Model-based classifier in jaw
阅读说明:本技术 基于模型的钳口中分类器 (Model-based classifier in jaw ) 是由 F·B·斯图伦 于 2019-03-01 设计创作,主要内容包括:本发明提供了一种超声装置,该超声装置包括由预定谐振频率限定的机电超声系统,其中该系统包括联接到超声刀的超声换能器。本发明还提供了一种用于评估超声装置的端部执行器的状态是对应于打开且无负载、末端咬合、在潮湿油鞣革上的末端咬合、完全咬合、在干燥或潮湿油鞣革上的完全咬合还是钳口夹具中的钉的方法,该方法包括将由幅值和频率限定的驱动信号施加到该超声换能器,将扫描驱动信号的从该电磁超声系统的第一谐振以下到该第一谐振以上的该频率,测量并记录阻抗/导纳圆变量R<Sub>e</Sub>、G<Sub>e</Sub>、X<Sub>e</Sub>和B<Sub>e</Sub>,将所测量的阻抗/导纳圆变量R<Sub>e</Sub>、G<Sub>e</Sub>、X<Sub>e</Sub>和B<Sub>e</Sub>与参考阻抗/导纳圆变量R<Sub>ref</Sub>、G<Sub>ref</Sub>、X<Sub>ref</Sub>和B<Sub>ref</Sub>进行比较,并且基于该比较的结果来确定该端部执行器的状态或状况。机电超声系统可包括实现该方法的控制电路。(The present invention provides an ultrasound device comprising an electromechanical ultrasound system defined by a predetermined resonant frequency, wherein the system comprises an ultrasound transducer coupled to an ultrasonic blade. The present invention also provides a method for assessing whether the state of an end effector of an ultrasonic device corresponds to an open and unloaded, end-on-tip, full-on-tip on dry or wet tanned leather, or a nail in a jaw clamp, the method comprising applying a drive signal defined by amplitude and frequency to the ultrasonic transducer, scanning the drive signal from the electromagnetic ultrasound systemMeasuring and recording the impedance/admittance circular variable R from below the first resonance to above the first resonance e 、G e 、X e And B e The measured impedance/admittance circular variable R e 、G e 、X e And B e And a reference impedance/admittance circular variable R ref 、G ref 、X ref And B ref A comparison is made and a state or condition of the end effector is determined based on the results of the comparison. The electromechanical ultrasound system may include control circuitry to implement the method.)
1. A method for assessing a state of an end effector of an ultrasound device, the ultrasound device including an electromechanical ultrasound system defined by a predetermined resonant frequency, the electromechanical ultrasound system including an ultrasound transducer coupled to an ultrasonic blade, the method comprising:
Applying, by a drive circuit, a drive signal to the ultrasonic transducer, wherein the drive signal is a periodic signal defined by an amplitude and a frequency;
scanning, by a processor or control circuit, the frequency of the drive signal from below a first resonance of the electromagnetic ultrasound system to above the first resonance;
measuring and recording an impedance/admittance circular variable R by the processor or the control circuite、Ge、XeAnd Be;
The measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、Xe、BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefComparing; and
determining, by the processor or the control circuit, a state or condition of the end effector based on a result of the comparative analysis.
2. The method of claim 1, wherein the method is performed byThe processor or the control circuit measures the impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeWith a reference impedance/admittance circular variable R stored in a database of the ultrasound deviceref、Gref、XrefAnd BrefA comparison is made.
3. The method of claim 1, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuit e、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circle variable R corresponding to an open and unloaded jaw clamp of the ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
4. The method of claim 1, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R engaged with an end of a jaw clamp corresponding to the ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
5. The method of claim 4, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R engaged with a tip corresponding to a jaw of the ultrasonic deviceref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circle variable R for engagement with the end of the jaw clamp corresponding to the ultrasonic device on a wet tanned leather ref、Gref、XrefAnd BrefA comparison is made.
6. The method of claim 1, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circle variable R corresponding to full engagement of a jaw clamp of the ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
7. The method of claim 6, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R corresponding to full occlusion of jaws of the ultrasonic deviceref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeAnd the jaw corresponding to the ultrasonic deviceFully engaged reference impedance/admittance circular variable R of a jig on a piece of dry oil tanned leatherref、Gref、XrefAnd BrefA comparison is made.
8. The method of claim 6, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R corresponding to full occlusion of jaws of the ultrasonic device ref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeReference impedance/admittance circle variable R corresponding to full occlusion of the jaw clamp of the ultrasonic device on a piece of wet oil tanned leatherref、Gref、XrefAnd BrefA comparison is made.
9. The method of claim 1, wherein the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing includes: the measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circle variable R corresponding to a staple disposed in a jaw clamp of the ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
10. The method of claim 1, further comprising sweeping, by a processor or control circuit, the frequency of the drive signal from below a first resonance to above a second resonance of the electromagnetic ultrasound system.
11. An ultrasonic surgical instrument comprising:
an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade via an ultrasonic waveguide;
a jaw clamp; and
A generator configured to be capable of supplying power to the ultrasound transducer, wherein the generator comprises a control circuit configured to be capable of:
causing a drive circuit to apply a drive signal to an ultrasound transducer, wherein the drive signal is a periodic signal defined by an amplitude and a frequency;
scanning the frequency of the drive signal from below a first resonance of the electromagnetic ultrasound system to above the first resonance;
measuring and recording the impedance/admittance circular variable Re、Ge、XeAnd Be;
Measuring the impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefComparing; and is
Determining a state or condition of the end effector based on a result of the comparative analysis.
12. The ultrasonic surgical instrument of claim 11, wherein the generator comprises a control circuit further configured to measure the impedance/admittance circular variable Re、Ge、XeAnd BeWith a reference impedance/admittance circle variable R stored in a database of the ultrasonic surgical instrumentref、Gref、XrefAnd BrefA comparison is made.
13. The ultrasonic surgical instrument of claim 11, wherein the generator comprises a control circuit further configured to measure the impedance/admittance circular variable R e、Ge、XeAnd BeReference impedance/admittance circle variable R corresponding to an open and unloaded jaw clamp of the ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
14. The ultrasonic surgical instrument of claim 11, wherein the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe distal end of the jaw clamp corresponding to the ultrasonic device is engaged.
15. The ultrasonic surgical instrument of claim 14, wherein the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe jaw clamp corresponding to the ultrasonic device was snapped on the end on a piece of wet oil tanned leather.
16. The ultrasonic surgical instrument of claim 11, wherein the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefCorresponding to a complete occlusion of the jaw clamp of the ultrasonic device.
17. The ultrasonic surgical instrument of claim 16, wherein the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefFull snapping of the jaw clamp corresponding to the ultrasonic device on a piece of dry oil tanned leather.
18. The ultrasonic surgical instrument of claim 16, wherein the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefFull snapping of the jaw clamp corresponding to the ultrasonic device on a piece of wet oil tanned leather.
19. The ultrasonic surgical instrument of claim 11 wherein said generator comprises a control circuit, said control circuitThe circuit is also configured to measure the impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circle variable R corresponding to a staple disposed in a jaw of the ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
20. The ultrasonic surgical instrument of claim 11 wherein said generator comprises a control circuit further configured to sweep said frequency of said drive signal from below a first resonance to above a second resonance of said electromagnetic ultrasound system.
21. A generator for an ultrasonic surgical instrument, the generator comprising:
a control circuit configured to be capable of:
causing a drive circuit to apply a drive signal to an ultrasound transducer, wherein the drive signal is a periodic signal defined by an amplitude and a frequency;
scanning the frequency of the drive signal from below a first resonance of the electromagnetic ultrasound system to above the first resonance;
measuring and recording the impedance/admittance circular variable Re、Ge、XeAnd Be;
Measuring the impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circular variable R ref、Gref、XrefAnd BrefComparing; and is
Determining a state or condition of the end effector based on a result of the comparative analysis.
Background
In a surgical environment, the smart energy device may be required in a smart energy architecture environment. Ultrasonic surgical devices, such as ultrasonic scalpels, are used in a variety of surgical applications due to their unique performance characteristics. Depending on the particular device configuration and operating parameters, the ultrasonic surgical device may provide transection of tissue and hemostasis by coagulation substantially simultaneously, thereby advantageously minimizing patient trauma. An ultrasonic surgical device may include a handpiece containing an ultrasonic transducer having a distally mounted end effector (e.g., a blade tip) to cut and seal tissue, and an instrument coupled to the ultrasonic transducer. In some cases, the instrument may be permanently attached to the handpiece. In other cases, the instrument may be detachable from the handpiece, as in the case of disposable instruments or interchangeable instruments. The end effector transmits ultrasonic energy to tissue in contact with the end effector to effect the cutting and sealing action. Ultrasonic surgical devices of this nature may be configured for open surgical use, laparoscopic or endoscopic surgical procedures, including robotic-assisted procedures.
Ultrasonic energy is used to cut and coagulate tissue using temperatures lower than those used in electrosurgery, and ultrasonic energy may be transmitted to the end effector by an ultrasonic generator in communication with the handpiece. With high frequency vibration (e.g., 55,500 cycles per second), the ultrasonic blade denatures proteins in the tissue to form a viscous coagulum. The pressure exerted by the knife surface on the tissue collapses the vessel and causes the clot to form a hemostatic seal. The surgeon may control the cutting speed and coagulation by the force applied to the tissue by the end effector, the time that the force is applied, and the selected deflection level of the end effector.
The ultrasonic transducer can be modeled as an equivalent circuit comprising a first branch with a static capacitance and a second "dynamic" branch with an inductance, a resistance and a capacitance connected in series, which define the electromechanical properties of the resonator. The known ultrasonic generator may comprise a tuning inductor for detuning the static capacitance at the resonance frequency, so that substantially all of the generator's drive signal current flows into the dynamic branch. Thus, by using a tuning inductor, the generator's drive signal current is representative of the dynamic branch current, and thus the generator is able to control its drive signal to maintain the resonant frequency of the ultrasound transducer. The tuning inductor may also transform the phase impedance profile of the ultrasonic transducer to improve the frequency locking capability of the generator. However, the tuning inductor must be matched to the particular static capacitance of the ultrasound transducer at the operating resonant frequency. In other words, different ultrasonic transducers with different static capacitances require different tuning inductors.
In addition, in some ultrasound generator architectures, the drive signal of the generator exhibits asymmetric harmonic distortion, which complicates impedance magnitude and phase measurements. For example, the accuracy of impedance phase measurements may be reduced due to harmonic distortion in the current and voltage signals.
Furthermore, electromagnetic interference in a noisy environment can reduce the generator's ability to maintain a lock on the resonant frequency of the ultrasonic transducer, thereby increasing the likelihood of invalid control algorithm inputs.
Electrosurgical devices for applying electrical energy to tissue to treat and/or destroy tissue are also finding increasingly widespread use in surgery. Electrosurgical devices include a handpiece and an instrument having a distally mounted end effector (e.g., one or more electrodes). The end effector is positionable against tissue such that an electrical current is introduced into the tissue. The electrosurgical device may be configured for bipolar or monopolar operation. During bipolar operation, current is introduced into and returned from the tissue through the active and return electrodes, respectively, of the end effector. During monopolar operation, current is introduced into tissue through the active electrode of the end effector and returned through a return electrode (e.g., a ground pad) separately positioned on the patient's body. The heat generated by the current flowing through the tissue may form a hemostatic seal within and/or between the tissues, and thus may be particularly useful, for example, in sealing blood vessels. The end effector of the electrosurgical device may also include a cutting member movable relative to the tissue and an electrode for transecting the tissue.
The electrical energy applied by the electrosurgical device may be transmitted to the instrument by 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 can be in the frequency range of 300kHz to 1MHz as described in EN60601-2-2:2009+ a11:2011, definition 201.3.218-high frequency. For example, frequencies in monopolar RF applications are typically limited to less than 5 MHz. However, in bipolar RF applications, the frequency can be almost any value. Monopolar applications typically use frequencies above 200kHz in order to avoid unwanted stimulation of nerves and muscles due to the use of low frequency currents. Bipolar techniques may use lower frequencies if the risk analysis shows that the likelihood of neuromuscular stimulation has been mitigated to an acceptable level. Typically, frequencies above 5MHz are not used to minimize the problems associated with high frequency leakage currents. It is generally considered that 10mA is the lower threshold for tissue thermal effects.
During its operation, the electrosurgical device may transmit low frequency RF energy through tissue, which may cause ionic vibration or friction, and in effect resistive heating, thereby raising the temperature of the tissue. Because a sharp boundary may be formed between the affected tissue and the surrounding tissue, the surgeon is able to operate at a high level of accuracy and control without damaging adjacent non-target tissue. The low operating temperature of the RF energy may be suitable for removing soft tissue, contracting soft tissue, or sculpting soft tissue while sealing the vessel. RF energy may be particularly well suited for connective tissue, which is composed primarily of collagen and contracts when exposed to heat.
Ultrasonic and electrosurgical devices typically require different generators due to their unique drive signal, sensing and feedback requirements. In addition, in situations where the instrument is disposable or interchangeable with the handpiece, the ability of the ultrasound and electrosurgical generators to identify the particular instrument configuration used and to optimize the control and diagnostic procedures accordingly is limited. Furthermore, capacitive coupling between the non-isolated circuitry of the generator and the patient isolated circuitry, especially where higher voltages and frequencies are used, can result in exposure of the patient to unacceptable levels of leakage current.
Furthermore, ultrasonic and electrosurgical devices often require different user interfaces for different generators due to their unique drive signal, sensing and feedback requirements. In such conventional ultrasonic and electrosurgical devices, one user interface is configured for use with an ultrasonic instrument, while the other user interface may be configured for use with an electrosurgical instrument. Such user interfaces include hand and/or foot activated user interfaces, such as hand activated switches and/or foot activated switches. Since various aspects of a combined generator for use with ultrasonic and electrosurgical instruments are contemplated in the ensuing disclosure, additional user interfaces configured to be operable with ultrasonic and/or electrosurgical instrument generators are also contemplated.
