CA2699481A1 - Electrically self-powered surgical instrument with manual release - Google Patents
Electrically self-powered surgical instrument with manual release Download PDFInfo
- Publication number
- CA2699481A1 CA2699481A1 CA2699481A CA2699481A CA2699481A1 CA 2699481 A1 CA2699481 A1 CA 2699481A1 CA 2699481 A CA2699481 A CA 2699481A CA 2699481 A CA2699481 A CA 2699481A CA 2699481 A1 CA2699481 A1 CA 2699481A1
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- CA
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- Prior art keywords
- gear
- motor
- pinion
- release
- staple
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B17/115—Staplers for performing anastomosis in a single operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B17/115—Staplers for performing anastomosis in a single operation
- A61B17/1155—Circular staplers comprising a plurality of staples
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00734—Aspects not otherwise provided for battery operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2931—Details of heads or jaws with releasable head
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B2017/320052—Guides for cutting instruments
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
An electrically operated surgical instalment includes a surgical end effector having an actuation assembly effecting a surgical procedure when actuated and a handle connected to the end effector for actuating the assembly. A part of the assembly moves between start and fully actuated positions. The handle has a self-contained power supply and a drive assembly disposed entirely within the handle. The drive assembly has an electrically powered motor and a controller electrically connected to the power supply and to the motor. The controller selectively operates the motor.
A transmission mechanically connects the motor to the moving part and selectively displaces the moving part anywhere between the start and fully extended positions when the motor is operated. A manual release is mechanically coupled to the transmission to selectively interrupt the transmission and, during interruption, displaces the moving part towards the start position independent of motor operation.
A transmission mechanically connects the motor to the moving part and selectively displaces the moving part anywhere between the start and fully extended positions when the motor is operated. A manual release is mechanically coupled to the transmission to selectively interrupt the transmission and, during interruption, displaces the moving part towards the start position independent of motor operation.
Description
ELECTRICALLY SELF-POWERED SI.TRGICA_L
lNS'l.Rt,.IM)"NTWIT.f-I .L~.~.1tiL~Ai..l~l_..[..1:-0::~SI,:
"l:"ecfi:r7:i inal F:i c:l d ............... .........
The present invention I.ies in the tic.lcf of stirgic:al instruments, in pa.rtic:ula.r btrt not necessarily, stapling dcvic:es. Ttic stapling device described M. the prr~seait application is a band-1ic1dK
fully electrically selt-powered and coratr-ollerl strr ical stapler wit}i a riiartual relea.se.
Medical staplirrg devices taxist iti tl-ic art. .frttrit;tag-i Endo-Surgery, fix. (a Johnson & Johnson company; liereir-ta:f=ter `Etliicort")matltrfactures atirl sells suchstapling devices. t;ircular stapling clc;vic:s;s nianu.tacturetl by- E.[tiicon. are referred to trritior tl-is;
tratle tiart-ics PRf)XTMA T~ CIVPP1-1, CD_ 1=1, a:rid ILS arad :1inear staplers are r~iarat.rtactut-ed by Iw:Ãhic(yii t.rnrler the trade rtames t:'ON]'OUJt and f'R43XiILrIATE. hi each of these exemplary strQgicat staplers, tissue is compressed 1}et:weezi a staple ca:vtncfgc: a:r7d ari a:r7vÃl a:r7d, when the staples a.r~e qected, the compressed tissue Ãs also cr.rt.
Depending tipc.~n the particular Ãisstio crigas;c.tl. by thc~, physiciati, the tisstrc~, can be compressed too little (wliere blood color is still visibly prescrtt in dhe tissttt:), too rtitat:1~ (wliere lissÃre is ct-tr:rhed), ot-correc.tly (where the liquid is removed from the t.isstrc, referred to as dessica.ting or I_.~laric.hing), Staples to be delivered tiave a-lÃvezi length aricl the cartridge a.rrd arivil zieecl t.t~ ~~e within an attcept.able staple firing distance so that the staples close properly upon firing. Therefore, these staplers have devices indicating the relat:ivt.~ distanct.~ between tlle. two plar-ics and whether or not this '?U distance is wit}iiii die staple lengah tarirtg,ratige, Such an indicator is mechanical and takes the form of a sliclirig bar 1=Sehiaicl a. window having indicated thereon a safe staplc-``iting range. Tht,~sc staplers are a.l1 tlartdrpowerrvrl, in otlier words, they require p:(-tysica;l arrÃua:tions by the uscr,'ptlvsic.ian to positioti ths; arrvi:l arrcf stapler c:artricfgc; about the tissue to be stapled artcf,l'or t;ute to close tftta aixvil and stapler cartridge lvidh respect to c3rieanother, ari(f to f`irettr7d stict.rr-c the str7.ples at. the iisstle (and/or
lNS'l.Rt,.IM)"NTWIT.f-I .L~.~.1tiL~Ai..l~l_..[..1:-0::~SI,:
"l:"ecfi:r7:i inal F:i c:l d ............... .........
The present invention I.ies in the tic.lcf of stirgic:al instruments, in pa.rtic:ula.r btrt not necessarily, stapling dcvic:es. Ttic stapling device described M. the prr~seait application is a band-1ic1dK
fully electrically selt-powered and coratr-ollerl strr ical stapler wit}i a riiartual relea.se.
Medical staplirrg devices taxist iti tl-ic art. .frttrit;tag-i Endo-Surgery, fix. (a Johnson & Johnson company; liereir-ta:f=ter `Etliicort")matltrfactures atirl sells suchstapling devices. t;ircular stapling clc;vic:s;s nianu.tacturetl by- E.[tiicon. are referred to trritior tl-is;
tratle tiart-ics PRf)XTMA T~ CIVPP1-1, CD_ 1=1, a:rid ILS arad :1inear staplers are r~iarat.rtactut-ed by Iw:Ãhic(yii t.rnrler the trade rtames t:'ON]'OUJt and f'R43XiILrIATE. hi each of these exemplary strQgicat staplers, tissue is compressed 1}et:weezi a staple ca:vtncfgc: a:r7d ari a:r7vÃl a:r7d, when the staples a.r~e qected, the compressed tissue Ãs also cr.rt.
Depending tipc.~n the particular Ãisstio crigas;c.tl. by thc~, physiciati, the tisstrc~, can be compressed too little (wliere blood color is still visibly prescrtt in dhe tissttt:), too rtitat:1~ (wliere lissÃre is ct-tr:rhed), ot-correc.tly (where the liquid is removed from the t.isstrc, referred to as dessica.ting or I_.~laric.hing), Staples to be delivered tiave a-lÃvezi length aricl the cartridge a.rrd arivil zieecl t.t~ ~~e within an attcept.able staple firing distance so that the staples close properly upon firing. Therefore, these staplers have devices indicating the relat:ivt.~ distanct.~ between tlle. two plar-ics and whether or not this '?U distance is wit}iiii die staple lengah tarirtg,ratige, Such an indicator is mechanical and takes the form of a sliclirig bar 1=Sehiaicl a. window having indicated thereon a safe staplc-``iting range. Tht,~sc staplers are a.l1 tlartdrpowerrvrl, in otlier words, they require p:(-tysica;l arrÃua:tions by the uscr,'ptlvsic.ian to positioti ths; arrvi:l arrcf stapler c:artricfgc; about the tissue to be stapled artcf,l'or t;ute to close tftta aixvil and stapler cartridge lvidh respect to c3rieanother, ari(f to f`irettr7d stict.rr-c the str7.ples at. the iisstle (and/or
2.5 cut: thetisstÃe). No pricrr art staplers are etecÃricallv poNN.ered to carry out each tif these operaticrzi s because ttie lotiwituciirial fo:r-t::c:.rrecc:~sary, to effect staple tiriziw is typically on tfte order of 250 lacrttricis at the staple cartridge. Fr.trtlier, stÃch staplers do not haN=e any kirici of active compression irxclÃc.ittor that would optimizes thef.}rt:e acting t~por7 the tissue that is to bestaplecl so that tissue degradttti~ll does tioà occtar.
3t] fJrlta liasid.-powc;rt;ci, intraluminal anastonlotic circular stapler is depicted, for exarrtple, i.rt U,S.
Pa:terit No. 5,104,025 to Main et al., and assigned to Eth.icc}n. Main rvt:
a;1. is hereby incorporated fiert:ir~i by rticrencc in its ent.irs;ty. As cag-i be stcr~i i-nost clcar.ly M the s;xp.loclt;cf a,iew of F1G. 7 in "dain et a1., a trocar shaft has a tl.ist.al irltl.cntatiati '? 1, some recesses 28 for aligning Ãhe trocar shaft 22 t~.1 serratintis 29jntheat7vi1 ai7d, tbet=ctay, align the staples with the anvils 34. Att=acar= tip'm6 is capable of'purtcturing through tissue when presstrre is applied thereto.
FIGS. 3 3 to 6 in Nki:a:in et al, show (icrw t(ic circtilar stapler t0 fi.tnctÃo.rrs tojoin two p:Ãeces. o.i tisstie together. As the anvil 30 Ãs.
r1~ove:cl c.loser to t.he bead 20; interposed tissue is cornpresseci t.here:be:Ãwe:eri, as pat-ticula.rly shcn.vn Ãtx FIGS. 5 asid 6. If this tisstic is overcompressed, tht.~ surgical stapling procedure might not st.ac:coc;cl.
'Yhus, it is desirable to ziot exceed Ãlie maximurn ac.ceptable Ãisstre compression fiiorce. `I'he in.tc;tpowed fis:ue cag-i be subject itr a. rag~ge o.fat;ceptablc compressing force during wurgtary. Tl-iiw range is ktiowrl and referred to as optimal t:iss>Tie c(an-tpressior-t or O'l'C', and is clepertclertt upon the N=pt: of tissue being staplc;cl. While the stapler shown in.mam. et al. does have abar indicator that displa.ys to t(ic trser a safie staple-firing rlist.artce between the ativil atid the staple cartridge, it cannot indicate to the user any level of compressive fic?rce being imparted upcyzi the tissue ptior to st.apling_ l:t wcrtild be desirable to provide stiel7 art :ind:itnat:io:r7 so itiat.
overkcorrtprcssiort o.ft.tie cisstae eaÃi be a'vuicied.
l5 Disclosure of tnvenÃion The invent:io:r7 ovc:rcanies the abover rtoted arici crt(ier deficiencies ot`tlrc: prior art by providing a electric,ally self-powered surgical device that trses the self'-1~~Aver to effect a znedica.l procedure.
For example, in a linear endocutter, tlxo clet:tric on-boat-d power c;ar-i position an anvil and stapler '?U c:artrid.~e wit}i respect to one another about tisstre to be sta.plerl and./or cut, aÃ-ad, after closing Ãl~e aÃ-avil arid stapler cartriclge with respect to crr-ie another, firing and securing the staples at the tisstrt,~ (and/or cutting t(-trv tissue). Further, the rvlect.Ã ically selfrpowerrvd surg;ir:,al device can indicate to the user a.
uwt;r-t.~sre-tlef.incd ls;vs;l of cornp:re.si.vef"orcc; being imparted arpoti tl-it; tisstac prior to firing ttit; staples.
I'l7e pre:rerit invt:ntion "also provides r7iethoc.ls for t:}peratirig the elc.ctric sta.rg,,ic,al stapling tlt,vice to 2 5, staple wlien optÃÃnal t:isstre conipressioti (OTC) exists. Ftrrther provided is a manual release device that allows recovery frt?:7t c7. parEle'i.l ?3.ctLlat.lt?:t7 or ajam.
An oi'tset:sitxis coraflutiraÃion for the two anvil aracl staplc firing sr.tb-assetriblies t:.rcittes a device that. <:ari be sized to comfortably fit iiito aÃrscr's litarid. it also decreases aritaritrfac;tta.ring difficulty by removing previously retft.tirc.d nc:.steci (c.c.~aaxial) hollow shafts. With the axis of the 30 ariril sub-asstambly bc;irlg offset #rom. the st?:ple firing strb-as'sc;rrsbl.y, t}tc: length of the threaded rrrid k(ar rvxteticl:iti9 arid rctracÃitig the arivil cart be decreased by approNimat:cly t-wo :inches, thereby savirtg in r-ii all trfa:c:tr.rri.t~g cog[ artcl d,~eneratirtg a shorter lt.tngitutlinal t.~srofilc-Att exemt.~lary method for risittg the elec:tric., stapler ine.ltades a pc.~wer-on teatrrre, that permits erttR, itito a t7tattLtal anode for testittg purposes. l:n a surgical prcrcedLtre, the stapler is a ~.1rie-~~~ay device. In the test ritode, lioweverz the user has the ability to move the trocar back and forth as desired. `i'17:is test ntode car7 ttc: disea~.~:~r~;ed artci the stapler reset to the use rtrocle.for prtckagirrg ar7d ship.metlt. For pac,kkaittg, it is desirable (bt.tt not txec.essary) to have the attvil be at a distance from the stapl~,~ cartriclge. Thc;r~,'ffot-~,~, a homing scÃlu.ciic~,~ can be prograt-nm~,'ci tcx place tlic anvil 1cltt (fot-exairalale)~wav from the staple cartridi~e before pm~,erin`.~ dowrt fdr packaging arad shipment. Before use, the trocar is extended and tl-ic artvi:l is reitioa,ed. I#'ftte stapler is being used to cliswect a, co1or~t, kcar exantple, the trocar is retracted back into the ltaitclle and the ltattclle is irlserted tratts-ar-rally ittÃo the c:olott to doav-Ãtstrc;am. side of t.li.c dissection while ths; artvi:l is ig-iser[s;d tltrorrgha laparoscopic irtcisi(Yit to an upstream side of t}te dissection. 'I'}te attvil is attac}terl to the trocar artd the two parts are retracted towards tlte handle ttntil a staple ready condition r3cct.rrs.
r1Tlie staple fiirirtg sequence is started, wItactt cart be aborted, to staple the dts-sectio.rr artci simr.rltartc:ortsly cut tissr.re at t}te cc:rtter of the dissection to clear ati opc.nittg in the middle of the circular ring of stet.t.~lcs. The stet.t.~lc firing secltteiice includes art optimal tysstac compression (OTC) measurement art(i kec;dback control titechartism that cattses staples Ã~.~ be fired ott1y wltett the conZpression is in a desired pt'essxrre range, reterred to a:s. the OTC rarrge. f Itis range or valiac is 1:-rtowrt beforehand based r.rport 1:-rtowrt characteristics c?f'tlae tissue to be compressed beÃweeti the anvil and staple cartridge.
Soi:~e exeniplary procedures in wllich tlle. cIootric stapler cat7 be tiscd ialclt7dc col~.xal '?U dissectiozt arad gastr-ieby-laass st:rr~;eries. 'I'ltere are rttativ ottter t:rses tc?r t;he electric stalaler in various different technology areas.
With the f='caregc}irlg and other olajrvc.ts in view, there is provided, in accordance witft the irtverttiot~i, at~i electrically operated sttrgical instrument, int;ludit~ga handle astd a s~rargic:al eg-itl c;fTc;c:tEtr ltavir7g ana<:ttaati:or7 assearittly operable to effect astarorical prc3c;c.dÃ$Ere when rtc;tÃrated, a part of the 2 5, actuation assembly operable to move betNveen asÃart:positioti and a 4'ully actttaÃed posit:ir3n. The tiartdle is connected t.r) tfte end etTector t:ar actuating ttie actuation assembly. The }tariclle Itas ase1.{=
cÃtntaitted power supply disposecf entirely Nvitltin the handle, a drive assembly disposed entirely widtiat the handle tir7ti litairing ati elect.ricti7l;r powered art tor and a controller electrically cc~iiriectctl to t.ltc. power sut.~p1N, and to the motor and selectively aperet.ting dhc~, motor, a transmissiori mechanically 30 connecting the motor to the moving part and beirtg operable to st.lictivc;lv displace the moving part anywhere between the start and fully exterlded positiotis wltett t(-rrv rt-totr:tr is operated, and a. rttattual release mechanically coupled to the transmission to selectively interrupt the [ransniissiott and, during intc.rrupÃi~.~n, displace th~~, moving part Ão'~Nards the sÃart positiori independent of apc.ratioii of the l7iotor~
In accordance -,v~ith another feature tit the izivezitiort, the surgical end effector is sur{,~ical 1inear stapling endocutter and the moving part includes at. lea:st a st.aple-actuatiÃ~~.~: zizid tissue-cutting sl"as.le:_ In accordance wit1i a fiÃrt1icr feature of the invention, the drive assembly aaicl th~,~ transmission are operable to acÃLiate a. stapling-cutting teattire of the endoeutter-.
1.1i. act;tartfag-it,e with aii added feataire of the :itivc;titioii, itic power supply is a rei-riovable batt:cr pack c.caritaining at least ~~~~ebattery.
In accordance with ai~i additional feature of't.he ig-iveg-it:iozi; the f.~sciwor supply- is a series cozitiectioÃ-a of bem.-eert four aiid six CRl213) or CR21 power cells.
In accordance -,v~ith yet another feature ot-t:he invention, the cc?ntroller includes a multi-state switcli operable to caLzsc: rotatiati ot'clic: motor in a. tarcvarti direction wl7czi the swit:cl7 is in a.f:irst state and t.~.~ causc:, rotation of the motor in a reverse direction when the switch is in a sec:orici state..
M accordance W7th yet a ftirtlier feat.tare I'thc in~~ention, the tramsmission has a motor driire side and an actuation drive sicl.e and the. inanLÃ.al release is c.ol.apled th erel.~et~~~~en.
1:n accordance w:itli yet aÃi added feature ot`the invention, t.hc:.in rmal release is rr~eebat7:ical:lv disposed izi the transmission.
In accordance Nvith yet an additional f~.~ature of'tlle. ii7~~i-itioiY, t1Yo nls.ator drive side has a ser-ies 2 U of roÃation-r~ducing gear:, including a last gear, the actfaatioti drive side has at least c?iie gear aÃ-ad a rack -asid-piiiioti iasselnfzly cot.tpled to the at least on~,~ gear and directly connected to at least a. poÃ-tic~~-i of the moviiiy~ part, -and the m~iiLiaI release is iiiecliairic.ally coupled between the a:t least one gear aiicl the last gear.
M accordance v~,7t1~ ~~,~tain an ther fe;ature of the ii7vei7tyc3ii, the aiiotor 1ia:~ aD OUttYUt gear arld 2 5, the series tif gears has a first stmye coupled to the otÃtptÃt (;ear.
In accordance w:itti aggain a. further teatLtre, of the:invent-ion, ttie series of gears includes first, second, and tfaircl sÃkges, and a cross-over gear witli a shaft crossing froni said niotor drive side to said tactualion drive sideand the c:r-oss-over gear is cotaplc.d to the third stalue.
In accordance with agairi an added fc.awre of the invention, the series uf'gears has a c:rossa 3t:] olvler gear witls a shalt urossirlg l:rons thc; i~siot:or clrive s'ide to thc; autGa;:ttion. drive side, the cross-over gear is coLipled to the series of gears, a castle o;ear is rcatat.ic}naJly fixedly coupled about the c.rossrc over sba:ft and longi[utlinal.ly t:ranslatal:sls; thereon, tl-is; castle t~~ar liaviÃig t;awt.ellations e.x-tentlin-towards the actuation drive side, t.lic at. I~~,ast one gear of t.he ac:triati~.~n tl.rive, side inclt.tdes a first piaiiori having castellation slc1ts shaped to r-i7ate with the castellations, a bias deN=i:ee is disposed l}et:weezi the cross-over (;ear and the castle oea:r azid iznparts a bias r.tpon the castle (;ear t~Avards the actuation drive side to perrr7it selective errgagert7ctit of the cristle -lear witfi the first pinion a.rrd, 5 thereby, cause a corresponding rotation of the first pinion with rotafion ofthe shaft w1=aeri so engaged, and the manual releiasc has a release part shaped and positiolied to pro-vide ian opposing f'orc~.~ to over-c.oriie the bias ori the castle gear azid disengage the castle gear frc?rii the first piriic?ri wliezi the iriaiirrcil release is a[ least ~~arti,al.lyactuatcd.
l:ri accordance witli acmin an additional feat-urc of the inventi(m, the at 1cast orie gear ot ttle actuation drive siclt; iiic.lrrclc;s a second pinion stage liavirrg a suc:oriti pinion shaft, a sec:oriti pinion gear coupled to the first piriic?ri arid rotationally fixed to the second pinion sbatt, arid a third pinion rotationally fixed to the second pinion sliatt, the third pinion being a pinicyn of the rack-and-pinion asscaribl.y ar7d l.angitr.rdinally rDOViÃI~.~: a Mck ttrereof wtieri rotated.
In accordance with still arlodhc.r fe,attrre uf-the rr~venÃran, the manual release has a rest state in ltliicb the release part provides the c3PPOsi~~g f~~rc.~:~ at a r~~.a.~r~itradc; less than the bias to the C~rstl~
~~car, a first partiallv actuated state in which the release part provides tlie opposing force at a rnkgaitude greater tl7riti tfie bias to the castle gc:ar ritid riiove the castellatiaris orrt frorn t.irc: castc:llat--iori slots, and a s~cotid partially actuated state in whicli the manual release rotates the pinion to move the ric>l: longittrd.in illy in a -,\~ithdrxwi~g direction.
?U In accordance akIth still a furx(ier feaÃure of die invention, tlie at 1east one gear of t}le actuation driv~,~ side includes at lc;ast crr-ie release 9~,~ar and the first piliiori is directly connected to the at least (aric release gear to rotate the at least orie release oear w:(-rrvn rotated.
In accordance with still aii added feature of ttic; Mms;nt:ione the at lc;ast oiie. g t;ar of dre, a ct.taaiim driire sidc iticlrrdcs far`st ~~id second stage release gears ,crr7d t:lic first piiiioii is directly 2 5, connected to the first stage release gear to rotate the tirst and second release (;ears when rotated.
In accordance w:itli a coricornitant.featr.rre of ttie invention, tfie ariariLial rc:lerise includes, a r1iazirial releiise lever rotatably corxr~ecteci to the hiindle iincl 1~avin.~
a one-way rratcliet a.ssembIv, and the at least orie release gear has ar7 axle directly connected to dhe ratcl7ct asserribl;r to rc}tate ir7 a corresponding manric.r with dhc. lc.vc.r when the le:~~'er is at least partially actuated and to rutat.e 30 indt.pcndcnt of the luvc;r wliun the lever is rrot ac:tuatecl, With the objects of t(-re invention in view, there is also provided aniethod tor oprvrat-irrg a Surt,~ical inwtrumcnt, inclutlint,~ tlit; steps a.rl rnt;cltanÃt;ally c:otrplirrg a nianual relcasc to a t:ranwm.iwsion of a st.trgic:al insÃrt.tm~~,tit having a self-cotitainecl power stÃpt.~ly disposed cntirely within a haticlle tlierenf, the tr=atistiiissjorl trar-islat'itt.g t7icrvet7ierlt ofarl electrically poNvered motor irisieie the handle to txiovement of a part of a surgical end efTectcrr connected to the handle, the part l}eitig operable to tncrve artvwtiere between rt start position atid a titllv acturtted position.
and selectively :interrupt-itr~.~.
the trarasanission with the maraÃtal release to t-nove the part towards the start position independent of rtiotor operats on.
Witlt the ol~jects of tlie iztvezttkyn in vie~~~, t}tere is also provided a surgical instrument, including a method #i.ar operating a, surgical i.rtstrttmertt, including the steps ofprovidit~g a surgical etid taffector at a distal errd of a surgical itistr-LrtYrerrt h-andle, the erld etfec.tcrr having ".111 actuation aswet-libly operable to effect a surgical procetlrtre wttert actr.tat:ede tlxc; actuationaswt;nibly having a part:
operable to ni ove between a start position and a fullv actuated positiora, disposing a self-corataitied poANrer srÃpply atid an electrically powered motcrr eÃitirely within a handle and cortnecÃÃtig a mot(rr controller to ttie :tnotor and to the power stapply to select-ivel~~ operate tlte rrrotar X.Y'ith the controller, mechanically connecting the motor to the moving part thruttgh a transt-nission aperable, t.c) selectively displace t17e movittg part aaiywhet-e betweeti the stari titiei i%tll;r extended po;;iti ais wtien the tnotor is ~.~perated, and mechanically coupling a manual release to t.lie Ãran smissiott to selecÃivcly ititertxrpt tlie tra.rrs-miss:ion artd, during irtte:t-.rttlat.io:t7, rtisplace the moving pat-t tm~,ards tfte start position iÃadepetidetià of motor operation.
Other features that are c>onsidcrecl as characteristic fc.xr the invention are set f'orth in th~.~
'?U appett decl el ai ms.
Although the invention is ill.t.tstrated ancl clesc:ribed hc;r~,'it-i as embodied in ati electrically self-powered surgical inst.Ã-umtarit w it(-r zrlatlttal releaw, it is, rleveÃ-tl-reless, not .ititerrclecl to be limited to the details shown becatrse variott: moclift:catiorts arirl structural changes t-rt~~~ be made ther-eit-i witlxotat depar'tyr~~,~ frorn the spirit of the invention atic~ v~,7thin the scope arid ratt_9e of etltais alertts of the 2 5, claiÃxis_ The ccirtst-ruction and method of aperat:io:t7 of the invention, ftowever., toge-ttier wit.l7 adclitio:t7rt.1 objects atlcl advantages thereof, will be. best understood from the following description of specific er7ibociir7ietit:t w17eti read M C nDec~1i0t1 lVith tlle tiCC0111parlvitIg cir"ctwiD
~~.
3t] fJrlta liasid.-powc;rt;ci, intraluminal anastonlotic circular stapler is depicted, for exarrtple, i.rt U,S.
Pa:terit No. 5,104,025 to Main et al., and assigned to Eth.icc}n. Main rvt:
a;1. is hereby incorporated fiert:ir~i by rticrencc in its ent.irs;ty. As cag-i be stcr~i i-nost clcar.ly M the s;xp.loclt;cf a,iew of F1G. 7 in "dain et a1., a trocar shaft has a tl.ist.al irltl.cntatiati '? 1, some recesses 28 for aligning Ãhe trocar shaft 22 t~.1 serratintis 29jntheat7vi1 ai7d, tbet=ctay, align the staples with the anvils 34. Att=acar= tip'm6 is capable of'purtcturing through tissue when presstrre is applied thereto.
FIGS. 3 3 to 6 in Nki:a:in et al, show (icrw t(ic circtilar stapler t0 fi.tnctÃo.rrs tojoin two p:Ãeces. o.i tisstie together. As the anvil 30 Ãs.
r1~ove:cl c.loser to t.he bead 20; interposed tissue is cornpresseci t.here:be:Ãwe:eri, as pat-ticula.rly shcn.vn Ãtx FIGS. 5 asid 6. If this tisstic is overcompressed, tht.~ surgical stapling procedure might not st.ac:coc;cl.
'Yhus, it is desirable to ziot exceed Ãlie maximurn ac.ceptable Ãisstre compression fiiorce. `I'he in.tc;tpowed fis:ue cag-i be subject itr a. rag~ge o.fat;ceptablc compressing force during wurgtary. Tl-iiw range is ktiowrl and referred to as optimal t:iss>Tie c(an-tpressior-t or O'l'C', and is clepertclertt upon the N=pt: of tissue being staplc;cl. While the stapler shown in.mam. et al. does have abar indicator that displa.ys to t(ic trser a safie staple-firing rlist.artce between the ativil atid the staple cartridge, it cannot indicate to the user any level of compressive fic?rce being imparted upcyzi the tissue ptior to st.apling_ l:t wcrtild be desirable to provide stiel7 art :ind:itnat:io:r7 so itiat.
overkcorrtprcssiort o.ft.tie cisstae eaÃi be a'vuicied.
l5 Disclosure of tnvenÃion The invent:io:r7 ovc:rcanies the abover rtoted arici crt(ier deficiencies ot`tlrc: prior art by providing a electric,ally self-powered surgical device that trses the self'-1~~Aver to effect a znedica.l procedure.
For example, in a linear endocutter, tlxo clet:tric on-boat-d power c;ar-i position an anvil and stapler '?U c:artrid.~e wit}i respect to one another about tisstre to be sta.plerl and./or cut, aÃ-ad, after closing Ãl~e aÃ-avil arid stapler cartriclge with respect to crr-ie another, firing and securing the staples at the tisstrt,~ (and/or cutting t(-trv tissue). Further, the rvlect.Ã ically selfrpowerrvd surg;ir:,al device can indicate to the user a.
uwt;r-t.~sre-tlef.incd ls;vs;l of cornp:re.si.vef"orcc; being imparted arpoti tl-it; tisstac prior to firing ttit; staples.
I'l7e pre:rerit invt:ntion "also provides r7iethoc.ls for t:}peratirig the elc.ctric sta.rg,,ic,al stapling tlt,vice to 2 5, staple wlien optÃÃnal t:isstre conipressioti (OTC) exists. Ftrrther provided is a manual release device that allows recovery frt?:7t c7. parEle'i.l ?3.ctLlat.lt?:t7 or ajam.
An oi'tset:sitxis coraflutiraÃion for the two anvil aracl staplc firing sr.tb-assetriblies t:.rcittes a device that. <:ari be sized to comfortably fit iiito aÃrscr's litarid. it also decreases aritaritrfac;tta.ring difficulty by removing previously retft.tirc.d nc:.steci (c.c.~aaxial) hollow shafts. With the axis of the 30 ariril sub-asstambly bc;irlg offset #rom. the st?:ple firing strb-as'sc;rrsbl.y, t}tc: length of the threaded rrrid k(ar rvxteticl:iti9 arid rctracÃitig the arivil cart be decreased by approNimat:cly t-wo :inches, thereby savirtg in r-ii all trfa:c:tr.rri.t~g cog[ artcl d,~eneratirtg a shorter lt.tngitutlinal t.~srofilc-Att exemt.~lary method for risittg the elec:tric., stapler ine.ltades a pc.~wer-on teatrrre, that permits erttR, itito a t7tattLtal anode for testittg purposes. l:n a surgical prcrcedLtre, the stapler is a ~.1rie-~~~ay device. In the test ritode, lioweverz the user has the ability to move the trocar back and forth as desired. `i'17:is test ntode car7 ttc: disea~.~:~r~;ed artci the stapler reset to the use rtrocle.for prtckagirrg ar7d ship.metlt. For pac,kkaittg, it is desirable (bt.tt not txec.essary) to have the attvil be at a distance from the stapl~,~ cartriclge. Thc;r~,'ffot-~,~, a homing scÃlu.ciic~,~ can be prograt-nm~,'ci tcx place tlic anvil 1cltt (fot-exairalale)~wav from the staple cartridi~e before pm~,erin`.~ dowrt fdr packaging arad shipment. Before use, the trocar is extended and tl-ic artvi:l is reitioa,ed. I#'ftte stapler is being used to cliswect a, co1or~t, kcar exantple, the trocar is retracted back into the ltaitclle and the ltattclle is irlserted tratts-ar-rally ittÃo the c:olott to doav-Ãtstrc;am. side of t.li.c dissection while ths; artvi:l is ig-iser[s;d tltrorrgha laparoscopic irtcisi(Yit to an upstream side of t}te dissection. 'I'}te attvil is attac}terl to the trocar artd the two parts are retracted towards tlte handle ttntil a staple ready condition r3cct.rrs.
r1Tlie staple fiirirtg sequence is started, wItactt cart be aborted, to staple the dts-sectio.rr artci simr.rltartc:ortsly cut tissr.re at t}te cc:rtter of the dissection to clear ati opc.nittg in the middle of the circular ring of stet.t.~lcs. The stet.t.~lc firing secltteiice includes art optimal tysstac compression (OTC) measurement art(i kec;dback control titechartism that cattses staples Ã~.~ be fired ott1y wltett the conZpression is in a desired pt'essxrre range, reterred to a:s. the OTC rarrge. f Itis range or valiac is 1:-rtowrt beforehand based r.rport 1:-rtowrt characteristics c?f'tlae tissue to be compressed beÃweeti the anvil and staple cartridge.
Soi:~e exeniplary procedures in wllich tlle. cIootric stapler cat7 be tiscd ialclt7dc col~.xal '?U dissectiozt arad gastr-ieby-laass st:rr~;eries. 'I'ltere are rttativ ottter t:rses tc?r t;he electric stalaler in various different technology areas.
With the f='caregc}irlg and other olajrvc.ts in view, there is provided, in accordance witft the irtverttiot~i, at~i electrically operated sttrgical instrument, int;ludit~ga handle astd a s~rargic:al eg-itl c;fTc;c:tEtr ltavir7g ana<:ttaati:or7 assearittly operable to effect astarorical prc3c;c.dÃ$Ere when rtc;tÃrated, a part of the 2 5, actuation assembly operable to move betNveen asÃart:positioti and a 4'ully actttaÃed posit:ir3n. The tiartdle is connected t.r) tfte end etTector t:ar actuating ttie actuation assembly. The }tariclle Itas ase1.{=
cÃtntaitted power supply disposecf entirely Nvitltin the handle, a drive assembly disposed entirely widtiat the handle tir7ti litairing ati elect.ricti7l;r powered art tor and a controller electrically cc~iiriectctl to t.ltc. power sut.~p1N, and to the motor and selectively aperet.ting dhc~, motor, a transmissiori mechanically 30 connecting the motor to the moving part and beirtg operable to st.lictivc;lv displace the moving part anywhere between the start and fully exterlded positiotis wltett t(-rrv rt-totr:tr is operated, and a. rttattual release mechanically coupled to the transmission to selectively interrupt the [ransniissiott and, during intc.rrupÃi~.~n, displace th~~, moving part Ão'~Nards the sÃart positiori independent of apc.ratioii of the l7iotor~
In accordance -,v~ith another feature tit the izivezitiort, the surgical end effector is sur{,~ical 1inear stapling endocutter and the moving part includes at. lea:st a st.aple-actuatiÃ~~.~: zizid tissue-cutting sl"as.le:_ In accordance wit1i a fiÃrt1icr feature of the invention, the drive assembly aaicl th~,~ transmission are operable to acÃLiate a. stapling-cutting teattire of the endoeutter-.
1.1i. act;tartfag-it,e with aii added feataire of the :itivc;titioii, itic power supply is a rei-riovable batt:cr pack c.caritaining at least ~~~~ebattery.
In accordance with ai~i additional feature of't.he ig-iveg-it:iozi; the f.~sciwor supply- is a series cozitiectioÃ-a of bem.-eert four aiid six CRl213) or CR21 power cells.
In accordance -,v~ith yet another feature ot-t:he invention, the cc?ntroller includes a multi-state switcli operable to caLzsc: rotatiati ot'clic: motor in a. tarcvarti direction wl7czi the swit:cl7 is in a.f:irst state and t.~.~ causc:, rotation of the motor in a reverse direction when the switch is in a sec:orici state..
M accordance W7th yet a ftirtlier feat.tare I'thc in~~ention, the tramsmission has a motor driire side and an actuation drive sicl.e and the. inanLÃ.al release is c.ol.apled th erel.~et~~~~en.
1:n accordance w:itli yet aÃi added feature ot`the invention, t.hc:.in rmal release is rr~eebat7:ical:lv disposed izi the transmission.
In accordance Nvith yet an additional f~.~ature of'tlle. ii7~~i-itioiY, t1Yo nls.ator drive side has a ser-ies 2 U of roÃation-r~ducing gear:, including a last gear, the actfaatioti drive side has at least c?iie gear aÃ-ad a rack -asid-piiiioti iasselnfzly cot.tpled to the at least on~,~ gear and directly connected to at least a. poÃ-tic~~-i of the moviiiy~ part, -and the m~iiLiaI release is iiiecliairic.ally coupled between the a:t least one gear aiicl the last gear.
M accordance v~,7t1~ ~~,~tain an ther fe;ature of the ii7vei7tyc3ii, the aiiotor 1ia:~ aD OUttYUt gear arld 2 5, the series tif gears has a first stmye coupled to the otÃtptÃt (;ear.
In accordance w:itti aggain a. further teatLtre, of the:invent-ion, ttie series of gears includes first, second, and tfaircl sÃkges, and a cross-over gear witli a shaft crossing froni said niotor drive side to said tactualion drive sideand the c:r-oss-over gear is cotaplc.d to the third stalue.
In accordance with agairi an added fc.awre of the invention, the series uf'gears has a c:rossa 3t:] olvler gear witls a shalt urossirlg l:rons thc; i~siot:or clrive s'ide to thc; autGa;:ttion. drive side, the cross-over gear is coLipled to the series of gears, a castle o;ear is rcatat.ic}naJly fixedly coupled about the c.rossrc over sba:ft and longi[utlinal.ly t:ranslatal:sls; thereon, tl-is; castle t~~ar liaviÃig t;awt.ellations e.x-tentlin-towards the actuation drive side, t.lic at. I~~,ast one gear of t.he ac:triati~.~n tl.rive, side inclt.tdes a first piaiiori having castellation slc1ts shaped to r-i7ate with the castellations, a bias deN=i:ee is disposed l}et:weezi the cross-over (;ear and the castle oea:r azid iznparts a bias r.tpon the castle (;ear t~Avards the actuation drive side to perrr7it selective errgagert7ctit of the cristle -lear witfi the first pinion a.rrd, 5 thereby, cause a corresponding rotation of the first pinion with rotafion ofthe shaft w1=aeri so engaged, and the manual releiasc has a release part shaped and positiolied to pro-vide ian opposing f'orc~.~ to over-c.oriie the bias ori the castle gear azid disengage the castle gear frc?rii the first piriic?ri wliezi the iriaiirrcil release is a[ least ~~arti,al.lyactuatcd.
l:ri accordance witli acmin an additional feat-urc of the inventi(m, the at 1cast orie gear ot ttle actuation drive siclt; iiic.lrrclc;s a second pinion stage liavirrg a suc:oriti pinion shaft, a sec:oriti pinion gear coupled to the first piriic?ri arid rotationally fixed to the second pinion sbatt, arid a third pinion rotationally fixed to the second pinion sliatt, the third pinion being a pinicyn of the rack-and-pinion asscaribl.y ar7d l.angitr.rdinally rDOViÃI~.~: a Mck ttrereof wtieri rotated.
In accordance with still arlodhc.r fe,attrre uf-the rr~venÃran, the manual release has a rest state in ltliicb the release part provides the c3PPOsi~~g f~~rc.~:~ at a r~~.a.~r~itradc; less than the bias to the C~rstl~
~~car, a first partiallv actuated state in which the release part provides tlie opposing force at a rnkgaitude greater tl7riti tfie bias to the castle gc:ar ritid riiove the castellatiaris orrt frorn t.irc: castc:llat--iori slots, and a s~cotid partially actuated state in whicli the manual release rotates the pinion to move the ric>l: longittrd.in illy in a -,\~ithdrxwi~g direction.
?U In accordance akIth still a furx(ier feaÃure of die invention, tlie at 1east one gear of t}le actuation driv~,~ side includes at lc;ast crr-ie release 9~,~ar and the first piliiori is directly connected to the at least (aric release gear to rotate the at least orie release oear w:(-rrvn rotated.
