filed June 28, 2017. The title "SURGICAL CUTTING AND FASTENING INSTRUMENTS WITH DUAL POWER SOURCES" by Messery et al.

Electrosurgical devices can be used in many surgical procedures. The electrosurgical device can apply electrical energy to the tissue to treat the tissue. The electrosurgical device may comprise a distally attached instrument having one or more electrodes. The end effector can be positioned with respect to the tissue so that electrical current is introduced into the tissue. The electrosurgical device can be configured for unipolar or bipolar operation. During unipolar operation, an active (or source) electrode on the end effector allows current to be introduced into the tissue and returned by the return electrode. The return electrode may be a ground pad and may be separately located on the patient's body. During bipolar operation, current can be introduced into the tissue by the active electrode of the end effector and returned from the tissue by the return electrode, respectively.

The end effector can include more than one jaw member. At least one of the jaw members can have at least one electrode. At least one jaw may be moveable from a position spaced from the opposing jaws to receive tissue in a position in which the spacing of the jaw members is less than the spacing of the first position. This movement of the moveable jaws may compress the tissue held therebetween. The heat generated by the current flowing through the tissue may combine with the compression achieved by the movement of the jaws to form a hemostatic seal within and/or between the tissues, thus sealing, for example, blood vessels. Can be particularly useful for. The end effector may include a cutting member. The cutting member is movable with respect to the tissue and the electrode and can ablate the tissue.

The electrosurgical device may also include a mechanism for clamping the tissue together, such as a stapling device, and/or a mechanism for dissecting the tissue, such as a tissue knife. The electrosurgical device may include a shaft for positioning the end effector in proximity to the tissue being treated. The shaft may be straight or curved and may be bendable or non-bendable. In electrosurgical devices that include a straight bendable shaft, the shaft may have one or more articulation joints to allow controlled bending of the shaft. Such a joint allows a user of the present electrosurgical device to move against the shaft when the tissue being treated using the electrosurgical device having a straight, non-flexible shaft is not readily accessible. It may allow the end effector to be placed in contact with tissue at an angle.

The electrical energy applied by the electrosurgical device can be transferred to the instrument by a generator in communication with the handpiece. Electrical energy may be in the form of radio frequency (“RF”) energy. RF energy is a form of electrical energy that can be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). During application, the electrosurgical instrument can transmit low frequency RF energy through the tissue, which can cause ionic agitation or friction, or resistive heating, which can increase the temperature of the tissue. The sharp boundary created between the diseased tissue and the surrounding tissue allows the surgeon to operate with a high level of accuracy and control without sacrificing adjacent non-target tissue. The low operating temperature of RF energy is useful for removing, contracting or shaping soft tissue while simultaneously sealing blood vessels. RF energy acts particularly well on connective tissue, which is composed primarily of collagen and contracts when exposed to heat.

The RF energy may be in the frequency range described in EN 60601-2-2:2009+A11:2011, Definition 201.3.218-HIGH FREQUENCY. For example, frequencies in monopolar RF applications can typically be limited to less than 5 MHz. However, in bipolar RF applications, the frequency can be almost any frequency. Frequencies above 200 kHz can be used in monopolar applications, typically to avoid unnecessary stimulation of nerves and muscles resulting from the use of low frequency currents. Lower frequencies may be used for bipolar applications if the risk analysis indicates that the likelihood of neuromuscular stimulation has been mitigated to an acceptable level. Frequencies above 5 MHz are typically not used to minimize the problems associated with high frequency leakage currents. However, higher frequencies may be used in the case of bipolar applications. It is generally accepted that 10 mA is the lower threshold for thermal effects on tissue.

1 and 2 show a motor driven surgical system 10 that may be used to perform a variety of different surgical procedures. In the illustrated configuration, the surgical system 10 comprises a replaceable surgical tool assembly 1000 operably coupled to a handle assembly 500. In another surgical system aspect, the replaceable surgical tool assembly 1000 may be effectively used with the tool drive assembly of a robotic or automated surgical system. For example, the surgical tool assembly 1000 disclosed herein includes a variety of robotic systems, instruments, components and methods including, but not limited to, US Pat. 072,535, title of the invention "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS".

In the illustrated aspect, the handle assembly 500 can include a handle housing 502 that includes a pistol grip portion 504 that can be grasped and manipulated by a clinician. As briefly discussed below, the handle assembly 500 enables a plurality of drive systems configured to generate various control movements and apply to corresponding portions of the replaceable surgical tool assembly 1000. To support. As shown in FIG. 2, the handle assembly 500 may further include a handle frame 506 that operably supports a plurality of drive systems. For example, the handle frame 506 can operably support a “first” or closure drive system, generally designated 510, that can be used to open and close the replaceable surgical tool assembly 1000. Can be applied. In at least one form, the closure drive system 510 may include an actuator in the form of a closure trigger 512 pivotally supported by the handle frame 506. Such a configuration allows the clinician to manipulate the closure trigger 512 so that when the clinician grips the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 may be in a starting position or It is easily pivotable from a "non-actuated" position to an "actuated" position, and more specifically to a fully compressed or fully actuated position. In use, to activate the closure drive system 510, the clinician depresses the closure trigger 512 toward the pistol grip portion 504. Further details are provided in US patent application Ser. No. 14/226,142, entitled “SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM” (now US Patent Application Publication No. 2015/0272575), the entire contents of which are incorporated herein by reference. The closure drive system 510 causes the closure trigger 512 to be fully depressed or fully actuated when the clinician fully depresses the closure trigger 512 to achieve a fully closed stroke, as described in FIG. It is configured to lock in position. If the clinician desires to unlock the closure trigger 512 and bias it to the inoperative position, the clinician simply activates the closure release button assembly 518, which causes the closure trigger to deactivate. It is possible to return to the operating position. The closure release button assembly 518 may also be configured to interact with various sensors in communication with a microcontroller within the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the construction and operation of the closure release button assembly 518 can be found in US Patent Application Publication No. 2015/0272575.

In at least one form, the handle assembly 500 and the handle frame 506 are configured herein to apply a firing motion to corresponding portions of the attached replaceable surgical tool assembly. Another drive system, referred to as system 530, may be operably supported. The firing drive system 530 may use an electric motor 505 located within the pistol grip portion 504 of the handle assembly 500, as described in detail in US Patent Publication No. 2015/0272575. In various configurations, the motor 505 may be a brushed DC drive motor with a maximum speed of about 25,000 RPM, for example. In another configuration, the motor 505 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 505 may be powered by a power supply 522, which in one form may comprise a removable power pack. The power pack may support a plurality of lithium ion (“LI”) batteries or other suitable batteries therein. Multiple batteries connected in series may be used as the power source 522 for the surgical system 10. Additionally, the power source 522 may be replaceable and/or rechargeable.

The electric motor 505 is configured to drive a longitudinally movable drive member 540 (FIG. 3) axially in the distal and proximal directions depending on the polarity of the motor. For example, when the motor 505 is driven in one rotational direction, the longitudinally displaceable drive member will drive axially in the distal direction "DD". When the motor 505 drives in the opposite rotational direction, the longitudinally movable drive member 540 will drive axially in the proximal direction "PD". The handle assembly 500 may include a switch 513, which may be configured to reverse the polarity applied to the electric motor 505 by the power supply 522 or otherwise control the motor 505. .. The handle assembly 500 can also include one or more sensors (not shown) configured to detect the position of the drive member and/or the direction in which the drive member moves. Actuation of the motor 505 is controllable by a firing trigger (not shown) adjacent the closure trigger 512 and pivotally supported on the handle assembly 500. The firing trigger may be pivoted between a non-actuated position and an actuated position. The firing trigger may be biased into a non-actuated position by a spring or other biasing arrangement such that when the clinician releases the firing trigger, it is forced into a non-actuated position by the spring or biasing arrangement. It may be pivoted or otherwise returned. In at least one form, the firing trigger may be located “outboard” the closure trigger 512. As described in US Patent Publication No. 2015/0272575, the handle assembly 500 may be provided with a firing trigger safety button (not shown) to prevent inadvertent activation of the firing trigger. .. When the closure trigger 512 is in the non-actuated position, the safety button is inside the handle assembly 500 and cannot be easily touched by the clinician to prevent actuation of the firing trigger and the firing. It cannot be moved to or from the firing position where the trigger can fire. As the clinician depresses the closure trigger, the safety button and firing trigger pivot downwards, which in turn allows manipulation by the clinician.

In at least one form, the longitudinally movable drive member 540 has a toothed rack 542 formed thereon for mating engagement with a corresponding drive gear arrangement (not shown) associated with the motor. You may have. See FIG. Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. However, in at least one configuration, the longitudinally movable drive member is insulated to protect the configuration from inadvertent RF energy. At least one configuration also includes a manually actuatable “emergency release” configured to allow the clinician to manually retract the longitudinally displaceable drive member and disable motor 505. Includes assembly. The emergency release assembly may include a lever or emergency release handle assembly housed within the handle assembly 500 below the releasable door portion 550. See FIG. The lever may be configured to pivot manually for ratcheting engagement with teeth in the drive member. Accordingly, the clinician may manually retract the drive member 540 using the emergency release handle assembly to ratchet the drive member in the proximal direction “PD”. US Pat. No. 8,608,045 (the title “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALALLY RETRACTABLE FIRING SYSTEM”), the entire disclosure of which is incorporated herein by reference, is disclosed herein. Discloses an emergency disconnect configuration, as well as other components, configurations, and systems, that can also be used with any one of the various interchangeable surgical tool assemblies.

In the illustrated aspect, the replaceable surgical tool assembly 1000 includes a surgical end effector 1500 that includes a first jaw 1600 and a second jaw 1800. In one configuration, the first jaw operably supports a conventional (mechanical) surgical staple/fastener cartridge 1400 (FIG. 4) or a radio frequency (RF) cartridge 1700 (FIGS. 1 and 2) therein. And an elongated passage 1602 configured as described above. The second jaw 1800 includes an anvil 1810 pivotally supported with respect to the elongated passage 1602. Anvil 1810 is selectively moved between an open position and a closed position by actuating a closure drive system 510 toward and away from a surgical cartridge supported within elongate passageway 1602. May be done. In the illustrated configuration, anvil 1810 is pivotally supported at the proximal end portion of elongate passageway 1602 for selective pivotal movement about a pivot axis transverse to shaft axis SA. Actuation of the closure drive system 510 may result in distal axial movement of the proximal closure member or tube 910 attached to the articulation connector 1920.

Returning to FIG. 4, the articulation connector 1920 includes an upper protrusion 1922 and a lower portion that project distally from the distal end of the articulation connector 1920 that is movably coupled to an end effector closure sleeve or distal closure tube segment 1930. Includes protrusion 1924. See FIG. Distal closure tube segment 1930 includes an upper protrusion 1932 and a lower protrusion (not shown) that protrudes proximally from the proximal end of upper protrusion 1932. The upper dual pivot link 1940 includes a proximal pin 1941 and a distal pin 1942 that engage with corresponding holes in the articulation connector 1920 and the upper protrusions 1922, 1932 of the distal closure tube segment 1930, respectively. Similarly, the lower dual pivot link 1944 includes a proximal pin 1945 and a distal pin 1946 that engage with corresponding holes in the lower protrusion 1924 of the articulation connector 1920 and the distal closure tube segment 1930, respectively.

Still referring to FIG. 4, in the illustrated example, the distal closure tube segment 1930 corresponds to a corresponding portion of the anvil 1810 and when the distal closure tube segment 1930 is retracted in the proximal direction PD towards the starting position. Includes positive jaw opening features or tabs 1936, 1938 that apply an opening motion to anvil 1810. Further details regarding opening and closing of the anvil 1810 may be found in the U.S. patent application filed on the same date, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES," the entire disclosure of which is incorporated herein by reference. END 8208 USNP/170096).

As shown in FIG. 5, in at least one configuration, the replaceable surgical tool assembly 1000 includes a tool frame assembly 1200 with a tool chassis 1210 operatively supporting a nozzle assembly 1240 thereon. Further details are discussed in the U.S. patent application filed on the same day (Title "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSE MEMBER") (Attorney Docket END8209USNP/170097), which is hereby incorporated by reference in its entirety. As such, tool chassis 1210 and nozzle arrangement 1240 facilitate rotation of surgical end effector 1500 about shaft axis SA with respect to tool chassis 1210. Such a rotational movement is indicated by the arrow R in FIG. As also shown in FIGS. 4 and 5, the replaceable surgical tool assembly 1000 includes a spine assembly 1250 operably supporting the proximal closure tube 1910 and is coupled to the surgical end effector 1500. .. In various situations, to facilitate assembly, the spine assembly 1250 can be made from an upper spine segment 1251 and a lower spine segment 1252 connected to each other by snap formers, adhesives, welding, and the like. In the assembled form, the spine assembly 1250 includes a proximal end 1253 rotatably supported within the tool chassis 1210. In one configuration, for example, the proximal end 1253 of the spine assembly 1250 is coupled to a spine bearing (not shown) configured to be supported within the tool chassis 1210. With such a configuration, the spine assembly 1250 can be easily attached to the tool chassis, and the spine assembly 1250 can be selectively rotated with respect to the tool chassis 1210 about the shaft axis SA.

As shown in FIG. 4, the upper spine segment 1251 ends with an upper lug locking feature 1260 and the lower spine segment 1252 ends with a lower lug locking feature 1270. The upper lug locking feature 1260 has a lug slot 1262 formed therein adapted to support for fixing the upper locking link 1264 therein. Similarly, the lower lug locking feature 1270 has a lug slot 1272 formed therein adapted to support for fixing the lower locking link 1274 therein. The upper fixed link 1264 includes a pivot socket 1266 offset from the shaft axis SA. Pivot socket 1266 is adapted to rotatably receive a pivot pin 1634 formed on the passage cap or a passage cap or anvil retainer 1630 mounted on the proximal end portion 1610 of the elongated passage 1602. Has been adapted. The lower fixation link 1274 includes a lower pivot pin 1276 adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated passage 1602. The lower pivot pin 1276 and the pivot hole 1611 are offset from the shaft axis SA. Lower pivot pin 1276 vertically engages pivot socket 1266 and defines an articulation axis AA about which surgical end effector 1500 can articulate with respect to shaft axis SA. See FIG. Although the articulation axis AA crosses the shaft axis SA, in at least one configuration, the articulation axis AA is horizontally offset from the shaft axis SA and does not intersect the shaft axis SA.

Returning to FIG. 5, the proximal end 1912 of the proximal closure tube 1910 is rotatably coupled to the closure shuttle 1914 by a connector 1916 located in an annular groove 1915 within the proximal closure tube segment 1910. The closure shuttle 1914 is supported for axial movement within the tool chassis 1210 and closes a pair of hooks 1917 configured to engage the closure drive system 510 when the tool chassis 1210 is coupled to the handle frame 506. Have on shuttle 1914. Tool chassis 1210 further supports a latching assembly 1280 for releasably hooking tool chassis 1210 to handle frame 506. Further details regarding the tool chassis 1210 and the docking assembly 1280 can be found in the U.S. patent application entitled "SURGICAL INSTRUMENT WIT AXIALLY MOVABLE CLOSEURE MEMBER," filed on the same date, the entire disclosure of which is incorporated herein by reference. It can be found in the agent reference number END8209USNP/170097).