Additional user interfaces for providing feedback to a user or other machine are contemplated in subsequent disclosures to provide feedback indicative of the mode or state of operation of the ultrasonic and/or electrosurgical instrument. Providing user and/or machine feedback for operating a combination of ultrasonic and/or electrosurgical instruments would require providing sensory feedback to the user as well as providing electrical/mechanical/electromechanical feedback to the machine. Feedback devices incorporating visual feedback devices (e.g., LCD display screens, LED indicators), audio feedback devices (e.g., speakers, buzzers), or tactile feedback devices (e.g., tactile actuators) for combining ultrasonic and/or electrosurgical instruments are contemplated in the subsequent disclosure.
Other electrosurgical instruments include, but are not limited to, irreversible and/or reversible electroporation, and/or microwave technology, among others. Accordingly, the techniques disclosed herein may be applicable to ultrasound, bipolar or monopolar RF (electrosurgical), irreversible and/or reversible electroporation, and/or microwave-based surgical instruments, among others.
Disclosure of Invention
One aspect of an ultrasound device may include an electromechanical ultrasound system defined by a predetermined resonant frequency, the electromechanical ultrasound system including an ultrasound transducer coupled to an ultrasonic blade. One aspect of a method for assessing the state of an end effector of an ultrasonic device may include applying a drive signal to an ultrasonic transducer by a drive circuit, where the drive signal is a periodic signal defined by an amplitude and a frequency, scanning the drive signal by a processor or control circuit for a frequency from below a first resonance to above the first resonance of an electromagnetic ultrasound system, measuring and recording an impedance/admittance circular variable (R) by the processor or control circuit e、Ge、XeAnd BeThe measured impedance/admittance circular variable R being processed by a processor or control circuite、Ge、Xe、BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefA comparison is made and a state or condition of the end effector is determined by the processor or control circuitry based on the results of the comparative analysis.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeWith reference impedance/admittance circular variables R stored in a database of the ultrasound deviceref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeReference impedance/admittance circle variable R corresponding to an open and unloaded jaw clamp of an ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable R ref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R engaged with an end of a jaw clamp corresponding to an ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R engaged with a distal end of a jaw corresponding to an ultrasonic deviceref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd corresponding to ultrasonic equipmentReference impedance/admittance circular variable R of end-biting jaw clamp on a piece of wet oil tanned leather (chamois)ref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R corresponding to full occlusion of a jaw clamp of an ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuit e、Ge、XeAnd BeReference impedance/admittance circular variable R corresponding to full occlusion of jaws of an ultrasonic deviceref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeReference impedance/circle of admittance variable R corresponding to full occlusion of jaw clamp of ultrasonic device on a piece of dry oil tanned leatherref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeReference impedance/admittance circular variable R corresponding to full occlusion of jaws of an ultrasonic deviceref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeWith complete engagement of jaw clamps corresponding to ultrasonic means on a piece of wet oil-tanned leatherReference impedance/admittance circular variable Rref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the method, the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe comparing may include: the measured impedance/admittance circular variable R is processed by a processor or control circuite、Ge、XeAnd BeAnd a reference impedance/admittance circle variable R corresponding to a staple disposed in a jaw clamp of an ultrasonic device ref、Gref、XrefAnd BrefA comparison is made.
In one aspect, the method may further include sweeping, by the processor or control circuit, a frequency of the drive signal from below a first resonance to above a second resonance of the electromagnetic ultrasound system.
One aspect of an ultrasonic surgical instrument can include an ultrasonic electromechanical system having an ultrasonic transducer coupled to an ultrasonic blade via an ultrasonic waveguide, a jaw clamp, and a generator configured to supply power to the ultrasonic transducer. In one aspect, the generator includes a control circuit configured to enable the drive circuit to apply a drive signal to the ultrasound transducer, wherein the drive signal is a periodic signal defined by an amplitude and a frequency, sweep the frequency of the drive signal from below a first resonance to above the first resonance of the electromagnetic ultrasound system, measure and record an impedance/admittance circular variable Re、Ge、XeAnd BeThe measured impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefA comparison is made and a state or condition of the end effector is determined based on the results of the comparative analysis.
In one aspect of the ultrasonic surgical instrument, the generator includes a control circuit further configured to measure the measured impedance/admittance Round variable Re、Ge、XeAnd BeWith reference impedance/admittance circle variables R stored in a database of ultrasonic surgical instrumentsref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the ultrasonic surgical instrument, the generator includes a control circuit further configured to measure the measured impedance/admittance circular variable Re、Ge、XeAnd BeReference impedance/admittance circle variable R corresponding to an open and unloaded jaw clamp of an ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the ultrasonic surgical instrument, the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe distal end of the jaw clamp corresponding to the ultrasonic device is engaged.
In one aspect of the ultrasonic surgical instrument, the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe jaw clamp corresponding to the ultrasonic device was snapped on the end of a piece of wet oil tanned leather.
In one aspect of the ultrasonic surgical instrument, the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefCorresponding to full occlusion of the jaw clamp of the ultrasonic device.
In one aspect of the ultrasonic surgical instrument, the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe jaw clamp corresponding to the ultrasonic device was fully engaged on a piece of dry oil tanned leather.
In one aspect of the ultrasonic surgical instrument, the reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefThe jaw clamp corresponding to the ultrasonic device was completely engaged on a piece of wet oil tanned leather.
In one aspect of the ultrasonic surgical instrument, the generator includes a control circuit further configured to measure the measured impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circle variable R corresponding to a staple disposed in a jaw of an ultrasonic deviceref、Gref、XrefAnd BrefA comparison is made.
In one aspect of the ultrasonic surgical instrument, the generator includes a control circuit further configured to sweep a frequency of the drive signal from below a first resonance to above a second resonance of the electromagnetic ultrasound system.
One aspect of a generator for an ultrasonic surgical instrument may include a control circuit configured to cause a drive circuit to apply a drive signal to an ultrasonic transducer, wherein the drive signal is a periodic signal defined by an amplitude and a frequency, sweep the frequency of the drive signal from below a first resonance to above the first resonance of an electromagnetic ultrasound system, measure and record an impedance/admittance circular variable Re、Ge、XeAnd BeThe measured impedance/admittance circular variable Re、Ge、XeAnd BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BreA comparison is made and a state or condition of the end effector is determined based on the results of the comparative analysis.
Drawings
The features of the various aspects are set out with particularity in the appended claims. The various aspects, however, both as to organization and method of operation, together with further objects and advantages thereof, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings.
Fig. 1 is a system configured to execute an adaptive ultrasonic blade control algorithm in a surgical data network including a modular communication hub, according to at least one aspect of the present disclosure.
Fig. 2 illustrates an example of a generator according to at least one aspect of the present disclosure.
Fig. 3 is a surgical system including a generator and various surgical instruments configured for use therewith, according to at least one aspect of the present disclosure.
Fig. 4 is an end effector according to at least one aspect of the present disclosure.
Fig. 5 is an illustration of the surgical system of fig. 3 in accordance with at least one aspect of the present disclosure.
Fig. 6 is a model illustrating dynamic branch current in accordance with at least one aspect of the present disclosure.
Fig. 7 is a structural view of a generator architecture according to at least one aspect of the present disclosure.
Fig. 8A-8C are functional views of a generator architecture according to at least one aspect of the present disclosure.
Fig. 9A-9B are structural and functional aspects of a generator according to at least one aspect of the present disclosure.
Fig. 10 illustrates a control circuit configured to control aspects of a surgical instrument or tool according to at least one aspect of the present disclosure.
Fig. 11 illustrates a combinational logic circuit configured to control aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure.
Fig. 12 illustrates sequential logic circuitry configured to control aspects of a surgical instrument or tool in accordance with at least one aspect of the present disclosure.
Fig. 13 illustrates one aspect of a basic architecture of a digital synthesis circuit, such as a Direct Digital Synthesis (DDS) circuit, configured to generate a plurality of wave shapes for electrical signal waveforms in a surgical instrument, in accordance with at least one aspect of the present disclosure.
Fig. 14 illustrates one aspect of a Direct Digital Synthesis (DDS) circuit configured to generate a plurality of wave shapes for use in electrical signal waveforms in a surgical instrument, in accordance with at least one aspect of the present disclosure.
Fig. 15 illustrates one cycle of a discrete-time digital electrical signal according to at least one aspect of the present disclosure in terms of an analog waveform (shown superimposed over a discrete-time digital electrical signal waveform for comparison purposes), in accordance with at least one aspect of the present disclosure.
FIG. 16 is a diagrammatic view of a control system according to an aspect of the present disclosure.
FIG. 17 illustrates a proportional-integral-derivative (PID) controller feedback control system in accordance with an aspect of the present disclosure.
Fig. 18 is an alternative system for controlling the frequency of and detecting the impedance of an ultrasound electromechanical system in accordance with at least one aspect of the present disclosure.
FIG. 19 is a spectral plot of the same ultrasound device in various different states and conditions of the end effector, wherein the phase and amplitude of the impedance of the ultrasound transducer is plotted as a function of frequency, according to at least one aspect of the present disclosure.
Fig. 20 is a graphical representation of a graph of a set of 3D training data S in which ultrasound transducer impedance magnitude and phase are plotted as a function of frequency, according to at least one aspect of the present disclosure.
Fig. 21 is a logic flow diagram depicting a control program or logic configuration for determining jaw condition based on a complex impedance signature pattern (fingerprint) in accordance with at least one aspect of the present disclosure.
Fig. 22 is a graph of complex impedance plotted as a relationship between an imaginary component and a real component of a piezoelectric vibrator, in accordance with at least one aspect of the present disclosure.
Fig. 23 is a circular diagram of complex admittances plotted as a relationship between an imaginary component and a real component of a piezoelectric vibrator, in accordance with at least one aspect of the present disclosure.
FIG. 24 is a circular diagram of the complex admittance of a 55.5kHz ultrasonic piezoelectric transducer.
Fig. 25 is a graphical display of an impedance analyzer showing an impedance/admittance chart of an ultrasound device with jaws open and no load, with complex admittances depicted in dashed lines and complex impedances depicted in solid lines, according to at least one aspect of the present disclosure.
Fig. 26 is a graphical display of an impedance analyzer showing an impedance/admittance chart of an ultrasonic device with jaws clamped on dry oil tanned leather, with complex admittance depicted in dashed lines and complex impedance depicted in solid lines, according to at least one aspect of the present disclosure.
Fig. 27 is a graphical display of an impedance analyzer showing an impedance/admittance chart of an ultrasonic device with a jaw tip clamped on wet oil tanned leather, with complex admittance depicted in dashed lines and complex impedance depicted in solid lines, according to at least one aspect of the present disclosure.
Fig. 28 is a graphical display of an impedance analyzer showing an impedance/admittance chart of an ultrasonic device with jaws fully clamped on wet oil tanned leather, with complex admittances depicted in dashed lines and complex impedances depicted in solid lines, according to at least one aspect of the present disclosure.
Fig. 29 is a graphical display of an impedance analyzer showing an impedance/admittance plot in which frequencies from 48kHz to 62kHz are swept to capture multiple resonances of an ultrasonic device with a jaw open, wherein a rectangular stack shown in dashed lines facilitates viewing a circle, according to at least one aspect of the present disclosure.
Fig. 30 is a logic flow diagram depicting a process of control procedure or logic configuration to determine jaw condition based on estimated values of radius and offset of impedance/admittance circles, in accordance with at least one aspect of the present disclosure.
Description
The applicant of the present patent application also owns the following concurrently filed U.S. patent applications, each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application entitled "METHODS FOR CONTROLLING a transistor IN an ultra DEVICE," attorney
U.S. provisional patent application entitled "ULTRASONIC SEALING ALGORITHM WITH TEMPERATURE CONTROL", attorney docket number END8560USNP 3/180106-3;
U.S. provisional patent APPLICATION entitled "APPLICATION OF SMART ULTRASONIC BLADE TECHNOLOGY" attorney docket number END8560USNP 4/180106-4;
U.S. provisional patent application entitled "ADAPTIVE ADVANCED TISSUE TREATMENT PAD SAVER MODE" having attorney
U.S. provisional patent application entitled "SMART BLADE TECHNOLOGY TO CONTROL BLADE INSTILITY" attorney docket number END8560USNP 6/180106-6; and
U.S. provisional patent application entitled "START TEMPERATURE OF BLADE," attorney docket number END8560USNP 7/180106-7.
The applicant of the present patent application also owns the following concurrently filed U.S. patent applications, each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application entitled "METHOD FOR ESTIMATING AND CONTROL STATE OF ULTRASONIC EFFECTOR" attorney
U.S. provisional patent APPLICATION entitled "APPLICATION OF SMART BLADE TECHNOLOGY" attorney docket number END8536USNP 4/180107-4;
U.S. provisional patent application entitled "SMART BLADE AND POWER PULSING" attorney
U.S. provisional patent application entitled "ADJUSTMENT OF COMPLEX IMPEDANCE TO COMPENSATE FOR LOST POWER AN ARTICULATING ULTRASONIC DEVICE", attorney docket number END8536USNP 6/180107-6;
U.S. provisional patent application entitled "USING SPECTROSCOPY TO DETERMINE DEVICE USE STATE IN COMBOINSTRUMENT" attorney docket number END8536USNP 7/180107-7;
U.S. provisional patent application entitled "VESSEL SENSING FOR ADAPTIVE ADVANCED HEMOSSTASIS," attorney docket number END8536USNP 8/180107-8;
U.S. provisional patent application entitled "CALCIFIED VESSEL IDENTIFICATION", attorney docket number END8536USNP 9/180107-9;
U.S. provisional patent application entitled DETECTION OF LARGE VESSELS DURING PARENCYMAL DISSECONTIONING A SMART BLADE, attorney
U.S. provisional patent APPLICATION entitled "SMART BLADE APPLICATION FOR REUSABLE AND DISPOSABLEDEVICES" attorney docket number END8536USNP 11/180107-11;
U.S. provisional patent application entitled "LIVE TIME sharing CLASSIFICATION USING electric patent applications," attorney docket number END8536USNP 12/180107-12; and
U.S. provisional patent application entitled "FINE DISSECTION MODE FOR TISSUE CLASSIFIFICATION" having attorney docket number END8536USNP 13/180107-13.
