阅读说明：本技术 用于控制在分段部分上进行独立能量传递的控制电路的系统和方法 (System and method for controlling control circuits for independent energy transfer over segmented portions ) 是由 D·C·耶茨 F·E·谢尔顿四世 J·L·哈里斯 J·D·梅瑟利 于 2018-06-12 设计创作，主要内容包括：本发明提供了外科器械，其用于控制在分段部分上进行独立的能量传递的控制电路。外科器械包括端部执行器，该端部执行器包括：第一钳口和第二钳口；第一组电极和第二组电极；以及限定在第一组电极与第二组电极之间的狭槽。切割构件被构造为在狭槽内往复运动。控制电路被配置成能够接收关于位于端部执行器的第一钳口与第二钳口之间的组织的阻抗的信息，向第一组电极和第二组电极提供电外科能量，并且在第一组电极与第二组电极之间以预定的时间间隔重复地交替电外科能量，并且推进切割构件。(The present invention provides a surgical instrument for controlling a control circuit for independent energy delivery over segmented portions. The surgical instrument includes an end effector comprising: a first jaw and a second jaw; a first set of electrodes and a second set of electrodes; and a slot defined between the first set of electrodes and the second set of electrodes. The cutting member is configured to reciprocate within the slot. The control circuit is configured to receive information regarding an impedance of tissue located between first and second jaws of the end effector, provide electrosurgical energy to the first and second sets of electrodes, and repeatedly alternate electrosurgical energy between the first and second sets of electrodes at predetermined time intervals and advance the cutting member.)

1. A surgical instrument, comprising:

an end effector, the end effector comprising:

a first jaw and a second jaw, wherein the first jaw comprises a proximal portion and a distal portion, and the second jaw is movable relative to the first jaw;

a first set of electrodes and a second set of electrodes, wherein the first set of electrodes is located at a proximal portion of the first jaw and the second set of electrodes is located at a distal portion of the first jaw; and

a slot defined between the first set of electrodes and the second set of electrodes;

a cutting member configured to reciprocate within the slot; and

a control circuit configured to be capable of:

receiving information about the impedance of tissue located between the first jaw and the second jaw of the end effector;

providing electrosurgical energy to the first and second sets of electrodes and alternating electrosurgical energy repeatedly between the first and second sets of electrodes at predetermined time intervals; and

advancing the cutting member.

2. The surgical instrument of claim 1, wherein the control circuit is configured to advance the cutting member to the proximal portion to cut tissue in the proximal portion after or when welding of the tissue is substantially complete.

3. The surgical instrument of claim 2, wherein the control circuit is configured to stop providing electrosurgical energy to the first and second sets of electrodes prior to advancement of the cutting member to the proximal portion.

4. The surgical instrument of claim 2, wherein the control circuit is configured to advance the cutting member to the distal portion to cut tissue in the distal portion after cutting tissue in the proximal portion.

5. The surgical instrument of claim 2, wherein the control circuit is configured to determine that welding of the tissue is substantially complete by comparing information about the impedance of the tissue to a predetermined terminal impedance value.

6. The surgical instrument of claim 1, wherein the control circuit is configured to advance the cutting member to the proximal portion to cut tissue in the proximal portion while providing electrosurgical energy to the first and second sets of electrodes prior to completing welding of tissue in the proximal portion.

7. The surgical instrument of claim 6, wherein the control circuit is configured to advance the cutting member to the proximal portion to cut tissue in the proximal portion when welding of the tissue is initiated to be completed.

8. The surgical instrument of claim 7, wherein the control circuit is configured to determine that welding of the tissue is beginning to complete when the rate of impedance decline becomes approximately zero.

9. The surgical instrument of claim 6, wherein the control circuit is configured to advance the cutting member to the distal portion to cut tissue in the distal portion after cutting tissue in the proximal portion while providing the electrosurgical energy to the second set of electrodes.

10. The surgical instrument of claim 1, wherein the predetermined time interval is in a range from about 0.1 seconds to 0.5 seconds.

11. The surgical instrument of claim 1, wherein the electrosurgical energy comprises radiofrequency energy.

12. A surgical instrument, comprising:

an end effector, the end effector comprising:

a first jaw comprising a proximal portion and a distal portion;

a second jaw movable relative to the first jaw;

a first set of electrodes located at the proximal portion of the first jaw; and

a second set of electrodes located at the distal portion of the first jaw;

a cutting member, wherein the first jaw and the second jaw define an elongate slot therebetween extending from a proximal end of the first jaw, and wherein the cutting member is slidably received within the elongate slot to cut tissue located between the first jaw and the second jaw;

a control circuit configured to provide electrosurgical energy to the first and second sets of electrodes, wherein the provision of electrosurgical energy repeatedly alternates at predetermined time intervals between the first and second sets of electrodes,

wherein the control circuit is configured to receive information about an impedance of tissue located between the first jaw and the second jaw.

13. The surgical instrument of claim 12, wherein the control circuit is configured to advance the cutting member to the proximal portion to cut tissue in the proximal portion after or when welding of the tissue is substantially complete.

14. The surgical instrument of claim 13, wherein the control circuit is configured to stop providing electrosurgical energy to the first and second sets of electrodes before advancing the cutting member to the proximal portion.

15. The surgical instrument of claim 13, wherein the control circuit is configured to advance the cutting member to the distal portion to cut tissue in the distal portion after cutting tissue in the proximal portion.

16. The surgical instrument of claim 13, wherein the control circuit is configured to determine that welding of the tissue is substantially complete and compare information about the impedance of the tissue to a predetermined terminal impedance value.

17. The surgical instrument of claim 12, wherein the control circuit is configured to advance the cutting member to the proximal portion to cut tissue in the proximal portion and provide electrosurgical energy to the first and second sets of electrodes prior to completing welding of tissue in the proximal portion.

18. The surgical instrument of claim 17, wherein the control circuit is configured to advance the cutting member to the proximal portion to cut tissue in the proximal portion when welding of the tissue is initiated to be completed.

19. The surgical instrument of claim 18, wherein the control circuit is configured to determine that welding of the tissue is beginning to complete when the rate of impedance decline becomes approximately zero.

20. The surgical instrument of claim 17, wherein the control circuit is configured to advance the cutting member to the distal portion to cut tissue in the distal portion after cutting tissue in the proximal portion and simultaneously provide the electrosurgical energy to the second set of electrodes.

Technical Field

The present disclosure relates to surgical instruments and, in various instances, to surgical stapling and cutting instruments and staple cartridges therefor that are designed for stapling and cutting tissue.

Background

In various open, endoscopic, and/or laparoscopic surgical procedures, for example, it may be desirable to coagulate, seal, and/or fuse tissue. One method of sealing tissue relies on applying energy, such as electrical energy, to tissue captured or clamped within an end effector or end effector assembly of a surgical instrument to create a thermal effect within the tissue. A variety of monopolar and bipolar Radiofrequency (RF) surgical instruments and surgical techniques have been developed for such purposes. Generally, the transfer of RF energy to the captured tissue raises the temperature of the tissue, and thus, the energy may at least partially denature proteins within the tissue. For example, such proteins (such as collagen) may denature into a proteinaceous mixture that mixes and fuses or "seals" together as the protein renatures. This biologic seal can be resorbed by the body's wound healing process as the treatment site heals over time.

Disclosure of Invention

In one aspect, a surgical instrument is provided. The surgical instrument includes an end effector comprising: a first jaw and a second jaw, wherein the first jaw comprises a proximal portion and a distal portion, and the second jaw is movable relative to the first jaw; a first set of electrodes and a second set of electrodes, wherein the first set of electrodes is located at a proximal portion of the first jaw and the second set of electrodes is located at a distal portion of the first jaw; and a slot defined between the first set of electrodes and the second set of electrodes; a cutting member configured to reciprocate within the slot; and control circuitry configured to be capable of: receiving information about the impedance of tissue located between first and second jaws of an end effector; providing electrosurgical energy to the first and second sets of electrodes and repeatedly alternating the electrosurgical energy between the first and second sets of electrodes at predetermined time intervals; and advancing the cutting member.

In another aspect, a surgical instrument includes an end effector, a cutting member, and a control circuit. The end effector includes a first jaw having a proximal portion and a distal portion, a second jaw movable relative to the first jaw, a first set of electrodes located at the proximal portion of the first jaw, and a second set of electrodes located at the distal portion of the first jaw. The first and second jaws define an elongate slot therebetween extending from a proximal end of the first jaw, and a cutting member is slidably received within the elongate slot to cut tissue positioned between the first and second jaws. The control circuit is programmed to provide electrosurgical energy to the first and second sets of electrodes, wherein the provision of electrosurgical energy repeatedly alternates at predetermined time intervals between the first and second sets of electrodes. The control circuit is further programmed to receive information about the impedance of tissue located between the first jaw and the second jaw.

Drawings

The novel features believed characteristic of the aspects described herein are set forth with particularity in the appended claims. However, these aspects, both as to organization and method of operation, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings.

Fig. 1 is a perspective view of a surgical system including a handle assembly coupled to an interchangeable surgical tool assembly configured for use with conventional surgical staple/fastener cartridges and Radio Frequency (RF) cartridges in accordance with one aspect of the present disclosure.

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 portions of the handle assembly and interchangeable surgical tool assembly of fig. 1 and 2, according to one aspect of the present disclosure.

Fig. 4 is an exploded assembly view of a proximal portion of the interchangeable surgical tool assembly of fig. 1-3, according to one aspect of the present disclosure.

Fig. 5 is another exploded assembly view of the distal portion of the interchangeable surgical tool assembly of fig. 1-5, according to one aspect of the present disclosure.

Fig. 6 is a partial cross-sectional view of the end effector shown in fig. 1-5 supporting an RF cartridge therein and having tissue clamped between the cartridge and anvil according to one aspect of the present disclosure.

FIG. 7 is a partial cross-sectional view of the anvil of FIG. 6 according to one aspect of the present disclosure.

Fig. 8 is another exploded assembly view of a portion of the interchangeable surgical tool assembly of fig. 1-5, according to one aspect of the present disclosure.

Fig. 9 is another exploded assembly view of the interchangeable surgical tool assembly and handle assembly of fig. 1 and 2, according to one aspect of the present disclosure.

Fig. 10 is a perspective view of the RF cartridge and elongate channel of the interchangeable surgical tool assembly of fig. 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 elongate channel of fig. 10 with a knife member aspect in accordance with an aspect of the present disclosure.

Fig. 12 is another perspective view of an RF pod installed in the elongate channel of fig. 10 and showing a portion of the flexible shaft circuit arrangement, according to an aspect of the present disclosure.

Fig. 13 is a cross-sectional end view of the RF cartridge and elongate channel of fig. 12 taken along line 13-13 in fig. 12 according to an aspect of the present disclosure.

Fig. 14 is a top cross-sectional view of a portion of the interchangeable surgical tool assembly of fig. 1 and 5 with its end effector in an articulated position according to one aspect of the present disclosure.

Fig. 15 is a perspective view of an on-board circuit board arrangement and RF generator and configuration according to one aspect of the present disclosure.

Fig. 16A-16B are block diagrams of control circuitry of the surgical instrument of fig. 1 spanning two drawing sheets in accordance with an aspect of the present disclosure.

Fig. 17 is a block diagram of a control circuit of the surgical instrument of fig. 1 illustrating the interface between the handle assembly and the power assembly, and between the handle assembly and the interchangeable shaft assembly, according to one aspect of the present disclosure.

Fig. 18 is a schematic view of a surgical instrument configured to control various functions in accordance with an aspect of the present disclosure.

Fig. 19 is a schematic top view of jaws in an end effector according to one aspect of the present disclosure.

Fig. 20 is a graph depicting voltage applied to an electrode as a function of time, according to one aspect of the present disclosure.

FIG. 21 illustrates a block diagram of a surgical system programmed to communicate power and control signals with an end effector, according to one aspect of the present disclosure.

Fig. 22 is a logic flow diagram depicting a process for operating a control program or logic configuration of a surgical instrument according to one aspect of the present disclosure.

Fig. 23 is a graph of tissue impedance as a function of time according to one aspect of the present disclosure.

Fig. 24 is a graph depicting an example motor voltage curve, according to one aspect of the present disclosure.

Fig. 25 is a logic flow diagram depicting a process for operating a control program or logic configuration of a surgical instrument according to one aspect of the present disclosure.

Fig. 26 is a graph of tissue impedance as a function of time according to an aspect of the present disclosure.

Fig. 27 is a graph depicting an example motor voltage curve, according to one aspect of the present disclosure.

Description

The applicants of the present application have the following patent applications filed concurrently herewith and each incorporated herein by reference in its entirety:

attorney docket number END8184USNP/170063, entitled "SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, ANDMETHOD OF USING SAME", filed on 28.6.2017, inventor d.

Attorney docket number END8183USNP/170064, entitled "SYSTEMS and methods OF DISPLAYING SURGICAL INSTRUMENT STATUS", filed 2017, 28/6/2017, and having a name OF Jeffrey D.

Attorney docket number END8190USNP/170065, entitled "SHAFT modular approach armamenentants", filed 2017, 6 and 28 months.

Attorney docket number END8189USNP/170066, filed 2017, 28.6.8.d., by Jeffrey d.messerly et al, entitled "SYSTEMS and methods FOR CONTROLLING CONTROL CIRCUITS FOR INDEPENDENT ENERGY DELIVERY over segment protected contacts".

Attorney docket number END8185USNP/170067, entitled "flexleberric association FOR minor FASTENING INSTRUMENTS", filed on 28.6.2017, inventor d.

Attorney docket number END8188USNP/170068, entitled "SURGICAL SYSTEM COUPLEABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, ANDHAVING A PLURALITY OF RADIO-FREQUENCY ENERGY RETURN PATHS", filed on 28.6.2017.