The firing drive system 530 within the handle assembly 500 is configured to be operably coupled to a firing system 1300 operably supported within the replaceable surgical tool assembly 1000. Firing system 1300 may include an intermediate firing shaft portion 1310 configured to be axially moved distally and proximally in response to a corresponding firing motion applied by firing drive system 530. it can. See FIG. As shown in FIG. 5, the proximal end 1312 of the intermediate firing shaft portion 1310 is above the distal end of the longitudinally movable drive member 540 of the firing drive system 530 within the handle assembly 500. A firing shaft mounting lug 1314 formed over the proximal end 1312 configured to be sealed within 544 (FIG. 3). Such a configuration facilitates axial movement of the intermediate firing shaft portion 1310 during activation of the firing drive system 530. In the illustrated example, the intermediate firing shaft portion 1310 is configured to be attached to the distal cutting portion or knife bar 1320. As shown in FIG. 4, the knife bar 1320 is connected to a firing member or knife member 1330. Knife member 1330 comprises a knife body 1332 operatively supporting a tissue cutting blade 1334 thereon. The knife body 1332 may further include an anvil engagement tab or feature 1336 and a passage engagement feature or foot 1338. Anvil engagement feature 1336 may function to apply additional closing motion to anvil 1810 as knife member 1330 is advanced distally through end effector 1500.

In the illustrated example, surgical end effector 1500 can be selectively articulated about articulation axis AA by articulation system 1360. In one form, articulation system 1360 includes a proximal articulation driver 1370 pivotally coupled to articulation link 1380. As can be seen most specifically in FIG. 4, offset mounting lug 1373 is formed at the distal end 1372 of proximal articulation driver 1370. A pivot hole 1374 is formed in the offset mounting lug 1373 and is configured to pivotally receive therein a proximal link pin 1382 formed at the proximal end 1381 of the articulation link 1380. Distal end 1383 of articulation link 1380 includes a pivot hole 1384 configured to pivotally receive a passage pin 1618 formed in proximal end portion 1610 of elongated passage 1602 therein. Thus, axial movement of the proximal articulation driver 1370 applies articulation to the elongated passage 1602, which causes the surgical end effector 1500 to articulate with respect to the spine assembly 1250 about the articulation axis AA. .. In various situations, the proximal articulation driver 1370 may be maintained in place by the articulation lock 1390 when the proximal articulation driver 1370 is not moving in the proximal or distal directions. .. Further details regarding an exemplary form of articulation lock 1390 may be found in US patent application filed on the same day (the title "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A, the entire disclosure of which is incorporated herein by reference). FRAME") (Attorney Docket No. END8217USNP/170102).

In addition to the above, the replaceable surgical tool assembly 1000 further includes a shifter assembly 1100 that can be configured to selectively and releasably couple the proximal articulation driver 1310 to the firing system 1300. .. As shown in FIG. 5, for example, in one form, shifter assembly 1100 includes a locking collar, or locking sleeve 1110, disposed about an intermediate firing shaft portion 1310 of firing system 1300, wherein locking sleeve 1110 comprises: An engaged position in which the locking sleeve 1110 operably connects the proximal articulation driver 1370 to the firing member assembly 1300, and a disengaged position in which the proximal articulation driver 1370 is not operatively coupled to the firing member assembly 1300. It can rotate between. When the locking sleeve 1110 is in the engaged position, the distal movement of the firing member assembly 1300 may cause the proximal articulation driver 1370 to move distally, correspondingly. The proximal movement of the solid 1300 may cause the proximal articulation driver 1370 to move proximally. When the locking sleeve 1110 is in its disengaged position, movement of the firing member assembly 1300 is not transmitted to the proximal articulation driver 1370 so that the firing member assembly 1300 is independent of the proximal articulation driver 1370. Can be moved. Under various circumstances, the proximal articulation driver 1370 may be in place by the articulation lock 1390 when the proximal articulation driver 1370 is not moved proximally or distally by the firing member assembly 1300. Can be retained.

In the illustrated configuration, the intermediate firing shaft portion 1310 of the firing member assembly 1300 is formed with two opposing flat sides with drive notches 1316 formed therein. See FIG. As can also be seen in FIG. 5, locking sleeve 1110 comprises a cylindrical, or at least substantially cylindrical, body that includes a longitudinal aperture configured to receive intermediate firing shaft portion 1310. The lock sleeve 1110 is engageably received in a corresponding portion of the drive notch 1316 in the intermediate firing shaft portion 1310 when the lock sleeve 1110 is in one position and the drive notch when in another position. A locking projection may be provided that is not received within 1316 and faces inwardly in the opposite direction of diameter, thereby allowing relative axial movement between the locking sleeve 1110 and the intermediate firing shaft 1310. To do. As can be further seen in FIG. 5, locking sleeve 1110 further includes locking member 1112 sized to be movably received within notch 1375 at the proximal end of proximal articulation driver 1370. With such a configuration, the locking sleeve 1110 rotates slightly while remaining in or in place for engagement with the notch 1375 in the proximal articulation driver 1370, allowing for intermediate firing. The shaft portion 1310 can be engaged and disengaged. For example, when the locking sleeve 1110 is in its engaged position, the locking protrusion is disposed within the drive notch 1316 of the intermediate firing shaft portion 1310, which allows distal and/or proximal pulling forces to be applied to the firing member. It can be transferred from the assembly 1300 to the locking sleeve 1110. Such axial pushing or pulling motion is then transmitted from the locking sleeve 1110 to the proximal articulation driver 1370 to articulate the surgical end effector 1500. In effect, firing member assembly 1300, locking sleeve 1110, and proximal articulation driver 1370 move together when locking sleeve 1110 is in its engaged (articulated) position. On the other hand, when the locking sleeve 1110 is in its disengaged position, the locking protrusion is not received within the drive notch 1316 of the intermediate firing shaft portion 1310, resulting in distal pushing force and/or proximal tension. Forces may not be transferred from firing member assembly 1300 to locking sleeve 1110 (and proximal articulation driver 1370).

In the illustrated example, relative movement of the locking sleeve 1110 between the engaged and disengaged positions may be controlled by the shifter assembly 1100 associated with the proximal closure tube 1910. Still referring to FIG. 5, the shifter assembly 1100 further includes a shifter key 1120 configured to be slidably received within a keyway formed in the outer periphery of the locking sleeve 1110. With such a configuration, the shifter key 1120 can be axially moved with respect to the lock sleeve 1110. Further discussion is made in the U.S. patent application filed on the same day (Title "SURGICAL INSTRUMENT WIT AXIALLY MOVABLE CLOSEURE MEMBER") (Attorney Docket No. END8209USNP/170097), the entire disclosure of which is incorporated herein by reference. As shown, a portion of shifter key 1120 is configured for camming interaction with a cam opening (not shown) within proximal closure tube portion 1910. Also, in the illustrated example, the shifter assembly 1100 further includes a switch drum 1130 rotatably received in the proximal end portion of the proximal closure tube portion 1910. A portion of shifter key 1120 extends through an axial slot segment in switch drum 1130 and is movably received in an arcuate slot segment in switch drum 1130. A switch drum torsion spring 1132 is secured to the switch drum 1130 and engages a portion of the nozzle assembly 1240 to reach a portion of the shifter key 1120 at the end of the cam opening in the proximal closure tube portion 1910. Up to and including a twisting bias or rotation that serves to rotate the switch drum 1130. When in this position, the switch drum 1130 provides a twisting bias to the shifter key 1120 to rotate the locking sleeve 1110 into an engaged position with the intermediate firing shaft portion 1310. This position also corresponds to the non-actuated configuration of proximal closure tube 1910 (and distal closure tube segment 1930).

In one configuration, for example, actuation of the intermediate firing shaft portion 1310 when the proximal closure tube 1910 is in a non-actuated configuration (the anvil 1810 is in an open position away from the cartridge secured to the elongated passage 1602), The proximal articulation driver 1370 is axially moved to facilitate articulation of the end effector 1500. Once the user articulates surgical end effector 1500 in the desired orientation, the user can then actuate proximal closure tube portion 1910. Actuating the proximal closure tube segment 1910 causes distal movement of the distal closure tube segment 1930, ultimately applying a closure motion to the anvil 1810. This distal movement of the proximal closure tube portion 1910 causes the cam opening therein to have a camming interaction with the cam portion of the shifter key 1120, thereby causing the shifter key 1120 to actuate in a locking sleeve. Rotate 1110. Such rotation of the lock sleeve 1110 disengages the lock protrusion from the drive notch 1316 within the intermediate firing shaft portion 1310. When in such a configuration, firing drive system 530 can be activated to activate intermediate firing shaft portion 1310 without activating proximal articulation driver 1370. Further details regarding the operation of the switch drum 1130 and locking sleeve 1110, as well as alternative articulation and firing drive configurations that may be used with the various interchangeable surgical tool assemblies described herein, are set forth in these. The entire disclosure can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Publication No. 2014/0263541) and U.S. Patent Application No. 15/019,196, which are hereby incorporated by reference. it can.

As also shown in FIGS. 5 and 15, the replaceable surgical tool assembly 1000 rotates the nozzle assembly 1240 to rotate the shaft and end effector 1500 about the shaft axis SA relative to the tool chassis 1210. Behind an on-board circuit board 1152 that is configurable to transfer power to/from surgical end effector 1500 and/or to communicate signals to/from surgical end effector 1500 while facilitating movement. The slip ring assembly 1150 at. As shown in FIG. 15, in at least one configuration, the mounted circuit board 1152 communicates with, for example, the handle assembly 500 or a microprocessor 560 supported within the robot system controller, housing connector 562 (FIG. 9). A mounted connector 1154 configured to interface with. The slip ring assembly 1150 is configured to interface with a proximal connector 1153 that interfaces with the mounted circuit board 1152. Further details regarding the slip ring assembly 1150 and associated connectors can be found in U.S. Patent Application No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541, each of which is incorporated herein by reference in its entirety. And US patent application Ser. No. 15/019,196, and US patent application Ser. No. 13/800,067, entitled “STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”, which is hereby incorporated by reference in its entirety. It can now be found in U.S. Patent Application Publication No. 2014/0263552).

An exemplary version of the replaceable surgical tool assembly 1000 disclosed herein is configured to facilitate cutting of tissue with a knife member and to seal the cut tissue with radio frequency (RF) energy. It can also be used with standard (mechanical) surgical fastener cartridge 1400 or cartridge 1700. Returning again to FIG. 4, a conventional or standard mechanical cartridge 1400 is shown. Such cartridge configurations are known and can include a cartridge body 1402 sized and shaped to be removably received and supported within the elongated passageway 1602. For example, the cartridge body 1402 may be configured to snap-engage with the elongated passage 1602 and be removably retained. Cartridge body 1402 includes an elongated slot 1404 through which axial movement of knife member 1330 is accommodated. Cartridge body 1402 operably supports therein a plurality of staple drivers (not shown) aligned with each lateral row of centrally located elongated slots 1404. The driver is associated with a corresponding staple/fastener pocket 1412 that is open through the upper deck surface 1410 of the cartridge body 1402. Each of the staple drivers carries one or more surgical staples or fasteners (not shown). A sled assembly 1420 is supported within the proximal end of the cartridge body 1402 and the cartridge 1400 is new and is located proximal to the driver and fastener in the starting position when not fired. The sled assembly 1420 includes a plurality of angled or wedge-shaped cams 1422, each cam 1422 corresponding to a particular line of fasteners or drivers located on the sides of the slot 1404. The sled assembly 1420 is configured to be contacted and driven by the knife member 1330 as the knife member is driven distally through the tissue clamped between the anvil and the cartridge deck surface 1410. There is. When the driver is driven upwardly toward the cartridge deck surface 1410, the fastener(s) supported thereon removes the tissue clamped between the anvil and the cartridge from the staple pocket 1412. Driven through.

Still referring to FIG. 4, at least one form of anvil 1810 is horizontally projecting and pivotable into a corresponding trunnion cradle 1614 formed in the upstanding wall 1622 of the proximal end portion 1610 of the elongated passage 1602. An anvil securing portion 1820 having a pair of anvil trunnions 1822 received therein is included. Anvil trunnions 1822 are pivotally retained within the corresponding trunnion cradle 1614 by passage caps or anvil retention devices 1630. Anvil fixed portion 1820 is moveable over elongated passage 1602 for selective pivotal movement relative to anvil fixed portion 1820 about a fixed anvil pivot axis, transverse to shaft axis SA. Alternatively, it is pivotally supported. As shown in FIGS. 6 and 7, in at least one form, anvil 1810 includes an anvil body portion 1812 made of, for example, a conductive metal material to slidably receive knife member 1330 therein. Each side of the configured centrally located anvil slot 1815 has a staple forming lower surface 1813 having a series of fastener forming pockets 1814 formed therein. Anvil slot 1815 opens into an upper opening 1816 extending longitudinally through anvil body 1812 and receives anvil engagement feature 1336 on knife member 1330 during firing. When a conventional mechanical surgical staple/fastener cartridge 1400 is installed within the elongated passageway 1602, the staples/fasteners are driven through the tissue T and make contact with the corresponding fastener forming pockets 1814. The anvil body 1812 has an opening at the top, which can facilitate mounting, for example. Anvil cap 1818 can be inserted therein and welded to anvil body 1812 to surround the opening and improve the overall rigidity of anvil body 1812. As shown in FIG. 7, to facilitate the use of the end effector 1500 with the RF cartridge 1700, the tissue-facing segment 1817 of the fastener forming lower surface 1813 has an electrically insulative material 1819 thereon. You may

In the illustrated configuration, the replaceable surgical tool assembly 1000 is configured with a firing member lockout system, generally designated 1640. See FIG. 8. As shown in FIG. 8, the elongated passage 1602 includes a bottom surface or bottom 1620 having two protruding upstanding sidewalls 1622. A centrally located longitudinal passage slot 1624 is formed through bottom 1620 to facilitate knife member 1330 axial movement therethrough. The passage slot 1624 opens into a longitudinal passage 1626 that houses a passage engaging feature or foot 1338 on the knife member 1330. Passage 1626 serves to define two inwardly extending ledges 1628 which serve to engage corresponding portions of passage engaging features or feet 1338. The firing member lockout system 1640 is provided on each side of the passage slot 1624, each configured to receive a corresponding portion of the passage engagement feature or foot 1338 when the knife member 1330 is in the starting position. A proximal opening 1642 located at. A knife lockout spring 1650 is supported at the proximal end 1610 of the elongated passage 1602 and serves to bias the knife member 1330 downward. As shown in FIG. 8, knife lockout spring 1650 includes two distal end spring arms 1652 on knife body 1332 configured to engage corresponding central passage engagement features 1337. Spring arm 1652 is configured to bias central passage engagement feature 1337 downward. Thus, when in the starting (unfired position), the knife member 1330 is biased downwardly and the passage engagement feature or foot 1338 is received within the corresponding proximal opening 1642 of the elongated 1602 passage. .. When in the locked position, attempting to advance the knife 1330 distally causes the central passage engagement feature 1137 and/or the foot 1338 to engage an upstanding ledge 1654 on the elongated passage 1602 (FIG. 8). And FIG. 11), the knife 1330 cannot fire.