In accordance with still aii added feature of ttic; Mms;nt:ione the at lc;ast oiie. g t;ar of dre, a ct.taaiim driire sidc iticlrrdcs far`st ~~id second stage release gears ,crr7d t:lic first piiiioii is directly 2 5, connected to the first stage release gear to rotate the tirst and second release (;ears when rotated.
In accordance w:itli a coricornitant.featr.rre of ttie invention, tfie ariariLial rc:lerise includes, a r1iazirial releiise lever rotatably corxr~ecteci to the hiindle iincl 1~avin.~
a one-way rratcliet a.ssembIv, and the at least orie release gear has ar7 axle directly connected to dhe ratcl7ct asserribl;r to rc}tate ir7 a corresponding manric.r with dhc. lc.vc.r when the le:~~'er is at least partially actuated and to rutat.e 30 indt.pcndcnt of the luvc;r wliun the lever is rrot ac:tuatecl, With the objects of t(-re invention in view, there is also provided aniethod tor oprvrat-irrg a Surt,~ical inwtrumcnt, inclutlint,~ tlit; steps a.rl rnt;cltanÃt;ally c:otrplirrg a nianual relcasc to a t:ranwm.iwsion of a st.trgic:al insÃrt.tm~~,tit having a self-cotitainecl power stÃpt.~ly disposed cntirely within a haticlle tlierenf, the tr=atistiiissjorl trar-islat'itt.g t7icrvet7ierlt ofarl electrically poNvered motor irisieie the handle to txiovement of a part of a surgical end efTectcrr connected to the handle, the part l}eitig operable to tncrve artvwtiere between rt start position atid a titllv acturtted position.
and selectively :interrupt-itr~.~.
the trarasanission with the maraÃtal release to t-nove the part towards the start position independent of rtiotor operats on.
Witlt the ol~jects of tlie iztvezttkyn in vie~~~, t}tere is also provided a surgical instrument, including a method #i.ar operating a, surgical i.rtstrttmertt, including the steps ofprovidit~g a surgical etid taffector at a distal errd of a surgical itistr-LrtYrerrt h-andle, the erld etfec.tcrr having ".111 actuation aswet-libly operable to effect a surgical procetlrtre wttert actr.tat:ede tlxc; actuationaswt;nibly having a part:
operable to ni ove between a start position and a fullv actuated positiora, disposing a self-corataitied poANrer srÃpply atid an electrically powered motcrr eÃitirely within a handle and cortnecÃÃtig a mot(rr controller to ttie :tnotor and to the power stapply to select-ivel~~ operate tlte rrrotar X.Y'ith the controller, mechanically connecting the motor to the moving part thruttgh a transt-nission aperable, t.c) selectively displace t17e movittg part aaiywhet-e betweeti the stari titiei i%tll;r extended po;;iti ais wtien the tnotor is ~.~perated, and mechanically coupling a manual release to t.lie Ãran smissiott to selecÃivcly ititertxrpt tlie tra.rrs-miss:ion artd, during irtte:t-.rttlat.io:t7, rtisplace the moving pat-t tm~,ards tfte start position iÃadepetidetià of motor operation.
Other features that are c>onsidcrecl as characteristic fc.xr the invention are set f'orth in th~.~
'?U appett decl el ai ms.
Although the invention is ill.t.tstrated ancl clesc:ribed hc;r~,'it-i as embodied in ati electrically self-powered surgical inst.Ã-umtarit w it(-r zrlatlttal releaw, it is, rleveÃ-tl-reless, not .ititerrclecl to be limited to the details shown becatrse variott: moclift:catiorts arirl structural changes t-rt~~~ be made ther-eit-i witlxotat depar'tyr~~,~ frorn the spirit of the invention atic~ v~,7thin the scope arid ratt_9e of etltais alertts of the 2 5, claiÃxis_ The ccirtst-ruction and method of aperat:io:t7 of the invention, ftowever., toge-ttier wit.l7 adclitio:t7rt.1 objects atlcl advantages thereof, will be. best understood from the following description of specific er7ibociir7ietit:t w17eti read M C nDec~1i0t1 lVith tlle tiCC0111parlvitIg cir"ctwiD
~~.
3 t:t
4 PCT/US2008/078876 Rrtc:.f-Descri_pÃtc,naf Dra ~~Ãri<_ Advantages of er-i7b~.1diÃateatts of the preseatt it7vet7tiort will be appat=eatt from the fc1llowitig detailed description of the preferred embodiments Ãlterec?f, whic,h desrr?=riptaon s}tc?uld be eortsidered in ccrrtjiartct.:iozt wAtt the accompanying drax.~,irigs in wItacft:
FIG. f is a perspective view frozn a side of azi exemplary embodiment of an electric stapler according to tlle 1nv'. r#tl t7n FIG. 2 is a fragmentary side e:1ev-ationa1 vieti~, of the stapler of f^ 1CT.
lwit}t a r'i,)ttt (ialf of a I'iag-itllc body ar~itl with a proximal backbone plate rer~titavc.tf;
FIG, :' ) is atl exploded, perspective view of atl attvil r:,ot-tt.r o1 assembly r:tf.tltc stapler of FIG, l;
FIG, 4 is att enlarged, fragrtxettt-arA,, exploded, perspective v:ie,c.Nof't:hc anvil c.a.ttt[rol ass:er-txbly of f~ I:G. :$;
FIG, 5 is a fragrtieÃatary, perspective view rif a staple tiring control a.ssemblv of the stapler of FIG. I trarti a reav side t.17ereof:
FIG, 6 is an exploded, perspcctive view of the staple firing control asseml.~1N, of Ãhe stapler of f 5 :l+ 1C~ . l :
FlG. 7 is at1 ertlarged, fragmentary, exploded, perspective view of the staple firirlg c~.~tiÃrttl ils-sc1.i1bly of .f' IG-. 6, FIG. 8 is a fragmentary, horizontally cross-sectioÃtal view of the aatvil cc?ntrol asseznbly from belou; the handle body portioti of tlle, stipler of 1" f:G. 1;
?U FIG. 9 is a fragmeratary, enlarged, ltorizozttally cross-sectional vieti~>
fii-r-trtt below a pt-oxintal portioai of the anvil. control ass~,'rribly FIG. S.
FIG, 10 is a frao.tttcttÃ:ar), crtlarg:etl, horizontally r:,.r=oss-sec.tic}ttaJ v:iew frozrl below att irtterr-ttediatc portittrt of the astvil control assembly ofFIC:i. t ;
F IG. 1.1 is a ffnagariettta,r;;, caikargeei, horizontally cross-sectional vic;w-frorn below a eiist"al 2 5, portion of the anvil control a.ssemblv of I~ fG. 8;
FIG. 12 is a fra,g,rt7ezttary, vertically cross-sectional view ti-arti zt right side crfzt. tiartdle bcxfy portiÃtn of the stapler of 1716. 1;
f'lG. 1.3 is a fragaricnt.a,r;;, c:nlargeei, vertically cross-sectional view fi-otri the rigllt. side of a proximal het.tidle body portion of the:~ stapler ofFIG. 12;
30 FIG. 14 is a fragmentary, ertlargc..d., vertsc:allv c;ross sictiottal view from the right side of<tn ititerzrlecfiat:c handle bodv lx}rtiorl of the staplcr of.:E{ICJ. 12;
luIG. 15 is a fr~~tgmc.nt.ary, ft.trthc.r enlarged, vc.tt.icallv cross-sectional view from dhe right side of the ititerr-i7eciiate hatidle body porÃioai of the stapler of FIG. 149 F1G. 1.6 is a firkgmerttary, ealarged, vertacally cross-sectional view -rom the ri;yht side of a distal liaticlle body portion of the stapler of FIG. l M;
FIG. 17 is a laerspec:tivc: 'view of a portic?tx of ara anvil of the stapler of:f~IG. l;
1"tG. 18 is a fragmentat-y, cross-Sectlonial view of a removable stapling assembly including the ativil, a stalfler cartridge, a force switcti; and a removable cartridge CoÃ-artecting assettibly. of the stapler of FIG. I F1G. 19 is a fra;.ntettÃ:w)=, horizontally cross-sectional view of the ativ.il c.ottÃrol aSsctnbly front above the handle body portior~i of tlte, stapler ofFIC:i. I witti ths;
arivi:l roti in a fi.rlly- extended positiott;
FlG. 't} is a fragmentary, sicle elevational view c?1'tfae handle bridy, portion of the stapler of FIG. I fratii a lef-l. slide of tfr~ ~iwrdle body portion wÃtli the left frarrcfle body and the circuit boavd ren~o,ved and with thc~, aw,11 rod in a ft.tlly extended pasit'iun;
l 5 f'lG. 21 is a fragmentary, side eleratior7til vievv- I'the haridle body portior7 c~Yf the stapler of FIG. 20 with the atttril rod in a 1-c.m ativil closure posit.iott;
FIG. 22 is a tra-,fl7entarv, horizontally cross-sectional view of ttie anvil cotitrol assembly from above the handle body portioÃi c?1'tfae stapler of FIG. lwith the azivil rod in a safe staple fiirirtg posit:ion'.
?U )~lC~. "") is a fragmentary, harizorttally c:.ross-sectikynal view of dte anvil control assembly troni above ttic handle bodv poi-tson of the stapler of FIG. 'l with th~,~
fflivil rocl in a fitlly retracted pc}sitiorl;.
FlG. 24 is a fragmentary, htrriztrntally cross-sectional view of tlie tiritig control assembly-fi-om above the 1iaiicfle; bodt p rtyc3ti of the stapler c3k :It 1C_'r. 1;
2z; FlG. 15 is a fragmentary, enlarged, horizontally crnssaSectiozial view from above a proximal portion of the firitig control assemb:ly ot FI~'r. 24;
1~lG_ 26 is a frra.~nxentary; enlarged, horizontally cross-sectional view ti-oan above iin ir7ternir;d.itite portion of the firing control assenibl;r I'FfG 24;
F1G. 27 is a fras;me.ntaq, enlargc~,d, horizotitally cross-sectional view from ab~.~vc~, a distal 30 portion of t}ic firi.rig control assembly of FIG. 4;
F1GS. 2~8 arld 29 are s}~aded, fragtYÃenta.Ã-y, er-tlat~~wed. parÃiallv trattSparerit perspective views of a g[aplc; c;artr7:rlge rcritoval assembly ot'tltc stapler o#'Fl:G. i;
FIG, 3 t] is asehemat.ie eireW t. ciia ;ratn of a.n cxem p1ary- encr-yption e.ircWt for itite:re-har1geal.~1e parts of the tiieelical device aecordiÃig to the invention;
FIG, 31 is a ba:r;yraph illustaating a speed that a pinion znoves a rack show'Ãa in FIG. 322 for vari otas l oa.tis;
FfG_ 32 is a fra~.õnxentar} ; perspective view of a sianpl'afiecf, exemplary portion of a gear train iat:cordlng to the present invention b'.tw'.eti. a gear box atl.d ia raCk', FlC~. :$ ' is a fragmentary, vertically Ion~;-ittrdinal; crc?ss-sectioÃ-aal view of adista:1 end ofi an a.rt:icarla.tirrg Istartitag-I of'atr exemfal,arN, embodimer~It of ar~I c;tici effector witfr the ig-iiier tufae, the pushrod-blade support, t(-ttv a.trvi l, the cIost:rre.Ã=ing, and ttle nea:r fla;li'of the staple sled reI-noverl;
FIG, 34 is a scfic;riiat:ic circuit diagrarn of'ag-I exemf.slary- switching as:s;rnfi.ly for a faows;r st.tpply a~~c(yrd'Ing to the invention:, FIG, 35 is a schematic circuit diagram c?f'arr exeznplary, switching assembly for fcrrNN.ard and reverse control ot'ti motor according to the irlverltioti;
FIG, 36 is a schematic e.ircWt diagrat`n uf'anoth~~,r exemplary switching asscm6iv for the.
pox.ver ;;trpply and the fii:}nvarei aiicf reverse control of the motor accortfir7g to the invention;
FtG. 37 is a left side clevatiotza.l view of the device acct.~rciilio to the inventiotz witli the otÃ:ter sfiell rertovecl;
FIG. 38 is, an erflarg ged left side e1e-vationa.l view of apc?rticyzi the device of FIG. '7 witli the left side frame remc.xvecl, ?U FlC~. 39 is a ri~;t~t side elevational ~~~ie~~~ of the device t-~~~:~`iC~.
3 7;
FIG. 40 is an onliarg~,'ci right sidc; el~,~~,,ationa1 view of a portion the device of FIC. the rig.flt Sirle t`ratlxtv removetl;
FIG, 41. is a perspective view of ttic; tfevice portioii of 1:'lG. 40 from the rigfit rear;
F IG. 42 is a rear eleira.tioml vievv- of the de-,,yce portyc3rt of P1CI. 40;
2z; FIG, 43 is a perspective view of'Ãt~~ device portion of FIG, 40 firorxi the left rear with the arst:
to t}iircl stt7.t.~e c~c~~.~ er .re:r~~c~~.~ ecf, stage 44 is a perspective view of the device portion of FIG. -40 from iibove the right side with the pt:nver supply r=emt:}irecl;
FIG, 45 is a perspec:tive view of the de~,'ic~~, portion ofFlG. 44 with the matltaal reIeaS~~,1ev~~,r 30 ina first intermediate positiorr dtiith the c;astl:e gc;ar in tflc separated positson;
FIG, 46 is a perspective view of the device po.Ã=tic}ri ok 1<IG. 45 with the.rnanuaJ release lever irI a sc;cC?tlci intermediate f3ositiCtt~l, 1.O
FIG, 47 is a top plan view of the device portion of FIG, 46 with the, mantÃa1 release le'vt;:r in a tliird itiÃerriiediate pt.1;,ition;
FIG, 48 is ati ezilar~ed perspective view of the niatiual release assembly froni the rÃg1ià side with the second stagle release gea7r, two criaii }alates., wtd a pawl spt-Ã:t7w removed with ttie priwl in rizl t.tpper, unratcheting position;
FIG. 49 is a perspective view of the mantÃaf release l~,~~ver from. bel.o-w a rigltt front side';
FlC~. Sf.t is a perspective vi:e~k.- of die matiual re lease Iever frorti below a t=i<w:(ià rear side;
FIG. :? 1 is a perspective view o.f itic t-rtar~iatal release lr:ve:r from below a, left rear s:icfe;
FIG, 52 is a perspective view of a carn plate fro.tn a left side;
1 0 FIG, 53 is a faerspectio~ e. view of a, castle gear lroni a right :id.e;
FlC~. 54 is a perspective vi:e~~~ of a fc?urt}i stage pinkan fr(aira the left side;
FIG, 55 is a perspect:ive view of the deN=ice portion E?f FIG, 44 froÃn above a.front right side w:itti ri pawl kgaanst a pawl catii;
FIG, 56 is a pt;:rspcctive view of the devict;: pot`tiati of FIG, 55 with the pawl off of the pawl Cartl tirld atya.inst a ratchet gear ar7d with the castle gear in the separated pc3sitioti;
FIG, 57 is a perspective view of the deN=i ce portion of FIG, 44 froti~ above a front left side with the rt7a:t7ua.l release in art :irttermed.iate positaort, FIG. 58 is a perspective view rif the device portion of FIG. 57 -,v~ith the manual releaseizl another intermediate position.
?U FlG'. S9is att-a enlarged right side elevati:c?rial view of a portion of the device of FIG. 40 witli th c et-icl cftec:tor cositrol hancllc iti an t,tnacttÃatecl positiotl';
FIG. 60 is ari et-rlarged ri-.frt side eIeva:tiomai1 view of a the device portion of F1G, 59 witli tht~-ertcf effector ctrt-it:rEtl handle in a partially actuated f.~sositiEtn;
FAGF. 61 is an erilarged perspective view of a sba.ft cotiriectot- portyc3ri of the dc;vic~~e of FJGF. 37 2 5, from above the frcrzit right side with a removable end effector shaft:
secured in a ft-ame;
FIG. 62 is ttri e.rrlargeci perspective view of the shaft canrtector portion at` FIG. 61 witli sftaft securing cleN=Ãce ret-noved to peranit removal of the end etTector slia.tt from the fraane;
f'lG. 63 is ati elevational view c.Yfdhe ititerfor c,Yf a lc;ft lial.f f't.he (artter stiell of the device of ,;.
FIG, 37;
30 FIG. 64 is an clevationaf view of tfsc irlterior of a right half of the outer shell of the device of F.M. _}7;
ll 1/'IC. 65 is ari elevatiorial view of the exterior of the ris;ht halfof the otÃ:ter S11e11 of t.lle d.evic:c of HUF , 3 "; aÃr.d F1G. 66 is an elevaticyzral view of the exterior of the left half of the orÃter shell of the device of FAG. 37 Bc;~t..1'lcxc~~'.for~ C`~rr~t~_n~ qw_ thc ln~s_~n~tc?a!
Aspects of the iriverition are disclosed in the followiri rlescrilatioÃ-a and related drm~>iÃ-ags directed to specific ernbotlirrrc;rrts ot:'t:tre invention. Alternate embodiments m~~~ be devised without depaÃ-tirrc, from the spirit or the scoprv of t(-rrv invention.
Additio.rra1ly, we11-krlc}wri elerlrerrÃs of exemplary emborli.ms;ntw of the invention a4-i11 not be tlescribs;d in ds;tai:l or wil:l be omitted so as tiot to obscure t(ic relevarit details of the iriverifjon.
Before the presezrt invention is disclosed and described, it is to be understood that the terminology Ltsed herein is far the purpose o.f cleseribir~~ pavtacr.rlav ernbodirne:r7ts only aÃr.d is not intended to1.~e limiting. It must 1~7~~, noted that, as t.tse.d in the specification arid the appended claims, t17e singular for-ms "a," "~ii," aard "dre" ir7cltrtfe plrenal references tarile;ss the context clearly dictates ~.~ther-wise.
While the speci.i'icat:io:r7 caricliades ~.~~itlr clai:rris defining the ferrtures of the irrventÃorr ttiat. are regarded as zrovel, it is believed that the invention will be better understood froni a consideration of the1=i.xllowim, description in c:s.anjunc:tion with t1Yo tlra~\--:iarg fi;~ures, :iar ~.~~hi~:.f~ lif~~~.~ a~~yferc~n ~;e t~ua~er-~tls '?U are carri:ed fic~r~\--ard. `l:'he figures of the rlrmvizrgs are Ã-aot drawn to scale. 1~utther, it is noted diat the tigtires lia.ve beeli created r.asirrg a corripr7ter-aided design computer pr-ogrwii. This program.at times rerrroves certairr structural lirres arrdsior surfaces wher-r switcir.irrc, fro.rrr a s:(-raded or colored view to a wii-etrarx~e view. Accordingly, tlro drawings should be trs;atetl as approxinrations a:trd be used as illustrative of if7efc;att.rres c.Yl the present iarveartic3ri.
2z; Referring now to tlre figures tif the drawings in detail aÃid first, particularly to FIGS. l to ?
thereof, Ã.17ere is stiowÃi wr exemplary. embodinrent of ari elect:r:ie surgical circrrlar- stapler 1. `i'17e present application applies the electrically powered liazicile to a circular srirgic:al staple. head for ease o.f rearde", taarciiarg <rr7ly. The iriverition is rr<rt limiteci to circtrlar staplers aard can be applied to tariy surgical ~t~pling head, such as a linea.r staplirig device, for ~~,xainple.
Sucl~ anexemt.~lary 30 embodimerlt is dc;scribicl, in particular, start:ing widl FlG. 37 .
`I'lre powered stapler 1. has a Irarldle bodv 10 c(arrtairr.irrg tFrree sav-itclres: aii arivil caperl switcfr 20; an arivil close mvitch 2)1, and a s[aple firiirg switc.lr 22 F<tc.lr crt:'tli.eweswitclres is elec[rical:lor conne.c.ted to a circuiÃb~.~ard 500 (sc.c, FIG. 12) havi~ig circuitry programmed to carry out thc~, stapling functions of the stapler f. "I'he circuit board ?t?0 is electrically connected to a power stipply 600 contained witliizi tlle handle body l.t=}. One exerriplaay embodiment wilizes 2 to t"~ Lith.iuÃxi CR.l23 or Ã`R2 cells as the power stilaply 600. Other power supply earibodirrrents are possible, sLich. zis re:cliaq(geable: batteries or a power converter that is connected t~) an eIc:ctrÃc nxains (in the latter ~,~mbociimen.t, the stapler would not be self-powered or self-contained). As Lis~,'ci herein, th~,~ t:c;rnis se1f-po~~~ered or self-contained whera used tivith regard to the electric potiver supply (600) are interchangeable antl :i~~~~an t1iat the powc;r supply is a ctari-ilslete aiici ii~itlelsei~itleiit unit in ag-itl of i[selt ~iid c.-an operate tirider its own, power without the use of e:xtertial power sources. For ex-anipIe, a POa4vr waIPPlV havingari electric cord that is plu`,getl itxtt~ ~.g~ electric ~x~aig~s during us~ is tit~t se1t-powered or sel f-e c?iit.ai tied , Insulated cozidtictive -,v~ires or conductor tracks ozi the circtiit board 500 connect all tif the electroyric parts ot'the stapler 1, siach as aÃi on1`o.1=f s~Yltcl7 12, a t:issuc coni pressiari indicator 14, the anvil and trr~~ig switc;hc.s ?{l, I'L 1, 22, the, circuit board _500, and dhe pawer supply 600, for example:..
Btit these lvirr;s "and conductors are i7oi sl7OW-Tt in the figures I'thc dr'awing;; fior ease of uncierstancii no aiid cl arit~=.
The distal ertd of the bat7dle boclv 10 is connected to zi prox:irrtal ertd of a ri-lid artvil neck 3 (}.
Opposite this coÃiziect:ion, at the distal end of the anvil zieck 30, is a coupling devic~e 40 f'cYr r~.~a~~ovablv attaching a staple cir-tridge 50 ai-it1 an a~-ivil 60 thereto.
A:lteralatively, tlle. stiple cartridge ?U 50 can be non-removable in a siiigle-tise contiguratioii of t(ic stapler 1.. `I'hese connections will kie clescribed in ttirtlier detail below.
FIG. 2 shows the fiaridle boclv I(# with the ri(,ht half B oi'the h-andle body 10 -and t(ie circuit bc~ard500remoa,etl. As will be tlisc:usss;d bc;l:ow; aproxinial backborie plate 70 is al:o:removc;c1 frc~tii i17e view of FtG. 2 to allow irie;wing of the il7tcrTual components inside the 1~aDdlebc3dy 10frc3m the 2 5, rÃght side tliereof Wliat c,aÃi be seezi from the vie-w of FIG. 2is that there exist t~~~ointernal cornponent axes witfiiii t.hc:bat7dle body 10. :'t first of ttiesc: axes is the staple control zlx:is 80, wliicli is relatively horizontal in the view of FIG. 22, The stiiple control a.,,<is 80 is the centerline ~nwhich lie i17e COMPOne;lIt.s fOr C011trolling staple actuation. The secoi7d of these axes is the anvil control axis 90 and is disposed at an aiigIc, to the staple c:oiitrol axis 80. The anvil control axis 90 is the centc.rline.
30 ori which lie t}ic components for controlling anvil actuatioi~s. l:t is this separation of axes 80, 90 t11at allows t(ie electric stapler 1. to be powered using a h-andle body 10 that is small eriorigh to fit in a l .s physician's hand atid that does ttot. take titp so mt.rch space, that the physician becomes restricted from t7tcrvoanertt in all tiecessar4 ciirectio~tis at7d oriertta.ti:ortS.
Shown ittside the laaÃadle bodv 10 is the on/off switch 12 (e.;y., a;yreÃaade pin) for controlling power battery power) to all ctt`t.ltc: electrical ccrrnpartertts and the tissue comrpressictrt irtd:icat:or 14. The tissue crtnxpresSion indicator 14 indicates to the physician that tlte tisst:te:beit1g compressed between the a.tivil 60 fflid the stapl~,~ cartriclge 50 has or has tiot been compressecl w ith. grc;wer that-t a pre-set compressive force, w}tich tivill be described in further detail bel~~~~. This indicator 14 is associated wiftt ci, force :witt;li. 400 tttat: ltas bez;.t-i described M. cta-ttertclirtg U~.S. Pat:ettt Provisional Application Serial No. CiUr'taU 1,91a9 filed May 19, "(l(#ti, and tiÃled F`:E{orce S.vitr:.lr.' (the errtirt~ty of w1iic.lt is incorporated by rs;te-:rettc:e herein), .f.he cottlpotieztts along the ativi 1 control axis 90.make up the aztvil control assembly 1 t3U. Azt anvil control frame I lU is ali;ytted a1cyztg the anvil control axis 90 to 1touse and/or fix various part ot-the artvil carttrol ass-ert7bly 100 ttiereto. The wtv:il cozttrol frame .110 ttas- a prox.irrtal mount 112, art intermediate mcwnt 114, atid a distal motant 116. Each ofthesc t-not.ttits 112, 1 14, 116 can be ,ctttacl7edto r itite~;t-al ~817tbtliec attr'ol #i r7.tite l 10. lri tlteexe;ti7plrtryeti71aodimert~t, ~for ea:seof.
titarlu.f'acturitio, the proximal inQunt. l 12 has two lzalves and is ~~parate from the f'raine 110 attd the intermediate mount 114 is separate t:rorrt tlte frame 110.
At the proximal etid of the anvil cotttrol assembly 1.00 is an anvil titotor 1220. 'I'he anvil niotor 120 includes the drive attc.xtor and any gearbox iftat would be needed t~.x convert th~.~ alative '?U titotor revolutiott speed to a desired output axle revt-tlutiozt speed. in tlte present c:ase; the ddve motor has a native speed of approximately 10,000 rpm and the gearbox. converts tlic speed cIc 1,ti to betweet-t approximately 50 attd 70 rpm at at-t axle 1?2 extending out from a distal ertd of the attvi1 motor 120. Tl-it; anvil niu[tar.l 2t3 is set:ttrc;(l bca[li longitudinally and rotationally it~iside tltc; prox-i.trt.a1 Motant 112, 2z; A. ttiotcyrsshatt cottpler 130 is rotationally fixed to the axle 1227 so that rot:atiott o4'tlie axle 1222 translates into a corresponding rotation at`t.17e motor coupler 130.
1'osÃtionecf di stal of tltc c:fgt.tlal er 13 0 i s a rotating nut assenxbly 140 . The titit assembly 140 i s, in this er7ib dir7ietit, a tivo ptart. device having a proximal r7rtt half 141 anda distal nut half 142 rotationally atid lattgittttl.irtally fixed to the proximal nut half 14 1. It is n~.tte:~d that tltcsc~, nttt halves 30 141 , 142 can be inteRral if"desiretl, 1=-Iere, they are illustrated in two halves for casu of rt-tat-tufacturirtg. 'I'Fte prox.i.tnaJ ettcl of the nut assembly 1.40 is rotationally fixed Ãc) the distal cttcl of the curipler 130, LorigittÃ.dinal and rotatia~ial stÃpp~.~rt dhrotiaghaut th~~, length of these two cunncet~~,d parts is assisted by the intermediate 114 aaici distal 11.6 riintirits=
A proxÃmal nut bushing 150 (see FIG. 3) is interposed bemreeÃa the intermediate mount t l~
~~iid the laroxirnal rrLit lialf 14t rizid a d:istal.rriat. bushing 160 is interposed betweezi the distal ariorrzit.
116 azici the di stal raÃrt 1ia1f 142 to have the:se parts slai n effici ently and substarati a1l y wÃthc?ut flic:ti on within the handle body 10 ar-id the alivil cor-itro1 fharrie l_ l. 0. The bushings 150, 160 can be of any suitakile bearing material, for example, they cazi be of riietal stich as bronze (Yr a polymer suel-a as nvlon. To l-rtrther decrease the lonoit:utfina1 friction between [1ic rotating ritrt assc;nib1v 140 aiici [1ic coLrpler 1. 30, a tfir-Lrst was:(-rrv.r 170 is disposed betzh~een the proNitiial Iaushiric, 150 arid the prc}xiniaI rlrrt 1 0 half 141.
Rotation of the cotipler 130 arid iiut assembly 1.40is used toadvance or retract a threaded rod 180, whic}i is the mechanism through vdiich the anvil 60 is extezided or retracted. The threaded rod 180 is sti~wrr irr fi.trttier detail in the exploded view of:la 1:GS. 3 to 4 and is ciescrabecf in furt}ier detail below. A rod support 190 is attached to a distal end of the anvil control frame 1 10 for exteiidins; the supp rtingsurfaces, inside the aiut assembly 140 thal keep the r` d 180 aligned along tl~eai7vil control axis 90. The. rod support 190 has a srnooth int.efior shape corresponding to an cxternal shape oftlie por-tiorr of the rod N(} t}iat passes t.17e:ret:trrorrw:lr. This nia.ting of sliapes allows the roci t80 to rrrove proximally azid distally through the support 190 substantially without frict:ion, To iniprove fl-ic>tionless inoaroin~.'nt of the rc:xd 180 throttgll the support 190, in the ~~xcinpliry ea-nbc.xdiinent, a '?U cylindrical rod btrs}iiiig 1921 is disposed betweeÃ-a the supl,ort 190 atid the rod 180. 'I'lie rod btrshirig 192 is iiotvisi.ble in FIG. 2 bcc.at.tsc; it rests inside the st.tpport 190 .
However, tlic rod bushing'19.2 is visible iri the exploded view of FIGS. 3 to 4. Wit1-r the rod l?ustririg 192 in place, the iritemal s:(-rape ot't1ic support .190 corresptrnds to t.lio s;xtc;mal. shape of[1ic rod katr:liigi<= 192 atici tl-is; internal shape of the rod btrsl7irig 192 corresp aids to the extertial sl7ape of the p0rti0D of the r`od 180 that passes 2 5, tlieretlarorig1i. The rod bushing 192 can be, for example, of ziietal such as brcyzize or a polymer such as t1v ltln.
The components along the staple control axis 80 forr-n the stiiple control assenxblv 2100. The staple C011tro1 a;;sembly 200 is il1u;;trateti in Fl:C~~ 5 viex.vetl frc3nia proxinial tipper aDd side perspe>c:t.ive.. Th~~, proximal end of the, staple control assembly 200 inc:lritl.cs a stapling motor ' 10.
30 The stc:ipl.ing nlotor 210 Mcludc;s t}ic drivc; motor arici any gearbox t11at would be neudc;c1 to convc;rt the native motor .revolutiorl speetl to a desired revolut.iori speed. In the present case, the drive motor lias a nat-i.a, e :1.-~eoci of ap1.-~roximately ~'t),[ltlt) rprn and the g~arfiox ccxivcrts [1ic speed to approximately 200 rpm at an otatptiat axle 212 at the distal c.iid of dhe gcarbux, The ax1e 2l~? c.,aiiriot be secri in the yiew oi`:ItIG. 5 l3tÃt can be secÃi in the exploded viev'- of FIGS. 6 to 7.
'fhe stapling motor 21 l.t=} is rotationally and longitudinally fixed to a motor mount 220. Distal at`Ã.17e motor mount 220 is ziti internic:cliaÃe coupling rrrouzit 230. This coupling r-nount "3(} l.ias a
FIG. f is a perspective view frozn a side of azi exemplary embodiment of an electric stapler according to tlle 1nv'. r#tl t7n FIG. 2 is a fragmentary side e:1ev-ationa1 vieti~, of the stapler of f^ 1CT.
lwit}t a r'i,)ttt (ialf of a I'iag-itllc body ar~itl with a proximal backbone plate rer~titavc.tf;
FIG, :' ) is atl exploded, perspective view of atl attvil r:,ot-tt.r o1 assembly r:tf.tltc stapler of FIG, l;
FIG, 4 is att enlarged, fragrtxettt-arA,, exploded, perspective v:ie,c.Nof't:hc anvil c.a.ttt[rol ass:er-txbly of f~ I:G. :$;
FIG, 5 is a fragrtieÃatary, perspective view rif a staple tiring control a.ssemblv of the stapler of FIG. I trarti a reav side t.17ereof:
FIG, 6 is an exploded, perspcctive view of the staple firing control asseml.~1N, of Ãhe stapler of f 5 :l+ 1C~ . l :
FlG. 7 is at1 ertlarged, fragmentary, exploded, perspective view of the staple firirlg c~.~tiÃrttl ils-sc1.i1bly of .f' IG-. 6, FIG. 8 is a fragmentary, horizontally cross-sectioÃtal view of the aatvil cc?ntrol asseznbly from belou; the handle body portioti of tlle, stipler of 1" f:G. 1;
?U FIG. 9 is a fragmeratary, enlarged, ltorizozttally cross-sectional vieti~>
fii-r-trtt below a pt-oxintal portioai of the anvil. control ass~,'rribly FIG. S.
FIG, 10 is a frao.tttcttÃ:ar), crtlarg:etl, horizontally r:,.r=oss-sec.tic}ttaJ v:iew frozrl below att irtterr-ttediatc portittrt of the astvil control assembly ofFIC:i. t ;
F IG. 1.1 is a ffnagariettta,r;;, caikargeei, horizontally cross-sectional vic;w-frorn below a eiist"al 2 5, portion of the anvil control a.ssemblv of I~ fG. 8;
FIG. 12 is a fra,g,rt7ezttary, vertically cross-sectional view ti-arti zt right side crfzt. tiartdle bcxfy portiÃtn of the stapler of 1716. 1;
f'lG. 1.3 is a fragaricnt.a,r;;, c:nlargeei, vertically cross-sectional view fi-otri the rigllt. side of a proximal het.tidle body portion of the:~ stapler ofFIG. 12;
30 FIG. 14 is a fragmentary, ertlargc..d., vertsc:allv c;ross sictiottal view from the right side of<tn ititerzrlecfiat:c handle bodv lx}rtiorl of the staplcr of.:E{ICJ. 12;
luIG. 15 is a fr~~tgmc.nt.ary, ft.trthc.r enlarged, vc.tt.icallv cross-sectional view from dhe right side of the ititerr-i7eciiate hatidle body porÃioai of the stapler of FIG. 149 F1G. 1.6 is a firkgmerttary, ealarged, vertacally cross-sectional view -rom the ri;yht side of a distal liaticlle body portion of the stapler of FIG. l M;
FIG. 17 is a laerspec:tivc: 'view of a portic?tx of ara anvil of the stapler of:f~IG. l;
1"tG. 18 is a fragmentat-y, cross-Sectlonial view of a removable stapling assembly including the ativil, a stalfler cartridge, a force switcti; and a removable cartridge CoÃ-artecting assettibly. of the stapler of FIG. I F1G. 19 is a fra;.ntettÃ:w)=, horizontally cross-sectional view of the ativ.il c.ottÃrol aSsctnbly front above the handle body portior~i of tlte, stapler ofFIC:i. I witti ths;
arivi:l roti in a fi.rlly- extended positiott;
FlG. 't} is a fragmentary, sicle elevational view c?1'tfae handle bridy, portion of the stapler of FIG. I fratii a lef-l. slide of tfr~ ~iwrdle body portion wÃtli the left frarrcfle body and the circuit boavd ren~o,ved and with thc~, aw,11 rod in a ft.tlly extended pasit'iun;
l 5 f'lG. 21 is a fragmentary, side eleratior7til vievv- I'the haridle body portior7 c~Yf the stapler of FIG. 20 with the atttril rod in a 1-c.m ativil closure posit.iott;
FIG. 22 is a tra-,fl7entarv, horizontally cross-sectional view of ttie anvil cotitrol assembly from above the handle body portioÃi c?1'tfae stapler of FIG. lwith the azivil rod in a safe staple fiirirtg posit:ion'.
?U )~lC~. "") is a fragmentary, harizorttally c:.ross-sectikynal view of dte anvil control assembly troni above ttic handle bodv poi-tson of the stapler of FIG. 'l with th~,~
fflivil rocl in a fitlly retracted pc}sitiorl;.
FlG. 24 is a fragmentary, htrriztrntally cross-sectional view of tlie tiritig control assembly-fi-om above the 1iaiicfle; bodt p rtyc3ti of the stapler c3k :It 1C_'r. 1;
2z; FlG. 15 is a fragmentary, enlarged, horizontally crnssaSectiozial view from above a proximal portion of the firitig control assemb:ly ot FI~'r. 24;
1~lG_ 26 is a frra.~nxentary; enlarged, horizontally cross-sectional view ti-oan above iin ir7ternir;d.itite portion of the firing control assenibl;r I'FfG 24;
F1G. 27 is a fras;me.ntaq, enlargc~,d, horizotitally cross-sectional view from ab~.~vc~, a distal 30 portion of t}ic firi.rig control assembly of FIG. 4;
F1GS. 2~8 arld 29 are s}~aded, fragtYÃenta.Ã-y, er-tlat~~wed. parÃiallv trattSparerit perspective views of a g[aplc; c;artr7:rlge rcritoval assembly ot'tltc stapler o#'Fl:G. i;
FIG, 3 t] is asehemat.ie eireW t. ciia ;ratn of a.n cxem p1ary- encr-yption e.ircWt for itite:re-har1geal.~1e parts of the tiieelical device aecordiÃig to the invention;
FIG, 31 is a ba:r;yraph illustaating a speed that a pinion znoves a rack show'Ãa in FIG. 322 for vari otas l oa.tis;
FfG_ 32 is a fra~.õnxentar} ; perspective view of a sianpl'afiecf, exemplary portion of a gear train iat:cordlng to the present invention b'.tw'.eti. a gear box atl.d ia raCk', FlC~. :$ ' is a fragmentary, vertically Ion~;-ittrdinal; crc?ss-sectioÃ-aal view of adista:1 end ofi an a.rt:icarla.tirrg Istartitag-I of'atr exemfal,arN, embodimer~It of ar~I c;tici effector witfr the ig-iiier tufae, the pushrod-blade support, t(-ttv a.trvi l, the cIost:rre.Ã=ing, and ttle nea:r fla;li'of the staple sled reI-noverl;
FIG, 34 is a scfic;riiat:ic circuit diagrarn of'ag-I exemf.slary- switching as:s;rnfi.ly for a faows;r st.tpply a~~c(yrd'Ing to the invention:, FIG, 35 is a schematic circuit diagram c?f'arr exeznplary, switching assembly for fcrrNN.ard and reverse control ot'ti motor according to the irlverltioti;
FIG, 36 is a schematic e.ircWt diagrat`n uf'anoth~~,r exemplary switching asscm6iv for the.
pox.ver ;;trpply and the fii:}nvarei aiicf reverse control of the motor accortfir7g to the invention;
FtG. 37 is a left side clevatiotza.l view of the device acct.~rciilio to the inventiotz witli the otÃ:ter sfiell rertovecl;
FIG. 38 is, an erflarg ged left side e1e-vationa.l view of apc?rticyzi the device of FIG. '7 witli the left side frame remc.xvecl, ?U FlC~. 39 is a ri~;t~t side elevational ~~~ie~~~ of the device t-~~~:~`iC~.