Attorney docket number END8187USNP/170070 entitled "SURGICAL ENDEFECTOR FOR APPLYING ELECTRICAL ELECTRODES ENGAGEMENT TO DIFFERENT ELECTRONDIFFERENT TIME PERIEODS", filed 2017, 28/6.8.D.

Attorney docket number END8182USNP/170071, entitled "ELECTROSURURGICAL CARTRIDGE FOR USE IN THE PROFILE SURGICAL CUTTING AND DSTAPLING INSTRUMENT", filed 2017, 28.6.8.2017, and assigned to Tamara Widenouse et al.

Attorney docket number END8186USNP/170072, entitled "SURGICALEND EFFECTOR TO ADJUST JAW COMPRESSION," filed on 28.6.2017, inventors Frederick E.Shelton, IV et al.

Attorney docket number END8224USNP/170073, filed 2017, 28/6, and entitled "CARTRIDGEARRANGEMENTS FOR SURGICAL CUTTING AND FASTENING INSTRUMENTS WITH lockoutdisabelement utilities", by Jason l.

Attorney docket number END8229USNP/170074 entitled "SURGICALCUTING AND FASTENING INSTRUMENTENTS WITH DUAL POWER SOURCES", filed 2017, 6, 28.8.

Electrosurgical devices are used in many surgical procedures. The electrosurgical device may apply electrical energy to tissue in order to treat the tissue. The electrosurgical device may include an instrument having a distally mounted end effector that includes one or more electrodes. The end effector can be positioned against tissue such that an electrical current can be introduced into the tissue. The electrosurgical device may be configured for monopolar or bipolar operation. During monopolar operation, current is introduced into the tissue by an active (or source) electrode on the end effector and returned through a return electrode. The return electrode may be a ground pad and is solely located on the patient's body. During bipolar operation, current may be introduced into and returned from the tissue through the active and return electrodes, respectively, of the end effector.

The end effector may include two or more jaw members. At least one of the jaw members may have at least one electrode. At least one jaw is movable from a position spaced from the opposing jaw for receiving tissue to a position in which the space between the jaw members is less than the space between the jaw members in the first position. Movement of the movable jaws may compress tissue held therebetween. The thermal bond created by the current flowing through the tissue may form a hemostatic seal within and/or between the tissues through the compression effected by the movement of the jaws and may thus be particularly useful, for example, in sealing blood vessels. The end effector may include a cutting member. The cutting member is movable relative to the tissue and the electrode to transect the tissue.

The electrosurgical device may also include a mechanism to clamp tissue together (such as a stapling device) and/or a mechanism to sever tissue (such as a tissue knife). The electrosurgical device may include a shaft for placing the end effector adjacent tissue being treated. The shaft may be straight or curved, bendable or inflexible. In electrosurgical devices that include straight and bendable shafts, the shaft may have one or more articulation joints to allow controlled bending of the shaft. Such joints may allow a user of the electrosurgical device to place the end effector in contact with tissue at an angle to the shaft when the tissue to be treated is not readily accessible using an electrosurgical device having a straight, non-curved shaft.

The electrical energy applied by the electrosurgical device may be transmitted to the instrument through a generator in communication with the handpiece. The electrical energy may be in the form of radio frequency ("RF") energy. The RF energy is in the form of electrical energy that may be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). In use, the electrosurgical instrument can transmit low frequency RF energy through tissue, which can cause ionic oscillations or friction and, in effect, resistive heating, thereby raising the temperature of the tissue. Because a sharp boundary is formed between the affected tissue and the surrounding tissue, the surgeon is able to operate with high precision and control without damaging adjacent non-target tissue. The low operating temperature of the radiofrequency energy is suitable for removing, contracting, or sculpting soft tissue while sealing the blood vessel. RF energy is particularly effective for 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 may be generally limited to less than 5 MHz. However, in bipolar RF applications, the frequency can be almost any value. Monopolar applications can typically use frequencies higher than 200kHz in order to avoid unwanted stimulation of nerves and muscles due to the use of low frequency currents. If the risk analysis shows that the likelihood of neuromuscular stimulation has been mitigated to an acceptable level, bipolar applications may use a lower frequency. Typically, frequencies above 5MHz are not used to minimize the problems associated with high frequency leakage currents. However, in the case of bipolar applications, higher frequencies may be used. It is generally considered that 10mA is the lower threshold for tissue thermal effects.

Fig. 1 and 2 illustrate a motor driven surgical system 10 that may be used to perform a variety of different surgical procedures. In the illustrated arrangement, the surgical system 10 includes an interchangeable surgical tool assembly 1000 operatively coupled to the handle assembly 500. In another surgical system aspect, the interchangeable surgical tool assembly 1000 may also be effectively used with a tool drive assembly of a robotically-controlled surgical system or an automated surgical system. For example, the SURGICAL tool assembly 1000 disclosed herein may be used with various robotic systems, INSTRUMENTS, components, and methods such as, but not limited to, those disclosed in U.S. patent 9,072,535 entitled "SURGICAL station instrumentation with tool station platform depolyment arrays," which is hereby incorporated by reference in its entirety.

In an exemplary aspect, the handle assembly 500 can include a handle housing 502 including a pistol grip 504 that can be grasped and manipulated by a clinician. As will be discussed briefly below, the handle assembly 500 operatively supports a plurality of drive systems configured to generate various control motions and apply various control motions to corresponding portions of the interchangeable surgical tool assembly 1000. As shown in fig. 2, the handle assembly 500 may further include a handle frame 506 that operatively supports a plurality of drive systems. For example, the handle frame 506 may operatively support a "first" or closure drive system (generally designated 510) that may be used to apply closing and opening motions to the interchangeable surgical tool assembly 1000. In at least one form, the closure drive system 510 can include an actuator in the form of a closure trigger 512 pivotally supported by the handle frame 506. Such a configuration enables the closure trigger 512 to be manipulated by the clinician such that when the clinician grips the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 can be easily pivoted from the activated or "unactuated" position to the "actuated" position and more specifically to the fully compressed or fully actuated position. In use, to actuate the closure drive system 510, the clinician depresses the closure trigger 512 toward the pistol grip portion 504. As described in further detail in U.S. patent application serial No. 14/226,142 entitled "SURGICAL INSTRUMENTC PRIMING A SENSOR SYSTEM" (now U.S. patent application publication 2015/0272575), which is hereby incorporated by reference in its entirety, the closure drive SYSTEM 510 is configured to lock the closure trigger 512 into a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to achieve a full closure stroke. When the clinician desires to unlock the closure trigger 512 to allow it to be biased to the unactuated position, the clinician simply activates the closure release button assembly 518 which enables the closure trigger to return to the unactuated position. The closure release button assembly 518 may also be configured to interact with various sensors that communicate with a microcontroller in 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 U.S. patent application publication 2015/0272575.

In at least one form, the handle assembly 500 and the handle frame 506 can operatively support another drive system, referred to herein as a firing drive system 530, which is configured to apply firing motions to corresponding portions of the interchangeable surgical tool assembly attached thereto. As described in detail in U.S. patent application publication 2015/0272575, the firing drive system 530 may employ an electric motor 505 located in the pistol grip portion 504 of the handle assembly 500. In various forms, the motor 505 may be, for example, a direct current brushed driving motor having a maximum rotation of about 25,000 RPM. In other arrangements, the motor 505 may comprise 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 source 522, which in one form may comprise a removable power pack. The power pack may support a plurality of lithium ion ("LI") or other suitable batteries therein. Multiple batteries, which may be connected in series, may be used as the power source 522 for the surgical system 10. In addition, the power source 522 may be replaceable and/or rechargeable.

The electric motor 505 is configured to axially drive the longitudinally movable drive member 540 (fig. 3) 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 movable drive member will be driven axially in the distal direction "DD". When the motor 505 is driven in the opposite rotational direction, the longitudinally movable drive member 540 will be driven axially in the proximal direction "PD". The handle assembly 500 may include a switch 513, and the switch 513 may be configured to reverse the polarity applied to the electric motor 505 by the power source 522 or otherwise control the motor 505. The handle assembly 500 may 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 may be controlled by a firing trigger (not shown) adjacent to the closure trigger 512 and pivotally supported on the handle assembly 500. The firing trigger is pivotable between an unactuated position and an actuated position. The firing trigger may be biased into the unactuated position by a spring or other biasing arrangement such that when the clinician releases the firing trigger, the firing trigger may be pivoted or otherwise returned to the unactuated position by the spring or biasing arrangement. In at least one form, the firing trigger can be positioned "outboard" of the closure trigger 512. As discussed in U.S. patent application publication 2015/0272575, the handle assembly 500 may be equipped with a firing trigger safety button (not shown) to prevent inadvertent actuation of the firing trigger. When the closure trigger 512 is in the unactuated position, the safety button is housed in the handle assembly 500, in which case the safety button is not readily accessible to the clinician and moved between a safety position preventing actuation of the firing trigger and a firing position in which the firing trigger may be fired. When the clinician depresses the closure trigger, the safety button and firing trigger pivot downward, which can then be manipulated by the clinician.

In at least one form, the longitudinally movable drive member 540 may have a gear rack 542 formed thereon for meshing engagement with a corresponding drive gear arrangement (not shown) that interfaces with the motor. See fig. 3. Further details regarding those features can be found in U.S. patent application publication 2015/0272575. However, in at least one arrangement, the longitudinally movable drive member is insulated to protect it from inadvertent radio frequency energy. At least one form further includes a manually actuatable "rescue" assembly configured to enable a clinician to manually retract the longitudinally movable drive member 120 in the event the motor 505 becomes disabled. The rescue assembly can comprise a lever or rescue handle assembly that is stored within the handle assembly 500 below the releasable door 550. See fig. 2. The lever may be configured to be manually pivoted into engagement with a toothed ratchet in the drive member. Thus, the clinician may manually retract the drive member 540 by using the rescue handle assembly to ratchet the drive member in the proximal direction "PD". U.S. patent 8,608,045 entitled "POWERED SURGICAL stapling AND SURGICAL stapling together WITH manual SURGICAL stapling FIRING SYSTEM" (the entire disclosure of which is hereby incorporated by reference herein) discloses a rescue arrangement AND other components, arrangements AND systems that may also be employed WITH any of the various interchangeable SURGICAL tool assemblies disclosed herein.

In the illustrated aspect, the interchangeable surgical tool assembly 1000 includes a surgical end effector 1500 comprising a first jaw 1600 and a second jaw 1800. In one arrangement, the first jaw includes an elongate channel 1602 configured to operably support a conventional (mechanical) surgical staple/fastener cartridge 1400 (fig. 4) or a Radio Frequency (RF) cartridge 1700 (fig. 1 and 2) therein. The second jaw 1800 includes an anvil 1810 pivotally supported relative to the elongate channel 1602. By actuating the closure drive system 510, the anvil 1810 can be selectively moved toward and away from a surgical cartridge supported in the elongate channel 1602 between an open position and a closed position. In the illustrated arrangement, the anvil 1810 is pivotally supported on a proximal end portion of the elongate channel 1602 for selective pivotal travel about a pivot axis transverse to the shaft axis SA. Actuation of the closure drive system 510 may result in distal axial movement of a proximal closure member or proximal closure tube 1910 attached to the articulation connector 1920.

Turning to fig. 4, the articulation connector 1920 includes an upper tang 1922 and a lower tang 1924 projecting distally from a distal end of the articulation connector 1920 to movably couple to an end effector closure sleeve or distal closure tube segment 1930. See fig. 3. The distal closure tube segment 1930 includes an upper tang 1932 and a lower tang (not shown) projecting proximally from a proximal end thereof. The upper double pivot connector 1940 includes a proximal pin 1941 and a distal pin 1942 that engage corresponding holes in the upper tangs 1922, 1932 of the articulation connector 1920 and the distal closure tube segment 1930, respectively. Similarly, the lower double pivot connector 1944 includes a proximal pin 1945 and a distal pin 1946 that engage corresponding holes in the lower tang 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 includes positive jaw opening features or tabs 1936, 1938 that correspond to respective portions of the anvil 1810 to apply an opening motion to the anvil 1810 as the distal closure tube segment 1930 is retracted in the proximal direction PD to a starting position. More details regarding the OPENING and closing of the anvil 1810 may be found in U.S. patent application entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES," filed on even date herewith (attorney docket number END8208USNP/170096), the entire disclosure of which is hereby incorporated by reference herein.

As shown in fig. 5, in at least one arrangement, interchangeable surgical tool assembly 1000 includes a tool frame assembly 1200 that includes a tool base 1210 that operably supports a nozzle assembly 1240 thereon. As further described in U.S. patent application entitled "SURGICAL INSTRUMENT with MOVABLE tool holder" filed on even date herewith and hereby incorporated by reference in its entirety (attorney docket No. END8209USNP/170097), the tool base 1210 and nozzle arrangement 1240 facilitate rotation of the SURGICAL END effector 1500 relative to the tool base 1210 about the shaft axis SA. This rotational travel is indicated by arrow R in fig. 1. As also shown in fig. 4 and 5, the interchangeable surgical tool assembly 1000 includes a spine assembly 1250 that operably supports the proximal closure tube 1910 and is coupled to the surgical end effector 1500. In various instances, to facilitate assembly, the spine assembly 1250 may be made of upper and lower spine segments 1251, 1252 that are interconnected together by snap features, adhesives, welding, or the like. In assembled form, spine assembly 1250 includes a proximal end 1253 rotatably supported in tool base 1210. In one arrangement, for example, the proximal end 1253 of the spine assembly 1250 is attached to a spine bearing (not shown) that is configured to be supported within the tool base 1210. This arrangement facilitates rotatable attachment of the spine assembly 1250 to the tool base such that the spine assembly 1250 may be selectively rotated about the axis SA relative to the tool base 1210.

