DEVICE

专利摘要:
surgical instrument with strain sensor. The present invention relates to an apparatus including an end actuator, a power component, a control module and a directional force sensor assembly associated with the power component and the control module. the directional force sensor assembly may include a piezoelectric disk, a piezoresistive element, an accelerometer and/or a hall effect sensor. the instrument end actuator may include an ultrasonic blade, an rf electrode, or a staple driver assembly. in some versions, the power component includes an ultrasonic transducer. the control module may be configured to operate the power component in a first power setting in response to a first sensed force and in a second power setting in response to a second sensed power. the device may also include a user-operated activation feature. in some versions, the piezoelectric disk may include a plurality of segments and may be configured to induce movement in at least part of the energy component.
公开号:BR112014030053B1
申请号:R112014030053-4
申请日:2013-05-24
公开日:2021-07-27
发明作者:Stephen J. Balek；Cory G. Kimball；John B. Schulte；William D. Dannaher；Daniel W. Price；Foster B. Stulen；Eitan T. Wiener；Danius P. Silkaitus；Michael R. Lamping；Jacqueline C. Aronhalt；William E. Clem
申请人:Ethicon Endo-Surgery, Inc；
IPC主号:

专利说明:

BACKGROUND
[001] In some contexts, endoscopic surgical instruments may be preferred over devices for traditional open surgery, as a smaller incision can reduce recovery time and complications in the postoperative period. Consequently, some endoscopic surgical instruments may be suitable for placing a distal end actuator at a desired surgical site via the cannula of a trocar. These distal end actuators can secure tissue in a variety of ways to achieve a diagnostic or therapeutic effect (eg, endocutter, gripper, cutter, stapler, clip applicator, access device, drug delivery device/gene therapy device, and device for application of energy using ultrasound, RF, laser, etc.). Endoscopic surgical instruments may comprise a rod between the end actuator and a handle portion, which is manipulated by the physician. This rod can allow insertion to the desired depth and rotation around the longitudinal axis of the rod itself, thus facilitating the positioning of the end actuator on the patient.
[002] Examples of such endoscopic surgical instruments that may be adapted to include such user interface aids may include those disclosed in US Patent No. 6,500,176 entitled "Electrosurgical Systems and Techniques for Sealing Tissue," granted on December 31st 2002, the description of which is incorporated into the present invention by reference; US Patent No. 7,416,101 entitled "Motor-Driven Surgical Cutting and Fastening Instrument with Loading Force Feedback," issued August 26, 2008, the description of which is incorporated into the present invention by reference; US Patent No. 7,738,971 entitled "Post-Sterilization Programming of Surgical Instruments", granted on June 15, 2010, the description of which is incorporated into the present invention by reference; US Publication No. 2006/0079874 entitled "Tissue Pad for Use with an Ultrasonic Surgical Instrument", published April 13, 2006, the description of which is incorporated into the present invention by reference; US Publication No. 2007/0191713 entitled "Ultrasonic Device for Cutting and Coagulating", published August 16, 2007, the description of which is incorporated into the present invention by reference; US Publication No. 2007/0282333, entitled "Ultrasonic waveguide and blade", published December 6, 2007, the description of which is incorporated into the present invention by reference; US Publication No. 2008/0200940 entitled "Ultrasonic Device for Cutting and Coagulating", published August 21, 2008, the description of which is incorporated into the present invention by reference; US Publication No. 2009/0209990 entitled "Motorized Surgical Cutting and Fastening Instrument Having Handle Based Power Source", published August 20, 2009, the description of which is incorporated by reference into the present invention; and in US Publication No. 2010/0069940 entitled "Ultrasonic Device for Fingertip Control", published March 18, 2010, the description of which is incorporated into the present invention by reference; in US Patent Publication No. 2011/0015660 entitled "Rotating Transducer Mount for Ultrasonic Surgical Instruments", published January 20, 2011, the description of which is incorporated into the present invention by reference; and in US Patent Publication No. 2011/0087218 entitled "Surgical Instrument Comprising First and Second Drive Systems Actuatable by a Common Trigger Mechanism", published April 14, 2011, the disclosure of which is incorporated by reference into the present invention. Additionally, some of the preceding surgical tools may include a wireless transducer, such as that described in US Patent Publication No. 2009/0143797 entitled "Cordless Handheld Ultrasonic Cautery Cutting Device", published June 4, 2009, which description is incorporated into the present invention by reference.
[003] Some of the surgical instruments may be used, or adapted for use, in robotically assisted surgery situations, such as that described in US patent application publication No. 6,783,524 entitled "Robotic Surgical Tool with Ultrasound Cauterizing and Cutting Instrument", granted on August 31, 2004.
[004] Although a variety of devices and methods have been manufactured and used for endoscopic surgical procedures, it is believed that no one had manufactured or used the technology described in the present invention prior to the inventor(s). BRIEF DESCRIPTION OF THE DRAWINGS
[005] Although the specification concludes with claims that specifically indicate and distinctly claim this technology, it is believed that this technology will be better understood from the following description of certain examples taken in conjunction with the accompanying drawings, in which the same numbers references identify the same elements and where:
[006] FIGURE 1 represents a block diagram of an exemplary surgical instrument with one or more sensors;
[007] FIGURE 2 represents a perspective view of an exemplary surgical instrument;
[008] FIGURE 3 is a partial perspective view of an exemplary surgical instrument with an exemplary removable end actuator;
[009] FIGURE 4 represents the partial perspective view of the end actuator of FIGURE 3 and various directional forces that can be applied to an end actuator blade;
[0010] FIGURE 5 is a side elevation view of an exemplary cable assembly with a portion of the coating removed to show an exemplary transducer and a distal piezoelectric disk assembly;
[0011] FIGURE 6 is a side elevation view of an exemplary alternative removable end actuator and handle assembly, with portions of the respective coatings removed and showing an exemplary alternative distal piezoelectric disk assembly coupled to the end actuator;
[0012] FIGURE 7 is a front elevation view of a piezoelectric disc assembly composed of multiple exemplary pieces;
[0013] FIGURE 8 is a perspective view of an exemplary alternative distal piezoelectric disk assembly with alternating segmented electrodes;
[0014] FIGURE 9 is a side elevation view of another exemplary alternative removable end cable and actuator assembly, with portions of the respective coatings removed and showing an exemplary directional forces sensor assembly;
[0015] FIGURE 10 is a cross-sectional view of the dual-finger based orientation and force sensor assembly of FIGURE 9 taken along section line 10-10 shown in FIGURE 9, when the end actuator is secured. ;
[0016] FIGURE 11A is a side elevation view of an exemplary surgical instrument with a portion of the casing removed to show an exemplary alternative directional force sensor assembly, which is shown in a first uninflected state;
[0017] FIGURE 11B depicts the surgical instrument and directional force sensor assembly of FIGURE 11A shown in a second state, flexed;
[0018] FIGURE 12 is a cross-sectional view of the directional force sensor assembly of FIGURES 11A-11B taken along section line 12-12 shown in FIGURE 11A and showing a plurality of force sensing elements disposed around of a waveguide;
[0019] FIGURE 13A is an enlarged partial cross-sectional view of the directional forces sensor assembly of FIGURE 11A, shown in the first, uninflected state;
[0020] FIGURE 13B is an enlarged partial cross-sectional view of the directional forces sensor assembly of FIGURE 11B, shown in the second state, flexed;
[0021] FIGURE 14 is a partial perspective view of yet another exemplary alternative directional force sensor, with a magnet disposed within a portion of a waveguide;
[0022] FIGURE 15 is an enlarged partial cross-sectional view of the directional forces sensor, showing the magnet disposed within a portion of the waveguide and surrounded by a plurality of loop electrodes;
[0023] FIGURE 16 is a graphical representation of the voltage as a function of time measured by a voltage detector device, showing a normal output when a transducer is vibrating at natural frequency;
[0024] FIGURE 17 is a graphical representation of the voltage as a function of time measured by a voltage detector device, showing a transverse event;
[0025] FIGURE 18 represents a flowchart of exemplary steps to correct a transverse event presented by an ultrasonic drive train;
[0026] FIGURE 19 is a graphical representation of the voltage as a function of time measured by a voltage detector device, showing a first exemplary corrective action to attenuate a transverse event;
[0027] FIGURE 20 is a graphical representation of the voltage as a function of time measured by a voltage detector device, showing a second exemplary corrective action to attenuate a transverse event;
[0028] FIGURE 21 represents a flowchart of exemplifying steps for the control of energy settings of a surgical instrument based on the direction and magnitude of force applied to an end actuator;
[0029] FIGURE 22 represents a flowchart of exemplary steps to control the energy settings of a surgical instrument based on the force applied to an end actuator and the speed of movement of the surgical instrument;
[0030] FIGURE 23 represents a flowchart of exemplary steps for issuing responses to a user based on sensor data; and
[0031] FIGURE 24 consists of a graphic representation of the force on the blade as a function of time, with respect to an ideal force zone, and the corresponding response to the user.
[0032] The drawings are not intended to be limiting in any way, and it is contemplated that various modalities of the technology can be carried out in a variety of other ways, including those not necessarily represented in the drawings. The attached drawings incorporated and forming a part of the descriptive report illustrate various aspects of the present technology, and together with the description serve to explain the principles of the technology; it is understood, however, that this technology is not limited precisely to the provisions shown. DETAILED DESCRIPTION
[0033] The following description of some examples of the technology should not be used to limit its scope. Other examples, elements, aspects, modalities and advantages of the technology will become evident to those skilled in the art with the following description, which is through illustrations, one of the best ways contemplated for carrying out the technology. As will be understood, the technology described here is capable of other different and obvious aspects, all without departing from the technology. Consequently, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.
[0034] It should, therefore, be understood that any of the teachings, expressions, modalities, examples, etc., or more, described herein may be combined with any of the other teachings, expressions, modalities, examples, etc., or more, which are described herein. The teachings, expressions, modalities, examples, etc. described below should not be viewed in isolation from one another. Various suitable ways in which the teachings of the present invention may be combined will be readily apparent to those skilled in the art in view of the teachings of the present invention. These modifications and variations are intended to be included within the scope of the appended claims. I. Overview
[0035] FIGURE 1 shows components of an exemplary surgical instrument (10) in block diagram form. As shown, the surgical instrument (10) comprises a control module (12), a power supply (14) and an end actuator (16). In some versions, the power supply (14) can be an internal power supply, while in others, the power (14) can be supplied from an external source. Merely exemplary internal power supplies (14) may include NiMH batteries, Li-ion batteries (eg Li-ion prismatic cell type batteries, etc.), Ni-Cad batteries, or any other type of source of feeding, as is apparent to those skilled in the art in light of the teachings in the present invention. Merely exemplary external power supplies (14) may include a generator such as the GEN 300 sold by Ethicon Endo-Surgery, Inc. of Cincinnati, Ohio, USA. The control module (12) may comprise a microprocessor, an application-specific integrated circuit (ASIC), memory, a printed circuit board (PCB), a storage device (such as a solid state drive or hard disk), firmware , software, or any other suitable control module components as will be apparent to a person of ordinary skill in the art in light of the teachings herein. In some versions, the control module (12) additionally comprises EEPROM to store data itself. For example, the EEPROM may store machine readable codes to control various components of the surgical instrument (10), or the EEPROM may contain a configuration and/or operational mode stored in data tables or more. Of course, other configurations for machine readable code and/or EEPROM configurations will be apparent to those skilled in the art in view of the teachings of the present invention. The control module (12) and the power supply (14) are coupled by an electrical connection (22), such as a cable and/or dashes on a circuit board, etc., to transfer power from the power supply (14 ) for the control module (12). Alternatively, the power supply (14) can be selectively coupled to the control module (12). This allows the power supply (14) to be separated and removed from the surgical instrument (10), which may further allow the power supply (14) to be immediately recharged or retrieved for resterilization and reuse, so in accordance with the various teachings of the present invention. In addition or alternatively, the control module (12) may be removed for maintenance, testing, replacement, or any other purpose as will be apparent to a person of ordinary skill in the art in view of the teachings herein.
[0036] End actuator (16) is coupled to the control module (12) by another electrical connection (22). The end actuator (16) is configured to perform a desired function of the surgical instrument (10). By way of example only, such a function may include tissue cauterization, tissue ablation, tissue separation, ultrasonic vibration, tissue stapling, or any other task desired for the surgical instrument (10). The end actuator (16) can thus include an active feature such as an ultrasonic blade, a tweezer, a sharp knife, a clamp trigger assembly, a monopolar RF electrode, a pair of bipolar RF electrodes, a heating element thermal and/or various other components. The end actuator (16) and/or the surgical instrument (10) can be further constructed in accordance with at least some of the teachings of the example described in US Patent Publication No. 2011/0015660 entitled "Rotating Transducer Mount for Ultrasonic Surgical Instruments", published January 20, 2011, the description of which is incorporated herein by reference; US Patent No. 7,416,101 entitled "Motor-Driven Surgical Cutting and Fastening Instrument with Loading Force Feedback," issued August 26, 2008, the description of which is incorporated by reference into the present invention; and/or US Patent No. 6,500,176 entitled "Electrosurgical Systems and Techniques for Sealing Tissue", granted on December 31, 2002, the disclosure of which is incorporated into the present invention by way of reference.