The applicant of the present application owns the following U.S. patent applications filed on 9/10 of 2018, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application Ser. No. 62/729,177 entitled "AUTOMATED DATA SCALING, ALIGNMENT, AND ORGANIZING BASED ON PREDEFINED PARAMETERS WITHIN A SURGICALNETWORK BEFORE TRANSMISSION";
U.S. provisional patent application Ser. No. 62/729,182 entitled "SENSING THE PATIENTPOSITION AND CONTACT UTILIZING THE MONO POLAR RETURN PAD ELECTRO TO PROVIDED ATIONAL AWARENESS TO THE HUB";
U.S. provisional patent application Ser. No. 62/729,184 entitled "POWER SURGICAL TOOLWITH A PREDEFINED ADJUSTABLE CONTROL ALGORITHM FOR CONTROLLING AT LEAST ONE ONEEND EFFECTOR PARAMETER AND A MEANS FOR LIMITING THE ADJUSTMENT";
U.S. provisional patent application Ser. No. 62/729,183 entitled "SURGICAL NETWORK RECOMMENDITION FROM REAL TIME ANALYSIS OF PROCEDURE VARIABLE AGAINST ABASELINE HIGHLIGHTING DIFFERENCES FROM THE OPEN OF THE OPTIMAL SOLUTION";
U.S. provisional patent application Ser. No. 62/729,191 entitled "A CONTROL FOR A SURGICALNETWORK OR SURGICALNICAL NETWORK CONNECTED DEVICE THAT ADJUTS ITS FUNCTION BASION A SENSED STATION OR USAGE";
U.S. provisional patent application Ser. No. 62/729,176 entitled "INDIRECT COMMAND ANDCONTROL OF A FIRST OPERATING ROOM SYSTEM THROUGH THE USE OF A SECONDARATIONING ROOM SYSTEM WITHIN A STERILE FIELD WHERE THE SECOND OPERATING ROOMSYSTEM HAS PRIMARY AND SECONDARY OPERATING MODES";
U.S. provisional patent application Ser. No. 62/729,186, entitled "WIRELESS PAIRING OF ASURGICAL DEVICE WITH ANOTHER DEVICE WITHIN A STERILE SURGICAL FILED BASED ONTHE USAGE AND SITUATIONAL AWARENESS OF DEVICES"; and
U.S. provisional patent application Ser. No. 62/729,185 entitled "POWER STAPLING DEVICETHAT IS CAPABLE OF ADJUSE FORCE, ADVANCEMENT SPEED, AND OVERALL STROKE OFCUTTING MEMBER OF THE DEVICE BASED ON SENSED PARAMETER OF FIRING ORCLAMPING".
The applicant of the present application owns the following U.S. patent applications filed on 28/8/2018, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. patent application Ser. No. 16/115,214 entitled "ESTIMATING STATE OFULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR";
U.S. patent application Ser. No. 16/115,205 entitled "TEMPERATURE CONTROL OFULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR";
U.S. patent application Ser. No. 16/115,233 entitled RADIO FREQUENCY ENERGY DEVICEFOR DELIVERING COMMUNICED ELECTRICAL SIGNALS;
U.S. patent application Ser. No. 16/115,208 entitled "CONTROL AN ULTRASONICSURGICAL INSTRUMENT ACCORDING TO TISSUE LOCATION";
U.S. patent application Ser. No. 16/115,220 entitled "CONTROL ACTIVATION OF ANULTRASONIC SURGICAL INSTRUMENT ACCORDING TO THE PRESENCE OF TISSUE";
U.S. patent application serial No. 16/115,232, entitled "DETERMINING TISSUECOMPOSITION VIA AN ULTRASONIC SYSTEM";
U.S. patent application Ser. No. 16/115,239 entitled "DETERMINING THE STATE OF orthogonal electronic Circuit System ACCORDING TO FREQUENCY SHIFT";
U.S. patent application Ser. No. 16/115,247 entitled "DETERMINING THE STATE OF ANULTRASONIC END EFFECTOR";
U.S. patent application Ser. No. 16/115,211 entitled "STATATIONAL AWARENESS OFELECTRROSURGICAL SYSTEMS";
U.S. patent application serial No. 16/115,226, entitled "MECHANISMS FOR CONTROLLINGDIFFERENT ELECTROMECHANICAL SYSTEMS OF AN ELECTROSURGICAL INSTRUMENT";
U.S. patent application Ser. No. 16/115,240 entitled "DETECTION OF END effects IN LIQUID identification";
U.S. patent application Ser. No. 16/115,249 entitled "INTERRUPTION OF ENGAGUTIVE DUE TOINADVERTENT CAPACITIVE COUPLING";
U.S. patent application Ser. No. 16/115,256, entitled "INCREASING RADIO FREQUENCY TOCREATE PAD-LESS MONOPOLAR LOOP";
U.S. patent application Ser. No. 16/115,223 entitled "BIPOLAR COMMUNICATION DEVICETHAT AUTOMATICALLY ADJUTS PRESSURE BASED ON ENERGY MODALITY"; and
U.S. patent application Ser. No. 16/115,238 entitled "ACTIVATION OF ENERGYDEVICES".
The applicant of the present application owns the following U.S. patent applications filed on 23.8.2018, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application No. 62/721,995 entitled "control AN ultraSONICSURGICAL INSTRUMENTS ACCORDING TO TISSUE LOCATION";
U.S. provisional patent application No. 62/721,998 entitled "STATATIONAL AWARENESS OFELECTRROSURGICAL SYSTEMS";
U.S. provisional patent application No. 62/721,999 entitled "INTERRUPTION OF ENGAGUTIVE DUE TOINADVERTENT CAPACITIVE COUPLING";
U.S. provisional patent application 62/721,994 entitled "BIPOLAR COMMUNICATION DEVICE THATUATION MATICALLY ADJUTS PRESSURE BASED ON ENERGY MODALITY"; and
U.S. provisional patent application No. 62/721,996 entitled RADIO FREQUENCY ENERGY DEVICEFOR DELIVERING COMMUNICED ELECTRICAL SIGNALS.
The applicant of the present application owns the following U.S. patent applications filed on 30.6.2018, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application No. 62/692,747 entitled "SMART ACTIVATION OF AN ENERGYDEVICE BY ANOTHER DEVICE";
U.S. provisional patent application 62/692,748, entitled "SMART ENERGY ARCHITECTURE"; and
U.S. provisional patent application No. 62/692,768, entitled "SMART ENERGY DEVICES".
The applicant of the present application owns the following U.S. patent applications filed on 29.6.2018, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. patent application serial No. 16/024,090, entitled "CAPACITIVE COUPLED RETURNPATH PAD WITH SEPARABLE ARRAY ELEMENTS";
U.S. patent application Ser. No. 16/024,057 entitled "control A SURGICALINSTRUCTION ACCORDING TO SENSED CLOSURE PARAMETERS";
U.S. patent application Ser. No. 16/024,067 entitled "SYSTEM FOR ADJUSE ENDEFECTOR PARAMETERS BASED ON PERIORATIVE INFORMATION";
U.S. patent application Ser. No. 16/024,075 entitled "SAFETY SYSTEMS FOR SMARTPOWER SURGICAL STAPLING";
U.S. patent application Ser. No. 16/024,083 entitled "SAFETY SYSTEMS FOR SMARTPOWER SURGICAL STAPLING";
U.S. patent application Ser. No. 16/024,094 entitled "SURGICAL SYSTEMS FOR RDETTING END EFFECTOR TISSUE DISTRIBUTION IRREGULARITIES";
U.S. patent application Ser. No. 16/024,138 entitled "SYSTEM FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE";
U.S. patent application Ser. No. 16/024,150 entitled "SURGICAL INSTRUMENT CARTRIDGESENSOR ASSEMBLIES";
U.S. patent application Ser. No. 16/024,160 entitled "VARIABLE OUTPUT CARTRIDGESENSOR ASSEMBLY";
U.S. patent application Ser. No. 16/024,124 entitled "SURGICAL INSTRUMENT HAVING AFLEXIBLE ELECTRODE";
U.S. patent application Ser. No. 16/024,132 entitled "SURGICAL INSTRUMENT HAVARING AFLEXIBLE CICUIT";
U.S. patent application Ser. No. 16/024,141 entitled "SURGICAL INSTRUMENT WITH ATISSUE MARKING ASSEMBLY";
U.S. patent application Ser. No. 16/024,162 entitled "SURGICAL SYSTEMS WITHPRIORIZED DATA TRANSMISSION CAPABILITIES"; U.S. patent application Ser. No. 16/024,066 entitled "SURGICAL EVACUTION SENSING AND MOTOR CONTROL";
U.S. patent application Ser. No. 16/024,096 entitled "SURGICAL EVACUTION SENSORARRANGEMENTS";
U.S. patent application Ser. No. 16/024,116 entitled "SURGICAL EVACUTION FLOWPATHS";
U.S. patent application Ser. No. 16/024,149 entitled "SURGICAL EVACUTION SENSING GENERATOR CONTROL";
U.S. patent application Ser. No. 16/024,180, entitled "SURGICAL EVACUTION SENSINGAND DISPLAY";
U.S. patent application Ser. No. 16/024,245 entitled "COMMUNICATION OF SMOKEEVACUTION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUTION MODULE FOR RINTERACTIVE SURGICAL PLATFORM";
U.S. patent application Ser. No. 16/024,258 entitled "SMOKE EVACUATION SYSTEMINGLUTING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM";
U.S. patent application Ser. No. 16/024,265 entitled "SURGICAL EVACUTION SYSTEMWITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKEEVACUTION DEVICE"; and
U.S. patent application Ser. No. 16/024,273, entitled "DUAL IN-SERIES LARGE ANDSMALL DROPLET FILTERS".
The applicant of the present application owns the following U.S. provisional patent applications filed on 28.6.2018, the disclosures of each of which are incorporated herein by reference in their entirety:
U.S. provisional patent application Ser. No. 62/691,228, entitled "A Method of using a formed fluid circuits with multiple sensors with electronic devices";
U.S. provisional patent application Ser. No. 62/691,227 entitled "controlling a scientific recording to sensed closure parameters";
U.S. provisional patent application Ser. No. 62/691,230 entitled "SURGICAL INSTRUMENTTHAVING A FLEXIBLE ELECTRODRODE";
U.S. provisional patent application Ser. No. 62/691,219 entitled "SURGICAL EVACUATIONSENSING AND MOTOR CONTROL";
U.S. provisional patent application Ser. No. 62/691,257 entitled "COMMUNICATION OF SMOKEEVACUTION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUTION MODULE FOR RINTERACTIVE SURGICAL PLATFORM";
U.S. provisional patent application Ser. No. 62/691,262 entitled "SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND ASMOKE EVACUATION DEVICE"; and
U.S. provisional patent application Ser. No. 62/691,251 entitled "DUAL IN-SERIES LARGE ANDSMALL DROPLET FILTERS";
the applicant of the present application owns the following U.S. provisional patent applications filed on 2018, 4/19, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application serial No. 62/659,900 entitled "METHOD OF hubcmonication";
the applicant of the present application owns the following U.S. provisional patent applications filed on 30/3/2018, the disclosures of each of which are incorporated herein by reference in their entirety:
us provisional patent application No. 62/650,898, entitled "CAPACITIVITY ECOUPLED RETURN PATH PAD WITH SECARABLE ARRAY ELEMENTS", filed 3, 30.2018;
U.S. provisional patent application Ser. No. 62/650,887 entitled "SURGICAL SYSTEMS WITHOPTIMIZED SENSING CAPABILITIES";
U.S. patent application Ser. No. 62/650,882 entitled "SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM"; and
U.S. patent application Ser. No. 62/650,877 entitled surgical Smoke EVACUATION sensing and control (SURGICAL SMOKE EVACUATION SENSING AND CONTROLS)
The applicant of the present patent application owns the following U.S. patent applications filed on 29/3/2018, the disclosures of each of which are incorporated herein by reference in their entirety:
U.S. patent application Ser. No. 15/940,641 entitled "INTERACTIVE SURGICAL SYSTEMSWITH ENCRYPTED COMMUNICATION CAPABILITIES";
U.S. patent application Ser. No. 15/940,648 entitled "INTERACTIVE SURGICAL SYSTEMSWITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES";
U.S. patent application Ser. No. 15/940,656 entitled "SURGICAL HUB COORDINATION OFCONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES";
U.S. patent application Ser. No. 15/940,666 entitled "SPATIAL AWARENESS OF SURGICALUHUBS IN OPERATING ROOMS";
U.S. patent application Ser. No. 15/940,670 entitled "COOPERATIVE UTILIZATION OFDATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS";
U.S. patent application Ser. No. 15/940,677 entitled "SURGICAL HUB CONTROLARANGEMENTS";
U.S. patent application Ser. No. 15/940,632 entitled "DATA STRIPPING METHOD OF INTERROTATE PATIENT RECORD AND CREATE ANONYMIZED RECORD";
U.S. patent application Ser. No. 15/940,640 entitled "COMMUNICATION HUB AND STORAGE EVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS";
U.S. patent application Ser. No. 15/940,645 entitled "SELF DESCRIBING DATA PACKETSGENERATED AT AN ISSUING INSTRUMENT";
U.S. patent application Ser. No. 15/940,649 entitled "DATA PAIRING TO INTERCONNECTA DEVICE MEASURED PARAMETER WITH AN OUTCOME";
U.S. patent application Ser. No. 15/940,654 entitled "SURGICAL HUB SITUATIONALAWARENESS";
U.S. patent application Ser. No. 15/940,663 entitled "SURGICAL SYSTEM DISTRIBUTEDPROCESSING";
U.S. patent application Ser. No. 15/940,668 entitled "AGGREGAGATION AND REPORTING OFSURGICAL HUB DATA";
U.S. patent application Ser. No. 15/940,671 entitled "SURGICAL HUB SPATIALAWARENESS TO DETERMINE DEVICES IN OPERATING THEEATER";
U.S. patent application Ser. No. 15/940,686 entitled "DISPLAY OF ALIGNMENT OFSTAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE";
U.S. patent application Ser. No. 15/940,700 entitled "STERILE FIELD INTERACTIVECONNTROL DISPLAYS";
U.S. patent application Ser. No. 15/940,629 entitled "COMPUTER IMPLEMENTEDINTERACTIVE SURGICAL SYSTEMS";
U.S. patent application Ser. No. 15/940,704 entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT";
U.S. patent application Ser. No. 15/940,722 entitled "CHARACTERIZATION OF TISSUEIRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY"; and
U.S. patent application Ser. No. 15/940,742 entitled "DUAL CMOS ARRAY IMAGING";
U.S. patent application Ser. No. 15/940,636 entitled "ADAPTIVE CONTROL programs FOR basic DEVICES";
U.S. patent application Ser. No. 15/940,653 entitled "ADAPTIVE CONTROL PROGRAMUPDATES FOR SURGICAL HUBS";
U.S. patent application Ser. No. 15/940,660 entitled "CLOOUD-BASED MEDICAL ANALYTICSFOR CUTOSTIMION AND RECOMMENDITION TO A USER";
U.S. patent application Ser. No. 15/940,679 entitled "CLOOUD-BASED MEDICAL ANALYTICSFOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OFLARGER DATA SET";
U.S. patent application Ser. No. 15/940,694 entitled "CLOOUD-BASED MEDICAL ANALYTICSFOR MEDICAL FACILITY SEGMENTED INDIDUALIZATION OF INSTRUMENTS FUNCTIONS";
U.S. patent application Ser. No. 15/940,634 entitled "CLOOUD-BASED MEDICAL ANALYTICSFOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES";
U.S. patent application Ser. No. 15/940,706 entitled "DATA HANDLING ANDPRIORITIZATION IN A CLOUD ANALYTICS NETWORK"; and
U.S. patent application Ser. No. 15/940,675 entitled "CLOOUD INTERFACE FOR COUPLEDSURGICAL DEVICES";
U.S. patent application Ser. No. 15/940,627 entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
U.S. patent application Ser. No. 15/940,637 entitled "COMMUNICATION ARRANGEMENTSFOR ROBOT-ASSISTED SURGICAL PLATFORMS";
U.S. patent application Ser. No. 15/940,642 entitled "CONTROL FOR ROBOT-ASSISTED DSURGICAL PLATFORMS";
U.S. patent application Ser. No. 15/940,676 entitled "AUTOMATIC TOOL ADJUSTMENTSFOR ROBOT-ASSISTED SURGICAL PLATFORMS";
U.S. patent application Ser. No. 15/940,680 entitled "CONTROL FOR ROBOT-ASSISTED SURGICAL PLATFORMS";
U.S. patent application Ser. No. 15/940,683 entitled "COOPERATIVE SURGICAL ACTIONFOR ROBOT-ASSISTED SURGICAL PLATFORMS";
U.S. patent application Ser. No. 15/940,690 entitled "DISPLAY ARRANGEMENTS ForOBOT-ASSISTED SURGICAL PLATFORMS"; and
U.S. patent application Ser. No. 15/940,711, entitled "SENSING ARRANGEMENTS ForOBOT-ASSISTED SURGICAL PLATFORMS".