3 7;
FIG. 40 is an onliarg~,'ci right sidc; el~,~~,,ationa1 view of a portion the device of FIC. the rig.flt Sirle t`ratlxtv removetl;
FIG, 41. is a perspective view of ttic; tfevice portioii of 1:'lG. 40 from the rigfit rear;
F IG. 42 is a rear eleira.tioml vievv- of the de-,,yce portyc3rt of P1CI. 40;
2z; FIG, 43 is a perspective view of'Ãt~~ device portion of FIG, 40 firorxi the left rear with the arst:
to t}iircl stt7.t.~e c~c~~.~ er .re:r~~c~~.~ ecf, stage 44 is a perspective view of the device portion of FIG. -40 from iibove the right side with the pt:nver supply r=emt:}irecl;
FIG, 45 is a perspec:tive view of the de~,'ic~~, portion ofFlG. 44 with the matltaal reIeaS~~,1ev~~,r 30 ina first intermediate positiorr dtiith the c;astl:e gc;ar in tflc separated positson;
FIG, 46 is a perspective view of the device po.Ã=tic}ri ok 1<IG. 45 with the.rnanuaJ release lever irI a sc;cC?tlci intermediate f3ositiCtt~l, 1.O
FIG, 47 is a top plan view of the device portion of FIG, 46 with the, mantÃa1 release le'vt;:r in a tliird itiÃerriiediate pt.1;,ition;
FIG, 48 is ati ezilar~ed perspective view of the niatiual release assembly froni the rÃg1ià side with the second stagle release gea7r, two criaii }alates., wtd a pawl spt-Ã:t7w removed with ttie priwl in rizl t.tpper, unratcheting position;
FIG. 49 is a perspective view of the mantÃaf release l~,~~ver from. bel.o-w a rigltt front side';
FlC~. Sf.t is a perspective vi:e~k.- of die matiual re lease Iever frorti below a t=i<w:(ià rear side;
FIG. :? 1 is a perspective view o.f itic t-rtar~iatal release lr:ve:r from below a, left rear s:icfe;
FIG, 52 is a perspective view of a carn plate fro.tn a left side;
1 0 FIG, 53 is a faerspectio~ e. view of a, castle gear lroni a right :id.e;
FlC~. 54 is a perspective vi:e~~~ of a fc?urt}i stage pinkan fr(aira the left side;
FIG, 55 is a perspect:ive view of the deN=ice portion E?f FIG, 44 froÃn above a.front right side w:itti ri pawl kgaanst a pawl catii;
FIG, 56 is a pt;:rspcctive view of the devict;: pot`tiati of FIG, 55 with the pawl off of the pawl Cartl tirld atya.inst a ratchet gear ar7d with the castle gear in the separated pc3sitioti;
FIG, 57 is a perspective view of the deN=i ce portion of FIG, 44 froti~ above a front left side with the rt7a:t7ua.l release in art :irttermed.iate positaort, FIG. 58 is a perspective view rif the device portion of FIG. 57 -,v~ith the manual releaseizl another intermediate position.
?U FlG'. S9is att-a enlarged right side elevati:c?rial view of a portion of the device of FIG. 40 witli th c et-icl cftec:tor cositrol hancllc iti an t,tnacttÃatecl positiotl';
FIG. 60 is ari et-rlarged ri-.frt side eIeva:tiomai1 view of a the device portion of F1G, 59 witli tht~-ertcf effector ctrt-it:rEtl handle in a partially actuated f.~sositiEtn;
FAGF. 61 is an erilarged perspective view of a sba.ft cotiriectot- portyc3ri of the dc;vic~~e of FJGF. 37 2 5, from above the frcrzit right side with a removable end effector shaft:
secured in a ft-ame;
FIG. 62 is ttri e.rrlargeci perspective view of the shaft canrtector portion at` FIG. 61 witli sftaft securing cleN=Ãce ret-noved to peranit removal of the end etTector slia.tt from the fraane;
f'lG. 63 is ati elevational view c.Yfdhe ititerfor c,Yf a lc;ft lial.f f't.he (artter stiell of the device of ,;.
FIG, 37;
30 FIG. 64 is an clevationaf view of tfsc irlterior of a right half of the outer shell of the device of F.M. _}7;
ll 1/'IC. 65 is ari elevatiorial view of the exterior of the ris;ht halfof the otÃ:ter S11e11 of t.lle d.evic:c of HUF , 3 "; aÃr.d F1G. 66 is an elevaticyzral view of the exterior of the left half of the orÃter shell of the device of FAG. 37 Bc;~t..1'lcxc~~'.for~ C`~rr~t~_n~ qw_ thc ln~s_~n~tc?a!
Aspects of the iriverition are disclosed in the followiri rlescrilatioÃ-a and related drm~>iÃ-ags directed to specific ernbotlirrrc;rrts ot:'t:tre invention. Alternate embodiments m~~~ be devised without depaÃ-tirrc, from the spirit or the scoprv of t(-rrv invention.
Additio.rra1ly, we11-krlc}wri elerlrerrÃs of exemplary emborli.ms;ntw of the invention a4-i11 not be tlescribs;d in ds;tai:l or wil:l be omitted so as tiot to obscure t(ic relevarit details of the iriverifjon.
Before the presezrt invention is disclosed and described, it is to be understood that the terminology Ltsed herein is far the purpose o.f cleseribir~~ pavtacr.rlav ernbodirne:r7ts only aÃr.d is not intended to1.~e limiting. It must 1~7~~, noted that, as t.tse.d in the specification arid the appended claims, t17e singular for-ms "a," "~ii," aard "dre" ir7cltrtfe plrenal references tarile;ss the context clearly dictates ~.~ther-wise.
While the speci.i'icat:io:r7 caricliades ~.~~itlr clai:rris defining the ferrtures of the irrventÃorr ttiat. are regarded as zrovel, it is believed that the invention will be better understood froni a consideration of the1=i.xllowim, description in c:s.anjunc:tion with t1Yo tlra~\--:iarg fi;~ures, :iar ~.~~hi~:.f~ lif~~~.~ a~~yferc~n ~;e t~ua~er-~tls '?U are carri:ed fic~r~\--ard. `l:'he figures of the rlrmvizrgs are Ã-aot drawn to scale. 1~utther, it is noted diat the tigtires lia.ve beeli created r.asirrg a corripr7ter-aided design computer pr-ogrwii. This program.at times rerrroves certairr structural lirres arrdsior surfaces wher-r switcir.irrc, fro.rrr a s:(-raded or colored view to a wii-etrarx~e view. Accordingly, tlro drawings should be trs;atetl as approxinrations a:trd be used as illustrative of if7efc;att.rres c.Yl the present iarveartic3ri.
2z; Referring now to tlre figures tif the drawings in detail aÃid first, particularly to FIGS. l to ?
thereof, Ã.17ere is stiowÃi wr exemplary. embodinrent of ari elect:r:ie surgical circrrlar- stapler 1. `i'17e present application applies the electrically powered liazicile to a circular srirgic:al staple. head for ease o.f rearde", taarciiarg <rr7ly. The iriverition is rr<rt limiteci to circtrlar staplers aard can be applied to tariy surgical ~t~pling head, such as a linea.r staplirig device, for ~~,xainple.
Sucl~ anexemt.~lary 30 embodimerlt is dc;scribicl, in particular, start:ing widl FlG. 37 .
`I'lre powered stapler 1. has a Irarldle bodv 10 c(arrtairr.irrg tFrree sav-itclres: aii arivil caperl switcfr 20; an arivil close mvitch 2)1, and a s[aple firiirg switc.lr 22 F<tc.lr crt:'tli.eweswitclres is elec[rical:lor conne.c.ted to a circuiÃb~.~ard 500 (sc.c, FIG. 12) havi~ig circuitry programmed to carry out thc~, stapling functions of the stapler f. "I'he circuit board ?t?0 is electrically connected to a power stipply 600 contained witliizi tlle handle body l.t=}. One exerriplaay embodiment wilizes 2 to t"~ Lith.iuÃxi CR.l23 or Ã`R2 cells as the power stilaply 600. Other power supply earibodirrrents are possible, sLich. zis re:cliaq(geable: batteries or a power converter that is connected t~) an eIc:ctrÃc nxains (in the latter ~,~mbociimen.t, the stapler would not be self-powered or self-contained). As Lis~,'ci herein, th~,~ t:c;rnis se1f-po~~~ered or self-contained whera used tivith regard to the electric potiver supply (600) are interchangeable antl :i~~~~an t1iat the powc;r supply is a ctari-ilslete aiici ii~itlelsei~itleiit unit in ag-itl of i[selt ~iid c.-an operate tirider its own, power without the use of e:xtertial power sources. For ex-anipIe, a POa4vr waIPPlV havingari electric cord that is plu`,getl itxtt~ ~.g~ electric ~x~aig~s during us~ is tit~t se1t-powered or sel f-e c?iit.ai tied , Insulated cozidtictive -,v~ires or conductor tracks ozi the circtiit board 500 connect all tif the electroyric parts ot'the stapler 1, siach as aÃi on1`o.1=f s~Yltcl7 12, a t:issuc coni pressiari indicator 14, the anvil and trr~~ig switc;hc.s ?{l, I'L 1, 22, the, circuit board _500, and dhe pawer supply 600, for example:..
Btit these lvirr;s "and conductors are i7oi sl7OW-Tt in the figures I'thc dr'awing;; fior ease of uncierstancii no aiid cl arit~=.
The distal ertd of the bat7dle boclv 10 is connected to zi prox:irrtal ertd of a ri-lid artvil neck 3 (}.
Opposite this coÃiziect:ion, at the distal end of the anvil zieck 30, is a coupling devic~e 40 f'cYr r~.~a~~ovablv attaching a staple cir-tridge 50 ai-it1 an a~-ivil 60 thereto.
A:lteralatively, tlle. stiple cartridge ?U 50 can be non-removable in a siiigle-tise contiguratioii of t(ic stapler 1.. `I'hese connections will kie clescribed in ttirtlier detail below.
FIG. 2 shows the fiaridle boclv I(# with the ri(,ht half B oi'the h-andle body 10 -and t(ie circuit bc~ard500remoa,etl. As will be tlisc:usss;d bc;l:ow; aproxinial backborie plate 70 is al:o:removc;c1 frc~tii i17e view of FtG. 2 to allow irie;wing of the il7tcrTual components inside the 1~aDdlebc3dy 10frc3m the 2 5, rÃght side tliereof Wliat c,aÃi be seezi from the vie-w of FIG. 2is that there exist t~~~ointernal cornponent axes witfiiii t.hc:bat7dle body 10. :'t first of ttiesc: axes is the staple control zlx:is 80, wliicli is relatively horizontal in the view of FIG. 22, The stiiple control a.,,<is 80 is the centerline ~nwhich lie i17e COMPOne;lIt.s fOr C011trolling staple actuation. The secoi7d of these axes is the anvil control axis 90 and is disposed at an aiigIc, to the staple c:oiitrol axis 80. The anvil control axis 90 is the centc.rline.
30 ori which lie t}ic components for controlling anvil actuatioi~s. l:t is this separation of axes 80, 90 t11at allows t(ie electric stapler 1. to be powered using a h-andle body 10 that is small eriorigh to fit in a l .s physician's hand atid that does ttot. take titp so mt.rch space, that the physician becomes restricted from t7tcrvoanertt in all tiecessar4 ciirectio~tis at7d oriertta.ti:ortS.
Shown ittside the laaÃadle bodv 10 is the on/off switch 12 (e.;y., a;yreÃaade pin) for controlling power battery power) to all ctt`t.ltc: electrical ccrrnpartertts and the tissue comrpressictrt irtd:icat:or 14. The tissue crtnxpresSion indicator 14 indicates to the physician that tlte tisst:te:beit1g compressed between the a.tivil 60 fflid the stapl~,~ cartriclge 50 has or has tiot been compressecl w ith. grc;wer that-t a pre-set compressive force, w}tich tivill be described in further detail bel~~~~. This indicator 14 is associated wiftt ci, force :witt;li. 400 tttat: ltas bez;.t-i described M. cta-ttertclirtg U~.S. Pat:ettt Provisional Application Serial No. CiUr'taU 1,91a9 filed May 19, "(l(#ti, and tiÃled F`:E{orce S.vitr:.lr.' (the errtirt~ty of w1iic.lt is incorporated by rs;te-:rettc:e herein), .f.he cottlpotieztts along the ativi 1 control axis 90.make up the aztvil control assembly 1 t3U. Azt anvil control frame I lU is ali;ytted a1cyztg the anvil control axis 90 to 1touse and/or fix various part ot-the artvil carttrol ass-ert7bly 100 ttiereto. The wtv:il cozttrol frame .110 ttas- a prox.irrtal mount 112, art intermediate mcwnt 114, atid a distal motant 116. Each ofthesc t-not.ttits 112, 1 14, 116 can be ,ctttacl7edto r itite~;t-al ~817tbtliec attr'ol #i r7.tite l 10. lri tlteexe;ti7plrtryeti71aodimert~t, ~for ea:seof.
titarlu.f'acturitio, the proximal inQunt. l 12 has two lzalves and is ~~parate from the f'raine 110 attd the intermediate mount 114 is separate t:rorrt tlte frame 110.
At the proximal etid of the anvil cotttrol assembly 1.00 is an anvil titotor 1220. 'I'he anvil niotor 120 includes the drive attc.xtor and any gearbox iftat would be needed t~.x convert th~.~ alative '?U titotor revolutiott speed to a desired output axle revt-tlutiozt speed. in tlte present c:ase; the ddve motor has a native speed of approximately 10,000 rpm and the gearbox. converts tlic speed cIc 1,ti to betweet-t approximately 50 attd 70 rpm at at-t axle 1?2 extending out from a distal ertd of the attvi1 motor 120. Tl-it; anvil niu[tar.l 2t3 is set:ttrc;(l bca[li longitudinally and rotationally it~iside tltc; prox-i.trt.a1 Motant 112, 2z; A. ttiotcyrsshatt cottpler 130 is rotationally fixed to the axle 1227 so that rot:atiott o4'tlie axle 1222 translates into a corresponding rotation at`t.17e motor coupler 130.
1'osÃtionecf di stal of tltc c:fgt.tlal er 13 0 i s a rotating nut assenxbly 140 . The titit assembly 140 i s, in this er7ib dir7ietit, a tivo ptart. device having a proximal r7rtt half 141 anda distal nut half 142 rotationally atid lattgittttl.irtally fixed to the proximal nut half 14 1. It is n~.tte:~d that tltcsc~, nttt halves 30 141 , 142 can be inteRral if"desiretl, 1=-Iere, they are illustrated in two halves for casu of rt-tat-tufacturirtg. 'I'Fte prox.i.tnaJ ettcl of the nut assembly 1.40 is rotationally fixed Ãc) the distal cttcl of the curipler 130, LorigittÃ.dinal and rotatia~ial stÃpp~.~rt dhrotiaghaut th~~, length of these two cunncet~~,d parts is assisted by the intermediate 114 aaici distal 11.6 riintirits=
A proxÃmal nut bushing 150 (see FIG. 3) is interposed bemreeÃa the intermediate mount t l~
~~iid the laroxirnal rrLit lialf 14t rizid a d:istal.rriat. bushing 160 is interposed betweezi the distal ariorrzit.
116 azici the di stal raÃrt 1ia1f 142 to have the:se parts slai n effici ently and substarati a1l y wÃthc?ut flic:ti on within the handle body 10 ar-id the alivil cor-itro1 fharrie l_ l. 0. The bushings 150, 160 can be of any suitakile bearing material, for example, they cazi be of riietal stich as bronze (Yr a polymer suel-a as nvlon. To l-rtrther decrease the lonoit:utfina1 friction between [1ic rotating ritrt assc;nib1v 140 aiici [1ic coLrpler 1. 30, a tfir-Lrst was:(-rrv.r 170 is disposed betzh~een the proNitiial Iaushiric, 150 arid the prc}xiniaI rlrrt 1 0 half 141.
Rotation of the cotipler 130 arid iiut assembly 1.40is used toadvance or retract a threaded rod 180, whic}i is the mechanism through vdiich the anvil 60 is extezided or retracted. The threaded rod 180 is sti~wrr irr fi.trttier detail in the exploded view of:la 1:GS. 3 to 4 and is ciescrabecf in furt}ier detail below. A rod support 190 is attached to a distal end of the anvil control frame 1 10 for exteiidins; the supp rtingsurfaces, inside the aiut assembly 140 thal keep the r` d 180 aligned along tl~eai7vil control axis 90. The. rod support 190 has a srnooth int.efior shape corresponding to an cxternal shape oftlie por-tiorr of the rod N(} t}iat passes t.17e:ret:trrorrw:lr. This nia.ting of sliapes allows the roci t80 to rrrove proximally azid distally through the support 190 substantially without frict:ion, To iniprove fl-ic>tionless inoaroin~.'nt of the rc:xd 180 throttgll the support 190, in the ~~xcinpliry ea-nbc.xdiinent, a '?U cylindrical rod btrs}iiiig 1921 is disposed betweeÃ-a the supl,ort 190 atid the rod 180. 'I'lie rod btrshirig 192 is iiotvisi.ble in FIG. 2 bcc.at.tsc; it rests inside the st.tpport 190 .
However, tlic rod bushing'19.2 is visible iri the exploded view of FIGS. 3 to 4. Wit1-r the rod l?ustririg 192 in place, the iritemal s:(-rape ot't1ic support .190 corresptrnds to t.lio s;xtc;mal. shape of[1ic rod katr:liigi<= 192 atici tl-is; internal shape of the rod btrsl7irig 192 corresp aids to the extertial sl7ape of the p0rti0D of the r`od 180 that passes 2 5, tlieretlarorig1i. The rod bushing 192 can be, for example, of ziietal such as brcyzize or a polymer such as t1v ltln.
The components along the staple control axis 80 forr-n the stiiple control assenxblv 2100. The staple C011tro1 a;;sembly 200 is il1u;;trateti in Fl:C~~ 5 viex.vetl frc3nia proxinial tipper aDd side perspe>c:t.ive.. Th~~, proximal end of the, staple control assembly 200 inc:lritl.cs a stapling motor ' 10.
30 The stc:ipl.ing nlotor 210 Mcludc;s t}ic drivc; motor arici any gearbox t11at would be neudc;c1 to convc;rt the native motor .revolutiorl speetl to a desired revolut.iori speed. In the present case, the drive motor lias a nat-i.a, e :1.-~eoci of ap1.-~roximately ~'t),[ltlt) rprn and the g~arfiox ccxivcrts [1ic speed to approximately 200 rpm at an otatptiat axle 212 at the distal c.iid of dhe gcarbux, The ax1e 2l~? c.,aiiriot be secri in the yiew oi`:ItIG. 5 l3tÃt can be secÃi in the exploded viev'- of FIGS. 6 to 7.
'fhe stapling motor 21 l.t=} is rotationally and longitudinally fixed to a motor mount 220. Distal at`Ã.17e motor mount 220 is ziti internic:cliaÃe coupling rrrouzit 230. This coupling r-nount "3(} l.ias a
5 distal pl~ite2~')2thit is sl~~w.ix, fi)r exa~nple: in FIG. 6, The distal plate 2322 is removable from the coupling mount 230 so that a rotatiaig screw 1.50 can be held therebetweeai.
lt is this rotating screw '??t) that acts as the drÃve for ejecting the staples out of the snple cartridge 50. 'I'he et'~'acieiic.v in t:rangferrin;~ the rotational niovernent: ofaxlc; 212 to the rotating .crow '50 is atadtrr tliat carr substantiallv decrease the ability of t:hestapler 1Ão deliver the necessary staple ejection longitudinal 10 fo:rce of trp to 1-50 poutids. ThLis, ag-i c;xernplary er~-ibo(lir~-icg-it:
of't.hc screw 250 has ag-i acms; profile threa&
f here a-re two exemplary ways described liereiÃa for efficiently cc?uplizig the rotation of the axle21 M to itie screw :250. First, itie stzipliyigmoÃt).r ~~?.I.Ct ca7Ã"r belioused "loc3sely" wÃtliariactiamber defined by the handle, body 10 so that it is rotationally stable btat has play to move radially ~~id so 15 that it is longitudinally stable but lias play to rtic3ve. l.ri such a configuration, the staplir7g rtic3t,or 210 will "find its oivri cerZtcr" to align the axis of t1ie axle 2.12 to the axis of tlie sc.rew 250, which, in t.fle exemplary. embodi.ment, is also the staple cont.rol axis 80.
A second exemplary, embodiment for a!igz~Ãng; the axle 212 and the screw 2150 is illustrated in FIGS. t to 5, fZ):r examplc In this ~.'~ibocllr~icalt; a proximal er7tl of a flexible coupling 240 is tixec1 '?U (botli rotationally azid longitudim.11y) to the &\le 212. 'I'}iis coniiecÃiozi is 1"`orined by fitting the distal end of'the ia\le 2121 inside a proximal bore 24'l of th~,~ flexible coupling 240. See F1G, 12. The axl~,~
2122 is, ifieri, secured dhercirl w ith a proNimal setscrew 21_a. '1"(ie scrcw~25f1 lias a proximal extension 1.5 1 that fits inside a tii:tal. bore 242) of tl-is; flexible ctrul.~slir~~
240 airtl iw :s;cured [l-is;rc:iti by a distal sei.scrc,tiu'?:?`?. It i;; noted that the figur"es ol'thc; (1r'awiaig;; sli(iw the flexible coupling 240 lvidh r-it~ges 2.5 inthezniddleportionthereo4', In aÃi exemplaav emboclimeÃit oftl~e coup1iÃi~; ~4~}, the part is of aluminum or niolcic:cl plastic at7d has a spiral or ("refixecl crit-ouÃ
aroLtrici the ci.rcri.1111:'erc:nce of tfie center laortiora thereof, In such a corafi~Ã~raÃic~a~, one end Ã~f'tlic c:fg~.~lalia~{~ 240 cazi anc~arc in iin~= radial d.irect.iori (360 (iegr"ees} witli respect totlie oi17er end (,as iri a -irnbal), il7rrs pr"oiridirl_ the desir"ed flex tc.~ efficiently aligii the central axes of thc axle. 212 . aiid the screw ?
50.
3t] The proximal extension '5 1 of t1rc screw '50 is substantially smaller in diansetur thari. the diam cter o:f tFie bore 73 1. t1iat: exists in arid through the ir-iterzrlediaÃ:e coupli~ig moLirrt2' ) Ã,1. '~('b:is bore ? a 1has two iricrs;a.rng stt;p: in tliame[s;r ori tl-is; distal Sitio thereof. The fir"wt: incrs;awing st.op in diameter is sized t.~.~ fit a t.~roxima.l radius screw bushing 2.60Y which is fur~ied ~.~f a material that is softer t11ari the ir7terriiediate corÃplitig r-i7c1tirlt 230. ':l'he prnxima;l radirÃs screw bushing 260 orily keeps the screANr 250 axially a!igr~ed and does not absorb or transmit any of the longitudinal thrust. The sc:carici increasing step in ciiarr7eter is sized to frt a proximal tlirust beariri~ 170.ior tirc: screw 250. l:rr an exemplary embodirlierit of the ttarLxst bearing 270, proximal arxd distal plates sandwich a be:arÃrxt;
ba1.1 retainer plate and bearirig balls therebotween. This thrust b~.~aring270 absorbs all of the longitudinal thrust that is imparted towards tl~e axle 21 22 while the up to 250 por.rnrls of Iort,~jtLrdinal force is being afaplied to eject itiestaples M. the staple cartridge 50. The proxir-lial extension 251. of the screw 2 50 lias dikTererit sized diameters for ear:.:(-r of the interiors of t:tle screw buslung 260 and the tlrrrrst: bearing 2)70. Tlxc; r-titrtor niourxt ~~0 and the coupling mourr[
?at), therefore, tirrr-ti the two devices tlia.t (iold the flexible couplirtg,240 therebem~eeÃ-a.
-f he rota:tizi;? screw 250 is lield inside the distal plate 2321 with a distal radius screw bushing 280 sariiilar tr) tlre prom.inal rrid:ius screw brisliirig 260. T.lrias., the screw 1.50 rotates fr-eely wittrirr tlle distal plaÃc~, 2~~
.1 To translate the rotatiori of the scr~~,w-.2 50 into a lin c.ar distal movem c.nt, the:~ sc:rc.w 250 is tlir~eade;d withiri a mc3vyng.ntat ~~'90. N-1:c3vernent of the rit.rt 290 is limited to dhe an7otrnt of r~~ovelnent that ls needed for complete actuation of the staplesi in other worcis, the Qrlly rieeds t.r) riiove tlrrougfr ri distaÃice srrl-f:icient tcr.form closed staples between the staple ca.rtr:icige 50 and the aÃivil 60 and to extend the cutting blade, if ativ, within the staple cartridge 50, arad then retract t1Yo same. When tlle. nut 2190 is in tlYo proximal-most position (see, e.g., FlG 12), tlle, staples '?U are at rest and ready to be fired. Wberi the riut 290 is in the rlistal-most positiori, the staples a:re stapled thror.agh ar-icl arou.ricl the tsssr.ae interposed betweer-i th~,~
staple cartridge 50 and the ar-ivil, asid the kriife, if-.any, is passed etitirely through the tiss>Tie to brv c>Tit..
'I'lie distal-most positiorl of the r-rut.
290 i.s limi.tcd by tl-ic location of tlxc; distal plate 232. Thus, the longitudinal lengtll o#'t}re tlrreatls of the screw 2?0 and the l ctatiOD Of t:hc. (listtal plate 'm>? liaiiit the distal moveaiicrit o.f the aiLat '90, 2z; Frictional losses between the screw 2150 and the nut 290 contribute to a significant redr.ictioÃi in the total pounds crf.iorce that ca:r7 be trarrsrr7it-ted to the staple ca:r-triclgc: 50 through the cartridge plLrrlger :')?Ø Tlxerefore; it is desirafile to select tlie. ziiaterials of the screv~, 250 and the nr:rt -90 and the pitcli oi't17e tlir-c.ads I't.hc screw 250 iri aD optyrnized way. It has been found that rrse oI'a l:(iw-filctroÃ1 P{~lym4=r for manufacturing the Ã1LÃt 290 NvIll decrease the friction c11oLlgll to transmit th~:~
30 approximately '50 pounds of longitudinal force to the distal end of the cartri(lgc; pltiisger 320 __ tlsc ariiourit of force that is needed to rv:f-ectivrvly deploy the staples. 'I'wo particular ex.er-ripla:r), rrlaterials provitio tl-it; rles:irerl charac.tcrist:ics ar~itl arc; rs;fcrrcd [a.r in tl-it; art as Dl-~T.R1NICK: AlT' l;lend Acetal (a l' thermapla.sÃic material c:or-nbining TEFI.:ONO, fibers unifornlly dispersed M
>r3EI.,RI:"~AP ac.,et.al rc.siri.?
atid RLJI_,ONX) (a cntiipoLraided t':or=an c1t .( Fi; fluor=crcarboai) or other sit7iilar low--fricti~.1n. p~.1l;rÃaier=s.
A nut coup1Ãng bracket 300 is longitudinally fixed to the nut 290 so that it rtroves along Nvitlt t(t.c riut 290. The riut coupling bracl;.et 300 pr~vides support. for the rela.tively soft, lubric:iorrs:r7ttt material. In the e:xe:mpla.ry- e:mbodimc:rit sli c?wt1z the bra.cket :3) 00 h a.s an interior c.aviq.* having a s1iape cor-r~,~spcrr-iclir-igtotliee\terior= slrapc of t1ic nt.at 290. ThtÃs, the ntÃt `9t? fits srir,iglv into the ccrtp-ling bracket :$00 aiid movement of tlte Ã-atrt 290 trartslates irito a correspottdittg rtic?vertieÃ-at of the riut coupling bracket 300. The shape of itic nut coupling bracket: '300 is, in the exei-rrp.lary c.n.rbodi:rirerrt, dictated bv the cc}mpx}ricrits surrounding it and bv the lc}rigit:udirlal forces that it fias tc) bear. For example, ttxc;re is arr M.tc;rior cavity 102 distal of the aut: 290 [tiat is shaped to receive ttic; dig[al plate '? 3w therein. 'I'}te nt:rt coupling bracket 300also has a distal housing 304fiior t-eceivittg therein a stit'tetting rod 3 tU. The stit~enirtg rod 310 Ãttcreases the longitudinal support and torms apoaticrti of the cannect:io:r7 bet4.~,eerr the rir.zt 290 aricl a cartridge pliarrger 3:20 (scc,, f;'I:G 5), wli:icti is t}le last moving link be:tweeti eler-nc.nts in the haridlc~, body 10 et.rid the staple cartridge 50. A firing bracket 3~t~ tlisposecl faetweerr the tlisAal eritl of't}re titat coupling bracket 300 tirrd t.lic siiCCeriingrocf '110 strengthens t.lre corzriect-ion bet.Nveerr the trut c~.~upling bra:cket 300 and tlrc rod 310.
Various ccrrt7lacrrierits, of the stap(ertztr~e connected to orie another to for.iir a bacl:bozle crr spÃtte. r1This 1}aclw.bone is afi-at~~e providing rnu1ÃÃadirectÃc?nal stability and is tita:de r.rp of fiour pr-irnar~~
parts (in order fi:-orri proximal to distal): tlle. anvil control tranie 110, the pr-oximil backbone plate 70 '?U (shc?wÃ-a in 1~IGS . 3 to 4 and 6 to 7), a dista.l backboÃ-ae plate -3 ) 40; aiid the anvil rteck 3 ) t). Each of these tot.tr parts is longitudinally atrd rotationally fixed to orie another in this order and torrris the skeleton (ati which the rerna:irlder of dhc (-ta.rtdle c.omporierits is attached in sorne wav, Lateral support to t(-trv ccrtiipcrtrs;ttts is provided by contours oii the :irrsicio surfaces of tlit;
liag-itllc body 10, whicli. in an exerripla.r;r err-ibodimeiit is formed of two l7tilires, ti left half 11 aard a right lial.f ~ -3,, Alternatively, 2 5, strppc?rt could be single frame, stamped, or incorporated into the handle Ita.lves 11, 13.
Furrctioaa:l:itti, of t}le rtziv.il co:r7tral assembly 10[3 is described x.~,ith regarci to f l.(_iS. 17 t.t) 27.
To caM== out astaplÃrig procccir:ire witlx the stapler 1, the anvil 60 is ret-ncrved entirely frot1i the stapler 1 as sh~~var in FIG. 1.7. The aarvil open sx.Vit.clr ~~'C3 is dcpre;;se(i to extend the distal end of the tr`ocar tip 410 hotrsc.tl. withiri the, staple ca.r-tridge, and which is l~.~ngittÃdinally tixe.dly carinc.cted to thc: se.re.w 30 250. The poirlt of the troc;ar tip 410 can, srow, be passed through or pr,rrrctttred tl=lrough tissue tl"sat is tobest:apled. 'I'tle user catl, at this point, replace the anvil 60 oritc) the trocar tip 4l0 from the opposite s:icie of tlte tiswarc (ws;c FIG. 1.S) ar~itl, therebv, lock dte atrvii 60 t}teretrri. The anvÃl closetl switch 22 ca.ii be a:cwat.cd to begin closing the:~ anvil 60 against t.he stapIe c:artridge, 50 and pinch the, tisstac therebetween within aai anvyl-cartrid=,~~e gap 61 "fo describe liow the trocar Ãip controlling MoN=ement of the anvil 60 occurs, referetice is yna.tic to FIGS. 8 t.t) 10, 14 to 15, ayicl 18. As shown in dzislied liries in FtG 15, zi roci-gu:iding piri 143 is laositioÃaed within the central bore 144 of the distal nut half 14-2. As the threaded rod 180 is screwed into the rotating fliLit 140, 141, 142, the pii-i 143 catches the pro\imal ciid ofilic thread 1.821 to sttrrc?uzid the piii 143 t;(iereiii. 't'#-atts, rotatiort of the tiut 140 with tlie pi n 143 inside tlie thread 182 will cause proxir-tial or clistal. :movernetrt of the rod. 1Stl, depending on ttic direction of'i~iazi rotatitag'i.
'1'he thread 182 has a variable pitch, as stlc}wti in F:(GS. 14 to IS, to move the anvil 60 at differ~iit longitudinal spuc;cls. When the fai.n 14i is itisicls; the lont,~er (lower) pitclied direatl portion 183e tlxc;
a:~ivil 60 moves longitudinally faster, In cotZ~paris(yii; wheÃ-a die piti 143 is itiside the sh(yrter (higher) pitched thread portion 184, the azivil 60 Ãa~oN.=es lont;Ãtudinallv slower. It is noted that the pin 143 is the only fsartic~ii contact.:in~ the thread 1.8:2 wt~~ii an the longer pitched clireacl portion 183. Tlius, the pin 143 is exposed to thc~, eriÃirc 1oiigit.udiiia.l forcc~, that is acting on the rod 180 at this, puirià in time.
T17e pin 143 is str`oi7g enough to bear` such fc3rc;e;; btat may aiot bestit.~t.icient to withstand all longitudinal force that could occtir witli anvil 60 cl~.~sxrrc a.bout iÃtterp~.~sed t.isstic.
As sbown iri :fal(_i. 14, tlic i-od 180 is provided with astiorter pitched thread portion 184 to eÃaga;ye in a corresponding internal thread 145 at the proxÃmal ezid oftl~e central bore 144 of Ãlle proximiil ntit half 1.41. When the shorter pitched thread portioi7 184 engages the interi7a1 tllrea:d '145.
'?U the etitire transverse srarfa~e of tlie thread portion 184 cotitacts tlie internal thread 145. This srarface contact is nit.ich larger than tlic contact betweeti. the pin 143 and any portic~i-i cxf the thrc;ed 182 and, therefore, ca~i witfistatld all the Iono.it.ud.inaJ force t(iaÃ: occu.rs 'w ith respect to ailvil 60 c1osLire, especially wlieti the anvil 60 is clo:izig about t.issue during the staple tiritig state. For s;xanipls;; in the exemplary eriibodiriieiit, the piii 143) faear`s tip to approximately 30 to 50 p(iuaid;; of longitudinal 2 5, fi?rce. This is compared to the threads, which can ht?ld up to 400 pounds of longitudina! force --- aai ahnost. 1 C?-to-1. clifl:ereac&
An alternative eNernplary ernbfgclÃrncnt of anvil control assenib1y 1.00 can entirely re~~ove tlic c aiiplex threading of the rod 180. l.ti stachti case, the rod 180 bas a siiigle thread pitc;hand the anvil motor 120 is d.rÃvc.ii (through e.orrcspondirig programmi~ig in the cire.tiit board 500) at different 30 spiecis ciepeisciei~st upon the IongitGaclirlc:tl position of tllu sirlgle-threacl rod 180, 1:n <~~iv etiibodiiiietiÃ: for drivin(, ttle inoÃ:ors 120, 210, the contro1 programming c.ari take many fbrrnw. 1.11. 0.110 exs;rrip.lar~~ s;i~ific~dii~i~:tit, tti~:
r~~~i~>rE~~.;E~~~itrE~ll~:r~ E~i~i tlxc; battery pE~~~~~:r~etl ~,irc~ai.t.
board :'"st?t~
e~ati apply ptalse, m~.~clulation (~~,.g., ptalsc:~-witl:thY pulse-freÃ:1twt~cy) to drive cit.her or both of the motors.
F'tirtlier, because the stapler I is a device that lias a low duty cycle, or is a one-use devyct'<
components can be driveÃa to eNceecl acceptable mantrfacttrrers' specifications. For example, a gear box crir7 be to:vtltied beyond its specified ra.ting. :'ltlso, a.
cir:ive.inotor, tcrr ex.ttrrtple, a 6 volt riiatcrr, can be c?verlit~'kvere;d, tor e:,~,,amplez with l2'vo1Ãs.
Closure of the anvil 60 from an extended position to a position in which tht,~
tlst;t.ic is not compressed or is just slightly cortipressed eati c?ect.rr rapidly withottt causing rlarraa_ge to the in.tc;rpowetl tissue. Tlrtr:, tl-ic lttngtar-fai.tc.lied tfiread portion 1833 allows tlic; user to clurckl~, close the arivil 60 to the ÃissLre in a tissue pre-compressing state. 'I'Fterea1=t:er, it is desirable to compress the tissue slowly so that the user has c:orxtrol to aa, oitl trvs;r-cc~rnprewsion of tlic; t:isstata. As stacli., the sharter pitched thread portion 184 is t:rsed over this latter rarige of movement arid provides the user with aater degree ot-cont:rc?l. During such compression, the fcyrce switch 400 seen in FlG. IS and cfescrif~ed in cor fserrdiÃig t;.S. Priterit Provisional Alsplicatic~ii Serial No. 60:801.989 caÃi be r.tsecl to indicate to the trs~~,r throtÃgh the tissu~~, compressiati indicator 14 (anÃ.il"or to t.lic c:t.ttiÃrol circuitry of the circ;tiit board 500) that the tissue is faeirig t:~iiipre;;;st:(l witli a force that is grer7.tt:r` tliaai the pre-lc)tad of t.lie spring =120 itz sicle the force switch =1W It is noted that FlG. 1S
ilitrstrates the force switch =100 embodiment in tfte no.rmally-aperi configuration describerl as tfte first exemplary emborlinrerrt of U.S. Patent Provisional Application Serial No. 60,'80-1 z989. A strain gauge can also be used for nicast.arlng tisstrt.~ coinp:ression.
?U FIGS. 19 to '23 i1lustrale riic?veriierat of the rod 180 frc?r~i ati artvil-ex:tenderl position (see I~'IGS, 19 to?0), to a. 1-cm-closure-distance position (see F1.G, 21), to a staplc;-flre-readv position (see ItIG. 22), atld, linaJ.ly, toan anvil fully closed position (see Fit;.$.
23). Movement of the rod 18Ã,1 is controlled s;lc;ctritally- (via the circuit kaoard "st?0) by contact fit;twc;taÃt a faortioti of~a caixi star:face actuator 185 tar7 the r-oei 180 r7.nc.l act.taating levers o.r btettc3iis of a series c.Yl` micr --switt:be;s positioned 2 5, in the handle body 1Ø
A rcrd-tully -exte:r7ded switch 610 (see .Ea l:(_;-. 19) is positioned di stal iri the :Irar7dle body t0 to have the acttiator 185 conipress the activation lever of'tlie. rod-fully-extended switt:.li 610 when the rod 1.80 (and, il7t:r`eby, the anvil 60.) is iri the itilly extended positior7, A t-cm switch 612 is positioned in an itiÃermcdiate pusition withiti the handle body 10 (se~~, FIGS. 20 to 21) t.~.~ prevent a l-30 cm cam surface portion 186 o1'the rod 1 g(l frons pressing the activation btittorl of tl) c; 1-c>m sdtiituh
lt is this rotating screw '??t) that acts as the drÃve for ejecting the staples out of the snple cartridge 50. 'I'he et'~'acieiic.v in t:rangferrin;~ the rotational niovernent: ofaxlc; 212 to the rotating .crow '50 is atadtrr tliat carr substantiallv decrease the ability of t:hestapler 1Ão deliver the necessary staple ejection longitudinal 10 fo:rce of trp to 1-50 poutids. ThLis, ag-i c;xernplary er~-ibo(lir~-icg-it:
of't.hc screw 250 has ag-i acms; profile threa&
f here a-re two exemplary ways described liereiÃa for efficiently cc?uplizig the rotation of the axle21 M to itie screw :250. First, itie stzipliyigmoÃt).r ~~?.I.Ct ca7Ã"r belioused "loc3sely" wÃtliariactiamber defined by the handle, body 10 so that it is rotationally stable btat has play to move radially ~~id so 15 that it is longitudinally stable but lias play to rtic3ve. l.ri such a configuration, the staplir7g rtic3t,or 210 will "find its oivri cerZtcr" to align the axis of t1ie axle 2.12 to the axis of tlie sc.rew 250, which, in t.fle exemplary. embodi.ment, is also the staple cont.rol axis 80.