As shown in fig. 4, the upper ridge segment 1251 terminates in an upper lug mounting feature 1260 and the lower ridge segment 1252 terminates in a lower lug mounting feature 1270. The upper lug mounting feature 1260 has formed therein a lug slot 1262 adapted to mount and support the upper mounting link 1264 therein. Similarly, lower lug mounting feature 1270 has a lug slot 1272 formed therein, which lug slot 1272 is adapted to mountably support lower mounting connector 1274 therein. Upper mounting link 1264 includes a pivot socket 1266 therein offset from shaft axis SA. The pivot socket 1266 is adapted to rotatably receive a pivot pin 1634 therein, the pivot pin 1634 being formed on a channel cap or anvil retainer 1630 that is attached to the proximal end portion 1610 of the elongate channel 1602. The lower mounting link 1274 includes a lower pivot pin 1276, the lower pivot pin 1276 being adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongate channel 1602. The lower pivot pin 1276 and pivot hole 1611 are offset from the shaft axis SA. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define an articulation axis AA about which the surgical end effector 1500 may be articulated relative to the shaft axis SA. See fig. 1. Although the articulation axis AA is transverse to the shaft axis SA, in at least one arrangement, the articulation axis AA is laterally offset from and does not intersect the shaft axis SA.

Turning 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 that is located in an annular groove 1915 in the proximal closure tube segment 1910. A closure shuttle 1914 is supported for axial travel within the tool base 1210 and has a pair of hooks 1917 thereon that are configured to engage the closure drive system 510 when the tool base 1210 is coupled to the handle chassis 506. The tool base 1210 also supports a latch assembly 1280 for releasably latching the tool base 1210 to the handle chassis 506. More details regarding the tool base 1210 and latch assembly 1280 can be found in U.S. patent application entitled "SURGICAL INSTRUMENT WITH AXIALLYMOVABLE CLOSURE MEMBER," filed on even date herewith (attorney docket number END8209USNP/170097), and the entire disclosure of which is hereby incorporated by reference.

The firing drive system 530 in the handle assembly 500 is configured to be operably coupled to a firing system 1300 that is operably supported in the interchangeable surgical tool assembly 1000. The firing system 1300 may include an intermediate firing shaft portion 1310 configured to move axially in the distal and proximal directions in response to a corresponding firing motion applied thereto by the firing drive system 530. See fig. 4. As shown in fig. 5, the proximal end 1312 of the intermediate firing shaft portion 1310 has a firing shaft attachment lug 1314 formed thereon that is configured to seat into an attachment bracket 544 (fig. 3) on the distal end of the longitudinally movable drive member 540 of the firing drive system 530 within the handle assembly 500. Such an arrangement facilitates axial movement of the intermediate firing shaft portion 1310 upon actuation of the firing drive system 530. In the illustrated example, the intermediate firing shaft portion 1310 is configured for attachment to a distal cutting portion or knife bar 1320. As shown in fig. 4, knife bar 1320 is connected to firing member or knife member 1330. Knife member 1330 includes a knife body 1332 that operably supports a tissue cutting blade 1334 thereon. The knife body 1332 can also include an anvil engagement tab or feature 1336 and a channel engagement feature or foot 1338. The anvil engagement feature 1336 may be used to apply additional closing motions to the anvil 1810 as the knife member 1330 is advanced distally through the end effector 1500.

In the illustrated example, the surgical end effector 1500 may be selectively articulated about an articulation axis AA by an articulation system 1360. In one form, the articulation system 1360 includes a proximal articulation driver 1370 pivotally coupled to an articulation link 1380. As can be seen most particularly in fig. 4, offset attachment tabs 1373 are formed on the distal end 1372 of the proximal articulation driver 1370. A pivot hole 1374 is formed in offset attachment tab 1373 and is configured to pivotally receive a proximal connector pin 1382 formed on a proximal end 1381 of articulation connector 1380 therein. The distal end 1383 of the articulation link 1380 includes a pivot hole 1384 configured to pivotally receive therein a channel pin 1618 formed on the proximal end portion 1610 of the elongate channel 1602. Accordingly, axial movement of the proximal articulation driver 1370 will thereby impart articulation to the elongate channel 1602, thereby articulating the surgical end effector 1500 relative to the spine assembly 1250 about an articulation axis AA. In various circumstances, the proximal articulation driver 1370 may be held in place by the articulation lock 1390 when the proximal articulation driver 1370 is not moving in the proximal or distal directions. More details regarding AN exemplary form of the joint motion lock 1390 may be found in U.S. patent application entitled "SURGICAL INSTRUMENTS COMPLISING AN ARTICULATION SYSTEMLOCKABLE TO A FRAME," filed on even date herewith (attorney docket number END8217USNP/170102), the entire disclosure of which is hereby incorporated by reference herein.

In addition to the above, the interchangeable surgical tool assembly 1000 can include 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, in one form, shifter assembly 1100 includes a lock collar or lock sleeve 1110 positioned about an intermediate firing shaft portion 1310 of firing system 1300, wherein lock sleeve 1110 is rotatable between an engaged position in which lock sleeve 1110 operably couples a proximal articulation driver 1370 to firing member assembly 1300 and a disengaged position in which proximal articulation driver 1370 is not operably coupled to firing member assembly 1300. When the locking sleeve 1110 is in its engaged position, distal movement of the firing member assembly 1300 may move the proximal articulation driver 1370 distally and, correspondingly, proximal movement of the firing member assembly 1300 may move the proximal articulation driver 1370 proximally. When the locking sleeve 1110 is in its disengaged position, the motion of the firing member assembly 1300 is not transferred to the proximal articulation driver 1370, and thus, the firing member assembly 1300 may move independently of the proximal articulation driver 1370. In various circumstances, the proximal articulation driver 1370 may be held in place by the articulation lock 1390 when the firing member assembly 1300 does not move the proximal articulation driver 1370 in the proximal or distal direction.

In the illustrated arrangement, the intermediate firing shaft portion 1310 of the firing member assembly 1300 is formed with two opposing flat sides with a drive notch 1316 formed therein. See fig. 5. As also seen in fig. 5, the locking sleeve 1110 may comprise a cylindrical or at least substantially cylindrical body including a longitudinal bore configured to receive the intermediate firing shaft portion 1310 therethrough. The locking sleeve 1110 may include diametrically opposed, inwardly facing locking tabs that are engagingly received within corresponding portions of the drive notch 1316 in the intermediate firing shaft portion 1310 when the locking sleeve 1110 is in one position, and are not received within the drive notch 1316 when the locking sleeve is in another position, thereby allowing relative axial movement between the locking sleeve 1110 and the intermediate firing shaft 1310. As can be further seen in fig. 5, the locking sleeve 1110 also includes a locking member 1112 that is sized to be movably received within a recess 1375 in the proximal end of the proximal articulation driver 1370. Such an arrangement allows the lock sleeve 1110 to be rotated slightly into and out of engagement with the intermediate firing shaft portion 1310 while remaining in a position for engaging or engaging the notch 1375 in the proximal articulation driver 1370. For example, when the locking sleeve 1110 is in its engaged position, the locking tabs are positioned within the drive notch 1316 in the intermediate firing shaft portion 1310 such that a distal pushing force and/or a proximal pulling force can be transmitted from the firing member assembly 1300 to the locking sleeve 1110. Such axial pushing or pulling motion is then transferred from the locking sleeve 1110 to the proximal articulation driver 1370, thereby articulating the surgical end effector 1500. In fact, when the locking sleeve 1110 is in its engaged (articulated) position, the firing member assembly 1300, locking sleeve 1110 and proximal articulation driver 1370 will move together. On the other hand, when the locking sleeve 1110 is in its disengaged position, the locking tabs are not received within the drive notch 1316 of the intermediate firing shaft portion 1310; and, as a result, distal pushing forces and/or proximal pulling forces may not be transmitted from the firing member assembly 1300 to the locking sleeve 1110 (and the proximal articulation driver 1370).

In the illustrated example, relative movement of the locking sleeve 1110 between its engaged and disengaged positions can be controlled by the shifter assembly 1100 interfacing with the proximal closure tube 1910. Still referring to FIG. 5, shifter assembly 1100 further includes a shifter key 1120 that is configured to be slidably received within a keyway formed in an outer periphery of locking sleeve 1110. Such an arrangement enables clutch key 1120 to move axially relative to locking sleeve 1110. As discussed in further detail in U.S. patent application entitled "SURGICAL INSTRUMENT WITH THREAIALLY MOVABLE CLOSURE MEMBER" (attorney docket No. END8209USNP/170097), filed on even date herewith and the entire disclosure of which is hereby incorporated by reference herein, a portion of the shifter key 1120 is configured to cammingly interact with a cam opening (not shown) in the proximal CLOSURE tube portion 1910. Also in the illustrated example, the clutch assembly 1100 further includes a shift barrel 1130 that is rotatably received on a proximal end portion of the proximal closure tube portion 1910. A portion of the shifter key 1120 extends through an axial slot segment in the shift barrel 1130 and is movably received within an arcuate slot segment in the shift barrel 1130. The switch drum torsion spring 1132 is mounted on the switch drum 1130 and engages a portion of the nozzle assembly 1240 to apply a torsional bias or rotation that acts to rotate the switch drum 1130 until that portion of the shifter key 1120 reaches the cam opening in the proximal closure tube portion 1910. When in this position, the shift barrel 1130 can provide a torsional bias to the shifter key 1120 which thereby causes the lock sleeve 1110 to rotate to a position in which it engages the intermediate firing shaft portion 1310. This position also corresponds to the unactuated configuration of the proximal closure tube 1910 (and distal closure tube segment 1930).

In one arrangement, for example, when the proximal closure tube 1910 is in an unactuated configuration (the anvil 1810 is in an open position spaced from a cartridge mounted in the elongate channel 1602), actuation of the intermediate firing shaft portion 1310 will result in axial movement of the proximal articulation driver 1370 to facilitate articulation of the end effector 1500. Once the user has articulated the surgical end effector 1500 to a desired orientation, the user can actuate the proximal closure tube portion 1910. Actuation of the proximal closure tube portion 1910 will cause the distal closure tube segment 1930 to travel distally to ultimately apply a closing motion to the anvil 1810. This distal travel of the proximal closure tube segment 1910 will cause the cam openings therein to cammingly interact with the cam portions of the shifter key 1120, causing the shifter key 1120 to rotate the locking sleeve 1110 in the actuation direction. Such rotation of the locking sleeve 1110 will cause the locking tabs to disengage from the drive notch 1316 in the intermediate firing shaft portion 1310. When in this configuration, the firing drive system 530 may be actuated to actuate the intermediate firing shaft portion 1310 without actuating the proximal articulation driver 1370. Further details regarding the operation of the shift barrel 1130 and the locking sleeve 1110, as well as alternative articulation and firing drive arrangements that may be used with the various interchangeable surgical tool assemblies described herein, may be found in U.S. patent application serial No. 13/803,086 (now U.S. patent application publication No. 2014/0263541) and U.S. patent application serial No. 15/019,196, the entire disclosures of which are hereby incorporated by reference.

As also shown in fig. 5 and 15, interchangeable surgical tool assembly 1000 can include a slip ring assembly 1150 that can be configured to conduct electrical power to and/or from surgical end effector 1500 and/or transmit signals to and/or from surgical end effector 1500 back to on-board circuit board 1152 while facilitating rotation of the shaft and end effector 1500 relative to tool base 1210 about shaft axis SA via rotation nozzle assembly 1240. As shown in fig. 15, for example, in at least one arrangement, the on-board circuit board 1152 includes an on-board connector 1154 that is configured to interface with a housing connector 562 (fig. 9) that communicates with a microprocessor 560 supported in the handle assembly 500 or robotic system controller. Slip ring assembly 1150 is configured to interface with a proximal connector 1153 that interfaces with an onboard circuit board 1152. Additional details regarding slip ring assembly 1150 and associated connectors may be found in U.S. patent application serial No. 13/803,086 (now U.S. patent application publication 2014/0263541) and U.S. patent application serial No. 15/019,196 (each of which is incorporated herein by reference in its entirety) and U.S. patent application serial No. 13/800,067 (now U.S. patent application publication 2014/0263552, which is incorporated herein by reference in its entirety) entitled "STAPLE CARTRIDGE TISSUE thinhouse SENSOR SYSTEM".

The exemplary version of the interchangeable surgical tool assembly 1000 disclosed herein can be used in conjunction with a standard (mechanical) surgical fastener cartridge 1400 or cartridge 1700 configured to facilitate cutting tissue with a knife member and sealing the cut tissue using Radio Frequency (RF) energy. Referring again to fig. 4, a conventional or standard mechanical-type cartridge 1400 is shown. Such cartridge arrangements are known and can include a cartridge body 1402 sized and shaped to be removably received and supported in an elongate channel 1602. For example, the cartridge body 1402 can be configured to removably remain in snap-fit engagement with the elongate channel 1602. The cartridge body 1402 includes an elongated slot 1404 to accommodate axial travel of a knife member 1330 therethrough. The cartridge body 1402 operably supports a plurality of staple drivers (not shown) therein that are aligned in rows on each side of a centrally disposed elongated slot 1404. The drivers are associated with corresponding staple/fastener pockets 1412 that pass through the upper deck surface 1410 of the cartridge body 1402. Each staple driver supports one or more surgical staples or fasteners (not shown) thereon. A slide assembly 1420 is supported within the proximal end of the cartridge body 1402 and is in a starting position, proximal to the drivers and fasteners, when the cartridge 1400 is new and unfired. The slide assembly 1420 includes a plurality of angled or wedge-shaped cams 1422, where each cam 1422 corresponds to a particular line of fasteners or drivers located on the sides of the slot 1404. The slide assembly 1420 is configured to be contacted by and driven by the knife member 1330 as the knife member is driven distally through tissue clamped between the anvil and the cartridge deck surface 1410. As the driver is pushed upward toward the cartridge deck surface 1410, one or more fasteners supported thereon are driven out of their staple pockets 1412 and through the tissue clamped between the anvil and the cartridge.