The applicant of the present application owns the following U.S. provisional patent applications filed on 28/3/2018, the disclosures of each of which are incorporated herein by reference in their entirety:
U.S. provisional patent application serial No. 62/649,302 entitled "INTERACTIVE SURGICALSYSTEMS WITH ENCRYPTED notification CAPABILITIES";
U.S. provisional patent application Ser. No. 62/649,294 entitled "DATA STRIPPING METHOD OF INTERROTATE PATIENT RECORD AND CREATE ANONYMIZED RECORD";
U.S. provisional patent application Ser. No. 62/649,300 entitled "SURGICAL HUB SITUATIONALAWARENESS";
U.S. provisional patent application Ser. No. 62/649,309 entitled "SURGICAL HUB SPATIALAWARENESS TO DETERMINE DEVICES IN OPERATING THEEATER";
U.S. provisional patent application serial No. 62/649,310 entitled "COMPUTER incorporated into active minor SYSTEMS";
U.S. provisional patent application Ser. No. 62/649291 entitled "USE OF LASER LIGHT ANDRED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT";
U.S. provisional patent application Ser. No. 62/649,296 entitled "ADAPTIVE CONTROL program FOR basic DEVICES";
U.S. provisional patent application Ser. No. 62/649,333 entitled "CLOOUD-BASED MEDICANAL POLYTICS FOR CUTOSTOMIZATION AND RECOMMENDITIONS TO A USER";
U.S. provisional patent application Ser. No. 62/649,327 entitled "CLOOUD-BASED MEDICANAL POLYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES";
U.S. provisional patent application Ser. No. 62/649,315 entitled "DATA HANDLING ANDPRIORITIZATION IN A CLOUD ANALYTICS NETWORK";
U.S. provisional patent application Ser. No. 62/649,313 entitled "CLOOUD INTERFACE FORCOUPLED SURGICAL DEVICES";
U.S. provisional patent application Ser. No. 62/649,320, entitled "DRIVE ARRANGEMENTS ForOBOT-ASSISTED SURGICAL PLATFORMS";
U.S. provisional patent application Ser. No. 62/649,307 entitled "AUTOMATIC TOOLADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS"; and
U.S. provisional patent application serial No. 62/649,323, entitled "SENSING ARRANGEMENTS forced-associated minor planar platrms".
The applicant of the present application owns the following U.S. provisional patent applications filed on 2017, 12, 28, the disclosure of each of which is incorporated herein by reference in its entirety:
U.S. provisional patent application serial No. 62/611,341, entitled "INTERACTIVE SURGICALPLATFORM";
U.S. provisional patent application Ser. No. 62/611,340 entitled "CLOOUD-BASED MEDICALANALYTICS"; and
U.S. provisional patent application serial No. 62/611,339, entitled "ROBOT associated SURGICALPLATFORM";
before explaining various aspects of the surgical device and generator in detail, it should be noted that the example illustrated application or use is not limited to the details of construction and arrangement of parts illustrated in the accompanying drawings and description. The illustrative examples may be implemented alone or in combination with other aspects, variations and modifications, and may be practiced or carried out in various ways. Furthermore, unless otherwise indicated, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative embodiments for the convenience of the reader and are not for the purpose of limiting the invention. Moreover, it is to be understood that expressions of one or more of the following described aspects, and/or examples may be combined with any one or more of the other below described aspects, and/or examples.
Various aspects relate to improved ultrasonic surgical devices, electrosurgical devices, and generators for use therewith. Aspects of an ultrasonic surgical device may be configured to transect and/or coagulate tissue, for example, during a surgical procedure. Aspects of the electrosurgical device may be configured to transect, coagulate, target, weld, and/or desiccate tissue, for example, during a surgical procedure.
Self-adaptive ultrasonic knife control algorithm
In various aspects, the smart ultrasonic energy device may include an adaptive algorithm for controlling the operation of the ultrasonic blade. In one aspect, the ultrasonic blade adaptive control algorithm is configured to identify a tissue type and adjust device parameters. In one aspect, the ultrasonic blade control algorithm is configured to be capable of parameterizing tissue type. The following sections of the present disclosure describe an algorithm for detecting the collagen/elasticity ratio of tissue to tune the amplitude of the distal tip of an ultrasonic blade. Various aspects of intelligent ultrasonic energy devices are described herein in connection with, for example, fig. 1-2. Accordingly, the following description of the adaptive ultrasonic blade control algorithm should be read in conjunction with fig. 1-2 and the description associated therewith.
In certain surgical procedures, it is desirable to employ an adaptive ultrasonic blade control algorithm. In one aspect, an adaptive ultrasonic blade control algorithm may be employed to adjust parameters of an ultrasonic device based on the type of tissue in contact with the ultrasonic blade. In one aspect, parameters of the ultrasonic device can be adjusted based on the position of tissue within the jaws of the ultrasonic end effector (e.g., the position of tissue between the clamp arm and the ultrasonic blade). The impedance of the ultrasound transducer can be used to distinguish the percentage of tissue in the distal or proximal end of the end effector. The response of the ultrasound device may be based on the tissue type or compressibility of the tissue. In another aspect, parameters of the ultrasound device may be adjusted based on the identified tissue type or parameterization. For example, the mechanical displacement amplitude of the distal tip of the ultrasonic blade may be tuned based on the ratio of collagen to elastin tissue detected during the tissue identification process. The ratio of collagen to elastin tissue can be detected using a variety of techniques, including Infrared (IR) surface reflectance and specific radiance. The force applied to the tissue by the clamp arm and/or the stroke of the clamp arm creates the gap and compression. Electrical continuity across the electrode-equipped jaws may be employed to determine the percentage of jaw coverage by tissue.
Fig. 1 is a
The generator module 240 may include a patient isolation stage in communication with a non-isolation stage via a power transformer. The secondary winding of the power transformer is contained in an isolation stage and may include a tapped configuration (e.g., a center-tapped or non-center-tapped configuration) to define a drive signal output for delivering drive signals to different surgical instruments, such as, for example, ultrasonic surgical instruments, RF electrosurgical instruments, and multi-functional surgical instruments including ultrasonic energy modes and RF energy modes that can be delivered separately or simultaneously. In particular, the drive signal output may output an ultrasonic drive signal (e.g., a 420V Root Mean Square (RMS) drive signal) to the ultrasonic surgical instrument 241, and the drive signal output may output an RF electrosurgical drive signal (e.g., a 100V RMS drive signal) to the RF electrosurgical instrument 241. Aspects of the generator module 240 are described herein with reference to fig. 2-9B.
The generator module 240 or the device/instrument 235, or both, are coupled to a modular control tower 236 that is connected to a plurality of operating room devices, such as, for example, intelligent surgical instruments, robots, and other computerized devices located in the operating room. In some aspects, the surgical data network may include a modular communication hub configured to enable connection of modular devices located in one or more operating rooms of a medical facility or any room in a medical facility specially equipped for surgical operations to a cloud-based system (e.g., cloud 204, which may include a remote server 213 coupled to a storage device).
Modular devices located in an operating room may be coupled to the modular communication hub. A network hub and/or network switch may be coupled to the network router to connect the device to the cloud 204 or local computer system. Data associated with the device may be transmitted via the router to the cloud-based computer for remote data processing and manipulation. Data associated with the device may also be transmitted to a local computer system for local data processing and manipulation. Modular devices located in the same operating room may also be coupled to a network switch. A network switch may be coupled to the network hub and/or the network router to connect the device to the cloud 204. Data associated with the device may be transmitted via the network router to the cloud 204 for data processing and manipulation. Data associated with the device may also be transmitted to a local computer system for local data processing and manipulation.
It should be appreciated that cloud computing relies on shared computing resources rather than using local servers or personal devices to process software applications. The term "cloud" may be used as a metaphor for "internet," although the term is not so limited. Accordingly, the term "cloud computing" may be used herein to refer to a "type of internet-based computing" in which different services (such as servers, memory, and applications) are delivered to a modular communication hub and/or computer system located in a surgical room (e.g., a fixed, mobile, temporary, or live operating room or space) and devices connected to the modular communication hub and/or computer system over the internet. The cloud infrastructure may be maintained by a cloud service provider. In this case, the cloud service provider may be an entity that coordinates the use and control of devices located in one or more operating rooms. Cloud computing services can perform a large amount of computing based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. The hub hardware enables multiple devices or connections to connect to a computer in communication with the cloud computing resources and memory.
Fig. 1 further illustrates some aspects of a computer-implemented interactive surgical system including a modular communication hub that may include a
Generator hardware
Fig. 2 illustrates an example of a
First
In one aspect, the impedance may be determined by
As shown in fig. 2, the
Additional details are disclosed in U.S. patent application publication 2017/0086914 entitled "TECHNIQUES FOR OPERATIONANGGENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINDERENMENTS," published 3, 30, 2017, which is incorporated herein by reference in its entirety.
As used throughout this specification, the term "wireless" and its derivatives may be used to describe circuits, devices, systems, methods, techniques, communications channels, etc., that may communicate data through the use of modulated electromagnetic radiation through a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some aspects they may not. The communication module may implement any of a number of wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 series), WiMAX (IEEE 802.16 series), IEEE 802.20, Long Term Evolution (LTE), Ev-DO, HSPA +, HSDPA +, HSUPA +, EDGE, GSM, GPRS, CDMA, TDMA, DECT, bluetooth, and ethernet derivatives thereof, as well as any other wireless and wired protocols designated as 3G, 4G, 5G, and above. The computing module may include a plurality of communication modules. For example, a first communication module may be dedicated for shorter range wireless communications such as Wi-Fi and bluetooth, and a second communication module may be dedicated for longer range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, and the like.
As used herein, a processor or processing unit is an electronic circuit that performs operations on some external data source, typically a memory or some other data stream. The term is used herein to refer to a central processing unit (cpu) in one or more systems, especially systems on a chip (SoC), that combine multiple specialized "processors".
As used herein, a system-on-chip or system-on-chip (SoC or SoC) is an integrated circuit (also referred to as an "IC" or "chip") that integrates all of the components of a computer or other electronic system. It may contain digital, analog, mixed signal, and often radio frequency functions-all on a single substrate. The SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a Graphics Processing Unit (GPU), Wi-Fi modules, or coprocessors. The SoC may or may not include built-in memory.