Still referring to FIG. 8, firing member lockout system 1640 also includes an unlocking assembly 1660 formed at or supported by the distal end of firing member body 1332. The unlocking assembly 1660 is configured to engage the unlocking feature 1426 formed on the sled assembly 1420 when the sled assembly 1420 is in the starting position with the unfired surgical staple cartridge 1400. A ledge 1662 that extends distally. Thus, when the unfired surgical staple cartridge 1400 is properly attached to the elongated passage 1602, the ledge 1662 of the unlocking assembly 1660 locks on the sled assembly 1420 which serves to bias the knife member 1330 upward. In contact with the release feature 1426, the central passage engagement feature 1137 and/or foot 1338 removes the upstanding ledge 1654 in the passage bottom 1620 to facilitate axial passage of the knife member 1330 through the elongated passage 1602. To When the partially fired cartridge 1400 is installed in the elongate passage inadvertently, the sled assembly 1420 is not in the starting position and the knife member 1330 remains in the locked position.

From here, the attachment of the replaceable surgical tool assembly 1000 to the handle assembly 500 will be described with reference to FIGS. 3 and 9. To initiate the coupling process, the clinician may insert the tool chassis 1210 of the interchangeable surgical tool assembly 1000 such that the tapered mounting portion 1212 formed on the tool chassis 1210 is aligned with the dovetail slot 507 of the handle frame 506. May be located above, or adjacent to, the distal end of handle frame 506. The clinician then shafts the surgical tool assembly 1000 to seat the tapered attachment portion 1212 in "operable engagement" with a corresponding dovetail receiving slot 507 at the distal end of the handle frame 506. It may be moved along an attachment axis IA perpendicular to the axis SA. In doing so, the firing shaft mounting lug 1314 on the intermediate firing shaft portion 1310 is also seated within the cradle 544 of the longitudinally movable drive member 540 within the handle assembly 500 and the pin on the closure link 514. Portions of 516 are seated within corresponding hooks 1917 of the closure shuttle 1914. As used herein, the term "operable engagement" in the context of two components means that the two components are fully engaged with each other, thereby applying an actuating motion thereto. It means that the component can perform the intended action, function, and/or procedure. During the process, the onboard connector 1154 of the surgical tool assembly 1000 is also coupled to a housing connector 562 that communicates with a microprocessor 560 supported within, for example, the handle assembly 500 or robot system controller.

During a routine surgical procedure, a clinician may introduce a surgical end effector 1500 to a surgical site through a patient's trocar or other opening to access target tissue. In doing so, the clinician typically axially aligns surgical end effector 1500 along shaft axis SA (non-articulated). Once surgical end effector 1500 has passed through the trocar port, for example, a clinician may need to articulate end effector 1500 to advantageously position it adjacent the target tissue. This is before the anvil 1810 is closed over the target tissue, so the closure drive system 510 remains inactive. When in this position, firing drive system 530 is actuated to apply articulation to proximal articulation driver 1370. When the end effector 1500 reaches the desired articulation position, the firing drive system 530 is deactivated and the articulation lock 1390 can hold the surgical end effector 1500 in the articulation position. The clinician can then actuate the closure drive system 510 to close the anvil 1810 over the target tissue. Actuating the closure drive system 510 in this manner also allows the shifter assembly 1100 to separate the proximal articulation driver 1370 from the intermediate firing shaft portion 1310. Thus, once the target tissue is captured by surgical end effector 1500, the clinician again activates firing drive system 530 to force firing member 1330 axially through surgical staple/fastener cartridge 1400 or RF cartridge 1700. Advance to cut the clamped tissue and fire the staples/fasteners into the cut tissue T. Other closure and launcher configurations, actuator configurations (both hand-held, manual, and automatic or robotic) may also be used without departing from the scope of this disclosure to provide a closure system configuration for surgical tool assembly 1000. Axial movement of the elements, articulation system components, and/or firing system components can be controlled.

As indicated above, surgical tool assembly 1000 is configured for use with conventional mechanical surgical staple/fastener cartridge 1400 and RF cartridge 1700. In at least one form, the RF cartridge 1700 delivers mechanical coagulation current to tissue in the current path while mechanically clamping tissue clamped between the anvil 1810 and the RF cartridge 1700 using a knife member 1330. The cutting can be facilitated. Alternative configurations for mechanically severing tissue and using electric current to coagulate are also described, for example, in US Pat. Nos. 5,403,312; 7,780,663, and US Application No. 15/142. , 609 (the title "ELECTROSURGICAL INSTRUMENT WIT ELECTRICALLY CONDUCTIVE GAP SETTING AND TISSUE ENGAGING MEMBERS"), the entire disclosures of each of which are incorporated herein by reference. Such instruments can, for example, improve hemostasis and reduce surgical complexity as well as time spent in the operating room.

As shown in FIGS. 10-12, in at least one configuration, the RF surgical cartridge 1700 includes a cartridge body 1710 sized and shaped to be removably received and supported within the elongated passageway 1602. .. For example, the cartridge body 1710 may be configured to snap-engage with the elongated passage 1602 and be removably retained. In various configurations, the cartridge body 1710 can be made of a polymeric material, for example, an engineering thermoplastic such as a liquid crystal polymer (LCP) VECTRA™, and the elongated passages 1602 can be made of metal. In at least one aspect, the cartridge body 1710 includes a centrally located elongate slot 1712 extending longitudinally through the cartridge body to accommodate longitudinal movement of the knife 1330. As shown in FIGS. 10 and 11, a pair of lockout engagement tails 1714 extends proximally from the cartridge body 1710. Each lockout engagement tail 1714 has a lower formed lockout pad 1716 sized to be received within a corresponding proximal opening portion 1642 of the passage bottom 1620. Thus, when the cartridge 1700 is properly attached to the elongated passage 1602, the lockout engagement tail 1714 covers the opening 1642 and the ledge 1654, holding the knife 1330 in the unlocked position ready for firing.

Here, returning to FIGS. 10 to 13, in the illustrated example, the cartridge body 1710 is formed with the raised electrode pad 1720 disposed in the center. As most specifically seen in FIG. 6, the elongated slot 1712 extends through the center of the electrode pad 1720 and serves to divide the pad 1720 into a left pad segment 1720L and a right pad segment 1720R. The right flexible circuit assembly 1730R is attached to the right pad segment 1720R and the left flexible circuit assembly 1730L is attached to the left pad segment 1720L. In at least one configuration, for example, the right flexible circuit 1730R may have a wide range of RF conductive, supported, attached, or embedded, for example, right insulator sheath/member 1734R attached to the right pad 1720R. A plurality of conductors 1732R may be included, which may include body/conductors and conventional stapling thin conductors. In addition, right side flexible circuit assembly 1730R includes "Phase 1" or proximal right electrode 1736R and "Phase 2" or distal right electrode 1738R. Similarly, the left flexible circuit assembly 1730L may include a wide range of RF conductors/conductors, eg, supported, attached, or embedded in a left insulator sheath/member 1734L attached to the left pad 1720L. A plurality of conductors 1732L may be included, which may include a body and conventional stapling thin conductors. In addition, left side flexible circuit assembly 1730L includes "Phase 1" or proximal left electrode 1736L and "Phase 2" or distal left electrode 1738L. Left conductor 1732L and right conductor 1732R are attached to a distal microchip 1740 secured to the distal end portion of cartridge body 1710. In one configuration, for example, right side flexible circuit 1730R and left side flexible circuit 1730L can each have an overall width "CW" of about 0.025 inches, and each of electrodes 1736R, 1736L, 1738R, 1738R can be, for example, about 0. It has a width "EW" of 010 inches. See FIG. 13. However, other widths/dimensions are envisioned and may be used in alternative manners.

In at least one configuration, RF energy is delivered to surgical tool assembly 1000 through delivery lead 402 by conventional RF generator 400. In at least one configuration, the supply lead 402 is configured to plug into a corresponding female connector 410 attached to the segmented RF circuit 1160 on the mounted circuit board 1152, a male plug set. A solid 406 is included. See FIG. 15. With such a configuration, by rotating the nozzle assembly 1240 without winding the supply lead 402 from the generator 400, rotational movement of the shaft and the end effector 1500 about the shaft axis SA with respect to the tool chassis 1210 is performed. It will be easier. An on/off power switch 420 is mounted and is supported on the docking assembly 1280 and tool chassis 1210 to turn the RF generator on and off. The mounted segmented RF circuit 1160 communicates with the microprocessor 560 via connectors 1154 and 562 when the tool assembly 1000 is operably coupled to the handle assembly 500 or robot system. As shown in FIG. 1, the handle assembly 500 may also include a display screen 430 to view information regarding sealing, stapling, knife position, cartridge status, tissue, temperature progression. As can also be seen in FIG. 15, a slip ring assembly 1150 is provided for stapling distal connectors 1162 including flexible shaft circuit strips or related activities and wider conductors 1168 used for RF. , An assembly 1164, which may include a plurality of narrow conductors 1166. As shown in FIGS. 14 and 15, the flexible shaft circuit strip 1164 is centrally supported between the laminates or laminated bars 1322 forming the knife bar 1320. Such a configuration facilitates sufficient flexure of the knife bar 1320 and the flexible shaft circuit strip 1164 while leaving sufficient stiffness during articulation of the end effector 1500 to clamp the knife member 1330. It is possible to advance distally through the ablated tissue.

Returning again to FIG. 10, in at least one illustrated configuration, the elongated passageway 1602 is supported within a recess 1621 extending from the proximal end 1610 of the elongated passageway 1602 to a distal position 1623 of the elongated passageway bottom 1620. Circuit 1670 is included. The passage circuit 1670 includes a proximal contact portion 1672 that contacts the distal contact portion 1169 of the flexible shaft circuit strip 1164 for electrical contact. The distal end 1674 of the passage circuit 1670 is received in a corresponding wall recess 1625 formed in one of the passage walls 1622, folded, and attached to the upper edge 1627 of the passage wall 1622. A series of corresponding exposed contacts 1676 are provided within the distal end 1674 of the passage circuit 1670, as shown in FIG. As can also be seen in FIG. 10, the end 1752 of the flexible cartridge circuit 1750 is attached to the distal microchip 1740 and secured to the distal end portion of the cartridge body 1710. Another end 1754 includes an exposed contact 1756 that is folded over the edge of the cartridge deck surface 1711 and configured to make electrical contact with the exposed contact 1676 of the passage circuit 1670. Thus, when the RF cartridge 1700 is attached to the elongated passage 1602, the electrodes and the distal microtips 1740 are energized, causing the flexible cartridge circuit 1750, the flexible passage circuit 1670, the flexible shaft circuit 1164, and the slip ring assembly 1150 to come into contact. Through the mounted circuit board 1152.

16A-16B are block diagrams of a control circuit 700 of the surgical instrument 10 of FIG. 1 across two views, according to one aspect of the disclosure. 16A-16B, the handle assembly 702 can include a motor 714, which is controllable by a motor driver 715 and can be used by the firing system of the surgical instrument 10. In various configurations, the motor 714 can be a brushed DC drive motor with a maximum rotational speed of approximately 25,000 RPM. In another configuration, the motor 714 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver 715 may include, for example, an H-bridge driver including a field effect transistor (FET) 719. The motor 714 may be powered by a power supply assembly 706 releasably secured to the handle assembly 500 for providing control power to the surgical instrument 10. The power supply assembly 706 may comprise a plurality of batteries connected in series that may be used as a power supply to power the surgical instrument 10. Under certain circumstances, the battery cells of power supply assembly 706 may be replaceable and/or rechargeable. In at least one example, the battery cell can be a lithium-ion battery that can be separately connectable to the power supply assembly 706.

The shaft assembly 704 is in communication with the safety controller and power management controller 716 via an interface while the shaft assembly 704 and the power supply assembly 706 are coupled to the handle assembly 702. Can be included. For example, the interface corresponds to enable electrical communication between the shaft assembly controller 722 and the power management controller 716 while the shaft assembly 704 and the power supply assembly 706 are coupled to the handle assembly 702. A first interface portion 725, which may include one or more electrical connectors for mating engagement with a shaft assembly electrical connector, and one or more for mating engagement with a corresponding power assembly electrical connector. Second interface portion 727, which may include an electrical connector of One or more communication signals may be sent via the interface to send one or more power requirements of the attached and replaceable shaft assembly 704 to the power management controller 716. In response, the power management controller may modulate the power output of the battery of the power supply assembly 706 according to the power requirements of the attached shaft assembly 704, as described in further detail below. The connector is activated after mechanical coupling engagement of the handle assembly 702 with the shaft assembly 704 and/or the power supply assembly 706 to enable electrical communication between the shaft assembly controller 722 and the power management controller 716. A switch can be provided.

The interface routes one or more such communication signals to the power management controller 716 and the shaft assembly controller 722, for example, by routing the communication signals through a main controller 717 housed in the handle assembly 702. Can facilitate communication. Under other circumstances, the interface between the power management controller 716 and the shaft assembly controller 722 via the handle assembly 702 while the shaft assembly 704 and the power supply assembly 706 are coupled to the handle assembly 702. Can facilitate direct line communication.

The main controller 717 may be any single-core or multi-core processor, such as that known by the Texas Instruments brand name ARM Cortex. In one aspect, the main controller 717 improves the performance above 40 MHz, for example, on-chip memory of up to 40 MHz single-cycle flash memory of 256 KB or other non-volatile memory, details of which are available in the product data sheet. Prefetch buffer, 32 KB single cycle serial random access memory (SRAM), internal read-only memory (ROM) with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), 1 From Texas Instruments, including the above pulse width modulation (PWM) module, one or more quadrature encoder input (QEI) analogs, and one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels. It may be an available LM4F230H5QR ARM Cortex-M4F processor core.

The safety controller may be a safety controller platform with two controller base families, such as the TMS570 and RM4x, also known by the Texas Instruments brand name Hercules ARM Cortex R4. The safety controller is configured specifically for IEC 61508 and ISO 26262 safety margin applications, among other things, to provide advanced integrated safety features while providing scalable performance, connectivity, and memory options. Good.

The power supply assembly 706 may include power management circuitry, which may include a power management controller 716, a power modulator 738, and a current sensing circuit 736. While the shaft assembly 704 and the power supply assembly 706 are coupled to the handle assembly 702, the power management circuitry may be configured to modulate the power output of the battery based on the power requirements of the shaft assembly 704. The power management controller 716 can be programmed to control a power modulator 738 of the power output of the power supply assembly 706, and the current sensing circuit 736 monitors the power output of the power supply assembly 706 to determine the power output of the battery. As it can be used to provide feedback to the power management controller 716, the power management controller 716 can adjust the power output of the power supply assembly 706 to maintain the desired output. The power management controller 716 and/or the shaft assembly controller 722 may each include one or more processors and/or memory units capable of storing multiple software modules.

Surgical instrument 10 (FIGS. 1-5) may include an output device 742, which may include a device for providing sensory feedback to a user. Such devices may include, for example, visual feedback devices (eg LCD display screens, LED indicators), audible feedback devices (eg speakers, buzzers) or tactile feedback devices (eg tactile actuation devices). Such devices may include, for example, visual feedback devices (eg LCD display screens, LED indicators), audible feedback devices (eg speakers, buzzers) or tactile feedback devices (eg tactile actuation devices). Under certain circumstances, the output device 742 may include a display 743 that may be included in the handle assembly 702. Shaft assembly controller 722 and/or power management controller 716 may provide feedback to the user of surgical instrument 10 via output device 742. The interface may be configured to connect the shaft assembly controller 722 and/or the power management controller 716 to the output device 742. The output device 742 may instead be integrated with the power supply assembly 706. Under these circumstances, the shaft assembly 704 is coupled to the handle assembly 702, while communication between the output device 742 and the shaft assembly controller 722 may be accomplished via the interface.