[0037] end actuator (16) may also be removable from the surgical instrument (10) for maintenance, testing, replacement or any other purpose, as will be apparent to those skilled in the art in view of the teachings in the present invention. In some versions, the end actuator (16) is modular so that the surgical instrument (10) can be used with different types of end actuators (eg, as taught in non-provisional US patent application no. series 13/289,870 entitled "Surgical Instrument with Modular Shaft and End Effector", filed October 10, 2011, the description of which is incorporated into the present invention by reference; US patent application serial no. [document no. of attorney END7088USNP.0590486], entitled "Surgical Instrument with Orientation Sensing", filed on the same date as the present application, the description of which is incorporated into the present invention by means of reference; and/or etc.). Various other end actuator (16) configurations may be made available for a variety of different functions depending on the purpose of the surgical instrument (10), as will be apparent to those skilled in the art in view of the teachings of the present invention. Similarly, other types of components of a surgical instrument (10) that can receive energy from the power source (14) will be apparent to those skilled in the art in view of the teachings of the present invention.
[0038] The surgical instrument (10) of the present example includes an activation feature (18), although it should be understood that such a component is merely optional. The enable feature (18) is coupled to the control module (12) and the power supply (14) via electrical connection (22). The activation feature (18) can be configured to selectively supply power from the power supply (14) to the end actuator (16) (and/or to some other component of the surgical instrument (10)) to activate the surgical instrument (10 ) when performing a procedure. Merely exemplary activation features (18) may include a trigger, a capacitive touch sensor, a resistive touch sensor, an electromechanical button and/or any other activation feature (18) that is patent to those skilled in the subject art of the teachings of the present invention. The activation feature (18) can be further constructed in accordance with at least some of the teachings of US Patent Publication Publication No. 2010/0069940 entitled "Ultrasonic Device for Fingertip Control", published on March 18, 2010, whose description is incorporated into the present invention by reference.
[0039] surgical instrument (10) additionally includes a sensor (20). The sensor (20) is also coupled to the control module (12) by an electrical connection (22) and can be configured to provide a variety of information to the control module (12) during a procedure. By way of example only, such configurations may include capturing a temperature at the end actuator (16) or determining the rate of oscillation of the end actuator (16). Merely exemplary temperature detector sensors are described in non-provisional US patent application No. 13/277,328 entitled "Surgical Instrument with Sensor and Powered Control", filed October 20, 2011, whose description is incorporated into the present invention by means of reference. In some versions, the sensor (20) may comprise a sensor (20) that is operable to detect the orientation and/or movement of the surgical instrument (10). For example, the sensor (20) may comprise a gyroscopic sensor, an inclinometer, an accelerometer and/or any other suitable orientation and/or movement sensor, as will be apparent to those skilled in the art in view of the teachings herein. invention. In yet another version, the sensor (20) can be configured to detect the magnitude and orientation of force on the end actuator (16) of the surgical instrument (10). Examples of such force sensors will be described in more detail below. Additionally or alternatively, the sensor (20) may be constructed in accordance with at least some of the teachings of US patent application Serial No. [Attorney document no. END7088USNP.0590486], entitled "Surgical Instrument with Orientation Sensing," filed on the same date as the present application, the description of which is incorporated into the present invention by reference. Data from the sensor (20) can be processed by the control module (12) to effect power supply to the end actuator (16) (eg in a feedback loop, etc.). Various other sensor configurations (20) may be provided, depending on the purpose of the surgical instrument (10), as will be apparent to those skilled in the art in light of the teachings of the present invention. Of course, as with other components described in the present invention, the surgical instrument (10) can have more than one sensor (20), or the sensor (20) can simply be omitted if desired. Still additional configurations for the surgical instrument (10) will be apparent to those skilled in the art in view of the teachings of the present invention. II. Exemplary surgical system and surgical instrument
[0040] Although the following descriptions refer to surgical instruments (10) of the ultrasonic variety, it should be understood that the features described below can be easily incorporated into a variety of surgical instruments (10), including but not limited to a, endo-cutters, tongs, cutters, staplers, clip applicators, access devices, devices for applying drug/gene therapy and devices for applying energy, with the use of ultrasonic vibrations, RF, laser, etc., and /or any combination thereof, as will be apparent to those skilled in the art in view of the teachings of the present invention. A. Exemplary ultrasonic surgical system
[0041] In FIGURE 2, a surgical system (30) merely exemplifying, with an exemplary surgical instrument (50) is shown. In the present example, the system (30) comprises an ultrasonic surgical instrument (50), a generator (40) and a cable (42), operable to couple the generator (40) to the surgical instrument (50). It should be understood that the surgical instrument (50) can be seen as an exemplary version of the surgical instrument (10). A suitable generator (40) is the GEN 300, sold from Ethicon Endo-Surgery, Inc., of Cincinnati, Ohio, USA. By way of example only, the generator (40) can be constructed in accordance with the teachings of US Publication No. 2011/0087212 entitled "Surgical Generator for Ultrasonic and Electrosurgical Devices", published April 14, 2011, the disclosure of which is incorporated herein by reference. And, in some versions, the generator (40) may include the control module (12) described above, although it is merely optional. Furthermore, although the present example is described with reference to a surgical instrument connected by cable (50), it should be understood that the surgical instrument (50) can be adapted for wireless operation, such as that disclosed in the patent publication US No. 2009/0143797 entitled "Cordless Hand-held Ultrasonic Cautery Cutting Device", published June 4, 2009, the description of which is incorporated into the present invention by reference. In addition, a surgical instrument (50) can also be used, or adapted for use, in robotically assisted surgery situations such as that disclosed in US Patent No. 6,783,524 entitled "Robotic Surgical Tool with Ultrasound Cauterizing and Cutting Instrument", granted on August 31, 2004, the disclosure of which is incorporated herein by reference.
[0042] The surgical instrument (50) of the present example includes a multi-piece cable assembly (60), an elongated transmission assembly (70) and a transducer (90). The transmission assembly (70) is coupled to the multi-piece cable assembly (60) at a proximal end of the transmission assembly (70) and extends distally from the multi-piece cable assembly (60). In the present example, the transmission assembly (70) is configured to be a thin elongated tubular assembly for endoscopic use, but it should be understood that the transmission assembly (70) may alternatively be a short assembly, such as those described. in US Patent Publication No. 2007/0282333, entitled "Ultrasonic Waveguide and Blade," published December 6, 2007; in US Patent Publication No. 2008/0200940 entitled "Ultrasonic Device for Cutting and Coagulating," published August 21, 2008 and/or in US patent application Serial No. [Attorney document no. END7088USNP .0590486], entitled "Surgical Instrument with Orientation Sensing", filed on the same date as the present application, the description of which is incorporated into the present invention by reference. The transmission assembly (70) of the present example comprises an outer casing (72), an inner tubular actuator element (not shown), a waveguide (not shown), and an end actuator (80) located at the distal end of the transmission assembly (70). In the present example, the end actuator (80) comprises a blade (82) coupled to the waveguide, a collet arm (84) operable to pivot at the proximal end of the transmission assembly (70), and, optionally, a block of collet (86) attachable to the collet arm (84) or more. The end actuator (80) can be further configured in accordance with the end actuator (16) described above with reference to FIGURE 1. The waveguide, which is adapted to transmit ultrasonic energy from a transducer (90) to the blade (82), can be flexible, semi-flexible or rigid. The waveguide can also be configured to amplify mechanical vibrations transmitted through the waveguide to the blade (82) as is well known in the art. The waveguide may additionally have features to control the gain of longitudinal vibration along the waveguide and features to tune the waveguide to the system's resonant frequency. A merely exemplary ultrasonic transducer (90) is Model No. HP054, sold by Ethicon Endo-Surgery, Inc. of Cincinnati, Ohio, USA. It should also be understood that the collet arm (84) and associated features may be constructed and operable in accordance with at least some of the teachings of US Patent No. 5,980,510 entitled "Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp Arm Pivot Mount", issued November 9, 1999, the disclosure of which is incorporated into the present invention by reference. Logically, the collet arm (84) can be omitted if desired.
[0043] In the present example, the distal end of the blade (82) is disposed close to an anti-knot in order to tune the acoustic set to a preferred resonant frequency fo when the acoustic set is not carried by tissue. When the transducer (90) is energized, the distal tip of the blade (82) is configured to move longitudinally in the range, for example, approximately 10 to 500 microns from peak to peak, and preferably in the range of about 20 at about 200 microns, at a predetermined vibrational frequency of, for example, 55.5 kHz. When the transducer (90) of the present example is activated, these mechanical oscillations are transmitted, through the waveguide, to the end actuator (80). In the present example, the blade (82) which is coupled to the waveguide, oscillates at the ultrasonic frequency. Thus, when tissue is trapped between the blade (82) and the forceps arm (84), the ultrasonic oscillation of the blade (82) can simultaneously disrupt tissue and denature proteins in adjacent tissue cells, thus providing a coagulant effect with relatively small thermal propagation. An electrical current can also be supplied through the blade (82) and the tweezer arm (84) to also cauterize the tissue. Although some configurations of the transmission assembly (70) and transducer (90) have been described, still other configurations suitable for the transmission assembly (70) and transducer (90) will be apparent to those skilled in the art in view of the teachings herein. invention.
[0044] Multi-piece cable assembly (60) of the present example comprises a corresponding housing portion (62) and a lower portion (64). The mating housing portion (62) is configured to receive the transducer (90) at a proximal end of the mating housing portion (62) and to receive the proximal end of the transmission assembly (70) at a distal end of the housing portion corresponding (62). An opening is provided at the distal end of the corresponding housing portion (62) for the insertion of a plurality of transmission assemblies (70). A rotation knob (66), shown in the present example, is used to rotate the transmission assembly (70) and/or the transducer (90), but it should be understood that the rotation knob (66) is merely optional. The corresponding housing portion (62) and/or transmission assembly (70) may be further constructed in accordance with at least some teachings of US patent application No. 13/269,870 entitled "Surgical Instrument with Modular Shaft and End Effector ", filed October 10, 2011, the description of which is incorporated into the present invention by reference. The lower portion (64) of the multi-piece handle assembly (60) includes a trigger (68) and is configured to be gripped by a user using a single hand. An alternative merely exemplary configuration of the lower portion (64) is depicted in FIGURE 1 of US Patent Publication No. 2011/0015660 entitled "Rotating Transducer Mount for Ultrasonic Surgical Instruments", published January 20, 2011, the description of which is incorporated in the present invention by way of reference.