A second exemplary, embodiment for a!igz~Ãng; the axle 212 and the screw 2150 is illustrated in FIGS. t to 5, fZ):r examplc In this ~.'~ibocllr~icalt; a proximal er7tl of a flexible coupling 240 is tixec1 '?U (botli rotationally azid longitudim.11y) to the &\le 212. 'I'}iis coniiecÃiozi is 1"`orined by fitting the distal end of'the ia\le 2121 inside a proximal bore 24'l of th~,~ flexible coupling 240. See F1G, 12. The axl~,~
2122 is, ifieri, secured dhercirl w ith a proNimal setscrew 21_a. '1"(ie scrcw~25f1 lias a proximal extension 1.5 1 that fits inside a tii:tal. bore 242) of tl-is; flexible ctrul.~slir~~
240 airtl iw :s;cured [l-is;rc:iti by a distal sei.scrc,tiu'?:?`?. It i;; noted that the figur"es ol'thc; (1r'awiaig;; sli(iw the flexible coupling 240 lvidh r-it~ges 2.5 inthezniddleportionthereo4', In aÃi exemplaav emboclimeÃit oftl~e coup1iÃi~; ~4~}, the part is of aluminum or niolcic:cl plastic at7d has a spiral or ("refixecl crit-ouÃ
aroLtrici the ci.rcri.1111:'erc:nce of tfie center laortiora thereof, In such a corafi~Ã~raÃic~a~, one end Ã~f'tlic c:fg~.~lalia~{~ 240 cazi anc~arc in iin~= radial d.irect.iori (360 (iegr"ees} witli respect totlie oi17er end (,as iri a -irnbal), il7rrs pr"oiridirl_ the desir"ed flex tc.~ efficiently aligii the central axes of thc axle. 212 . aiid the screw ?
50.
3t] The proximal extension '5 1 of t1rc screw '50 is substantially smaller in diansetur thari. the diam cter o:f tFie bore 73 1. t1iat: exists in arid through the ir-iterzrlediaÃ:e coupli~ig moLirrt2' ) Ã,1. '~('b:is bore ? a 1has two iricrs;a.rng stt;p: in tliame[s;r ori tl-is; distal Sitio thereof. The fir"wt: incrs;awing st.op in diameter is sized t.~.~ fit a t.~roxima.l radius screw bushing 2.60Y which is fur~ied ~.~f a material that is softer t11ari the ir7terriiediate corÃplitig r-i7c1tirlt 230. ':l'he prnxima;l radirÃs screw bushing 260 orily keeps the screANr 250 axially a!igr~ed and does not absorb or transmit any of the longitudinal thrust. The sc:carici increasing step in ciiarr7eter is sized to frt a proximal tlirust beariri~ 170.ior tirc: screw 250. l:rr an exemplary embodirlierit of the ttarLxst bearing 270, proximal arxd distal plates sandwich a be:arÃrxt;
ba1.1 retainer plate and bearirig balls therebotween. This thrust b~.~aring270 absorbs all of the longitudinal thrust that is imparted towards tl~e axle 21 22 while the up to 250 por.rnrls of Iort,~jtLrdinal force is being afaplied to eject itiestaples M. the staple cartridge 50. The proxir-lial extension 251. of the screw 2 50 lias dikTererit sized diameters for ear:.:(-r of the interiors of t:tle screw buslung 260 and the tlrrrrst: bearing 2)70. Tlxc; r-titrtor niourxt ~~0 and the coupling mourr[
?at), therefore, tirrr-ti the two devices tlia.t (iold the flexible couplirtg,240 therebem~eeÃ-a.
-f he rota:tizi;? screw 250 is lield inside the distal plate 2321 with a distal radius screw bushing 280 sariiilar tr) tlre prom.inal rrid:ius screw brisliirig 260. T.lrias., the screw 1.50 rotates fr-eely wittrirr tlle distal plaÃc~, 2~~
.1 To translate the rotatiori of the scr~~,w-.2 50 into a lin c.ar distal movem c.nt, the:~ sc:rc.w 250 is tlir~eade;d withiri a mc3vyng.ntat ~~'90. N-1:c3vernent of the rit.rt 290 is limited to dhe an7otrnt of r~~ovelnent that ls needed for complete actuation of the staplesi in other worcis, the Qrlly rieeds t.r) riiove tlrrougfr ri distaÃice srrl-f:icient tcr.form closed staples between the staple ca.rtr:icige 50 and the aÃivil 60 and to extend the cutting blade, if ativ, within the staple cartridge 50, arad then retract t1Yo same. When tlle. nut 2190 is in tlYo proximal-most position (see, e.g., FlG 12), tlle, staples '?U are at rest and ready to be fired. Wberi the riut 290 is in the rlistal-most positiori, the staples a:re stapled thror.agh ar-icl arou.ricl the tsssr.ae interposed betweer-i th~,~
staple cartridge 50 and the ar-ivil, asid the kriife, if-.any, is passed etitirely through the tiss>Tie to brv c>Tit..
'I'lie distal-most positiorl of the r-rut.
290 i.s limi.tcd by tl-ic location of tlxc; distal plate 232. Thus, the longitudinal lengtll o#'t}re tlrreatls of the screw 2?0 and the l ctatiOD Of t:hc. (listtal plate 'm>? liaiiit the distal moveaiicrit o.f the aiLat '90, 2z; Frictional losses between the screw 2150 and the nut 290 contribute to a significant redr.ictioÃi in the total pounds crf.iorce that ca:r7 be trarrsrr7it-ted to the staple ca:r-triclgc: 50 through the cartridge plLrrlger :')?Ø Tlxerefore; it is desirafile to select tlie. ziiaterials of the screv~, 250 and the nr:rt -90 and the pitcli oi't17e tlir-c.ads I't.hc screw 250 iri aD optyrnized way. It has been found that rrse oI'a l:(iw-filctroÃ1 P{~lym4=r for manufacturing the Ã1LÃt 290 NvIll decrease the friction c11oLlgll to transmit th~:~
30 approximately '50 pounds of longitudinal force to the distal end of the cartri(lgc; pltiisger 320 __ tlsc ariiourit of force that is needed to rv:f-ectivrvly deploy the staples. 'I'wo particular ex.er-ripla:r), rrlaterials provitio tl-it; rles:irerl charac.tcrist:ics ar~itl arc; rs;fcrrcd [a.r in tl-it; art as Dl-~T.R1NICK: AlT' l;lend Acetal (a l' thermapla.sÃic material c:or-nbining TEFI.:ONO, fibers unifornlly dispersed M
>r3EI.,RI:"~AP ac.,et.al rc.siri.?
atid RLJI_,ONX) (a cntiipoLraided t':or=an c1t .( Fi; fluor=crcarboai) or other sit7iilar low--fricti~.1n. p~.1l;rÃaier=s.
A nut coup1Ãng bracket 300 is longitudinally fixed to the nut 290 so that it rtroves along Nvitlt t(t.c riut 290. The riut coupling bracl;.et 300 pr~vides support. for the rela.tively soft, lubric:iorrs:r7ttt material. In the e:xe:mpla.ry- e:mbodimc:rit sli c?wt1z the bra.cket :3) 00 h a.s an interior c.aviq.* having a s1iape cor-r~,~spcrr-iclir-igtotliee\terior= slrapc of t1ic nt.at 290. ThtÃs, the ntÃt `9t? fits srir,iglv into the ccrtp-ling bracket :$00 aiid movement of tlte Ã-atrt 290 trartslates irito a correspottdittg rtic?vertieÃ-at of the riut coupling bracket 300. The shape of itic nut coupling bracket: '300 is, in the exei-rrp.lary c.n.rbodi:rirerrt, dictated bv the cc}mpx}ricrits surrounding it and bv the lc}rigit:udirlal forces that it fias tc) bear. For example, ttxc;re is arr M.tc;rior cavity 102 distal of the aut: 290 [tiat is shaped to receive ttic; dig[al plate '? 3w therein. 'I'}te nt:rt coupling bracket 300also has a distal housing 304fiior t-eceivittg therein a stit'tetting rod 3 tU. The stit~enirtg rod 310 Ãttcreases the longitudinal support and torms apoaticrti of the cannect:io:r7 bet4.~,eerr the rir.zt 290 aricl a cartridge pliarrger 3:20 (scc,, f;'I:G 5), wli:icti is t}le last moving link be:tweeti eler-nc.nts in the haridlc~, body 10 et.rid the staple cartridge 50. A firing bracket 3~t~ tlisposecl faetweerr the tlisAal eritl of't}re titat coupling bracket 300 tirrd t.lic siiCCeriingrocf '110 strengthens t.lre corzriect-ion bet.Nveerr the trut c~.~upling bra:cket 300 and tlrc rod 310.
Various ccrrt7lacrrierits, of the stap(ertztr~e connected to orie another to for.iir a bacl:bozle crr spÃtte. r1This 1}aclw.bone is afi-at~~e providing rnu1ÃÃadirectÃc?nal stability and is tita:de r.rp of fiour pr-irnar~~
parts (in order fi:-orri proximal to distal): tlle. anvil control tranie 110, the pr-oximil backbone plate 70 '?U (shc?wÃ-a in 1~IGS . 3 to 4 and 6 to 7), a dista.l backboÃ-ae plate -3 ) 40; aiid the anvil rteck 3 ) t). Each of these tot.tr parts is longitudinally atrd rotationally fixed to orie another in this order and torrris the skeleton (ati which the rerna:irlder of dhc (-ta.rtdle c.omporierits is attached in sorne wav, Lateral support to t(-trv ccrtiipcrtrs;ttts is provided by contours oii the :irrsicio surfaces of tlit;
liag-itllc body 10, whicli. in an exerripla.r;r err-ibodimeiit is formed of two l7tilires, ti left half 11 aard a right lial.f ~ -3,, Alternatively, 2 5, strppc?rt could be single frame, stamped, or incorporated into the handle Ita.lves 11, 13.
Furrctioaa:l:itti, of t}le rtziv.il co:r7tral assembly 10[3 is described x.~,ith regarci to f l.(_iS. 17 t.t) 27.
To caM== out astaplÃrig procccir:ire witlx the stapler 1, the anvil 60 is ret-ncrved entirely frot1i the stapler 1 as sh~~var in FIG. 1.7. The aarvil open sx.Vit.clr ~~'C3 is dcpre;;se(i to extend the distal end of the tr`ocar tip 410 hotrsc.tl. withiri the, staple ca.r-tridge, and which is l~.~ngittÃdinally tixe.dly carinc.cted to thc: se.re.w 30 250. The poirlt of the troc;ar tip 410 can, srow, be passed through or pr,rrrctttred tl=lrough tissue tl"sat is tobest:apled. 'I'tle user catl, at this point, replace the anvil 60 oritc) the trocar tip 4l0 from the opposite s:icie of tlte tiswarc (ws;c FIG. 1.S) ar~itl, therebv, lock dte atrvii 60 t}teretrri. The anvÃl closetl switch 22 ca.ii be a:cwat.cd to begin closing the:~ anvil 60 against t.he stapIe c:artridge, 50 and pinch the, tisstac therebetween within aai anvyl-cartrid=,~~e gap 61 "fo describe liow the trocar Ãip controlling MoN=ement of the anvil 60 occurs, referetice is yna.tic to FIGS. 8 t.t) 10, 14 to 15, ayicl 18. As shown in dzislied liries in FtG 15, zi roci-gu:iding piri 143 is laositioÃaed within the central bore 144 of the distal nut half 14-2. As the threaded rod 180 is screwed into the rotating fliLit 140, 141, 142, the pii-i 143 catches the pro\imal ciid ofilic thread 1.821 to sttrrc?uzid the piii 143 t;(iereiii. 't'#-atts, rotatiort of the tiut 140 with tlie pi n 143 inside tlie thread 182 will cause proxir-tial or clistal. :movernetrt of the rod. 1Stl, depending on ttic direction of'i~iazi rotatitag'i.
'1'he thread 182 has a variable pitch, as stlc}wti in F:(GS. 14 to IS, to move the anvil 60 at differ~iit longitudinal spuc;cls. When the fai.n 14i is itisicls; the lont,~er (lower) pitclied direatl portion 183e tlxc;
a:~ivil 60 moves longitudinally faster, In cotZ~paris(yii; wheÃ-a die piti 143 is itiside the sh(yrter (higher) pitched thread portion 184, the azivil 60 Ãa~oN.=es lont;Ãtudinallv slower. It is noted that the pin 143 is the only fsartic~ii contact.:in~ the thread 1.8:2 wt~~ii an the longer pitched clireacl portion 183. Tlius, the pin 143 is exposed to thc~, eriÃirc 1oiigit.udiiia.l forcc~, that is acting on the rod 180 at this, puirià in time.
T17e pin 143 is str`oi7g enough to bear` such fc3rc;e;; btat may aiot bestit.~t.icient to withstand all longitudinal force that could occtir witli anvil 60 cl~.~sxrrc a.bout iÃtterp~.~sed t.isstic.
As sbown iri :fal(_i. 14, tlic i-od 180 is provided with astiorter pitched thread portion 184 to eÃaga;ye in a corresponding internal thread 145 at the proxÃmal ezid oftl~e central bore 144 of Ãlle proximiil ntit half 1.41. When the shorter pitched thread portioi7 184 engages the interi7a1 tllrea:d '145.
'?U the etitire transverse srarfa~e of tlie thread portion 184 cotitacts tlie internal thread 145. This srarface contact is nit.ich larger than tlic contact betweeti. the pin 143 and any portic~i-i cxf the thrc;ed 182 and, therefore, ca~i witfistatld all the Iono.it.ud.inaJ force t(iaÃ: occu.rs 'w ith respect to ailvil 60 c1osLire, especially wlieti the anvil 60 is clo:izig about t.issue during the staple tiritig state. For s;xanipls;; in the exemplary eriibodiriieiit, the piii 143) faear`s tip to approximately 30 to 50 p(iuaid;; of longitudinal 2 5, fi?rce. This is compared to the threads, which can ht?ld up to 400 pounds of longitudina! force --- aai ahnost. 1 C?-to-1. clifl:ereac&
An alternative eNernplary ernbfgclÃrncnt of anvil control assenib1y 1.00 can entirely re~~ove tlic c aiiplex threading of the rod 180. l.ti stachti case, the rod 180 bas a siiigle thread pitc;hand the anvil motor 120 is d.rÃvc.ii (through e.orrcspondirig programmi~ig in the cire.tiit board 500) at different 30 spiecis ciepeisciei~st upon the IongitGaclirlc:tl position of tllu sirlgle-threacl rod 180, 1:n <~~iv etiibodiiiietiÃ: for drivin(, ttle inoÃ:ors 120, 210, the contro1 programming c.ari take many fbrrnw. 1.11. 0.110 exs;rrip.lar~~ s;i~ific~dii~i~:tit, tti~:
r~~~i~>rE~~.;E~~~itrE~ll~:r~ E~i~i tlxc; battery pE~~~~~:r~etl ~,irc~ai.t.
board :'"st?t~
e~ati apply ptalse, m~.~clulation (~~,.g., ptalsc:~-witl:thY pulse-freÃ:1twt~cy) to drive cit.her or both of the motors.
F'tirtlier, because the stapler I is a device that lias a low duty cycle, or is a one-use devyct'<
components can be driveÃa to eNceecl acceptable mantrfacttrrers' specifications. For example, a gear box crir7 be to:vtltied beyond its specified ra.ting. :'ltlso, a.
cir:ive.inotor, tcrr ex.ttrrtple, a 6 volt riiatcrr, can be c?verlit~'kvere;d, tor e:,~,,amplez with l2'vo1Ãs.
Closure of the anvil 60 from an extended position to a position in which tht,~
tlst;t.ic is not compressed or is just slightly cortipressed eati c?ect.rr rapidly withottt causing rlarraa_ge to the in.tc;rpowetl tissue. Tlrtr:, tl-ic lttngtar-fai.tc.lied tfiread portion 1833 allows tlic; user to clurckl~, close the arivil 60 to the ÃissLre in a tissue pre-compressing state. 'I'Fterea1=t:er, it is desirable to compress the tissue slowly so that the user has c:orxtrol to aa, oitl trvs;r-cc~rnprewsion of tlic; t:isstata. As stacli., the sharter pitched thread portion 184 is t:rsed over this latter rarige of movement arid provides the user with aater degree ot-cont:rc?l. During such compression, the fcyrce switch 400 seen in FlG. IS and cfescrif~ed in cor fserrdiÃig t;.S. Priterit Provisional Alsplicatic~ii Serial No. 60:801.989 caÃi be r.tsecl to indicate to the trs~~,r throtÃgh the tissu~~, compressiati indicator 14 (anÃ.il"or to t.lic c:t.ttiÃrol circuitry of the circ;tiit board 500) that the tissue is faeirig t:~iiipre;;;st:(l witli a force that is grer7.tt:r` tliaai the pre-lc)tad of t.lie spring =120 itz sicle the force switch =1W It is noted that FlG. 1S
ilitrstrates the force switch =100 embodiment in tfte no.rmally-aperi configuration describerl as tfte first exemplary emborlinrerrt of U.S. Patent Provisional Application Serial No. 60,'80-1 z989. A strain gauge can also be used for nicast.arlng tisstrt.~ coinp:ression.
?U FIGS. 19 to '23 i1lustrale riic?veriierat of the rod 180 frc?r~i ati artvil-ex:tenderl position (see I~'IGS, 19 to?0), to a. 1-cm-closure-distance position (see F1.G, 21), to a staplc;-flre-readv position (see ItIG. 22), atld, linaJ.ly, toan anvil fully closed position (see Fit;.$.
23). Movement of the rod 18Ã,1 is controlled s;lc;ctritally- (via the circuit kaoard "st?0) by contact fit;twc;taÃt a faortioti of~a caixi star:face actuator 185 tar7 the r-oei 180 r7.nc.l act.taating levers o.r btettc3iis of a series c.Yl` micr --switt:be;s positioned 2 5, in the handle body 1Ø
A rcrd-tully -exte:r7ded switch 610 (see .Ea l:(_;-. 19) is positioned di stal iri the :Irar7dle body t0 to have the acttiator 185 conipress the activation lever of'tlie. rod-fully-extended switt:.li 610 when the rod 1.80 (and, il7t:r`eby, the anvil 60.) is iri the itilly extended positior7, A t-cm switch 612 is positioned in an itiÃermcdiate pusition withiti the handle body 10 (se~~, FIGS. 20 to 21) t.~.~ prevent a l-30 cm cam surface portion 186 o1'the rod 1 g(l frons pressing the activation btittorl of tl) c; 1-c>m sdtiituh
6 12 wheti the rod 180 (artcl, ttlereby, the anvil 60B is w:itftiri 1 cm ol'the fully closed posiÃ:i(ari. After passind,~ tlic; 1-crn c:lEtstrrc; distance, as shown in 1;"ICi 22, tl-is; car-ii surface actuator 1.45 t:rtgagtas a 1t_t staple-fire-ready switch 614, The lower ctid of the actuator 185 as viewed in f~IC& ~' 'tu 23 has a bevel on taotki the forward aiid rear sides witki respect to the buttoÃi of the staple-frre-ready switch 614 and the distance between the portioti oÃi the two beve1s that actr.iates the button (or, t?rify the flat portion t1ier-eof) corresponds to tfte acceptable staple fo:r-.mung range (:i.e., srife. fi.i-Ãziw length) of ttie staples Ãn the staple cartridge 50. Thirs, when the br.rtÃori of the staple-fire-ready switcli 614 is depressed ficxr the first time, the distance between the anvil 60 and the staple cas-tricigt,~ 50 is at the longest range for successfully tirang aiid closirig the staples. While tlie bttttoÃ-a is depressed, t(le separation distance 62 of ttic; anvil 60 (see F16 14) rc;niaias wi.thin. a safe stafal:e-firing rarrge.
However, wheti the- butt(an of.dhe staple-fire-ready switch 614 is rlc} longer depressed -- because the l f3 ac:t:taator 185 is pa.tsi[itrg-is;d proxiritally of tl-is; kaut[a.tti, t}rer~i staples will ntrt fire because the diwtant t: is too short for t;(iet-ag~eufjc staplin& :FIE:F. 2:.~ show the rod 180 in tlie 1aroxir~ia1-riiost positiozi, which is indicated by the top end of the actuator 185 closing the lever tif a rod f'ullyaretratttecl switch ~"~1 6.
Wtteri clii> >wit.t:lr 61 6 is actuated, clre larcrgrarmt7Ã:r7g, iri the c:irt::uat borird 500 prevents t.17e rnot:or 1.20 from turning in a rod-retraction directiun; in ut1ier words, it is a stop switch for retracting the rod I80 f 5 ir7 the prox1r7ital diret:tior7, It is tiot.ecf that fY IGS. 2 to :3), VI to 12, and 16 illtrst-rate the distal crid of the rod 180 not being connected to another device at :its dis-taf erid (wlracft would dieti contact the proximal end of ttie force switc}i ~Ã0U). The cnzinection band or batids beÃweeri the distal end of the rod 180 atid the proxama1 t.~nc1 of the force switch 400 are. not shmvn in the (1t-awi:tigs or-i1y for c>lariq, 1.~ttrposes. In in exenip:lary '?U eriil3c?d'ariieÃ-at, the 1atrll=baÃ-ads are tlat aiid flexible to traverse the curv-ed t_rrtdersarle of the cartridge plunger 320 throtÃgli the anvil neck 3 )t? and up to t11t,~ proximal end of the f'orct,~ switch 400. Of COLrrse, if the k(arce switch 400 is rtcat present, t.1~ebar-ttls wou1c1 be connected to t1-trv proximal ertd of , the trocar tip 410 t1iat releasab1or connects to the proxir-tial orxci of tl-is; anvil 60 Ftrnt:titar7ttlitt ol'tht; staple control tisser~ibly 200 is cfescrfbed witki regard to FIGS. l2 to 16 2 5, and 24 to 217, in particular, to FIG. 24. The stapling motor 210 is he1c1between a motor bearin{~ 2222 aiid a. rt7ot.o.r shaft cover 224. The a.xle 212 of tlresta7p(:irrgrnotor 2lt}
as rotationally connected tot.17e proximal end of the flexible cotÃp1ing 240 and the dÃstal end of tlxe flexible coupling ~~40 is rotationally t:c~iiriectet1 to the proximal t:r7d ofdht:: screw m50, w-liit:b rotates ~ii faearir~~,~s 260, 270, 280 that are disposed within the internle:.cijate, coupling motÃnt 2;3 )0 and the distal plate '?Wt'. The 30 lrrrr~~.~itudinal:ly translating ntrt 290 is threaded onto t}tc screw 250 butwut;`rl the coupling sllousit 230 aiid the distal plate 232. Therefore, rotation of the axle2 12 traris1at:es into a corresponrling rotation C}f Lt1c screw 250.
The rltÃt coupling bracket ~~0t3 is lc.~ngit:tÃ.dinallN, fixed t.~.~ the nut 290 and to the stiffening rod 310arid tlr.etiÃiÃr.gbracke!33t). The firing bracket -3~30 is loÃr.gitLÃdiaially fixed to the cartridge frluriger 320, wtiic}i extends (throu;?h a rt(yziaillustrated staple driver) up to the staple cartridge 50 (or to the staples). W:itti sucti a connection, :(onglituciinal arioverrierit of ttie nut. 290 t.:ranslates into a corresponding longitÃicfanal r1~ovc:nxerxt of the cartridge plunger 320.
Accc?rdirx(;lv, wlien the staple firing switch .2' is actsviated, the stapling rliotor 2 10 is caused to rotate a sufficient number of'timc;s so thal the staples are completely fired frotii the staple carÃridge 50 (atid the eutting blade, if present, is exteticied to completely ctit ttrc t.i:sue between tl-ir: anvil 60 ag-itf tlrc; staple cartridge 50}.
P.ro,graminirlg in the circuit.ry, as rlescril?ecf below, tlierl causes the cartridge p1trng;er 3220 to retract aiter :firix~g and re;move, ariy portion of ttre staple firing parts ai~itfl`or the blaclc; wi[l-iiii the staple eartri dge 5 0 from ttie ativi 1-eartri d`.~e gap 62.
Control ofthÃs stapling moveÃxient, again, occurs tlir~iti;yh inicroaswiÃches ccninected to tlle circuit boavd 500 ttrrougf7 electrfcal con.r~ec:tions., sLich. as wires.
A.f:irst of these c_ontrol switcties, ttie proximal staple switch 618, coritrols retraction of the stapl~~, control asser-nbly 200 arid defines the proxit17"al-rric3st position oftliis assembly 200. To actuate this switch, an actuation plate :306 is attached, irr ati acfjust.able manner, to a side of the nut coupling bracket 300. See, FIGS, 6 atici 24. As sLzc(r., wf7cti ttie nut. 290 moves proximally to cause the pla:te 306 oti the nut coupling bracket.
iUO to activate the proximal staple switch ~"~1 8, power to the stapling rncrtor 210 is removed to stop fi7rther proximally directed movcr}ient of the staple co:titr-o:l assembly 1.00.
?U A. secozid of the s'Wltclies for controllirig ttiovemetit of ttie staple control assembly '~{tC3 is located opposite a dist.at triansversÃ~ surface of the stitTÃ~i-iiaig rod 3 10. See, c,& FfC. 27. At this surface is disposed a longitudinally acljustaf?le can-itnenilaer 312 that c,c}ritact:s a distal staple swiÃc1i 62)0. In ati exemfal,arv c;mkaoti.imerit, the c.ar-ix ri-is;r-tibe.r 3 1.2 is a screw tfiat is threaded in.to a tiistal bore A ccc3rdirigly, when the rrtrt 2 90 rti oires cfi;;ta:l1y to cause the caari rn earikrer`
2.; 31 2 of the sÃift'ening rod 3 10 to activate the dista.l staple switch 620, power to tlhe stapl Ãrig motor ' 10 is reinoved to stola furÃf7er distally directed movenient of the staple control assembly 200.
FlGS. 28 iir1d 29 illustrate a removable connection assembly to perr-nit replac:eanent of a ciiffcrerrl staple cartriclo,re 60 ar the distal errei of the anvil 30.
The proximalsmost c:har-nb,r of the handle b~.~dN,, 10 defities a c:er.vitv for holding therein a 30 power strpply 600. This power stÃpply 600 is connected through the circuit board. 500 to the motors 120, 210 -and to the other electrical cozrlporrerrts oi'the stapler 1.
The el~~,e.trunic., components uf'th~~, staplc.r 1 have been described iri s;c.ti c.ral wit.ll respect to c;oaitrol through the cit=c;tÃit 13t~ard 5(30. "I'he electric stapler I
itieltades, as set ford7 above in ari exeznplary eznbodizneÃat, two drive znotors 1220, 210 pcnvered by batteries and controlled through pushbutt.ons 20, 21, 22. 'I'hc:.ran~es. o.i'travel of ezicli rt7otor l2Y), 210 are controlled bv :liynit switclies 610, 616.. 618, 620 at the ends of travel and at intermediary locations 612, 614 alc?txt; the trave:l.The logic by wliich tlic motors '120K 210 art,~ controlled can be accomplished in several ways. For example, relay, or ladder logic, cazi be used to define the cotitrc?l algorithni for the motors 1?0, 210 and switches 610, 612, 614, 616, 618, 620. Sticli a configuration is a siitiple baz[ .lii~tiittatl control method. A more flex:ible inetftod einploys a. tn.icroprocessc}rrcbaserl c.cantrol system that senses switch iriputs; locks switches otate activates ii~itlicator liglits, rs;cord.s data, p:rovitios audible feedback, tlria,es a visual display, clt:iet-ies identification devices {e.g., m, d'ao 1'ret.7t.teÃ-acy i:rlentifiicatioti devices (:RIA'ID,,,) or cryptographic identification devices}z senses forces, ccyznnitinicat:es witl~ ext:ernal devices, Y-ooyrit:ors battery life, et:c. Tlte microprocessor inart be part of art integrated circtt:it constructed specifically for the, t.~t.trpuse of interfacing with atid e.ontrallitig complex electro-mechanical syste.ms, ~xarnplcs o#'stat:h chips iric;ltade those offered by Atmel, sttcl7 as the N:1c.ga 128, taricl by P1C", such as t.lie 1'IC 16Ft"-~8=1.
A solAwzia~e prograrii is rc:quired to prov:icic: control instructions to sticl.i a processor Once f'r.illy developed, the progyram cazi be AvritÃen tot:he processor and stored indefinitely. Suchasv'stem nial:es clYange;~ to tlle. control ilgorithm relatively simp:le; changes to the sc~fiwart.~ that are uploaded '?U to t(~e processor adjIust the cotitrc?l azid tiset- interface tivithout chaÃ-agiÃ-ag tlie wiring or meel-aaÃ-aical layou.t. of t1lc clevicc;.
Fc}r a disposable device, a pc}we.r-t~ii event is a c~iie time oc.currence. in this case, the power_.
oii c:ag-i be accomplished by pulling a tab or a release that is permanently rs;rnoved from the tlea,ice.
I'l7e removal enables battery c;t:}rit.act, tlius powering ai the device.
2z; fn aÃav embodiment c?f'tfae device, ANrliezi the device is powered on. the control program begins to execute ~~iid, praor to enabling the device lo.r use, goes through zi routiÃie ttiat. enstix~~ awareness of actual positions of the extend/retract and farizi.~ stibsitsseziiblies;
referred to as a liot-ning rotÃtizie. The hc~iiiit7g routine aiiay be executed at the manufacturer pr-ior to shipping to the user. ln such a case, t.hc.1~omitig routinc is t.~~~,rformc.tl., the positions, of the assemblies are, set, and the device is shipped to 30 t:li.c t.isur inarcacly-to-u.sec;onditiort, Uposi t~~wer-tip, t}tc device vt;`d:l:ies its positi.orts attci is rc;acly to use.
.1,s Visual indicators (e.s;., LEDs) are:~ used to provide, feedback t.c) the tÃ.sc.r. In the case of the ptÃshbtÃtinti switches 20, '' 1, 22, they caii be lit (or l3acl;ljt) when active ai7d tÃt7lit w1icÃi nt~t active.
The indicators caÃi blink to convey addit:iortal information to the user, irt the case of a delayed response after a butt.o.rr press, a wiverr lÃw:Eit car7 blirik zit riti ever,-iiicreasitiw rate as the respo:r7se becomes immirxetxt, for c:xarlifale. The indicators ca~i also light witlx difte:re:rtt colors to iridicatc:
various states.
E:'ains are tised in various locations at tlie stapler 1 to activate limit switel-aes that provide fstas:itiori :in:f-on-natiOri to tl-ic processor. f;v using linear trarr-is of various ltarrgt}rs, pt.tsi[itag-i ratigc;s caii be set. Alternatively, encoders cati be used inst~ad ok lin-tit. swit.clies (absolute aiicl irtcrrv.rncntal posit:ioning). I.irnit mvitchs;s are binary. off or or~i. Instead o:f"bÃriary iriput for f.sos:itiori :in:f"orrilation, e.ricc?ders (st:re:(ias opfical ezicoders)c:,,in betised toprt-)~,idepositioriiti.f~~iati:c?ri. Atiotlier waytt-) provide pc?siti(yri feedback izittludes mounting pulse generators on the end ot-t:he ziiotors that drive the strb-a:sseniblies. By counting lar.zls-es., wrd by kri~wir7g, ttie rzit-icr of'rrtotar turns t.t) li.r}ear travel, abs~.~ltÃte position cati be clerÃvc~,d.
Use of a processor creates the ability to store dava. For exaniple, vittal-, pre-loaded information, sucli as the device serial rltÃ.mber and softdv-are rcvisiQti caii be storecl. Menzory caii also be used to record da.ta wfti:lc: the stapler I is:irr Ltse. Every btittozi press, every lirt7it sNvitcft trarrsit:ian, everv aborted fÃre, every completed fire, ettt., can be stored for later retrieval and diagrtcrsis_ Data t:ar-i be retrieved through a progranimir7g port or cvirt.'less:ly In an exemplary enYbs.atlime:tit, tht.~ device '?U can be put izito diagnostic riiorle through a series of bttttozi laresses.
t:Ã-a this diagnostic riic?de, a technician t:ati tft7c;t-v the stapl:er I for cortain data or to transmit/output certain clata Response from the stapler i to sLrch a. query c-an be in the f(artYt of blirtkirtw> LEDs,.
or, in the case of a device with a clisplay, visual cl-iarac:ter clata, or t;ati be electronic data. As set #orth. above, a s[raiz~ gatagt: cati be tased.for ttrialt:}g otrtptrt tarid to provide aD tac;cepttable straiii baait-i. Alternatively, addition of a second 2 5, sprirtg and strppcrrt components can set this barid tnecliazlical1y.
An ea:enrplary. cont.rol al-orith:rn tar a s:irrgle.i:ire stalaler 1 cwr include t:he following steps;
. Pmver on.
* Verif4 hc~lIle Ptasityc3ri at d go to hc~iiit:: position, ii'Dt::c.cssa.r;;idt::si.rt::d=
Enable ext.cntlr'retrac:t l.~ttÃt.c.~ns tlit.l and disable (unlit.) sÃaple, tire btiattoti.
3t] ;f: Enable staple fire bGattor~s otily after ftill cxtt;`rlsiori. (anvil rumoval) ;:trtcl subsecltrent .retractic}n with exÃ:erld,1'retract butÃ:otis remairti.rx(f cnabled, o Upon act-tra[itrg-i o#'stapl:c fire but:tori; retract arrvi:l trritil f-orce mvitch is activated.
Begin c.otantciuwti by blinking tirc btattoti LED a.tid increase blink rate as firing cycle becot7ies immit7et7t, C~.1ratit7tÃc monitoring of force sv'-iteh a.Ãid retract a~ivil so that force mv~itch remaÃns activated.
o I)uring stziple fire cycle, arty btat.ton press aborts staple fire routÃne.
If abort occtirs before staple tirirag niotor is activated, tiring cycle stofas; azi'vil is extended to home pctsilioai, and staple firc; btÃtton remains active and ready fiior a re _1~.ire, c, AIternatiti e1~,, il the abtart taccttrw d.uring t-novem.ent of fi:ring niottar, firit~g cort;le stops, tiÃ-ing; n-totor is retracterl, anvil is returned to home posiÃiwl, a.rtd firing l0 buttotx i: rs;g-itlered. iiiactive.. At;to:rd.itiglye stapler (or that staple cartridge) ca:iiziot be used.
c> After coutitdown to fire is complete, staple range limit switc}l is queried tor position.
an acceptable staple t"Ãtitig rartge. -- then staple trritig motor is activated and fiit-it7g t:.t c,le procee;d;;. l:#' sttaple; raaigt:: limit sx.Vit.ch is not at;iivtatt:.d, thenfiring cycle is aborted, anvil is rettÃ.rncd to hotiie positit.~ii, aiici sta:ple firing button rema:ins. active ready for a.re-firc: a.ttempt..
.: After a cc?mpleted staple firing, anvil reziia:ins in closed position and otify the extend button retnains active. Once a~-ivil is ~xiciYded to at least tht.~
horale ?U position, botl-a extend and retract bttttoras are made a.ctive. Staple fit-e button remains inactsvt,~ after a completed staple firing.
Tltrotigl-ictai[ tttta above excr-tiplatN., corc.;lt:, kauttori presses, switcft t.sositioiis, aborts, antl;/or :firtas caii. be t-ti.c:or-ded, 2z; tn a surgical pr~~~edtire, the stapler is a onesNvav device. In the test mode, ht~-%vever, the test ttser iieeds- t.t) }iave the ability to.move tfic troear 410 arici anvil 60 back artdfort:h as desired. `:t'be power-on feature permits eixtty tay the user irato a manual ziiotie for testing ptÃrpfg5es. This test mode c;aii be tliset7gaged and the ;;t.aplt:r- reset to the tasen7ode; t:tar packaging tarltl shipmelit=
For packaging, it is de.sirable (btit not necessary) to have the anvil 60 bc:.
disposed at a 30 tli5tan.cc; from the 5taplc; cartridge 50. Thc;refore, a homing suqu.csiue can be programmed to place the aiia il 60 otle centimcter (iior eNa.rtiple) awav frcan-t the staple cartridge 50 betor~ poNveritig dc}wil:f=br Packa;~in;~ aiiti st~.ipt~~t:rtt.
~5 Wheri the clect.ric stapler is unpackaged aiid readv to bc:, use:~d for surgery, the user ttÃ.riis the stapler ora (sivitch 12). Staples sl7otald ricrt be allowed to fire at ativ time prior to beirig in a proper stapleafitiÃag positiori and a desired ÃÃssLÃe corxipression state. `i"lius;
the anvil/trocar extend/retract titnctÃorr is tfre ozily ti.tnctÃorr ttiat is ena7b(eci In this state, the extend arici retract buttons 2(), ? tarc: (:it aracf the staple firÃrxt; switc.lx 22. is not l.it (i.c:., cfisabled)_ Before use inside tlic patic;nt, the trocar 410 is emencled and tlle anvil 60 is removed. If tlle stapler is being r.ised to anastomose acc?lon, for exam ple; the trocar 41 U
is retracted back irtto the anvil r~ieck 30 aiid ttie staple cartriclge 50 and anvil rreclc at) are inserted trans-anally iiito [tic colon to adowTlstrcam side ot'the dissection. '1'he arivil 60, in contrast, is inserted through an rrpstrearYr lat.sarcrscopic incisi:orr and p.lacs;d at the trpstrearn side of the dissec:t:io:ii. The ativ:il. 60 is at.tac.lietf to t}i e trocar 410 aiid the two parts are retracted toti~>ards the staple cartrÃdge 50 r.rnti 1 a staple ready condit:ion occurs. As set torth above., the anvil is moved to a dÃstance that does not substaÃatia.lly ccrrr7press arrd, s~ecat.ically, does riot desiccate, the t.issue therebetween. At Ã.lus poarit, staple f'irfÃr~~
cari occur when ciesired.