The control circuit 700 comprises circuit segments configured to control the operation of the powered surgical instrument 10. The safety controller segment (segment 1) includes a safety controller and a main controller 717 segment (segment 2). The safety controller and/or main controller 717 is configured to interact with one or more additional circuit segments such as acceleration segments, display segments, shaft segments, encoder segments, motor segments, and power segments. Each of the circuit segments may be coupled to a safety controller and/or main controller 717. The main controller 717 is also connected to the flash memory. The main controller 717 also includes a serial communication interface. The main controller 717 comprises multiple inputs, eg, coupled to one or more circuit segments, batteries, and/or multiple switches. The segmented circuit may be implemented by any suitable circuit, such as, for example, a printed circuit board assembly (PCBA) in powered surgical instrument 10. The term processor, as used herein, refers to the functions of any microprocessor, processor, one or more controllers, or the central processing unit (CPU) of a computer, on one integrated circuit or up to several. It should be understood to include other basic computing devices embedded on an integrated circuit. The main controller 717 is a versatile programmable device that accepts digital data as an input, processes the data according to instructions stored in memory, and provides the result as an output. This is an example of sequential digital logic as it has internal memory. Control circuit 700 may be configured to implement one or more processes described herein.

The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect movement or acceleration of the powered surgical instrument 10. Input from the accelerometer may be used to transition to and from sleep mode, identify the orientation of the powered surgical instrument, and/or identify when the surgical instrument falls. In some examples, the acceleration segment is coupled to a safety controller and/or main controller 717.

The display segment (segment 4) includes a display connector connected to the main controller 717. The display connector couples the main controller 717 to the display through one or more integrated circuit drivers of the display. The integrated circuit driver of the display may be integrated with the display and/or may be located separately from the display. The display may include any suitable display, such as, for example, an organic light emitting diode (OLED) display, a liquid crystal display (LCD), and/or any other suitable display. In some examples, the display segment is coupled to the safety controller.

The shaft segment (segment 5) is a control for the replaceable shaft assembly 500 connected to the surgical instrument 10 (FIGS. 1-5) and/or an end effector connected to the replaceable shaft assembly 500. One or more controls for 1500. The shaft segment comprises a shaft connector configured to connect the main controller 717 to the shaft PCBA. The shaft PCBA comprises a low power microcontroller with a ferroelectric random access memory (FRAM), an articulation switch, a shaft release Hall effect switch, and a shaft PCBA EEPROM. Shaft PCBA EEPROM contains one or more parameters, routines, and/or programs specific to replaceable shaft assembly 500 and/or shaft PCBA. Shaft PCBA may be coupled to replaceable shaft assembly 500 and/or may be integral with surgical instrument 10. In some examples, the shaft segment comprises a second shaft EEPROM. The second shaft EEPROM contains algorithms, routines, parameters, and/or other data corresponding to one or more shaft assemblies 500 and/or end effectors 1500 that may be associated with the powered surgical instrument 10.

The position encoder segment (segment 6) comprises one or more magnetic angular rotary position encoders. The one or more magnetic angular rotational position encoders are configured to identify rotational positions of motor 714, replaceable shaft assembly 500, and/or end effector 1500 of surgical instrument 10 (FIGS. 1-5). ing. In some examples, the magnetic angular rotary position encoder may be coupled to the safety controller and/or the main controller 717.

The motor circuit segment (segment 7) comprises a motor 714 configured to control movement of the powered surgical instrument 10 (FIGS. 1-5). Motor 714 is coupled to main microcontroller processor 717 by an H-bridge driver, which includes one or more H-bridge field effect transistors (FETs) and a motor controller. The H-bridge driver is also coupled to the safety controller. The motor current sensor is connected in series with the motor to measure the electric current drawn by the motor. The motor current sensor is in signal communication with the main controller 717 and/or the safety controller. In some examples, the motor 714 is coupled to a motor electromagnetic interference (EMI) filter.

The motor controller controls the first motor flag and the second motor flag to indicate the status and position of the motor 714 to the main controller 717. The main controller 717 supplies a pulse width modulation (PWM) high signal, a PWM low signal, a direction signal, a synchronization signal and a motor reset signal to the motor controller via a buffer. The power segment is configured to provide a segment voltage to each of the circuit segments.

The power segment (segment 8) comprises a safety controller, a main controller 717, and a battery coupled to additional circuit segments. The battery is connected to the segmentation circuit by a battery connector and a current sensor. The current sensor is configured to measure the total current draw of the segmentation circuit. In some examples, the one or more voltage converters are configured to provide the predetermined voltage value to the one or more circuit segments. For example, in some examples, the segmentation circuit may comprise a 3.3V voltage converter and/or a 5V voltage converter. The boost converter is configured to provide a boost voltage below a predetermined amount, such as below 13V. The boost converter is configured to provide additional voltage and/or current during power intensive operation to prevent brownouts or low power conditions.

The plurality of switches are connected to the safety controller and/or the main controller 717. The switch may be configured to control the operation of the surgical instrument 10 (FIGS. 1-5) of the segmented circuit and/or to indicate the status of the surgical instrument 10. The emergency release door switch and the hall effect switch for emergency release are configured to indicate the status of the emergency release door. For example, a plurality of joint movement switches, such as a left joint movement left switch, a left joint movement right switch, a left joint movement central switch, a right joint movement left switch, a right joint movement right switch, and a right joint movement central switch, are replaceable shafts. The assembly 500 (FIGS. 1 and 3) and/or the end effector 300 (FIGS. 1 and 4) are configured to control articulation. The left side inverting switch and the right side inverting switch are connected to the main controller 717. The left side switch including the left side joint movement left switch, the left side joint movement right switch, the left side joint movement center switch, and the left side inversion switch is connected to the main controller 717 by a left side flexible connector. The right side switch including the right side joint movement left switch, the right side joint movement right switch, the right side joint movement central switch, and the right side inversion switch is connected to the main controller 717 by a right side flexible connector. The firing switch, the clamp release switch, and the shaft engagement switch are connected to the main controller 717.

Multiple switches may be implemented in any combination, using any suitable mechanical, electromechanical, or solid state switch. For example, the switch may be a surgical switch 10 (FIGS. 1-5) or a limiting switch operated by movement of a component associated with the presence of an object. Such switches can be used to control various functions associated with surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically linked to a set of contacts. When the object contacts the actuator, the device manipulates the contact to create or break the electrical connection. Due to its robustness, ease of installation, and operational reliability, limit switches are used in a variety of applications and environments. The limit switch can determine the presence/absence of a target object, passage, placement, and end of movement. In another implementation, the switch is a solid state switch that operates under the influence of a magnetic field, such as a Hall effect device, a magnetoresistive (MR) device, a giant magnetoresistive (GMR) device, a magnetometer, among others. Good. In other implementations, the switch may be a solid state switch that operates under the influence of light, such as an optical sensor, an infrared sensor, an ultraviolet sensor, among others. Further, the switch may be a solid state device such as a transistor (eg, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, etc.). Other switches may include, among others, non-conductor containing switches, ultrasonic switches, accelerometers, inertial sensors.

FIG. 17 illustrates the interface between the handle assembly 702 and the power supply assembly 706 and the interface between the handle assembly 702 and the replaceable shaft assembly 704, according to one aspect of the disclosure. FIG. 6 is another block diagram of control circuit 700 of the surgical instrument of FIG. The handle assembly 702 can include a main controller 717, a shaft assembly connector 726, and a power supply assembly connector 730. The power supply assembly 706 can include a power supply assembly connector 732, a power management circuit 734, which can include a power management controller 716, a power modulator 738, and a current sensing circuit 736. The shaft assembly connectors 730, 732 form an interface 727. While the replaceable shaft assembly 704 and the power supply assembly 706 are coupled to the handle assembly 702, the power management circuit 734 may modulate the power output of the battery 707 based on the power requirements of the replaceable shaft assembly 704. Can be configured to. For example, the power management controller 716 may be programmed to control a power modulator 738 of the power output of the power supply assembly 706, and the current sensing circuit 736 provides feedback to the power management controller 716 regarding the power output of the battery 707. Thus, it can be used to monitor the power output of the power supply assembly 706, so that the power management controller 716 can adjust the power output of the power supply assembly 706 to maintain the desired output. The shaft assembly 704 includes a shaft processor 719 that is coupled to the non-volatile memory 721 and the shaft assembly connector 728 and electrically couples the shaft assembly 704 to the handle assembly 702. Shaft assembly connectors 726, 728 form an interface 725. The main controller 717, shaft processor 719, and/or power management controller 716 can be configured to implement one or more of the processes described herein.

Surgical instrument 10 (FIGS. 1-5) may include an output device 742 that provides sensory feedback to the user. Such devices may include visual feedback devices (eg LCD display screens, LED indicators), audible feedback devices (eg speakers, buzzers) or tactile feedback devices (eg tactile actuation devices). Under certain circumstances, the output device 742 may include a display 743 that may be included in the handle assembly 702. Shaft assembly controller 722 and/or power management controller 716 may provide feedback to the user of surgical instrument 10 via output device 742. Interface 727 may be configured to connect shaft assembly controller 722 and/or power management controller 716 to output device 742. The output device 742 may be integrated with the power supply assembly 706. Communication between the output device 742 and the shaft assembly controller 722 may be accomplished via the interface 725 while the replaceable shaft assembly 704 is coupled to the handle assembly 702. Having described a control circuit 700 (FIGS. 16A-16B and FIG. 6) for controlling the operation of surgical instrument 10 (FIGS. 1-5), the present disclosure will now be described. 5) and various configurations of control circuit 700.

FIG. 18 is a schematic illustration of a surgical instrument 600 configured to control various functions, according to one aspect of the disclosure. In one aspect, surgical instrument 600 is programmed to control distal translation of a displacement member, such as I-beam 614. Surgical instrument 600 includes an end effector 602 that can include an anvil 616, an I-beam 614, and a removable staple cartridge 618 that can be replaced with an RF cartridge 609 (shown in dashed lines). The end effector 602, anvil 616, I-beam 614, staple cartridge 618, and RF cartridge 609 may be configured as described herein, for example, with respect to FIGS. 1-15. For the sake of brevity and clarity of the disclosure, some aspects of the present disclosure may be described with reference to FIG. Components such as control circuit 610, sensor 638, position sensor 634, end effector 602, I-beam 614, staple cartridge 618, RF cartridge 609, anvil 616, etc., shown schematically in FIG. It will be appreciated that it is described in connection with 17.

Thus, the components schematically represented in FIG. 18 can be quickly replaced by the physically and functionally equivalent components described in connection with FIGS. For example, in one aspect, the control circuit 610 may be implemented as the control circuit 700 shown and described in connection with FIGS. 16-17. In one aspect, the sensor 638 may be implemented as a limiting switch, electromechanical device, solid state switch, Hall effect device, magnetoresistive (MR) device, giant magnetoresistive (GMR) device, magnetometer, among others. In other implementations, the sensor 638 may be a solid state switch that operates under the influence of light, such as an optical sensor, an infrared sensor, an ultraviolet sensor, among others. Further, the switch may be a solid state device such as a transistor (eg, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, etc.). In other implementations, the sensor 638 may include, among other things, non-conductor-containing switches, ultrasonic switches, accelerometers, inertial sensors. In one aspect, the position sensor 634 may be implemented as an absolute positioning system with a gyromagnetic absolute positioning system implemented as an AS5055EQFT single-chip gyromagnetic position sensor available from Austria Microsystems, AG. The position sensor 634 can cooperate with the control circuit 700 to provide an absolute positioning system. The position is located on the magnet and is linked to a CORDIC processor (for coordinate rotation digital computer), also known as the digit-by-digit method, and Volder's algorithm. In order to implement a simple and effective algorithm for computing hyperbolic and trigonometric functions, which may include multiple Hall effect elements and only require addition, subtraction, bit shifting, and table lookup operations. Provided. In one aspect, the end effector 602 may be implemented as the surgical end effector 1500 illustrated and described in connection with FIGS. 1, 2 and 4. In one aspect, the I-beam 614 may be implemented as a knife member 1330 with a knife body 1332 operatively supporting a tissue cutting blade 1334, FIGS. 2-4, 8, 11, and. An anvil engagement tab or feature 1336 and a passage engagement feature or foot 1338, shown and described in connection with 14, may further be included. In one aspect, staple cartridge 618 may be implemented as a standard (mechanical) surgical fastener cartridge 1400, shown and described in connection with FIG. In one aspect, the RF cartridge 609 may be implemented as a radio frequency (RF) cartridge 1700 illustrated and described in connection with FIGS. 1, 2, 6, and 10-13. In one aspect, the anvil 616 may be implemented as the anvil 1810 shown and described in connection with FIGS. 1, 2, 4, and 6. These and other sensor configurations are described in co-pending US patent application Ser. No. 15/628,175, entitled “TECHNIQUES FOR ADAPTIVE OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTING. INSTRUMENT”).

The position, movement, displacement, and/or translation of linear displacement members such as I-beam 614 can be measured by absolute positioning systems, sensor configurations, and position sensors represented as position sensor 634. The position of the I-beam 614 is measured by determining the position of the longitudinally movable drive member 540 using a position sensor 634 because the I-beam 614 is coupled to the longitudinally movable drive member 540. can do. Therefore, in the following description, position, displacement, and/or translation of I-beam 614 may be accomplished by position sensor 634 described herein. A control circuit 610, such as the control circuit 700 described in FIGS. 16A and 16B, can be programmed to control the translation of a displacement member, such as the I-beam 614 described herein. In some examples, the control circuit 610 executes instructions that cause one or more microcontrollers, microprocessors, or one or more processors to control the displacement member, eg, I-beam 614, in the manner described. Other suitable processors may be included. In one aspect, the timer/counter circuit 631 provides an output signal, such as elapsed time or a digital count, to the control circuit 610 to determine the position of the I-beam 614 measured by the position sensor 634 as the output of the timer/counter circuit 631. Correlation so that control circuit 610 can determine the position of I-beam 614 at a particular time (t) relative to the starting position. The timer/counter circuit 631 may be configured to measure elapsed time, count external events, or time external events.

The control circuit 610 may generate the motor setpoint signal 622. The motor setpoint signal 622 may be provided to the motor controller 608. Motor controller 608 may include one or more circuits configured to provide motor drive signal 624 to motor 604 to drive motor 604, as described herein. In some examples, motor 604 may be a brushed DC electric motor such as motor 505 shown in FIG. For example, the speed of motor 604 may be proportional to motor drive signal 624. In some examples, the motor 604 may be a brushless direct current (DC) electric motor and the motor drive signal 624 is a pulse width modulation (PWM) signal provided to one or more stator windings of the motor 604. May be included. Also, in some examples, the motor controller 608 may be omitted and the control circuit 610 may directly generate the motor drive signal 624.

