Source: http://www.google.fr/patents/US9713473
Timestamp: 2018-01-22 22:45:45
Document Index: 727121544

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 201410133489']

Brevet US9713473 - Active braking electrical surgical instrument and method for braking such an ... - Google Brevets
A surgical instrument includes an end effector, an actuator coupled to the end effector and actuating it, a handle coupled to the end effector and having an electric motor disposed therein actuating the actuator when supplied with power, and a post-termination braking circuit including a power supply...http://www.google.fr/patents/US9713473?utm_source=gb-gplus-shareBrevet US9713473 - Active braking electrical surgical instrument and method for braking such an instrument
Numéro de publication US9713473 B2
Numéro de demande US 13/863,978
Autre référence de publication US8028885, US8038046, US8286846, US8292157, US8573459, US8573462, US8827138, US8844791, US9622744, US9675348, US9681873, US9687234, US9757127, US20070270784, US20070270790, US20070270884, US20080245841, US20080251569, US20100258611, US20120022523, US20130015232, US20130020373, US20130126580, US20130221061, US20130248581, US20130256370, US20130284789, US20140371768, US20160374664, US20170000480, US20170027561, US20170027563, US20170128064, US20170196567, US20170238933
Numéro de publication 13863978, 863978, US 9713473 B2, US 9713473B2, US-B2-9713473, US9713473 B2, US9713473B2
Inventeurs Kevin W. Smith, Thomas O. Bales, Jr., Derek Dee Deville, Carlos Rivera, Matthew A. Palmer
Citations de brevets (297), Citations hors brevets (68), Classifications (25), Événements juridiques (2)
Active braking electrical surgical instrument and method for braking such an instrument
US 9713473 B2
A surgical instrument includes an end effector, an actuator coupled to the end effector and actuating it, a handle coupled to the end effector and having an electric motor disposed therein actuating the actuator when supplied with power, and a post-termination braking circuit including a power supply switch at the handle. The switch has a break-before-make configuration, a power-supplying state in which power is supplied to the motor, and a power-removed state in which power is not supplied to the motor. The braking circuit short-circuits power to the motor when the switch is in the power-removed state. A method for post-termination braking of the motor utilizes the permanent magnetic field to counteract inertia-induced over-stroke of the motor, drive train, and/or actuation assembly after powered operation by short-circuiting the still-spinning motor to create an electrically generated magnetic field in opposition to the permanent magnetic field upon ceasing supply of power.
at least one actuator mechanically coupled to the end effector for actuating the end effector;
mechanically coupled to the end effector; and
having an electric motor disposed therein and operable to actuate the at least one actuator when the motor is supplied with power;
a post-termination braking circuit including a power supply switch at the handle, the power supply switch having:
a break-before-make switch configuration;
a power-supplying state in which power is supplied to the motor; and
a power-removed state in which power is not supplied to the motor,
the post-termination braking circuit operable to short-circuit the power supplied to the motor when the power supply switch is in the power-removed state.
2. The surgical instrument according to claim 1, wherein the electric motor includes:
power terminals at which the motor is supplied with power; and
a drive train operatively coupled to the at least one actuator to actuate the at least one actuator when the motor is supplied with power,
wherein the post-termination braking circuit is operable to short-circuit the power terminals of the motor when the power supply switch is in the power-removed state.
3. The surgical instrument according to claim 2, wherein the drive train has a rotational inertia when operating;
a rotational inertia when spinning; and
a permanent magnetic field; and
the post-termination braking circuit is operable to create an electrically-generated magnetic field in opposition to the permanent magnetic field with the rotational inertia of at least one of the drive train and the motor when short-circuiting the power terminals.
4. The surgical instrument according to claim 1, wherein the handle further includes a power supply disposed therein and electrically connected to the motor through the post-termination braking circuit.
5. The surgical instrument according to claim 4, wherein the power supply is a removable battery pack.
6. The surgical instrument according to claim 1, wherein the power supply switch is a three-position switch including:
a forward position in which the three-position switch is in the power-supplying state and is configured to cause the motor to rotate in a forward direction;
a reverse position in which the three-position switch is in the power-supplying state and is configured to cause the motor to rotate in a reverse direction; and
an off position in which the three-position switch is in the power-removed state and the motor is caused to prevent rotation at the motor.