As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuitry and memory. The microcontroller (or MCU of the microcontroller unit) may be implemented as a small computer on a single integrated circuit. It may be similar to a SoC; the SoC may include a microcontroller as one of its components. Microcontrollers may include one or more Core Processing Units (CPUs) as well as memory and programmable input/output peripherals. Program memory in the form of ferroelectric RAM, NOR flash memory or OTP ROM as well as a small amount of RAM are often included on the chip. In contrast to microprocessors used in personal computers or other general-purpose applications composed of various discrete chips, microcontrollers may be used in embedded applications.
As used herein, the term controller or microcontroller may be a stand-alone IC or chip device that interfaces with peripheral devices. This may be a link between two components of a computer or a controller on an external device for managing the operation of (and connection to) the device.
Any of the processors or microcontrollers as described herein may be any single-core or multi-core processor, such as those supplied by Texas Instruments under the trade name ARM Cortex. In one aspect, the processor may be, for example, an LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments, which includes: 256KB of single cycle flash or other non-volatile memory (up to 40MHz) on-chip memory, prefetch buffer for performance improvement above 40MHz, 32KB of single cycle Serial Random Access Memory (SRAM), load with
Internal read-only memory (ROM) for software, electrically erasable programmable read-only memory (EEPROM) for 2KB, one or more pulsesA wide modulation (PWM) module, one or more Quadrature Encoder Input (QEI) analog, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, and other features readily available.In one example, the processor may include a safety controller that includes two series of controller-based controllers, such as TMS570 and RM4x, also available from Texas Instruments 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 modular device includes modules (e.g., as described in connection with fig. 3) receivable within a surgical hub and surgical devices or instruments connectable to the various modules for connection or mating with a corresponding surgical hub. Modular devices include, for example, smart surgical instruments, medical imaging devices, suction/irrigation devices, smoke ejectors, energy generators, respirators, insufflators, and displays. The modular devices described herein may be controlled by a control algorithm. The control algorithms may be executed on the modular devices themselves, on a surgical hub paired with a particular modular device, or on both the modular devices and the surgical hub (e.g., via a distributed computing architecture). In some examples, the control algorithm of the modular device controls the device based on data sensed by the modular device itself (i.e., by sensors in, on, or connected to the modular device). This data may be related to the patient being operated on (e.g., tissue characteristics or insufflation pressure) or the modular device itself (e.g., rate at which the knife is advanced, motor current, or energy level). For example, the control algorithm of a surgical stapling and severing instrument may control the rate at which the motor of the instrument drives its knife through tissue based on the resistance encountered by the knife as it advances.
Fig. 3 illustrates one form of a
The
The
The
The
Fig. 4 is an
The
Additionally or alternatively, the one or more switches can include a
It should be appreciated that the
In some aspects, an on/off switch may be provided in place of toggle button 1134 (fig. 3). For example, the
In some aspects, the RF
In various aspects, the
According to the aspects, the ultrasonic generator module may generate one or more drive signals of a particular voltage, current, and frequency (e.g., 55,500 cycles per second or Hz). The one or more drive signals may be provided to
According to the aspects, the electrosurgical/RF generator module may generate one or more drive signals having an output power sufficient to perform bipolar electrosurgery using Radio Frequency (RF) energy. In a bipolar electrosurgical application, the drive signal may be provided to, for example, an electrode of the
The
Although certain modules and/or blocks of
In one aspect, the ultrasonic generator driver module and the electrosurgical/RF driver module 1110 (fig. 3) may include one or more embedded applications implemented as firmware, software, hardware, or any combination thereof. The modules may include various executable modules such as software, programs, data, drivers, Application Program Interfaces (APIs), and so forth. The firmware may be stored in a non-volatile memory (NVM), such as a bit-mask read-only memory (ROM) or flash memory. In various implementations, storing firmware in ROM may protect flash memory. NVM may include other types of memory including, for example, programmable rom (prom), erasable programmable rom (eprom), electrically erasable programmable rom (eeprom), or battery backed Random Access Memory (RAM) (such as dynamic RAM (dram), double data rate dram (ddram), and/or synchronous dram (sdram)).
In one aspect, the modules include hardware components implemented as processors for executing program instructions for monitoring various measurable characteristics of the
An electromechanical ultrasound system includes an ultrasound transducer, a waveguide, and an ultrasonic blade. The electromechanical ultrasound system has an initial resonant frequency defined by the physical characteristics of the ultrasound transducer, the waveguide, and the ultrasonic blade. The ultrasonic transducer being excited by an alternating voltage Vg(t) Signal and Current Ig(t) the resonant frequency of the signal is equal to the electromechanical ultrasound system. When the electromechanical ultrasonic system is at resonance, the voltage Vg(t) Signal and Current Ig(t) the phase difference between the signals is zero. In other words, at resonance, the inductive impedance is equal to the capacitive impedance. As the ultrasonic blade heats up, the compliance of the ultrasonic blade (modeled as an equivalent capacitance) causes the resonant frequency of the electromechanical ultrasonic system to shift. As a result, the inductive impedance is no longer equal to the capacitive impedance, resulting in a mismatch between the drive frequency and the resonant frequency of the electromechanical ultrasound system. The system now operates "off-resonance". The mismatch between the drive frequency and the resonant frequency is manifested as a voltage V applied to the ultrasonic transducerg(t) Signal and Current Ig(t) phase difference between the signals. The generator electronics can easily monitor the voltage Vg(t) and current Ig(t) the phase difference between the signals and the drive frequency can be continuously adjusted until the phase difference is again zero. At this point, the new drive frequency is equal to the new resonant frequency of the electromechanical ultrasound system. The change in phase and/or frequency can be used as an indirect measure of the temperature of the ultrasonic blade.
As shown in fig. 6, the electromechanical properties of the ultrasound transducer can be modeled as an equivalent circuit comprising a first branch with a static capacitance and a second "dynamic" branch with series-connected inductance, resistance and capacitance defining the electromechanical properties of the resonator. The known ultrasonic generator may comprise a tuning inductor for detuning the static capacitance at the resonance frequency, such that substantially all of the driving signal current of the generator flows into the dynamic branch. Thus, by using a tuning inductor, the generator's drive signal current is representative of the dynamic branch current, and thus the generator is able to control its drive signal to maintain the resonant frequency of the ultrasound transducer. The tuning inductor may also transform the phase impedance profile of the ultrasonic transducer to improve the frequency locking capability of the generator. However, the tuning inductor must be matched to the particular static capacitance of the ultrasound transducer at the operating resonant frequency. In other words, different ultrasonic transducers with different static capacitances require different tuning inductors.
Fig. 6 illustrates an equivalent circuit 1500 of an ultrasound transducer, such as
Various aspects of the
Fig. 7 is a simplified block diagram of an aspect of a
Power may be supplied to the power rails of
In certain aspects and as discussed in more detail in connection with fig. 9A-9B,
The
In certain aspects, voltage and current feedback data may be used to control the frequency and/or amplitude (e.g., current amplitude) of the drive signal. In one aspect, for example, voltage and current feedback data may be used to determine an impedance phase, such as a phase difference between voltage and current drive signals. The frequency of the drive signal may then be controlled to minimize or reduce the difference between the determined impedance phase and the impedance phase set point (e.g., 0 °), thereby minimizing or reducing the effects of harmonic distortion and correspondingly improving impedance phase measurement accuracy. The determination of the phase impedance and frequency control signals may be implemented in
The impedance phase may be determined by fourier analysis. In one aspect, the generator voltage V may be determined using a Fast Fourier Transform (FFT) or a Discrete Fourier Transform (DFT) as followsg(t) drive signal and generator current Ig(t) phase difference between drive signals:
evaluating the fourier transform at sinusoidal frequencies yields:
other methods include weighted least squares estimation, kalman filtering, and space vector based techniques. For example, almost all processing in the FFT or DFT techniques may be performed in the digital domain with the aid of, for example, a 2-channel
WhereinIs a phase angle, f is a frequency, t is a time, and
is the phase at t-0.For determining the voltage Vg(t) Signal and Current Ig(t) another technique for phase difference between signals is the zero crossing method and produces very accurate results. For voltages V having the same frequencyg(t) Signal and Current Ig(t) signal, voltage signal Vg(t) the start of each negative-to-positive zero crossing trigger pulse, and the current signal IgEach negative to positive zero crossing of (t) triggers the end of a pulse. The result is a pulse train having a pulse width proportional to the phase angle between the voltage signal and the current signal. In one aspect, the pulse train may be passed through an averaging filter to obtain a measure of the phase difference. Furthermore, if positive-to-negative zero crossings are also used in a similar manner, and the results averaged, any effects of DC and harmonic components may be reduced. In one implementation, the analog voltage Vg(t) Signal and Current Ig(t) the signal is converted to a digital signal which is high if the analog signal is positive and low if the analog signal is negative. High precision phase estimation requires a sharp transition between high and low values. In one aspect, Schmitt triggers and RC stabilization networks may be employed to convert analog signals to digital signals. In other aspects, edge-triggered RS flip-flops (flip-flops) and ancillary circuits may be employed. In that In yet another aspect, the zero crossing technique may employ exclusive or (XOR) gates.
Other techniques for determining the phase difference between the voltage and current signals include Lissajous diagrams and monitoring of images; methods such as the three volt method, the cross-coil method, the vector voltmeter, and the vector impedance method; and the use of phase-standard instruments, phase-locked loops, and "phase measurements" (Peter O 'Shea, 2000 CRC Press LLC, < http:// www.engnetbase.com >) as by Peter O' Shea,2000 CRC Press, Inc. < http:// www.engnetbase.com >, which are incorporated herein by reference.
In another aspect, for example, the current feedback data can be monitored to maintain the current amplitude of the drive signal at a current amplitude set point. The current magnitude set point may be specified directly or determined indirectly based on a particular voltage magnitude and power set point. In certain aspects, control of the current amplitude may be achieved by a control algorithm in
In certain aspects, processor 1740 (fig. 7, 8A) and processor 1900 (fig. 7, 8B) may determine and monitor an operational state of
In certain aspects, the
In certain aspects, the
In certain aspects, the
In one aspect, the
In one aspect, the
In certain aspects, the
As previously discussed, the surgical instrument is detachable from the handpiece (e.g., the
In addition, aspects of the
In certain aspects, the second data circuit and the second
In certain aspects, the
In certain aspects, the
Fig. 9A-9B illustrate certain functional and structural aspects of an aspect of the
The multiplexed current and voltage feedback samples may be received by a Parallel Data Acquisition Port (PDAP) implemented within block 2144 of the
At
At block 2240 of the predistortion algorithm, each dynamic leg current sample determined at
Each value of the sample magnitude error determined at block 2240 may be transmitted to the LUT of programmable logic device 1660 (shown at block 2280 in fig. 9A) along with an indication of its associated LUT address. Based on the value of the sample magnitude error and its associated address (and optionally, the previously received value of the sample magnitude error for the same LUT address), the LUT 2280 (or other control block of the programmable logic device 1660) can predistort or modify the value of the LUT sample stored at the LUT address such that the sample magnitude error is reduced or minimized. It will be appreciated that such predistortion or modification of each LUT sample in an iterative manner over the entire LUT address range will result in the waveform shape of the generator's output current matching or conforming to the desired current waveform shape represented by the samples of
The current and voltage magnitude measurements, power measurements, and impedance measurements may be determined at
At block 2340 (fig. 9B), a Root Mean Square (RMS) calculation may be applied to current feedback samples representing a sample size of the drive signal for an integer cycle to generate a measurement I representing the drive signal output currentrms。
At
At
At
At
In certain aspects, the amount I determined at
The phase control algorithm receives as inputs the current and voltage feedback samples stored in
At
At
At block 2520 of the phase control algorithm, the impedance phase value determined at
At block 2560 (fig. 9A) of the phase control algorithm, a frequency output for controlling the frequency of the drive signal is determined based on the value of the phase error determined at block 2520 and the impedance magnitude determined at
Block 2580 of
In terms of driving signal voltage as a control variable, current demand IdMay be based, for example, on maintaining the load impedance magnitude Z measured at
Block 2680 (fig. 9A) may implement a DDS control algorithm for controlling the drive signal by retrieving LUT samples stored in LUT 2280. In certain aspects, the DDS control algorithm may be a digitally controlled oscillator (NCO) algorithm for generating samples of a waveform at a fixed clock rate using a point (memory location) -skip technique. The NCO algorithm may implement a phase accumulator or frequency-to-phase converter that is used as an address pointer for retrieving LUT samples from the LUT 2280. In one aspect, the phase accumulator may be a D step, modulus N phase accumulator, where D is a positive integer representing the frequency control value and N is the number of LUT samples in LUT 2280. For example, a frequency control value of D ═ 1 may cause the phase accumulator to sequentially point to each address of LUT 2280, resulting in a waveform output that replicates the waveform stored in LUT 2280. When D >1, the phase accumulator may skip addresses in LUT 2280, resulting in a waveform output with a higher frequency. Accordingly, the frequency of the waveform generated by the DDS control algorithm can thus be controlled by appropriately changing the frequency control value. In certain aspects, the frequency control value may be determined based on the output of the phase control algorithm implemented at
Block 2700 of
Fig. 10 illustrates a control circuit 500 configured to control aspects of a surgical instrument or tool according to an aspect of the present disclosure. The control circuit 500 may be configured to implement the various processes described herein. The control circuit 500 may include a microcontroller including one or more processors 502 (e.g., microprocessors, microcontrollers) coupled to at least one memory circuit 504. The memory circuitry 504 stores machine-executable instructions that, when executed by the processor 502, cause the processor 502 to execute machine instructions to implement the various processes described herein. The processor 502 may be any of a variety of single-core or multi-core processors known in the art. The memory circuit 504 may include volatile storage media and non-volatile storage media. Processor 502 may include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit may be configured to be able to receive instructions from the memory circuit 504 of the present disclosure.