Motor 604 can receive power from energy source 612. Energy source 612 may be or include a battery, supercapacitor, or any other suitable energy source 612. The motor 604 may be mechanically coupled to the I-beam 614 via the transmission device 606. The transmission device 606 may include one or more gears or other coupling components for coupling the motor 604 to the I-beam 614. The position sensor 634 may sense the position of the I-beam 614. The position sensor 634 may be or include any type of sensor capable of producing position data indicative of the position of the I-beam 614. In some examples, position sensor 634 may include an encoder configured to provide a series of pulses to control circuit 610 as I-beam 614 translates distally and proximally. The control circuit 610 may track the pulse to determine the position of the I-beam 614. Other suitable position sensors may be used including, for example, proximity sensors. Other types of position sensors may provide other signals indicative of I-beam 614 movement. Further, in some examples, the position sensor 634 may be omitted. If motor 604 is a stepper motor, control circuit 610 can track the position of I-beam 614 by summing the number and direction of steps that motor 604 is instructed to perform. The position sensor 634 may be located in the end effector 602, or any other part of the instrument.

The control circuit 610 may communicate with one or more sensors 638. The sensor 638 is disposed on the end effector 602 and is adapted to operate with the surgical instrument 600 to measure various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. Good. The sensor 638 measures one or more parameters of an inductive sensor, such as a magnetic sensor, magnetic field sensor, strain gauge, pressure sensor, force sensor, eddy current sensor, resistance sensor, capacitive sensor, optical sensor, and/or end effector 602. May comprise any other suitable sensor for Sensors 638 may include one or more sensors.

The one or more sensors 638 may comprise strain gauges, such as microstrain gauges, configured to measure the amount of strain in the anvil 616 during the clamped state. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of strain. Sensor 638 may comprise a pressure sensor configured to detect the pressure created by the presence of compressed tissue between anvil 616 and staple cartridge 618. The sensor 638 may be configured to detect the impedance of the portion of tissue located between the anvil 616 and the staple cartridge 618, which impedance is the thickness and/or fill of the tissue located therebetween. Indicates.

Sensor 638 may be configured to measure the force exerted on anvil 616 by the closure drive system. For example, one or more sensors 638 may be located at the point of interaction between the closure tube 1910 (FIGS. 1-4) and the anvil 616 and detect the closure force applied by the closure tube 1910 to the anvil 616. .. The force exerted on the anvil 616 may be indicative of the tissue compression received by the tissue section captured between the anvil 616 and the staple cartridge 618. One or more sensors 638 can be placed at various points of interaction along the closure drive system to detect the closure force applied by the closure drive system to the anvil 616. One or more sensors 638 may be sampled in real time during the clamping operation by the processor described in FIGS. 16A-16B. The control circuit 610 receives the real-time sample measurements, provides analysis time-based information, and evaluates the closure force applied to the anvil 616 in real time.

A current sensor 636 can be used to measure the current drawn by the motor 604. The force required to advance the I-beam 614 corresponds to the current drawn by the motor 604. The force is converted into a digital signal and provided to the control circuit 610.

RF energy source 400 is coupled to end effector 602 and is applied to RF cartridge 609 when RF cartridge 609 is loaded into end effector 602 instead of staple cartridge 618. The control circuit 610 controls the delivery of RF energy to the RF cartridge 609.

In various aspects, the surgical instrument can include one or more sensors configured to measure a variety of different parameters associated with the operation of the surgical instrument. Such parameters include the status of the RF energy applied by the surgical instrument, the temperature of the tissue sealed by the surgical instrument, the water content of the tissue, the operating status of the surgical instrument, and the clamped condition. Mention may be made of tissue thickness. The surgical instrument may be configured to monitor these various parameters and present information associated with the parameters to the operator via the instrument, eg, display 430 (FIG. 1). In various aspects, display 430 can present monitored parameters to an operator in a graphical display.

In some aspects, the surgical instrument can include a sensor or sensor assembly configured to detect the position of the closure trigger, ie, whether the closure trigger is activated. One such aspect is shown in FIGS. These are side views of the surgical instrument 2000 with the case removed in accordance with one or more aspects of the present disclosure, with the closure trigger 2002 in an alternating operative or inoperative position. As described in more detail above, the non-actuated position of the closure trigger 2002 is associated with the open or unclamped position of the end effector 1500 (FIG. 1) where tissue can be placed between the jaws 1600 and 1800. Thus, the operative position of the closure trigger 2002 is associated with the closed or clamped position of the end effector 1500, which allows tissue to be clamped between the jaws 1600 and 1800. The closure trigger 2002 can include an arm 2004, which is directly or indirectly connected by a mechanical connection such that the arm 2004 rotates when the closure trigger 2002 is activated. In one aspect, the trigger sensing assembly 2005 comprises a magnetic element 2006, such as a permanent magnet, disposed at the distal end of the arm 2004, and a sensor 2008 configured to detect movement of the magnetic element 2006. The sensor 2008 may be, for example, a Hall effect sensor, and may include a Hall effect sensor configured to detect changes in the magnetic field surrounding the Hall effect sensor caused by movement of the magnetic element 2006. Since the sensor 2008 can detect the movement of the magnetic element 2006 and the movement of the magnetic element 2006 corresponding to the position of the closure trigger 2002 in a known manner, the trigger sensing assembly 2005 determines whether the closure trigger 2002 is in the activated position. It can be detected whether it is in a non-actuated position or another position in between.

In another aspect, the trigger sensing assembly 2005 comprises a sensor or switch that is activated when the closure drive system 510 (FIG. 1) locks the closure trigger 2002 in the fully depressed or fully actuated position. In such an aspect, the switch can generate a signal indicating that the lock is engaged and thus the closure trigger 2002 is fully depressed.

In another aspect, described in U.S. Patent Application Publication No. 2014/0296874 (titled "ROBOTICALLY-CONTROL END EFFECTOR"), which is incorporated by reference in its entirety, a trigger sensing assembly 2005 includes a closure trigger 2002, It comprises a force sensor arranged between it and a pivot pin 2003 about which a closure trigger 2002 pivots. In this aspect, pulling the closure trigger 2002 toward the pistol grip portion 2001 causes the closure 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.

The trigger sensing assembly 2005 is in signal communication with the controller 2102 (FIG. 25) via a wired or wireless connection so that any signal generated by the trigger sensing assembly 2005 is relayed to the controller 2102. You can The trigger sensing assembly 2005 samples the sensed parameter(s) with minimal delay time or sends a feedback signal indicative of the sensed parameter(s) throughout the operation of the instrument. , The position of the closure trigger 2002 can be continuously monitored. In various aspects, the trigger sensing assembly 2005 includes an analog sensor configured to generate a signal corresponding to the degree of force applied to the closure trigger 2002 and/or the particular position of the closure trigger 2002. Can be equipped. In such an aspect, an analog to digital converter may be located between the trigger sensing assembly 2005 and the controller 2102. In various other aspects, the trigger sensing assembly 2005 can include a digital sensor configured to generate a signal that only indicates whether the closure trigger 2002 is activated or deactivated.

In some aspects, the surgical instrument can include a sensor or sensor assembly configured to detect the thickness of tissue clamped by the end effector. Such an aspect is shown in FIGS. FIG. 3A is a perspective view of an end effector 2020 with a tissue thickness sensing assembly 2022 and a schematic view of a sensor 2024 of the tissue thickness sensing assembly 2022, in accordance with one or more aspects of the present disclosure. The tissue thickness sensing assembly 2022 can include a sensor 2024 disposed on the first jaw 2034 or the RF cartridge 2042 and a magnetic element 2032 such as a permanent magnet disposed on the second jaw 2036 of the end effector 2020. .. In one aspect, the sensor 2024 is located at or adjacent the distal end 2038 of the first jaw 2034, which causes the sensor 2024 to be located distal to the electrodes of the RF cartridge and the magnetic element 2032. Is correspondingly located at or adjacent the distal end 2040 of the second jaw 2036. The sensor 2024 is configured to detect changes in the magnetic field surrounding the Hall effect sensor caused by movement of the magnetic field sensing element 2026, eg, magnetic element 2032, configured to detect movement of the magnetic element 2006. , Hall effect sensors can be provided. When the operator closes the end effector 2020, the magnetic element 2032 rotates downward and approaches the magnetic field sensing element 2026. This causes the magnetic field sensed by the magnetic field sensing element 2026 to change when one or more jaws are rotated into a closed (or clamped position). The strength of the magnetic field from the magnetic element 2032, as sensed by the magnetic field sensing element 2026, indicates the distance between the first jaw 2034 and the second jaw 2036, and in turn, the thickness of the tissue clamped between them. Indicates. For example, increasing the distance between the first jaw 2034 and the second jaw 2036, and thus the weaker magnetic field detected by the magnetic field sensing element 2026, may result in between the first jaw 2034 and the second jaw 2036. , May indicate the presence of thick tissue. Conversely, the shorter distance between the first jaw 2034 and the second jaw 2036, and thus the stronger magnetic field detected by the magnetic field sensing element 2026, means that the first jaw 2034 and the second jaw 2036 are separated from each other. In between may indicate the presence of thin tissue. The magnetic field sensing element 2026 can be configured to detect and generate a signal corresponding to the relative or absolute strength of the sensed magnetic field, thereby clamping the clamped tissue according to the resolution of the magnetic field sensing element 2026. The relative or absolute thickness of the surgical instrument can be detected by the surgical instrument.

In another aspect, the tissue thickness sensing assembly 2022 can include a displacement sensor located at a pivot point between the first jaw 2034 and the second jaw 2036. In this aspect, the displacement sensor is configured to detect the position of the jaws 2034 and 2036 relative to each other, and in turn, the thickness of tissue grasped when the end effector 2020 is in the clamped position. Indicates. For example, in one aspect described in US Patent Application Publication No. 2014/0296874, where the anvil 1810 comprises a pivot pin received within a corresponding opening disposed in the elongated passageway (FIG. 4), the tissue thickness Sensing assembly 2022 can include a sensor disposed adjacent to or within the opening of elongate passageway 1602. In this aspect, when the anvil 1810 is closed, the pivot pin slides through the opening and contacts the sensor, causing the sensor to generate a signal that the anvil 1810 is closed.

In another aspect, the tissue thickness sensing assembly 2022 includes a reed switch sensor, a displacement sensor, an optical sensor, a magnetic inductive sensor, a force sensor, a pressure sensor, a piezoresistive effect film sensor, an ultrasonic sensor, an eddy current sensor, an accelerometer. , A pulse oximetry sensor, a temperature sensor, a sensor configured to detect an electrical property (eg, capacitance or resistance) of the tissue pathway, or any combination thereof. In one such aspect, the tissue thickness sensing assembly 2022 may include a first electrical sensor disposed on the first jaw 2034 and a corresponding second electrical sensor disposed on the second jaw 2036. Optionally, the first sensor is configured to transmit the current detected by the second sensor through the tissue captured by the end effector 2020. The sensed current is utilized by the tissue thickness sensing assembly 2022 so that the tissue resistance is a function of tissue thickness (and tissue type, among other factors), so that the thickness of the clamped tissue is Can be determined.

Tissue thickness sensing assembly 2022 may be in signal communication with controller 2102 via a wired or wireless connection such that any signal generated by tissue thickness sensing assembly 2022 is relayed to controller 2102. For example, the tissue thickness sensing assembly 2022 can include a transmitter 2028 configured to send the signal generated by the magnetic field sensing element 2026 to a receiver via a wired or wireless connection. And the controller 2102 is communicatively coupled. The tissue thickness sensing assembly 2022 samples the sensed parameter(s) with minimal delay time or sends a feedback signal indicative of the sensed parameter(s) to determine the overall operation of the instrument. Through, and may be configured to continuously monitor the thickness of the clamped tissue. In various aspects, the tissue thickness sensing assembly 2022 corresponds to the relative or absolute thickness of the clamped tissue and/or the particular location of either the first jaw 2034 or the second jaw 2036. An analog sensor configured to generate the signal can be included. In this manner, an analog-to-digital converter, tissue thickness sensing assembly 2022 and controller 2102 may be placed. In various other aspects, the tissue thickness sensing assembly 2022 can include a digital sensor configured to generate a signal that only indicates whether the jaws 2034, 2036 are open or closed.

In some aspects, the tissue thickness sensing assembly 2022 can further comprise a power source 2030 operably connected to the magnetic field sensing element 2026. Power source 2030 may be separate from any other power source associated with the surgical instrument. Alternatively, the tissue thickness sensing assembly 2022 may be interconnected with one or more power sources associated with a surgical instrument.

In some aspects, the surgical instrument includes a longitudinally movable drive member 540 (FIG. 3), a knife bar 1320 (FIG. 4), a knife member 1330 (FIG. 4), a cutting blade 1334 (FIG. 4), and/or Alternatively, it may include a sensor or sensor assembly configured to detect the position of other components (FIG. 3) of firing drive system 530. In various aspects, the position sensing assembly 2050 utilizes sensors configured to track the rotation of the gear arrangement 2054 engaged with the firing drive system 530 to detect linear displacement of components of the firing drive system 530. It may be configured to track. For example, FIG. 23 is an exploded perspective view of position sensing assembly 2050 configured to detect and track the linear position of longitudinally movable drive member 540. In the embodiment shown in FIG. 23, the surgical instrument comprises a drive gear 2058 operably driven by a drive shaft 2056 by an electric motor 505 (FIG. 1). The drive gear 2058 drives the motor 505 to linearly displace the longitudinally movable drive member 540 by meshingly engaging the rack 542 of the drive teeth (FIG. 3) of the longitudinally movable drive member 540. It becomes possible. Rotation of the drive gear 2058 in the first direction advances the drive member 540 movable in the longitudinal direction in the distal direction, and rotation of the drive gear 2058 in the second direction allows movement in the longitudinal direction. The drive member 540 is retracted in the proximal direction P. In various aspects, the gear arrangement 2054 of the position sensing assembly 2050 may be located at or adjacent to the drive gear 2058 engaged with the longitudinally movable drive member 540, as shown in FIG. Good. In another aspect, the gear configuration 2054 of the position sensing assembly 2050 may be located downstream of the drive gear 2058 of the firing drive system 530 and/or engaged with other components of the firing drive system 530. May be.

In the illustrated aspect, the gear arrangement 2054 of the position sensing assembly 2050 comprises a first gear 2052 that rotates about the shaft 2056 in accordance with rotation of the drive gear 2058. Therefore, rotation of the first gear 2052 about the shaft 2056 corresponds to longitudinal translation of the longitudinally movable drive member 540 driven by the drive gear 2058. The position sensing assembly 2050 further includes a magnet 2064 that rotates in response to rotation of the first gear 2052. In one aspect, the magnet 2064 is disposed on the first gear 2052. In this aspect, one revolution of the first gear 2052, and thus the magnet 2064, corresponds to one revolution of the drive gear 2058. In another aspect, the gear arrangement 2054 is configured to act as a gear reducer assembly, providing an alternative ratio of rotational speeds for the drive gear 2058 and the magnet 2064. In one such embodiment, shown in FIG. 23, the gear arrangement 2054 comprises a second gear 2060, which is in meshing engagement with the first gear 2052. In this aspect, the magnet 2064 is arranged on the second gear 2060. The gear ratio connection between the first gear 2052 and the second gear 2060 may be configured such that one revolution of the magnet 2064 corresponds to a set 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 may be configured such that one revolution of the magnet 2064 may correspond to a complete stroke of the longitudinally movable drive member 540. Good. Thus, one complete stroke of the longitudinally movable drive member 540, either in the distal or proximal direction, corresponds to one revolution of the second gear 2060. Since the magnet 2064 is connected to the second gear 260, the magnet 2064 performs one complete rotation for each complete stroke of the longitudinally movable drive member 540.