7. The surgical instrument according to claim 1, wherein the power supply switch is a double-pole, double throw switch.
8. The surgical instrument according to claim 1, wherein the end effector, the handle, the motor, the power supply switch, and the post-termination braking circuit are all operable with only a single hand.
9. A method for post-termination braking of an electrical motor in an electrically powered surgical instrument, which comprises:
coupling a surgical end effector to a handle,
the end effector having at least one actuator to effect a surgical procedure, and
the handle having an electric motor disposed therein;
mechanically coupling the motor to the at least one actuator;
actuating the at least one actuator by selectively supplying the motor with power with a break-before-make power supply switch of a post-termination braking circuit, the power supply switch having an off state that ceases supply of power to the motor; and
upon ceasing supply of power to the motor, short-circuiting power terminals of the still-spinning motor with the off state of the power supply switch.
the step of mechanically coupling the motor to the at least one actuator is carried out by mechanically coupling a drive train of the motor to the at least one actuator;
the motor has a permanent magnetic field;
at least one of the motor, the drive train, and the at least one actuator has an inertia-induced over-stroke characteristic after powered operation; and
the step of short-circuiting the power terminals of the motor creates an electrically generated magnetic field in opposition to the permanent magnetic field.
11. The method according to claim 10, further comprising counteracting the inertia-induced over-stroke of at least one of the motor, the drive train, and the at least one actuator with the short-circuit.
12. The method according to claim 10, further comprising carrying out the short-circuiting step to slow the still-spinning motor at a rate that substantially eliminates the inertia-induced over-stroke of at least one of the motor, the drive train, and the at least one actuator.
13. The method according to claim 10, further comprising providing a power supply within the handle and electrically connecting the power supply to the motor.
14. The method according to claim 13, wherein the power supply is a removable battery pack.
15. The method according to claim 13, further comprising carrying out the short-circuiting step without short-circuiting the power supply.
providing a power supply within the handle and electrically connecting the power supply to the motor; and
carrying out the short-circuiting step without short-circuiting the power supply.
17. The method according to claim 10, wherein the break-before-make power supply switch is a double-pole, double throw switch.
is a continuation of U.S. patent application Ser. No. 11/705,334, filed on Feb. 12, 2007, now U.S. Pat. No. 8,573,462, issued on Nov. 5, 2013, which:
claims priority to U.S. Provisional Patent Application No. 60/801,989, filed on May 19, 2006;
claims priority to U.S. Provisional Patent Application No. 60/810,272, filed on Jun. 2, 2006; and
claims priority to U.S. Provisional Patent Application No. 60/858,112, filed on Nov. 9, 2006;
is a continuation of U.S. patent application Ser. No. 12/102,181, filed on Apr. 14, 2008, now U.S. Pat. No. 8,573,459, issued on Nov. 5, 2013, which:
claims priority to U.S. Provisional Patent Application No. 60/977,489, filed on Oct. 4, 2007;
is a continuation of U.S. patent application Ser. No. 11/705,246, filed on Feb. 12, 2007, now U.S. Pat. No. 8,028,885, issued on Oct. 4, 2011;
is a continuation of U.S. patent application Ser. No. 11/705,334, filed on Feb. 12, 2007, now U.S. Pat. No. 8,573,462, issued on Nov. 5, 2013; and
is a continuation of U.S. patent application Ser. No. 11/705,381, filed on Feb. 12, 2007, now U.S. Pat. No. 8,038,046, issued on Oct. 18, 2011;
is a continuation of U.S. patent application Ser. No. 12/612,525, filed on Nov. 4, 2009, now U.S. Pat. No. 8,627,993, issued on Jan. 14, 2014, which:
is a continuation of U.S. patent application Ser. No. 12/270,518, filed on Nov. 13, 2008, now U.S. Pat. No. 7,714,239, issued on May 11, 2010, which is:
a continuation of U.S. patent application Ser. No. 11/750,622, filed on May 18, 2007, now U.S. Pat. No. 7,479,608, issued on Jan. 20, 2009;
is a divisional of U.S. patent application Ser. No. 11/971,998, filed on Jan. 10, 2008, now U.S. Pat. No. 8,679,154, issued on Mar. 25, 2014;
is a continuation of U.S. patent application Ser. No. 12/102,464, filed on Apr. 14, 2008, now U.S. Pat. No. 8,286,846, issued on Oct. 16, 2012;
is a continuation of U.S. patent application Ser. No. 12/102,181, filed on Apr. 14, 2008, now U.S. Pat. No. 8,573,459, issued on Nov. 5, 2013;
is a continuation of U.S. patent application Ser. No. 12/034,320, filed on Feb. 20, 2008, now U.S. Pat. No. 8,627,995, issued on Jan. 14, 2014, which:
claims priority to U.S. Patent Provisional Application No. 60/902,534, filed on Feb. 21, 2007;
is a continuation of U.S. patent application Ser. No. 12/793,962, filed on Jun. 4, 2010, which:
is a continuation of U.S. patent application Ser. No. 11/705,334, filed on Feb. 12, 2007, now U.S. Pat. No. 8,573,462, issued on Nov. 5, 2013;
is a continuation of U.S. patent application Ser. No. 12/102,464, filed on Apr. 14, 2008, now U.S. Pat. No. 8,286,846, issued on Oct. 16, 2012; and
is a continuation of U.S. patent application Ser. No. 12/612,525, filed on Nov. 4, 2009, now U.S. Pat. No. 8,627,993, issued on Jan. 14, 2014;
is a continuation of U.S. patent application Ser. No. 13/611,881, filed on Sep. 12, 2012, now U.S. Pat. No. 8,827,138, issued on Sep. 9, 2014, which:
is a continuation of U.S. patent application Ser. No. 13/229,076, filed on Sep. 9, 2011, now U.S. Pat. No. 8,292,157, issued on Oct. 23, 2012;
is a continuation of U.S. patent application Ser. No. 12/793,962, filed on Jun. 4, 2010;
is a continuation of U.S. patent application Ser. No. 12/612,525, filed on Nov. 4, 2009, now U.S. Pat. No. 8,627,993, issued on Jan. 14, 2014: and
is a continuation-in-part of U.S. patent application Ser. No. 12/728,471, filed on Mar. 22, 2010, now U.S. Pat. No. 8,269,121, issued on Sep. 18, 2012, which:
is a continuation of U.S. patent application Ser. No. 12/270,518, filed on Nov. 13, 2008, now U.S. Pat. No. 7,714,239, issued on May 11, 2010, which:
is a continuation of U.S. patent application Ser. No.
11/750,622, filed on May 18, 2007, now U.S. Pat. No. 7,479,608, issued on Jan. 20, 2009;
is a continuation of U.S. patent application Ser. No. 13/622,819, filed on Sep. 19, 2012, which:
is a continuation of U.S. patent application Ser. No. 13/229,076, filed on Sep. 9, 2011, now U.S. Pat. No. 8,292,157, issued on Oct. 23, 2012 which:
is a continuation of U.S. patent application Ser. No. 12/612,525, filed on Nov. 4, 2009, now U.S. Pat. No. 8,627,993, issued on Jan. 14, 2014; and
is a continuation-in-part of U.S. patent application Ser. No. 13/571,159, filed on Aug. 9, 2012, now U.S. Pat. No. 8,592,700, issued on Nov. 26, 2013, which:
is a continuation of U.S. patent application Ser. No. 12/728,471, filed on Mar. 22, 2010, now U.S. Pat. No. 8,269,121, issued on Sep. 18, 2012, which:
is a continuation of U.S. patent application Ser. No. 11/750,622, filed on May 18, 2007, now U.S. Pat. No. 7,479,608, issued on Jan. 20, 2009;
is a continuation of U.S. patent application Ser. No. 11/750,622, filed on May 18, 2007, now U.S. Pat. No. 7,479,608, issued on Jan. 20, 2009, which:
claims priority to U.S. Provisional Patent Application No. 60/810,272, filed on Jun. 2, 2006;
claims priority to U.S. Provisional Patent Application No. 60/858,112, filed on Nov. 9, 2006; and
claims priority to U.S. Provisional Patent Application No. 60/902,534, filed on Feb. 21, 2007;
is a continuation of U.S. patent application Ser. No. 11/705,334, filed on Feb. 12, 2007, now U.S. Pat. No. 8,573,462, issued on Nov. 5, 2013,
Medical stapling devices exist in the art. Ethicon Endo-Surgery, Inc. (a Johnson & Johnson company; hereinafter “Ethicon”) manufactures and sells such stapling devices. Circular stapling devices manufactured by Ethicon are referred to under the trade names PROXIMATE® PPH, CDH and ILS and linear staplers are manufactured by Ethicon under the trade names CONTOUR and PROXIMATE. In each of these exemplary surgical staplers, tissue is compressed between a staple cartridge and an anvil and, when the staples are ejected, the compressed tissue is also cut. Depending upon the particular tissue engaged by the physician, the tissue can be compressed too little (where blood color is still visibly present in the tissue), too much (where tissue is crushed), or correctly (where the liquid is removed from the tissue, referred to as dessicating or blanching.)