Fig. 11 illustrates a
Fig. 12 illustrates a sequential logic circuit 520 configured to control aspects of a surgical instrument or tool according to one aspect of the present disclosure. Sequential logic circuit 520 or combinational logic 522 may be configured to enable the various processes described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuitry 520 may include, for example, combinatorial logic 522, at least one memory circuit 524, and a clock 529. The at least one memory circuit 524 may store the current state of the finite state machine. In some cases, the sequential logic circuit 520 may be synchronous or asynchronous. The combinational logic 522 is configured to receive data associated with a surgical instrument or tool from the inputs 526, process the data through the combinational logic 522, and provide the outputs 528. In other aspects, a circuit may comprise a combination of a processor (e.g., processor 502, fig. 13) and a finite state machine to implement various processes herein. In other aspects, the finite state machine may comprise a combination of combinational logic circuitry (e.g.,
In one aspect, the ultrasonic or high frequency current generator of the
The waveform signal may be configured to be capable of controlling at least one of an output current, an output voltage, or an output power of the ultrasound transducer and/or the RF electrode or multiples thereof (e.g., two or more ultrasound transducers and/or two or more RF electrodes). Additionally, where the surgical instrument includes an ultrasonic component, the waveform signal may be configured to drive at least two vibration modes of an ultrasonic transducer of the at least one surgical instrument. Accordingly, the generator may be configured to provide a waveform signal to the at least one surgical instrument, wherein the waveform signal corresponds to at least one wave shape of the plurality of wave shapes in the table. In addition, the waveform signals provided to the two surgical instruments may include two or more wave shapes. The table may include information associated with a plurality of waveform shapes, and the table may be stored within the generator. In one aspect or example, the table may be a direct digital synthesis table that may be stored in the FPGA of the generator. The table may be addressed in any manner that facilitates classification of waveform shapes. According to one aspect, the table (which may be a direct digital synthesis table) is addressed according to the frequency of the waveform signal. Additionally, information associated with the plurality of waveform shapes may be stored as digital information in a table.
The analog electrical signal waveform can be configured to control at least one of an output current, an output voltage, or an output power of the ultrasound transducer and/or the RF electrode or multiples thereof (e.g., two or more ultrasound transducers and/or two or more RF electrodes). Additionally, where the surgical instrument includes an ultrasonic component, the analog electrical signal waveform can be configured to drive at least two vibration modes of an ultrasonic transducer of the at least one surgical instrument. Accordingly, the generator circuit may be configured to provide an analog electrical signal waveform to at least one surgical instrument, wherein the analog electrical signal waveform corresponds to at least one wave shape of the plurality of wave shapes stored in the lookup table 4104. In addition, the analog electrical signal waveforms provided to the two surgical instruments may include two or more wave shapes. The lookup table 4104 may include information associated with a plurality of waveform shapes, and the lookup table 4104 may be stored within the generator circuit or the surgical instrument. In one aspect or example, the lookup table 4104 can be a direct digital synthesis table that can be stored in the generator circuit or FPGA of the surgical instrument. The lookup table 4104 may be addressed in any manner that facilitates classification of waveform shapes. According to one aspect, the lookup table 4104 (which may be a direct digital synthesis table) is addressed according to the frequency of the desired analog electrical signal waveform. In addition, information associated with the plurality of waveform shapes may be stored as digital information in the lookup table 4104.
As digital technology is widely used in instruments and communication systems, digital control methods for generating multiple frequencies from a reference frequency source have evolved and are referred to as direct digital synthesis. The infrastructure is shown in fig. 13. In this simplified block diagram, the DDS circuit is coupled to a processor, controller, or logic device of the generator circuit and to a memory circuit located in the generator circuit of the
Because the
The
A more flexible and efficient implementation of the
The
In one aspect, the electrical signal waveform may be digitized as 1024(210) phase points, but the wave shape may be digitized as any suitable number of 2n phase points in the range 256(28) to 281,474,976,710,656(248), where n is a positive integer, as shown in table 1. The waveform of the electrical signal can be represented as An(θn) Wherein the normalized amplitude A at point nnBy the phase angle theta of a phase point called point nnAnd (4) showing. The number of discrete phase points, n, determines the tuning resolution of the DDS circuit 4200 (as well as the
Table 1 specifies the electrical signal waveforms digitized into a plurality of phase points.
N
Number of
8
256
10
1,024
12
4,096
14
16,384
16
65,536
18
262,144
20
1,048,576
22
4,194,304
24
16,777,216
26
67,108,864
28
268,435,456
…
…
32
4,294,967,296
…
…
48
281,474,976,710,656
…
…
TABLE 1
The generator circuit algorithm and digital control circuit scan for addresses in a look-up table 4210, which look-up table 4210 in turn provides varying digital input values to a
Referring back to fig. 13, for n-32 and M-1, the
For a
the above equation is referred to as the DDS "tuning equation". Note that the frequency resolution of the system is equal to
For n-32, the resolution is greater than forty parts per billion. In one aspect ofThe electrical signal waveform may be characterized by current, voltage, or power at a predetermined frequency. Additionally, where any of the surgical instruments of the
In one aspect, the generator circuit can be configured to provide electrical signal waveforms to at least two surgical instruments simultaneously. The generator circuit may also be configured to simultaneously provide an electrical signal waveform to two surgical instruments via an output channel of the generator circuit, the electrical signal waveform being characterizable by two or more waveforms. For example, in one aspect, the electrical signal waveform includes a first electrical signal (e.g., an ultrasonic drive signal) for driving the ultrasonic transducer, a second RF drive signal, and/or combinations thereof. Further, the electrical signal waveform may include a plurality of ultrasonic drive signals, a plurality of RF drive signals, and/or a combination of a plurality of ultrasonic drive signals and RF drive signals.
Further, a method of operating a generator circuit according to the present disclosure includes generating an electrical signal waveform and providing the generated electrical signal waveform to any of the surgical instruments of the
A generator circuit as described herein may allow for the generation of various types of direct digital synthesis tables. Examples of wave shapes of RF/electrosurgical signals generated by the generator circuit suitable for treating a variety of tissues include RF signals with high crest factors (which can be used for surface coagulation in RF mode), low crest factor RF signals (which can be used for deeper tissue penetration), and waveforms that promote effective touch coagulation. The generator circuit may also employ a direct digital synthesis look-up table 4210 to generate a plurality of wave shapes, and may rapidly switch between particular wave shapes based on desired tissue effects. Switching may be based on tissue impedance and/or other factors.
In addition to the traditional sine/cosine wave shapes, the generator circuit may also be configured to produce one or more wave shapes (i.e., trapezoidal or square waves) that maximize the power into the tissue in each cycle. The generator circuit may provide one or more wave shapes that are synchronized to maximize power delivered to the load and maintain ultrasonic lock when the RF signal and the ultrasonic signal are driven simultaneously, provided that the generator circuit includes a circuit topology that is capable of driving the RF signal and the ultrasonic signal simultaneously. Additionally, customized waveform shapes specific to the instrument and its tissue effects may be stored in non-volatile memory (NVM) or instrument EEPROM and may be extracted when any of the surgical instruments of
The
Fig. 15 illustrates one cycle of a discrete-time digital electrical signal waveform 4300 (shown superimposed on the discrete-time digital electrical signal waveform 4300 for comparison) of an analog waveform 4304, in accordance with at least one aspect of the present disclosure. The horizontal axis represents time (t), while the vertical axis represents digital phase points. The digital electrical signal waveform 4300 is a digital discrete-time version of, for example, a desired analog waveform 4304. A digital electrical signal waveform 4300 is generated by storing a magnitude phase point 4302, which represents a cycle or period ToPer clock cycle TclkThe amplitude of (c). Digital electrical signal waveform 4300 is passed through any suitable digital processing circuitry for one period ToThe above is generated. The magnitude phase point is a digital word stored in a memory circuit. In the examples shown in fig. 13, 14, the digital word is a six-bit word capable of storing magnitude phase points at a resolution of 26 bits or 64 bits. It should be understood that the examples shown in fig. 13, 14 are for exemplary purposes and that in actual implementations, the resolution may be higher. In a cycle ToThe digital amplitude phase points 4302 above are stored in memory as a string in look-up tables 4104, 4210, as described in connection with, for example, fig. 13, 14. To generate an analog version of analog waveform 4304, clock cycle T from memory clkFrom 0 to ToThe amplitude phase points 4302 are read in turn and converted by
Fig. 16 is a diagram of a control system 12950 that may be implemented as a nested PID feedback controller. PID controllers are control loop feedback mechanisms (controllers) for continuously metering error valuesThe difference between the desired set point and the measured process variable is calculated and corrections are applied based on proportional, integral and derivative terms (sometimes denoted P, I and D, respectively). The nested PID controller feedback control system 12950 includes a primary controller 12952 in a primary (outer) feedback loop 12954 and a secondary controller 12955 in a secondary (inner) feedback loop 12956. The primary controller 12952 can be a PID controller 12972 as shown in fig. 17 and the secondary controller 12955 can also be a PID controller 12972 as shown in fig. 17. The main controller 12952 controls the main process 12958 and the secondary controller 12955 controls the secondary process 12960. The output 12966 of the master process 12958 is the slave master set point SP 1The first summer 12962 is subtracted. First summer 12962 generates a single sum output signal that is applied to main controller 12952. The output of the main controller 12952 is the secondary setpoint SP2. The output 12968 of the secondary process 12960 is a slave secondary set point SP2The second summer 12964 is subtracted.
Fig. 17 illustrates a PID feedback control system 12970 in accordance with an aspect of the present disclosure. Either the primary controller 12952 or the secondary controller 12955, or both, can be implemented as a PID controller 12972. In one aspect, the PID controller 12972 may include a proportional element 12974(P), an integral element 12976(I), and a derivative element 12978 (D). The outputs of the P element 12974, I element 12976, and D element 12978 are summed by a summer 12986, which summer 12986 provides a control variable μ (t) to the process 12980. The output of process 12980 is a process variable y (t). Summer 12984 calculates the difference between the desired set point r (t) and the measured process variable y (t). The PID controller 12972 continuously calculates an error value e (t) (e.g., the difference between the closing force threshold and the measured closing force) as the difference between the desired set point r (t) (e.g., the closing force threshold) and the measured process variable y (t) (e.g., the speed and direction of the closed tube), and applies corrections based on the proportional, integral, and derivative terms calculated by the proportional element 12974(P), the integral element 12976(I), and the derivative element 12978(D), respectively. The PID controller 12972 attempts to minimize the error e (t) over time by adjusting the control variable μ (t) (e.g., the speed and direction of the closed tube).
The "P" element 12974 calculates the current value of the error according to a PID algorithm. For example, if the error is large and positive, then the control output will also be large and positive. According to the present disclosure, the error term e (t) is different between the desired closing force and the measured closing force of the closure tube. The "I" element 12976 calculates a past value of the error. For example, if the current output is not strong enough, the integral of the error will accumulate over time and the controller will respond by applying a stronger action. The "D" element 12978 calculates the future probable trend for this error based on its current rate of change. For example, continuing the above P example, when a large positive control output successfully brings the error closer to zero, it also places the process in the path of the most recent future large negative error. In this case, the derivative becomes negative and the D module reduces the strength of the action to prevent this overshoot.
It should be understood that other variables and set points may be monitored and controlled according to the feedback control systems 12950, 12970. For example, the adaptive closing member speed control algorithm described herein may measure at least two of the following parameters: firing member travel position, firing member load, cutting element displacement, cutting element velocity, closure tube travel position, closure tube load, and the like.
Fig. 18 is an
The outputs of the
Optionally tuning the voltage Vt(the voltage and the output frequency foProportional) may be fed back to the
Assessing the status of the jaws (pad burn-through, nail, broken knife, bone in the jaws, tissue in the jaws)
The challenge of ultrasonic energy delivery is that applying ultrasonic sound on the wrong material or the wrong tissue can cause device failure, such as burn through of the clamp arm pads or fracture of the ultrasonic blade. It is also desirable to detect what is in and the state of the jaws of an end effector of an ultrasonic device without adding additional sensors in the jaws. Positioning the sensor in the jaws of an ultrasonic end effector has challenges in terms of reliability, cost, and complexity.
In accordance with at least one aspect of the present disclosure, an ultrasonic spectral smart knife algorithm technique may be employed based on the impedance of an ultrasonic transducer configured to drive an ultrasonic transducer knife
To evaluate the state of the jaws (clamping)Arm pad burn-through, staples, broken knives, bone in the jaws, tissue in the jaws, back cut when the jaws are closed, etc.). Plotting impedance Z g(t), magnitude | Z | and phaseAs a function of the frequency f.Dynamic mechanical analysis (DMA, also known as dynamic mechanical spectroscopy or simply mechanical spectroscopy) is a technique used to study and characterize materials. A sinusoidal stress is applied to the material and the strain in the material is measured so that the complex modulus of the material can be determined. Spectroscopy as applied to ultrasound devices involves exciting the tip of an ultrasonic blade by frequency scanning (complex signal or conventional frequency scanning) and measuring the resulting complex impedance at each frequency. Complex impedance measurements of the ultrasound transducer over a range of frequencies are used in a classifier or model to infer characteristics of the ultrasound end effector. In one aspect, the present disclosure provides a technique for determining the state of an ultrasonic end effector (clamp arm, jaws) to drive automation in an ultrasonic device, such as disabling power to protect the device, performing adaptive algorithms, retrieving information, identifying tissue, and the like.
FIG. 19 is an illustration of an optical spectrum 132030 of an ultrasonic device having a plurality of different states and conditions of an end effector, wherein the impedance Z is according to at least one aspect of the present disclosureg(t), magnitude | Z | and phase
Plotted as a function of frequency f. Spectrogram 132030 is plotted in three-dimensional space, with frequency (Hz) plotted along the x-axis, phase (Rad) plotted along the y-axis, and magnitude (ohm) plotted along the z-axis.Spectral analysis of different jaw engagements and device conditions over a range of frequencies for different conditions and conditions can produce different complex impedance signatures (fingerprints). When rendered, each state or condition has a different characteristic pattern in 3D space. These characteristic patterns can be used to assess the condition and state of the end effector. Fig. 19 shows spectra of air 132032, clamp arm pad 132034, oil tanned 132036, nail 132038, and broken knife 132040. The oil tanned leather 132036 can be used to characterize different types of tissues.