Tlre staplefiirir7g setfrrer7ce is started by activating the staple fire switcl7 .22. Staple firing ctari be a~t.~oned anytime dxrring the frrirz~ ~~queiice, whether prioFr Ã~.~
movernent (dtrririg the blanching cycle) or during arioverrrerrt (whether tlre staples have starterf to fcrrrii or rrot). 'l:"fre scrtt4.~,are is programmed to be;yizi a staple firing count:dc?wtt seqtreÃace becauseit is understood that the tissme noccls to be compressed ailrl ~llsa~~ c~cf to desiccate before staple firing should cx:cur. Thus, after the '?U staple fiiriri sti~>itch '?''~ is activated, the anvil 60 closes upozi the interposed tissue aiid beg-irts to compress tlic tisstÃc The staple firing seqtaenc:e includes ffli optimal tsssLae coiiiprc;ssion (OTC) measurement and a feedback coritrol nier:.han.ism that causes staples to be fired orlly wfrerl the conipressitrn is in a tlesi.retl prewsrtrc; range, refs;rred to as the OTC
rangce aixti a sarffi-cic;tit titiie period has elapsed to allow .flrrf(l reiiioval frron-i the compressed tis:;trc. "f'he OTC rtar~~,~e is l:a~~~vai 2 ; l}efrirehaxid based upon kziowtt characteristics of the tÃsstÃe tha:t is to be compressed bemreeÃa the anvil 60 ar7d the staple cartridge 50 (the.force switch carr be tuned far drf-Terent tissue OTC .ra:r7-les). _lt is the force switch 400 that provides the OTC mcasurearierlt and supplies the microprocessor with ir7formation indicating that the OTC for that particular tissue has beeii reached. The OTC state CaD
l.~e iriciicateci to Ãhe risc~,r with an LED, for example.
3~] Wliun tht. 1-irir~sg seqticr~rc:c begir~ss, the staple firc sdvitc;h 22 can be made to blink at a givesi rate and then proceed to blink faster -and faster, f(ar example, until kirir-rg occrrrs. :i:f no dbort is trict,~~red dtaring this wait tir-txc;, ttre OTC, s[ate wi:ll remaan for t.he t.~sret.~srogranirrit;tf clesic:catiori dtÃ.ration and staple filing will occ:tÃ.r after the countdown caiicltÃde:s.
Inthee:~xamp1c. ofc;~.~lan aliastcrr7iosis wid7 a ciretilar stapler, stapling of the ciissectint~ occurs sjn7rrltanenusly with a ctattitig of tissue at the center of'tlae dissecticrzi. This cuttizi;y guarantees a clear opening in the middle of the ci.r-crrlar.r:inw of stafsles, sufficient to create riti opening tor r7orn7al colon bc:l~avicrr rill-er the surgery is concluded.
As the liquid from th~,~ iiit~,~rg~osed conipressed tissue is removed, the compressive force on tlic tissue nattrrally reduces. t:rt s(yirae instances; tliis redr.rctiozi cati be outside the 0'l'C razige. Therefore, the progr~i-rr inclracfes clo:~ed-l:ta~~p anvil-compression control that is dependent uptrrr continuous mrvasurernenÃs provided by t(-rrv kc}rc.e switc:(-r 400. Wit(-r ttris feedback, the compressed tissue is kept l f3 within the OTC range throughout the procedure and s;ve:ti after kaeint,~
desiccated.
During the staple lirizi<w cycle, aziy actuation ofa. contra1 switcll by. the user Cazi be pro;yramtiied to abort the staple fire routizie. lt- aai abort c?ccr.iz-s before the staple firi zi;y motor 2 t U is activated, the fi.ri:r7g, cycle stops, the arrv-il 60 is extended tr) a 17ome posit--icrri, and the staple f'ire switch 22 rer-nains ac:t.ivc:. and ready for are-tirc~, attempt, if dc:.sire,d. Alterriat.ivcly, if the, ab~.~rt occurs dtrri11_9 ariOVen-lellt Of't.he staple iiriri~ rnotor ~~' 1.0, the iirM_9 CYCIe; st ps ar7d the staple 17ir irig rilotor 210 is caused to exterid the anvil 60 to its horiic position. At this point, the staple tiring switch 22 is rerrdered iriact.:ivc:. :'tc_ccrrclirigly, ttie stapler (or t}iat partaicular sta}ale car-traclgc:) criti rio longer be r.rsc:cl (unless the staple ca:rtridgeis replaced).
It is notetl that before a staple tiring can oi,c:ttr, astap:le range limit switch is tltacr-ied fo:r.
'?U relative positioÃ-a of the staple c:firtridge 50 and arivil 60. l1'tlie stal):1e raii~;elitiiit switc:(ii.s activflted -_ mcanfng that arivil 6t.~ is within ari.iacccptabte stiiple finng rarige --then the stapl~,~ firing motcrr."1t3 cari bc madc acti~~e arld the firing cycle carif?e ai1lc}werl to proceed. If the staple rarlge limit switch is riot activated, therr the frrinc, c:vc1s; is aba.rr-ted., tlio ag-ivil 60 is returrxc;(f to the .litrr-txo f.~sosititrrr, and the staple firir7g switcl7 212 re;n7ains acti~~ear7d read4 for ti re-fire r7.ttenipt=
2z; Powering (also referred toas actua:tin;y, pc~Nvering, controlling, or activating') c?f'tlae motor and;'Or the drive train of any portion at the erid effector ar7vil crr stap:lc:r.'ciat.tc:r) is, described hereÃrx. ft is to be understood tha.t sÃrch pmvering zieed not be 1Ãrnited to a single press of an actuation btrtt ai by the user rior is the pc3weririg of a rtic3t.or limited to a single energizing c3t'the r~ic}tor by the ~~A-vcr stÃ.PP1Y. Control of a~ly motor in the de.vic:e c.ari rccftÃ.ire, the t.tse.r tc) press an acttÃ.atioti button a 30 istrrtiber of times, for example, a first tisile. to actuate ~portiori.
of"the errcl effic;tor for a first thircf of movemrvnt, a. second time for a second third of movrv.rncnt, and a third tirrie for a last tliird of movc;rlielit. X-10re Sf.sec:ific'ally ttrr a surgic:al stapler, a fir:t exs;i-riplary actuation car~i inove tl-is; stafal:c sled or blade past the 1ock6autY a scc:orici c:xc.mplar-y actuation can muve, the par`t r.Ãp to the tiswe, and a third ctiernplary actrÃati~.1ri cati riic~~~e the sled past all staples t~.1 the eaici of the staple cartridge.
SitiiÃlarly, ~owerizig of a niotor need not be constant, for example, where the motor is energized constantly fro:rn the tinrc: tl7zit the blatic begins rr7overnerrt witil it rericlies the ericl lacririt, of its.
r1~ove:nxerxt. Instead, the anotor can fie operated in a pulsed rnocle, a first example of'whicfa includes periodically switchirig oli .~ncl off the power supplied by the po-wcr stÃpply to the motor dtrriiig actuation of ari end effect(yr fr.rnctiozi. N1:ore spec.ificallyfiior a stapler, tlie motor can be lar.rlserl tezi t:imes"'sc;cond as the stalslc,'crr[t:er= moves f:roni its faroxinial/:tart position to its cfistal-mtast position.
'1'his pr.rlsirii) c-an be directly c.orrtrol1ed or controlled by microprocessor, eitlier of wfrir:,h cari have an adjarstabl.s; pLr.lso rat.e A.lteriiativelv> or additionally, the motor can be operated with a pulse modulatiora fpulse-wi:rlth or pulse-fiÃ'equencya, with pulses occ.ur-rin<w at very shor-C time periods W&, tenths, hr.rÃadredtlas; tlic?usaÃadtlas, or millionths of a second.).
Accordingly, when the power supply, the riiotcrr, arrcl/crr the drive train are described herein as being powered, any afttiesc: ar7d otlier passiblc. modes uf'r?pr;:rat.ic?n are envisioned and included.
After a completed s4aple t.iring, the tarivil 60 rcrnair7s in the closed position taritl orily the extend switch 20 remairis active (all Qther switc.,hes arc cieactivated). Once tlie ativil 60 is extended to at least the horr7e positiari, botlr the extend and ret:ract switches 20, 21 ave rrratic active brit t(ic retraction switch _2 l does zic?t: perÃaiit closure of the anvil 60 past the faonie position. The staple fire switch 22 remains tnactiv~.~ after a cs.anxf.~slctecl staple firing.
?U As set t'ort}i above, the anv'il rieck 30 houses a liraear force switch 400 c(yiiriected to the trocar 410 . Tliis sc\.-itch 400 is t:alfbrated to activat~,~ when agi.ven tensile load is applied. Thc; givenl.oacl is set to c.orresponrl to a desired pressure t(-rat is to be applied to the particular t:issue before stapling car-r occur, Interfacing t.hr. :wi[t;li. 400 with the processor carr s;nswre that ttit; tiririg of staples ori.ly occ:urs lvithin the OTC range.
2z; "fhe tiollc~NvÃn~; text is an exemplary enif~c~diznetià of a f~r~~{~raÃx~
1Ãstix~{~ for c~arrviÃ~~; out tlle rrretlrods riecarciirig to ttie irrverrt-icrri as. described frere:izi. 'I'tie text tliat ffillows is only submAted as exempla.n= arir.i those of slcill in the art cari appreciate tha.t programming the metlxocis according to tlic ir7ver7tyc3ri car7 take r-IlaD;r tiiflUent forn7s to ac1~ieve the star-iie;
f'trr7ctionalit4.
30 Vi:rc:ular 4tapler- f?rowxarii r.rs:irra t(ic rev 3c board (cb280 cliipset) VS.03 (C'S- ic.,-08C? 3()6.[_'L;l,) 'S-3-Ã36 `Motlit:rcd program to dbort with c}rilv fire brrttori, added pbr:,ourit variable 'Added PNV:t1 rarnp:inw '7-28-06 is final tweaks - stari is now an ititegcr etc.
`7-17-06This versiozi written for the 3c board.
However, wheti the- butt(an of.dhe staple-fire-ready switch 614 is rlc} longer depressed -- because the l f3 ac:t:taator 185 is pa.tsi[itrg-is;d proxiritally of tl-is; kaut[a.tti, t}rer~i staples will ntrt fire because the diwtant t: is too short for t;(iet-ag~eufjc staplin& :FIE:F. 2:.~ show the rod 180 in tlie 1aroxir~ia1-riiost positiozi, which is indicated by the top end of the actuator 185 closing the lever tif a rod f'ullyaretratttecl switch ~"~1 6.
Wtteri clii> >wit.t:lr 61 6 is actuated, clre larcrgrarmt7Ã:r7g, iri the c:irt::uat borird 500 prevents t.17e rnot:or 1.20 from turning in a rod-retraction directiun; in ut1ier words, it is a stop switch for retracting the rod I80 f 5 ir7 the prox1r7ital diret:tior7, It is tiot.ecf that fY IGS. 2 to :3), VI to 12, and 16 illtrst-rate the distal crid of the rod 180 not being connected to another device at :its dis-taf erid (wlracft would dieti contact the proximal end of ttie force switc}i ~Ã0U). The cnzinection band or batids beÃweeri the distal end of the rod 180 atid the proxama1 t.~nc1 of the force switch 400 are. not shmvn in the (1t-awi:tigs or-i1y for c>lariq, 1.~ttrposes. In in exenip:lary '?U eriil3c?d'ariieÃ-at, the 1atrll=baÃ-ads are tlat aiid flexible to traverse the curv-ed t_rrtdersarle of the cartridge plunger 320 throtÃgli the anvil neck 3 )t? and up to t11t,~ proximal end of the f'orct,~ switch 400. Of COLrrse, if the k(arce switch 400 is rtcat present, t.1~ebar-ttls wou1c1 be connected to t1-trv proximal ertd of , the trocar tip 410 t1iat releasab1or connects to the proxir-tial orxci of tl-is; anvil 60 Ftrnt:titar7ttlitt ol'tht; staple control tisser~ibly 200 is cfescrfbed witki regard to FIGS. l2 to 16 2 5, and 24 to 217, in particular, to FIG. 24. The stapling motor 210 is he1c1between a motor bearin{~ 2222 aiid a. rt7ot.o.r shaft cover 224. The a.xle 212 of tlresta7p(:irrgrnotor 2lt}
as rotationally connected tot.17e proximal end of the flexible cotÃp1ing 240 and the dÃstal end of tlxe flexible coupling ~~40 is rotationally t:c~iiriectet1 to the proximal t:r7d ofdht:: screw m50, w-liit:b rotates ~ii faearir~~,~s 260, 270, 280 that are disposed within the internle:.cijate, coupling motÃnt 2;3 )0 and the distal plate '?Wt'. The 30 lrrrr~~.~itudinal:ly translating ntrt 290 is threaded onto t}tc screw 250 butwut;`rl the coupling sllousit 230 aiid the distal plate 232. Therefore, rotation of the axle2 12 traris1at:es into a corresponrling rotation C}f Lt1c screw 250.
The rltÃt coupling bracket ~~0t3 is lc.~ngit:tÃ.dinallN, fixed t.~.~ the nut 290 and to the stiffening rod 310arid tlr.etiÃiÃr.gbracke!33t). The firing bracket -3~30 is loÃr.gitLÃdiaially fixed to the cartridge frluriger 320, wtiic}i extends (throu;?h a rt(yziaillustrated staple driver) up to the staple cartridge 50 (or to the staples). W:itti sucti a connection, :(onglituciinal arioverrierit of ttie nut. 290 t.:ranslates into a corresponding longitÃicfanal r1~ovc:nxerxt of the cartridge plunger 320.
Accc?rdirx(;lv, wlien the staple firing switch .2' is actsviated, the stapling rliotor 2 10 is caused to rotate a sufficient number of'timc;s so thal the staples are completely fired frotii the staple carÃridge 50 (atid the eutting blade, if present, is exteticied to completely ctit ttrc t.i:sue between tl-ir: anvil 60 ag-itf tlrc; staple cartridge 50}.
P.ro,graminirlg in the circuit.ry, as rlescril?ecf below, tlierl causes the cartridge p1trng;er 3220 to retract aiter :firix~g and re;move, ariy portion of ttre staple firing parts ai~itfl`or the blaclc; wi[l-iiii the staple eartri dge 5 0 from ttie ativi 1-eartri d`.~e gap 62.
Control ofthÃs stapling moveÃxient, again, occurs tlir~iti;yh inicroaswiÃches ccninected to tlle circuit boavd 500 ttrrougf7 electrfcal con.r~ec:tions., sLich. as wires.
A.f:irst of these c_ontrol switcties, ttie proximal staple switch 618, coritrols retraction of the stapl~~, control asser-nbly 200 arid defines the proxit17"al-rric3st position oftliis assembly 200. To actuate this switch, an actuation plate :306 is attached, irr ati acfjust.able manner, to a side of the nut coupling bracket 300. See, FIGS, 6 atici 24. As sLzc(r., wf7cti ttie nut. 290 moves proximally to cause the pla:te 306 oti the nut coupling bracket.
iUO to activate the proximal staple switch ~"~1 8, power to the stapling rncrtor 210 is removed to stop fi7rther proximally directed movcr}ient of the staple co:titr-o:l assembly 1.00.
?U A. secozid of the s'Wltclies for controllirig ttiovemetit of ttie staple control assembly '~{tC3 is located opposite a dist.at triansversÃ~ surface of the stitTÃ~i-iiaig rod 3 10. See, c,& FfC. 27. At this surface is disposed a longitudinally acljustaf?le can-itnenilaer 312 that c,c}ritact:s a distal staple swiÃc1i 62)0. In ati exemfal,arv c;mkaoti.imerit, the c.ar-ix ri-is;r-tibe.r 3 1.2 is a screw tfiat is threaded in.to a tiistal bore A ccc3rdirigly, when the rrtrt 2 90 rti oires cfi;;ta:l1y to cause the caari rn earikrer`
2.; 31 2 of the sÃift'ening rod 3 10 to activate the dista.l staple switch 620, power to tlhe stapl Ãrig motor ' 10 is reinoved to stola furÃf7er distally directed movenient of the staple control assembly 200.
FlGS. 28 iir1d 29 illustrate a removable connection assembly to perr-nit replac:eanent of a ciiffcrerrl staple cartriclo,re 60 ar the distal errei of the anvil 30.
The proximalsmost c:har-nb,r of the handle b~.~dN,, 10 defities a c:er.vitv for holding therein a 30 power strpply 600. This power stÃpply 600 is connected through the circuit board. 500 to the motors 120, 210 -and to the other electrical cozrlporrerrts oi'the stapler 1.
The el~~,e.trunic., components uf'th~~, staplc.r 1 have been described iri s;c.ti c.ral wit.ll respect to c;oaitrol through the cit=c;tÃit 13t~ard 5(30. "I'he electric stapler I
itieltades, as set ford7 above in ari exeznplary eznbodizneÃat, two drive znotors 1220, 210 pcnvered by batteries and controlled through pushbutt.ons 20, 21, 22. 'I'hc:.ran~es. o.i'travel of ezicli rt7otor l2Y), 210 are controlled bv :liynit switclies 610, 616.. 618, 620 at the ends of travel and at intermediary locations 612, 614 alc?txt; the trave:l.The logic by wliich tlic motors '120K 210 art,~ controlled can be accomplished in several ways. For example, relay, or ladder logic, cazi be used to define the cotitrc?l algorithni for the motors 1?0, 210 and switches 610, 612, 614, 616, 618, 620. Sticli a configuration is a siitiple baz[ .lii~tiittatl control method. A more flex:ible inetftod einploys a. tn.icroprocessc}rrcbaserl c.cantrol system that senses switch iriputs; locks switches otate activates ii~itlicator liglits, rs;cord.s data, p:rovitios audible feedback, tlria,es a visual display, clt:iet-ies identification devices {e.g., m, d'ao 1'ret.7t.teÃ-acy i:rlentifiicatioti devices (:RIA'ID,,,) or cryptographic identification devices}z senses forces, ccyznnitinicat:es witl~ ext:ernal devices, Y-ooyrit:ors battery life, et:c. Tlte microprocessor inart be part of art integrated circtt:it constructed specifically for the, t.~t.trpuse of interfacing with atid e.ontrallitig complex electro-mechanical syste.ms, ~xarnplcs o#'stat:h chips iric;ltade those offered by Atmel, sttcl7 as the N:1c.ga 128, taricl by P1C", such as t.lie 1'IC 16Ft"-~8=1.
A solAwzia~e prograrii is rc:quired to prov:icic: control instructions to sticl.i a processor Once f'r.illy developed, the progyram cazi be AvritÃen tot:he processor and stored indefinitely. Suchasv'stem nial:es clYange;~ to tlle. control ilgorithm relatively simp:le; changes to the sc~fiwart.~ that are uploaded '?U to t(~e processor adjIust the cotitrc?l azid tiset- interface tivithout chaÃ-agiÃ-ag tlie wiring or meel-aaÃ-aical layou.t. of t1lc clevicc;.
Fc}r a disposable device, a pc}we.r-t~ii event is a c~iie time oc.currence. in this case, the power_.
oii c:ag-i be accomplished by pulling a tab or a release that is permanently rs;rnoved from the tlea,ice.
I'l7e removal enables battery c;t:}rit.act, tlius powering ai the device.
2z; fn aÃav embodiment c?f'tfae device, ANrliezi the device is powered on. the control program begins to execute ~~iid, praor to enabling the device lo.r use, goes through zi routiÃie ttiat. enstix~~ awareness of actual positions of the extend/retract and farizi.~ stibsitsseziiblies;
referred to as a liot-ning rotÃtizie. The hc~iiiit7g routine aiiay be executed at the manufacturer pr-ior to shipping to the user. ln such a case, t.hc.1~omitig routinc is t.~~~,rformc.tl., the positions, of the assemblies are, set, and the device is shipped to 30 t:li.c t.isur inarcacly-to-u.sec;onditiort, Uposi t~~wer-tip, t}tc device vt;`d:l:ies its positi.orts attci is rc;acly to use.
.1,s Visual indicators (e.s;., LEDs) are:~ used to provide, feedback t.c) the tÃ.sc.r. In the case of the ptÃshbtÃtinti switches 20, '' 1, 22, they caii be lit (or l3acl;ljt) when active ai7d tÃt7lit w1icÃi nt~t active.
The indicators caÃi blink to convey addit:iortal information to the user, irt the case of a delayed response after a butt.o.rr press, a wiverr lÃw:Eit car7 blirik zit riti ever,-iiicreasitiw rate as the respo:r7se becomes immirxetxt, for c:xarlifale. The indicators ca~i also light witlx difte:re:rtt colors to iridicatc:
various states.
E:'ains are tised in various locations at tlie stapler 1 to activate limit switel-aes that provide fstas:itiori :in:f-on-natiOri to tl-ic processor. f;v using linear trarr-is of various ltarrgt}rs, pt.tsi[itag-i ratigc;s caii be set. Alternatively, encoders cati be used inst~ad ok lin-tit. swit.clies (absolute aiicl irtcrrv.rncntal posit:ioning). I.irnit mvitchs;s are binary. off or or~i. Instead o:f"bÃriary iriput for f.sos:itiori :in:f"orrilation, e.ricc?ders (st:re:(ias opfical ezicoders)c:,,in betised toprt-)~,idepositioriiti.f~~iati:c?ri. Atiotlier waytt-) provide pc?siti(yri feedback izittludes mounting pulse generators on the end ot-t:he ziiotors that drive the strb-a:sseniblies. By counting lar.zls-es., wrd by kri~wir7g, ttie rzit-icr of'rrtotar turns t.t) li.r}ear travel, abs~.~ltÃte position cati be clerÃvc~,d.
Use of a processor creates the ability to store dava. For exaniple, vittal-, pre-loaded information, sucli as the device serial rltÃ.mber and softdv-are rcvisiQti caii be storecl. Menzory caii also be used to record da.ta wfti:lc: the stapler I is:irr Ltse. Every btittozi press, every lirt7it sNvitcft trarrsit:ian, everv aborted fÃre, every completed fire, ettt., can be stored for later retrieval and diagrtcrsis_ Data t:ar-i be retrieved through a progranimir7g port or cvirt.'less:ly In an exemplary enYbs.atlime:tit, tht.~ device '?U can be put izito diagnostic riiorle through a series of bttttozi laresses.
t:Ã-a this diagnostic riic?de, a technician t:ati tft7c;t-v the stapl:er I for cortain data or to transmit/output certain clata Response from the stapler i to sLrch a. query c-an be in the f(artYt of blirtkirtw> LEDs,.
or, in the case of a device with a clisplay, visual cl-iarac:ter clata, or t;ati be electronic data. As set #orth. above, a s[raiz~ gatagt: cati be tased.for ttrialt:}g otrtptrt tarid to provide aD tac;cepttable straiii baait-i. Alternatively, addition of a second 2 5, sprirtg and strppcrrt components can set this barid tnecliazlical1y.
An ea:enrplary. cont.rol al-orith:rn tar a s:irrgle.i:ire stalaler 1 cwr include t:he following steps;
. Pmver on.
* Verif4 hc~lIle Ptasityc3ri at d go to hc~iiit:: position, ii'Dt::c.cssa.r;;idt::si.rt::d=
Enable ext.cntlr'retrac:t l.~ttÃt.c.~ns tlit.l and disable (unlit.) sÃaple, tire btiattoti.
3t] ;f: Enable staple fire bGattor~s otily after ftill cxtt;`rlsiori. (anvil rumoval) ;:trtcl subsecltrent .retractic}n with exÃ:erld,1'retract butÃ:otis remairti.rx(f cnabled, o Upon act-tra[itrg-i o#'stapl:c fire but:tori; retract arrvi:l trritil f-orce mvitch is activated.
Begin c.otantciuwti by blinking tirc btattoti LED a.tid increase blink rate as firing cycle becot7ies immit7et7t, C~.1ratit7tÃc monitoring of force sv'-iteh a.Ãid retract a~ivil so that force mv~itch remaÃns activated.
o I)uring stziple fire cycle, arty btat.ton press aborts staple fire routÃne.
If abort occtirs before staple tirirag niotor is activated, tiring cycle stofas; azi'vil is extended to home pctsilioai, and staple firc; btÃtton remains active and ready fiior a re _1~.ire, c, AIternatiti e1~,, il the abtart taccttrw d.uring t-novem.ent of fi:ring niottar, firit~g cort;le stops, tiÃ-ing; n-totor is retracterl, anvil is returned to home posiÃiwl, a.rtd firing l0 buttotx i: rs;g-itlered. iiiactive.. At;to:rd.itiglye stapler (or that staple cartridge) ca:iiziot be used.
c> After coutitdown to fire is complete, staple range limit switc}l is queried tor position.
an acceptable staple t"Ãtitig rartge. -- then staple trritig motor is activated and fiit-it7g t:.t c,le procee;d;;. l:#' sttaple; raaigt:: limit sx.Vit.ch is not at;iivtatt:.d, thenfiring cycle is aborted, anvil is rettÃ.rncd to hotiie positit.~ii, aiici sta:ple firing button rema:ins. active ready for a.re-firc: a.ttempt..
.: After a cc?mpleted staple firing, anvil reziia:ins in closed position and otify the extend button retnains active. Once a~-ivil is ~xiciYded to at least tht.~
horale ?U position, botl-a extend and retract bttttoras are made a.ctive. Staple fit-e button remains inactsvt,~ after a completed staple firing.
Tltrotigl-ictai[ tttta above excr-tiplatN., corc.;lt:, kauttori presses, switcft t.sositioiis, aborts, antl;/or :firtas caii. be t-ti.c:or-ded, 2z; tn a surgical pr~~~edtire, the stapler is a onesNvav device. In the test mode, ht~-%vever, the test ttser iieeds- t.t) }iave the ability to.move tfic troear 410 arici anvil 60 back artdfort:h as desired. `:t'be power-on feature permits eixtty tay the user irato a manual ziiotie for testing ptÃrpfg5es. This test mode c;aii be tliset7gaged and the ;;t.aplt:r- reset to the tasen7ode; t:tar packaging tarltl shipmelit=
For packaging, it is de.sirable (btit not necessary) to have the anvil 60 bc:.
disposed at a 30 tli5tan.cc; from the 5taplc; cartridge 50. Thc;refore, a homing suqu.csiue can be programmed to place the aiia il 60 otle centimcter (iior eNa.rtiple) awav frcan-t the staple cartridge 50 betor~ poNveritig dc}wil:f=br Packa;~in;~ aiiti st~.ipt~~t:rtt.
~5 Wheri the clect.ric stapler is unpackaged aiid readv to bc:, use:~d for surgery, the user ttÃ.riis the stapler ora (sivitch 12). Staples sl7otald ricrt be allowed to fire at ativ time prior to beirig in a proper stapleafitiÃag positiori and a desired ÃÃssLÃe corxipression state. `i"lius;
the anvil/trocar extend/retract titnctÃorr is tfre ozily ti.tnctÃorr ttiat is ena7b(eci In this state, the extend arici retract buttons 2(), ? tarc: (:it aracf the staple firÃrxt; switc.lx 22. is not l.it (i.c:., cfisabled)_ Before use inside tlic patic;nt, the trocar 410 is emencled and tlle anvil 60 is removed. If tlle stapler is being r.ised to anastomose acc?lon, for exam ple; the trocar 41 U
is retracted back irtto the anvil r~ieck 30 aiid ttie staple cartriclge 50 and anvil rreclc at) are inserted trans-anally iiito [tic colon to adowTlstrcam side ot'the dissection. '1'he arivil 60, in contrast, is inserted through an rrpstrearYr lat.sarcrscopic incisi:orr and p.lacs;d at the trpstrearn side of the dissec:t:io:ii. The ativ:il. 60 is at.tac.lietf to t}i e trocar 410 aiid the two parts are retracted toti~>ards the staple cartrÃdge 50 r.rnti 1 a staple ready condit:ion occurs. As set torth above., the anvil is moved to a dÃstance that does not substaÃatia.lly ccrrr7press arrd, s~ecat.ically, does riot desiccate, the t.issue therebetween. At Ã.lus poarit, staple f'irfÃr~~
cari occur when ciesired.
Tlre staplefiirir7g setfrrer7ce is started by activating the staple fire switcl7 .22. Staple firing ctari be a~t.~oned anytime dxrring the frrirz~ ~~queiice, whether prioFr Ã~.~
movernent (dtrririg the blanching cycle) or during arioverrrerrt (whether tlre staples have starterf to fcrrrii or rrot). 'l:"fre scrtt4.~,are is programmed to be;yizi a staple firing count:dc?wtt seqtreÃace becauseit is understood that the tissme noccls to be compressed ailrl ~llsa~~ c~cf to desiccate before staple firing should cx:cur. Thus, after the '?U staple fiiriri sti~>itch '?''~ is activated, the anvil 60 closes upozi the interposed tissue aiid beg-irts to compress tlic tisstÃc The staple firing seqtaenc:e includes ffli optimal tsssLae coiiiprc;ssion (OTC) measurement and a feedback coritrol nier:.han.ism that causes staples to be fired orlly wfrerl the conipressitrn is in a tlesi.retl prewsrtrc; range, refs;rred to as the OTC
rangce aixti a sarffi-cic;tit titiie period has elapsed to allow .flrrf(l reiiioval frron-i the compressed tis:;trc. "f'he OTC rtar~~,~e is l:a~~~vai 2 ; l}efrirehaxid based upon kziowtt characteristics of the tÃsstÃe tha:t is to be compressed bemreeÃa the anvil 60 ar7d the staple cartridge 50 (the.force switch carr be tuned far drf-Terent tissue OTC .ra:r7-les). _lt is the force switch 400 that provides the OTC mcasurearierlt and supplies the microprocessor with ir7formation indicating that the OTC for that particular tissue has beeii reached. The OTC state CaD
l.~e iriciicateci to Ãhe risc~,r with an LED, for example.
3~] Wliun tht. 1-irir~sg seqticr~rc:c begir~ss, the staple firc sdvitc;h 22 can be made to blink at a givesi rate and then proceed to blink faster -and faster, f(ar example, until kirir-rg occrrrs. :i:f no dbort is trict,~~red dtaring this wait tir-txc;, ttre OTC, s[ate wi:ll remaan for t.he t.~sret.~srogranirrit;tf clesic:catiori dtÃ.ration and staple filing will occ:tÃ.r after the countdown caiicltÃde:s.
Inthee:~xamp1c. ofc;~.~lan aliastcrr7iosis wid7 a ciretilar stapler, stapling of the ciissectint~ occurs sjn7rrltanenusly with a ctattitig of tissue at the center of'tlae dissecticrzi. This cuttizi;y guarantees a clear opening in the middle of the ci.r-crrlar.r:inw of stafsles, sufficient to create riti opening tor r7orn7al colon bc:l~avicrr rill-er the surgery is concluded.
As the liquid from th~,~ iiit~,~rg~osed conipressed tissue is removed, the compressive force on tlic tissue nattrrally reduces. t:rt s(yirae instances; tliis redr.rctiozi cati be outside the 0'l'C razige. Therefore, the progr~i-rr inclracfes clo:~ed-l:ta~~p anvil-compression control that is dependent uptrrr continuous mrvasurernenÃs provided by t(-rrv kc}rc.e switc:(-r 400. Wit(-r ttris feedback, the compressed tissue is kept l f3 within the OTC range throughout the procedure and s;ve:ti after kaeint,~
desiccated.
During the staple lirizi<w cycle, aziy actuation ofa. contra1 switcll by. the user Cazi be pro;yramtiied to abort the staple fire routizie. lt- aai abort c?ccr.iz-s before the staple firi zi;y motor 2 t U is activated, the fi.ri:r7g, cycle stops, the arrv-il 60 is extended tr) a 17ome posit--icrri, and the staple f'ire switch 22 rer-nains ac:t.ivc:. and ready for are-tirc~, attempt, if dc:.sire,d. Alterriat.ivcly, if the, ab~.~rt occurs dtrri11_9 ariOVen-lellt Of't.he staple iiriri~ rnotor ~~' 1.0, the iirM_9 CYCIe; st ps ar7d the staple 17ir irig rilotor 210 is caused to exterid the anvil 60 to its horiic position. At this point, the staple tiring switch 22 is rerrdered iriact.:ivc:. :'tc_ccrrclirigly, ttie stapler (or t}iat partaicular sta}ale car-traclgc:) criti rio longer be r.rsc:cl (unless the staple ca:rtridgeis replaced).
It is notetl that before a staple tiring can oi,c:ttr, astap:le range limit switch is tltacr-ied fo:r.
'?U relative positioÃ-a of the staple c:firtridge 50 and arivil 60. l1'tlie stal):1e raii~;elitiiit switc:(ii.s activflted -_ mcanfng that arivil 6t.~ is within ari.iacccptabte stiiple finng rarige --then the stapl~,~ firing motcrr."1t3 cari bc madc acti~~e arld the firing cycle carif?e ai1lc}werl to proceed. If the staple rarlge limit switch is riot activated, therr the frrinc, c:vc1s; is aba.rr-ted., tlio ag-ivil 60 is returrxc;(f to the .litrr-txo f.~sosititrrr, and the staple firir7g switcl7 212 re;n7ains acti~~ear7d read4 for ti re-fire r7.ttenipt=
2z; Powering (also referred toas actua:tin;y, pc~Nvering, controlling, or activating') c?f'tlae motor and;'Or the drive train of any portion at the erid effector ar7vil crr stap:lc:r.'ciat.tc:r) is, described hereÃrx. ft is to be understood tha.t sÃrch pmvering zieed not be 1Ãrnited to a single press of an actuation btrtt ai by the user rior is the pc3weririg of a rtic3t.or limited to a single energizing c3t'the r~ic}tor by the ~~A-vcr stÃ.PP1Y. Control of a~ly motor in the de.vic:e c.ari rccftÃ.ire, the t.tse.r tc) press an acttÃ.atioti button a 30 istrrtiber of times, for example, a first tisile. to actuate ~portiori.
of"the errcl effic;tor for a first thircf of movemrvnt, a. second time for a second third of movrv.rncnt, and a third tirrie for a last tliird of movc;rlielit. X-10re Sf.sec:ific'ally ttrr a surgic:al stapler, a fir:t exs;i-riplary actuation car~i inove tl-is; stafal:c sled or blade past the 1ock6autY a scc:orici c:xc.mplar-y actuation can muve, the par`t r.Ãp to the tiswe, and a third ctiernplary actrÃati~.1ri cati riic~~~e the sled past all staples t~.1 the eaici of the staple cartridge.
SitiiÃlarly, ~owerizig of a niotor need not be constant, for example, where the motor is energized constantly fro:rn the tinrc: tl7zit the blatic begins rr7overnerrt witil it rericlies the ericl lacririt, of its.
r1~ove:nxerxt. Instead, the anotor can fie operated in a pulsed rnocle, a first example of'whicfa includes periodically switchirig oli .~ncl off the power supplied by the po-wcr stÃpply to the motor dtrriiig actuation of ari end effect(yr fr.rnctiozi. N1:ore spec.ificallyfiior a stapler, tlie motor can be lar.rlserl tezi t:imes"'sc;cond as the stalslc,'crr[t:er= moves f:roni its faroxinial/:tart position to its cfistal-mtast position.
'1'his pr.rlsirii) c-an be directly c.orrtrol1ed or controlled by microprocessor, eitlier of wfrir:,h cari have an adjarstabl.s; pLr.lso rat.e A.lteriiativelv> or additionally, the motor can be operated with a pulse modulatiora fpulse-wi:rlth or pulse-fiÃ'equencya, with pulses occ.ur-rin<w at very shor-C time periods W&, tenths, hr.rÃadredtlas; tlic?usaÃadtlas, or millionths of a second.).
Accordingly, when the power supply, the riiotcrr, arrcl/crr the drive train are described herein as being powered, any afttiesc: ar7d otlier passiblc. modes uf'r?pr;:rat.ic?n are envisioned and included.
After a completed s4aple t.iring, the tarivil 60 rcrnair7s in the closed position taritl orily the extend switch 20 remairis active (all Qther switc.,hes arc cieactivated). Once tlie ativil 60 is extended to at least the horr7e positiari, botlr the extend and ret:ract switches 20, 21 ave rrratic active brit t(ic retraction switch _2 l does zic?t: perÃaiit closure of the anvil 60 past the faonie position. The staple fire switch 22 remains tnactiv~.~ after a cs.anxf.~slctecl staple firing.
?U As set t'ort}i above, the anv'il rieck 30 houses a liraear force switch 400 c(yiiriected to the trocar 410 . Tliis sc\.-itch 400 is t:alfbrated to activat~,~ when agi.ven tensile load is applied. Thc; givenl.oacl is set to c.orresponrl to a desired pressure t(-rat is to be applied to the particular t:issue before stapling car-r occur, Interfacing t.hr. :wi[t;li. 400 with the processor carr s;nswre that ttit; tiririg of staples ori.ly occ:urs lvithin the OTC range.
2z; "fhe tiollc~NvÃn~; text is an exemplary enif~c~diznetià of a f~r~~{~raÃx~
1Ãstix~{~ for c~arrviÃ~~; out tlle rrretlrods riecarciirig to ttie irrverrt-icrri as. described frere:izi. 'I'tie text tliat ffillows is only submAted as exempla.n= arir.i those of slcill in the art cari appreciate tha.t programming the metlxocis according to tlic ir7ver7tyc3ri car7 take r-IlaD;r tiiflUent forn7s to ac1~ieve the star-iie;
f'trr7ctionalit4.
30 Vi:rc:ular 4tapler- f?rowxarii r.rs:irra t(ic rev 3c board (cb280 cliipset) VS.03 (C'S- ic.,-08C? 3()6.[_'L;l,) 'S-3-Ã36 `Motlit:rcd program to dbort with c}rilv fire brrttori, added pbr:,ourit variable 'Added PNV:t1 rarnp:inw '7-28-06 is final tweaks - stari is now an ititegcr etc.
`7-17-06This versiozi written for the 3c board.
7-14 ~~BUG6II'+fG VERSION
`1'rogra:m -,v~ritÃen fcyr 3c boa:rd using the Cubloc 280 chipset ote : tl-ais program is a modified versioÃ-a of the oties zioted below. .1.11 c(ianges tioà related to the adcli[iog-i o.f [li~ E./R lirt-iit switcht s apply. The progqams below were wtittetx to deal wit1i the "gray Io,(gÃc." of the I cm switch. This ~ ~rsi~at7 tises `a limit sc\.-itch at either end of the extend/retract stage.
V6.20:FiÃ-aa1 Version of t:iray Logic program as t_aserl in prototype 0, serial ntiiiiber 100 X6.t}5 znodit=ied the extend to em I azid retract to czn i routines to make stire that when they are called that they move the motor until the cm switch is t;losed, ic: When the anvi.l is all the ivay out and the retract baittt:xal is pressed, retract the anvil unÃil the c:t-n limit switch is closed re.~ar~lless of ti~>hef(~er the retra.ct buttc~Ã-a is released befc?re the ~.tii s~~itcli is ~.lc?sed. Same change for whÃ~i-i tht,~ asivil is exteÃirled from the l cÃn posit:ion.
`niade cttartges to corrtmexiÃs :in the extend/retracÃ. rout-irtes V 6.02 'added loop requiring the release of both buttons to exit jog, rout:itte, azid a 1 secozid delay, at the eÃid of jog, subroutine before ":? `goiyig back to in in routine refiormat ed da:tadtimp labels 'added variables for tri4~;t1 and l~aN~~ speed pwm values 'added extend onlv caDalailitv at ~i-itl of conipletccl fire to preare:tit crushing stapled tisstie I~~T WCi~l:LKING- R~MO~TED added che.c.ks To ensure 1 cm switch Is made whc.ti e.xtetiditig Or retracti.rig.from tfte J. cm rl.nd.fu(ly extended pos:it-iolis respectÃve1y "V6M
`All prior versions NN.ere made fcyr ÃesÃÃng the prooraÃn on the Cubloc development board . A11 outputs were aullecl I.{~N.%,'. T17eaLi-ua1 device rt;clttirt:s all the otitptits to be pulled high (4-5V). This version is set-tap to niti oii the ac:tizal dcvit.;e.