[0045] Furthermore, although the multi-piece cable assembly (60) has been described with reference to two distinct portions (62, 64), it should be understood that the multi-piece cable assembly (60) may be a unitary set with both portions (62, 64) combined. The multi-piece cable assembly (60) may alternatively be divided into multiple distinct components, such as a separate activation portion (operable or by a user's hand or foot) and a separate corresponding housing portion (62). The activating portion is operable to activate the transducer (90) and can be remote with respect to the corresponding housing portion (62). The multi-piece cable assembly (60) may be constructed of a durable plastic (such as polycarbonate or a liquid crystal polymer), ceramics and/or metals, or any other suitable material as will be apparent to a person of ordinary skill in the art in view of the teachings in this document. Still other configurations of the multi-piece cable assembly (60) will be apparent to those of ordinary skill in the art in view of the teachings herein. For example, the instrument (50) can be operated as part of a robotic system. Other configurations of the multi-piece cable assembly (60) will also be apparent to those of ordinary skill in the art in view of the teachings herein. By way of example only, the surgical instrument (50) may further be constructed in accordance with at least some of the teachings of US Patent Publication No. 2006/0079874; in US Patent Publication No. 2007/0191713; in US Patent Publication No. 2007/0282333; in US Patent Publication No. 2008/0200940; in US Patent Publication No. 2011/0015660; US Patent No. 6,500,176; in US Patent Publication No. 2011/0087218; and/or U.S. Patent Publication No. 2009/0143797, the disclosures of which are incorporated into the present invention by reference. B. Exemplary Removable End Actuator
[0046] FIGURES 3 and 4 depict an end of an exemplary surgical instrument (100) and an exemplary removable-end actuator (150). Other features of the surgical instrument (100) can be configured as above with respect to the surgical instruments (10, 50). In the example shown, the instrument (100) comprises a casing (102), a transducer shaft (110) extending from the casing (102), and a plurality of electrical contacts (120) in the casing (102). The transducer rod (110) is configured to threadably couple to a waveguide (160) of the end actuator (150) so that ultrasonic vibrations from the transducer within the instrument (100) can be transmitted to a blade (152) (shown in FIGURE 4) from the end actuator (150). In the example shown, the transducer shaft (110) includes a threaded portion (112) that begins at a distance d from the most distal point of the casing (102). Distance d corresponds to a longitudinal length of a key block (170) so that the threaded portion (112) is located within the rotating sleeve (180) of the end actuator (150) when the key block (170 ) is coupled to the casing (102). Consequently, a waveguide (160) can be threadably coupled to the transducer shaft (110) while the keyway (170) is engaged with the casing (102). The contacts (120) are metallic elements that touch complementary contacts (not shown) on the end actuator (150) so that one component of the end actuator (150) or more is electrically coupled to the instrument (100). In some versions, the contacts (120) are further electrically coupled to a control module, such as the control module (12) described above. Certainly other electrical coupling features between the end actuator (150) and the instrument (100) (e.g., inductive coupling, etc.) will be apparent to those skilled in the art in view of the teachings of the present invention. In the present example, the contacts (120) are disposed within a keyway (104) portion of a casing (102) so that the end actuator (150) can be coupled to the casing (102) only at a single orientation. In this way, the keyway portion (104) can ensure that the contacts (120) are aligned with the complementary contacts of the end actuator (150). Other configurations for instrument (100) will also be apparent to those skilled in the art in view of the teachings of the present invention.
[0047] End actuator (150) comprises a waveguide (160), a swivel sleeve (180), a keyway (170) and a module (182). In the present example, a waveguide (160) is coupled to a swivel sleeve (180) so that rotation of the swivel sleeve (180) rotates the waveguide (160) relative to the key block (170). The waveguide (160) extends distally from the rotating sleeve (180) and terminates at the blade (152) (shown in FIGURE 4). It should be understood that various features, in addition to or alternatively to the blade (152), may be included distally to the swivel sleeve (180), such as a collet arm or more. In the example shown, the waveguide (160) includes a threaded portion (162) (shown in dashed line) to threadably couple the waveguide (160) to the transducer shaft (110). Thus, when the key block (170) is engaged with the casing (102), as will be described below, the swivel sleeve (180) is intended to threadably couple the waveguide (160) to the transducer shaft (110 ). Of course, other coupling features for the waveguide (160) and the transducer rod (110) will be available to those skilled in the art in view of the teachings of the present invention. The key block (170) of the present example comprises a key portion (172), a center hole (178) (shown in dashed line), and a module (182) mounted on the key block (170). The center hole (178) is sized and configured to allow the transducer shaft (110) to penetrate the keyway (180) to engage the waveguide (160) as described above. The key portion (172) is configured to enter the keyway portion (104) of the casing (102) so that the key block (170) is rotatably secured relative to the casing (102). In this way, the key block (170) provides a mechanical ground for the rotating sleeve (180) when the key block (170) is engaged with the casing (102). The key portion (172) additionally includes contacts complementary to the contacts (120) described above. Engagement of the keyway portion (172) with the keyway portion (104) is configured to pivotally align the set of contacts so that when the keyway block (170) is engaged with the casing (102), the set of contacts is electrically coupled. The complementary contacts are coupled to the module (182) so that the module (182) is electrically coupled to the contacts (120) when the end actuator (150) is coupled to the instrument (100).
[0048] In the present example, the module (182) comprises a non-volatile solid state memory module intended to store one or more configuration data. For example, the module (182) may contain configuration data relating to the type and characteristic properties of the end actuator (150) to be used by the control module, such as the control module (12) described with reference to FIGURE 1, of the surgical instrument (100). By way of example only, configuration data may include properties such as blade length, blade material, blade geometry, waveguide geometry, waveguide material, natural attenuation characteristics, frequencies natural, mean time to failure (MTTF), etc. Such properties can be used by the control module when determining corrective action, determining power settings for the instrument (100), and/or otherwise, as will be described in more detail below. Of course, it should be understood that other components can be included in the module (182), integrated with it, and/or replaced by it. For example, various sensors such as accelerometers, gyroscopes, temperature sensors, force sensors, etc. they can be added to the module (182), integrated with it and/or replaced by it. The end actuator (150) may be further constructed in accordance with at least some of the teachings of US patent application Serial No. [Attorney document no. END7088USNP.0590486], entitled "Surgical Instrument with Orientation Sensing", filed on the same date as the present application, the description of which is incorporated into the present invention by reference. Still additional configurations for the module (182), the end actuator (150) and/or the instrument (100) will be apparent to those skilled in the art in view of the teachings of the present invention.
[0049] Now with reference to FIGURE 4, a set of directional arrows (190, 192, 194, 196, 198) arranged around the blade (152) is shown. The arrow (190) corresponds to the longitudinal axis of the blade (152) and the waveguide (160). The arrows (192, 194) correspond to the lateral axis in relation to the blade (152). The arrows (196, 198) correspond to the vertical axis with respect to the blade (152). In the present example, the arrows (190, 192, 194, 196, 198) correspond to the direction in which the blade (152) is pressed against tissue when a user is using the instrument (100) in a surgical procedure. Just as an example, in some cases it may be preferable to activate the transducer in a low energy condition when the blade (152) is pressed against the tissue in the direction of the arrows (190, 192, 194) and activate the transducer in a high condition energy when the blade (152) is pressed against the tissue in the direction of the arrows (196,198). For example, a user may prefer to use the side and/or tip of the blade (152) to coagulate, and at the same time use the top and bottom edges of the blade (152) to cut tissue. Of course, it should be understood that the above is merely exemplary and that any power condition can correspond to any direction of the blade (152). In the present example, such power conditions and directions may be included in the module configuration data (182) to be used by the control module and/or may be supplied by other means to the control module. Such conditions may vary based on any number of factors, including, but not limited to, the features and/or geometry of the blade (152) and/or other parts of the end actuator (150), the surgical procedure in which the end actuator (150) will be used, individual user preferences and/or other factors. The use of these power conditions will be described in more detail below, with reference to FIGURE 21. III. Exemplary Active Attenuation Assemblies and Directional Force Sensors
[0050] In some cases, it may be useful to actively control the power condition of the transducer (90) and/or other components in the surgical instrument (10, 50, 100). For example, if transverse movement occurs in a waveguide (160) and/or other portion of the surgical instrument's ultrasonic drive train (10, 50, 100) during one surgical procedure, the transverse movement may disturb or interfere with another mode in the oscillatory movement of the transducer (90). Also, in some cases, the transverse movement can induce an unstable vibration mode, thus possibly damaging the instrument (10, 50, 100). Some instruments (10, 50, 100) may include a FEP, such as a polymeric wrap or an extrusion (eg, a perfluorinated polymer with high temperature stability), applied to the waveguide (160) at predetermined locations to attenuate deleterious modes or other unwanted traverse modes. Eliminating or reducing transverse movements during surgical instrument use (10, 50, 100) can allow for greater manufacturing tolerances and/or eliminate the need for a FEP. In other cases, it may be useful to actively control the power condition of the transducer (90) in order to adapt the power condition in response to how the user uses the instrument (10, 50, 100). For example, as noted above, the direction in which the blade (82, 152) is pressed against the tissue can be used as an input to the control module (12) in order to dynamically adjust the power condition of the transducer (90 ) in real time during the surgical procedure, so that the user does not select any specific energy level. Consequently, various sets of active attenuation and/or directional force sensors that can be incorporated into various surgical instruments (10, 50, 100), including, but not limited to, ultrasonic instruments, will now be described in step which other examples will be apparent to those skilled in the art in view of the teachings of the present invention. A. Active attenuation assembly installed in cable assembly
[0051] FIGURE 5 represents an exemplary cable assembly (200) comprising a sheath (202), a transducer (210), a distal piezoelectric disk assembly (250) and a conical tip (290). The casing (202) of the present example is sized and configured to contain the transducer (210) and other components (not shown) within it. The liner (202) may be constructed of a durable plastic (such as polycarbonate or a liquid crystal polymer), ceramics and/or metals, or any other suitable material, as will be apparent to those skilled in the art in view of the teachings of the present invention. As shown in FIGURE 5, the casing (202) includes an inner annular flange (204) configured to engage the transducer flange (226), as will be described below, to provide mechanical grounding between the casing (202) and the transducer (210). The jacket (202) additionally includes a cable (206) that extends proximally and leads a plurality of wires (216, 218, 270, 272) to a power source, such as a generator (40) described above. Of course, in some versions, the cable (206) can be omitted, and the power supply can be located inside the jacket (202). The jacket (202) may further be constructed in accordance with at least some of the teachings of the multi-piece cable assembly (60) described above. The tapered tip (290) is mechanically attached to a distal end of the casing (202) to compress the distal piezoelectric disk assembly (250) between the tapered tip (290) and the transducer flange (226), as will be described. below.
[0052] Transducer (210) comprises a plurality of piezoelectric elements (212) with alternating electrodes (214) disposed between successive piezoelectric elements (212) to form a stack of piezoelectric elements. The piezoelectric elements (212) may be fabricated from any suitable material, for example lead zirconate titanate, lead meta-niobate, lead titanate and/or any suitable piezoelectric crystal material between the electrodes (214). In the present example, alternating electrodes (214) are electrically coupled via wires (216, 218) so that a voltage is created across the plurality of piezoelectric elements (212) when a power source is coupled to the wires (216 , 218). Consequently, when the power supply is activated, a plurality of piezoelectric elements (212) convert electrical energy into ultrasonic vibrations. Such ultrasonic vibrations are transmitted distally to a waveguide (not shown) by means of a distal resonator (224) and a threaded portion (230) that couples the waveguide to the distal resonator (224). At a proximal end of the stack of piezoelectric elements (212) is a proximal resonator (220). A pin (222) is inserted through the annular openings (not shown) in the proximal resonator (220) and the stack of piezoelectric elements (212) and engages with the distal resonator (224). Consequently, the pin (222), the proximal resonator (220), the stack of piezoelectric elements (212), and the electrodes (214) and the distal resonator (224) substantially form a transducer (210). In the present example, the transducer flange (226) is coupled to the distal resonator (224) and is configured to have a proximal surface (228) touching the inner annular flange (204) of the casing (202). In this way, the interface of the transducer flange (226) with the inner annular flange (204) prevents the transducer (210) from moving proximally to the casing (202). The distal resonator (224) extends distally through the distal piezoelectric disc assembly (250) and reaches the threaded portion (230). The threaded portion (230) is configured to threadably couple to a waveguide, a blade, and/or an end actuator, such as the waveguide (160), the blade (152) and/ or the end actuator (150) described above. Thus, ultrasonic vibrations can be transmitted from the transducer (210) to the waveguide, blade and/or end actuator. The threaded portion (230) may be located at a knot, an anti-knot, and/or any other point along the distal resonator (224). The transducer (210) may be further constructed in accordance with at least some of the teachings of US Patent Application Serial No. 13/274,480 entitled "Surgical Instrument with Slip Ring Assembly to Power Ultrasonic Transducer," filed October 17, 2011, whose description is incorporated into the present invention by reference. Still other configurations for the transducer (210) will be apparent to those skilled in the art in view of the teachings of the present invention.
[0053] Distal piezoelectric disk assembly (250) is interposed between the tapered tip (290) and the transducer flange (226). The distal piezoelectric disk assembly (250) comprises a piezoelectric disk (252) interposed between a pair of electrodes (260, 262). In the present example, the distal piezoelectric disk assembly (250) comprises a single piezoelectric element unit, although, as will be discussed in more detail below, in some versions, the distal piezoelectric disk assembly (250) may comprise a piezoelectric element composed of multiple pieces with one segment or more for detecting distal resonator vibrations (224) and one segment or more for active attenuation. Of course, it should be understood that, in some versions, the distal piezoelectric disk assembly (250) can be used to induce a vibratory mode or more. As with the piezoelectric elements (212) discussed above, the piezoelectric disk (252) can be fabricated from any suitable material, for example, lead zirconate-titanate, lead metaniobate, lead titanate and/or any suitable crystal piezoelectric material. The electrodes (260, 262) comprise metallic elements disposed on either side of the piezoelectric disk (252).