Still referring to fig. 4, in at least one form, the anvil 1810 includes an anvil mounting portion 1820 having a pair of anvil trunnions 1822 projecting laterally therefrom that are pivotally received in corresponding trunnion mounts 1614 formed in the upstanding wall 1622 of the proximal end portion 1610 of the elongate channel 1602. Anvil trunnions 1822 are pivotally retained in their corresponding trunnion mounts 1614 by a channel cap or anvil retainer 1630. The anvil mounting portion 1820 is movably or pivotally supported on the elongate channel 1602 so as to selectively pivot relative thereto about a fixed anvil pivot axis transverse to the shaft axis SA. As shown in fig. 6 and 7, in at least one form, the anvil 1810 includes an anvil body portion 1812 made of, for example, an electrically conductive metal material and having a staple forming undersurface 1813 with a series of fastener forming pockets 1814 formed therein on each side of a centrally disposed anvil slot 1815 configured to slidably receive a knife member 1330 therein. The anvil slot 1815 opens into an upper opening 1816 that extends longitudinally through the anvil body 1812 to receive the anvil engagement feature 1336 on the knife member 1330 during firing. When a conventional mechanical surgical staple/fastener cartridge 1400 is installed in the elongate channel 1602, the staples/fasteners are driven through the tissue T and into contact with the corresponding fastener-forming pockets 1814. The anvil body 1812 may have an opening in an upper portion thereof, for example, to facilitate installation. Anvil cap 1818 may be inserted therein and welded to anvil body 1812 to enclose the opening and increase the overall stiffness of anvil body 1812. As shown in fig. 7, to facilitate use of the end effector 1500 in conjunction with the RF cartridge 1700, the tissue-facing segment 1817 of the fastener-shaped lower surface 1813 can have electrically insulating material 1819 thereon.

In the illustrated arrangement, the interchangeable surgical tool assembly 1000 is configured with a firing member lockout system, generally designated 1640. See fig. 8. As shown in fig. 8, the elongate channel 1602 includes a bottom surface or portion 1620 having two upstanding sidewalls 1622 projecting therefrom. A centrally disposed longitudinal channel slot 1624 is formed through the base 1620 to facilitate axial passage of the knife member 1330 therethrough. The channel slot 1624 leads to a longitudinal passage 1626 that receives the channel engagement feature or foot 1338 on the knife member 1330. The passage 1626 serves to define two inwardly extending flange portions 1628 that serve to engage corresponding portions of the channel engaging feature or foot 1338. The firing member lockout system 1640 includes proximal openings 1642 on each side of the channel slot 1624 that are configured to receive corresponding portions of the channel engagement features or feet 1338 when the knife member 1330 is in the starting position. A knife latch spring 1650 is supported in the proximal end 1610 of the elongate channel 1602 and serves to bias the knife member 1330 downward. As shown in fig. 8, the knife latch spring 1650 includes two distally terminating spring arms 1652 configured to engage corresponding central channel engagement features 1337 on the knife body 1332. Spring arm 1652 is configured to bias central channel engagement feature 1337 downward. Thus, when in the starting position (unfired position), the knife member 1330 is biased downward such that the channel engagement feature or foot 1338 is received within a corresponding proximal opening 1642 in the elongate 1602 channel. When in this locked position, if an attempt is made to advance the knife 1330 distally, the central channel engagement features 1137 and/or feet 1338 will engage the upstanding flange 1654 (fig. 8 and 11) on the elongate channel 1602 and the knife 1330 cannot fire.

Still referring to fig. 8, the firing member lockout system 1640 also includes a lockout assembly 1660 formed on or supported on the distal end of the firing member body 1332. The unlocking assembly 1660 includes a distally extending flange 1662 configured to engage an unlocking feature 1426 formed on the slide assembly 1420 when the slide assembly 1420 is in its starting position in the unfired surgical staple cartridge 1400. Thus, when the unfired surgical staple cartridge 1400 is properly installed in the elongate channel 1602, the flange 1662 on the unlocking assembly 1660 contacts the unlocking feature 1426 on the slide assembly 1420 that serves to bias the knife member 1330 upwardly such that the central channel engagement feature 1137 and/or the foot 1338 clear the upstanding flange 1654 in the channel bottom 1620 to facilitate axial passage of the knife member 1330 through the elongate channel 1602. If a partially fired cartridge 1400 is inadvertently installed in the elongate channel, the slide assembly 1420 will not be in the starting position and the knife member 1330 will remain in the locked position.

The attachment of the interchangeable surgical tool assembly 1000 to the handle assembly 500 will now be described with reference to fig. 3 and 9. To begin the coupling process, the clinician may position the tool mount 1210 of the interchangeable surgical tool assembly 1000 over or near the distal end of the handle chassis 506 such that the tapered attachment portion 1212 formed on the tool mount 1210 aligns with the dovetail slot 507 in the handle chassis 506. The clinician can then move the surgical tool assembly 1000 along the mounting axis IA, which is perpendicular to the shaft axis SA, to place the tapered attachment portion 1212 in "operative engagement" with the corresponding dovetail receiving slot 507 in the distal end of the handle chassis 506. In doing so, the firing shaft attachment lug 1314 on the intermediate firing shaft portion 1310 will also seat in the bracket 544 in the longitudinally movable drive member 540 within the handle assembly 500, and the portion of the pin 516 on the closure link 514 will seat in the corresponding hook 1917 in the closure shuttle 1914. As used herein, the term "operably engaged" in the context of two components means that the two components are sufficiently engaged with one another such that upon application of an actuation motion thereto, the components may perform their intended action, function, and/or procedure. Also in this process, the onboard connector 1154 on the surgical tool assembly 1000 is coupled to a housing connector 562 that is in communication with a microprocessor 560 supported in, for example, the handle assembly 500 or a robotic system controller.

During a typical surgical procedure, a clinician may introduce the surgical end effector 1500 into a surgical site through a trocar or other opening in a patient to access target tissue. When doing so, the clinician typically aligns the surgical end effector 1500 axially along the shaft axis SA (unarticulated state). For example, as the surgical end effector 1500 passes through a trocar port, the clinician may need to articulate the end effector 1500 to advantageously position it adjacent to the target tissue. This is prior to closing the anvil 1810 onto the target tissue, and thus the closure drive system 510 will remain unactuated. When in this position, actuation of the firing drive system 530 will cause an articulation motion to be applied to the proximal articulation driver 1370. Once the end effector 1500 has reached the desired articulation position, the firing drive system 530 may be deactivated and the articulation locks 1390 may maintain the surgical end effector 1500 in the articulated position. The clinician may then actuate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such actuation of the closure drive system 510 may also cause the shifter assembly 1100 to decouple the proximal articulation driver 1370 from the intermediate firing shaft portion 1310. Thus, once the target tissue has been captured in the surgical end effector 1500, the clinician can again actuate the firing drive system 530 to axially advance the firing member 1330 through the surgical staple/fastener cartridge 1400 or the RF cartridge 1700 to sever the clamped tissue and fire the staples/fasteners into the severed tissue T. Other closure and firing drive arrangements, actuator arrangements (both hand-held, manual and automatic or robotic) may also be used to control the axial movement of the closure system components, articulation system components, and/or firing system components of the surgical tool assembly 1000 without departing from the scope of the present disclosure.

As described above, the surgical tool assembly 1000 is configured to be used in conjunction with conventional mechanical surgical staple/fastener cartridges 1400 and RF cartridges 1700. In at least one form, the RF cartridge 1700 can facilitate mechanical cutting of tissue that clamps the knife member 1330 between the anvil 1810 and the RF cartridge 1700 while a coagulating current is delivered to the tissue in a current path. Alternative arrangements for mechanically cutting and coagulating tissue using electrical current are disclosed in, for example, U.S. patent 5,403,312; 7,780,663 and U.S. patent application Ser. No. 15/142,609 (entitled "ELECTROSURURGICAL INSTRUMENT WITH ELECTROTRICAL CONNECTION GAP SETTING AND TISSUE ENGAGING MEMBERS"), the entire disclosure of each of which is incorporated herein by reference. Such devices may, for example, improve hemostasis, reduce surgical complexity, and shorten operating room time.

As shown in fig. 10-12, in at least one arrangement, the RF surgical cartridge 1700 comprises a cartridge body 1710 that is sized and shaped to be removably received and supported in the elongate channel 1602. For example, the cartridge body 1710 can be configured to be removably retained in snap-fit engagement with the elongate channel 1602. In various arrangements, the cartridge body 1710 can be made of a polymeric material, such as, for example, an engineered thermoplastic material, such as a Liquid Crystal Polymer (LCP) VECTRA^TMAnd the elongate channel 1602 may be made of metal. In at least one aspect, the cartridge body 1710 includes a centrally disposed elongate slot 1712 extending longitudinally therethrough to accommodate longitudinal travel of the knife 1330 therethrough. As seen in fig. 10 and 11, a pair of lockout engagement tails 1714 extend proximally from the cartridge body 1710. Each latch engagement tail 1714 has a latch pad 1716 formed on its underside that is sized to be received within a corresponding proximal opening portion 1642 in the channel bottom 1620. Thus, when the cartridge 1700 is properly installed in the elongate channel 1602, the latch engagement tails 1714 cover the openings 1642 and the flanges 1654,to hold the knife 1330 in the unlocked position in preparation for firing.

Turning now to fig. 10-13, in the illustrated example, the cartridge body 1710 is formed with a centrally disposed raised electrode pad 1720. As can be seen most particularly in fig. 6, an 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. A right flexible circuit assembly 1730R is attached to the right pad segment 1720R and a left flexible circuit assembly 1730L is attached to the left pad segment 1720L. For example, in at least one arrangement, the right flex circuit 1730R includes a plurality of electrical conductors 1732R, which may include, for example, wider electrical conductors/conductors for RF purposes and thinner electrical conductors for conventional suturing purposes, which are supported, attached or embedded in a right insulator jacket/member 1734R that is attached to the right pad 1720R. In addition, right flex circuit assembly 1730R includes a "first phase" proximal right electrode 1736R and a "second phase" distal right electrode 1738R. Likewise, the left flexible circuit assembly 1730L includes a plurality of electrical conductors 1732L which may include, for example, wider electrical conductors/conductors for RF purposes and thinner electrical conductors for conventional suturing purposes, which are supported, attached or embedded in a left insulator sheath/member 1734L which is attached to the left pad 1720L. In addition, left flexible circuit assembly 1730L includes a "first phase" proximal left electrode 1736L and a "second phase" distal left electrode 1738L. The left electrical conductor 1732L and the right electrical conductor 1732R are attached to a distal microchip 1740 mounted to the distal end portion of the cartridge body 1710. In one arrangement, for example, each of the right and left flex circuits 1730R, 1730L may have an overall width "CW" of about 0.025 inches, and each of the electrodes 1736R, 1736L, 1738R has a width "W" of about, for example, 0.010 inches. See fig. 13. However, other widths/dimensions are contemplated and may be employed in alternative aspects.

In at least one arrangement, RF energy is supplied to the surgical tool assembly 1000 by a conventional RF generator 400 through power leads 402. In at least one arrangement, the power lead 402 includes a male plug assembly 406 configured to be inserted into a corresponding female connector 410 attached to a segmented RF circuit 1160 on the on-board circuit board 1152. See fig. 15. Such an arrangement facilitates rotational travel of the shaft and end effector 1500 about the shaft axis SA relative to the tool base 1210 by rotating the nozzle assembly 1240 without spooling the power leads 402 from the generator 400. An on-board on/off power switch 420 is supported on the latch assembly 1280 and the tool base 1210 for turning the RF generator on and off. When the tool assembly 1000 is operably coupled to the handle assembly 500 or robotic system, the onboard segmented RF circuit 1160 communicates with the microprocessor 560 through connectors 1154 and 562. As shown in fig. 1, the handle assembly 500 may also include a display screen 430 for viewing information regarding the seal, the suture, the knife position, the status of the cartridge, the tissue, the temperature, and the like. As also seen in fig. 15, slip ring assembly 1150 interfaces with a distal connector 1162 that includes a flexible shaft circuit strip or assembly 1164 that may include a plurality of narrow electrical conductors 1166 for suture-related activities and wider electrical conductors 1168 for RF purposes. As shown in fig. 14 and 15, flexible shaft circuit strip 1164 is centrally supported between laminate or beams 1322 forming cutter beam 1320. Such an arrangement facilitates sufficient flexure of knife bar 1320 and flexible shaft circuit strip 1164 during articulation of end effector 1500 while maintaining sufficient rigidity to enable knife member 1330 to be advanced distally through clamped tissue.

Referring again to fig. 10, in at least one example arrangement, the elongate channel 1602 includes a channel circuit 1670 supported in a recess 1621 that extends from a proximal end 1610 of the elongate channel 1602 to a distal location 1623 in the elongate channel bottom portion 1620. The channel circuit 1670 includes a proximal contact portion 1672 that contacts a distal contact portion 1169 of the flexible shaft circuit strip 1164 to make electrical contact with the circuit strip. A distal end 1674 of the channel circuit 1670 is received within a corresponding wall recess 1625 formed in one of the channel walls 1622 and is folded over and attached to an upper edge 1627 of the channel wall 1622. A corresponding series of exposed contacts 1676 is disposed in the distal end 1674 of the channel circuit 1670, as shown in fig. 10. 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 to the distal end portion of the cartridge body 1710. The other end 1754 is folded over the edge of the cartridge platform surface 1711 and includes exposed contacts 1756 that are configured to be able to make electrical contact with the exposed contacts 1676 of the channel circuit 1670. Thus, when the RF cartridge 1700 is mounted in the elongate channel 1602, the electrode and distal microchip 1740 are powered and communicate with the on-board circuit 1152 through contact between the flexible cartridge circuit 1750, the flexible channel circuit 1670, the flexible shaft circuit 1164, and the slip ring assembly 1150.