The position sensing assembly 2050 further comprises a position sensor 2070 operably coupled to the circuit 2072. The position sensor 2070 comprises one or more magnetic sensing elements such as Hall effect elements and is located in close proximity to the magnet 2064. As the magnet 2064 rotates, the magnetic sensing element of the position sensor 2070 determines the absolute angular position of the magnet 2064 in one revolution. In an aspect of the surgical instrument where one revolution of the magnet 2064 corresponds to one complete stroke of the longitudinally movable drive member 540, the particular angular position of the magnet 2064 is therefore the longitudinally movable drive member. Corresponds to a particular linear position of 540. In one aspect, the position sensing assembly 2050 is adapted to provide a unique position signal corresponding to the position of the longitudinally movable drive member 540 according to the exact angular position of the magnet 2064 detected by the position sensor 2070. Is composed of.

The position sensor 2070 can comprise any number of magnetic sensing elements, eg, magnetic sensors classified according to whether they measure the total magnetic field or the vector component of the magnetic field. A series of n switches, where n is an integer greater than 1, can be used alone or in combination with gear reduction to provide unique position signals for more than one rotation of magnet 2064. The status of the switch can be fed back to the controller 2080 which applies the logic to determine the unique position signal corresponding to the linear displacement of the longitudinally movable drive member 540.

In one aspect, the position sensor 2070 is supported by a position sensor holder 2066 that defines an aperture 2068 that is configured to include the position sensor 270 in precise alignment with the rotating magnet 2064 underneath. The magnet 2064 can be coupled to a structural element 2062 that supports the gear arrangement 2054 and the circuit 2072, such as a bracket.

24 is a diagram of a circuit 2072 and a position sensor 2070 of the position sensing assembly 2050 according to one or more aspects of the present disclosure. Position sensor 2070 may be implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. Position sensor 2070 is associated with controller 2080 (eg, a microcontroller) to provide a system capable of detecting the absolute position of longitudinally movable drive member 540 and/or other components of firing drive system 530. .. In one aspect, the position sensor 2070 is a low voltage, low power component that includes four Hall effect elements 2078A, 2078B, 2078C and 2078D within a region 2076 of the position sensor 2070 located above the magnet 2064. A high resolution ADC 2082 and smart power management controller 2084 are also provided on the chip. CORDIC, also known as the digit-wise and Wolder's algorithm, to implement a simple and efficient algorithm for computing hyperbolic and trigonometric functions that requires only additions, subtractions, bit shifts, and table lookup operations. A (coordinate rotation digital computer) processor 2086 is provided. Angular position, alarm bits, and magnetic field information are transmitted to controller 2080 via a standard serial communication interface such as SPI interface 2088. Position sensor 2070 provides 12-bit or 14-bit resolution. The position sensor 2070 may be an AS5055 chip offered in a small QFN 16-pin 4x4x0.85mm package. In the AS5055 position sensor 2070, the Hall effect elements 2078A, 2078B, 2078C, 2078D can generate a voltage signal indicating the absolute position of the magnet 2064 from the angle of one rotation of the magnet 264. This angle value is a unique position signal, which is calculated by the CORDIC processor 286 and stored onboard the AS5055 position sensor 2070 in a register or memory. The angular value, which indicates the position of the magnet 2064 over one revolution, is provided to the controller 2080 by various techniques, such as at power up or when requested by the controller 2080.

Although position sensor 2070 is shown in FIG. 24 as including four Hall effect elements, in other aspects of the surgical instrument, the number of Hall effect elements included in position sensor 2070 may vary. .. In general, more Hall effect elements allow the position sensor 2070 to detect finer movements of the longitudinally movable drive member 540, so the number of Hall effect elements is desired for the position sensor 2070. Corresponding to the degree of resolution. In various aspects, the distance between the plurality of Hall effect elements can be uniform, that is, the Hall effect elements can be evenly arranged so that each Hall effect element is longitudinally moveable drive member 540. It corresponds to the set displacement distance of. Further aspects of the position sensing assembly 2050, the circuit 2072, and the position sensor 2070 are described in US patent application Ser. CUTTING INSTRUMENT").

In another aspect, the knife bar 1320, the knife member 1330, the cutting blade 1334, and/or other components of the firing drive system 530 may alternatively be of a drive tooth for meshing engagement with the gear configuration 2054 of the position sensing assembly 2050. It can be configured to include a rack. In such an aspect of the surgical instrument, the position sensing assembly 2050 is not connected to the drive gear 2058 and/or shaft 2056 that drives the displacement of the longitudinally movable drive member 540, but instead is fired. It is configured to track the linear displacement of certain elements of drive system 530. Thus, the principles discussed with respect to the manner in which the displacement of the longitudinally movable drive member 540 is tracked are linear displacements of the knife bar 1320, the knife member 1330, the cutting blade 1334, and/or other components of the firing drive system 530. It should be appreciated that it is equally applicable to aspects of the position sensing assembly 2050 configured to detect the.

In another aspect, the position sensing assembly 2050 comprises a contact or non-contact linear displacement sensor configured to track the linear displacement of the firing drive system 530. Linear displacement sensors include linear variable differential transformers (LVDTs), differential variable reluctance transducers (DVRTs), slide potentiometers, moveable magnets and a series of straight lines. A magnetic sensing system with a Hall effect sensor arranged, a magnetic sensing system with a fixed magnet and a series of moveable straight line Hall effect sensors, a movable light source and a series of straight line arranged It may include an optical detection system comprising a photodiode or photodetector, a fixed light source and an optical detection system comprising a series of moveable linearly arranged photodiodes or photodetectors, or any combination thereof. ..

FIG. 25 is a block diagram of an example surgical instrument 2100 programmed to display various statuses of surgical instrument 2100 in accordance with one or more aspects of the present disclosure. Surgical instrument 2100 comprises a controller 2102 operably connected to a display 2108 and one or more sensors 2104, 2106 that may be located on the outer case of surgical instrument 2100. Controller 2102 embodies or executes logic that controls the operation of surgical instrument 2100 according to various inputs, such as signals received from one or more sensors 2104, 2106 with which controller 2102 is in signal communication. In various aspects, the controller 2102 is operably coupled to a memory 2110 that stores program instructions that, when executed by a processor, cause the controller 2102 and/or surgical instrument 2100 to perform the processes determined by the program instructions. A processor such as an embedded CPU. In another aspect, the controller 2102 comprises a control circuit configured to perform the process according to a digital signal input or an analog signal input. The control circuit can comprise an ASIC, an FPGA, or any other circuit that can be manufactured or programmed to implement logic.

The controller 2102 is configured to display various statuses associated with the use of the surgical instrument 2100 on the display 2108 according to inputs received from various sensors. One such sensor includes position sensor 2104, which may include position sensing assembly 2050 (FIG. 23), as described above. Other sensors 2106 from which the controller 2102 receives input can include the trigger sensing assembly 2005 (FIGS. 19-20) and the tissue thickness sensing assembly 2022 (FIGS. 21-22), as described above.

Surgical instrument 2100 includes a rotary shaft 224 operatively associated with a motor 2116, eg, a set of drive teeth, such as a rack and pinion arrangement, or a gear assembly 2122 fixed in meshing engagement with a rack of drive teeth. Further includes an electric motor for driving the displacement member 2118. In the position sensing assembly 2050, the displacement member 2118 can include, for example, a drive member 540 that is movable in the longitudinal direction of the firing drive system 530. The sensor element or magnet 2120 may be operably coupled to the gear assembly 2122 such that one revolution of the magnet 2120 corresponds to some longitudinal linear translation of the displacement member 2118. The position sensor 2104 may then further include a plurality of magnetic sensing elements configured to detect the angular position of the magnet 2120, which corresponds to a linear position on the displacement member 2118, and thus the position sensor 2104 may: It makes it possible to detect the absolute or relative position of the displacement member 2118. The position sensor 2104 may be further configured to relay a feedback signal indicative of the position of the displacement member 2118 to the controller 2102. The driver 2114 is operably connected to the motor 2116 and provides a drive signal that sets the drive speed of the motor 2116, the draw current of the motor 2116, the set voltage of the motor 2116, or various other characteristics of the motor 2116. Configured to provide. Power supply 2112 powers any or all of driver 2114, motor 2116, controller 2102, display 2108, sensors 2104, 2106, or other components of surgical instrument 2100.

In some aspects, the surgical instrument 2100 can include a sensing assembly configured to detect the progress or advancement of the closure mechanism. In various aspects, the closure mechanism sensing assembly can include the trigger sensing assembly 2005 described above. Closure trigger 512 is utilized to actuate closure drive system 510 and advance closure shuttle 1914 (FIG. 5) to detect actuation or position of closure trigger 512 as an alternative to advancing or advancing the closure mechanism. ..

In another aspect, the closure mechanism sensing assembly may be similar to the position sensing assembly 2050 described above with respect to firing drive system 530 and illustrated in FIGS. The closure mechanism sensing assembly of surgical instrument 2100 can include a position sensor 2104, which can be provided in addition to or in place of the position sensor described with respect to position sensing assembly 2050. In these aspects, the displacement member 2118 can include one or more components of a closure mechanism, such as a closure shuttle 1914, a proximal closure tube 1910 and/or a distal closure tube 1930, supporting a magnet 2120 thereon. A drive tooth rack in meshing engagement with a corresponding gear assembly 2122 may be provided. When the displacement member 2118 of the closure mechanism is advanced distally or proximally, the magnet 2120 is rotated in either the first direction or the second direction. The position sensor 2104 further includes a plurality of magnetic sensing elements, such as Hall effect elements, located proximate to the magnet 2120. As the magnet 2120 rotates, the magnetic sensing element of the position sensor 2104 determines the absolute angular position of the magnet 2120 per revolution. The angular position of the magnet 2120 corresponds to the position of the displacement member 2118 of the closure mechanism with which the gear assembly 2122 is engaged so that the closure tube sensing assembly can detect the absolute position of the components of the closure mechanism. it can. Further details regarding these aspects of the closure mechanism sensing assembly are as described above for the position sensing assembly 2050.

The speed at which the knife bar 1320 is translated by the firing drive system 530 and/or the end effector 1500 is closed by the closure mechanism is determined in various ways utilizing the position sensor 2104 to communicate with a timer or timing circuit. In combination, the position of the displacement member 2118 can be tracked. When the displacing member 2118 is translated, the position sensor 2104 may move at a series of discrete time intervals provided by a timer or at the time stamps t ₁ , t ₂ ,. ． ． At t _n , the positions d ₁ , d ₂ ,. ． ． it is possible to determine the d _n. The timer may include a continuously running timer, ie, a clock, or a timer that is started upon activation of either the firing or closing mechanism. In one aspect, for each individual position measurement made by the position sensor 2104, the controller 2102 evaluates a timer to retrieve a time stamp according to the time the position measurement was received. The controller 2102 can then calculate the velocity of the displacement member 2118 over a set period of time as the displacement position changes over time. Since the speed of the displacement member 2118 corresponds to either the speed at which the knife bar 1320 is displaced or the speed at which the end effector 1500 is closed, in a known manner, the controller 2102 determines the firing or closing speed of the surgical instrument 2100. can do.

Other sensors 2106 may also include cartridge sensors. In one aspect, the cartridge sensor detects the presence and/or status of the RF cartridge 1700 via exposed contacts 1676 of the RF cartridge 1700 that are arranged to make electrical contact with corresponding exposed contacts 1756. A passage circuit 1670 (FIG. 10) that can be configured as follows. In another aspect, a cartridge sensor is arranged with an elongated passageway 1602 containing electrical contacts that output a logic 0 when the circuit is open and a logic 1 when the circuit is closed, ie, the RF cartridge 1700. It includes a properly positioned sensor within the elongated passageway 1602, such as a cartridge presenting sensor and/or a cartridge status sensor, as disclosed in US Patent Application Publication No. 2014/0296874.

The other sensor 2106 can further include a temperature sensor configured to detect the temperature of tissue that has been sealed with RF energy. In one aspect, a temperature sensor includes the disclosed temperature sensing circuit described in US Pat. No. 8,888,776, entitled “ELECTROSURGICAL INSTRUMENT EMPLOYING AN ELECTRODE”, which is incorporated by reference in its entirety. .. In this aspect, the temperature sensing circuit may be configured to apply a voltage potential that is a function of the temperature sensed by the temperature sensing circuit. The temperature sensing circuit detects, for example, a first voltage potential at the gate terminal when detecting the first temperature, a second voltage potential when detecting the second temperature, and a third temperature when detecting the second temperature. It may be configured to apply the third voltage potential at the time. In various aspects, the temperature sensing circuit can reduce the voltage potential applied to the gate terminal as the electrode temperature increases. For example, the temperature sensing circuit may apply a first voltage potential to the gate terminal when the first temperature is detected by the temperature sensing circuit, and the temperature sensing circuit may generate a second voltage higher than the first temperature. When the temperature is detected, a second voltage potential lower than the first voltage potential may be applied. Correspondingly, the temperature sensing circuit can increase the voltage potential applied to the gate terminal as the electrode temperature decreases. Changes in the voltage potential produced by the temperature sensing circuit may be detected by the circuit, for example, to produce a feedback signal indicative of temperature that is received or sensed by the circuit and then delivered to the controller 2102. The temperature sensing circuit can be included with the first jaw 1600 (FIG. 3), the second jaw 1800 (FIG. 3), and/or the cartridge 1700 (FIG. 2). In the embodiment where the cartridge 1700 includes a temperature sensing circuit, the feedback signal generated by the temperature sensing circuit may be transmitted to the passage circuit 1670 by electrically connecting the corresponding exposed contacts 1676, 1756. The pass circuit 1670 can then send a feedback signal to the controller 2102.

The other sensor 2106 is further configured to measure one or more properties of tissue undergoing a clamping, sealing, stapling, and/or cutting operation of the surgical instrument 2100, A tissue sensor can be included. In one aspect, the other sensor 2106 comprises a tissue impedance sensor configured to measure the impedance of clamped tissue when RF energy is applied. Tissue impedance sensors include, for example, electrodes and electrodes as described in US Pat. No. 5,817,093 (Title “IMPEDANCE FEEDBACK MONITOR WITH QUERY ELECTRODE FOR FOR ELECTROSURGICAL INSTRUMENT”), which is incorporated by reference in its entirety. An impedance monitoring circuit configured to measure the current between the electrodes and/or the impedance of the tissue between the electrodes. The electrodes of the tissue impedance sensor may be the same electrodes 1736R, 1736L, 1738R, 1738R for delivering therapeutic RF energy, or different electrodes. In an aspect where the tissue impedance sensor electrode is different from the therapeutic electrode, the frequency of RF energy delivered through the tissue impedance sensor electrode may be different than the frequency of energy delivered through the therapeutic electrode to reduce electrical interference. it can. The tissue impedance sensor electrodes comprise at least two electrically opposite electrodes positioned on the end effector 1500 to contact the tissue clamped by the end effector 1500. The tissue impedance sensor electrodes can be located on either the same or opposite sides of the end effector 1500, between the portions of engaged tissue. The impedance of the tissue can be calculated because the voltage supplied to the tissue impedance sensor electrodes by, for example, the RF generator 400 (FIG. 1) is known and the current between the electrodes can be detected by the impedance monitoring circuit. In one aspect, the impedance monitoring circuit can calculate the impedance of the clamped tissue itself and then send a feedback signal representative of the impedance to the controller 2102. In another aspect, the impedance monitoring circuit can communicate a feedback signal representative of the sensed current between the electrodes to the controller 2102, which then calculates the impedance of the tissue.