The electrodes (260, 262) are coupled to wires (270, 272) so that a voltage is created across the piezoelectric disk (252) when a power source is coupled to the wires (270, 272). In this way, the piezoelectric disk (252) expands or contracts depending on the voltage applied across the piezoelectric disk (252), thus expanding or contracting between the conical tip (290) and the transducer flange ( 226). Thus, movement of the distal piezoelectric disk assembly (250) can be used to affect the vibrations present in the distal resonator (224). Additionally or alternatively, the (270, 272) may be coupled to a voltage sensing device (not shown). The voltage sensing device can be inside the end actuator, inside the cable assembly (200) and/or inside the power supply. In some versions, the voltage sensing device can be integrated into a control module, such as the control module (12). When a compression or expansion force is applied to the distal piezoelectric disk assembly (250), the compression or expansion of the piezoelectric disk (252) generates a voltage that can be detected by the voltage sensing device. In this way, vibrations within the distal resonator (224) can be measured. Of course, it should be understood that there may be more than one distal piezoelectric disk assembly (250). For example, a first set of distal piezoelectric disk (250) can be used for active attenuation, and a second set of distal piezoelectric disk (250) can be used to detect vibrations. Still other configurations and/or constructions of the exemplary cable assembly (200) and/or the distal piezoelectric disk assembly (250) will be apparent to those skilled in the art in view of the teachings of the present invention. By way of example only, in some versions, the distal piezoelectric disk assembly (250) may be omitted, and a strain-sensitive membrane and/or other force sensor, such as a strain gauge, may be used in cases where a measurement magnitude and/or direction of force is required without active attenuation capabilities. B. Active Attenuation Assembly Installed on End Actuator
[0055] FIGURE 6 depicts an exemplary alternative cable assembly (300) and a removable end actuator (350). The cable assembly (300) comprises a jacket (302) and a transducer (320). The casing (302) of the present example is sized and configured to contain the transducer (320) and other components (not shown) within it. The liner (302) may be constructed of a durable plastic (such as polycarbonate or a liquid crystal polymer), ceramics and/or metals, or any other suitable material, as will be apparent to those skilled in the art in view of the teachings of the present invention. As shown in FIGURE 6, the casing (302) includes an inner annular flange (304) configured to engage the transducer flange (336), as will be described below, to provide mechanical grounding between the casing (302) and the transducer (320). The jacket (302) additionally includes a cable (306) that extends proximally and leads a plurality of wires (318, 319, 326, 328) to a power source, such as a generator (40) described above. Of course, in some versions, the cable (306) can be omitted, and the power supply can be located inside the jacket (302).
[0056] Sheath (302) also includes an open distal end (310) and a pair of bosses (312) configured to engage and engage with a pair of recesses (356) in the end actuator (350 ). In the present example, a pair of contacts (314, 316) are positioned within an open distal end (310) so that the contacts (314, 316) are selectively electrically coupled to a pair of electrodes (380, 390) , respectively, of a piezoelectric disk assembly (370), as will be described in more detail below. The contacts (314, 316) in the present example consist of resiliently tensioned spring bundle contacts, although other resiliently tensioned contacts or other contacts may also be designed. In some versions, spring and ball positioners can be used to electrically couple to the electrodes (380, 390). Other features for swivel coupling to electrodes (380, 390) are described in US Patent Application No. 13/269,870 entitled "Surgical Instrument with Modular Shaft and End Effector", filed October 10, 2011, the description of which is incorporated to the present invention by way of reference. Contacts (314, 316) are coupled to wires (318, 319), respectively. The wires (318, 319) can then be coupled to a supply assembly, such as a generator (40) described above, and/or a voltage sensing device (not shown). The jacket (302) may further be constructed in accordance with at least some of the teachings of the multi-piece cable assembly (60) described above.
[0057] Transducer (320) comprises a plurality of piezoelectric elements (322) with alternating electrodes (324) disposed between successive piezoelectric elements (322) to form a stack of piezoelectric elements. The piezoelectric elements (322) can be fabricated from any suitable material, for example lead zirconate-titanate, lead meta-niobate, lead titanate and/or any suitable piezoelectric crystal material between the electrodes (324). In the present example, alternating electrodes (324) are electrically coupled via wires (326, 328) so that a voltage is created across the plurality of piezo-electric elements (322) when a power source is coupled to the wires. (326, 328). In this way, when the power supply is activated, a plurality of piezoelectric elements (322) convert electrical energy into ultrasonic vibrations. Such ultrasonic vibrations are transmitted distally to a waveguide (360) of the end actuator (350) when the waveguide (360) is threadably coupled to the transducer (320). At a proximal end of the stack of piezoelectric elements (322) is a proximal resonator (330). A pin (332) is inserted through the annular openings (not shown) in the proximal resonator (330) and the stack of piezoelectric elements (322) and engages with the distal resonator (334). Thus, the pin (332), the proximal resonator (330), the stack of piezoelectric elements (322), and the electrodes (324) and the distal resonator (334) substantially form a transducer (320). In the present example, the transducer flange (336) is coupled to the distal resonator (334) at the distal end of the distal resonator (334) and is configured to have a proximal surface (338) touching the inner annular flange (304) of the coating (302). In this way, the interface of the transducer flange (336) with the inner annular flange (304) prevents the transducer (320) from moving proximally to the casing (302). A threaded portion (340) is configured to threadably couple to the waveguide (360) of the end actuator (350). The threaded portion (340) may be located at a knot, an anti-knot and/or any other point along the distal resonator (334). The transducer (320) may be further constructed in accordance with at least some of the teachings of US Patent Application Serial No. 13/274,480 entitled "Surgical Instrument with Slip Ring Assembly to Power Ultrasonic Transducer," filed October 17, 2011, whose description is incorporated into the present invention by reference. Other configurations for the transducer (320) will still be apparent to those skilled in the art in view of the teachings of the present invention.
[0058] End actuator (350) comprises a casing (352), a waveguide (360) pivotally mounted within the casing (352) and a piezoelectric disk assembly (370) mounted to a tapered proximal portion (362 ) of the waveguide (360). The casing (352) includes a pad (354) to support the waveguide (360) while allowing the waveguide (360) to rotate and vibrate relative to the casing (352). Of course, it should be understood that other swivel couplings can be designed, such as bearings, or that, in some versions, pads (354) can be omitted. The casing (352) additionally includes a pair of recesses (356) configured to engage the lugs (312) and couple the end actuator (350) to the cable assembly (300). Of course, other coupling features for coupling the end actuator (350) to the cable assembly (300) will be apparent to those skilled in the art in view of the teachings of the present invention. The waveguide (360) extends distally and is coupled to a blade (not shown) such as the blade (82). The proximal tapered portion (362) is located at a proximal end of the waveguide (360) and includes a threaded recess (364) (shown in dashed line) configured to threadably engage the threaded portion (340) of the distal resonator (334) of the transducer (320). A proximal face of the proximal tapered portion (362) is sized to have a diameter substantially corresponding to the diameter of the piezoelectric disk assembly (370). Other configurations for coatings (352) and/or waveguide (360) will be apparent to those skilled in the art in view of the teachings of the present invention.
[0059] Piezoelectric disk assembly (370) comprises a piezoelectric disk (372) interposed between a pair of electrodes (380, 390). In the present example, the piezoelectric disk assembly (370) comprises a single piezoelectric element unit, although, as will be discussed in more detail below, in some versions, the piezoelectric disk assembly (370) may comprise a piezoelectric element composed of multiples. parts with one segment or more intended for detecting vibrations of the distal resonator (334) and/or waveguide (360) and one segment or more for active attenuation. Of course, it should be understood that, in some versions, the piezoelectric disk assembly (370) can be used to induce a vibratory mode or more. As with the piezoelectric elements (322) discussed above, the piezoelectric disk (372) can be fabricated from any suitable material, for example, lead zirconate-titanate, lead meta-niobate, lead titanate and/or any suitable piezoelectric crystal material.
[0060] The electrodes (380, 390) comprise metallic elements arranged on either side of the piezoelectric disk (372). The electrodes (380, 390) are configured to electrically mate with the contacts (314, 316), respectively, when the end actuator (350) is coupled to the cable assembly (300). In the present example, an outer perimeter of each electrode (380, 390) extends outward from the piezoelectric disk (372) so that the electrodes (380, 390) touch the contacts (314, 316) in the same manner than a set of slip rings, without the piezoelectric disk (372) touching the contacts (314, 316). When a power supply is coupled to the wires (318, 319), a voltage is formed across the piezoelectric disk (372). In this way, the piezoelectric disk (372) expands or contracts depending on the voltage applied across the piezoelectric disk (372), thus expanding or contracting between the proximal conical portion (362) and the transducer flange (336). Thus, movement of the distal piezoelectric disc assembly (370) can be used to affect vibrations present in the distal resonator (334) and/or waveguide (360). As noted above, wires (318, 319) can be coupled to a voltage sensing device (not shown). The voltage sensing device can be inside the end actuator (350), inside the cable assembly (300) and/or inside the power supply. In some versions, the voltage sensing device can be integrated into a control module, such as the control module (12). When a compression or expansion force is applied to the piezoelectric disk assembly (370), the compression or expansion of the piezoelectric disk (372) generates a voltage that can be detected by the voltage sensing device. Thus, vibrations within the distal resonator (334) and/or the waveguide (360) can be measured. Of course, it should be understood that more than one piezoelectric disk assembly (370) may be arranged, for example a pair of stacked piezoelectric disk assemblies (370), with a piezoelectric disk assembly (370) for active attenuation and a second piezoelectric disk assembly (370) for detecting vibrations. Other configurations and/or constructions of the exemplary cable assembly (300), end actuator (350) and/or piezoelectric disk assembly (370) will still be patents to those skilled in the art in view of the teachings of the present invention . By way of example only, in some versions, the piezoelectric disk assembly (370) may be omitted, and a voltage-sensitive membrane and/or other force sensor, such as a strain gauge, may be coupled to the transducer flange (336) and used in cases where a measurement of the magnitude and/or direction of force is required without active attenuation capabilities. C. Piezoelectric element composed of multiple exemplifying parts
[0061] FIGURE 7 represents an exemplary multi-piece piezoelectric element (400) that can be incorporated into the aforementioned piezoelectric disc assemblies (250, 370). In the present example, the multi-part piezoelectric element (400) is constructed substantially in accordance with the piezoelectric disc assemblies (250, 370) described above, except that the multi-part piezoelectric element (400) is subdivided into four segments (410, 420, 430, 440). Each segment (410, 420, 430, 440) comprises a pair of electrodes and a piezoelectric element disposed between the pair of electrodes. Opposite segments (410, 430) of the present example comprise piezoelectric segments operable to control the vibration of a waveguide to contain transverse motion. The other opposing segments (420, 440) are configured to detect waveguide vibration. In this way, a single multi-piece piezoelectric element (400) can be used to detect waveguide vibrations and induce vibrations in the waveguide to contain transverse motion.
[0062] In some versions, the controller segments (410, 430) can be operated in unison to control or adjust the vibration of the waveguide. In other versions, the controller segments (410, 430) can be controlled at different time periods and/or speeds. Similarly, in some versions, the sensor segments (420, 440) can detect the vibrations of the waveguide at the same time, while in other versions, the sensor segments (420, 440) can alternate the detection of the vibrations. of the waveguide with individual operation. In another configuration, the segments (410, 420, 430, 440) can still alternate detection with vibration control. Such alternation of detection with vibration control can be carried out by individual segments in tandem or as a single group. It should be understood that dividing the segments (410, 420, 430, 440) into four segments is merely optional. In some versions, two or three segments can be used. In other versions, more than four segments can be used. For example, eight or sixteen segments can be designed in some versions. It should be understood that, in the present example, the segments (410, 420, 430, 440) are also operable to determine the magnitude and direction of force in relation to a surgical instrument such as surgical instruments (10, 50, 100) , when the segments (410, 420, 430, 440) are used to detect the vibrations of the waveguide or other component of the ultrasonic drive train. For example, the segments (410, 420, 430, 440) can determine the vector of a force applied to a blade resting on tissue. Obviously, other configurations for the multi-piece piezoelectric element (400) will still be apparent to those skilled in the art in view of the teachings contained herein. A merely exemplary alternative configuration for a multi-piece piezoelectric element (500) is shown in FIGURE 8, with a single continuous lower electrode (510), a piezoelectric disk (520) and a plurality of segmented upper electrodes (530).