With the foregoing and other objects in view, there is provided, in accordance with the invention, a surgical instrument comprising a surgical end effector, at least one actuator mechanically coupled to the end effector for actuating the end effector, a handle mechanically coupled to the end effector and having an electric motor disposed therein and operable to actuate the at least one actuator when the motor is supplied with power, and a post-termination braking circuit including a power supply switch at the handle. The power supply switch has a break-before-make switch configuration, a power-supplying state in which power is supplied to the motor, and a power-removed state in which power is not supplied to the motor. The post-termination braking circuit is operable to short-circuit the power supplied to the motor when the power supply switch is in the power-removed state.
With the objects of the invention in view, the electric motor includes power terminals at which the motor is supplied with power, and a drive train operatively coupled to the at least one actuator to actuate the at least one actuator when the motor is supplied with power. The post-termination braking circuit is operable to short-circuit the power terminals of the motor when the power supply switch is in the power-removed state.
In accordance with another feature of the invention, the handle further includes a power supply disposed therein and electrically connected to the motor through the post-termination braking circuit.
In accordance with a further feature of the invention, the power supply is a removable battery pack.
In accordance with an added feature of the invention, the power supply switch is a three-position switch including a forward position in which the three-position switch is in the power-supplying state and is configured to cause the motor to rotate in a forward direction, a reverse position in which the three-position switch is in the power-supplying state and is configured to cause the motor to rotate in a reverse direction, and an off position in which the three-position switch is in the power-removed state and the motor is caused to prevent rotation at the motor.
In accordance with an additional feature of the invention, the drive train has a rotational inertia when operating, the motor has a rotational inertia when spinning and a permanent magnetic field, and the post-termination braking circuit is operable to create an electrically-generated magnetic field in opposition to the permanent magnetic field with the rotational inertia of at least one of the drive train and the motor when short-circuiting the power terminals.
In accordance with yet another feature of the invention, the power supply switch is a double-pole, double throw switch.
In accordance with yet a further feature of the invention, the end effector, the handle, the motor, the power supply switch, and the post-termination braking circuit are all operable with only a single hand.
With the objects of the invention in view, there is also provided a method for post-termination braking of an electrical motor in an electrically powered surgical instrument including the steps of coupling a surgical end effector to a handle, the end effector having at least one actuator to effect a surgical procedure and the handle having an electric motor disposed therein, mechanically coupling the motor to the at least one actuator, actuating the at least one actuator by selectively supplying the motor with power with a break-before-make power supply switch of a post-termination braking circuit, the power supply switch having an off state that ceases supply of power to the motor, and, upon ceasing supply of power to the motor, short-circuiting power terminals of the still-spinning motor with the off state of the power supply switch.