:$:> `litiiited the va.lties of the EEPROM da.Ãa to `21r,:> tiia.x 'added delays be-t:ore c.hai7gt:s in iiiotor tliret:titat7, made prograr-ii rttn stl7ootller `reÃxioved pwziioff comznands. Tliev were ziot allowiÃag the moÃors to stay on whett changÃng subroutines (f(ar some reason) Vs 2"1' acldecl tlic recordÃtxt; of jog routine btitÃfgzi presses 'added tl7t:, recording I'clatat-lÃ$Eiiip requests "V5.2.6 a.clÃ.lc.cl the recording of Extcntl.:'Rctrac:t button presse:.s added seraal number field in ee}ararii the datadt.amp routine now keeps rtinning total of data as it is re-a.d from eeprom "V5.25 (cir~ularwst<~.l~lerrSw?~.c~~l~
'added code to a11ow -Aor'a~.~e of clata each lac>wcr c>xi cycle in cepro~ti-i ~circt~larzsta~ler ~z?~.etial~
V5,2.4 works well, tio ktic.~wn btiags ig `KMS ~.*ledical LLC (e) ''006 "MAP
':1117 Ct Extend BuÃtozi 'P1 t I:etrac;t t3uttozl T12 Fire Button `P 11 Extend Limit 't? 1. 4 h.etriat: t L i mi t ':1'1 5 Fire I~ortivardLimit Tl 6 l :ire [:lack I..i m:it T17 1 czn Liznit SwiÃeli `P1S Staple Range Limit Switch Tl 9 Force Switt.;li.
':I"20 Extericl t;3tat.~.~n LED
:1zi Retract Button LED
'1'`'~ Firt,~ BLittoti. LED
'A23 Force LED (blue) `P24 Not LiSl:;D
`:1?? 5 Not USED
':1'' f i N ot I.~ S1~: D
Tm 7 N t:}t USED
T28 Not USED
`l~'?~~ Staple t~~.rage LED (green) "~?
Const Device=6280 'Comfile Tecli. Cubloc CB 1-S0 chipset Dim ver As St:r:ing*7 ker="s1C-8.03" ,set ss.aftware versic.xal here Dim extendbutton As Byte D:irrt .retractbtittoti As:Byt:e l:3ini lirt,'button As Byte Dim firstout As Byte Di iia first~backA:~ ~-vte Dn-n citig[attiwAs Byte'l.t:m l.itnit switc:}i stat:tas Ditii srstatus As Byte "staplet-aye limit saiItch status Dir7i x As lrit.c:ger Dim powerons As 13yÃe 'st:ore in eelironi address 2 Dim cycraumtires.As 1:3vte'store in eeproiii (Pc?~~~eroras ~S) Dii-ri cort;abor-t.tirt:s Ast3ort.e'store in eeprort-i (poweÃc~n.''`5)-4-1 D.Hn cycers As Byte 'store in eeprowt, number of cycle extencl.=retrac:t presses Dit7i t:vl~iogs As 134t.c.
l:3ini arni As Bytt,' Dim completefire :~~ Byte :E3im staple.ran-lestatus As Byte Dim bail As Byte Dim ds As Int:eger'eepro.in data.,start locatic}ti t'(ar individual cvc.le data writing D:ina.fiast. As Inte:wc:r Dim slow As Integer Dim extendonly As Byte L~.
irii extl.it-nit.As Byte D1ni retlimlt As Byte Dim speed As l Ãrteger 5 Dim rlracr.rla As Byte 'initalize oÃrtlaÃrts C3ut ?t3,t7 '~,'xtencl button LED
10 Out " 1,0 'retraet buÃtozi 1ed Out 2)2.0 'fire brrttari (eci Out 230 'force l ed Out 29,0'stap1e range led 15 'initialize variables flr-stfracl:~~0 corrrpl et:efire=U
arrn::: Ct 20 bai.l---O
eycrr uariti r esm t3 cyc-. tab ort t: rre:;:::;t}
~v,cea s-O
Cycj og~=0 ;'5 ext:eaidorr.lw:::Cl 'C1-f;1NGl; PWM VALUES 1-fft.Rft.
f:ist=60000 'lrlglrsl.~sec~ pwa-n value sl a",-60000'1 owst.~~~,ccl. pwm va1 tr~~.
30 speecl:::O
Output 5'tÃrrzrs on pwrir otÃtptÃt for PINCH
(-')LrtfSLrt 6'tr.rrrrs c>za p-wrr.a out~ul.fior :Ii 1:RE
`read tc?tal s i't-oÃ-ar eeproni 1~ler- powerons `irteretii ent total poti~>er on n umber If faows;rons= --255 Tlteti ptrwc;rt~irg =-'5:? `lirrut r-iarrr-il:aer of rec:a.rr(ietl pa.rwerozrs to ag-i :irrte<.~s;r t~t~crti~:
b~=tet~~~x ~
Ec;w-rite 2,poiver<rars,1 'write total power on aru.n7faer- to eepror7i cls~~o-wcrrorr s'^ 5 'JOG zi.8.id UATADUMP C11eGk 'PtÃ~h any btÃttorr wlthiai 2 (or so) seconds to go to .log ror,itiilc 'hold all three buttons ona.t startup to durirp the cla:ta Foz- x:::.1 To 50 If Key in(10,?{l}-t3 And fiey in(1 1,220}-0 And Key 1n(12,?{l}-t3 Then datadump 'wrÃt.c all stored data to the ciebtirg screen Exit For Elsc;if Key in(10,'?0)=O Or Kc;vin(l. 1.20}Wt? Or K~,~t i:n(1'?K'-')t?}=t3 Then eitflc;r es i fsr.attor-i or the fire bÃrtÃoti pressed j og Fxit Foi-Erxd lf De1ay 20 Next _________________________________________________________ 1-f+C):MING Sf?QL;f NC.E:?S
t ---------------------------------------------------------crnstattaS=Keyin(17,20) 'read the Statr.aS oftlle 1criflim.it switch It crtistaÃu~=0 't'-ben horlnÃ~retr~act E1 seif cm,-,tatus= l Then horneexterici Ea[f I:f Re;t-rern fire aiiotor to back position homefire'this returns the fire rnotor to the full retracted condition (P6 limit switch) ti Md.in Loop .'.~ 0 Do `Debrlg ttMazn Locyptt`f'r I.DE'.lay 1 000 t}ie 1 crii switch 'staplc.rar7gesttiltis =Ke.yir~(-,',,m0) `read the ;;t.apler`arige lirtiit switch extendbuttoÃ-a--IC.eyi n(l t),'?t_t ) ret:ractbuttori KeorM(1 1,20) f rebuttori-Keyir1(l 2,220) If c;mstatu.s=t7 Ar-ict Keyin(l 3,`'~.~)<>C3 Then Gtut 20,1 t.urn e,xterid led ori Out `? 1,1 tur-zi retract led on El Seif c:m.stattÃS--O And Key i n(l3, 2Ã3)=0 Then Out IN,0 Virrr off exterrd 1ed because e\ter-rd litrxit riiet t_3Lrt '? 1. 1 trarn ori retract l:irxiit Elseif cmstaws-1 Then otit "0, l Out " 1.0 End If clieck firebutton :1ed staÃus If firs[cau[:-- 1 And. firstbac.l: --1 Aiitf a:rrn 1 Aricl complc;tefl~~c :;>1 Ag-itf cmsta[us =-'O Then Ol:it.;;.w, 1 'tUrYI on firG bUttE?tl led f:r1 Je O1.it 22K~.~ 'tu.rli off fire 1ect Enrl If 'clieck fcyr extezid retract button press If extetidbuttori -- 0,knd cmst:a:tus =U '1'1~en e\telici Eiscif cmstatus=i And extendf..~uttan-t3 Thc~,li extezid ~i-ict If I:#'retractbuttorl:::O.Anci cnlstatus-::0 Then 'And exteridorily:::O
retract End If 'clieck for firel}l.iÃtc?li press l:f firebutton=() :1.nd fiirstout~l Azid firsÃ.back:=1 And arm=l And completefiiae<=' 1 Aiid ;'5 cmstatus<>0 Then iliitia(fire Looo"kcep looping til powertlown E"rid 'EriCi of progral-n }.~.~;.ti ~~=x~~:~.ti ~~=x~~.~:.ti ~~=x~~.~.ti ~~=x~~:~;.1 ~~=x~~.~.ti ~ax~~:~;.1 ~~=x~~.~:.ti ~~=x~~~.~.ti ~~=x SLJBROUTlNl T<S
------------------------------------------------------------------------TfOMF: retract to c.ili savÃt.ch riot pressed ra-aaee . .. . ... . ..... ... .
Sub 110ffleretract{} 'reÃi-act tlDtil 1 c1-11 sX.Vit.Ch is c3peTi 'Debug "f~~~neretract",Cr 'Delay 1000 :1''win 0,sf ow.,600C?(:~
Do Until Kc;yin(1.7.220)W1 'retract Llnti1 1 cm switch is clpeai out 3 1,1 'ER motor reverse LciOP
Otit 3 l,{l'er motor off t ., ~r Out '? 1 Y0 't.urn retract 1c.tl. Off (?ut 20,1 `turzi extend led On t?wtnott Wtur.T~ p-w~n off End Sub ;
'H(~NT1 : extend to cm switcla-pressed ~
------------------------------------------------------------------------Strb 1~omeextcnd{)'extend until l c..n-t sc\.-itch is c;lctsec1 1 U ':Debug N:omexÃcnd",C;r ':I:3el ay 1000 Pwm 0,slow,60000 lt Kevili(17,'0--1 Thei7 15 Do Until Rc.1'irl(17,2t3)-t3'r~ow the 1 c.r~~ switch is pressed (?ut 3 ) U, l `ER ni otor tdot ,~varrl DDD
Loop End lf (3 tr t 30,0 `DDD
20 f'wi~trtaf:f~ 0 De1 ay 00 1romerctract 'orrcetlic switc;1i is made, t;all homeretract End Sub 25 ________rr___________r______k____r_______k____r______k____rr__________rr 'Fire motor bomÃng routine ------------------------------------------------------------------------Sttb lYornefire{}
'Dc.bug Norncfire:.rr.Cr 30 `I)e1a11(}00 1:-'wÃn l, s1ow,60U00 Do [_,'afi( Revin(l.6 20):::0 'retr:tct fir`iri~; st~.~,e uzaiil t~~3cl~
switch is closed Otat 1 35 Loop 0 tat 3 :3,o 1:-'wÃxlt?ff I
Erid Sub 40 ra-aaee . .. . ... . ..... ... .
`J!t.3C~ R trtirie f Sttb .t t-}!,,{ ) Out 2)().1 45 OLit 21.K1 Do Delay 25 ..~i 4 IfKe~,jn(1t3,20)-O Arici Kc:~,jn(1 I,20)-O Thc:n Exit Do `ifb~.~tl~ buttons pre:sSed, exit rotitirae and start horning routi~~e after 1secorad delay 14' 1~.evizi(10,220)-0 Azid h.evizi(1 1,220).-' 0 And Keyi nt12,?~~~ <>O
rl'hen Pwm 0,slc?w,60000 `Out 30, .1 exter~rcf rnotor forwartf Do Until ~.e~rin(1f~,~~t3)<r~0 Or l~.eti~i~~t~l:3C}:1-t3 (lrrt 3 0,1 ex teritf iiiotor- or7 forward DDD
Loop lU Out 3 ) U,C) ext:endni otorc?ff t(ar~~~ard D UD
1'wrt7cit'1` (}
lÃlrr?r cy,~jo,,ws I:f cycjogs: ?55'I'tlerl cycjogs--_?
Fewrite cl~ 1-cvcJogS, l Endlf If ~evi:n(] I,'-')t?}=O And K~,~yi:n(] 0,220} >Ct Aiid Kcyin(1?,-,,t7)-:= 0 Then Pwrn 0,sl ow;60U00 Do t srrtil Keyirr(l 1.,20)<=>O (3:r Keyirr(14.2)0.):::0 Otrt 3 1,1 '~::~t~:g~tf t-r~t~tt~r~ reverse t:.oof~
Out 3 1Pextentf iiiotor- oll'reirerse f'wmtif't 0 22 :? If Cti cjoc,s;.::::25 :> "I'tieri cycjogs::::25 :?
1~ewr'at~ d,-,-i-,-,1zcVcjogS,1.
Erld if''-.
If Ke~,j n(1'?,20)-0 Anci Kc~j n(I t3,20)-O Then jog the fire motor tona, ard l?cvm l,sdcrw,6000(}
Do L.:ntil Kevili(1 0.`'t.~)<>C3 Or Kc;t in(1.2.2C3)ti- t7 Or Keyiii(l5,2t7)=Ct OÃit 3 2,1 fire motor forward Loop Out 32,0 ':fire i-riotor off f:orward.
N-Moff 1 IDC:.r c~4CJ~C}~611 S
If c~jcjc~gs, ` 2- .5 ; '1'h e Ãi c,, ~jo2 5 ;
Eetivrlte ds-L-31,eyejc?gs,1.
:ntf l:t l:#' Key i n(12,20).:::C3 And Keyi,n(l f,20)::::C3 Tlieri j c3g the fire nlotc3r reverse Pc.~~ m 1, S~1 ow,6t?0Cttl Do L. nt.il 1~eyin(i 1,20)...,t3 Or Ke.yrn(1 2.20}<>0 Or Kcvin(16,220}=0 1=1Rr.zt 33.1 t.i rc rrratcrr reverse Loop Out 33,0 firc rYÃc}tor off reverse Pwrxtoff I
Incr cycjogs ..~i 5 lf cye_jogs -,=255 Then cycjogs=~'55 Eewrite ds-'13.cycjogs;1 End If .-Loop Do Until Ke:yiÃa('I U,?.0)-1 And Ke:yiÃa( I 1;20)=1 "le:t off both buttons before e:xitingjog routine Delay 10 Loop Out 20,0 'ttam oÃ-a el"r btattoti leds Out 2) 1.C?
De1av, 1000 t_-~.nd ~'ub 1; +eeeevaazaaaeeeeevaa=zaaaeeeevva_zaaaeeeeevva=zaaaeeeevvaazaaaeeeeevaazaa 'Extenrl tinti1 exÃeiid li.mit is ineÃ
------------------------------------------------------------------------Sub extetid(~
Out 22,0'Ãum off t:~re btit-toyi led wli:ile exteadtÃl.
Out 1- 1,0't-urn off retract btittori leci wbile c;xtentlint,~
Pwiii 0,.{asÃ,60000 Do i:ziÃil KeyiÃa(10z20)=1 Or Kevin(13,20)-0'extenti uÃttil eitlier the extend liznià is closed or the extezid button is released ":? Out 30.1. 1t R m oto.r f-orward :E3D:E3 Loop Out 30,0 ' D:[:3 D
If't"Ãrstout=0 T~heri this will keep the extend motor going aii the lirst extensiori until the. anvil is a(1 t.17e way oLit Do U'nttl Kevin.l 1 3,210j=0 Ã:ttit 30,1 0613D
l.:00p Erici If (?ut 3 )U,t) `:DD:D
t?`wTtlot.~k 0 l:Ãtcr c~"cers It cycer%t--~,2 5 r, `I'hert c~cers~''. 5 5 '~t: rit~. clw-r'-? c~~~>e:rs,l , If Keyin(l :i ;'?.U)-O Then tir~tc~t~t:::l 'sc.t thet.irstotet flag to eriable fire tauttoi7 C3ut ?t3,t7'ttarn off extend led Eiid If End Sub ------------------------------------------------------------------------Retract wit:il cm switcti is open >
------------------------------------------------------------------------..~i 6 S1.11.."~ r4=trstct:{~
(?ut'?2,t)'turn off fire button led while retracting C3ut ?0,t7't7.arn off extend btatt~~i-i lec1 while retractii-ig :1'win 0,tas017000 Do Uti[i1 Kc;yiri(l.1..20) --1 Or ;Keyin( 1 ",20)---1 :retract untÃl citlxc;r th.e I c.m :wi[c1i. goes opc;~i or the c:',~aenÃi button is released Out '11.1 'ER niotor reverse Loop (:}ut :$1,0 :1''winoff 0 Incr cycers If cvceJs ==:2hR 1'beii cycers255 Eewrite cis-~-'Zcycers-j If Keyin(17,'`f)-1 Theii tirstbackm 1 OLit 21Kt? 'tu.rn retract led off E, Ãad lf l:t'#Ãrstout::l And lar~tt~~cl.:-l T}ieyi ann -.( set ttie arrri.1lag to arrri the fire buttorl End Sub t ------------------------------------------------------------------------`DA'1'ADUMP Routine ________rr___________r______k____r_______k____r______k____rr__________rr Sa.lb data:dumpo Dim cfief As Bv-te Diin tf As Byle'total fires Dim ta As BNu `tot.a1 aborts Dim ersAs lntet.~e.r s., D1ni tj As Byte Dim tdd As Bvte :1~~iia stari As Izafter Di i-n 1:v1: e As Byte Diiii token As :B4te ~
D1r7i ike As Byte Dim kenziv As Byte Dim sii As By-te tf O
t.a:::O
ers=t7 t.j-fi teld:::O
1'ew.rite ds-14,1,1 '~NriÃ:e 1 to the d,-}-4 eepro.in register denotinthat daÃadrimp was accessed Delay 1000 sn-Bercaci(0Y 1 }
..-i 7 Debug "~."irc:ular Stapler Stored Data",~."r Del~~~w, "L`ersiozi ,verCr D~,'bLrg "K1~~S Meclical f.LC,",Cr "aeeee eevaa-aaeeee evva--aeeee eet" C.r.
Debug Cr Ds;bu- "Serial Number: "_Dec srr,Cr poweroÃas-Eeread(', 1) lk pc}~ver ns:' m55 Then powerc3ris-::25_5 D~,'bLrg "Total C,ycles; "Pet: powvrons,Cr Debr.r-) Cr Debug tt _ _ '-j-~ebu{.~ Cr For st:an ---5 '~('o (pc}werons' 5) Step 5 Debtig "C'ycle ",~ec (titan,''5).Cr I 5 Debug ""aazaaaeeeeevaazaaaaeeeevva=zaaaae""Y~."r chef=EereadÃstan,1) Debtig "Completed Fires: ",f~~c chefCr kyle::: Ee.reaci(st.an-~-1, i ) tw_ko'le+-ta.
Debug AborÃed Fires: ",Dec kyIe,Cr ers=Ã.t?kew~-ers Debtig E/Rs: Pec token,Cr ~":? rke:::E e:r-eac1(SÃW14;3,1) tj=ike~ tj Drvbu4~ ""Jc~~Fs; `",:[~e~, ike,t~_'r kennv=Ec:read(stan-~-4, 1) Ãdd-6ny~-tcl d [)ebug aa.DaÃacirrnips. ",I3ec kenriy,Cr Debtig Cr Nrext `sÃan Ds;bu;q FF........_____...._.........._____..__........____ wcr Debug "Cycle 't'otals"",Cr Debtig Cr Debug õCoÃxiple~ed Fires: ",Dec Ãt;C:r Debr.r~; "Aborted 1~ir-es: ",Dec Ã&,Cr Debu- "FlR Presses: ";Dec: ers,Cr Debu{,y "Jog Presses: ",Dec:= tj,Cr Debtig "f1at.aeltar~~~s: ",Dec Idd,Cr D~,'bLrg Cr :E3e( ay 1000 For x.=l To tfFbliiik. the iiu.mber of completed firing cycles Out 22,1 Dela~, 500 otat 22,0 ..~i8 Del~~~ 500 Next 'x Do C"iitll Adin(~.~)>80~.~ And Kc;yln(3K220)=1 '%rait trntil datadump bLrtÃons are r~,'1~~~sed l~t?op Erid Sub -------------------------------------------------------------------------`lnit.ial fire f 1 U Sub inifia:1fire{}
Dim f As Iziteger DÃm p As Integer Dim t Astl7 t:f~'-ge1 DiÃ1i y As Integt'.i' Dim z As Integer Dim q A s .Iriteg er Dim trmrliy As Integer Dim butter As 1nteger D:irrr.rriarr7bl:irrksAs l:ntet.~e.r ~, C3irr-i fficotant. As 1:1-it.ugc;r Debuo,~ ~:lt', C~r `ttrm off extend arid retract buttoÃ-as to sthat f(icy are rioà active for abort?
;':? Out 20,0'exterrd button Out 11,0 'retract button baiI=C3 t=1 5tutal b i i rik ti m~~.
p.::3'nu.mber at` bl:izik periocls Pwm O,tast,6t700~.~
`star-C blink and adjust pÃnc}i motor to force fi-=(t-- 1 000).:p Ric:otr.11.t, --0 lk Keyin(1'?,20):::1 Theri #bc;ourit::::1.
F(ar y= 1. `l:'o 1) rrumblinks== (t*yyp For z:::1 To r7rrmbliril:s trmrI1y=f/au3:t7bi inks 1_.~utte.r=t.rmmv/50 'calibrate this t.c.) sccuntl.s If timmy=0 Then timmy=1 If Kevin(1?,20) (# Ar-rtl il)cour-rà 1 '1'heri bafl::::-1 'seE aborif:ire-flag Exit. For Erid If If Keyi n( i",''0)m 1`I'heri tbcount=1 Do Until Kcvin(19,20)=0 Or K c;y1n(1.4.2.t3)Wt.~'retrac;t usiti.1 fi?rce switc}l met or retract 1ÃÃxlit met C)ut :.> 1,1 1 fKeor ia(12,20) -;0 And.fficotagit 1 Then liail=1 'set aliortfire: flag Exit Do End If if :Kev-iÃ-a(1 2; wt3)=1'I'hen fi`bcourrt~ i Loop If baÃ1=1 Then Exit For Out :3) 1;0 Orrt 23,1 'forie led OiÃt "2,1 'fire btÃtÃori led For q=()'I'c? butter Delay 10 if And t`1icourrt-l Tlaezi b ai 1::::1 se c ab ort.fire 1l kg, .f rxi t For 1:=:rid If 1 f Kevi r7 (12' C3 )::: t Then l 1count:::1 ifKey~iÃa(19;20)=i 'I'}ierl Out 23,0 l~ex:t'q ~":? If baÃl:::1 Then E,xit 1=-o:r 13o UntilKeuÃnt 19.20-0 Or Key Ãn (l4,'0)-tl'reÃract r.nÃÃ1 force swatc}i met or retract I i.mit met Out 3,1. t If Ke.yin( l?,2.t3)=0 And tbcotant=l Theri bafl::::l set abort.iÃre t'lkg, Exit Do End If If Kevirr(1 w.'~?,0)::: l T.11C.r7 flXGurat:::l I_,oop Out 3 1,0 Otrà ''-"~,1 If IC.eviri(1'?,'?0)=C3 And fbcounÃ~1 `I'lieri kaail--1 `se[ akao:rtfiretlag Exit For Erid If If Keyin(12,20)= 1 Tlicai fbcorÃri.tW l Out 2?.0 For q=O To butter Delay 10 1:1' 1*..eyl 11Ã1 '',? 0).::;[l And.fi1)c;otant::::1 Then bail=1 sct ab~.~rttire.1-1ag Exit. For Iw:Ã-ad:tf If Key ia(12),'t3 j= 1 ThÃ~i-i fbcount= 1 5 If l~eviii(19,'0)~ l `F (~~~i Orat 22:3,0 N'ext 'q If bai1=1. Then Exit For Next 'r 'D~,'1:aug Dec..`:' tbcount,Cr 10 :If baiM `1'(icii Exit For ~er;t:'y Pwmoff o If bai.l= 1. Tlleii.
15 abortfi rc.
E1 se `stap1 er~ngcc..l~eck finalfire End If 20 End Sub ----------------------------------------------------------------------'Stap1e Range Che& Routine ----------------------------------------------------------------------"5 Sub stapleaa:n;;echecl;.() srstatus Ke_yin(29.20) 'r~ad the staplerarige litniÃ: switctl If s:rStattt~=0 Thetl fi na lfire.
30 E1se abortfir~,~
End If Eiid Sub ,_ , , , _____________________________________________________________________ `f=='ii7al :l+irc. R titilie ---------------------------------------------------------------------Sub fi:iiaffirc() 40 Out23z0'tuan force led off Out 20Pi-urn extend led off Out ? 1,0 ttam retract 1ect off Orit 2.2,1 Ttam on firc. I~~,d to si<.~r~if~.* final fire a.bort ready :l''~h~:t~tc~.f~' 1 ~
'Pwm l ,f ast.K 60Cl00 `Ouà 3?,1 fi.Ã=e motor f .à avard DI]D
cc i mpletei i re:::1 Do lr nti lKeyin (l5,20)=t3 'fire fi..~rwarci L1riÃil fon-vartl limit is met.
If spc.eÃ.1=-60000 Theri speec1=60100 1:f spe~d<60000'I'hen 5~peed=speed4-1 0000 End l1:
I'wrii 1,speed,60000 Otat >2,1 De1ay 50 l:#'Keyin(12,20).:::C3 Tlieri'Or- Keyin(t0,210):::0 OrKe4in(11,20)::::0 bai1=1 Exit Do 1=tricl If Loop (3ut:3'2,0':f-:rre iiiotor f~vt1 otTI3DI3 speed=O
Delay 250 Do i:ziÃi1 Keyira(I 6;20)=O 'retract fire motor lt' s-peed >:::60000 Ttieri ,peed :::60000 t#' speed;:60000 Thei~i :speeclm speed-- 10000 Erid li' Pwm 1,speed,60000 Out 3) 3),1 ":? ;Del a~, 50 Loop speed___(}
otit 33.t?
T3wmoff 1 Out 22,0'tum fire led off Out ? 1,0 'ttam off retract led ext:enclon1y=1 tncr c)= c11wt1 fiz-e s If c~,cnum.f.irew=' --255 Tl-is;ii. cycriunrfires 2:?5 Ee1vrite ds,cyemrmf:ires,l 'write the curreÃ-it cycle nuznber of tires to the eeprom Delay 200 1*,ndStili 'retr.rrn to the znaà n rc?uti ne -------------------------------------------------------------------4C} 'r'tbort fire -------------------------------------------------------------------Srrb al.~ortt"Ãre~,f;.?
E>ebLig "lÃre aborted bet`ore fi.r:inw' l".~,r Or,it 3 l. KÃ? 'tu.rn retract motor off (3ut: :' )2,0'turn fire i "varcf off:M:1:3 (3ui. 23,0'i-urn force led oft' Pwr-n I ,fasÃ,~0000 D~~,la4' 250 Do Until :Keyira(1 6;20)=O retract fire motor OLat3 3,1.
Loop Out 330 Pwmoff I
Out 22z0'tura`r tire: le:s.f off lricr cyc,abor't-fires lt cycabortfires>=2 55 Ther-i cyczbortfires=? 55 .luewrite ds~-1,cyca:l~ort1~.ires,1. wrÃte the cut-retià ey. ele aborxfiires to Ã1ie eeprom :E3e(ay 200 honleexÃend extetid tt? l em End Sub Also nientioned above is the possibility ofi using i:rlentiticatioii deviicrws ti~>iÃh removable andlor int:ercl=aan;yeabte portions ot-t:he end effector. Sucli identification devices, for exaÃxipte, cati be trsed.
to t-rack sa(se ay1d Ãtlve:t]tc)r~.
Orie exemplary identification dc.vice:~ employs radio-fre.que.nc~~~ and is referTecf tu a.s an RF1D.
ID ari c;xeariplarv earibod.iarierit wlierc a medical ~Aaplc.r uses re-loadable, iaiterc;liaiigeab1e staple cartridoesY such as the stapler 1 clescribed herein, an Rl~ 1D cari be placed in t.lie staple r:airt-ridg e to erisure compatibility with the par-ticialzir stapler aricl an R:EalD reader f-o:r sensing c_orrrpatÃb:lc: staple car-tridges can be associated witli the handle. fn such a configuration, the reader interrogates the RFID r~~o-Lantec.l in tlle. c:artridgc. The RFID respoiYCfs with a uniclt~c code that the stapler ver7tics. If t}le stapler cartridge is labeled as veritied, the stapler brwcoiiies active azid ready. for use. :It the cartnAge is r(~jected, ~owever, the stapler ~ives a r(jected indic.atioii (e.g., a blinking LER, an atidi'ble c.tie, avistral indicator). '~('o avoid accirlerit:al or itixproper reading of a. nearby staple cartricigc; tfxt; antenna of the 1?.RC3 reacfer cati be constructed to oti1y read [fic RFID when [fic staple cartrititfe is installed in thestapler or is very ric;arbv (optirtial1y, at the distal end of the eievic;e;). L?sc tif the Rf~iD can be combiz~~d wit:li a mechanical lock-or.it to ensure that only one fire cycle is allowed per stap:le cartridge. RFIi3s have drawbacks becaiase the reatiers are, expensive, the antennas IcAre required to be relatively large, aracf tlio cfistarxr::e for reading is relatÃvely close, typically measÃrrecf in Other wireless authentication measures, can bc:. ~~,rnploycd, Ac.tivc. RFIDS
can 1., tÃsc.cl..
Similarly, infrared (I;R) trarlsmissiori devices c;ati be used. 1=-lowevcr, both of tfsese rutlu.irc; the gerierat:ic}ri of power at t(ie rec.e:ivin5g, end, whicli is a. cost aiicf size disadvantage.
Atiotlic.r ~xemplary idc;ntific:ation dc.vie:e, etnpluys e.ncryption. With encry t.~at.ion c:oriic:s the t7oe:d for processitig ntrriibers aÃt.d, associated ~.~itki srtc;ki caictrla.tiotis, is tase of processing chips (e.g., a microprocessor), orie of ANrhich is to be placed on the interchangeable part, such as a staple car-triclgc: or a replaceable end effector sha7ft. Srteb eticryl-ifion cirips Irave certain ctiaracterisfic's tirat carx be analyzed for optimÃza.tiora with the surgical instrument of the fare:setlt invention. l/'irstz a separate power s(_)t.aree for the int'erclt.arigeable part is iiot clesirec1.
~:tiot crr-ily wot.ilcl stich a po-wcr source add cost, it wor:ald aIso add undesirable weight aiid take r.rla space that is Ã-aeeded for otl-aer features or isjuwt not ava:il,able. Ttiars_ powersrrpply to the part should come fronr t.he al:reaclv exi;ti.rtg; power sLrpply wit(-ti.rt tfre ltaticlle. Also, ,upply of powcr should be :itis>Tiretl at all times.
:Rc;cause t.lto interchangeable part is relatively si-ttal:l, the encryption chip shotdd be correspondingly small. Further, botli t;(ic handle and t;(ic iÃ-atere}taiigeable part are configured to be disposable, tlterefcyre, bc?t:li encryption processors sliould Ita.ve a cost that a11ows disposability. Final1y, connections betweeti the eÃt.c.rylat.io:r7 device on the interchangeable part and the carresport.diÃt.~.~.
c:.nc.,m,~ption device oti the handle shuti1d l.~e mitiir-nized. As will be discussed below, t.he encryption device according to the preseait inve;tttiot7 provides all oi't17ese desirable c;haracteri;;tics anti liatiit:r the uric1 esi rab1e otles.
Devices for eticrylited icletiti.ficatÃo.rr are coarirrierc.iallv available.
t:3tie o.f'siacb encry-ption devices is produced by Dallas SemicorrcltÃctor and is referred to as the DS2432 cltip. The f~S,21432 chip ixot only provides encry-f.~tcd ir.lealtific:ation betwven i reader aiYd i t.ranspon(l~.~r, bttt it also has i '?U ttietraar), t;(iat cazt be used to stc?re device-specifi~.
inforiraatic?tt, tiv hic:(i itit'ortti atioÃ-a and its uses wi11 be clescr7bed in ttirtlier detail below. qn~,~ besicfic:ia1 chas-acteristic of the U,tS21432 is that it is a 1.-w ire device. '1'his meatls that the power atid both of the ittpuà arrd o>Titp>Tit signals travel otl the same line.
Wit:li. a I-wire (iovice such as the DS2412, ths;re. is oiilor tlre need for a sitigle a4ire to traverse tl-is;
ciistat7ce.from the kiat7dle body 10 il7rougli the anvil nc;c.k :3 0 to the it7tercbaD
_9eable staple cartridge 2 ; 50 in order to make a connection between the haridle and the eÃid et:4'ector_ 'I'Itis configuration satisf=~cs the c:Eiarrtcterist:ic ot`17rtv.irrg a ariitrirt7zt1 amount af elect.r.ical canrrc:ct:io:r7s rttid Iras a correspondingly redtÃceci cost tor nxarxufac,turc, ft is trtie that the :~S2432 chip requires ground, bctx.vever, the r7ietal1 ic anir i l treck. 30 is el ect.ri c,a7l y conducti ngat7 d is cctiiriectetl tO grOUtt d of the device 1, therefore, an exemplary embodiment for the grotian~ corinectiutl of the DS24_3 )2 chip is 30 made by direct c;l:ecttical contact through a lead to t}rc stuck 30 or by directly connecting the chip's ground to the rreck 30.
Oiie exemplarv enc:r~,ptiari circ:tlit configuration pIa.ces a first encrN'pÃi~.~n chip oii the:.
interchangeable part (e.&, tlae staple cartridge). Grntiiitf for the first enci)'ption cliip is electricall;r connected to a zneÃa.11ic portiozi of the interchangeable part . ANrliich, in turzi, is electrically connected to grouzid of ttic cic:vicejor example, to tfie ziecl: 30. "1'he t-w:irc:
connection of the _13S24_32, c17:ip is electrically connected to a contact pad that is somewhere on the interchangeable part but is electrically discc~i-inect~,'ci troni groLinci. For emimplc;, if the interchangeable part is a liliear 60 mm staple c.artrfdge, f(ic DS'24:$'_ cara 1~e attached to or embedded tivithin the electj-icallv. insulated distal end of ttic cartridge distal of tl-ir: last staple set. The encryption chip can be c:infaeclcfecf oti a, s:icfe of the cartridge o1~posit.c t:hestaple e~jectiori face so that it is tleit.l~~~~
exposed to the wc}rIS:ing surfaces nor to the exf.~sost;tf tissue when M. ti:s;. TI=iegrourid lead of the l7S2432 chip c:ankaec.lectrically coziiiected to tl~e metallic otater franic of f(ic staple camidge, tiOieb is electrically coiiziected to t~r~ur~cl ~~~ tl~e st~l~l~~ The l-wire lead is electrically ccynnected to a first conductive device (suc,h as a pad., a lead, or a boss) that is- electrically iristilated froin the riietallic firanie ot'the czirtriclge. A
sins;le, electrically c:onciuctive btÃt instflateci wire is c:orinect.cd at Ãhe proximal end to the circ.uit.buard or to the appropriate control electronics X.Vithin the 11"al7tfle of'the device. This wire is ii7sulatetl frc3ni elect.rical contact with any other part of the stapler, esf.,ecial1y tl~e groLÃiided f'i-ame, and travels from ttic }iayiclle, through the rieck wicf Ltp to ttie receiving ctiart7be.r f-or tfie in te.rcl7an wcable part. At tlie.
distal end, the izisulat:ed wire is exposed and electrically connected to a second conductive device (such as a pad., a lead, or a boss.) that is shapecf to positiv~.~iv contact the first cÃ~i-icl-Lac:tivc clevice on the '?U cartridge wE-aeti the c:artridge is 1ocked into place in the etid effector. :1n such a configurati(yn; the two conductive devices form a direct electrical c..or~nec;tioti. ~,~~,,ery tsnic that the interchangeable part (e.&>
the staple cartridge) is inserted wiÃ:luil the ~iid efi=ector; in ~~iie p-articular einbodi.~~~ent, coritact c'a:rl be matfe only when ttic part is correctly iiisertetf.
`I'lie:DS24321 is also only a few square iiiillimeters in area, n7al:ing the cliip easy to i17st"all on 2 5, asinall interchangeable part, sucli as a staple cartridge, while simultaneously satisfying the minimal size rc:quirement. It :is rioted that the _DS24_32' c17:ip is relatively me.xlae.risive. ':l'o keep all conxmuraica.tiora with the :1~S2432 chip hidden ti-c~~~ outside examiraation, a DS2460 (also manufactured by Dallas Semiconductor) can be tiscd to perform a comptari soi7 c~~~aD cTicrVPted transmission received from a DS~'=f32. with an expected result calculated intc:.rnal1y. The.
30 characteristics of'butfs of tl=lese. chips are uxplaii~retl, R)r example, by Dallas St.mic:onduutors' Appl:ic.at.i~~~i Note 3675, wfiich is fiereby incorporated by refcrence hereiri in its entireÃy. '1`he DS2460 chi.p costs si;~r~ifi~.ar~tl~' rr~t~:rs~ than t}~~. D~S24;i2 c:}~i~a, fitit is sti.ll ir~exper~:ivs~ ~:g~t~aig}~ to fic;
disposed along with t.hc.haticilc~,. It is noted that t.he number ~.~f dist.~osable intc.rc:hans;c.able parts of t7iedjca1 elevic;es (strcl7 as the strrgical in stt=trÃaieri t t.1t tli e prescrit irlverltioÃi.) typically ntttrlitriiber til e handle that receives the intetchang ~eable parts by a significant atxic?uÃit. Accordingly, it: the DS243_1 cliip is placed in ttie irttercharrgeabl~ pavt and the :I:3S2460 chip is p(aced:irt the }iariclle, the low cost 5 c:racryptÃon charac:terisfic: is satÃsficÃi. There: exists an alternative circuit configuration usizi.~ two DS243.2 chips that is explained in FIC. 2 of Application ~:~ote 3675, which circLrit t,'l.iminates the iieerl of tlie more expensive DS2460 chip by performing tlie comparison witli a local niit:.roprtxessor (e.g., rnitrroprc.tcewso:r 20[)0). In sti.c.li a trontigtr:ratittrt, the cost ltx ad.ding encryptittrt into tl-ic cltavi.t;e I
is rerlucecl, (-towczer, as ex.pla:iticd, the cont:rgurati(an gides up sortie aspects of sectr.rity by makirlg 10 available to inspt<ction botlt t-iut~bers tliat are t:o be eotnparc;cl.
.I.he rocess for electrotlic:ally veri~yino the ideiitity ofi an iziterchano eal) le part c?ri a riiedit:.al device usizi;y et~cz),~~tiorl is described ~~~itl~ an exemplary eÃa~l}o~iir~~e:1ia~=iÃi~; one ~~S24:.~~ chip and arie DS2460 ch:ip Tlte exemplary ccrritrol circtait t:or the encryption device is sltowri in F1C=. 30.
This exemplary embodiment is de.scribed using a linc.ar staplc~,r havinga handle contaitiins; therein a 15 c,ircuit board X.Ylt.ha micropt-oces;;or."000. Ont:. t:ree I:'0 piri 2o l0 of the n7icroproc;essor 2000 is connected to a t=~rst lead 21 10 of tlie DS2460 arid ar1Qther t;'O pitl 2020 is ct.~rirtected to a second lead 2120. Fac17 interchangeable part 220[3 is provided wit}i a I)S214:32) cftila and t(ic I -wire letid is connected to a third i/0 piti 1030 of the microprocessor 2000.