[0063] In the aforementioned multi-part piezoelectric elements (400, 500), it should be understood that monitoring the voltage changes in the various segments (410, 420, 430, 440, 530) can be used to determine the force on the various surfaces of the blade, the position of force on the blade and/or the actions of the surgeon. It should further be understood that the transverse modes can excite a segment of the disk (410, 420, 430, 440, 530) or more along a direction transverse to the axis of the waveguide, and that the segment (410, 420, 430, 440, 530 that detect the transverse mode (and/or an additional segment or more) can be excited to actively attenuate the transverse mode. Piezoelectric discs can be manufactured in several different ways to provide segmented performance. For example, a homogeneous piezoelectric disk can include segmented electrode surfaces. The separation between electrode surfaces can be configured to prevent voltage interruptions at the highest intended operating voltage level. As another merely illustrative example, several separately formed pie-shaped segments may be arranged to touch each other or may be separated by air or a solid dielectric, etc. As yet another merely illustrative example, a piezoelectric actuator can be in the form of a tube or cylinder. The inner radial surfaces and the outer radial surfaces can include electrodes, and the piezoelectric actuator can be biased to respond longitudinally (perpendicular to the voltage gradient). In this form, the outer electrode can be segmented into strips in the longitudinal direction, and the center electrode (eg ground) can be continuous along the inner radius. Other suitable ways in which segmented element features can be arranged will be apparent to those skilled in the art in view of the teachings of the present invention. D. Dual Finger Based Directional Force Sensor Assembly
[0064] FIGURES 9 and 10 depict an exemplary alternative directional force sensor assembly comprising a cable assembly (600) with a ring of piezoresistive elements (612) and an end actuator (650) with a double finger (656 ) configured to secure the piezoresistive elements (612) when the end actuator (650) is coupled to the cable assembly (600) and a force is applied to the blade (not shown) of the end actuator (650). The cable assembly (600) of the present example comprises a jacket (602) and a transducer (620). The casing (602) of the present example is sized and configured to contain the transducer (620) and other components (not shown) within it. The liner (602) may be constructed of a durable plastic (such as polycarbonate or a liquid crystal polymer), ceramics and/or metals, or any other suitable material, as will be apparent to those skilled in the art in view of the teachings of the present invention. The jacket (602) includes a cable (606) that extends proximally and leads a plurality of wires (618, 626, 628) to a power source, such as a generator (40) described above. Of course, in some versions, the cable (606) can be omitted, and the power supply can be located inside the casing (602). The liner (602) also includes an open distal end (610) and a ring of piezoresistive elements (612) positioned in a ring around the interior of the open distal end (610), as best seen in FIGURE 10. The elements piezoresistives (612) will be described in more detail below. The jacket (602) may further be constructed in accordance with at least some of the teachings of the multi-piece cable assembly (60) described above.
[0065] Transducer (620) comprises a plurality of piezoelectric elements (622) with alternating electrodes (624) disposed between successive piezoelectric elements (622) to form a stack of piezoelectric elements. In the present example, alternating electrodes (624) are electrically coupled via wires (626, 628) so that a voltage is created across the plurality of piezoelectric elements (622) when a power source is coupled to the wires (626 , 628). Consequently, when the power supply is activated, a plurality of piezoelectric elements (622) convert electrical energy into ultrasonic vibrations. Such ultrasonic vibrations are transmitted distally to a waveguide (660) of the end actuator (650) when the waveguide (660) is threadably coupled to the transducer (620). At a proximal end of the stack of piezoelectric elements (622), there is a proximal resonator (630). A pin (632) is inserted through the annular openings (not shown) in the proximal resonator (630) and the stack of piezoelectric elements (622) and engages with the distal resonator (634). Thus, the pin (632), the proximal resonator (630), the stack of piezoelectric elements (622), and the electrodes (624) and the distal resonator (634) substantially form a transducer (620). A threaded portion (640) of a distal resonator (634) is configured to threadably couple to the waveguide (660) of the end actuator (650). The threaded portion (640) may be located at a knot, an anti-knot, and/or any other point along the distal resonator (634). The transducer (620) can be further constructed in accordance with at least some of the teachings on transducers (210, 320) and/or US patent application Serial No. 13/274,480 entitled "Surgical Instrument with Slip Ring Assembly to Power Ultrasonic Transducer," filed October 17, 2011, the disclosure of which is incorporated into the present invention by reference. Other configurations for the transducer (620) will still be apparent to those skilled in the art in view of the teachings of the present invention.
[0066] In the present example, each piezoresistive element (612) is coupled to a corresponding wire (618) which is further coupled to a voltage sensing device (not shown). In this way, if a piezoresistive element (612) receives a force, such as a finger (656) in contact with the piezoresistive element (612), the voltage detector device detects a change in the voltage of the corresponding piezoresistive element (612). Such a change in voltage can be used to indicate both the magnitude of force applied to the end actuator blade (650) and the direction of force based on which piezoresistive element(s) (612) indicates(s) a change in tension. Of course, other force sensing elements can be used in place of piezoresistive elements (612), such as conductive elastomers and/or gels, strain gauges, capacitive sensing elements, other resistive sensing elements and/or etc. It should be understood that a flexible ring may be positioned along an annular array of piezoresistive elements (612) or replacements thereof. Such a flexible ring can support at least in part the piezoresistive elements (612) or their replacements in an annular arrangement, it can elastically deform in response to pressure applied by the surgeon's hand, thus transmitting forces to the piezoresistive elements ( 612) or their replacements and/or may act as a seal, preventing the piezoresistive elements (612) or their replacements from being exposed to fluids, etc. In some other versions, as will be described in more detail below, a Hall Effect sensor can be used for an independent determination of force contact, based on the proximity of a finger (656) to the Hall Effect sensor. Of course, other configurations for the piezoresistive elements (612) will still be apparent to those skilled in the art in view of the teachings of the present invention.
[0067] End actuator (650) of the present example includes a waveguide (660) rotatably disposed within a casing (652). The waveguide (660) comprises an element configured to mate with the distal resonator (634) so as to transmit ultrasonic vibrations from the transducer (620) to a blade (not shown) or other feature coupled to a distal end of a waveguide (660). As shown in FIGURE 9, the waveguide (660) includes a proximal threaded recess (662) (shown in dashed line) configured to mate with the threaded portion (640) so as to mate the waveguide mechanically and harmonically ( 660) to the transducer (620). Of course, other coupling features for the waveguide (660) and/or the transducer (620) will be available to those skilled in the art in view of the teachings of the present invention. The casing (652) includes a pad (654) to support the waveguide (660) while allowing the waveguide (660) to rotate and vibrate relative to the casing (652). Of course, it should be understood that other swivel couplings can be designed, such as bearings, or that, in some versions, pads (654) can be omitted.
[0068] Lining (652) includes a double finger (656) at the proximal end of the lining (652). As discussed above, the dual fingers (656) are configured to contact piezoresistive elements (612) when force is applied to a blade or other feature of the end actuator (650). In the present example, the double fingers (656) comprise two crescent-shaped cantilever elements spaced 180 degrees apart, as best shown in FIGURE 10. Referring to FIGURE 10, when a force is applied horizontally, at least a finger (656) grips a piezoresistive element (612) or more. In this way, the voltage output of the corresponding piezoresistive elements (612) can be used to determine the direction (by changing the voltage of the piezoresistive element(s) (612)) and the magnitude (by means of change in tension) of force. If a force is applied vertically, relative to the example shown in FIGURE 10, the crescent shape of the fingers (656) contacts at least one of the piezoresistive elements (612) above or below the double finger (656). Thus, with a dual finger (656), the direction and magnitude of force can be determined for whatever direction the force has on the blade or other end actuator feature (650). Obviously, it is possible to use more than two fingers (656). For example, three fingers (656) can be spaced 120 degrees apart. Such fingers (656) can have any geometry, including simple rectangular elements. In some versions it is also possible to use a single finger (656) with concentric rings of piezoresistive elements (612), with an outer ring of piezoresistive elements (612) and an inner ring of piezoresistive elements (612). In this way, the single finger (656) will contact, in response to a force on the blade or other feature of the end actuator (650), always with a piezoresistive element (612), either on the inner ring, or on the outer ring . In still other versions, it is possible that the fingers (656) are not necessarily associated with the casing (652) of the end actuator (650), they may instead be associated with a separate feature of the end actuator (650) . Additionally or alternatively, the piezoresistive elements (612) may be associated with the end actuator (650), while the fingers (656) extend from the sheath (602) of the cable assembly (600). Other configurations for the end actuator (650) and/or the fingers (656) will still be apparent to those skilled in the art in view of the teachings of the present invention. E. Directional force sensor assembly in piezoelectric tape
[0069] FIGURES 11A to 13B depict an exemplary alternative surgical instrument (700) comprising a casing (702), a transducer (710) pivotally mounted within the casing (702), a waveguide (720) extending from the transducer (710), a blade (730) coupled to a distal end of the waveguide (720) and a directional force sensor assembly (750). With initial reference to FIGURES 11A and 11B, the casing (702) of the present example is sized and configured to contain a transducer (710), a controller (790), and other components (not shown) within it. The coating (702) can be constructed of a durable plastic (such as polycarbonate or a liquid crystal polymer), ceramics and/or metals, or any other suitable material, as will be apparent to those skilled in the art in view of the teachings of the present invention. In the present example, the power supply and associated wiring to the power transducer (710) and to control by the controller (790) have been omitted for clarity. In some versions, the jacket (702) may include a proximally extended cable (not shown) that leads a plurality of wires (not shown) to a power source, such as the generator (40) described above. Of course, in some versions, the cable can be omitted, and the power supply can be located inside the casing (702).
Coating (702) in the present example further comprises a transducer assembly (704) and a front node (706). The transducer assembly (704) is configured to hold the transducer (710) longitudinally within the casing (702) and at the same time allow the transducer (710) to rotate there. By way of example only, the transducer assembly (704) comprises a support feature in contact with a flange (712) on the transducer (710). The front node (706) comprises a pair of fulcrums that contact and support the waveguide (720) at the distal end of the sheath (702). Thus, the ultrasonic set formed by transducer (710), waveguide (720) and blade (730) is supported on two fixed points of the instrument (700).
[0071] Sheath (702) also includes an activation button (708). The enable button (708) is electrically coupled to a controller (790) and is operable to instruct the controller (790) to selectively activate the instrument (700) in response to use of the enable button (708) by a user. The activation button (708) may include a trigger, a capacitive touch sensor, a resistive touch sensor, an electromechanical button and/or any other activation button (708), as will be apparent to those skilled in the art in view of the teachings. of the present invention. The activation button (708) can be further constructed in accordance with at least some of the teachings of the activation feature (18) described in the present invention.
[0072] Transducer (710) of the present example comprises a stack of piezoelectric elements and alternating electrodes operable to vibrate the waveguide (720) when power is applied to the electrodes. The waveguide (720) extends distally from the transducer (710) and is mechanically coupled to the transducer (710) at a proximal end. The blade (730) is coupled to a distal end of the waveguide and is operable to cut and/or coagulate when the transducer (710) is active. In some versions, the blade (730) is attached to the waveguide (720) so that the rotational position of the blade (730) relative to the waveguide (720) is known. Such rotational position information can be used by a controller (790) when controlling the operation of the transducer (710), as will be described in the present invention. The transducer (710), the waveguide (720) and/or the blade (730) can be further constructed in accordance with at least some of the teachings on transducers (90, 210, 320, 620), waveguides (160 , 360, 660), blades (82, 152) and/or other equipment.
[0073] As noted above, the controller (790) is contained within the casing (702). The controller (790) is operable to control the power settings of a power source so as to control the output of the transducer (710) that is transmitted to the blade (730) via the waveguide (720). The controller (790) is electrically coupled to a directional force sensor assembly (750), as will be described in more detail below, and the activation button (708). In some versions, the controller (790) can be configured so that even if the activation button (708) is operated by a user, the transducer (710) is not activated before the directional forces sensor assembly (750) ) detects a force, although this is merely optional. The controller (790) can be further constructed in accordance with at least some of the teachings of the control module (12) described above.
[0074] Directional forces sensor assembly (750) of the present example comprises a plurality of piezoresistive strips (752) disposed along a potion of a waveguide (720). In the present example, the directional force sensor assembly (750) is situated at a midpoint between the front node (706) and the transducer assembly (704) so that the deflection of the waveguide (720) with respect to the longitudinal axis (780) will be maximum, although this is merely optional. In addition, the directional force sensor assembly (750) is also located at a node, or close to a node, or at a point where oscillatory vibrations in the waveguide (720) are minimal, to minimize acoustic energy absorbed by the sensor assembly (750). In some versions, the sensor assembly (750) is located adjacent to the node, asymmetrically covering a node. Alternatively, a sensor assembly (750) may be located at any other suitable point along a waveguide (720), as will be apparent to those skilled in the art in view of the teachings of the present invention. With brief reference to FIGURE 12, piezoresistive tapes (752) are arranged in an angled arrangement around the waveguide (720) and are tightly coupled to the waveguide (720). In the present example, seven piezoresistive tapes (752) are equidistantly disposed around the waveguide (720), although this is merely optional. In some versions, more than seven or fewer than seven piezoresistive tapes (752) may be used. By way of example only, the piezoresistive tapes (752) can be adhesively bonded and/or mechanically coupled to the waveguide (720). The piezoresistive tapes (752) comprise longitudinally elongated elements so that bending the waveguide (720), such as shown in FIGURES 11A and 11B and 13A and 13B, extends or compresses the piezoresistive tapes (752). Thus, such extension and/or compression generates a tension that can be measured by a tension detection device. In the present example, each piezoresistive tape (752) is electrically coupled to a controller (790) so that the voltage(s) generated by bending the waveguide (720) is transmitted to the controller. (790).