Fig. 16A-16B are block diagrams of control circuitry 700 of the surgical instrument 10 of fig. 1 spanning two drawing sheets in accordance with an aspect of the present disclosure. Referring primarily to fig. 16A-16B, the handle assembly 702 can include a motor 714 that can be controlled by a motor driver 715 and can be used by the firing system of the surgical instrument 10. In various forms, the motor 714 may be a DC brushed driving motor with a maximum rotational speed of about 25,000 RPM. In other arrangements, 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 the power assembly 706, which is releasably mounted to the handle assembly 500 for providing control power to the surgical instrument 10. The power assembly 706 may include a battery that may include a plurality of battery cells connected in series that may be used as a power source to power the surgical instrument 10. In some cases, the battery cells of power component 706 may be replaceable and/or rechargeable. In at least one example, the battery cell may be a lithium ion battery that is detachably coupleable to the power assembly 706.

Shaft assembly 704 can include a shaft assembly controller 722 that can communicate with safety controller and power management controller 716 through an interface when shaft assembly 704 and power assembly 706 are coupled to handle assembly 702. For example, the interface can include a first interface portion 725 that can include one or more electrical connectors for coupling engagement with corresponding shaft assembly electrical connectors and a second interface portion 727 that can include one or more electrical connectors for coupling engagement with corresponding power assembly electrical connectors, thereby allowing electrical communication between shaft assembly controller 722 and power management controller 716 when shaft assembly 704 and power assembly 706 are coupled to handle assembly 702. One or more communication signals may be transmitted over the interface to communicate one or more of the power requirements of the attached interchangeable shaft assembly 704 to the power management controller 716. In response, the power management controller may adjust the power output of the battery of power assembly 706 according to the power requirements of attached shaft assembly 704, as described in more detail below. The connector may include switches that may be activated after the handle assembly 702 is mechanically coupled to the shaft assembly 704 and/or the power assembly 706 to allow electrical communication between the shaft assembly controller 722 and the power management controller 716.

For example, the interface may facilitate the transmission of one or more communication signals between the power management controller 716 and the shaft assembly controller 722 by routing such communication signals through the main controller 717 located in the handle assembly 702. In other instances, the interface may facilitate a direct communication link between power management controller 716 and shaft assembly controller 722 through handle assembly 702 when shaft assembly 704 and power assembly 706 are coupled to handle assembly 702.

The main controller 717 may be any single-core or multi-core processor, such as those provided by Texas Instruments under the trade name ARM Cortex. In one aspect, master controller 717 can be, for example, an LM4F230H5QR ARM Cortex-M4F processor core available from Texas instruments, which includes: 256KB of single cycle flash memory or on-chip memory of other non-volatile memory (up to 40MHz), prefetch buffer for performance improvement over 40MHz, 32KB of single cycle Serial Random Access Memory (SRAM), load with

Software internal Read Only Memory (ROM), 2KB Electrically Erasable Programmable Read Only Memory (EEPROM), one or more Pulse Width Modulation (PWM) modules, one or more quadrature encoder inputsIn (QEI) analog, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, the details of which may be used for product data sheets.

The safety controller may be a family of two controller-based safety controller platforms such as TMS570 and RM4x, also known by Texas Instruments and under the trade name Hercules ARM Cortex R4. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, etc., to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.

The power component 706 may include power management circuitry that may include a power management controller 716, a power regulator 738, and a current sensing circuit 736. The power management circuit can be configured to regulate the power output of the battery based on the power requirements of shaft assembly 704 when shaft assembly 704 and power assembly 706 are coupled to handle assembly 702. The power management controller 716 may be programmed as a power regulator 738 that controls the power output of the power component 706, and the current sensing circuit 736 may be used to monitor the power output of the power component 706 to provide feedback regarding the power output of the battery to the power management controller 716 so that the power management controller 716 may adjust the power output of the power component 706 to maintain the desired output. Power management controller 716 and/or shaft assembly controller 722 may each include one or more processors and/or memory units that may store a plurality of software modules.

The surgical instrument 10 (fig. 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 (e.g., LCD display screens, LED indicators), audio feedback devices (e.g., speakers, buzzers), or tactile feedback devices (e.g., haptic actuators). In some cases, the output device 742 can include a display 743 that can be included in the handle assembly 702. The shaft assembly controller 722 and/or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via an output device 742. The interface may be configured to be able to connect the shaft assembly controller 722 and/or the power management controller 716 to the output device 742. The output device 742 may alternatively be integral with the power assembly 706. In such instances, communication between the output device 742 and the shaft assembly controller 722 can be accomplished through the interface when the shaft assembly 704 is coupled to the handle assembly 702.

The control circuit 700 includes circuit segments configured to control the operation of the powered surgical instrument 10. The safety controller section (section 1) includes a safety controller and a main controller 717 section (section 2). The safety controller and/or the main controller 717 is configured to be able to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a shaft segment, an encoder segment, a motor segment, and a power segment. Each of the circuit segments may be coupled to a safety processor and/or a main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also includes a serial communication interface. The main controller 717 includes a plurality of inputs coupled to, for example, one or more circuit segments, a battery, and/or a plurality of switches. The segmented circuit may be implemented by any suitable circuit, such as, for example, a Printed Circuit Board Assembly (PCBA) within the powered surgical instrument 10. It is to be understood that the term "processor" as used herein includes any microprocessor, processor, microcontroller, controller or other basic computing device that combines the functions of a computer's Central Processing Unit (CPU) onto one integrated circuit or at most a few integrated circuits. The main controller 717 is a multipurpose programmable device that receives digital data as input, processes it according to instructions stored in its memory, and provides the results as output. Because the processor has internal memory, it is an example of sequential digital logic. The control circuit 700 may be configured to implement one or more of the processes described herein.

The acceleration segment (segment 3) includes an accelerometer. The accelerometer is configured to detect movement or acceleration of the powered surgical instrument 10. Inputs from the accelerometer can be used to transition to and from sleep mode, identify the orientation of the powered surgical instrument, and/or identify when the surgical instrument has been dropped. In some examples, the acceleration segment is coupled to a safety processor and/or a master controller 717.

The display segment (segment 4) includes a display connector coupled to a main controller 717. The display connector couples the main controller 717 to the display through one or more integrated circuit drivers for 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 secure processor.

The shaft segment (segment 5) includes controls for an interchangeable shaft assembly 500 coupled to the surgical instrument 10 (fig. 1-5), and/or one or more controls for an end effector 1500 coupled to the interchangeable shaft assembly 500. The shaft section includes a shaft connector configured to couple the main controller 717 to the shaft PCBA. The shaft PCBA includes a low power microcontroller with Ferroelectric Random Access Memory (FRAM), articulation switch, shaft release hall effect switch, and shaft PCBA EEPROM. The shaft pcbaaeeprom includes one or more parameters, routines, and/or programs that are specific to the interchangeable shaft assembly 500 and/or the shaft PCBA. The shaft PCBA may be coupled to the interchangeable shaft assembly 500 and/or integral with the surgical instrument 10. In some examples, the shaft segment includes a second shaft EEPROM. The second shaft EEPROM includes a plurality of algorithms, routines, parameters, and/or other data corresponding to one or more shaft assemblies 500 and/or end effectors 1500 that may be interfaced with the powered surgical instrument 10.

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

The motor circuit section (section 7) includes a motor 714 configured to control the movement of the powered surgical instrument 10 (fig. 1-5). The motor 714 passes through an H-bridge driver including one or more H-bridge Field Effect Transistors (FETs) and a main microcontroller processor 717 of the motor controller. The H-bridge driver is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current draw of the motor. The motor current sensor is in signal communication with the main controller 717 and/or the safety processor. 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 state and position of the motor 714 to the main controller 717. The main controller 717 provides 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 through the buffer. The power segment is configured to be capable of providing a segment voltage to each of the circuit segments.

The power section (section 8) includes a battery coupled to a safety controller, a main controller 717 and additional circuit sections. The battery is coupled to the segmented circuit by a battery connector and a current sensor. The current sensor is configured to be able to measure the total current consumption of the segmented circuit. In some examples, the one or more voltage converters are configured to be capable of providing a predetermined voltage value to the one or more circuit segments. For example, in some examples, the segmented circuit may include a 3.3V voltage converter and/or a 5V voltage converter. The boost converter is configured to be able to provide a boost voltage up to a predetermined amount, such as up to 13V, for example. The boost converter is configured to be able to provide additional voltage and/or current during power intensive operations and prevent a reduced voltage condition or a low power condition.

A plurality of switches are coupled to the safety controller and/or the main controller 717. The switch may be configured to control operation of the segmented circuit surgical instrument 10 (fig. 1-5) and/or to indicate a status of the surgical instrument 10. An emergency door switch and hall effect switch for an emergency are configured to indicate the status of the emergency door. A plurality of articulation switches, such as, for example, a left articulation switch, a left right articulation switch, a left center articulation switch, a right left articulation switch, a right articulation switch, and a right center articulation switch, are configured to control articulation of the interchangeable shaft assembly 500 (fig. 1 and 3) and/or the end effector 300 (fig. 1 and 4). The left hand and right hand commutation switches are coupled to a main controller 717. The left switches (including a left articulation switch, a left right articulation switch, a left center articulation switch, and a left reversing switch) are coupled to the main controller 717 through a left flex connector. The right switches (including the right left articulation switch, the right articulation switch, the right center articulation switch, and the right reversing switch) are coupled to the master controller 717 through a right flex connector. The cocking switch, clamp release switch, and shaft engagement switch are linked to the main controller 717.

Any suitable mechanical, electromechanical or solid state switch may be used in any combination to implement the plurality of switches. For example, the switch may be a limit switch that is operated by movement of a component associated with the surgical instrument 10 (fig. 1-5) or by the presence of some object. Such switches may be used to control various functions associated with the surgical instrument 10. Limit switches are electromechanical devices consisting of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break the electrical connection. The limit switch is durable, simple and convenient to install, reliable in operation and suitable for various applications and environments. The limit switches can determine the presence or absence, the passage, the location, and the end of travel of the object. In other implementations, the switches may be solid state switches that operate under the influence of a magnetic field, such as hall effect devices, Magnetoresistive (MR) devices, Giant Magnetoresistive (GMR) devices, magnetometers, and the like. 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, and so forth. Likewise, the switches may be solid state devices such as transistors (e.g., FETs, junction FETs, metal oxide semiconductor FETs (mosfets), bipolar transistors, etc.). Other switches may include a non-conductor switch, an ultrasonic switch, an accelerometer, an inertial sensor, and the like.

Fig. 17 is another block diagram of the control circuit 700 of the surgical instrument of fig. 1 illustrating the interface between the handle assembly 702 and the power assembly 706 and between the handle assembly 702 and the interchangeable shaft assembly 704 according to one aspect of the present disclosure. The handle assembly 702 may include a main controller 717, a shaft assembly connector 726, and a power assembly connector 730. The power component 706 may include a power component connector 732, a power management circuit 734, which may include a power management controller 716, a power regulator 738, and a current sensing circuit 736. The shaft assembly connectors 730, 732 form an interface 727. Power management circuit 734 may be configured to regulate the power output of battery 707 based on the power requirements of interchangeable shaft assembly 704 when interchangeable shaft assembly 704 and power assembly 706 are coupled to handle assembly 702. The power management controller 716 may be programmed as a power regulator 738 that controls the power output of the power component 706, and the current sensing circuit 736 may be used to monitor the power output of the power component 706 to provide feedback to the power management controller 716 regarding the power output of the battery 707, such that the power management controller 716 may adjust the power output of the power component 706 to maintain the desired output. The shaft assembly 704 includes a shaft processor 719 coupled to a non-volatile memory 721 and a shaft assembly connector 728 to electrically couple the shaft assembly 704 to the handle assembly 702. The shaft assembly connectors 726, 728 form an interface 725. The main controller 717, the axis processor 719, and/or the power management controller 716 may be configured to be capable of implementing one or more of the processes described herein.

The surgical instrument 10 (fig. 1-5) may include an output device 742 that provides sensory feedback to the user. Such devices may include visual feedback devices (e.g., LCD display screens, LED indicators), audible feedback devices (e.g., speakers, buzzers), or tactile feedback devices (e.g., haptic actuators). In some cases, the output device 742 can include a display 743 that can be included in the handle assembly 702. The shaft assembly controller 722 and/or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via an output device 742. The interface 727 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 be integral with the power component 706. When the interchangeable shaft assembly 704 is coupled to the handle assembly 702, communication between the output device 742 and the shaft assembly controller 722 can be accomplished through the interface 725. Having described the control circuit 700 (fig. 16A-16B) for controlling the operation of the surgical instrument 10 (fig. 1-5), the present disclosure now turns to various configurations of the surgical instrument 10 (fig. 1-5) and the control circuit 700.

Fig. 18 is a schematic view of a surgical instrument 600 configured to control various functions in accordance with an aspect of the present disclosure. In one aspect, the surgical instrument 600 is programmed to control distal translation of a displacement member, such as an I-beam 614. The surgical instrument 600 includes an end effector 602 that may include an anvil 616, an I-beam 614, and a removable staple cartridge 618 that may be interchanged with an RF cartridge 609 (shown in phantom). 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 reference to fig. 1-15. For the sake of brevity and clarity, several aspects of the disclosure may be described with reference to fig. 18. It should be understood that the components schematically illustrated in fig. 18, such as the control circuit 610, the sensor 638, the position sensor 634, the end effector 602, the I-beam 614, the staple cartridge 618, the RF cartridge 609, the anvil 616, are described in connection with fig. 1-17 of the present disclosure.