In accordance with yet an added mode of the invention, the step of mechanically coupling the motor to the at least one actuator is carried out by mechanically coupling a drive train of the motor to the at least one actuator, the motor has a permanent magnetic field, at least one of the motor, the drive train, and the at least one actuator has an inertia-induced over-stroke characteristic after powered operation, and the step of short-circuiting the power terminals of the motor creates an electrically generated magnetic field in opposition to the permanent magnetic field.
In accordance with yet an additional mode of the invention, the inertia-induced over-stroke of at least one of the motor, the drive train, and the at least one actuator is counteracted with the short-circuit.
In accordance with again another mode of the invention, the short-circuiting step is carried out to slow the still-spinning motor at a rate that substantially eliminates the inertia-induced over-stroke of at least one of the motor, the drive train, and the at least one actuator.
In accordance with again a further mode of the invention, a power supply is provided within the handle and the power supply is electrically connected to the motor.
In accordance with again an added mode of the invention, the short-circuiting step is carried out without short-circuiting the power supply.
In accordance with again an additional mode of the invention, a power supply is provided within the handle, the power supply is electrically connected to the motor, and the short-circuiting step is carried out without short-circuiting the power supply.
In accordance with a concomitant mode of the invention, the break-before-make power supply switch is a double-pole, double throw switch.
Although the invention is illustrated and described herein as embodied in an active braking electrical surgical instrument and a method for braking such an instrument, it is, nevertheless, not intended to be limited to the details shown because various modifications and structural changes may be made therein without departing from the spirit of the invention and within the scope and range of equivalents of the claims.
Before the present invention is disclosed and described, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. It must be noted that, as used in the specification and the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. The term “another,” as used herein, is defined as at least a second or more. The terms “including” and/or “having,” as used herein, are defined as comprising (i.e., open language).
Also mentioned above is the possibility of using RFIDs with a staple cartridge and a RFID interface for sensing compatible staple cartridges. In the case of a stapler that uses re-loadable staple cartridges, such as the stapler 1 described herein, a RFID can be placed in the staple cartridge to ensure compatibility with the particular stapler and, also, to track usage and inventory. In such a configuration, the stapler includes a RFID reader that interrogates the RFID mounted in the cartridge. The RFID responds with a unique code that the stapler verifies. If the stapler cartridge is verified, the stapler becomes active and ready for use. If the cartridge is rejected, however, the stapler gives a rejected indication (e.g., a blinking LED, an audible cue, a visual indicator). To avoid accidental or improper reading of a nearby staple cartridge, the antenna of the RFID reader can be constructed to only read the RFID when the staple cartridge is installed in the stapler or is very nearby (optimally, at the distal end of the device). Use of the RFID can be combined with a mechanical lockout to ensure that only one fire cycle is allowed per staple cartridge.
To generate the force necessary to meet the above-mentioned requirements, the power (in watts) of the mechanical assembly can be calculated based upon the 82 kg over 60 mm in 3 seconds to be approximately 16 Watts. It is known that the overall mechanical efficiency is 49.2%, so 32.5 Watts is needed from the power supply (16 mech. watts≈32.5 elec. Watts×0.492 overall efficiency.). With this minimum requirement for electrical power, the kind of cells available to power the stapler can be identified, which, in this case, include high-power Lithium Primary cells. A known characteristic of high-power Lithium cells (e.g., CR123 or CR2 cells) is that they produce about 5 peak watts of power per cell. Thus, at least six cells in series will generate the required approximate amount of 32.5 watts of electrical power, which translates into 16 watts of mechanical power. This does not end the optimization process because each type of high-power Lithium cell manufactured has different characteristics for delivering peak power and these characteristics differ for the load that is to be applied.
(60 rpm→1 revolution/second (rps); 1 rps @0.8 IPR 0.8 in/sec).