[0075] Controller (790) comprises a voltage detector circuit or more to determine changes in voltage of each piezoresistive strip (752). Thus, the controller (790) can be configured to use the location of the piezoresistive tape (752) and the voltage generated to determine the direction and magnitude of force applied to the blade (730). In some versions, the point where the blade (730) is attached to the waveguide (720) can be used as a reference point for determining the direction of force based on the location of the piezoresistive tape (752) that produces the tension. in relation to the predetermined pre-set portion. Of course, it should be understood that other force sensing elements may also be arranged around the waveguide (720). For example, a plurality of strain gauges can be mounted longitudinally on a waveguide (720). Other piezoresistive tape configurations (752) and/or directional force sensor assembly (750) will still be available to those skilled in the art in view of the teachings of the present invention.
[0076] Referring back to FIGURE 11A, the blade (730) and waveguide (720) are shown in a first, uninflected state. In this position, the piezoresistive tapes (752) are calibrated to not emit voltage. In some versions, when the transducer (710) is active, vibrations through the waveguide (720) can produce consistent small changes in voltage to the piezoresistive tapes (752), which the controller (790) can be calibrated for. to ignore. When a force is applied to the blade (730), as shown in FIGURE 11B by the arrow (770), the front node (706) and transducer assembly (704) provide two points between which the waveguide (720) flexes in the opposite direction of the force applied to the blade (730), as indicated by the arrow (772). A merely exemplary exaggerated version of such bending is shown in FIGURES 13A and 13B. When the waveguide (720) is in the second, flexed state, a piezoresistive tape (752) or more is compressed, while a piezoresistive tape (752) or more is extended. In this way, the controller (790) detects an increase in tension for some piezoresistive tapes (752) and a decrease in tension for other piezoresistive tapes (752). By identifying which piezoresistive tapes (752) were compressed the most and which piezoresistive tapes (752) were the most extended (eg, through the change in tensions), the controller (790) can determine from which direction around the blade ( 730) force was applied. Also, through pre-calibration, the change in tension can be used to determine the magnitude of force applied to the blade (730). Thus, using the directional force sensor assembly (750), the controller (790) is able to determine the direction and magnitude of the force applied to the blade (730). The controller (790) can then be configured to apply one or more power setting to control the output of the transducer (710), as will be described in more detail in the present invention. F. Non-Contact Directional Force Sensor Assembly
[0077] In some versions, it may be preferable to determine the direction and force applied to a blade (82, 152, 730) without making contact with the waveguide (160, 360, 660, 720). A merely exemplary non-contact directional force sensor set will be described below; it should be understood, however, that other examples will be apparent to those skilled in the art in view of the teachings of the present invention.
[0078] FIGURES 14 and 15 show an exemplary non-contact directional force sensor assembly (800) comprising a waveguide (810) disposed within a wrap (830). In the present example, the waveguide (810) comprises an elongated metallic element coupled to a transducer (not shown) at a proximal end and a blade (not shown) at a distal end. The waveguide (810) of the present example includes a transverse hole (812) configured to receive a pin-shaped magnet (820) therein. In the present example, the transverse hole (812) comprises a cylindrical hole, although other shapes and geometries are apparent to those skilled in the art in view of the teachings of the present invention. The magnet (820) and hole (812) are configured so that the magnet (820) is substantially centered around a longitudinal axis (818) of the waveguide (810) when the magnet (820) is inserted into the hole. (812). On some versions, a sticker or other feature can secure the magnet (820) in a hole (812), although this is merely optional. Additionally or alternatively, the magnet (820) may be overmolded with silicone to insulate the magnet (820) from the waveguide (810), although this is merely optional. In the present example, the magnet (820) is magnetized along the pin-shaped axis that is formed by the magnet (820). Furthermore, although the above description refers to the waveguide (810), it should be understood that the magnet (820) and orifice (812) may be located in a blade and/or a portion of a transducer , as will be apparent to those skilled in the art in view of the teachings of the present invention.
[0079] Wrap (830) includes a plurality of electrode loops (840) disposed in an angled arrangement on the wrap (830). The wrap (830) of the present example comprises a plastic element with electrode loops (840) overmolded on the inner surface of the wrap (830), although this is merely optional. In some versions, the electrode loops (840) can be overmolded to the outside of the wrap (830) and/or associated with the wrap (830) by other means (eg, securing with adhesives, mechanical couplings, etc.). The electrode loops (840) all comprise a wire or metallic component with a plurality of small lateral deviations (842) along a longitudinal length. In some variations, the electrode loops (840) are in the form of continuous coils along the diameter of the wrap (830). Such loops may be centered with reference to the location of the magnet (820) so that the pin-shaped shaft that is formed by the magnet (820) passes through the center of the electrode loops (840). Additionally or alternatively, the electrode loops (840) may be wrapped around the circumference of the wrap (830). Other suitable configurations for the electrode loops (840) and/or the wrap (830) will be apparent to those skilled in the art in view of the teachings of the present invention.
[0080] With reference to FIGURE 15, when a waveguide (810) is oscillating due to the control of oscillations by the transducer, the magnet (820) will be moved longitudinally back and forth along the axis (818) relative to the wrap (830). This oscillatory motion will result in the generation of a small current in the electrode loops (840) which can be measured by a controller and/or a control module such as the controller (790) and/or the control module (12). When the waveguide (810) is deflected, such as when a user presses a blade against tissue, the magnet (820) is brought close to one or more electrode loops (840). The increase in the magnetic field results in greater current induced in the corresponding electrode loops (840). Thus, the deflection orientation can be determined by observing which electrode loop(s) (840) present an increase and/or decrease in current, and the magnitude of the force causing the deflection can be determined based on the structural characteristics of the waveguide (810) and the magnitude of the increase in current. Thus, both the magnitude and direction of force applied to the blade coupled to the waveguide (810) can be determined without contacting the waveguide (810). The housing (830) can be operated in a resonant circuit sensitive to small changes in the effective inductance of the relative mechanical movement of the magnet (820) and housing (830) assembly. The circuit resonance would vary depending on the effective inductance. Of course, other non-contact directional force sensor assembly arrangements and/or configurations (800) will still be apparent to those skilled in the art in view of the teachings of the present invention. IV. Exemplary Attenuation Control
[0081] As noted above, in some cases it may be preferable to attenuate the ultrasonic drive train of an instrument (10, 50, 100, 700) or control the oscillatory motion in some other way. For example, if a transverse movement occurs in a waveguide (160, 360, 660, 720, 810) and/or another portion of the ultrasonic drive train of the surgical instrument (10, 50, 100, 700) as a result of the support of the blade against tissue during a surgical procedure, transverse movement may disturb or otherwise interfere with the oscillatory movement of the transducer (90, 210, 320, 620, 710). Also, in some cases, the transverse movement can induce an unstable vibration mode, thus possibly damaging the instrument (10, 50, 100, 700). Eliminating or reducing these transverse movements while using the surgical instrument (10, 50, 100, 700) can allow for greater manufacturing tolerances. Therefore, various methods for attenuating these transverse movements of the ultrasonic drive train will now be described, although other examples are available to those skilled in the art in view of the teachings of the present invention.
[0082] FIGURE 16 represents an exemplary voltage output sample (900) of the distal piezoelectric disk assembly (250) of FIGURE 5 when the transducer (210) is operating in a normal state. When a movement or transverse event is applied to an end actuator and/or waveguide, a disturbance (910) occurs in the oscillating waveform that causes the voltage output (900) to be unstable, as shown in FIGURE 17 Of course, it must be understood that the foregoing is merely exemplary.
[0083] FIGURE 18 represents a flowchart illustrating the steps that can be performed by a control module, such as the control module (12) and/or the controller (790), to correct the movement of the ultrasonic drive train in response to a cross event, like the one shown in FIGURE 17. In step (1000), an instrument such as the instruments (10, 50, 100, 700) is activated. In step (1010), one or more sensors of the instrument are monitored. By way of example only, the distal piezoelectric disk assemblies (250), the piezoelectric disk assembly (370), the multi-piece piezoelectric element (400) and/or the multi-piece piezoelectric element (500) can be monitored by the control module. In the present example, the monitoring performed in step (1010) comprises monitoring the voltage output (900) of one or more of the aforementioned sensors. In step (1020), the control module determines whether a cross event has been detected. Such a determination can be made by detecting whether the output voltage (900) has exceeded a predetermined threshold and/or whether the period of the oscillatory waveform has changed, as shown in FIGURE 17. If no transverse event is detected, the modulus of control returns to step (1010) to continue monitoring the sensors.
[0084] If a cross event is detected, the control module proceeds to step (1030), when an action is activated. An exemplary corrective action is shown in FIGURE 19, where the control module temporarily disables the transducer to allow oscillation to subside, and then reactivates the transducer to resume instrument operation. As shown in FIGURE 19, the voltage output (1100) is initially unstable due to a transverse event. In region (1110), the transducer is disabled. Vibrations give way across the region (1120). In region (1130), the transducer is reactivated to resume normal operation.
[0085] A second exemplary corrective action that can be implemented in step (1030) is shown in FIGURE 20, in which an active mitigation of the instability is performed. Just as an example, such active attenuation can be performed by distal piezoelectric disc assemblies (250), piezoelectric disc assembly (370), piezoelectric element composed of multiple pieces (400) and/or piezoelectric element composed of multiple pieces (500) , as described above. In the example shown in FIGURE 20, the direct voltage output (1100) corresponds to vibrations detected by one or more distal piezoelectric disc assemblies (250), piezoelectric disc assembly (370), multi-piece piezoelectric element (400) and /or piezoelectric element composed of multiple pieces (500) as described above and/or of one or more segments (410, 420, 430, 440, 530). The dashed voltage input (1190) corresponds to the voltage supplied to one or more distal piezoelectric disc assemblies (250), piezoelectric disc assembly (370), multi-piece piezoelectric element (400), multi-piece piezoelectric element (500) and/or by one or more segments (410, 420, 430, 440, 530) to actively mitigate a transverse event.
[0086] As shown in FIGURE 20, the voltage output (1100) initially indicates a transverse event at (1140). The control module then activates one or more sets of distal piezoelectric disks (250), piezoelectric disk set (370), piezoelectric element composed of multiple pieces (400), piezoelectric element composed of multiple pieces (500) and/or a or more segments (410, 420, 430, 440, 530), according to the voltage input (1190), to actively attenuate the instability indicated by the voltage output (1100). By way of example only, the active attenuation to produce voltage input (1190) may comprise activating the distal piezoelectric disc assemblies (250), piezoelectric disc assembly (370), multi-part piezoelectric element (400), element piezoelectric composed of multiple pieces (500) and/or of one or more segments (410, 420, 430, 440, 530) at the peak of the oscillating shape of the voltage output (1100) to contain the transverse event. In some versions, activation of the active attenuation features can be by short spikes of action, followed by the voltage output oscillating waveform detector (1100). The new voltage output reading (1100) can be used to modify the active attenuation performed and/or determine if the system has recovered the normal oscillatory waveform. For example, when the (1150) instability of the transverse event indicated by the voltage output (1100) has been controlled. Alternatively, activation of the active attenuation features can be done continuously once the transverse event is detected and can be turned off after a predetermined period and/or as soon as another sensor determines that the unstable waveform has ceased. Also, in some versions, the control module may include a predetermined limitation for the maximum input voltage (1190) that can be applied during active attenuation, although this is merely optional. Of course, other configurations for active attenuation will be apparent to those skilled in the art in view of the teachings of the present invention.