Overall, various sensors or sensor assemblies disclosed herein may be utilized by surgical instrument 2100 to advance the position of closure trigger 512, closure drive system 510 and/or closure mechanism components. Clamped tissue thickness, location of knife bar 1320 and/or other components of firing drive system 530, presence of RF cartridge 1700, RF cartridge 1700 status, end effector 1500 closure rate, and surgical instrument. Various other operational statuses of the 2100 can be monitored. These conditions, parameters, locations, or other information associated with the operation of surgical instrument 2100 can be tracked by controller 2102 through feedback signals transmitted from various sensing assemblies. Controller 2102 can then cause display 2108 to display one or more of the monitored variables associated with the operation of surgical instrument 2100 in a graphical format for confirmation by an operator of surgical instrument 2100.

26-39 are displays showing various statuses, parameters, or other information associated with the operation of a surgical instrument, in accordance with one or more aspects of the present disclosure. 26-29, the surgical instrument display 2200 is configured to graphically represent the status of the RF energy being delivered to the tissue engaged by the end effector 1500 (FIG. 1). be able to. The status of the RF energy delivered may be represented in the form of graph 2202, number 2204, dial 2206, or bar graph 2208. The RF energy delivered to the tissue corresponds, for example, to the tissue impedance 2210 measured by the tissue impedance sensor, as described above. Furthermore, the tissue impedance 2210 changes as a function of time 2212 because the nature of the engaged tissue changes due to the application of mechanical force from the jaws of the end effector 1500 and the application of RF energy. One such change in the nature of the engaged tissue is the emergence of water from the tissue. Another such change in the nature of the engaged tissue is the change in conductivity of the tissue fibers when RF energy is applied. Thus, in some aspects, the display 2200 may display the tissue impedance along with the time 2212, for example, the curve 2216 in the graph 2202 or a series of bars 2224 showing the measurement of the tissue impedance 2210 at individual time intervals in the bar graph 2208. 2210 may be configured to indicate the change. Display 2200 can be further configured to show an expected curve 2217 of impedance 2210 versus time 2212 calculated by controller 2102 according to an algorithm executed. In another aspect, display 2200 can represent tissue impedance 2210 as numeral 2218. The numeral 2218 can represent the absolute value of the measured impedance, for example, in ohms (Ω). Alternatively, the number 2218 can represent the relative value or ratio of the measured impedances between the maximum and minimum impedance values. Further, the size in which the number 2218 is shown in the display 2200 can correspond to the relative size of the values. The dial 2206 format of display 2200 can also depict measured tissue impedance against maximum impedance 2222 and minimum impedance 2220.

The display 2200 may also be configured to show one or more alerts 2214 or status 2226 according to the operation of the surgical instrument 2100. Alert 2214 may be a warning that the tissue impedance exceeds the maximum tissue impedance, a warning that the electrodes have lost energy, a predicted tissue impedance when calculated by controller 2102 or stored in memory 2110. Deviations from the tissue impedance being applied and warnings that the RF energy application time exceeds the maximum or expected time. Status 2226 can include current or subsequent stages or steps of a process using surgical instrument 2100.

In addition to displaying the RF energy being applied to the tissue, display 2200 is also configured to show various other parameters, status, or other information determined by the sensing assembly in communication with controller 2102. can do. In one aspect, the display 2200 can be configured to show a temperature status 2228 of tissue to which RF energy has been applied. The temperature can be determined, for example, by the temperature sensing circuit described above. In various aspects, the temperature status 2228 can be expressed as an absolute value of the measured temperature or a relative value of the measured temperature between the minimum temperature and the maximum temperature. In one aspect, the temperature status 2228 can be represented as a curve 2239 of absolute or relative temperature 2236 as a function of time 2238. Display 2200 can be further configured to show an expected curve 2240 of temperature 2236 versus time 2238 calculated by controller 2102 according to an algorithm executed.

In another aspect, the display 2200 can be configured to show a tissue moisture content status 2230. The water content of the tissue can be determined, for example, as a function of the change in tissue impedance during clamping and the RF sealing operation performed by the surgical instrument 2100. It is known from experiments that the mechanical properties of a particular tissue type change over time, and the change in tissue impedance caused by changes in the mechanical properties of the tissue is also known experimentally, thus the controller 2102. Can isolate these effects from changes measured in tissue impedance over time, calculate changes in tissue water content, and then cause display 2200 to show calculated water content status 2230. As described above with respect to other tissue or surgical instrument parameters, the display 2200 may represent the tissue water content status 2230 in the form of a graph, number, dial, or any other such graphical display. In one aspect, the display 2200 can represent the change in tissue water content 2242 over time 2244 as a curve 2246. Display 2200 may be further configured to show an expected curve 2248 of water content 2242 over time 2244, calculated by controller 2102, according to an algorithm executed.

In another aspect, the display 2200 can be configured to indicate a seal completion status 2232 or a completion status 2234 according to the operation of the surgical instrument 2100. The seal completion status 2232 can correspond to, for example, the RF energy statuses shown in FIGS. 26-29 and represent the currently measured delivery of RF energy relative to the expected value. For example, in FIG. 32, the seal completion status 2232 is graphically represented as a measured curve 2254 of tissue impedance 2250 over time 2252 as compared to an expected curve 2256 of tissue impedance 2250 over time 2252. The ratio of the measured curve 2254 to the expected curve 2256 graphically represents the relative progress of the application of RF energy to the expected progress, which is stored in a memory 2110 that can be determined experimentally and evaluated by the controller 2102. Can be memorized. In one aspect, the completion status 2234 can represent the sealed completion status in an alternate graphical format. In another aspect, the completion status 2234 is a percentage of the number of steps performed or completed by the surgical instrument 2100, or any individual step, such as advancing a closure mechanism or firing a knife bar 1320. The current percent complete displacement of the knife bar 1320 (FIG. 4) relative to the total longitudinal displacement can be expressed. Current progress can be tracked by controller 2102 in combination with various sensing assemblies of surgical instrument 2100. Completion status 2234 can be displayed in a dial-up format that shows a percentage 2258 of a minimum percentage 2260 to a maximum percentage 2262.

In various aspects illustrated in FIGS. 34-37, the display 2200 is associated with tissue thickness engaged by the end effector 1500, advancement of a displacement member such as a knife bar 1320, and tissue thickness and/or displacement member. It can be configured to display various statuses. The thickness of tissue engaged by the end effector 1500 can be detected, for example, by the tissue thickness sensing assembly 2022 in communication with the controller 2102, as described above. In various aspects, the controller 2102 causes the display 2200 to vary the tissue thickness according to the feedback signal generated by the tissue thickness sensing assembly 2202, such as a series of individual zones 2264, particularly in the range of “thin” to “thick”. Different graphical formats can be displayed as a graph 2266 or as a dial 2268, either as absolute or relative values.

The display 2200 can further include alerts that provide a graphical alert to the user that the tissue is too thin or too thick to perform certain actions. For example, an alert is overlaid on the display 2200 to indicate to the operator that the surgical instrument 2100 is currently operating in an undesired state or will operate in an undesired state in the future, FIG. An icon 2274, such as the “X” shown, may be included. In another aspect, the icon 2274 may or may not overlap the various graphical formats 2264, 2266 and 2268 indicating tissue thickness. Various other graphical alerts are available, including differently designed icons, color changes, or text alerts. As another example, the alert provides a graphical depiction that the curve 2276 of tissue thickness, velocity of the displacement member, or other parameter measured or calculated by various sensing assemblies deviates from the expected curve 2278. Can be included. In such an aspect, various other additional alerts may accompany the represented alerts, such as textual alerts, icons, color changes, and the like.

In one aspect, the display 2200 can be further configured to show the position of the knife bar 1320. The position of the knife bar 1320 can be detected, for example, by the position sensing assembly 2050 in communication with the controller 2102, as described above. In various aspects, the controller 2102 can indicate the displacement of the knife bar 1320 on the display 2200 according to the feedback signal generated by the position sensing assembly 2050, eg, as a linear measurement position 2270 relative to the maximum position 2272 of the knife bar 1320. The maximum position 2272 can include the maximum incision length desired for a particular surgical procedure or the absolute maximum length that the knife bar 1320 can translate.

In another aspect, the display 2200 can be further configured to indicate the advancement or status of the closure mechanism. Advancement of the closure mechanism is accomplished, for example, by a closure trigger sensing assembly 2005 in communication with the controller 2102 described above, or a position sensing assembly 2050 configured to detect the position of the displacement member 2118 of the closure mechanism described above with respect to FIG. Can be detected. In various aspects, the controller 2102 causes the display 2200 to display the closing mechanism according to the feedback signal generated by the trigger sensing assembly 2005 or the position sensing assembly 2050, eg, as the detected position of the closing shuttle 1914 relative to the maximum position of the closing shuttle 1914. You can show progress.

In some aspects controller 2102 may be configured to cause various icons to be present on display 2200 when a particular event or status occurs. For example, the first icon 2280 can indicate that RF energy is currently being applied to the tissue or has been successfully applied. The second icon 2282 can indicate that the knife bar 1320 is currently being fired or has been successfully fired. The third icon 2284 can indicate that an error occurred at some point during the operation of the instrument. The fourth icon 2286 can indicate that all of the instrument operating steps have been successfully completed. Fifth icon 2288 can indicate that an error has occurred in a particular component of the instrument, such as knife bar 1320. The display 2200 can be further configured to display any other type of icon that indicates that a step or process has been completed or that an event, such as an error, has occurred. The various icons can be configured to illuminate, become visible, or change color when the status is active or when an event occurs.

In some aspects, the display 2200 indicates whether the correct type of cartridge was loaded into the end effector 1500, ie, inserted into the elongated passageway 1602 (FIG. 10) or the wrong type of cartridge was loaded. Can be configured as shown. The passage circuit 1670 can be configured to read or detect the type of cartridge received by the end effector 1500, either by a sensor or by electrical communication between the passage circuit 1670 and the cartridge. In one aspect, the cartridge comprises a memory that stores an identifier or value indicative of the cartridge type that is sent to the passage circuit 1670 when the cartridge is inserted into the elongated passage 1602 of the end effector 1500. The passage circuit 1670, which is communicatively coupled to the controller 2102, is then configured to send the cartridge type identifier or value to the controller 2102. The logic executed by controller 2102 can then compare the cartridge type with the expected cartridge type. If the cartridge type and the expected cartridge type do not match, the controller 2102 can cause the display 2200 to display the first icon 2290. If the cartridge type matches the expected cartridge type, controller 2102 can cause display 2200 to display second icon 2292. 38 to 39, the first icon 2290 corresponds to a staple cartridge inserted when an RF cartridge is expected, and the second icon 2292 is inserted when an RF cartridge is expected. Corresponding to the RF cartridge.

The various aspects of the display 2200 shown in FIGS. 26-39 can be represented as screens displayed to an operator or as individual displays of portions of screens displayed to the operator. In various aspects, an operator can switch between different screens with user input, or the controller 2102 can automatically adjust the display 2200 according to the operation of the surgical instrument 2100. In various aspects, the display 2200 can include a graphical user interface operable, for example, via a capacitive touch screen.

The display 2200 described herein includes one or more screens located on or connected to a surgical instrument for graphically displaying information captured by various sensing assemblies. Can be included. In one aspect, the display 2200 comprises a single screen located on the outer case of the surgical instrument, as shown in FIG. In embodiments utilizing multiple screens, the screens may be located adjacent to each other or spaced apart from each other. The display 2200 can be placed directly on the surgical instrument and can be removably connected to the surgical instrument such that the display 2200 is in signal communication with the controller when connected to the surgical instrument, or another. The method can be associated with a surgical instrument.

The functions or processes of monitoring various statuses of surgical instruments with the various sensing assemblies described herein are described in connection with the processing circuits described herein, eg, FIGS. 5 and 15. Mounted circuit board 1152 described, passage circuit 1670 described in connection with FIG. 10, flexible circuit assemblies 1730L and 1730R described in connection with FIGS. 10-13, described in connection with FIG. Controller 2080, as well as controller 2102 described in connection with FIG. 25, either individually or in combination.

Aspects of surgical instruments can be practiced without the specific details disclosed herein. Some aspects are shown as block diagrams rather than details. Parts of this disclosure may be expressed as instructions operating on data stored in computer memory. In general, various aspects described herein that can be implemented individually and/or collectively by a wide range of hardware, software, firmware, or any combination thereof, can be implemented in various types of "electrical". It can be regarded as being composed of "circuits". As a result, "electrical circuitry" means electrical circuitry having at least one individual electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, computer program product. And a memory device forming a general-purpose computing device (for example, a general-purpose computer or a microprocessor configured with a computer program that at least partially executes the processes and/or devices described herein). (Eg, in the form of random access memory) and/or electrical circuitry forming a communication device (eg, modem, communication switch, or opto-electrical device). These aspects can be implemented in analog or digital form, or a combination thereof.

The foregoing description describes aspects of apparatus and/or processes by way of block diagrams, flowcharts, and/or use of examples that may include one or more functions and/or actions. The functions and/or operations in such block diagrams, flowcharts, or examples may be implemented individually and/or collectively by a wide variety of hardware, software, firmware, or virtually any combination thereof. be able to. In one aspect, some portions of the subject matter described in this specification include application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), It may be implemented by circuits, registers and/or software components (eg programs, subroutines, logic and/or combinations of hardware and software components), logic gates, or other integrated formats. Some aspects of the forms disclosed herein, whether in whole or in part, include one or more computer programs running on one or more computers (eg, one or more computer systems). As one or more programs running on one or more processors, as one or more programs running on one or more processors (eg, as one or more programs running on one or more microprocessors), as firmware , Or substantially any combination thereof, may be implemented equivalently in an integrated circuit, and designing the circuit and/or writing software and/or firmware code It will be understood by those skilled in the art, in view of the above, that they are included within the skill of those skilled in the art.

The mechanism of the disclosed subject matter may be distributed as a program product in a variety of formats, and exemplary aspects of the subject matter described herein include the specifics used to effect the distribution. Used regardless of the type of signal-carrying medium. Examples of signal-bearing media are: recordable media, floppy disks, hard disk drives, compact disks (CDs), digital video disks (DVDs), digital tapes, computer memory, etc., as well as transmission-type media such as digital. And/or analog communication media (eg, fiber optic cables, waveguides, conductor communication links, conductor-free communication links (eg, transmitters, receivers, transmit logic, receive logic, etc.)).

The foregoing descriptions of these aspects are presented for purposes of description and explanation. It is not intended to be exhaustive or limited to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. These aspects are selected and described in order to illustrate the principles and practical applications, thereby making the aspects, along with modifications, available to those skilled in the art as suitable for the particular application envisioned. is there. The claims presented herewith are intended to define the overall scope.