With significantly varying loads, e.g., from low pounds up to 180 pounds, there is the possibility of the drive assembly being too powerful in the lower end of the load range. Thus, the invention can include a speed governing device. Possible governing devices include dissipative (active) governors and passive governors. One exemplary passive governor is a flywheel, such as the energy storage element 56, 456 disclosed in U.S. patent application Ser. No. 2005/0277955 to Palmer et al. Another passive governor that can be used is a “fly” paddlewheel. Such an assembly uses wind resistance to govern speed because it absorbs more force as it spins faster and, therefore, provides a speed governing characteristic when the motor is moving too fast. Another kind of governor can be a compression spring that the motor compresses slowly to a compressed state. When actuation is desired, the compressed spring is released, allowing all of the energy to be transferred to the drive in a relatively short amount of time. A further exemplary governor embodiment can include a multi-stage switch having stages that are connected respectively to various sub-sets of the battery cells. When low force is desired, a first switch or first part of a switch can be activated to place only a few of the cells in the power supply circuit. As more power is desired, the user (or an automated computing device) can place successive additional cells into the power supply circuit. For example, in a 6-cell configuration, the first 4 cells can be connected to the power supply circuit with a first position of a switch, the fifth cell can be connected with a second position of the switch, and the sixth cell can be connected with a third position of the switch.
When performing in the increased range, the force generated by the device, e.g., the electric stapler 1, is significantly greater than existed in a hand-powered stapler. In fact, the force is so much greater that it could damage the stapler itself. In one exemplary use, the motor and drive assemblies can be operated to the detriment of the knife blade lock-out feature—the safety that prevents the knife blade 1060 from advancing when there is no staple cartridge or a previously fired staple cartridge in the staple cartridge holder 1030. This feature is illustrated in FIG. 32. As discussed, the knife blade 1060 should be allowed to move distally only when the staple sled 102 is present at the firing-ready position, i.e., when the sled 102 is in the position illustrated in FIG. 32. If the sled 102 is not present in this position, a fixed number of possibilities exist. One possible situation can be that there is no staple cartridge in the holder 1030. Another possible situation is that the staple cartridge is not properly installed in the holder 1030. A further possible situation can be that the sled 102 has already been moved distally—in other words, a partial or full firing has already occurred with a loaded staple cartridge. In some of these situations where the blade 1060 is in an unactuated position, the blade 1060 should not be allowed to move, or should be restricted in its movement. Accordingly, to insure that the sled 102 can prop up the blade 1060 when in a firing state, the sled 102 is provided with a lock-out contact surface 104 and the blade 1060 is provided with a correspondingly shaped contact nose 1069. It is noted at this point that, the lower guide wings 1065 do not rest against a floor 1034 in the cartridge holder 1030 until the blade 1060 has moved distally past an edge 1035. With such a configuration, if the sled 102 is not present at the distal end of the blade 1060 to prop up the nose 1069, then the lower guide wings 1065 will follow the depression 1037 just proximal of the edge 1035 and, instead of advancing on the floor 1034, will hit the edge 1035 and prevent further forward movement of the blade 1060. To assist with such contact when the sled 102 is not present (referred to as a “lock out”), the staple cartridge 1030 has a plate spring 1090 (attached thereto by at least one rivet 1036) for biasing the blade 1060. With the plate spring 1090 flexed upward and pressing downward against the flange 1067 (at least until the flange 1067 is distal of the distal end of the plate spring 1090), a downwardly directed force is imparted against the blade 1060 to press the wings 1065 down into the depression 1037. Thus, as the blade 1060 advances distally without the sled 102 being present, the wings 1065 follow the lower curve of the depression 1037 and are stopped from further distal movement when the distal edge of the wings 1065 hit the edge 1035.
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Classification internationale A61B17/11, A61B17/115, A61B17/068, A61B17/072, A61B17/00
Classification coopérative A61B90/03, A61B2017/07278, A61B2017/07271, A61B17/07207, A61B2017/07257, A61B2017/07285, A61B2090/064, A61B2017/00017, A61B17/115, A61B2017/00115, A61B17/068, A61B2017/00398, A61B17/072, A61B2090/032, A61B17/1114, A61B2017/00734, A61B2017/00477, A61B17/1155, A61B2019/302, A61B2019/464
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