[0087] Again with reference to FIGURE 18, once the corrective actions described above have suppressed and/or substantially suppressed the transverse event, the control module can re-monitor the sensors in step (1010). In some versions, the optional step (1040) decrements a counter after performing each corrective action in step (1030). Just as an example, an instrument may be limited to the correction of 100 transverse events. When the countdown timer reaches zero, an indicator can be activated to notify the user that the instrument is operating outside of acceptable standards (eg, informing the user by activating a light, a beep, a vibration, etc.). In addition to or alternatively to notification, the control module may disable the transducer until the instrument is repaired or restored. If the counter did not go to zero in step (1040), then the control module returns to step (1010) to monitor the sensors again. Of course, other configurations and steps will be apparent to those skilled in the art in view of the teachings of the present invention. V. Control of sample power settings
[0088] In some versions it may be useful to adjust the power settings of an instrument (10, 50, 100, 700) based on how the user is using the instrument (10, 50, 100, 700). For example, for some users, the direction and magnitude of force applied to the blade (82, 152, 730) may be indicative of the type of energy usage and setting expected by the user. For example, if the user applies light pressure using a blade face (82, 152, 730), such as in the direction of the arrows (192, 194) shown in FIGURE 4, the user may then be planning to use the blade to coagulate the tissue. Alternatively, if the user applies more intense pressure using the top or bottom face of the blade (82, 152, 730) as in the direction of the arrows (196, 198) shown in FIG. 4, the user may then be planning to use the blade to cut the fabric. Therefore, with the use of one or more of the piezoelectric elements composed of multiple parts (400, 500), piezoresistive elements (612) and double fingers (656) and/or directional force sensor assemblies (750, 800) mentioned above to detect the magnitude and direction of force applied to the blade (82, 152, 730), a control module, such as the control module (12) and/or controller (790), can be used to control power settings for a transducer (90, 210, 320, 620, 710). From now on, some merely exemplary power settings control settings will be described, however, it should be understood that other settings for controlling the transducer power settings (90, 210, 320, 620, 710) will be patents to those skilled in the art in view of the teachings of the present invention.
[0089] FIGURE 21 represents a flowchart merely exemplifying the exemplary steps for controlling the energy settings of a transducer (90, 210, 320, 620, 710). The present example will be described with reference to the instrument (700) shown and described with reference to FIGURES 11A to 13B, although it should be understood that the following description is applicable to any other surgical instruments (10, 50, 100, 700) described in present invention, surgical instruments that incorporate one or more piezoelectric elements composed of multiple parts (400, 500), piezoresistive elements (612) and double fingers (656), and/or directional force sensor assemblies (750, 800), and /or any other surgical instrument, as will be apparent to those skilled in the art in view of the teachings of the present invention.
[0090] In step (1200), a single activation or power button (708) is initially activated by the user. As noted above, the activation button (708) may include a trigger, a capacitive touch sensor, a resistive touch sensor, an electromechanical button and/or any other activation button (708), as will be apparent to those skilled in the art in view of the teachings of the present invention. The use of a single activation button (708) can simplify the instrument (700) as the user does not need to switch between setting buttons for various energy levels, such as a maximum and minimum energy selector, while using the instrument ( 700), although this is merely optional. In the present example, operation of the enable button (708), alone, does not activate the transducer (710), although, in some versions, operation of the enable button (708) can start the transducer (710). In step (1210), the controller (790) monitors the directional forces sensor assembly (750). In step (1220), the controller (790) determines whether the force has been detected by the directional forces sensor assembly (750). For example, if the waveguide (720) deflects, as shown in FIGURES 11B and 13B, the piezoresistive tapes (752) deform and produce a change in tension. The controller (790) detects this change in tension and determines that a force is being applied to the blade (730) and proceeds to step (1230). If no force is detected on the blade (730), the controller (790) continues to monitor the directional forces sensor assembly (750) at step (1210), until a force is detected by the directional forces sensor assembly (750 ). In the present example, the transducer (710) is activated only after the activation button (708) is operated by the user and the controller (790) detects that a force is being applied to the blade (730), by means of a set of directional forces sensor (750), while the activation button (708) is pressed. Such a setting can provide a locking feature to reduce inadvertent activation. Of course, the operation set out above is merely optional.
[0091] In step (1230), the controller (790) uses the configuration of the directional force sensor assembly (750) to determine the magnitude and direction of the force applied to the blade (730). As described above, the piezoresistive tapes (752) are arranged around the waveguide (720) in an angular arrangement so that the direction of force applied to the blade (730) can be detected. By way of example only, as shown in FIGURE 11B, if a force is applied to the bottom of the blade (730), a corresponding piezoresistive tape (752) at the bottom of the waveguide (720) would be extended and/or a tape piezoresistive (752) at the top of the waveguide (720) would be compressed, thus producing a dissimilar change in tension, which indicates that a force is being applied to the bottom of the blade (730). Of course, it should be understood that the two piezoresistive tapes (752) can be used to average magnitude and direction measurements and/or to confirm that one piezoresistive tape (752) is not giving an erroneous voltage reading, although this is merely optional. On some versions, a single piezoresistive tape (752) can be used for each direction, although this is also optional. Additionally or alternatively, in versions where the transducer (710) may already be active, the use of two dissimilar voltage changes indicates flexing of the waveguide (720), whereas parallel and consistent changes in voltage may indicate normal operation of the active transducer (710), although this is merely optional. With the magnitude and direction of the force applied to the blade (730) determined, the controller (790) proceeds to determine the power setting for the transducer (710) in step (1240).
[0092] With quick reference to FIGURE 4, if the directional forces sensor assembly (750) indicates a force applied in the direction of the arrows (192, 194), the controller (790) determines a first predetermined power setting in step (1240). If the directional forces sensor assembly (750) indicates a force applied in the direction of the arrows (196, 198), the controller (790) determines a second predetermined power setting in step (1240). In some versions, the first and/or second power settings can be scaled up or down based on the magnitude of force applied to the blade (730). Additionally or alternatively, minimum and/or maximum values can be set for the first power setting and/or the second power setting so that a delimited range of power settings is available for the first power setting and/or the second power configuration. In some versions, the controller (790) may determine that a force is being applied in a direction other than the arrow directions (192, 194, 196, 198) and may apply an intermediate energy setting or other energy setting calculated based on in the direction relative to the arrows (192, 194, 196, 198) (eg, an energy setting between the first and second energy settings determined based on the angle of force applied to the blade (730)). Other energy settings and/or settings for determining energy settings will still be apparent to those skilled in the art in view of the teachings of the present invention.
[0093] With the power setting determined in step (1240), the controller (790) activates the transducer (710) in step (1250). In some versions, the transducer (1250) remains active at the power setting determined in step (1240) for a predetermined period of time. Additionally or alternatively, the transducer (710) is disabled when the directional force sensor assembly (750) fails to detect the application of a force to the blade (730). The controller (790) may further continue to monitor the sensors in step (1210) to detect additional changes in force magnitude and direction as measured by the directional forces sensor assembly (750). In this way, the controller (790) can be configured to continuously update and adjust power settings for the transducer (710) based on the magnitude and direction of force applied to the blade (730). Thus, a user can simply use the instrument (700) according to the expected directional force profiles so that the instrument (700) dynamically adjusts itself during use. Of course, other configurations will still be apparent to those skilled in the art in view of the teachings of the present invention.
[0094] For example, as shown in FIGURE 22, an alternative configuration merely exemplary of step (1240) for determining the power settings for the transducer (710) is represented. In the present example, an accelerometer is included in step (1300), in which the sensors are checked. Based on the magnitude of force detected by the directional force sensor assembly (750) and the speed of motion detected by the accelerometer, the controller (790) adjusts the power settings for the transducer (710) according to what it is. shown in steps (1310, 1320, 1330 and 1340). In step (1310), if rapid movement is indicated by the accelerometer, and a low force or pressure is indicated by the directional forces sensor assembly (750), the transducer (710) then has a high speed setting defined for the tissue dissection. If rapid movement is indicated by the accelerometer, and a high force or pressure is indicated by the directional force sensor set (750), the transducer (710) then has an average speed setting set to cut tissue or resistant vessels in step (1320). If a slow movement is indicated by the accelerometer, and a low force or pressure is indicated by the directional force sensor assembly (750), the transducer (710) then has a hemostasis setting defined for tissue coagulation in step ( 1330). If slow motion is indicated by the accelerometer, and high force or pressure is indicated by the directional forces sensor assembly (750), the transducer (710) then has a defined mean velocity setting for tissue dissection of resistant tissues or vessels in step (1340). The controller (790) may continue to check sensors at (1300) to update the power setting and/or may proceed according to the steps discussed with reference to FIGURE 21. Of course, the above configurations are merely exemplary, and so on. configurations will be apparent to those skilled in the art in view of the teachings of the present invention.
[0095] Although the above discussion has been presented with reference to the instrument (700), it should be understood that any of the configurations described above are applicable to any other surgical instruments (10, 50, 100, 700) described in the present invention, the surgical instruments incorporating one or more piezoelectric elements composed of multiple parts (400, 500), piezoresistive elements (612) and double fingers (656), and/or directional force sensor assemblies (750, 800), and/or any other surgical instrument, as will be apparent to those skilled in the art in view of the teachings of the present invention. SAW. Control with response for the exemplary user
[0096] In addition to or alternatively to the aforementioned power setting control, it may be preferable, in some versions, to provide user responses to indicate if instrument usage (10, 50, 150, 700) is within a range predetermined and/or optimal for the target task (eg, cutting, coagulating, etc.). Such a response can increase the user's effectiveness with the instrument (10, 50, 150, 700) and/or can reduce the learning curve required to use the instrument (10, 50, 150, 700) in the range(s) ) excellent. As with the above description, although the following example is described with reference to the instrument (700) shown and described with reference to FIGURES 11A to 13B, it should be understood that the following description is applicable to any other surgical instruments (10, 50, 100, 700) described in the present invention, to surgical instruments that incorporate one or more of the piezoelectric elements composed of multiple pieces (400, 500), piezoresistive elements (612) and double fingers (656), and/or sensor assemblies directional forces (750, 800), and/or any other surgical instrument, as will be apparent to those skilled in the art in view of the teachings of the present invention.
[0097] FIGURE 23 consists of an exemplary flowchart that represents a plurality of steps for the emission of sound responses to the user based on their performance with the surgical instrument, such as the surgical instrument (700). An initial step (1400) of determining the procedure may consist of loading procedure configuration data from a storage device such as the module (182) described above and/or the module (590) described in the US patent application. serial no. [attorney document no. END7088USNP.0590486], entitled "Surgical Instrument with Orientation Sensing", filed on the same date as the present application, the description of which is incorporated into the present invention by reference. Certainly, other sources for determining the procedure will be open to those skilled in the technique, in view of the teachings contained herein. By way of example only, procedure determination may comprise the use of a predetermined modular end actuator with a surgical instrument configured for a specific procedure such that the procedure configuration data is communicated to the control module and/or the controller, such as the control module (12) and/or the controller (790), of the surgical instrument (700). Additionally or alternatively, such procedural determination may be made by selecting procedure configuration data by the user through a user interface, such as that disclosed in US patent application serial no. [attorney document no. END7088USNP.0590486], entitled "Surgical Instrument with Orientation Sensing", filed on the same date as this application; by selecting the user through a generator such as the generator (40); and/or otherwise. The procedure configuration data may comprise a range of forces that corresponds to the range of forces that can be applied to the blade (730) of the instrument (700) during the given procedure, as will be described in more detail below. For example, a first range of forces associated with a first procedure may correspond to a thoracic procedure, whereas a second set of forces associated with a second procedure may correspond to a generic surgical procedure. Further data can be further loaded and/or used otherwise from step 1400 of determining the procedure to be performed, as will be apparent to those skilled in the art in view of the teachings of the present invention. Obviously, the above exposition is merely optional and can be omitted entirely.
[0098] In step (1410), a single activation or power button (708) is initially activated by the user. As noted above, the activation button (708) may include a trigger, a capacitive touch sensor, a resistive touch sensor, an electromechanical button and/or any other activation button (708), as will be apparent to those skilled in the art in view of the teachings of the present invention. The use of a single activation button (708) can simplify the instrument (700) as the user does not need to switch between setting buttons for various energy levels, such as a maximum and minimum energy selector, while using the instrument ( 700), although this is merely optional. In step (1420), the controller (790) monitors the directional forces sensor assembly (750). As described in the present invention, the controller (790) can be operated to determine the magnitude and direction of force applied to the blade (730). In step (1430), the controller (790) compares the force magnitude of the directional forces sensor assembly (750) with a predetermined setting or range, such as that loaded during the optional step (1400), and/or with a range default accessed by the controller (790) (eg, on a storage device electrically coupled to the controller (790)). Such predetermined range can correspond to an optimal range of forces for the procedure determined during the step (1400); to a predetermined range based on the power setting applied to the transducer (710), as determined above in step (1240) of FIGURE 21; and/or any other predetermined range, as will be apparent to those skilled in the art in view of the teachings of the present invention. By way of example only, a merely exemplary range of forces is shown in the graphical representation of FIGURE 24 as a band (1550).