The spectral pattern 132030 may be evaluated by applying a low power electrical signal to the ultrasound transducer to produce a non-therapeutic excitation of the ultrasound blade. The low power electrical signal may be applied in the form of a sweep or complex Fourier series to measure impedance across the ultrasound transducer using FFT over a series (sweep) or parallel (complex signal) frequency range
Method for classifying new data
For each feature pattern, the parameter lines may be fitted to the data used for training using a polynomial, fourier series, or any other form of parametric equation that is convenient. A new data point is then received and classified by using the euclidean vertical distance from the new data point to the trajectory that has been fitted to the feature pattern training data. The vertical distance of the new data point to each trajectory (each trajectory representing a different state or condition) is used to assign the point to a certain state or condition.
The probability distribution of the distance of each point in the training data to the fitted curve can be used to evaluate the probability of a correctly classified new data point. This essentially constructs a two-dimensional probability distribution in a plane perpendicular to the fitted trajectory at each new data point of the fitted trajectory. The new data points may then be included in the training set based on their probability of correct classification to form an adaptive learning classifier that can easily detect high frequency changes in state, but can accommodate deviations in system performance that occur slowly, such as device dirtying or pad wear.
FIG. 20 is a graphical representation of a graph 132042 of a set of 3D training data sets (S) with an ultrasound transducer impedance Z, in accordance with at least one aspect of the present disclosureg(t), magnitude | Z | and phasePlotted as a function of frequency f. The 3D training data set (S) curve 132042 is graphically depicted in three-dimensional space with phase (Rad) plotted along the x-axis, frequency (Hz) plotted along the y-axis, magnitude (ohm) plotted along the z-axis, and a parametric fourier series fitted to the 3D training data set (S). The method for data classification is based on a 3D training data set (S0 for generating graph 132042).
The parametric fourier series fitted to the 3D training data set (S) is defined by:
For new pointsFrom
ToThe vertical distance of (a) is:
when:
then:
D=D⊥
the probability distribution of D can be used to evaluate data points belonging to group S
The probability of (c).Control of
Based on the classification of the data measured before, during, or after activation of the ultrasound transducer/blade, a variety of automated tasks and safety measures may be implemented. Similarly, the state of the tissue located in the end effector and the temperature of the ultrasonic blade may also be inferred to some extent and used to better inform the user of the state of the ultrasonic device or protect critical structures, etc. TEMPERATURE CONTROL of an ULTRASONIC blade is described IN commonly owned U.S. provisional patent application No. 62/640,417 entitled "TEMPERATURE CONTROL IN ULTRASONIC SYSTEM DEVICE AND CONTROL SYSTEM heater," filed on 8/3/2018, which is incorporated herein by reference IN its entirety.
Similarly, power delivery may be reduced when the ultrasonic blade is most likely contacting the clamp arm pad (e.g., no tissue therebetween), or if the ultrasonic blade is likely to have broken or the ultrasonic blade is likely to contact metal (e.g., staples). Further, if the jaws are closed and no tissue is detected between the ultrasonic blade and the clamp arm pad, a reverse cut is not allowed.
Integrating other data to improve classification
The system can be used in conjunction with other information provided by sensors, users, patient indices, environmental factors, etc., by combining data from the process with the above data using probability functions and kalman filters. Given a large number of uncertain measurements of different confidence levels, the kalman filter determines the maximum likelihood of a state or condition occurring. Since the method allows assigning probabilities to newly classified data points, the information of the algorithm can be implemented with other measurements or estimates in the kalman filter.
Fig. 21 is a logic flow diagram 132044 depicting a control program or logic configuration for determining jaw condition based on a complex impedance signature pattern (fingerprint) in accordance with at least one aspect of the present disclosure. Prior to determining jaw conditions based on the complex impedance signature pattern (fingerprint), the database is populated with a reference complex impedance signature pattern or training data set (S) characterizing various jaw conditions, including but not limited to air 132032, clamp arm pad 132034, oil tanned 132036, staples 132038, broken knife 132040, and a variety of tissue types and conditions as shown in fig. 82. Oil tanned (dry or wet, full byte or terminal) can be used to characterize different types of tissue. Data points for generating a reference complex impedance signature pattern or training data set (S) are obtained as follows: the method includes scanning a drive frequency within a predetermined range of frequencies from below resonance to above resonance by applying sub-treatment drive signals to the ultrasound transducer, measuring complex impedance at each frequency and recording data points. The data points are then fitted to a curve using a variety of numerical methods, including polynomial curve fitting, fourier series, and/or parametric equations. A parametric fourier series fit to a reference complex impedance signature pattern or training data set (S) is described herein.
Once the reference complex impedance signature pattern or training data set (S) is generated, the ultrasound instrument measures new data points, classifies the new points, and determines whether the new data points should be added to the reference complex impedance signature pattern or training data set (S).
Turning now to the logic flow diagram of FIG. 21, in one aspect, the control circuit measures 132046 the complex impedance of the ultrasound transducer, where the complex impedance is defined asThe control circuit receives 132048 the complex impedance measurement data points and compares 132050 the complex impedance measurement data points to data points in a reference complex impedance signature pattern. The control circuit classifies 132052 the complex impedance measurement data points based on the results of the comparative analysis and specifies 132054 a state or condition of the end effector based on the results of the comparative analysis.
In one aspect, the control circuit receives the reference complex impedance signature pattern from a database or memory coupled to the processor. In one aspect, the control circuit generates a reference complex impedance signature pattern as follows. A drive circuit coupled to the control circuit applies a non-therapeutic drive signal to the ultrasound transducer, the non-therapeutic drive signal beginning at an initial frequency, ending at a final frequency, and at a plurality of frequencies between the initial frequency and the final frequency. The control circuit measures the impedance of the ultrasonic transducer at each frequency and stores a data point corresponding to each impedance measurement. The control circuit curve fits the plurality of data points to generate a three-dimensional curve representing a reference complex impedance signature, wherein magnitude | Z | and phase
Plotted as a function of frequency f. The curve fitting includes polynomial curve fitting, fourier series, and/or parametric equations.In one aspect, the control circuit receives a new impedance measurement data point and classifies the new impedance measurement data point using the euclidean vertical distance from the new impedance measurement data point to the trajectory that has been fitted to the reference complex impedance feature pattern. The control circuit evaluates the probability of correctly classifying the new impedance measurement data point. The control circuit adds the new impedance measurement data point to the reference complex impedance signature pattern based on the evaluated probability of correctly classifying the new impedance measurement data point. In one aspect, the control circuit classifies data based on a training data set (S), wherein the training data set (S) includes a plurality of complex impedance measurement data, and a curve is fitted to the training data set (S) using a parametric fourier series, wherein S is defined herein, and wherein a probability distribution is used to evaluate the probability of new impedance measurement data points belonging to group S.
Model-based jaw classifier states
There has been interest in classifying the substances (including the type and condition of tissue) located within the jaws of an ultrasound device. In various aspects, it may be shown that such classification is possible with high data sampling and fine pattern recognition. The method is based on impedance as a function of frequency (where magnitude, phase and frequency are plotted in 3D, the pattern looks like the bands shown in fig. 19 and 20) and the logic flow diagram of fig. 21. The present disclosure provides an alternative smart-knife algorithm approach based on a mature model for piezoelectric transducers.
For example, an equivalent electrical lumped parameter model is known to be an accurate model of a physical piezoelectric transducer. It is based on the Mittag-Leffler expansion of the tangent near the mechanical resonance. When the complex impedance or complex admittance is plotted as a relationship between the imaginary and real components, a circle is formed. Fig. 22 is a graph 132056 of complex impedance plotted as a relationship between an imaginary component and a real component of a piezoelectric vibrator, in accordance with at least one aspect of the present disclosure. Fig. 23 is a circular diagram 132058 of complex admittances plotted as a relationship between an imaginary component and a real component of a piezoelectric vibrator, in accordance with at least one aspect of the present disclosure. The circles depicted in fig. 22 and 23 are taken from the IEEE 177 standard, which is incorporated by reference herein in its entirety. Tables 1-4 are taken from the IEEE 177 standard and are disclosed herein for completeness.
When sweeping from frequencies below resonance to above resonance, a circle is formed. Instead of stretching the circle in 3D, the circle is identified and the radius (r) and offset (a, b) of the circle are evaluated. These values are then compared with the established values for the given situation. These conditions may be: 1) open jaws and nothing, 2) end bite, 3) jaw full bite with staples. If the scan generates multiple resonances, then there will be a different characteristic circle for each resonance. If the resonances diverge, each circle will be drawn before the next. Rather than fitting a series of approximations to the 3D curve, a circle is used to fit the data. The radius (r) and offset (a, b) may be calculated using a processor programmed to perform a variety of mathematical or numerical techniques described below. These values may be evaluated by capturing an image of the circle, and using image processing techniques to evaluate the radius (r) and offset (a, b) defining the circle.
FIG. 24 is a circular diagram 132060 of the complex admittances of a 55.5kHz ultrasonic piezoelectric transducer with lumped parameter inputs and outputs specified below. The values of the lumped-parameter model are used to generate the complex admittance. A moderate load was applied in the model. The resulting admittance circles generated in MathCad are shown in fig. 24. When the frequency is swept from 54kHz to 58kHz, a
The lumped parameter input values are:
Co=3.0nF
Cs=8.22pF
Ls=1.0H
Rs=450Ω
the model output based on the inputs is:
the output values were used to plot a
r=1.012*103
a=1.013*103
b=-954.585
in accordance with at least one aspect of the present disclosure, the sums A-E specified below are required to evaluate the circular 132060 plot of the example given in FIG. 24. There are several algorithms to calculate the fit to the circle. The circle is defined by its radius (r) and center offset (a, b) from the origin:
r2=(x-a)2+(y-b)2
the modified least squares method (Umbach and Jones) is convenient because there are simple closed form solutions to a, b and r.
The insert symbol on the variable "a" represents the evaluation of the true value. A. B, C, D and E are the sums of various products calculated from the data. For completeness, they are included herein as follows:
Z1, i is the first vector of real components, called conductance;
z2, i is a second vector of imaginary components called susceptances; and is
Z3, i is a third vector representing the frequency at which the admittance is calculated.
The present disclosure will be applicable to ultrasound systems and possibly to electrosurgical systems, even if the electrosurgical system does not rely on resonance.
Fig. 25-29 show images taken from an impedance analyzer showing impedance/admittance plots of an ultrasonic device with loaded end effector jaws in various open or closed configurations. According to at least one aspect of the present disclosure, the circle graph in solid line form depicts the impedance, and the circle graph in dashed line form depicts the admittance. For example, an impedance/admittance chart is generated by connecting an ultrasound device to an impedance analyzer. The display of the impedance analyzer is set to a complex impedance and complex admittance, which may be selected from a front panel of the impedance analyzer. For example, as described below in connection with fig. 25, an initial display may be obtained with the jaws of the ultrasonic end effector in an open position and the ultrasonic device in an unloaded state. The automatically zoomed display function of the impedance analyzer can be used to generate complex impedance and admittance charts. The same display is used for subsequent operation of the ultrasound device with different load conditions, as shown in subsequent figures 25-29. The data file can be uploaded using a LabVIEW application. In another technique, a display image may be captured with a camera, such as a smartphone camera (like iPhone or Android). As such, the image of the display may include some "keystone distortion" and may generally appear nonparallel to the screen. Using this technique, the circle trace on the display will appear distorted in the captured image. With this method, material located in the jaws of an ultrasonic end effector can be classified.
The complex impedance and complex admittance are the inverse of each other. It is not possible to add any new information by observing both. Another consideration includes determining how sensitive to noise the complex impedance or complex admittance is to be used.
In the examples shown in fig. 25 to 29, the range of the impedance analyzer is set to capture only the primary resonance. By scanning over a wider range of frequencies, more resonances may be encountered and multiple circular plots may be formed. The equivalent circuit of an ultrasonic transducer can be modeled by a first "dynamic" branch with an inductance Ls, a resistance Rs and a capacitance Cs (which define the electromechanical properties of the resonator) connected in series, and a second capacitive branch with a static capacitance C0. In the impedance/admittance diagrams shown in the following fig. 25 to 29, the values of the components of the equivalent circuit are:
Ls=L1=1.1068H
Rs=R1=311.352Ω
Cs=C1=7.43265pF
C0=C0=3.64026nF
the oscillator voltage applied to the ultrasonic transducer was 500mV, sweeping the frequency from 55kHz to 56 kHz. The impedance (Z) is scaled to 200 Ω/div and the admittance (Y) is scaled to 500 μ S/div. Measurements of values that can characterize the impedance (Z) and admittance (Y) histograms may be obtained at locations on the histograms indicated by the impedance cursor and the admittance cursor.
The state of the jaw is as follows: open and no load
Fig. 25 is a
R=1.66026Ω
X=-697.309Ω
where R is the resistance (real value) and X is the reactance (imaginary value). Similarly, the position of the
G=64.0322μS
B=1.63007mS
where G is the conductance (real value) and B is the susceptance (imaginary value).
The state of the jaw is as follows: is clamped on dry oil tanned leather
Fig. 26 is a graphical display 132076 of an impedance analyzer illustrating complex impedance (Z)/admittance (Y)
Measurements of values that may characterize the complex impedance (Z) and complex admittance (Y) charts 132078, 132080 may be obtained at locations on the
R=434.577Ω
X=-758.772Ω
where R is the resistance (real value) and X is the reactance (imaginary value).
Similarly, the position of the
G=85.1712μS
B=1.49569mS
Where G is the conductance (real value) and B is the susceptance (imaginary value).