Thus, the components schematically shown in fig. 18 may easily be replaced by physically and functionally equivalent components as described in connection with fig. 1 to 17. For example, in one aspect, the control circuit 610 may be implemented as the control circuit 700 as shown and described in connection with fig. 16-17. In one aspect, the sensor 638 may be implemented as a limit switch, an electromechanical device, a solid state switch, a hall effect device, a Magnetoresistive (MR) device, a Giant Magnetoresistive (GMR) device, a magnetometer, or the like. 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, and so forth. Likewise, the switches may be solid state devices such as transistors (e.g., FETs, junction FETs, metal oxide semiconductor FETs (mosfets), bipolar transistors, etc.). In other implementations, the sensor 638 may include a non-conductor switch, an ultrasonic switch, an accelerometer, an inertial sensor, and the like. In one aspect, the position sensor 634 can be implemented AS an absolute positioning system including a monolithic magnetic rotary position sensor implemented AS5055EQFT, available from Austria Microsystems, AG. The position sensor 634 interfaces with the controller 700 to provide an absolute positioning system. The position may include a hall effect element located above the magnet and coupled to a CORDIC processor (also known as a coordinate rotation Digital Computer), also known as a bitwise method and a Volder algorithm, which is provided to implement simple and efficient algorithms for computing hyperbolic and trigonometric functions that require only an addition operation, a subtraction operation, a Digital displacement operation, and a table lookup operation. In one aspect, the end effector 602 can be implemented as a surgical end effector 1500 as shown and described in connection with fig. 1, 2, and 4. In one aspect, the I-beam 614 can be implemented as a knife member 1330 including a knife body 1332 that operably supports a tissue cutting blade 1334 thereon, and can further include an anvil engagement tab or feature 1336 and a channel engagement feature or foot 1338, as shown and described in connection with fig. 2-4, 8, 11 and 14. In one aspect, staple cartridge 618 can be implemented as a standard (mechanical) surgical fastener cartridge 1400 as shown and described in connection with FIG. 4. In one aspect, the RF bin 609 may be implemented as a Radio Frequency (RF) bin 1700 as shown and described in connection with fig. 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 fig. 1, 2, 4, and 6. These and other sensor arrangements are described in commonly owned U.S. patent application 15/628,175 entitled "TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OFA SURGICAL STAPLING AND CUTTING INSTRUMENT," which is incorporated herein by reference in its entirety.

The position, movement, displacement, and/or translation of a linear displacement member, such as the I-beam 614, may be measured by an absolute positioning system, a sensor arrangement, and a position sensor, represented as position sensor 634. Since the I-beam 614 is coupled to the longitudinally movable drive member 540, the position of the I-beam 614 may be determined by measuring the position of the longitudinally movable drive member 540 using the position sensor 634. Thus, in the following description, the position, displacement, and/or translation of the I-beam 614 may be accomplished by the position sensor 634 as described herein. The control circuit 610 (such as the control circuit 700 depicted in fig. 16A and 16B) may be programmed to control the translation of a displacement member (such as the I-beam 614) as described herein. In some examples, the control circuit 610 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the one or more processors to control the displacement member (e.g., the I-beam 614) in the manner described. In one aspect, the timer/counter circuit 631 provides an output signal, such as a real-time or digital count, to the control circuit 610 to correlate the position of the I-beam 614 as determined by the position sensor 634 with the output of the timer/counter 631, such that the control circuit 610 can determine the position of the I-beam 614 relative to the starting position at a particular time (t). The timer/counter 631 may be configured to be able to measure elapsed time, count external events, or time external events.

The control circuit 610 may generate a motor set point signal 622. The motor set point signal 622 may be provided to the motor controller 608. The motor controller 608 may include one or more circuits configured to provide a motor drive signal 624 to the motor 604 to drive the motor 604, as described herein. In some examples, the motor 604 may be a DC electric motor, such as the motor 505 shown in fig. 1. For example, the speed of the motor 604 may be proportional to the voltage of the motor drive signal 624. In some examples, the motor 604 may be a brushless Direct Current (DC) electric motor, and the motor drive signals 624 may include Pulse Width Modulation (PWM) signals provided to one or more stator windings of the motor 604. Also, in some examples, the motor controller 608 may be omitted and the control circuit 610 may generate the motor drive signal 624 directly.

The motor 604 may receive power from the energy source 612. The energy source 612 may be or include a battery, a super capacitor, or any other suitable energy source 612. The motor 604 may be mechanically coupled to the I-beam 614 via a transmission 606. The transmission 606 may include one or more gears or other linkage 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 generating position data indicative of the position of the I-beam 614. In some examples, the position sensor 634 may include an encoder configured to provide a series of pulses to the control circuit 610 as the I-beam 614 translates distally and proximally. The control circuit 610 may track the pulses 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 the movement of the I-beam 614. Also, in some examples, the position sensor 634 may be omitted. In the case where the motor 604 is a stepper motor, the control circuit 610 may track the position of the I-beam 614 by aggregating the number and direction of steps that the motor 604 has been instructed to perform. The position sensor 634 may be located in the end effector 602 or at any other portion of the instrument.

The control circuitry 610 may be in communication with one or more sensors 638. The sensors 638 may be positioned on the end effector 602 and adapted to operate with the surgical instrument 600 to measure various derivative parameters, such as gap distance and time, tissue compression and time, and anvil strain and time. The sensors 638 may include, for example, magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, inductive sensors (such as eddy current sensors), resistive sensors, capacitive sensors, optical sensors, and/or any other suitable sensors for measuring one or more parameters of the end effector 602. The sensor 638 may include one or more sensors.

The one or more sensors 638 may include a strain gauge, such as a micro-strain gauge, configured to measure a magnitude of strain in the anvil 616 during the clamped condition. The strain gauge provides an electrical signal whose magnitude varies with the magnitude of the strain. The sensor 638 can comprise a pressure sensor configured to detect pressure generated by the presence of compressed tissue between the anvil 616 and the staple cartridge 618. The sensor 638 may be configured to detect an impedance of a section of tissue located between the anvil 616 and the staple cartridge 618, which is indicative of the thickness and/or degree of filling of the tissue located therebetween.

The sensor 638 may be configured to measure the force exerted by the closure drive system on the anvil 616. For example, one or more sensors 638 may be located at points of interaction between the closure tube 1910 (fig. 1-4) and the anvil 616 to detect the closure force applied to the anvil 616 by the closure tube 1910. The force exerted on the anvil 616 may be representative of the tissue compression experienced by a section of tissue captured between the anvil 616 and the staple cartridge 618. The one or more sensors 638 may be positioned at various interaction points along the closure drive system to detect the closure force applied to the anvil 616 by the closure drive system. The one or more sensors 638 may be sampled in real time by the processor described in fig. 16A-16B during the clamping operation. The control circuit 610 receives real-time sample measurements to provide and analyze time-based information and evaluates the closing force applied to the anvil 616 in real-time.

A current sensor 636 may be employed to measure the current drawn by the motor 604. The force required to propel the I-beam 614 corresponds to the current drawn by the motor 604. The force is converted to a digital signal and provided to the processor 610.

When the RF cartridge 609 is loaded in the end effector 602 in place of the staple cartridge 618, the RF energy source 400 is coupled to the end effector 602 and applied to the RF cartridge 609. The control circuitry 610 controls the delivery of RF energy to the RF bin 609.

In certain arrangements of a bipolar Radio Frequency (RF) surgical instrument, the surgical instrument can include opposing first and second jaws, wherein each jaw can include an electrode. In use, tissue may be captured between the jaws such that energy may flow between electrodes in opposing jaws and through tissue located between the electrodes. Such instruments may have to seal many types of tissue, such as anatomical structures having walls with irregular or thick fibrous content, bundles of different anatomical structures, and/or significantly thicker or thinner anatomical structures.

Generally, it is difficult to continuously provide electrosurgical energy to low impedance tissue until welding of the tissue is substantially complete. For example, when providing electrosurgical energy to low impedance tissue, there is a point at which the tissue impedance becomes too low, acting like a short circuit, so that the tissue draws only a large amount of current and provides no or little electrosurgical energy to the tissue. This may lead to some undesirable results including, for example, incomplete tissue welding, excessive heating of the electrodes, delayed surgery, clinician inconvenience or frustration, etc.

Aspects of the present disclosure may address the above deficiencies by controlling control circuits for independent energy transfer over segmented portions. In one exemplary aspect, a surgical instrument can include an end effector including a first jaw having a distal portion and a proximal portion, a second jaw movable relative to the first jaw, a first set of electrodes located at the distal portion of the first jaw, and a second set of electrodes located at the proximal portion of the first jaw. The surgical instrument may also include control circuitry programmed to provide electrosurgical energy (e.g., RF energy) to the first and second sets of electrodes. Electrosurgical energy provided to the first and second sets of electrodes may be repeatedly alternated between the first and second sets of electrodes at predetermined time intervals. For example, electrosurgical energy may be provided to a first set of electrodes for a first period of time (e.g., 0.25 seconds), to a second set of electrodes for a second period of time (e.g., 0.25 seconds) after the first period of time, then to the first set of electrodes for a third period of time (0.25 seconds), and so on. The alternation of electrosurgical energy between the first set of electrodes and the second set of electrodes may be repeated, for example, until welding of the tissue begins to complete or is substantially complete. Alternating the electrosurgical energy between the first set of electrodes and the second set of electrodes at very short intervals (e.g., 0.25 seconds) can facilitate complete welding of low impedance tissue without overheating the electrodes or delaying the procedure. In one example, such alternation of electrosurgical energy may be performed by a microchip in the first jaw or a processor in the surgical instrument body using RF energy provided by a conventional RF energy generator.

As such, aspects of the present disclosure may enable a surgical instrument to provide electrosurgical energy to tissue having low impedance until welding of the low impedance tissue is substantially complete. Further, aspects of the present disclosure may advantageously use a microchip in the first jaw or a processor in the surgical instrument body to alternate electrosurgical energy between the two sets of electrodes with RF energy from a conventional RF energy generator.

Fig. 19 illustrates a schematic top view of a jaw 3000 in an end effector (e.g., end effector 1500) of a surgical instrument (e.g., surgical system 10 or surgical tool assembly 1000) according to one aspect of the present disclosure. The jaws 3000 can include a cartridge 3010, a flexible circuit 3020 having flexible circuit contacts 3025 (e.g., exposed contacts 1756), and an elongate slot 3030 within which a cutting member (e.g., a knife member 1330) can be slidably received to cut tissue clamped within the end effector along a cutting line 3035. An elongated slot may extend from a proximal end of the jaw 3000. In an exemplary aspect, the flexible circuit 3020 may also include a microchip (e.g., a distal microchip 1740), and the cartridge 3010 may be referred to as a smart cartridge. The jaw 3000 may also include a first set of electrodes 3040L,3040R in the first region 3060 and a second set of electrodes 3050L,3050R in the second region 3065. In an exemplary aspect, first region 3060 can be located at a proximal portion of jaw 3000 and second region 3065 can be located at a distal portion of jaw 3000. In another exemplary aspect, the first region 3060 and the second region 3065 can be located at any other suitable locations of the jaw 3000.

The first and second sets of electrodes 3040L,3040R,3050L,3050R can be in communication with and/or deposited on the flexible circuit 3020. In one example, the elongate slot 3030 can be disposed in the center of the jaws 3000. As another example, the elongated slot 3000 can be disposed in any other suitable location in the jaw 3000. As shown in fig. 19, the electrodes 3040L and 3050L can be positioned to the left of the elongate slot 3030, and the electrodes 3040R and 3050R can be positioned to the right of the elongate slot 3030. In an exemplary aspect, the control circuitry (e.g., the microprocessor 560, segmented R circuit 1160, or distal microchip 1740) may be configured to provide electrosurgical energy to the first set of electrodes 3040L,3040R and the second set of electrodes 3050L, 3050R.

The electrosurgical energy may be in the form of Radio Frequency (RF) energy. The RF energy is in the form of electrical energy that may be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). In use, the electrosurgical device may transmit low frequency radio frequency energy through tissue, which may cause ionic oscillations or friction and, in effect, resistive heating, thereby raising the temperature of the tissue. The low operating temperature of the radiofrequency energy is suitable for removing, contracting, or sculpting soft tissue while sealing the blood vessel. RF energy is particularly effective for connective tissue, which is composed primarily of collagen and contracts when exposed to heat. The first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can be electrically connected to the control circuit through the flexible circuit 3020. The first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can be configured to emit RF energy to form a hemostatic (or coagulating) line on tissue adjacent the electrodes 3040L,3040R,3050L,3050R along the cutting line 3035.

In an exemplary aspect, the length 3070 of the first set of electrodes 3040L,3040R may be in the range of about 10mm to about 100mm, preferably in the range of about 20mm to about 50mm, more preferably in the range of about 25mm to about 35 mm. Similarly, in an exemplary aspect, the length 3075 of the second set of electrodes 3050L,3050R can be in a range of about 10mm to about 100mm, preferably in a range of about 20mm to about 50mm, and more preferably in a range of about 25mm to about 35 mm. In another exemplary aspect, the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can have any other suitable length. In an exemplary aspect, the gap between the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can be very small, such that the claimed tissue can be continuously welded from the first region 3060 to the second region 3065, while the tissue located between the two regions 3060 and 3065 is not unsealed/welded. In an exemplary aspect, the gap length 3072 between the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can be in the range of about 0.1mm to about 20mm, preferably in the range of about 0.5mm to about 5mm, more preferably in the range of about 1mm to about 3 mm. In another exemplary aspect, the gap length 3072 between the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can have any other suitable length. The total length 3080 of the first set of electrodes 3040L,3040R, the second set of electrodes 3050L,3050R, and the gap may be in the range of about 20mm to about 210mm, preferably in the range of about 60mm to about 100mm, more preferably in the range of about 50mm to about 70 mm.