[0099] In step (1440), the controller (790) determines whether the magnitude of force applied to the blade (730) is outside the predetermined range of step (1430). As shown in FIGURE 24, the line (1500) corresponds to the magnitude of the force output from the directional forces sensor array (750). When the line (1500) remains at the edge of the band (1550), the force applied to the blade (730) is within the predetermined range of step (1430). Accordingly, in step 1450 of FIGURE 23, a speaker or other audio generating device emits or maintains a predetermined audible signal. By way of example only, such an audible signal may comprise a periodic click or beep, as indicated by the dots in the regions (1630, 1650) of FIGURE 24. Of course, other indicators may also be used, such as a visual dot indicator and/or a lineage (1500), shown in FIGURE 24, a plurality of LEDs, tactile vibrations, and/or any other indicator, as will be apparent to those skilled in the art in view of the teachings of the present invention.
[00100] If the controller (790) determines, in step (1440), that the detected magnitude of force applied to the blade (730) is higher than the maximum of the predetermined range, the speaker or other audio generating device will make the beep less frequent in step (1460). As shown in FIGURE 24, when the line (1500) exceeds the range (1550) in the regions (1520, 1540), the force applied to the blade (730) is too high relative to the predetermined range of step (1430). The corresponding sound signal of the present example comprises a click or beep with decreasing frequency, as indicated by the dots in the regions (1610, 1640) of FIGURE 24. By way of example only, such a decrease in the frequency of the sound signal may produce a sound similar to of a chainsaw losing power. Of course, other indicators can also be used, such as the visual dot and/or line indicator (1500) of FIGURE 24; a decrease in intensity, blinking and/or number of lit LEDs; a reduced number of tactile vibrations; and/or any other indicator, as will be apparent to those skilled in the art in view of the teachings of the present invention.
[00101] If the controller (790) determines, in step (1440), that the detected magnitude of force applied to the blade (730) is lower than the maximum of the predetermined range, the speaker or other audio generating device will make the beep more frequent in step (1470). As shown in FIGURE 24, when the line (1500) is below the band (1550) in the region (1530), the force applied to the blade (730) is too low relative to the predetermined range of step (1430). The corresponding sound signal of the present example comprises an increasing frequency click or beep, as indicated by the dots in the region (1620) of FIGURE 24. By way of example only, such an increasing frequency sound signal may produce a wheel-like sound -free and/or other very high-pitched noise. Of course, other indicators can also be used, such as the visual dot and/or line indicator (1500) of FIGURE 24; an increase in intensity, blinking and/or number of lit LEDs; an increased number of tactile vibrations; and/or any other indicator, as will be apparent to those skilled in the art in view of the teachings of the present invention.
[00102] When the controller (790) determines the force and adjusts and/or maintains the audible signal according to steps (1450, 1460, 1470), the controller (790) returns to monitoring the sensors in step (1420). In this way, the controller can then be operated to adjust the beep or other indicator in response to subsequent use by the user. In this way, the response allows the user to adjust the force exerted on the blade (730) to operate the instrument (700) within the limits of a predetermined range and/or band (1550). A user can adapt a more effective use of the instrument (700) using the answer in this description. Furthermore, in combination with the configuration described with reference to FIGURE 21 and/or any other suitable configuration, as will be apparent to those skilled in the art in view of the teachings of the present invention, the response of the present configuration of FIGURE 23 can be used. to assist the user in reacting to changes in the fabric (eg different densities, thicknesses, compositions, etc.). Of course, other configurations will still be apparent to those skilled in the art in view of the teachings of the present invention. VII. Mixtures
[00103] As noted above, a storage device can be used to store operating parameters, other data and/or control algorithms, etc. associated with the various types of surgical instruments mentioned in the present invention. Such information may be preloaded and/or updated later; and can determine the performance characteristics of the surgical instrument. For example, software/firmware/information in the storage device can influence the distribution of power from a generator or other power source, which in turn can affect end actuator performance as determined by the power supply. In some systems, the generator, power supply, control module and/or other components provide basic functionality for the surgical instrument, while software/firmware/information in the storage device provides enhanced functionality (p . eg, active attenuation, recognition of surgeon gestures, improved user responses, etc.). It should be understood that a storage device can have any suitable shape, including, but not limited to, an integrated circuit, card, or other type of storage medium, as will be apparent to those skilled in the art in view of the teachings of the present invention. It should also be understood that the storage device can be located in any suitable location within the system. By way of example only, the storage device may be situated on a removable cartridge, such as the various removable cartridges described in US Patent Application Serial No. 13/426,760 entitled "Method and Apparatus for Programming Modular Surgical Instrument," filed on March 22, 2012, which description is incorporated into the present invention by reference, which description is incorporated into the present invention by reference. As yet another merely illustrative example, the storage device may be incorporated in a remote virtual server that is in communication with the surgical instrument and/or generator, etc., like that of the system described in US patent application serial no. 13/426,792 entitled "Surgical Instrument Usage Data Management", filed March 22, 2012, the description of which is incorporated into the present invention by reference, the description of which is incorporated into the present invention by reference. And also as another merely illustrative example, the storage device may be included as an integrated component or a removable component of the end actuator, rod, handle, handle and/or other part of the surgical instrument. Various other suitable locations for the storage device will be apparent to those skilled in the art in view of the teachings of the present invention. It should also be understood that the storage device can store data about surgeon usage, patient data, and/or other types of data as described in the present invention, so that the storage device can receive additional data during use of the surgical instrument.
[00104] In some versions, a manufacturer or vendor of the surgical instruments makes the surgical instrument available as a single-use instrument, with the appropriate software/firmware/information preloaded on the storage device for single use. In such versions, the software/firmware/information cannot be accessed or operated after the surgical instrument has been used a predetermined number of times. For example, if the instrument is designed for a specific number of uses, the software/firmware/information can be at least partially deleted or disabled at some point after the predefined lifetime in the design has passed. In cases where the manufacturer or other involved chooses to reprocess/re-sterilize the device beyond the pre-defined project life, it is possible that the reprocessed/re-sterilized surgical instrument is at least partially operable, but with reduced functionality. For example, a surgeon may still be able to use the reprocessed/re-sterilized surgical instrument properly, but the instrument may not have improved functionality (eg, active attenuation, recognition of surgeon gestures, improved user response, etc.). ) that was originally made available through the software/firmware/information stored on the storage device. In some versions, the storage device allows the manufacturer or vendor to segment the instrument's performance according to the customer's functional needs. If the customer only needs limited functionality to perform specific surgeries, such as cholecystectomy, then the storage device will be loaded with the appropriate software/firmware/information. If the customer needs the enhanced performance for difficult surgeries, or to expand the device's potential operational performance if the surgery proves more difficult than expected, the storage device can be properly charged. In either case, some versions may allow the manufacturer or vendor to adjust the functionality of the surgical instrument to meet a customer's needs using the customer-defined functionality available in the software/firmware/information on the storage device and the meet a different set of customer-defined needs without enhanced functionality.
[00105] Finally, it should be understood that the software/firmware/information in the storage device as described in the present invention need not necessarily be influenced by any type of sensor in the surgical instrument. For example, the surgical instrument may simply lack sensors, or the storage device may not be communicating with the sensors.
[00106] It should be understood that any one or more of the teachings, expressions, modalities, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, modalities, examples, etc. which are described here. Therefore, the teachings, expressions, modalities, examples, etc. described above should not be viewed in isolation from one another. Various suitable ways in which the teachings of the present invention may be combined will be readily apparent to those skilled in the art in view of the teachings of the present invention. These modifications and variations are intended to be included within the scope of the appended claims.
[00107] Versions of the devices described above may have application in conventional medical treatments and procedures conducted by a medical professional, as well as application in robotic-assisted medical treatments and procedures. By way of example only, various teachings of the present invention can be readily incorporated into robotic surgical systems such as the DAVINCI™ system from Intuitive Surgical, Inc., of Sunnyvale, CA, USA.
[00108] The versions described above can be designed to be discarded after a single use, or they can be designed to be used multiple times. Versions can, in either or both cases, be reconditioned for reuse after at least one use. Reconditioning can include any combination of steps of disassembling the device, followed by cleaning or replacing particular parts, and subsequent reassembly. In particular, some versions of the device can be disassembled, in any number of particular parts or parts of the device can be selectively replaced or removed in any combination. With cleaning and/or replacement of particular parts, some versions of the device can be reassembled for subsequent use in a reconditioning facility, or by a user immediately prior to a surgical procedure. Those of skill in the art will understand that reconditioning a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. The use of such techniques, and the resulting refurbished device, are all within the scope of this order.
[00109] Just as an example, the versions described here can be sterilized before and/or after a procedure. In a sterilization technique, the device is placed in a closed, sealed container such as a plastic or TYVEK bag. The container and device can then be placed in a radiation field, such as gamma radiation, X-rays or high energy electrons, which can penetrate the container. Radiation can kill bacteria in the device and container. The sterilized device can then be stored in a sterile container for later use. The device may also be sterilized using any other known technique, including, but not limited to, beta or gamma radiation, ethylene oxide, or water vapor.
[00110] In view of the presentation and description of various versions in the present disclosure, further adaptations of the methods and systems described in this document can be made through suitable modifications made by an expert in the art, without departing from the scope of the present invention. Several of these possible modifications have been mentioned, and others will be evident to those skilled in the art. For example, the examples, versions, geometry, materials, dimensions, proportions, steps and the like discussed above are illustrative only and are not required. Accordingly, the scope of the present invention is to be considered in accordance with the terms of the following claims and it is understood that it is not limited to the details of structure and operation shown and described in the specification and drawings.

权利要求:
Claims (8)
[0001]
1. Apparatus, characterized in that it comprises: (a) a body assembly (600) comprising: i. a power component (620), wherein the power component is operable in a plurality of power configurations, and ii. a control module; and iii. a sheath (602) (b) a directional force sensor assembly, wherein the directional force sensor assembly is associated with the power component, wherein the directional force sensor assembly is communicatively coupled to the control module, at that the directional force sensor assembly comprises a piezoresistive element (612), and wherein the piezoresistive element is disposed in the casing; and (c) an end actuator (650), wherein the end actuator is releasably coupled to the power member and the casing, and wherein the end actuator comprises a finger (656) operable to compress the piezo element. - Systemic in response to a force applied to the end actuator; wherein the directional force sensor assembly is operable to detect a force applied to the end actuator relative to the body assembly, wherein the control module is configured to operate the power component in a first power setting in response to the output of the directional force sensor assembly to detect a first force.
[0002]
2. Apparatus, characterized in that it comprises: (a) a body assembly (600) comprising: i. a power component (620), wherein the power component is operable in a plurality of power configurations, and ii. a control module; and iii. a sheath (602) (b) a directional force sensor assembly, wherein the directional force sensor assembly is associated with the power component, wherein the directional force sensor assembly is communicatively coupled to the control module , wherein the directional force sensor assembly comprises a piezoresistive element (612); and (c) an end actuator (650), wherein the end actuator is detachably coupled to the power component and the casing, and wherein the piezoresistive element is disposed in the end actuator and the casing comprising a finger (656) operable to compress the piezoresistive element in response to a force applied to the end actuator; wherein the directional force sensor assembly is operable to detect a force applied to the end actuator relative to the body assembly, wherein the control module is configured to operate the power component in a first power setting in response to the output of the directional force sensor assembly that senses a first force.
[0003]
3. Apparatus according to claim 1 or claim 2, characterized in that the first power setting is a no power state.
[0004]
4. Apparatus according to claim 1 or claim 2, characterized in that the power component comprises an ultrasonic transducer.
[0005]
5. Apparatus according to claim 1 or claim 2, characterized in that the end actuator comprises an RF electrode.
[0006]
6. Apparatus according to claim 1 or claim 2, characterized in that the end actuator comprises a clamp actuator assembly.
[0007]
7. Apparatus according to claim 1 or claim 2, characterized in that the control module is configured to operate the power component at a second power setting in response to the output of the directional force sensor assembly when detecting a second force.
[0008]
8. Apparatus according to claim 1 or claim 2, characterized in that it further comprises a user-operable activation feature, wherein the control module is operable to operate the power component in a first configuration of energy in response to the output of the directional forces sensor assembly upon sensing a first force and operation of the activation feature by the user.

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法律状态:
2018-03-27| B15K| Others concerning applications: alteration of classification|Ipc: A61B 17/32 (2006.01), A61B 18/14 (2006.01), A61B 1 |

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2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-12-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-05-25| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-07-27| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 24/05/2013, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US13/484,563|US9681884B2|2012-05-31|2012-05-31|Surgical instrument with stress sensor|

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US13/484,563|2012-05-31|

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PCT/US2013/042668|WO2013181099A2|2012-05-31|2013-05-24|Surgical instrument with stress sensor|

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