Various aspects of the subject matter described herein are illustrated in the following examples:
Example 1. A surgical instrument, a circuit configured to deliver RF energy to a cartridge disposed within the end effector, the end effector configured to receive the cartridge, and the end effector. An amount of RF energy delivered to the tissue through the cartridge to a closure mechanism, a display, and a control circuit operably coupled to the display, the closure mechanism configured to transition between the open position and the closed position. Determining the position of the closure mechanism, displaying the amount of RF energy on the display, determining the position of the closure mechanism, and displaying the position of the closure mechanism on the display. A control circuit.

Example 2. The control circuit is configured to receive a signal from an impedance sensor configured to measure the impedance of the tissue disposed between the first electrode and the second electrode, the control circuit configured to receive the impedance of the tissue. The surgical instrument of Example 1, configured to determine the amount of RF energy delivered to the tissue according to.

Example 3. The control circuit is configured to receive a signal from a position sensor configured to detect the position of the displacement member of the closure mechanism, the control circuit determining the position of the closure mechanism according to the position of the displacement member. The surgical instrument of one or more of Examples 1-2, configured as described above.

Example 4. A control circuit further comprising a closure trigger configured to drive a closure mechanism between a first position and a second position, and a closure trigger sensor configured to detect a position of the closure trigger. Is configured to determine the position of a closure mechanism according to the position of a closure trigger. The surgical instrument of any one or more of Examples 1-3.

Example 5. The control circuit is configured to receive a signal from a sensor configured to detect the position of the end effector between the open position and the closed position, and the control circuit is configured to receive the closing mechanism according to the position of the end effector. The surgical instrument of one or more of Examples 1-4, configured to determine the position of the surgical instrument.

Example 6. The control circuit is configured to receive a signal from a cartridge sensor configured to detect the cartridge type of the cartridge received by the end effector, and the control circuit determines that the cartridge type is the expected cartridge type. The surgical instrument of one or more of Examples 1-5, configured to display a match on a display.

Example 7. A circuit configured to deliver RF energy to a cartridge disposed within the end effector, a closure mechanism configured to transition the end effector between an open position and a closed position, and a display. A processor operably coupled to the display and a memory operably coupled to the processor, the memory, when executed by the processor, determining to the processor the status of RF energy delivered to the tissue through the cartridge. And displaying a status of RF energy, determining a status of the closure mechanism, and displaying a status of the closure mechanism, a memory having program instructions stored therein. Equipment.

Example 8. 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 impedance of tissue between the first electrode and the second electrode, The surgical instrument of Example 7, wherein the processor is configured to determine the status of RF energy applied to the tissue according to the impedance of the tissue.

Example 9. The memory stores program instructions that, when executed by the processor, cause the processor to receive signals from a position sensor configured to detect the position of the displacement member of the closure mechanism, the processor storing the position of the displacement member. The surgical instrument of Example 7, configured to determine the status of the closure mechanism according to.

Example 10. A surgical instrument further comprising a closure trigger configured to drive a closure mechanism between a first position and a second position, and a closure trigger sensor configured to detect a position of the closure trigger. The surgical instrument according to one or more of Examples 7-9, wherein the instrument determines the status of the closure mechanism according to the position of the closure trigger.

Example 11. The memory stores program instructions that, when executed by the processor, cause the processor to receive signals from a sensor configured to detect the position of the end effector between the open and closed positions. The surgical instrument of one or more of Examples 7-10, configured to determine the status of the closure mechanism according to the position of the end effector.

Example 12. The memory further stores program instructions that, when executed by the processor, cause the processor to receive signals from a cartridge sensor configured to detect a cartridge type of a cartridge received by the end effector, the processor including: The surgical instrument according to one or more of Examples 7-11, configured to indicate on a display whether the cartridge type matches the expected cartridge type.

Example 13. A method of controlling a display in a surgical instrument, the surgical instrument being a circuit configured to deliver RF energy to a cartridge disposed within the end effector, the end effector receiving the cartridge. A method comprising: a circuit, a closure mechanism configured to transition an end effector between an open position and a closed position, a display, and a control circuit coupled to the display. Control circuit to determine the amount of RF energy applied to the tissue through the cartridge, control circuit to display the amount of RF energy on the display, and control circuit to determine the position of the closure mechanism. And displaying, by a control circuit, the position of the closure mechanism on a display.

Example 14. Measuring the impedance of the tissue between the first electrode and the second electrode with an impedance sensor, the control circuit determining the amount of RF energy applied to the tissue according to the impedance of the tissue. The method described in Example 13.

Example 15. Detecting the position of the displacement member of the closure mechanism with a position sensor, the control circuit determining the position of the closure mechanism according to the position of the displacement member, in one or more of Examples 13-14. The method described.

Example 16. Detecting a position of a closure trigger configured to drive a closure mechanism between a first position and a second position by a closure trigger sensor, the control circuit responsive to the position of the closure trigger. The method of any one or more of Examples 13-15, wherein the position of the closure mechanism is determined.

Example 17. Detecting a position of the end effector between an open position and a closed position by a sensor, wherein the control circuit determines a position of the closing mechanism according to the position of the end effector, Examples 13-16. The method according to one or more of.

Example 18. The method further includes: detecting the cartridge type of the cartridge received by the end effector by the cartridge sensor; and displaying on the display whether the cartridge type matches the expected cartridge type by the control circuit. The method as described in one or more of Examples 13-17.

Embodiments
(1) A surgical instrument,
A circuit configured to deliver RF energy to a cartridge disposed within the end effector, the end effector configured to receive the cartridge;
A closure mechanism configured to transition the end effector between an open position and a closed position;
Display,
A control circuit operably connected to the display,
Determining the amount of RF energy delivered to tissue through the cartridge;
Displaying the amount of RF energy on the display;
Determining the position of the closure mechanism;
Displaying the position of the closure mechanism on the display;
A control circuit configured to perform
And a surgical instrument.
(2) The control circuit is configured to receive a signal from an impedance sensor configured to measure impedance of the tissue, the impedance sensor being disposed between the first electrode and the second electrode. The surgical instrument according to embodiment 1, wherein the circuit is configured to determine the amount of the RF energy delivered to the tissue according to the impedance of the tissue.
(3) The control circuit is configured to receive a signal from a position sensor configured to detect a position of a displacement member of the closure mechanism, the control circuit according to the position of the displacement member. The surgical instrument of claim 1, configured to determine the position of the closure mechanism.
(4) A closure trigger configured to drive the closure mechanism between a first position and a second position;
A closure trigger sensor configured to detect the position of the closure trigger;
Further equipped with,
The control circuit is configured to determine the position of the closure mechanism according to the position of the closure trigger.
The surgical instrument according to embodiment 1.
(5) The control circuit is configured to receive a signal from a sensor configured to detect a position of the end effector between the open position and the closed position, and the control circuit may include: The surgical instrument according to embodiment 1, wherein the surgical instrument is configured to determine the position of the closure mechanism according to the position of the end effector.

(6) The control circuit is configured to receive a signal from a cartridge sensor configured to detect the cartridge type of the cartridge received by the end effector, and the control circuit is configured to receive the cartridge type. Is configured to display on the display whether or not the expected cartridge type matches the surgical instrument of embodiment 1.
(7) a circuit configured to deliver RF energy to a cartridge disposed within the end effector,
A closure mechanism configured to transition the end effector between an open position and a closed position;
Display,
A processor operably coupled to the display,
A memory operably coupled to the processor, the memory, when executed by the processor,
Determining the status of RF energy delivered to tissue through the cartridge;
Displaying the status of the RF energy;
Determining the status of the closure mechanism;
Displaying the status of the closure mechanism;
A memory storing program instructions for
And a surgical instrument.
(8) The memory, when executed by the processor, causes 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 surgical instrument according to embodiment 7, wherein the surgical instrument stores instructions and the processor is configured to determine the status of the RF energy applied to the tissue according to the impedance of the tissue.
(9) The memory stores program instructions that, when executed by the processor, cause the processor to receive signals from a position sensor configured to detect a position of a displacement member of the closure mechanism, The surgical instrument according to embodiment 7, wherein the processor is configured to determine the status of the closure mechanism according to the position of the displacement member.
(10) A closure trigger configured to drive the closure mechanism between a first position and a second position;
A closure trigger sensor configured to detect the position of the closure trigger;
Further equipped with,
The surgical instrument determines the status of the closure mechanism according to the position of the closure trigger,
The surgical instrument according to embodiment 7.

(11) A program that, when executed by the processor, causes the processor to receive a signal from a sensor configured to detect a position of the end effector between the open position and the closed position. The surgical instrument according to embodiment 7, wherein the surgical instrument stores instructions and the processor is configured to determine the status of the closure mechanism according to the position of the end effector.
(12) The memory, when executed by the processor, further comprises program instructions for causing the processor to receive a signal from a cartridge sensor configured to detect a cartridge type of the cartridge received by the end effector. The surgical instrument according to embodiment 7, storing and the processor is configured to display on the display whether the cartridge type matches an expected cartridge type.
(13) A method of controlling a display in a surgical instrument, the surgical instrument being a circuit configured to deliver RF energy to a cartridge disposed within the end effector, the end effector being the circuit. A circuit configured to receive a cartridge, a closure mechanism configured to transition the end effector between an open position and a closed position, a display, and a control circuit coupled to the display. And, the method is
Determining the amount of RF energy applied to tissue through the cartridge by the control circuit;
Displaying the amount of RF energy on the display by the control circuit;
Determining the position of the closure mechanism by the control circuit;
Displaying the position of the closure mechanism on the display by the control circuit;
Including the method.
(14) measuring the impedance of the tissue between the first electrode and the second electrode with an impedance sensor,
Further including,
The control circuit determines the amount of RF energy applied to the tissue according to the impedance of the tissue,
The method according to embodiment 13.
(15) detecting the position of the displacement member of the closing mechanism with a position sensor,
Further including,
The control circuit determines the position of the closure mechanism according to the position of the displacement member,
The method according to embodiment 13.

(16) detecting a position of a closure trigger configured to drive the closure mechanism between a first position and a second position by a closure trigger sensor,
Further including,
The control circuit determines the position of the closure mechanism according to the position of the closure trigger,
The method according to embodiment 13.
(17) detecting a position of the end effector between the open position and the closed position by a sensor,
Further including,
The control circuit determines the position of the closure mechanism according to the position of the end effector,
The method according to embodiment 13.
(18) detecting a cartridge type of the cartridge received by the end effector with a cartridge sensor;
Displaying by the control circuit on the display whether the cartridge type matches an expected cartridge type;
14. The method according to embodiment 13, further comprising:

Claims (18)

A surgical instrument,
A circuit configured to deliver RF energy to a cartridge disposed within the end effector, the end effector configured to receive the cartridge;
A closure mechanism configured to transition the end effector between an open position and a closed position;
Display,
A control circuit operably connected to the display,
Determining the amount of RF energy delivered to tissue through the cartridge;
Displaying the amount of RF energy on the display;
Determining the position of the closure mechanism;
Displaying the position of the closure mechanism on the display;
A control circuit configured to perform
And a surgical instrument. The control circuit is configured to receive a signal from an impedance sensor configured to measure the impedance of the tissue disposed between the first electrode and the second electrode, the control circuit comprising: The surgical instrument of claim 1, wherein the surgical instrument is configured to determine an amount of the RF energy delivered to the tissue according to the impedance of the tissue. 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 detect the position of the displacement member according to the position of the displacement member. The surgical instrument of claim 1, wherein the surgical instrument is configured to determine the position of the mechanism. A closure trigger configured to drive the closure mechanism between a first position and a second position;
A closure trigger sensor configured to detect the position of the closure trigger;
Further equipped with,
The control circuit is configured to determine the position of the closure mechanism according to the position of the closure trigger,
The surgical instrument according to claim 1. The control circuit is configured to receive a signal from a sensor configured to detect a position of the end effector between the open position and the closed position, and the control circuit includes the end effector. The surgical instrument of claim 1, wherein the surgical instrument is configured to determine the position of the closure mechanism according to the position of. The control circuit is configured to receive a signal from a cartridge sensor configured to detect a cartridge type of the cartridge received by the end effector, and the control circuit is configured to detect the cartridge type as expected. The surgical instrument according to claim 1, wherein the surgical instrument is configured to display on the display whether or not the cartridge type is matched. A circuit configured to deliver RF energy to a cartridge disposed within the end effector,
A closure mechanism configured to transition the end effector between an open position and a closed position;
Display,
A processor operably coupled to the display,
A memory operably coupled to the processor, the memory, when executed by the processor,
Determining the status of RF energy delivered to tissue through the cartridge;
Displaying the status of the RF energy;
Determining the status of the closure mechanism;
Displaying the status of the closure mechanism;
A memory storing program instructions for
And a surgical instrument. 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 surgical instrument of claim 7, wherein the processor is configured to determine the status of the RF energy applied to the tissue according to the impedance of the tissue. The memory stores program instructions that, when executed by the processor, cause the processor to receive signals from a position sensor configured to detect a position of a displacement member of the closure mechanism, the processor storing the program instructions. The surgical instrument of claim 7, configured to determine the status of the closure mechanism according to the position of the displacement member. A closure trigger configured to drive the closure mechanism between a first position and a second position;
A closure trigger sensor configured to detect the position of the closure trigger;
Further equipped with,
The surgical instrument determines the status of the closure mechanism according to the position of the closure trigger,
The surgical instrument according to claim 7. The memory stores program instructions that, when executed by the processor, cause the processor to receive signals from a sensor configured to detect a position of the end effector between the open position and the closed position. The surgical instrument of claim 7, wherein the processor is configured to determine the status of the closure mechanism according to the position of the end effector. The memory further 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 of the cartridge received by the end effector. The surgical instrument of claim 7, wherein the processor is configured to display on the display whether the cartridge type matches an expected cartridge type. A method of controlling a display in a surgical instrument, the surgical instrument being a circuit configured to deliver RF energy to a cartridge disposed in an end effector, the end effector receiving the cartridge. A circuit, a closing mechanism configured to transition the end effector between an open position and a closed position, a display, and a control circuit coupled to the display. And the method comprises:
Determining the amount of RF energy applied to tissue through the cartridge by the control circuit;
Displaying the amount of RF energy on the display by the control circuit;
Determining the position of the closure mechanism by the control circuit;
Displaying the position of the closure mechanism on the display by the control circuit;
Including the method. Measuring the impedance of the tissue between the first electrode and the second electrode with an impedance sensor,
Further including,
The control circuit determines the amount of RF energy applied to the tissue according to the impedance of the tissue,
The method of claim 13. Detecting the position of the displacement member of the closing mechanism by a position sensor,
Further including,
The control circuit determines the position of the closure mechanism according to the position of the displacement member,
The method of claim 13. Detecting a position of a closure trigger configured to drive the closure mechanism between a first position and a second position by a closure trigger sensor;
Further including,
The control circuit determines the position of the closure mechanism according to the position of the closure trigger,
The method of claim 13. Detecting a position of the end effector between the open position and the closed position by a sensor;
Further including,
The control circuit determines the position of the closure mechanism according to the position of the end effector,
The method of claim 13. Detecting a cartridge type of the cartridge received by the end effector by a cartridge sensor;
Displaying by the control circuit on the display whether the cartridge type matches an expected cartridge type;
14. The method of claim 13, further comprising:

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