In one exemplary aspect, the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can be electrically coupled to a wider lead 1168 from which the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can receive electrosurgical energy (e.g., RF energy). The first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can be electrically coupled to a plurality of leads (e.g., leads 1732L and 1732R) on the flexible circuit 3020, through which wider leads 1168 can provide RF energy to the electrodes 3040L,3040R,3050L, 3050R. In an exemplary aspect, the conductive leads 1168,1732L,1732R may be insulated to protect components (e.g., microchip 1740, ridge assembly 1250, laminate 1322, flex circuit 3020) adjacent to the conductive leads 1168,1732L,1732R from inadvertent RF energy. In one exemplary aspect, the cartridge 3010 can be replaceable. When the cartridge is replaced, the narrower and wider leads 1166,1168 in the surgical instrument can be connected to new leads and electrodes in the new cartridge.

In an exemplary aspect, the cutting member (e.g., knife member 1330) can be coupled, directly or indirectly, with a motor (e.g., motor 505). When the control circuitry provides a voltage to the motor, the cutting member may be advanced to the first region 3060 or the second region 3065 to cut tissue in the first and second regions 3060,3065.

Fig. 20 shows a graph 3100 depicting voltages applied to electrodes 3040L,3040R,3050L,3050R as a function of time, in accordance with non-limiting aspects. The pulse 3110 may represent a voltage applied to the electrodes 3040L,3040R in the first region 3060. The pulse 3120 may represent a voltage applied to the electrodes 3050L,3050R in the second region 3065. When the voltage of the first region 3060 is turned on, electrosurgical energy may be applied to tissue proximate the first set of electrodes 3040L,3040R to form a coagulation/fusion line thereat. Similarly, when the voltage of the second region 3065 is turned on, electrosurgical energy may be applied to the tissue proximate the second set of electrodes 3050L,3050R to form a coagulation/fusion line thereat. As shown in fig. 20, in one exemplary aspect, the control circuit may alternately apply the set voltage throughout the alternating cycle. In turn, the power/energy applied to the tissue may vary as the tissue impedance varies. In another exemplary aspect, the control circuit or generator 400 can vary the voltage applied to the electrodes (e.g., 30 volts for the first 5 cycles, 50 volts for the second 5 cycles, and 80 volts for the next 5 cycles). In another exemplary aspect, the control circuit or generator 400 may vary the voltage applied to the electrodes to provide a constant power to the tissue. In this case, the voltage may vary as the tissue impedance varies.

In an exemplary aspect, electrosurgical energy may be repeatedly alternated between the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R at predetermined time intervals. For example, electrosurgical energy may be provided to the first set of electrodes 3040L,3040R for a first time period (e.g., 0.25 seconds) and then to the second set of electrodes 3050L,3050R for a second time period (e.g., 0.25 seconds). Subsequently, it may be switched back to the first set of electrodes 3040L,3040R and the alternation of electrosurgical energy between the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R may be repeated, for example, until the impedance of the clamped tissue reaches a predetermined impedance value. In an exemplary aspect, the predetermined time interval may be in a range of about 0.05 seconds to about 0.5 seconds, preferably in a range of about 0.1 seconds to about 0.4 seconds, and more preferably in a range of about 0.2 seconds to about 0.3 seconds. In another exemplary aspect, the predetermined time interval may have any other suitable time period. In an exemplary aspect, the predetermined time interval during which the electrosurgical energy is alternated can be sufficiently rapid such that the delivery of the electrosurgical energy to the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R can appear to be simultaneous.

In an exemplary aspect, the alternation of electrosurgical energy may begin once the on-board on/off power switch 420 is turned on, and may continue without input from the electrosurgical device user until the on-board on/off power switch 420 is turned off. The on-board on/off power switch 420 may automatically open when the measured tissue impedance reaches a predetermined impedance value (e.g., an impedance value indicating that the clamped tissue is completely sealed). The number of cycles (e.g., n) of electrosurgical energy alternation required to reach the predetermined impedance value may vary depending on various parameters, including tissue type, tissue thickness, amount of moisture in the tissue, and the like.

In one exemplary aspect, as shown in fig. 20, the time interval of the first set of electrodes 3040L,3040R can be the same as the time interval of the second set of electrodes 3050L, 3050R. In another exemplary aspect, the time interval of the first set of electrodes 3040L,3040R can be different than the time interval of the second set of electrodes 3050L, 3050R. For example, the time interval for the first set of electrodes 3040L,3040R may be 0.3 seconds, while the time interval for the second set of electrodes 3050L,3050R may be 0.2 seconds. That is, in this case, electrosurgical energy may be provided to the first set of electrodes 3040L,3040R within 0.3 seconds, then to the second set of electrodes 3050L,3050R within 0.2 seconds, and the alternation is repeated. In one exemplary aspect, the predetermined time interval may decrease over time. For example, the predetermined time interval may be 0.3 seconds (e.g., a few cycles) at the beginning, 0.2 seconds (the next few cycles), followed by 0.1 seconds (the next few cycles, before the tissue begins to complete or be welded). In another exemplary aspect, the predetermined time interval may increase over time.

In one exemplary aspect, the control circuit may include two modes of operation, mode I and mode II. In mode I, the control circuit may cut tissue at or after completion of tissue welding. In mode 2, the control circuit may cut tissue as welding of the tissue proceeds. Examples of these modes are described in more detail below, as shown in FIGS. 21-27.

Fig. 21 illustrates a block diagram of a surgical system 3200 programmed to communicate power and control signals with an end effector 3250, according to one aspect of the present disclosure. In one exemplary aspect, the surgical system 3200 can include control circuitry 3210 (e.g., microprocessor 560, segmented RF circuitry 1160, or distal microchip 1740) having an electrosurgical energy control segment (or RF energy control segment) 3220 and a shaft control segment 3230 (e.g., shaft segment (segment 5), motor circuit segment (segment 7), or power segment (segment 8)). The control circuit 3210 can be programmed to provide electrosurgical energy (e.g., RF energy) to electrodes in the end effector 3250 (e.g., end effector 1500). The surgical system 3200 can include one or more electrical conductors 3260 (e.g., electrical conductor 1168) for providing electrosurgical energy from an electrosurgical energy generator 3240 (e.g., RF generator 400) to an end effector 3250. One or more electrical conductors 3260 can be electrically connected between the end effector 3250 and the control circuit 3210 (e.g., the electrosurgical energy control section 3220 and the shaft control section 3230).

The electrosurgical energy control section 3220 may be programmed to provide electrosurgical energy to the electrodes via one or more electrical conductors 3260. In one exemplary aspect, shaft control section 3230 can be programmed to provide control signals to and/or receive control signals from end effector 3250 (and/or surgical tool assembly 1000, shaft assembly 704) via one or more electrical conductors 3260. That is, one or more electrical conductors 3260 can be used not only to provide electrosurgical energy to the end effector 3250, but also to communicate control signals with the end effector 3250. In an exemplary aspect, at least portions of the electrosurgical energy control segment 3220 and the shaft control segment 3230 can be electrically isolated from each other.

In an exemplary aspect, the electrosurgical energy control section 3220 may electrically isolate the one or more electrical conductors 3260 from the shaft control section 3230, for example, when electrosurgical energy is provided to electrodes in the end effector 3250 through the one or more electrical conductors 3260. In an exemplary aspect, the electrosurgical energy control section 3220 can control a switch 3270 located between the one or more electrical conductors 3260 and the shaft control section 3230 by way of a control line 3280 providing a signal to electrically isolate the one or more electrical conductors 3260 from the shaft control section 3230. Switch 3270 can be configured to switch between an open state and a closed state. The shaft control segment 3230 and the one or more electrical conductors 3260 can be electrically isolated when the switch 3270 is in an open state and can be in electrical communication when the switch 3270 is in a closed state. In another exemplary aspect, the electrosurgical energy control section 3220 may electrically isolate the one or more electrical conductors 3260 from the shaft control section 3230 in any other suitable manner. Other configurations of switch 3270 can electrically isolate one or more electrical conductors 3260 from shaft control section 3230 by closing switch 3270.

In an exemplary aspect, the electrosurgical energy control segment 3220 may electrically isolate the one or more electrical conductors 3260 from the shaft control segment 3230 when the control circuitry 3210 detects that the electrosurgical energy generator 3240 is connected to the connector 3265 (e.g., the female connector 410), for example, by continuously inspecting the connector 3265 or sensing the application of electrosurgical energy. For example, the electrosurgical energy control section 3220 may isolate the electrical conductor 3260 from the shaft control section 3230 when the male plug assembly 406 is inserted into the female connector 410. In another exemplary aspect, the electrosurgical energy control section 3220 may electrically isolate the one or more electrical conductors 3260 from the shaft control section 3230 when electrosurgical energy is provided to the end effector 3250, or at any other suitable time.

In one exemplary aspect, the surgical system can include one or more electrical conductors 3290 (e.g., electrical conductor 1166) for operating the end effector 3250 (and/or surgical tool assembly 1000, shaft assembly 704). In one exemplary aspect, the one or more electrical conductors 3290 may not be used to deliver electrosurgical energy to the end effector 3250. The shaft control section 3230 can be programmed to provide control signals to and/or receive control signals from the end effector 3250 via one or more electrical conductors 3290. In an exemplary aspect, when the switch 3270 is in an open state (e.g., when the electrosurgical energy control segment 3220 is providing electrosurgical energy to the end effector 3250 via one or more electrical conductors 3260), the shaft control segment 3230 can provide control signals to and/or receive control signals from the end effector 3250 using the one or more electrical conductors 3290. In an exemplary aspect, the shaft control section 3230 can also provide control signals to and/or receive control signals from the end effector 3250 using one or more electrical conductors 3290 when the switch 3270 is in a closed state.

Switch 3270 may be a transistor switch, a mechanical switch, or any other suitable switch. In an exemplary aspect, control signals transmitted between control circuit 3210 and end effector 3250 (and/or surgical tool assembly 1000, shaft assembly 704) via electrical conductors 3260, 3290 include, but are not limited to, signals used to drive end effector 3250 (and/or surgical tool assembly 1000, shaft assembly 704) in a cutting and/or coagulation mode of operation, measure electrical characteristics of surgical system 3200 and/or tissue clamped in end effector 3250, provide usage feedback, transmit sensor signals, and identify certain characteristics (e.g., use/non-use status) of end effector 3250.

Accordingly, aspects of the present disclosure may advantageously reduce the number of electrical conductors required to communicate control signals between control circuit 3210 and end effector 3250 (and/or surgical tool assembly 1000, shaft assembly 704), particularly by using some of the electrical conductors used to deliver electrosurgical energy (e.g., electrical conductor 3260) when those electrical conductors are not used for electrosurgical energy. Furthermore, by isolating the electrical conductors from other circuit segments (e.g., shaft control segment 3230) when electrosurgical energy is provided through the electrical conductors, aspects of the present disclosure may prevent electrosurgical energy from flowing into other circuit segments and/or electrical conductors (e.g., electrical conductor 3290) connected to those circuit segments, preventing damage to those circuit segments and/or electrical conductors.

Fig. 22 is a logic flow diagram depicting a process 4500 of a control program or logic configuration for operating a surgical instrument according to mode I. Although the example process 4500 is described with reference to the logic flow diagram shown in fig. 22, it should be appreciated that many other methods of performing the acts associated with the method may be used. For example, the order of some blocks may be changed, some blocks may be combined with other blocks, and some of the blocks described may be optional.

In the illustrated example and with additional reference to fig. 18, the control circuit 610 (fig. 18) may receive 4510 information regarding tissue impedance. For example, the control circuitry 610 may include impedance feedback circuitry and measure the impedance of tissue clamped in the end effector 602 (e.g., end effector 1500), such as tissue adjacent the first set of electrodes 3040L,3040R and the second set of electrodes 3050L, 3050R. In an exemplary aspect, the control circuit 610 can measure the tissue impedance periodically (e.g., every 0.1 seconds, every 0.5 seconds, or every second). In another exemplary aspect, the control circuit 610 may measure tissue impedance randomly or in any other suitable manner. The control circuit 610 may provide 4520 electrosurgical energy to the first and second sets of electrodes, wherein the provision of electrosurgical energy repeatedly alternates between the first and second sets of electrodes at predetermined time intervals. For example, the control circuit 610 can alternately provide electrosurgical energy to the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R at predetermined time intervals (as described above with reference to fig. 20).

Then, at some point, control circuitry 610 may determine 4530 that the impedance of the tissue reaches a predetermined impedance value. For example, the predetermined impedance value may be a value indicating that tissue adjacent to the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R is substantially or completely welded or coagulated. Control circuit 610 may determine that welding of the tissue is substantially complete by comparing the measured tissue impedance to a predetermined termination impedance value. The control circuit 610 may then stop 4540 the supply of electrosurgical energy to the first and second sets of electrodes. Subsequently, the control circuit 610 may advance 4550 a cutting member, such as an I-beam 614, to cut tissue. In an exemplary aspect, the control circuit 610 can advance a cutting member (e.g., an I-beam 614) into the first region 3060 to cut tissue in the first region 3060, and then advance into the second region 3065 to cut tissue in the second region 3065. In another exemplary aspect, the control circuitry 610 may cut tissue in the first region 3060 and the second region 3065 simultaneously.

Fig. 23 shows a graph 4600 of a tissue impedance curve 4605 as a function of time. When the control circuit 610 (fig. 18) is operating in mode I, the tissue impedance curve 4605 can represent the impedance change for the tissue claimed in the end effector 1500. As shown in FIG. 23, the tissue impedance tends to follow a common "bathtub" pattern, decreasing at the onset of the alternation of energy for a first period of time 4625 (e.g., 0.3-1.5 seconds), for a first time (t)₁)4615 reaching the minimum impedance value (Z)_M) And then rises as the clamped tissue is welded during a second time period 4630 (e.g., 0.3-1.5 seconds). The tissue impedance may then be at a second time (t)₂)4620 to a point 4610, wherein the tissue impedance at the point 4610 is equal to a predetermined termination impedance (Z)_T)。

During a first time period 4625, the tissue impedance drops from an initial value and decreases, e.g., has a negative slope, until it reaches a minimum impedance value (Z)_M) Subsequently at a second timeIn segment 4630, tissue drying occurs due to evaporation of water from the tissue after a specific period of energy application to the tissue, resulting in the tissue impedance beginning to rise, e.g., a positive slope, until the tissue impedance reaches a predetermined terminal impedance Z_TAt which point the end effector may be de-energized. In an exemplary aspect, the tissue impedance may maintain a minimum impedance Z_MA certain period of time (e.g., 0.5-5 seconds) during which the tissue impedance curve 4605 is nearly flattened. If electrosurgical energy (e.g., RF energy) is continuously applied rather than being switched off at the termination impedance point 4610, the tissue impedance may continuously increase past the point 4610.