The state of the jaw is as follows: the ends being clamped on wet oil-tanned leather
Fig. 27 is a
Measurements of values that may characterize the complex impedance (Z) and complex admittance (Y) charts 132088, 132090 may be obtained at locations on the
R=445.259Ω
X=-750.082Ω
where R is the resistance (real value) and X is the reactance (imaginary value). Similarly,
G=96.2179μS
B=1.50236mS
Where G is the conductance (real value) and B is the susceptance (imaginary value).
The state of the jaw is as follows: is completely clampedOn wet oil-tanned leather
Fig. 28 is a
Measurements of values that may characterize the impedance and admittance circle maps 132098, 132100 may be obtained at locations on the circle maps 132098, 1332100 indicated by the impedance cursor 13212 and the
Similarly,
G=137.272μS
B=1.48481mS
Where G is the conductance (real value) and B is the susceptance (imaginary value).
The state of the jaw is as follows: open and no load
Fig. 29 is a graphical display 132106 of an impedance analyzer showing an impedance (Z)/admittance (Y) circle, wherein frequencies from 48kHz to 62kHz are swept to capture multiple resonances of an ultrasonic device with open jaws and no load, wherein the area indicated by the rectangle 132108 shown in dashed lines is to facilitate viewing of the impedance circle 132110a, 132110b, 132110c and admittance circle 132112a, 132112b, 132112c shown in solid lines, according to at least one aspect of the present disclosure. The voltage applied to the ultrasonic transducer was 500mV and the frequency was swept from 48kHz to 62 kHz. The impedance (Z) is on a scale of 500 Ω/div and the admittance (Y) is on a scale of 500 μ S/div.
Measurements that may characterize the values of the impedance and admittance circle maps 132110a-c, 132112a-c may be obtained at the locations indicated by the impedance cursor 132114 and the admittance cursor 132116 on the impedance and admittance circle maps 132110a-c, 132112 a-c. Thus, the impedance cursor 132114 is located at a portion of the impedance circle diagrams 132110a-c equal to approximately 55.52kHz and the admittance cursor 132116 is located at a portion of the admittance circle diagrams 132112a-c equal to approximately 59.55 kHz. As depicted in fig. 29, the impedance cursor 132114 corresponds to the following values:
R=1.86163kΩ
X=-536.229Ω
Where R is the resistance (real value) and X is the reactance (imaginary value). Similarly, admittance cursor 132116 corresponds to the following values:
G=649.956μS
B=2.51975mS
where G is the conductance (real value) and B is the susceptance (imaginary value).
Since there are only 400 samples over the entire scan range of the impedance analyzer, there are only a few points about resonance. Therefore, the circle on the right side becomes irregular. But this is only because of the impedance analyzer and the arrangement used to cover multiple resonances.
When there are multiple resonances, more information is available to improve the classifier. A circular map 132110a-c, 132112a-c fit can be calculated for each resonance encountered to keep the algorithm running fast. Thus, once there is an intersection of complex admittances (representing a circle) during the scan, a fit can be calculated.
Benefits include data-based in-jaw classifiers and well-known models of ultrasound systems. The counting and characterization of circles is well known in the visual system. Therefore, data processing is easy. For example, there is a closed form solution where the radius of the circle and the axis offset can be calculated. This technique may be relatively fast.
Table 2 is a list of symbols (from the IEEE 177 standard) for lumped parameter models of piezoelectric transducers.
TABLE 2
Table 3 is a list of symbols for the transmission network (from the IEEE 177 standard).
Indicates the root of the plant; the multiple roots are ignored.
TABLE 3
Table 4 is a solution list (from the IEEE 177 standard) for various eigenfrequencies.
Solutions for various characteristic frequencies
Indicates the root of the plant; neglecting multiple roots
TABLE 4
Table 5 shows the loss of the three types of piezoelectric materials.
Ratio Q desired for various types of piezoelectric vibratorsrMinimum value of/r
TABLE 5
Table 6 shows the jaw condition, i.e., the estimated parameters of the circle based on the real-time measured values of the complex impedance/admittance, radius (Re) and offset (ae and Be) of the circle represented by the measured variables Re, Ge, Xe, Be, and the parameters of the reference circle map based on the real-time measured values of the complex impedance/admittance, radius (rr) and offset (ar, br) of the reference circle represented by the reference variables Rref, Gref, Xref, Bref, as described in fig. 25 to 29. These values are then compared with the established values for the given situation. These conditions may be: 1) open jaws and nothing, 2) end bite, 3) jaw full bite with staples. The equivalent circuit of the ultrasonic transducer was modeled as follows, and the frequency was swept from 55kHz to 56 kHz:
Ls=L1=1.1068H
Rs=R1=311.352Ω
Cs-C1-7.43265 pF and
C0=C0=3.64026nF
TABLE 6
In use, the ultrasonic generator sweeps the frequency, records the measured variables, and determines the estimated values Re, Ge, Xe, Be. These estimates are then compared to reference variables Rref, Gref, Xref, Bref stored in memory (e.g., in a look-up table) and jaw condition is determined. The reference jaw conditions shown in table 6 are merely examples. More or fewer reference jaw conditions may be classified and stored in memory. These variables can be used to estimate the radius and offset of the impedance/admittance circle.
Fig. 30 is a logic flow diagram 132120 depicting a process of control procedure or logic configuration to determine jaw condition based on evaluated values of radius (r) and offset (a, b) of the impedance/admittance circle, in accordance with at least one aspect of the present disclosure. Initially, a database or look-up table is populated with reference values based on reference jaw conditions as described in connection with fig. 25-29 and table 6. A reference jaw condition is set and the frequency is swept from a value below resonance to a value above resonance. The reference values Rref, Gref, Xref, Bref defining the corresponding impedance/admittance chart are stored in a database or look-up table. During use, the control circuit of the generator or instrument, under the control of a control program or logic configuration, causes 132122 the frequency to be swept from below resonance to above resonance. The control circuit measures and records 132124 the variables Re, Ge, Xe, Be defining the corresponding impedance/admittance chart (e.g., stores them in memory) and compares 132126 them to reference values Rref, Gref, Xref, Bref stored in a database or look-up table. The control circuitry determines 132128 (e.g., evaluates) an end effector jaw condition based on the comparison.
While several forms have been illustrated and described, it is not the intention of the applicants to restrict or limit the scope of the appended claims to such detail. Numerous modifications, changes, variations, substitutions, combinations, and equivalents of these forms can be made without departing from the scope of the present disclosure, and will occur to those skilled in the art. Further, the structure of each element associated with the described forms may alternatively be described as a means for providing the function performed by the element. In addition, where materials for certain components are disclosed, other materials may also be used. It is, therefore, to be understood that the foregoing detailed description and appended claims are intended to cover all such modifications, combinations and variations as fall within the scope of the disclosed forms of the invention. It is intended that the following claims cover all such modifications, changes, variations, substitutions, modifications, and equivalents.
The foregoing detailed description has set forth various forms of the devices and/or methods via the use of block diagrams, flowcharts, and/or examples. Insofar as such block diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be understood by those within the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, 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 that designing the electronic 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 this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as one or more program products in a variety of forms, and that an exemplary form of the subject matter described herein applies regardless of the particular type of signal bearing media used to actually carry out the distribution.
Instructions for programming logic to perform the various disclosed aspects may be stored within a memory within a system, such as a Dynamic Random Access Memory (DRAM), cache, flash memory, or other memory. Further, the instructions may be distributed via a network or by other computer readable media. Thus, a machine-readable medium may include a mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, floppy diskettes, optical disks, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), Random Access Memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible, machine-readable storage device used in transmitting information over the internet via electrical, optical, acoustical or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, a non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).
As used in any aspect herein, the term "control circuitry" can refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor that includes one or more separate instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), Programmable Logic Arrays (PLAs), Field Programmable Gate Arrays (FPGAs)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuitry may be implemented collectively or individually as circuitry that forms part of a larger system, e.g., an Integrated Circuit (IC), an Application Specific Integrated Circuit (ASIC), a system on a chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, etc. Thus, as used herein, "control circuitry" includes, but is not limited to, electronic circuitry having at least one discrete 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 configured by a computer program that implements, at least in part, the methods and/or apparatus described herein, or a microprocessor configured by a computer program that implements, at least in part, the methods and/or apparatus described herein), electronic circuitry forming a memory device (e.g., forming a random access memory), and/or electronic circuitry forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). Those skilled in the art will recognize that the subject matter described herein may be implemented in an analog or digital fashion, or some combination thereof.
As used in any aspect herein, the term "logic" may refer to an application, software, firmware, and/or circuitry configured to be capable of performing any of the foregoing operations. The software may be embodied as a software package, code, instructions, instruction sets, and/or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions or instruction sets and/or data that are hard-coded (e.g., non-volatile) in a memory device.
As used in any aspect herein, the terms "component," "system," "module," and the like can refer to a computer-related entity, either hardware, a combination of hardware and software, or software in execution.
An "algorithm," as used in any aspect herein, is a self-consistent sequence of steps leading to a desired result, wherein "step" refers to the manipulation of physical quantities and/or logical states, which may (but are not necessarily) take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. And are used to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and/or conditions.
The network may comprise a packet switched network. The communication devices may be capable of communicating with each other using the selected packet switched network communication protocol. One exemplary communication protocol may include an ethernet communication protocol that may allow communication using the transmission control protocol/internet protocol (TCP/IP). The ethernet protocol may conform to or be compatible with the ethernet Standard entitled "IEEE 802.3 Standard" and/or higher versions of the Standard, promulgated by the Institute of Electrical and Electronics Engineers (IEEE) at 12 months 2008. Alternatively or additionally, the communication devices may be capable of communicating with each other using an x.25 communication protocol. The x.25 communication protocol may conform to or conform to standards promulgated by the international telecommunication union, telecommunication standardization sector (ITU-T). Alternatively or additionally, the communication devices may be capable of communicating with each other using a frame relay communication protocol. The frame relay communication protocol may conform to or conform to standards promulgated by the international committee for telephone and telephone negotiations (CCITT) and/or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may conform to or be compatible with the ATM standard entitled "ATM-MPLS Network Interworking 2.0" promulgated by the ATM forum at 8 months 2001 and/or higher versions of that standard. Of course, different and/or later-developed connection-oriented network communication protocols are also contemplated herein.
Unless specifically stated otherwise as apparent from the above discussion, it is appreciated that throughout the above disclosure, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "displaying" or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.
One or more components may be referred to herein as "configured to be able," "configurable to be able," "operable/operable," "adapted/adaptable," "capable," "conformable/conformable," or the like. Those skilled in the art will recognize that "configured to be able to" may generally encompass components in an active state and/or components in an inactive state and/or components in a standby state unless the context indicates otherwise.
The terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.
Those skilled in the art will recognize that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but is not limited to," etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases "at least one" and "one or more" to introduce claims. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., "a" and/or "an" should typically be interpreted to mean "at least one" or "one or more"); this also applies to the use of definite articles used to introduce claim recitations.
In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of "two recitations," without other modifiers, typically means at least two recitations, or two or more recitations). Further, in those instances where a convention analogous to "at least one of A, B and C, etc." is used, in general such construction is intended to have a meaning that one of skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include, but not be limited to, systems having a alone, B alone, C, A and B together alone, a and C together, B and C together, and/or A, B and C together, etc.). In those instances where a convention analogous to "A, B or at least one of C, etc." is used, in general such construction is intended to have a meaning that one of skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems having a alone, B alone, C, A and B together alone, a and C together, B and C together, and/or A, B and C together, etc.). It will also be understood by those within the art that, in general, disjunctive words and/or phrases having two or more alternative terms, whether appearing in the detailed description, claims, or drawings, should be understood to encompass the possibility of including one of the terms, either of the terms, or both terms, unless the context indicates otherwise. For example, the phrase "a or B" will generally be understood to include the possibility of "a" or "B" or "a and B".
Those skilled in the art will appreciate from the appended claims that the operations recited therein may generally be performed in any order. Additionally, while the various operational flow diagrams are listed in one or more sequences, it should be understood that the various operations may be performed in other sequences than the illustrated sequences, or may be performed concurrently. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, complementary, simultaneous, reverse, or other altered orderings, unless context dictates otherwise. Furthermore, unless the context dictates otherwise, terms like "responsive," "related," or other past adjectives are generally not intended to exclude such variations.
It is worthy to note that any reference to "an aspect," "an example" means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect. Thus, the appearances of the phrases "in one aspect," "in an example" in various places throughout this specification are not necessarily all referring to the same aspect. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more aspects.
Any patent applications, patents, non-patent publications or other published materials mentioned in this specification and/or listed in any application data sheet are herein incorporated by reference, to the extent that the incorporated materials are not inconsistent herewith. Thus, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.
In summary, a number of benefits resulting from employing the concepts described herein have been described. The foregoing detailed description of one or more forms 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 form or forms selected and described are to be illustrative of the principles and practical applications to thereby enable one of ordinary skill in the art to utilize the various forms and 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:
example 1. a method for assessing a state of an end effector of an ultrasonic device, the ultrasonic device comprising an electromechanical ultrasound system defined by a predetermined resonant frequency, the electromechanical ultrasound system comprising an ultrasonic transducer coupled to an ultrasonic blade, the method comprising:
applying, by a drive circuit, a drive signal to the ultrasonic transducer, wherein the drive signal is a periodic signal defined by an amplitude and a frequency;
scanning, by a processor or control circuit, the frequency of the drive signal from below a first resonance of the electromagnetic ultrasound system to above the first resonance;
measuring and recording an impedance/admittance circular variable R by the processor or the control circuite、Ge、XeAnd Be;
The measured impedance/admittance circular variable R is measured by the processor or the control circuite、Ge、Xe、BeAnd a reference impedance/admittance circular variable Rref、Gref、XrefAnd BrefComparing; and
determining, by the processor or the control circuit, a state or condition of the end effector based on a result of the comparative analysis.
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