To start tlYo process, aal interchangeable part ?200 is con.net:tecl to tlYo clevicc, making '?U electrical coÃ-atact tivith ground arid with the 1-wire lead. When the microlarocessor'?0t)0 deteets that a nt~-w part 2200 bas been cotiliectecl to tlic cie~vi:cc 1, it rt7sis an authentication routine. First, the mic.roprocessor 2000 irtitiates a random n umber request to the DS 2460 over t(-te t~irst cor-n.tn trn.ic:ation pir~ ~010. Tlic DS2460 has a prc-prttt,~rarri.t~ned secret titttitkaer that is the sat~tic as the prtr-progr~rnnietl sec.t-et ntarnbc;r;; stored ir7 each of the [3S24>? chips contained on the irrter6ang~able~ ~arts 2200.
2 5, Therefore, wlaeri the same raÃadcyzn number is providecl to both the DS24321 and the DS2460 chips, tlle Outllut .re"Ltlt t`roari eticli of the two cl7:ips, will be identical.
'I'}ie :I:3S2460 glerrerates a. raricloari number and st.tpp1Ãcs it, via the second pin 2020, to the microprocessor 2000 for fonvarding, via pin 20:30, or7 to the DS24:32 over the 1.--W7re lead. W17eri the DS24_"'~2 receives tlle random rit.triiber, it applies it.s SH:~-1 algorithm (developed by the Natiotial InstiÃutc of StanÃ.larÃ.ls and Technology 30 (N_lST)} to c>rypto~.~rap}tically gusic;rate wt 1i.asls code reply. This hash code reply is transmitted back over the 1 rw:irc 1cacl to the tYticroprocessor ~2(#f~0 -and is forw-arcled, via e:itfter piti 201.0 or 2[}20 to the DS2460. :C3atrirtg, this pc;riocl trl tirt-ic, the DS2460 is also calculating its a.twn a ba:1i c:oclc; reply .Firg[, the DS'460 intemallv applies the same random numbcr scnt to dh~. DS2432. to its uwnSH:~-1 a1gorithn7 and swres, iriterrÃal ly, the generated basl=.Ã code reply. The f_3S2460 a:lS~.1 stores the lia.sh code reply transmitted frcyÃn the DS2~Ã322 through the microprocessor ?000.
Bot1i of"dhe hash code replies are c_orrrpared wrd., if tlicy are, identical, tfre iriterc:lrar7-leable prirt. 2200 is confir:r~~ed as authetxticated. If'there is a difference between the hash code replie:s, then the part 2200 is rcjecteÃi and the device is placed in a state where the part 21.00 either cannot be tÃscd or can be tÃSecl, bLrt olily after certaizi sate_guard<. are met. :t~~r rwx~t~~~~le, rlata regar~liÃag the tiriie, date, environment, et~.. azid c.;haractr:riwt:i~s ot:'t:he ranauthenticated part cari be storc;cl for later or simultaneous tr=arl :Ã~rli:siorr to the manufacturer (or its agent) to infi~rm the .rn arlrÃi=acturer that the user is att:emptiÃ-rg to tise or has used art unauthorized part 2200 with tl~c device. If there was rio encryption in ttxc; iriewsages, the authentication messages could be intercepted atid ec?unteri`eit, pirated, or trraatrt;(iorized parts 1-200 could be used withrir.tt having to purchase the parts 2200 troni aai ar.tdiorized distributor. lzi the exemplary. errc:rylat.io:r7 embodiment described 17ereiri, ttre only intarrrrat:ion that is- t.:rzitisrr7:itted across liries that can be e:~xamincd is asingle randor-n nrrmbe:r and a sirigle hash code reply, It isurltl.crSt~.~od that it would take lit$Eiidreds c~Yf years to decrypt this SH:A-1. gc.nerated reply, thuS reclrrcili~ aD;r lI1CoY1tÃve fbFr reverse 13ccause tfre cliips used irr this example eacli have secure merrrories tl7zit can anly be accessed after authentication occurs, they can be pro;yranunecl to eniplov, multiple secret keys each stored within tlYo nxeanory. For exa.r~iple, if the DS2460 lYas multiple keys storetl therein and the pai-ts 2200 '?U each 1iave only one key selected from this stored set of multiple keys, the DS2460 cazi act as a ;.miast~,~r' key to th~,' >:gcncrial" singl~,~ keys of th~,~ parts 2200.
By authentica:tino; the interchano;eable part of the str.rg;ical instru.rnent of the prrvSerit invention, mar~iv positive results are okataig-io(i. Firg[, tl-is; instrurnent manufacturer cag-i provc;rxt a arser frc~tii using ur~a uthoriz:et~ parts, tbe;rel;ay ir~suria~g use of only a u thorized parts.
rlc3t. aily does this gtraranteetluat 2 5, the manufacturer caai receive royalties from sales of'the interchangeable part, btÃt it also allc~ws, the manufacture tr) irrsrrre that the quality af t.17e srr:r.gÃcal parts rerr7riiris Iragir. 1:=1avirrg the ericryl-morr circuitry c:fgzitain meanory driiniatically enhances the benefits proviclecl by the presezit invention. For extin-iple, i.{`ta single eiid effector o.f a liricar stapler can receive 30 r7iTti, 60 nin7, aaid 120 r7irti staple c:artrid.ges, for example, each size of the cartridges c:ot.tld be provided with an iiidivitl.ualizr;.d key and 30 the }iar~rcilc can be progransmed to store and Gasu each of these ttsrce keys. Upori receiving a hash code reply that ocarr~~sponds to one, br.it not the other two irrterÃ-rally calculated haSfi code replies, the liaticile would know what kig-itl of cartritige has bes;ii irisertetl iri tl-is; clevice. :acb cartridge could also contairi in its mc.r~~.~rN' e.artricl.gc.aspecif-ic parainctc.r=s, such as stapl~~, sled r~ovc.me.nt le.n~.~th, that are ciit~er=etit ariiorig the varintrs sized cartridges and, therefore, cause the handle to belia.~~e djti`ereÃitly depen den t upnri the cartridge detected. 'fhe parameÃers exarnizied can also acctir.rÃat for revision levels irr tirc: particular part. For e.xa:riiple, a:revis:io:r7 I czirtricl~e could tiave certa:irr parameters tar use arir.i, by r.ietectÃrxt; that particular cartridge, prograrnmirag could cause the liatxdle to not allow use of revision I cartridges but allow use of re~vrsrC?t3 2 ciartrld;,'.5, or vice-versa.
H:aviri<w iraeÃ-tiory. oti the encrypti(yn chips can alsoallow Ã1ie cartridge to keep track ofi odier l;:ig-itls of data. For exa.r-tiple, the cartridge cari store tfic iclerrtitv of cacfr l-ia.g-itlle to wtricli. it was corirlec.t.cd, the identity oi'the handle that fired the c.artriclgc, the titiie, date and other temp(aral da:ta wfrcg-i use arrcl"'or t;onriectiort a.rcctrrrcti, l-itrw la.rrrg it took to firc [tic cartridge, how many tir~rics the firing trigger wa.s actr:raterl durirtg,sta.ple firirig, atid many otl-aer similar paramrwters. OÃ-ae parameter in partictÃlar could record data w1=aeri the caa-tridge misfires. "I'his Avc?uld allow the manufacturer to deter:mirie :if the cartridge was faulty or i#'rrserr e.rrcrr occurrecf., f"or c::~amfsle., the lzit-te.r being investigated to assist the:~ user with remedial measures or other training. By having mernmy availa.ble.
al the hr7.nc1le, otlier hantllr;-re;levtarit ptiran-ictcrs could be storeei, .{or example, dtaratior7 c.Yf each procedure, speed of each staple firing, torcluc generated at each firing, aridlor load experienced tllrcrLtgirout each t:rrr.rrg. The Mcrriory ccrLtl~ be powered for- years merel1.i:rorr7 the litlriam-based pc~~N.'er cells already present in the handle. Thus, lcrngevity, of handle data can be ensured. The menYS.ary can be used to store all uses of a f.~sartic:t.ila.r handle, along with relevant caler-iclar data. For '?U exairalale, if a lia.rid1e is only certified for use in a siiigle surgical procedr:rre but t;(ie handle }ias data indiciating that staple cartridges wvre firecl days or weeks apart, then, when it was finial.ly r-~,~tÃtrr<ed to the nianut`ac.t.tr.r er for recyclirig, the manufacturer corrlcl detect that the user (hospital, doctor, clinic, e[t;.} was imprtrperlor ande pta;sifilv, tr~~ safely, usirrg the lrarrdl:e.
f;ncryptetl autherrticatior~i carr bs; tr:cti w-ith remoirable battery packs as 1vell. 'Lloreover-, ;;erisor-;; can be a(lde(l to ariy pc3rti~ii of the device 2 5, fiir communicating Ãrit'ormatiorl to be stored within the memon., of the encrypticyn chÃps. For examp:lc:, tempe:r-ziturc: serrso:r-s cari t.ra:r7srnit operating rootri temperature existr.rrg wtierr the cart-ridge was firecl. This temperature reading cari be risecl to determirie if 1ater irxf'ectiora was caused by ir7ipr` per teariper`at.tare cor7tr-ol existirtg dt.rr-ir~~,~ the procecitir~
(e,g_ in cc3t.rnirie;;; w. here air-conditioning is riot available).
3t] I_rI the unlikely event that the stapler becomes inoperable dtrring GascK
a. m.cuhanical override or bailrcout: is provided t:oa;11c}w rrlariual renioval oi'the device from the patient. All bailout. rrses canbe r'ecorcletl with the rneniory existing on [fiese, t;ncryptiorr chips.
Furthermore, tlat:a. that could indicate why ba.ilotirt was necessary could be stored for later examination. For quality asstÃrance, when l3ailotit is detecierl, the handle can be pr=crgrai7ianeti to iÃidicate that acertitied Ietier slintild be serit to the customer/user informing them of the bailout use.
As cic:scr-i~~ed above, the presc:nt irrveaiticrr2 Ãs:r7ot lÃmited to ri circular sta:p:lc:r, wfriel7 Iras beeri used as arx excnxlalaay e:nxlaodinxerxt abovc:, aÃacl can be applied to ariv st.rrgical stapling head, srÃch as a lir-Iear stapling device, for exasiiple. Accordingly, a l:inear stapler is being r7sed in the text that td~11c?ws for various exeriiplary. embodiriiertt. 1:-1:owever; use of a liÃ-aear stapler in this context sl-aould iiti[ be considered as lirnited only tliereto.
I3escribrvrl above are c.omporierits that exist: a;1ong; the staple cont:ro1 axis 80 oi'lineara,r-rd c;irctilar staplers ag-itl tlic;se coiriporiciits form. the staple control assembly 200.
As set forth therein, tl-is;
required force for proper staple ejection a:rid tissue cutting cari be over '400 potirids a:rid, possibly, ul) to 2;0 pounds. !t has beeri determined that minÃnirÃm requirements for carrying crrÃt the desired stapling arici cutting functions with a lir~ear c:lecÃric siargiczil stapler fcrr biarr7a:r7 tissue (sricil as colo.rr tissue, for example) are:
l 5 l } dc;liveririg approximately 54,5 kty (120 pot$Eiids) of force over a stroke c.Yfabotat 60 rlir-ii (724") in approximately 3 secorlcl.s oFr clelÃverir~g approximately 82 kw (180 pounds) crf.iorce over a str-oke of about 60 rr7m ( 1 14`'') in approximately 8serr=onds.
The clectr:ic-~owered, 1laiYC1-held linear surgical staplir7g device of the prescixt ir7ver-iti~.ti c>aal meet '?U these requirements because it is optimized in a riovel way as set forth be1otiv.
TC.? generate the force necessary to mC;f',t the al:lC?i%e-I7'lE',Ã1tIC3n'.d requirements, the maximum power (in watts) of the mechanical assembly needs to be c.alcLrlaÃ:ed 'based upor2 the max:irYlurY2 lin-IiÃs of[iiese :reqtrirt;nient:s:. 82 kc, trvs;r 60 min in 3 :ccorid.s. Mathematical conversion oftl=rest; figures gc:aier'atcs aai tlpproxin-iate r-iiaxiaiitir7i of 16 Watts o.f mechanical pow-er aiecded at the output o.f the 2 5, drive train. Conversion of the electrical power izito mechanical power is ric?t: 1: lbecar.rse the zliritor tias less- t.l7riti 100% efficiency a:r7d becaiase the drive train als-o fras less tliarr 100'}:; efficiency. `l'17e product of these two etTiciezic:y ratings forms the overall efficierlcy. The electrical pcnver required to proclticc the 1.6 Watts I'rticc.hanical p(iwe;r is ~,~reater'tbaD tlle 1.6 Watts bv ari ir7ver'se; product of the overall efficiency. OIic:~~, the re.qriirecl electrical power cari be det.emlined, arl examination of 30 availablu power su.pplies can be In adu to meet the nIinimtrm power requirements. Thc;reaftcrK an examination and cajytim.izat.ion of tl-rrv dilTererit power s~~pplies c:ar2 brv made. 'I'tris a,r-ralysis is described M. cle[ail iri [iic following [s;xt..
Matching or optimizing th~~, power sot.trc:~~, atici the motor involves Iookitig into Ãhe inciiviÃ.lt.ml c,liaracteristics c-lt l3otl7. Wlieti examining the clt.aracteristics of an electric r~~oinr, larger t7iotors cari pertiirÃai a .1livett amair.rÃat Nvork -,v~ith greater eft=acieticy than srxialler motors.
Atso motcyrs NvÃtlt rar~~
eavtli ma7-lacts or wit}i co.ieless const.riactian crtti deliver the srt:rne power in a stna:ller si.rc:, but at higher cost. Fr.irtlier, in getle:ral, larger motors cost less than stlialle:r motors if both a.re designed to dc;l:iver the sar-nc; poc~~cr (-)~,~,er a. giveli periocl of time. Larger motors, however, lia.ve ar-i undesirable characteristic whera used in surgical staplira~ devices because the Itartdle in which Ãltev are to be placed iw .li.ntitetf b~, the size of an operaior's trar~itf. l?hvwic:iarrs desire toarse devices ttrat: are :r-tiallei-arid ligliter, not larger and heavier. Based upon these c.o.rtsitleraÃimis, cost, size, and weight are Nctor-s that t;atx be optitiiizt;ci for use izt tfic surd,ical ;-,[apls;r fiar~itlls; of:'tl~.c present inventi:ort..
Available tnotors for r.ise within a pl-aysiciazt's hattdinclude ttiotors witti relatively irtexpensive ceramic zna9nets and tncttors with relatively expensive rare earth ti.e., neod~rt~it~Ãx~.}
mkg.rrets. However, cIrc: power ir7crease crt'the latter as cort7pared to cIrc: former is tiot sLtfficÃerrt1V, large to warnanà the stiabstantiet.l increase in cost of the 1attc.r. ThtÃ.s, ceramic magnet motors c.,et.ri be selected for use in tlie Itaaidle. Cxc;n7platy rncttors come in standard sizes (diaatieter) ol'217.5 atim or 24 mtn, for examg.,le, `I"hese motors Itave a. rated etticiency of approximately 60% (wliic.h decreases to 30% or below depert.diÃt.g rtlacrti the size of the loa7d). SLicfr .inotors operate at speeds of apprommately 30,000 rpm (betAveeÃa 10,000 and 40,000 rptit) w1ieÃi unloaded.
Eveal though sucll conventional motors could be r.iscd, it %rould be desirable to reduce tlle. size '?U even ftrrther. 'To that etTec.t, the inventors }tave discovered that coreless, brush-type, DC ttlotc?rs produce similar power otttput bLrt with a significant reduction in size. For exarnple, a17 nim diameter cc}rcless motor catl oLrtpLrt approximately t(-trv satYre power as a standard 24 tYrn-t rlian-teÃer motor. C'zflil:e a staiitlartl i-ttotore tlic; coreless ritotor can have att efficiency of trp to "tt%. Cors;less mot rs alrnos't all rtse r'tir`e etirtli n7tiga~ets, 2z; With sr.reli a litnited voltrme and mechanical power available, it is desirable to select a tt~echwrica:l gear trai.rr Iravitig Ã.17e greatest effilcieticy. Placing a rack rttid pitricrti assembly as ttie fiirral drive triiira control stkge places a lxiglx-etficieric:y end sta.~e in the cirive traÃrx iis compared to a screw Ã.lriv~~, has a maximttrn of al.~otat 80% efficiency, For the linear clectric stapler, Ãhc.r~~, is a 60 mr-n travel 30 rangoe for tlsc :t.aplingr`cu.t:ti.rrg mechanism wherl the stapler has a 60 nsm c;;:trtridgt. (cartridges ranging from 30 mm to 100 ti-ttrt c:arr be used brrt 60 mm is used in t(-tis ex-an-tplrv for illustrative purposes).
Wit:h. this trave.l rangc; a >-suc:ond; tull travc.l durat:iort pl:ace: the .racl: and pinion s;xtt;nsitrn ratea[ 08 inches per second. To accumplish this with a reasonably sized rae~~ and pinion assembly, a gear tr=ajÃi should redtrce the motor otatptat t~.1 approxiniately 60 rpm. Wjtb a t~iotor outl.)ut speed of approximately 30,000 rpni, the reduction izi speed for the drive train becomes approximately 5,00: l.
"l:"oactiieve tfris.ret~~ictiari witfr the moto:r, a 5-stage drive train is selected. _lt is l;.rrow.r7 ttiat. suc17 5 drive trains 1~a've an approximate 97% efficiency for each stao.õe. Thus, conxbirxed with aii iapproximate 95% efTiciency of the rack aaicl pinion, the overall offic..ien.cy of the drive triain is (0,95)(0.97) or 822~/~}. Combining the 60%} ttiotor et'~'acietic.v with tlie 824ria dtive train efficiency ~ie:lc1: aii overall electrical [o firial. rnc;chanical. efficiency of'apprtrxiniat-elor 49.2%. Knowing tl-lis overall etfic.iencv ra:tiri4~, w:(-rrvn dctermirung t(-rrv amoLrrlt of electrical power retftiirrvd for caperating tfle 10 stapler a4it:hin [tic desired re[luircrnentse ttic; actual elec:trical power needed is almost twice ttic. value that is calculated for producing tlie st.aplin~:;tcutting force.
'f'cr ;yenerat:e tlhe force necessa:rv to meet the above-mentioned requirements, the pc~Nver (in wa:tts') crt'the mec}iayrical a.ssc:rrrb11~ cari be calerrl,ated based upon the 8'~?. kg over 60 rrrrii in :3) secc~iids to be apProximat.elv 16 Watts. It is, knuwri that the overall mechanical efficiency is 49,~'%, so _3 )15 f 5 Watts is a~eecledfrorn the pox.ver ;;~ipply Ã.1 t~ iiiec.h. watts == >'~'~
5 e1ec. Watts x 0.492 overall efficiency1), Witli this riiirlinz l.anz recluiremerià for clectrical power, the kind of cells available Ã~.~
power the stapler cari be iderrtÃfied, w(iicfi., in tfris case., :irrclude high-power Lithium :Prirr7ary cells. A.
kziowrt characteristic of }iigliapower Lithium cells (e.g., t`'R12i or t``f~.2 cells) is that tl~ey, prodrrce about 5 pcal: watts of power per c:ell. TlYus, at least six cells in series Nvil:l geiYe.rate th~.~ required '?U approximate amount of 32.5 watts of electrical power, tiOieb translates iritc? 16 watts of iraec.liaziical po-wcr. This does not end the optimization process because ~~ae.h ty-pe of high-power Lithium cell.
manufacturcd fias tlitTrvrerit characteristics for delivering peak power arld t(-rrvse characteristics differ for [fic load ttia t is to be apfal.icci.
Various battery cl7arac;teristic;s exist that differentiate or7e batterv o.f ti first. manufacturer fr' ari 2 5, another battery of asecortcl manutactrrrer. Signit==icant: batten., characteristics to ccrznpare are those that l:iarrit the power that caii be obtained f:rum a batter~y, a few at which inclLicle:
* type of'electcohrte in the cell;
^ electrolyte concentration aritl cheariistxy;
= litrw the ag-iotle ag-itl cathode are manaftrcttrred (ba.rtl-i in chcrnistry aixti iri niechanir;,af construction); and = fttpc; and c:onstrrÃction of the PTC (positiv~,~ temperattare ccrefficieait of resistance) device.
Testirig ~.~t`onc or mare of t.lic.sc~, c.haracteristics gives valt.tal.~lc informatiun in the selection of'Ãhc.
most desirable batter)r for tise in the stapling device. it li,,is becÃif'otariti tl~ataaiexa.ÃiiiriatioÃicrf tlic last characteristic -- PTC device behavior -- allr~-vvs an optimizaticyzi of the type of battery to perform tlic cl es:i recl x.~,ork.
Most power sources are reciriireÃi to pertorm, 'kvitfa relative certainty and efficiency, nxarxy times throtÃgliot.tt a long pc;riocl of time. When designing and constructing a power scrr,irce, it is iiot typical to select the power source for short-duration use cortibiÃ-aed with a low number of uses.
fl~~wever, the power source of'aii. electrit; stapling device is only used for a, s.litart tlraratitag-i and for a small rlrrrYrber of Ã-imrvs. :IrI each use, t(-rrv niotor necds to'be ready for a. peak load aiicl needs to pc;r:fo:ri-n without error. This rneans tliat, for surgical staplers, the stapling/cutting feature will be c.arried out during only one inedical pr-ocedur-e, tiv hic:Ei h a.s cycle counts of be"veen 10 arid 210 uses at rxiost, Akritla each use needing to adclress a possible peak load of the device. After the one prcrcedure, the device is taken crLtt o.f`ccrmr-r7Ãssian a7.rrd cf:iscarcfeci. Therefore, the power soiarce for the presezit invention needs to bc~, constructed tÃ.iiliE;e any other traditional ~ow cr stÃ.pp1y.
TEie device according t the Pfesealt. iDVc.Dti017 i;; ~:.OrI;;tr~uctecf to have a liri7ited rrsefial life cyf a poz ver cell as conz pared to an expectccl.l.asct:ul life of the f.~~.~dN-er cell wheri riot trscd irl th e devic.e.
4h'treri so co:r7i:igured, the device Ãsirrterrded to waik few times atter this defined "lÃ.fe spwr" l:t is fE.ziowrt that self-contained pr~-vver supplies, sr.rch as batteries, lia.ve the ability to recover after so.me kind of us~.~. For optimization with tlYo present invention, the device is constructed Nvithin co.rtiiir7 '?U parameters that, f(yr a defined pr-ocedur-e, tivill pert~:orinaccordirtgly but will be liriiited (yr r:rrtdble to continue performance if the time of t.tse extends past the procc;clurc;. Everi thor7gh. the device might recover arld possiblv bc used again in a different procedure, the device is designed to use the power cells sucli. that the~' a4fll r~iiost likely rxot be abl:c to ps;rttrrm. at the enhanced lc;vel riruch trartsitle the range of iaiteri(lcd single use peric3ds or outside the r~~~_9e cYl aggregate trse tirtie, Witb tEii s in ariirid, a 2 5, uset'irllite or clinical lif'e, of the power supply or oftl~e device is defineclz which life can also be describerf as ari Ãzitericlecl iase. I:t. is r.rriclerstood that tlris uset:ulr'clirrical life does:r7ot iÃic:Errde periods crr occurreraces ot usecfurin9 a testin.~ period thereof to make sure that the r.leN=Ãc.c works as irltericled_ The life also does r7ot inclrecfe c}tbc.r- tin7es tEitat the device is activated outside the inter7ded procecltire, i.e.Y ~~~heri it is not activated in acc:ordaricc~, with a surgical proc:edtÃ.rc., 3t] Conventional batteries available in the nsarket art.. clcsignc;d to be r,rsc;cl irI two ways: (l }
provide a significant amourit of power for a short cluratiorl (sucli as in a lughrcrlra:iri digital device like came:ra:) or (2) prov:icle a snrall ar~iitrur~it of faows;r over a long duration (sucl-i as a c:orirpLtter's clock bac.ktrp}, If c.ither c.~f these operations is not followc.cf, thc.ri the batÃer-y- begins to hc.at ut.~. If left unchecked, the l3attet=y coLrld licat to a poir7t where the chemicals c;orÃlci cause significant damage, such as an explosion. As is afipareÃit, battery, explosion is to l~~ avoided.
'I'liese extremes are preverrted irr conventional batteries w:it}i the presence of tfre YTC device --- a. device tfrat is constructed to limit conduction of the battery as the battery increases in terripera.tÃrre: a positive temperat7.ar~,~ cocffic:ietit of resistance). The PTC device protects batteries and/or circLriis from overcurrent atid overtemperature coÃ-aditioris. Si.~rtil~i~.ai~tl;~~, the I'`I'C' rlevi ee larc~tects a l~~.tter~~ from extc;rrial. short circuits while still allowing the bat-teror to t;tant:intrc;
functioning altcr the short ci.rcuit, is retiioved. Swne batteries provide sliortrc..irc.uià anc,ror overtetiiperaÃ-urc protrvctiorl using a wiertime fiuwe. ifowc;vc;r, ati accidental sho:rt-circuit of such a ftase(i battery catrses tlio ftase ttr operie rendering t}i e battery. useles& PTE:'-protected batteries have an advantag.,-e over fused batter-ies because t}l ey are able to automatically "reset" when the short circuit is removed; all~Aving the batter), to resume its normal operation. t'riclerstayiclirig characteristics of the PTC' device is particularly important i.rr ttie pre;sent invention because the:~ rnator will be drawing se'veral times greater currerit thar~ would c.vcr be seen in a t;rpica7 high--dra.in applic,at.i0r1.
-fhe PTC devic.e. is providcd in series with the anode arid cat.l~ode and is made of a partially conducting 1ayer sar7dwicfred between two conductive :lavcrsJor example.
'I'}ie deL ice :is in ri low-resist:artce conditiozi at a temperature during a normal rifierataon (depending on circuit coziditicYrIs in which the device is tiscd, for eximple; from roc.xa-n toinporiture to 40` C.
j. On exf.~s.astrrc to high ?U temperature due to, for example, unusually large ctirrerit rrwstrltiri from tlie f(yrriiatiori of a s(iort circLrii or excessive dischaqge (depending crr-i cirer,iit conditions irl c\.-bic.h the device is u.secl, for ex.c-ir-rip1e, frorn CiU' to 13 )0 t'}. Ãhe:1''I'C device switches intoar-r cNtretnclv high-resistance mode.
Sirirp.ly f.-~ar[, w.lieri a PTC tiov:ice is ig-icluticti in a, circuit and ag-i akariorr-tial. cu-r.rerxt passes tlrrotrgl-i the c,irc;tiit, the device eaiters the higher t~r7~f~ertattrrc condition and, thereby, sx.6tches iritc3 the higher 2 5, resÃstance coridÃti(yri to decrease the current passing tfarotÃgh tfae cirer.rit to a Ãxiinimal level and, thus, protect electric elements of t}~e Circuit and the bat.tery;`ies. At thenfinima:l level t~.~.. about 20% of pea1;. current), the battery can cool off to a"safe," level iit which tiziie greater power can be supplied.
The partially conducting layer of the PTC device is, fi.}r example, a cc3mposite I'ca.rbc3r~ poAvcfer and poIvoIc.finpla.sÃie.. futÃ.rthcr= descriptiari of'stÃ.ch cievic:cs is tiannecessary, as the:'s c devices arc. de.scribeci 30 and are dtivll known in the art.
Because I''~R' circuits of tlitfercnt: manufacturers operate with tlift'rvrcnÃ
characteristic behaviors, the preserrt invention takes advantage of this feature arid provi:tles a faroc:ess tor.
5.s optiniizing tlle selec:tion of a particular batÃ~~,rv to r-natc:h a part.ictialar mUtor and a paitict.tlar ris~~,. Ari examination of the tiane wheri the 1'"f C device svv-itehes to the kiiglier resistance condition caÃi tae lised as this indicator for optimizing a particular motor and drive traizi to abatÃery. it Ãs desÃr-ab1etoltÃaow wl7czi tlic PTC device riial;.es this <w-it:cli sr) ttiat,, dr.rriag.rrcrrrr7al stapler Lise., t.lreP'I`C device does.rrot.
r1ia~w this change.
Exemplary batteries were loaded with van.olas levels from approximately 3 anips to appr-oxi.mately 8 anips. At the :Ilig:li end, the I''I'C device c}iaiiged to the hi h-resistance state almost irnmetliatel~,, rnaking this curreiit level too high for starrclarcl C1i'123 cells. It was tletc;rmiiietl t-trai, k(ar laetwerv.ri 4 and 6 arrips, one manufacturer's aell had :l'TC activation soorier than another manufacturer's cc;l:l. The longest PTC c}rant,~ccrver durat:iori for t.li.c sc;corrcl manufacturer was>1 imnutes for 4 aiaps, approximately 2 miriutes for 5 aiiips, and alinost 50 secoÃids for 6 ar~ips, Each rif these duratic?ns was significa.nd~ {~re~:ter than tl~~. 8aseccrz~d peal;.
lc~acl reqr.rÃrer~ent_ .~.~~cr~r~lizi;yl~r, it was determined that the secarici rr7ar7ufacturer's cells wcrLtld be alAinral for use at peak amps as compared to the first mantÃ.facturer's c:~~,lls.
Initially, it was surnii;;ecl that liiglier aiiiperes witl7 1ONVU Or C
alst.aDt -voltage would generate lZiglZer pQNver out of t.l~~ ~ower cell(s). Based xrpQri the configu.ration of 6 cells in series, tlle peak voltaggge could be 18 volts witlr a peak current crt`orilv 6 amps. l`'lac:iziw cells in pa:r-a1leL, :irr theory, shrir.rld allr~-,v a higher peak ariipeaage and a 3~2.. configuration (two parallel set rif three cells in series) c:o-Ldcl lYavc a 9 volt peak with Lrp to a 12 ~~ip peak.
?U Difl'ererit sirt~;le cells were investigated azid it was confirmed tl~~.t a relatively vc?lta<we (abot.tt 1.5 to 2 volts.) and approximately 4 to 6 anip~,'res produces the highest po-wcr in Wi-nts. Two sixwaell corrkio.urations were examined: a6x1 series connection arid a 3x2 p-arallel connection. '1'l~~
.)X2 corrfigtrratiog-i protlarc:s;d the greate:4 peak aiiipc;res of'apl.~sroxi.mately 10 arr-ips. The 6x1 c ai.tiguratyc3ri prc3duc:edabout 6 amps peak and the sirlgle c;c.ll w-as able to petak at 5-6,amps before 2.5 the I'TC device changed state. This information indicated the stat:e at which any single cell in the series group would be activzit-irrg its PR; clevice aÃid, tfrLts, l:imit.:irrg cr.rr~-errt ttrrorrwb ttie entire group of c:e11s. Tliris, tlio tentative conclusion of yielding peak amps at lower volta(e with a'3x-2 configuration x.vas rtia.intaine;d.
Three difR-=nt CRI 23 battery c.c.~ntigt.trat.iuns were tested: 4x 1, 6x 1, arltl. _3 )x?, to see how fast 30 the piisiois dti--oulcl more tlsc rack {in ir~rc:ht.s per suc;ond CFIPS")3 for the 120,4' and 1804 loads and for a giveri tvpical geari.rxg;. 'I'he rrvsults of this real world dynamic loading test are sliowtr in the chart of F1G. a 1, for btatl-i the 12044 load:
= the 4x]. battery pack was able to move the loa(l at abctait 06 IPS at approxintately 15 amps but at approNimately 8 volts;
= ttic 6x'l. batt:c;rt~~ pack. was able to move the load at about Ct.9 IPS iat approximiately ~.5 ariilas b ut at approximately 1. 3 volts; atid * ttic ')x.-2 tratt:t;r~~ pack. was able to move the loacl at, about t:]A IPS
at approximately 5 amps but at approNittiaÃeiv 6 volts;
aridt:lic l 8tl4'lnaci:
= the 4x 1 1}attet-y pack- was able to znove tlie load at about 0.65 IPS at a.pp.roxir-na:te(y 4 anrps but at approx:iariately 7.5 volts, = the 6x l batterv pail:was able to silovu the load at about 0.9 1PS at approximately 4 amps btrt a:t approx.ima:telv 1 ~~ volts; aiicl = tlrta 1x2 batter-tr pack was able to zitove tl~c load at akaotrt 0.4 IPS at approximately 4amps bttt at approximately 7 volts.
l;
Clearly, the }a~~ik cr.rr~-ertt was :lirnitc:cl and this lÃ:mit was depetidetit upon the load. ':E liis experiment revealed that thc~, motor drew a similar current regardless of t.hc. power supply for a given load btÃt that the voltage cl7arigeei depending tapori the br7.tterv cell t:onfigurttti~ri. Witli respect to eitlier load, ttic power otitput was ttic greatest in the 6x l configuration and not in the 3x/2 configtÃ.ratiorl, as was s;xps;t tetl. From this, it was clt;=ts;rr-iiirxc;cl that the total power of tlic; cell pack is ti.rivc;ti by voltage anti not by current and, Ãheaefiore; the parallel conf'i;ytrration (3x-1) was not the path to take in optimizing the power sotrt-t:e.
Traditionally, wliezi desigriiiig specifications for a motor, the wizidizi<ws of ttle tiiotor are matched to ttic ar-itit;tpatr~d voltage at which ttic motor will be rtÃri..
This matching takes into ac..cot.tnt 15 the duration ot individual cycles -anti t(ie desired overa:1l 1ite ot ttle prodricÃ. In a case of an electric stapling device tlit: r-tiotor wi.ll. oii.ly be usetl for very short c.yc:les art(l for a very short life, tratlit:iotial.
matching r7ietbt:}ds yield results that are belt:m., c3pti.n7tt1.
Manufacturers ot'the n7ot rs give a voltage rating on a motor that correspotids to the Ãitrml}er of ttrrrts of the windings. The lt~-,ver tlie Ãatrrliber of tur-rts., the(ower t.lrc: ra.tc:cl voltage. Wit?ririagivert ,,irecrt`rirt)to:r w:izid:iziw, alc3wc:r rtLtrliber t).ftttrris 10 allows laagea wÃre to be used, such that a loNN.er number of turns restr1Ãs in a lower resistance in tlie wiiidirigs, and a liiglier ritrr7iber of tt.rrr7s results iri a liiglier rt:.Si;;tarIt:.e. These chartat:tt:ristyt:s limit the t-naxinitiani e.tÃ.rrc.nt that t.he motor will draw, which is what creates most uf'thc, heat atid damage when the motor is ovc.rdriveii. For the present invention, a desirable configuration will have the lowest winding reSistai7ce: to draw the anoSt ctirrerit ~rotn the power supply (i,e., taatter-y= pack). By running the ziititor at a voltage Ãxlucli hi;yher tliaai the motor rating, significantly greater power caÃi be dra-vvn t:rorri sirr7ilarly sized r-notors. This trait was verified witli testing of nearly identical coreless rtiot:ors 5 that onlv raaried in winÃiin{,~ resista.nce: (and, lierxc,ez the rxr.imber of tr.irns). For c:xanip1e, i?.avolt and 6-volt rated motors were ru.ai with 6 cc;lls (i.e., at 19.2 votts}. Tlic motors rated for 12 volts output peak ~~~,ver of 4 Watts tividh the battet-y voltage ozil~~~ falling slightly to 18 vo1ts wliezi rlrwvin<w O.7 anipw. t.n comparison, the motors rated for 6 volts orrttarrt 15 Watts of poat-vr with itrc voltage dropping ti) 15 volts brrt rlrawirii) 2 amps of current. Therefore, tlirv lower resistance w:iridirigS were 10 .c.lect:eci to draw c;notrgh power out ol:'t.hc Nattc;ries. It i.s rroted that the i-riotor= windings should be balanced to the partictrlar battery pack so diat, irt a st.all coÃ-adiÃiozi, the motor does n ot draw curreriÃ
from the cells sufficient to activate the PTt``, ANrliicl=a condition would impermissibly delay tÃse of ati electric srr:rt4ical stapler during ari opera7tiorr.
Thc. 6x 1 power cell conf ot.tratian appeared to b~~, more than stÃftici~~,lit to meet dhc.
15 requirements o#'the c.lectric st.aplirtg device. Nonethelr;SS,,'Ut tl7is point, tlle POW-er CCll c;aD be #iarthff ~.~pÃimized to detemzirze if six ccIlS are necessary to per-fomz the r~quircd work. Four cells Avere, theii, tested and it x.~~~s determined that, under the 120~=;-r load, tfie rrrotar;`drive train could riot rrr~vc: the rack over the 60 mrn span withiÃa 3 seconds. Six cells were tested and it was determined that, under the '1 2#7 t load, the motor/drive triir7 cotrlcl nYove the rack over th~.~ 60 mni spin in ? 1secc.xalt,ls -~ ~nuch '?U h, sÃer t;(iari the :$-secoÃ-ad recluireriiertt. :It was turther determined that, rartder the 18U,"t, Ioad, tlie motor/drive train could rliovc; the rack over the 60 mm ~pffli in less than 2.5 seconds - nit.tch quicker than the 8-sec.orid requirement. At this poirrt, it is rlesirab1e to optimize the power source and mechanical 1a~'cnat to make sure that there is no"rui~awaN.' staplins,/cuttinc-; irr other wtartls, il:'t:hc load is significantly less than the re;cltaired 1 S.(3;1 maxi.mun7, or even the 120= rtiaximreari, therl it X.v uld 2 5, riot be desirable to have the rack move too fast.
The gear rc:cluctionr-;r:tio wrd tlic drive systc:ni:r7ec:cl to bc: optimized to keep tlic motor.rrear pea1;. officÃency clr:rring the firing stroke. The desired stroke of'60 rmn in 3 seconds rneaz~s a miriir-iitar-ii rack ve;locit;r I'0 r~~iii/se;c (.- 0,8 inches/second). To reduce the number c.Yf rarNables 1,11 t.llc optimization process, a basic reduction of 33$3:1 issct in dhe gear box. This leaves the final 30 reduction to bc; Performed by t}rc gears present between ttrc otrtptrt shaft 214 of t}rc gear box and t}rc rac.k,2? 17, whicfr (,rvar5 include, f(ar example, a bevel gear'? 15 arirl the p.iriic}ri 216 (which tlrivrvs dhc rack), a sir-tipliti:ed exarr-ipls; ol:'whicfr is illustrated in FIG 11 .
These variablc~,s can l.~e combitic.d into the tititn~ber of inc.hes t.tf rack tr'avcl with a sitiglc~.
t=evolLttyorl t.1f tlte tttatptat sbaft 2 14 of the i:i3 ):1 gearl:tcrx. :lf the gearbox ntttput (irt rptti) tievet=
cltaatged; it wotÃlcl be a sintpte function to m attttt the ittches of rack travel per output slta:ft revtiltrti(Yrt (`l=l?R") to the cttat.ptat rprrt t.t) get a desired velocity as.ittl:lows;
(60 rptn --~ l. revolt:rtion: se:c:onci (rps); 1 rps, ~~~ 0.8 IPR -) 0,8 tni'sc:c), In stÃcb at-t idc;eli~ed case, if the IPR is plotted against velocity, a straiglrt line would bt.~ prodt.ac:ecl.