In one exemplary aspect, the predetermined termination impedance (Z)_T) The tissue, which may correspond to a point adjacent the electrodes 3040L,3040R,3050L,3050R, may be substantially or completely welded so as to cut the tissue (e.g., blood vessels) without bleeding. The predetermined termination impedance may be stored in a memory device of the surgical instrument (e.g., surgical system 10 or surgical tool assembly 1000).

When the tissue impedance reaches a predetermined terminal impedance, the control circuitry may cease providing electrosurgical energy to the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R, resulting in the tissue impedance at t₂A sudden drop at 4620. In one exemplary aspect, such a sudden drop in tissue impedance may occur because the control circuit ceases to measure tissue impedance when the electrosurgical energy ceases to be provided. As shown in fig. 24 of chart 4650 depicting an exemplary motor voltage curve, when at t₂While or after the electrosurgical energy ceases to be provided, the control circuitry may provide a voltage 4660 to the motor (e.g., motor 505) to cut tissue in the first region 3060. The control circuitry may then also provide a voltage 4670 to the motor to cut tissue in the second region 3065. As shown in fig. 23 and 24, in mode I, cutting of the clamped tissue may begin during a third time period 4635 after the tissue impedance reaches a predetermined terminal impedance value (e.g., tissue welding is complete).

Fig. 25 is a logic flow diagram depicting a process 4700 of a control program or logic configuration for operating a surgical instrument according to mode II. Although the example process 4700 is described with reference to the logic flow diagram shown in fig. 25, it should be appreciated that many other methods of performing the actions associated with this method may be used. For example, the order of some blocks may be changed, some blocks may be combined with other blocks, and some of the blocks described may be optional.

In the illustrated example and with additional reference to fig. 18, the control circuit 610 may receive 4710 information about tissue impedance. For example, the control circuit 610 can measure the impedance of tissue clamped in the end effector 602 (e.g., end effector 1500). In an exemplary aspect, the control circuit 610 can measure the tissue impedance periodically (e.g., every 0.1 seconds, every 0.5 seconds, or every second). In another exemplary aspect, the control circuit 610 may measure tissue impedance randomly or in any other suitable manner. The control circuit 610 may provide 4720 electrosurgical energy to a first set of electrodes in a proximal portion of the jaws and a second set of electrodes in a distal portion of the jaws, wherein the provision of electrosurgical energy repeatedly alternates between the first set of electrodes and the second set of electrodes at predetermined time intervals. For example, the control circuit 610 can alternately provide electrosurgical energy to the first set of electrodes 3040L,3040R and the second set of electrodes 3050L,3050R at predetermined time intervals (as described above with reference to fig. 20).

Then, at some point, the control circuitry 610 may determine 4730 that the impedance of the tissue has reached a predetermined impedance value. For example, the predetermined impedance value may be a value indicating that welding of the tissue adjacent to the first and second sets of electrodes 3040L,3040R,3050L,3050R is beginning to be completed. The control circuit 610 may then advance 4740 a cutting member, such as an I-beam 614, to cut tissue in the proximal portion while providing electrosurgical energy to the first and second sets of electrodes. After cutting tissue in the proximal portion of the jaws, the control circuit 610 may advance 4740 a cutting member (e.g., I-beam 614) to cut tissue in the distal portion while providing electrosurgical energy to the second set of electrodes.

In one exemplary aspect, the control circuitry 610 may advance 4750 a cutting member (e.g., I-beam 614) to cut tissue in the distal portion while providing electrosurgical energy to both the first set of electrodes 3040L,3040R and the second set of electrodes 3050L, 3050R. In another exemplary aspect, the control circuit 610 can stop providing electrosurgical energy to the first set of electrodes after cutting tissue in the proximal portion and provide electrosurgical energy to only the second set of electrodes while cutting tissue in the distal portion. In such a case, the provision of electrosurgical energy to the second set of electrodes 3050L,3050R may still be discontinuous. For example, electrosurgical energy may be provided to the second set of electrodes 3050L,3050R for a set period of time (e.g., 0.25 seconds), then electrosurgical energy may not be provided to the second set of electrodes 3050L,3050R for the next set period of time (e.g., 0.25 seconds), and then electrosurgical energy may be provided to the second set of electrodes 3050L,3050R for the next set period of time (e.g., 0.25 seconds). Such a process may be repeated as the tissue in the distal portion of the jaw (e.g., second region 3065) is cut.

In another exemplary aspect, the control circuitry 610 may stop providing electrosurgical energy to the first and second sets of electrodes 3040L,3040R,3050L,3050R after cutting tissue in the first region. In this case, the tissue in the second region 3065 can be cut while not providing electrosurgical energy to the tissue. In an exemplary aspect, when the tissue impedance reaches a predetermined terminal impedance value, the control circuitry 610 may stop providing electrosurgical energy to the first and second sets of electrodes 3040L,3040R,3050L,3050R while cutting tissue in the first region 3060 and/or the second region 3065.

Fig. 26 shows a graph 4800 of a tissue impedance curve 4805 as a function of time. When the control circuit is operating in mode II, the tissue impedance curve 4805 can represent the change in impedance of the tissue claimed in the end effector 1500. As shown in FIG. 26, the tissue impedance also here tends to follow a common "bathtub" pattern, falling at the beginning of a first period of time 4835 (e.g., 0.3-1.5 seconds) with alternating energy (e.g., between the first set of electrodes 3040L,3040R and the second set of electrodes 3050L, 3050R) at a first time (t)₁)4820 reaching a minimum impedance value (Z)_M) And then increases during a second time period 4840 (e.g., 0.3-1.5 seconds). As described above, in the first time period 4835, the tissue impedance drops from an initial value and decreases, e.g., has a negative slope, until it reaches a minimum impedance value (Z)_M) Subsequently in the secondDuring time period 4840, tissue impedance begins to rise, e.g., a positive slope, as tissue dries out due to evaporation of water from the tissue after a particular period of energy application to the tissue until the tissue impedance reaches the terminal impedance Z_T1. In an exemplary aspect, the tissue impedance may maintain a minimum impedance for a period of time (e.g., 0.5-5 seconds) during which the tissue impedance curve 4805 is nearly flattened.

In an exemplary aspect, when the tissue impedance reaches a minimum impedance value (Z)_M) At this time, the rate of change (e.g., decrease) in impedance may become approximately zero, as shown in fig. 26. Welding of the clamped tissue may begin to complete at this point. In an exemplary aspect, in mode II, when the tissue impedance reaches a minimum impedance value (Z)_M) At this time, the control circuit may begin advancing the cutting member. For example, when the rate of change (e.g., decrease) of the impedance becomes approximately zero, the control circuitry may determine that the tissue impedance reaches a minimum impedance value (Z)_M). In another exemplary aspect, in mode II, the control circuit can begin advancing the cutting member at any other suitable time before the clamped tissue is fully welded. If the tissue impedance is maintained at the minimum impedance for a certain period of time (e.g., 0.5-5 seconds), the control circuitry may begin advancing the cutting member at any suitable time during the period of time (e.g., beginning/middle/end of a flat curve).

As shown in FIG. 27, and with additional reference to FIG. 18, before tissue welding is complete, when the tissue impedance reaches a minimum impedance value (Z)_M) At or after that time, the control circuitry 610 may provide a voltage 4860 to the motor 604 (e.g., motor 505) to cut tissue in the first region 3060. Termination impedance Z_T1May be represented at a second time (t)₂)4825 impedance of tissue at the completion of cutting. Then, after cutting the tissue in the first region 3060, the control circuitry can provide a voltage 4870 to the motor 604 (e.g., motor 505) to cut the tissue in the second region 3065. Termination impedance Z_T2May be indicated at a third time (t)₃)4830 tissue impedance at the completion of the cut. The impedance curve 4805 can fall near a second time 4825 just after cutting tissue in the first region 3060 because clamped tissue may be being cut in the first region 3060Some of the fluid (e.g., blood or any other body fluid) that is created when tissue in the domain 3060 is wetted. Thus, while the measured impedance value 4805 may appear to decrease after cutting tissue in the first region 3060, the actual tissue impedance may not decrease, but may be similar to or higher than Z throughout the third time period 4845_T1. Because electrosurgical energy is applied to the clamped tissue during the third time period 4845, as the tissue evaporates, the measured impedance value may also rise rapidly to reflect the actual tissue impedance.

In an exemplary aspect, the control circuit 610 can take into account the amount of time required to cut tissue clamped in the end effector 602 when determining when to begin advancing a cutting member, such as an I-beam 614. For example, if it takes 1 second to cut tissue in the first region 3060, the control circuit 610 may begin to advance the cutting member (e.g., the I-beam 614) about 1 second before the tissue impedance reaches the predetermined terminal impedance value, where tissue welding is generally complete at about this time, such that tissue welding is substantially complete at the completion of the tissue cutting in the first region 3060. In another exemplary aspect, the cutting speed can be adjusted such that tissue welding is substantially complete at the end of the cut. For example, if it takes 0.5 seconds from the time the tissue impedance reaches the minimum impedance to the time it reaches the terminal impedance (e.g., where tissue welding is complete), the cutting speed may be adjusted such that it will take 0.5 seconds to cut tissue in the first or second region 3060,3065.

As described above, in one exemplary aspect, the control circuit 610 can provide electrosurgical energy to both the first and second sets of electrodes 3040L,3040R,3050L,3050R, while cutting tissue in the second region 3065 during the third time period 4845. In this case, the terminal impedance Z at the third time 4830 is such that the clamped tissue receives additional electrosurgical energy during the third time period 4845_T2Termination impedance Z that can be higher than second time 4825_T1As shown in fig. 26.

In an exemplary aspect, the control circuitry 610 may stop providing electrosurgical energy to the first set of electrodes after cutting tissue in the first region 3060, and only provide electrosurgical energy to the second set of electrodes while cutting tissue in the second region 3065. In this case, assuming the predetermined time intervals of the two sets of electrodes are the same, the terminal impedance of the tissue in the second region 3065 can be higher than the terminal impedance of the tissue in the first region 3060 because the tissue in the second region 3065 receives more electrosurgical energy over the third time period 4845 than the tissue in the first region 3060.

The functions or processes 4500, 4700 described herein may be performed by any of the processing circuits described herein, such as the control circuit 700 described with respect to fig. 16-17, the control circuit 610 described with respect to fig. 18.

Aspects of the surgical instrument may be practiced without specific details disclosed herein. Certain aspects have been illustrated in block diagrams, rather than in detail. Portions of the present disclosure may be presented as instructions to operate on data stored in a computer memory. In general, aspects described herein, which may be implemented individually and/or collectively in various hardware, software, firmware, or any combination thereof, may be viewed as being comprised of various types of "electronic circuitry". Thus, "electronic circuitry" includes electronic circuitry having at least one discrete electronic circuit, electronic circuitry having at least one integrated circuit, electronic circuitry having at least one application specific integrated circuit, electronic circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer or processor configured by a computer program that implements, at least in part, the processes and/or devices described herein), electronic circuitry forming a memory device (e.g., forming random access memory), and/or electronic circuitry forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). These aspects may be implemented in analog or digital form, or a combination thereof.

The foregoing description has set forth various aspects of the devices and/or processes via the use of block diagrams, flowcharts, and/or examples, which may include one or more functions and/or operations. Each function and/or operation within 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. In one aspect, portions of the subject matter described herein may be implemented via Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), circuits, registers, and/or software components (e.g., programs, subroutines, logic) and/or a combination of hardware and software components, logic gates, or other integrated formats. Aspects disclosed herein may be equivalently implemented in integrated circuits, in whole or in part, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and designing the circuitry and/or writing the code for the software and/or hardware would be well within the skill of one of skill in the art in light of the present disclosure.

The mechanisms of the subject matter disclosed herein are capable of being distributed as a program product in a variety of forms, and exemplary aspects of the subject matter described herein apply regardless of the particular type of signal bearing media used to actually carry out the distribution. Examples of signal bearing media include the following: recordable media such as floppy disks, hard disk drives, Compact Disks (CDs), Digital Video Disks (DVDs), digital tapes, computer memory, etc.; and a transmission-type medium such as a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a conductive communication link, a non-conductive communication link (e.g., transmitter, receiver, transmission logic, reception logic), etc.).

The foregoing description of these aspects has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The aspects were chosen and described in order to explain the principles of the invention and its practical application to enable one skilled in the art to utilize the invention in various aspects and with various modifications as are suited to the particular use contemplated. The claims as filed herewith are intended to define the full scope.

Various aspects of the subject matter described herein are set forth in the following numbered examples:

embodiment 1. a surgical instrument, comprising: an end effector, the end effector comprising: a first jaw and a second jaw, wherein the first jaw comprises a proximal portion and a distal portion, and the second jaw is movable relative to the first jaw; a first set of electrodes and a second set of electrodes, wherein the first set of electrodes is located at a proximal portion of the first jaw and the second set of electrodes is located at a distal portion of the first jaw; and a slot defined between the first set of electrodes and the second set of electrodes; a cutting member configured to reciprocate within the slot; and control circuitry configured to be capable of: receiving information about the impedance of tissue located between the first jaw and the second jaw of the end effector; providing electrosurgical energy to the first and second sets of electrodes and alternating electrosurgical energy repeatedly between the first and second sets of electrodes at predetermined time intervals; and advancing the cutting member.