Velocity. ovet- atixed distance can be fiirrt(ier reduced to )~iring`l'irtle.
Thus, a plot of firin.-'I'iMe versus 1PP, at~ottlci also be a stt=ai(ltt line in this :icftaaliretl case.
Hoat~ea, er, output of t}tentotor (in r1xt-t) attrl, tltereforc. of ttle gearbox, is ttot: fixed becatisc this speed varies with the load. `I':(-trv degree of load clc;tentiiiies the ai-rtottttt of power t:li.e. rritrtEtr can put otrt.. As t-ltta loacf increases, tl-is; rptxts decrease artd the efficiertcy changes. Based upt-trt aii exantiitation of efficiency'WIt;h differing loads, it has beert determined that efficiency peaks at_jtrst over 60%. HoANrever, the corresponding voltage arid arrrperes at this efficiency :l~eak are rrctt. tfte swnc: as ~.;t:t the laoirit. of peak. power. PoNver cortti.rriaes to 1nc.re,ase as the load increases tÃ.tttrl the ctYtcÃc~,ttcy is fi$llrng faster thati the t.~t.t~N--e;r is trtcreasrtig. As the l;l?R iticreases, aii irtcrer7.;;e in velocity is expected, btat a c rrt:spc3ritfing increase in IPR lowers tlte mechanical advajttageattd, t.lterefQre, increases the 1oad. "f his itiereasittg load, with tlie corresponding decrease in e1-1:iciency at p:r-qgress:ively 17:ig17e:r- loads., :rneans that a. poirtt will exist when greater velocity out of the rack is no longer possible with greater IPR.
TItis behavior is reflected as a deviation frs.anY i predicted straight l:irtt.~ in the plot of Firing Tia-nc (in. sec) verstrs 1PR..
'?U Experirraei-atation of the system of the present invention rev-eals t}tat dte boundary betweert unneccssan, mechanical advantagc; and insufficient mechanical advantage occt,irs at approximately UA :(PR.
F:rortt this l:l?R valuce it is possible to, ttow, select [tic final i gt`ar ratitr of the bevel gear 2'1 5 to be approximately tl7ree tirties greater 431:1;P tfttari the sprocket oftlie output shaft. `i'his ratit.} trartslates 2 5, into att approximate IPR of 0,4_ Now t}tat the bevel -lear 215 ftas bectt opt-itt7rzed, tfte ba:tte:r-y pack can be rc:etart7:izteci to detert-nine if six cells could be retit.tc:ed to f-iarc or even four c:e11s, which ~vtttild save cost and cottsidr;t-ably decrease the volttarie needed #i:}r the power sttpply wit}tirt the 1~~iidle;. A constant load of approximately l ~?04"was useci with the optimized motor, drive traiti, bc:~~'e1 gear, atici rack atid pinion 30 ati.d it was discovered that tts~.. of'4 cells resulted in aii aImost. 5 second tirtie period for movittg the rack t>(# rt-trt-t. With 5 cells, the tirne was retlLrcrvd to approximately 3.5 seconds. With a ti-cell ccxt:figuratiEtn, [fic tiitte was 2.5 set;onds Tfiarse itxttarpolat.ittg this ctr.ri s; rtasu.lted in a niig-m-ntrrrt cs;ll contigtrratiori of 55 e:e.lls. 1;3rie, to dhe fact that cells only can be strpplic;d in integer amurrnts, it was discovered that the d-cell configuration was r7oedeti to meet the requjreiaieaits provided for the electric stapling device.
From Ã.l7:is, the niiriiinrrni power soiarce volume could be calculated as a.
fixed value, uziless datfe:rezià sizc:t.l c.e11s could be used that provided the sarne electrical power charac:terasties. Lithium cells referrecl as CR2s have similar clcc.trical power cbartac:teristsc:s as liave CRt2_3s bt.tt are smaller.
'Yh eretc?re, usirig a 6-cell power supply of C'R'?s reduced the space requiretii eri t by riiore t(iari 17%, As set fi.art:h. in detail abtave, the poat-vr s'tirarce (:i.e., batteries), drive train, arid rnotor are qYtim:izetl :f=Or total efficiency to deliver t(-rrv desired oritptit force w.idh.iri the requiredw irrdc}w oi'ti.r-nc l0 fo:r cornf.sleti.ng t:li.c strric:al p:rtrcecfrtrc;. Tlic eliicic;ncy of eac.li kirici of power strurcce drive trairie alxci.
motor was examiried arad, thereafter, the type of power source, drive train, and tiiotor- was selected based upozi this examination to deliver the maximuni power over the desired time period. lra otlier words, the:rn axirnr.zrn ,-l~owe:r condition (voltage arici ctirrerit) is examined Ã.l7rit cwr exist for a w:iverr period of time withotÃ:t activating dhc. PTC (c:..g., approximately 15 seconds). The, f.~reserià inventiori locates the s ~}lia~~-c trrr~r~t-l~c~t~~r vtaltre; that optimizes the way M
t~~liicb pow-er is extractetf frc3m the ceils to drive. the motor. Even a1'ter sxrch optimization, Qt.fler cl~anges can be made to improvel.apcrl tlic t`eaÃures, of ttie c:lectric st.ripler 1.
Another ftind of power supply caai be used and is ref'orred to liereira as a:.<hyl}rid" cell. lra suclY i configuration, a recl~argoible Lithit7:ni-ion or Lithium-polymer cell is con.nectec:l to one or '?U riior-e of the olatitiiized cells mentioraed above (or perhaps another primar).- cell of smaller size btrt of a sirliilar or higher voltage). fn. such ia coiifigu.ration, the U-i.on cell wot.tlcl power the staplirlg,tc.r.atting motor bec:aLrsc the total eneQ4y c(aritainecl w:ittrirr one t'R2 cell is sufflicicnt to recharge the Li ic}ri cell mar~iv tinies, hoa4~ever, [l-is; priniary cells are lirnitod as to delivery.
T_:i-ion and I-;i-l?olyrner cell: lxave very low iiiternal resistance anc.l ar'e capable of very high currents over short durations. "f'o hamess 2 5, tliis beneficÃal behavior, a primary cell (e.g., CR l223, CR2, (yr another cell) er-ir.rld take 10 to 30 sc:caricis to cl7rirwe r.zp the secondary cell, which x.~,orrlci tarrrr riti additional powc:r sorrrcc: tor the moÃo.r during firing. An altemative ernfaodiment of tl~e Li-ion cell is the Ãrse ot'a capacatfgr: however, captacitors tir-e volrari7eitie;fficierit f;===veri so, a super c.tipticitor-n'lr7.y be put i11U.) tlle r~ic}tor powering syst.cm; it may l.~e disc.onriectc.Ã.l electrically therefrom trntil thc~, operator dcterriiiric.s that additi~.~rial 30 power is re(ftiired. At strul) a ti.r~neK the operator wotild conn c;c:t the c;;:tpc:ic>itor for ari. c:idcled"boost" of energy.
As tnentiotic.cl abovc, if t.hc. It.racl ati the motor increases past .1.
giveri t.~t.tint, the c~,fficienc:y 13egins totlecrease. In sttell a situation, a mtalti-ratiotransanissit~n cari be used to change the delivered power over the desired time period. W}ierl the load becorlies too great such that efficierlc~, decreases, a ariulti-.ratio trwrsm:issiari cati be used to switcli the gea7.r ratiori to return ttie niotor to tlle higher efficiency point, at whÃc.h, for exanilale, at least a I80-,iforce: can be suplaliecl. It is noted, howrever, that the motor of the prr~sclit ir-iver-itiori. neecls to operate in both for=warcl and reverse directions. In the latter operating riic?de, the motor mt_ast brw able to disrwtigage the stapling/cutting in-s-[rtrrnent from out o.f a"jarni-necl" tissare trl,arnpi:rig sittaatioii..
Thuw, it wtauld be beneficial for the reverse (jearirlg to generate more force thati the forward cFearirlg.
Witli significantly varying loads, s;.&, from low pouttds trp to 180 poug-itls, there is the possibility of t(irw drive assembly being too potiverfi.rl in tlie lower etid of the load t-azige. `I'hus, the invention caai izittlude a speed governing device. Possible governing clevittes irlcltrde dissipative (active) gloverrtars and }aass:ivc: glcnrernors. Orte exemplary passive governor is a flvwheel., stach as the e.rlc.rg ~y storage clemc~,tit 56, 456 disclosc.d in U.S. Paterià Applicati~.~n No.
2.005:'027795-5 t.~.~
Palmer t::t al. Anotlier ptassiveg(.),v~crrior t.1iat c;~~~ bCtrSCcl is tt "flyõ padcilt::wliecl, Stac.htanassert-ibl;r uses ia=ind resistance to gt.~vem speed becatrse it a.bsorbs more force as it spins faster and, tliercfore, provacles a speed govern:irrg cftaracteristic wlieti the riiatcrr:is moving tcrcr .fast.. A.ncrthe.r k:irici at`
governor cati be a compression sprizi;y that the motor compresses slt~-vOy to a compressed state_ When actuation is clesirecl, the compressed spring is rt.~leased, allowing all of the energy to be '?U transferred to the drivrw in a relatively sliort amot_artt of ti.me. A
further exemplary goverÃ-aor embodiment can include a multi-stage switch having stages tliat are connected respectively to variotis sub-sets of the battery cells. Wheti low force is desired, a first switch or first part of.a. switch car~i be activateti to place only a l-ew of tl-is; cells in tlit; power supply c:irctr.it. A: more power is desired, the tiser (or aai tautornated t:.omptatirig device) t;aai place steccessive additional cells iritc3 the 2 5, poANrer stÃpply c,:ircuit. Ryr example, in a 6-cell coÃitigLtratinzi, the tirst 4 cells can be connected to the l~ower sti}aply circtait witft a first position of a7 sx.~,it:ch., the fiiÃ.17 cell cwr be connected wit.ir a7 set::ozid position of the switch, and the sixth cell cari be connected ~vitl=a a third position of tlic swit:ch.
Ele;ctrit: motors taritl the associated gear box pt-odtat:e; a certain aiiiot$Eiit of ncAse wheri tased.
The stapler of Ãhe present itivc.ntiun isolates the motor anÃ.1,"or thc:~
motor drive traiti frot-n the handle to 30 decrease butls thc; ac;otrstic; and vibratior~s characteristics arid, therubyt the overall r~soista protlt.rced cltrrirlg operatioti. In a first er-til?odimetit, a dampening material is disposed between the hatirllc 'bocly artcl butli of rnotor and tltta drive trairi. The material can be fbarn, strt li as latex, polyester, plant-basctl., t.~o1y c.the:r, polye.therimide., palvimidc:" polyolc.finY pc.~ly prapy~lenc." phc.nt.ilic, palvis~.~cy-anates, polytrretliatie, siljcon~, vinyl-, etlivlerre copolymer, expanded polyetkiyletie, t7unropolymer, or styrof'oani_ The mat:eriat can be an elastoÃxier; such as sÃlittozie, polyuredhane: chlcyroprene: butylz poly b utadie:r7e. :r7eopre.r7e., natural rtibbe.r, crr:iscrprerte. 'I'Irc:
tbanr can be closed cellular, open cellular, flexible, reticular, or syntactic, for e:xample. The material cazi be placed at oivetx pcasitions betwc:en the bandlt,~ fflid motor/gear laox, or cffli entirely fill the chasnbc;r surrounding the motor/gear b(-)\. ln a, second eiraf3c?diiraerat, the motor aiid drive traira are isolated 'Wlthin a nested box coratigt:rratiozi, somtati:rires referred to as a''fiinese:Rox" or "Russian nestino doll." l:n saicti a configuration, tfic;
damprvr-ti.rxg; tYtater:ial is placed around the motor;r'jrvar box and the two are placed w it(-tin a:first box witfi tl-is; gear box wtiatt: protruding therefrom. Tfttati, t}tetrr:t: box is r-txtruiiteti witfti.n tlxc; "set;trg-itl box ' -- t(ic handle body --- and the dampening material is place betweeti t(~c first box atid the liazid1e Ãn t:eri or.
The electric stapler of the present itiveticiari criti be used in surgical applica:trcrrts. Most staplitig devices arc~, one-time use. They cati be disposed after one medical procedtrre l.~c.catrsc~, dhc.
cost is reltttivt;lv It:}iv, The elet:.trit: surgical staplt:r=, l7ow-eirer, Itas a greater cost aDd it may be desirable to use at least the liaridle for moFrc t.liati orle tiiedicaf procedtare. Acct.~rdÃtzgly, sterilization aft.f7etiartdlecoriiparierrts ~7.iÃ.er r.zsebeco:riic:s art :issue.
`~t~rr:l`ar~7.ta~rr ~~~tcrre trs~ is ~~f~o ~i,~;rtitic~r~t.
Because the electric stapler includes electrcyziie components that typically do nc?t go through standard steriliziitic:xal processes (i.e.; steam or gamma radiation), tlle. stipler noctfs to be sterilizet;l by- other, '?U possibly more expensive, mearas sucti as ettivlerte-oxide gas. It would be desirable, hc?~~~ever, to make the stapler ivs,ailable to gammia radiaticrr-i sterilization to reclt.ice the cost asscrciialed with gas steril:izatioti. It is fS.now n that rvlect.roriics -are usable irt space, which is ari eriv.iro.ri.mcnt w}iere sLrch electronics are exposed to ga.mma radiation. In stac.l~ ~pplit;ations, btrwtaver, [tic electronics need to tivork wfiile being e;~pose(f. In t:.ontrast, tl7e electric stapler does not nt:.e(f to work while beill 2.5 exposed to the gamma st:erifÃzation zacliation. When seziiiccyziductcyrs are eznployed, even if the power to the elect.rc~iiics is tLzr-tied off, gart7mzi radiaticrri adversel1~
affect ttie stored rrtert7ory.
These c.otnponents only need to withstand strch radiatÃfgn itnd; c?txly after exposttre ceases, need to be t-etidy for tase. Kr7ow-ing tl7is- there are various Me;"Ustares that can be laken to gr7.n7ma-l7ttreit:n the electronic comt.~t.ttictits withiti the hantl.le. FirA, instead of usc.IN1~S-FET memory, for e:~xamt.~1cY
30 ti,isable link mc;moties cari be u.seci. For such mt.morit;`s, or~rc>e ttsc fuses arc; programmt..d. (i.e., burtit)"
the rnemoÃy becomes permarient ar-ttl resistant to the gazrltYta sterilization. Second, the memory can be rna.k-programnied. If tfrta zitt:rrlory is hard prograrnmtad usirtg itiawl,.se gamma :radiationat tftta 1evc.l for r-nc.tl.ical sterilizatiari will not aÃ.lverse:ly afYe,c.t the prograr-nming, ThirÃ.l, dhe sterilization cati 13e pertnrriied while the volatile memory is empty and, a.fÃer=
sieriliza.ti:ori, the memory can be pro;yramtiied through various measures, for example, a Avireless link including infrared, radio, Ltlt.rasoLtnci., or Bluetooth corririiLiriica.tiari criti be rised.
Alternatively, or acid:itiona:l1y, ex-terrial 5 electrodes can fie c.carxtacted in a c:learr erivirc?rxment and thc:se conductors can program the memory.
Finally, a radiopaque shield (made from niolybclenr.ani or ttangstcr1K for ex .~mple) c..ar-i be provided around the gaiiima radiation scrisitive components to preveÃÃ-at exposure Of these compozierits to t}le potentially clam.a.~{i:i~~{ r~acli,~.tit~r~.
~: ~:
As set forth herein, cfraracteri stics of the f?a.ttrv.Ã-y, drive train, a,nd zrlotc}ra,rrv exam:iried a,nd 10 optirr-iirerl f:oran clec:tric stapling app.licati:orr. Tl-it; particular d.ewigr~i (i.t;., clremistrtr ati(i PTC) of a battery will deterrairae the ainotrrit of current tliat caii be srapplied and/or the ariioutit of power that can be generated over a period tif time. It has been deterrniraed that standard alkaline cells do zic?t liave ttie abilitv to wetierate tfie li:igli power needed over tfre short pertoci of tariie to afTecl actuation of the e.lc.c:tric: st.apling dc.vie.e. lt wa.s also cleterrninecl that some lithitÃ.rnzrnanganese. Ã.lioxidc~, c:c.lls, also 15 tivere trr7rible to r~ieet t17enc;edsfor ricttratirig the sUapling device.
Therefore, characteristics o.f`cervairi lithir.tm-ma.ns;a.ricse dioxide ccll cr.~titigtaraÃions were exanzined, sxrch as the electrolyte a.rid the positive tert7per-riture coefficient device.
1:Ã is urtclerstood that conventioraal lit:liir.izn-niazi;yatiese dioxide cells (e~g, CR.l213 and CR?) r loads over a lc:xalg pc:r.iod of time. For example, SUREERR1/: markets flashlights are designed fo '?U a:rid sucli cells and states that the cells will last for from 210 rainutes to afew hours f3) to 6) at the maxirlir.ani ltrm~,'n ot.ttpt.tt of the flashlight. Load t.tporl the cells(s) during this period of tinic is not close to the power capacity of the battery(ies) aiicl, therefore, the critical current rate of the fiatte:ry(ies) is rrot rcachetl aiiti tlicrs; i.s rio danger o.foverlreat.ing or t;xplositrri. If waic'ti trse is rrot c aitiritr rrs, the batteries CaD last thr'ougli ariariy cycles (i.e., lit.rritire(ls) at this same fLal1 polver output.
?.~ Simply prrt, sucli baÃteries are not designed for loads over a period of 1 U seconds or less, for example, five seconds, arici are also riot designed t`or a small nri.mber of iasesjor e-:mirliple, ten to fiftecn. What the present invention does is to configure the power supply, drive trairx, arxd anotor to optir7iize the p(iwe;r strpply brittel)` ) for a smti7l rireariber` of uses Witll eac;li Use Oc;CtrrÃ'irig c3ver a period of less than teri sc.cc.~nds anÃ.l at a l~.~a:d that is significantly higher tharl rated.
3t] All of the pd.rn.ary- lithiunl cells that were uxamir~red possess a critical c>r,rrrer~st rate defined by the respective P'~R' device and,'or the cherYristr), and interrral corrsÃructiori. tf uwd above the critical currerrt ratetor a ps;i-ioti of tizire, ttic ce1l: carr ovs;rl-it;at and, pa.rswibly, explod.c Wlrerr exposetl to a very high power dc.mantl. (close to Ãht_~, PTC threshold) with a It.t~N--ritrr~~ber of cyclt_~,s, the valtage and amperage profiles do Ãiot behave the same as in prior art standard tises. It ha.s beeri i`nttricf that some ce11s tiave, 1'"f C: deN=irres that prevent generation c?f'poNN.er required by the stapler of the present it~r~ret~rt.ic~:t7, ~l~t.tt ttiat. ottier cells tir~c: able t.t) generate the ~fesire~f power (cZIaI stiPlal~ ttie t:uE:rertt at) volta<e) for powering the e1ec.tric: staplizi Ãi .~ evice:_ This means that the critical current rate is different depending t.tporl itic particular cbcrlnistry, construction, and/or PTC of the cell..
.I.he present invention c(Yrifigt.tres the power st.tpply to operate iÃ-a a range above tlie critical t;ti.rreg-it rat:e_ referred to liertaig-i as the "Super-tu:rit:ical Cttrretit Ratc;." It is g-itttcd wit-hirt the tletinut-i:tart of Super-Critical t;LtrTertt Rate also is ati averag;i.txg; of a rrloclula:ted current supplied by the power supply that :is abovt: tlio critical current rat:e. Btrcause the t t:l.ls t;aritxot last long while stapf.sloriiig power at tlie Super-C'rÃtical Current:lt:ate, the time period of their Use is shortened. `l'his,sI-aor-tened ti~~e periocl wliere the ce11s are, able to operate at the Super-Critical CLrrrezià Rate is referred to herein as the "Super Crit-ical Pulse DischargePeriod,"' whereas the entire t.:irrte wftert cltc: lacrwer sttpp(y is ~e f'erit.td." In other words, Ãht_, Super-Critical Ptrlsc.
activated is referred to as a "Pulse l3ischarg Discharge Period is a 1imt: that is less than or equal to the Ptal;;e Di;;c;liargc Period, during lt~liit:b tyr~le t.lie ctrrretzt rate is ~-=rea.ter t.liari the critical current r-ate of the cells. 'I'he Sttper-Critical Pulse Discharge l?ericrd tcrr the laresertt invc:ntion:is less tftaÃi about 16 secotitfs., in atfter wcrrcls, in a .rtitiwe of al}out one-half to fitteeri seconds, tor example, betweeÃi two and four seconds and, rncrre particularly, at ibot7t three ;~ecot-ttls. During tht.~ l:ife of the stapling device, the pc:xwer st,tpply may lat.~
'?U st.tk~jec.ted to the St_tper-Critical C'ut-t-erit Rate over the Pulse Dischary;-e :I'eriod for at least one titiie and less than twenty times within the timt,~ of ia clinical procedu.re, for example, bet%reen.
apprc}xin-tat:cly t:r~~e and :f:tfteer-t times, in particular, between teri artcf tifteert times "i-itli.iri a period of five rninutes Therefore, M cort~parison to the .litrurs of use for wt.aiitiar(i applications of ttxc; power supply, tfie prc.Wnt illirent.iOD will hatt: an ~~,~grt:gatt; ttst::, rc.ferrt:tf toas tlic Aggregatt`. t?ttlst:: ir~ie, f, 2 5, at Ãxiost, approximately 't}[t to 300 seconds, in particular, approximately 224.7, seconds. It is ric?t:ed tha.t., duri:t7g, ttri at::tiva7taort. the devit::e.inay rtat be retlt.tired to exceed or to a.lwa~,s exceed the Supc:r-C'ritÃcitl Current Rate in a given Prot:.ecftÃre f?et:.a:tÃse the load presetited to the instrument is tiepencfent tapt:}ri the specific cliriit:al applicatior7 (i.e., s arie tissue is tferist`r'tl~aD others aritl iaic,rctased tissttc dc.n sity will increase load presented to device). However, tht_~, stapler is designed t.c) be able ta ext =c.cd 30 the Strpcr-t;-'.ritical Current Rate for a t~st.trtiber of times during tfsc irttended use of the su.r.gical.
prot;edtrre. Acting irt this Super C'riÃ:it;al I'uIse Disc.(-targrv I'er:Ãoti.
the tled ic.e c-an operate a sutfic.iertt amcwnt ~.~f tir-nc.s to c.c.~mplcte the tl.csirc.d surgical proc:cd Ã.rc., btrt not many more b ecausc:, t.h c power supply is asked to perforr-i7 at ati ir7creased ctarreÃit=
W}ien performing in the iticrea.sed range, the force generated by the device, e.g., the e1ectric stapler 1. :is significantly greater than existed in a hancl-powered stapler.
I:rr.fact, tlie force is so alrucll grcaÃc.r tbat it c(ytild da.ma.~e the stapler itself. In one e:xe:nxplaav tÃse, the motor and drive asseriiblie:s c.ar-i be operated to th~,~ detrimelit of the knife blade 1ook-ou.t feature --the safety- that pr~,~~vents the k.rlife blade 1060 frc?rii a.dvariciiig wliezi there is no staple cartridge or a previously fired staple t;artri:tlgeiritl-icstafal:ecartri(igelrolcler 10:")O. Tli.iw tc;a[ure is illu:t:ra:tetl iri FIG. 333. Asd.iwt;ussed_ thc;
k-riike blade 1060 sfrotrld 'be a.11owet1Ã:o move distally only wheri the staple sled 102 is preserlt at the firi.ng-riatl~~ l~ars:i[iirgl, i_~., ~~~l~~:rr the s.letl 102 is in the 1.~s~asitiE~r~i illustrated in FIG. ;i:~. If the sleti 1.[l~' is riot present in dhis posiÃiozi, this caÃ-a meaÃ-a one of Ãtivo things, either t;(iere is Ã-ao staple cartridge in the liol der 1030 or the sled 10,2 has already been moved distally -- in other words, a partial or fiill firi.rrc, lias already occurred with the loaded staple cartridge. Tl7ris, ttie blade 1060 slic~ul:cl rrot be allowed to move, or shotÃ1~ be restricted in its movemc.nt. Accurtl.ingly, to insure, that the sled 102 c,ari prop tap the blade 1060 wlier7 Mti firing state, the sled 102 is pr'ovided witli a lock-c}tit cor7tact strrfa~~c 104 and tlie blade I060 is provided witli a correspondingly shaped cQiitacà nose -1 t36r}. It is rioted at this poirrt tlrat, tlic lcrwer -Ltide wings 1065 do ricrt rc:st a7ga.irrst a.f1oor 1034 irr the cartridge holder 1030 uziÃÃ1 the blade 1060 has moved dista.lly past ati edge 103 5.
Witli sucli a ccrzifiigura:tion, if the sled '1 C32 is not prose:tit at tlle distal end of the blade 1060 to prop up the nose 1069, then the '?U lower-guide wings 1065 will follow the depression 103 7 just proximal of the edge 103 5 aÃid, instead of advancing on the tlcxcrr 1t7_' W, will bit th~.~ edge '1 C33 5 ar-icl prevent fLarther forward movement of the blade 1060. 'I'o assist with sLrch c.oritact w:(-rrvn the sled 102 is not prcserit (referred to as a"lock out"), the staple cartridge 1.010 has a plate spring 1090 (at-[acbed tl-it;reto by at least a.rtic rivet 1.016) for faiasirig the blade 1(360. With i17e plale spring 1090 flexed upward a.iid prc;ssir~g dovv-mvar'd 2 ; a;;a:itrst the flange 1067 (at least uÃitil the flange 1067 is distal rif the distal end of the plate spring 1090)., a dowriwarcilv directed force is iairparted agai.rrst the blade 1060 to press the wirigs 1.()65 down into the depression 1037. TfaÃrs, as the blade 1060 advances distally without the sled 102 beir1g present, the wings 1065 foilovv- the l(iwe;r ct.rrN~e of the de;prc;ssior7 10>7 andare stopped frc3rtl fLa.rtlier Ã.lisÃal r~~ovc.r-ncnt when thc~, distal edge of the wir~~s 1065 flit the e.dge, 103 _45.
30 This saf ty feature operates as dt.scribed so lorig as the R)rc:e transmitted by the knife blades 1 t3t>2~ to the blade 1060 is not 4.ueat errou~;b ti) tear off the lower guide wings 1065 ti-om tlle b1ade 1.060. Wi[li the forces able to be gerxc;ra[s;d by [fic power supply, rno[a.rr aixti cfrive, train of tlre, present invention, th~~, blade 1060 caai be ptiash~~,d distally s~.a strongly that the wings 1065 are torn ~~~ay. If this ncctars, there is raca ~~~,ay t~.1 pr=overat distal r-i7taveaiaerat taf the blade 1060 or the sled 1.02.
A~~cordin;yly, the present inventinn provides a wav to lower the forces able to be imparted upon the w.irags, 1065 p.rio.r to t}aeir passage past the edge 10_35. l:ri other wcards., the iapper lirnÃt caf.icarce able to be applied to the blade 1060 is rc:r.iÃaceÃi in the first part of blade travel (past the e:dge 1035) and increases after thc c\.-ings 1065 have cleared th~,~ edge 103 5 ar-icl rest on tlic floor lt.~3fN10re specifically, a first exemplary embodiment of dhis "vo-parà fc?rce generation limiter takes the fortia of a circuit ira which only tag-ic or a few of tl~e cells in the power supply are conraected, tta ttac; r-tatator drrrirlg tl-ae first part of the stapIirac,.`c,rrtti.rxg; st.r=c*e arad, in the s~corad part of the staplingp`eut-tir-ag.
l0 stroke, r-txog[ or a11 of the cell.s M the power supply are c:a.araraectc;(l to the rraotor A f-irst s;xentp.larA=
form of :~uc}a a circuit is ilirastrated in:FiC}, 334. lÃ-a this first embodiraient, whera the s'WItch 1100 is in tlie "A'"' position, the motor staplirlg motor 21 1.0) is cYzily powered Avit}r one pcaNN.er cell 602 (of a laossi~ale t:oua~ ir~. t}ais exemplary er~.al~cadir~aerat). (=~c~l~~e~~e.r, when tl~e s~~;-itela l 100 is i:r7 t}ae "B,.
pasitiunY the, motor is powered with all four of the cells 602 of'dhe paNver supPly 600, thereby iracrealsino~ the ~7.iia~~triit of force t}ar~t. cari be sra}~plietl to the k~lta~le l.ft(~t~. Control I't.hr; s"l7tc}a 1 100 between the A and B positions can oectrr by pQsit-ioning a second switcli soinewherc along t}ae blad e control assenab:lv car along ttie sled 102, the second switc}a seriding a sigraal to a controller after the wings 1065 1iave passed the edge 103 51, It is noted that this first embodiment of the ccazitrcal circuit is on.l~ exemplary aiYd any similarlv peafsarminu, assembly c>aal prc:xvide the lock-out protection fc:xr the '?U device, see, for exaiiiple, the srwcozid exemplaa-y eml~odimrwiit i1ltasta~.ted ira I~:IG. 36.
A first exemplary forsii of a. fonlard and reverse motor cor-itrol circuit is illustrated in, F1G.
_aS. '1'}a.is first eNernplary embodiment Lrses a rlotifale-t.larow, double pole switch 12200. 'I'lae sw:itc}a.
12200is raor.tnally spring-biased toacent:erposititata in which both pEale:
are off. T}aernotorX!1.
illustrated can, fc3r c;xaaraple, represcrat the stapling raic}tor 210 O.f tlle prese;Dt ir~~~entioaa. A;; c'aia be 2.5 seeÃi, the power-on switch 1210 must be closed to turn cYzi the clevice.
Of cor.irse, tlias switch is ol-itioraal. Wtieri a fcarwavd ari~veraient of tlic raicatcar M is desired, the switcti 1200 Ãs' placed in the rig}at position as viewed in FIG. 35, iz~ ~vlaic}a power is sÃapplied to the motor to rtira the motor in a first directiora, defiraetl as the fii:}nvar'd tfireci7c3ra lierc; because the "4-" of the; battery is connected to the "~-" of the motor M. In this for~~~ard switching position> the motor M can power the blade }060 30 iri. wt distal direction. Plaueraient of an appropriate scri.sor or switch to indicate t}ac forward-most desired position oi'tfa.e blade 1.060 or the sled 10" cara be used to coaitrol aforward travel liraiit switch 12)20 that interrupts t.~aciwor strpply to tlat; r~iiotoi.- N1 aracl prevents furtl-is;r f-o:rwartl travel, at, least, as long as dhe switch 1220 reml.ins apc.n. Circuitry cati be programmed to riever allow this switch 1?~?0 to close and coanfalete the circuit or to ~.1rily allow resettitig of the switcE1 1220 wlieri a nevv- staple cartrid;ye, for example, is loaded.
Wbe:r7 a:r~everse movement at`tf7e rncrtcrr M is cic:s:ireci., the switcfr 120[3 is placed irr the (eft position as viewed in :f~IG. :3 ) -5. in whic:lx power is supplied to the motor to rurx the anotor in a se:coracf dsrection, defined as the reverse dirc;c;tiori here because the :<-,of ttic battery is colir-iectecl to the of the motc?r ~~:t. In this reverse stivitching position, the motc?r N-:t cari potiver the blade 1060 in a fsrtaxi.nial direction. Placement o.f arr appropriate sensor or switch to indicate the rearwartf-nitrst desired position oi'tEte blade 1060 or the sled 10 " cati be used to control a rearward travel li.rnit l f3 switch 12330 t}rat ir~itcrrtapt:s power strpply to the i-rtoto.r N1:
arrcf f.~sreveg-it:s further rearivarcf t:ravel, at least as laiig as tlie switch 12-3 0 ret~i ains c?pen . it is noted that ot}i er switches (iridit:.ated with dotted arrows.) cati be provided in the circuit to selectively prevent movement in eitlier direction independent of the EÃ.rnit s~Yltcf7es 1:21.0, 1230.
It is noted that the motor can power the gear train with a significant arnt.~trnt uf'force, which translates iaito a l7ig17 rotational inert.ia. Assttc;h, wbt;n tariy :rvv-itchn7enlioned lvidh respect to E-"IGS, 34 arlcl 3 5 is trseci to tt.irn t.~ff the riiotQr, t.lie gears may not ixrst stop. Instead, the rotatit.~tiaf irz ert.ia corrtÃ:r7t~es, to fsropc:l, t`or ea:aritple, tlic racla 217111 the direction it was traveling wf7cti power to the niotor was terminated. Strtth movement cati be disadvantageous for many reasons. By configuring the power stapp:ly aalr.l motor appropriately, a c:irt:.tait c;ar-i be formed to substantially cliniir-iate sLrt:h '?U post-termination mc?veiraertt, tlierebv givirtg,the user more control over actuation.
FIG. 36 illustrates an excmplar~= embodiment where the motor (fc)r exar-nple, stapling motor.
210} is arrested from ftirtEter rotation wEteri forward or reverse corttrol is terminated. F1G'. 36 also illtas-[ratc;s altt;riiativs; cr~iiba.rtlir~iicrit: of [tic f-b:ra4~ard./rs;o=crse c:otttrol aixti of tl-is; rr-Iarlt:i-:t.agc; power sttpply. The cirt.trit of f'iG, 36 ki~rs a motor arr~::~t sttb-t:~ir~:trit~
utilizing a sl~c~r`t-~c;irt:.tri~t property of ai~.
2.5 electrical motor. Mcrre specifÃcalty, the electrical znotor,%-l is placed into a short-circtrià so that an electrically generated magrret.:ic fic:ld :is created i.rr oppctsitio:r7 to the fserrr7rttietit magnetic field, thus slowÃrxu the still-spinning Motor at a rate that substantially prevents inertia-induced over-stroke. To explain kiow the circuit of f'lG. 36 caii brake the ruc3t.orM, tari explanation o.f`the for-wtardrreve;r-;;e switch 1300 is provided. As can be seen, the forward re,versc switch 1300 has three positions,.jtÃst.
30 lif<;c; the switifl 120(l of FIG. 35. When. placed in the right position, the nlotor l1'E is actuated in a, k(ar-ward rotation cf:irectioti. W}ierl placed in t(-rrv lefl fx}sitiorl, ttle nlotc}r N4 is actuated irt a. rea."vard rotation direc't.iozi. Wtreti the switch 1 i0t? iw ntrt acttrats;d --- as showri in F1:G. 36 - the nit.rtorM is short circuiteci. This short circuit is Ã.liagrammat.icallv illtrstrateÃ.l by the upper portion of the switch 1300. lt is Ãioteci that the sN.Otcl7ia~g processes in a l;ar=akirig switcli is desired to take place in a titne-del~~~ed manner, which is also referred to as a break-before-make s~oritchino c(zifiigura:tioÃa. When swite}iirig crver.f.rom operating ttie niotorM to braking tfre ariotor 'Lf., the dor.rble-lacrle., double tfrr~w 5 portion ofthe forwarcli're:ve:rse svvitch 1:3 )00 is opened before the riic?tor short circuit is etfecÃed.
Conversely, when switching over frcxm lariaking the motor M to operating the niotorM, th~,~ short 6rcr.rià is operaed before the stiOtch 1300 eari car:rse tiiotor actuation.
Therefore, in operati:ori, tiOen the arser releases the a-way s-witcfi .1300 #royri either ifie:fbrat~artl or reverse posititrrrs_ tfic; mtator'NM is short-circuited arid brakes quickly.
10 Otlxc;r f:eattrrc;s of tl-is; c:iretr.it iri f:'t.G. 36 have fic;err explained a4-it.1i regard to f=t.G.. 35. For exairalale, ari on/off switcti 1'z 10 is prov'ided. Also preseiit is the power:lock-out switcti 11U0 t;(iat only powers the motor with cYzie power cell 602' izi agiverr portiori of the actuation (wliiela can occur at the begirrriirig or at ritiy otlier desired part o.f'ttie st.roke.) arici powers. tIre.inotor M witIr all of the power cells 602. (hcre., for e:\arnt.~lc, six power cells) in another partion of the. a.cttaatian.
15 A. r7evv- feature of the r-everse and forward limit switches 1>'~'C3, 1:330 preve;nts any t:trrtlrer ft.~r =ard nzoN=ement of t.lic. motor M: after the for =ard limit swiÃcli 1 320 is actLÃ.ated. Wlien this limit is reacl~ed, ttie .fb.r4.~,arc1(:irrrit. switeli 1320 is actuated and the switch moves to the second positiori. In this state, zio power cati get to the znotor for forward movement:but power can be delivered to the niotc~r for reverse nic~v~.'r~lealt. The forward Iiniit switch c:aiY be programmed to toggle or be ao:tie-'?U time trse for a given staple cartridge. :More specifically, tlie switch l3 )'?U wi11 remairi in the second positior-i u.n.tsl a reset occr,irs by replacing the staple cu-tticig~,~ with ia liew or-ie. Thus, trntil the replacement occurs, the moto.Ã= M cari or-rly be powered in the reverse direction. tf the switch is merely a toggle, theti power cari be restored for adtlit.iorial further rnovemt;nt only wherr the movearicrtt kias retreated the part takvay fromactuatir7g the sv~r7tch 1-3~20=
2z; "f he reverse liÃnit switch 13 30 carr be ~-orr~gurecl similar1y.When the reverse limit is reacheci., the sNvitcfr 1~:~[3 to the secarici pos:it-icrri ar7d stays ttiere until a reset oeciars. lt is noted that, in this position, the anotor !~'l is in a short-cÃrcuit, which prevents motor movement in either tiir`ec;tioai. With strch a configuration, the operation of the stapler cai7 be lir-iiiictl to a single stroke ut.~ to the forward lir-nit and a sirigl~~, retreat up to the rear lir-nit. Wheii both have ucc:trrred, the 30 motor N-1. is disabled until the two switclses 1320 are reset.
Refrv.r=ring riow to t(-rrv figures of the drawirigs in detail arld tirst, particulariv tc}FIfr$S. 3 7 to 40 tlteretrl, [tiers; is sfxoav-Ãr aii. exemplary embtrtliment a.rl an electric strrgical cls;vic.e 1.000 ac:t;trrtlin` to the inventioti. whic.hY in Ãhis cmbocl.imeriÃ, is an clcctric sr,Ã.rgic.al linc.ar stapler. F 1G. 37 shows the left side of the device 1000 with the liaridle's otater skiell 1.001 atici 1002 rern~.1verl. Similarly, F:1G. 39 shows the right side of the device 1000 ANritfa the handle's outer s}ie11 removed. The tAvo faalves of the outer slicll 1001 and 1()(}2 are orilv shown ir-i Itl:(_i-4. 63 to 66 to zillow tor c(~~~- vi~wi.rw of tlic ir'iterÃia:l asseariblies. Also not shown M t1icse and the subse:cfr:re:nt figures is the encl effec.tor. An e:xe:mp1ar-y ~,~mbociiment of a linear stapliiig end effector is described in detail in the farni1y ofco-c 1,ried ianc1 co-pending patent applications iiic.ltrdiitg U.S. :l'rc?vi.sioziil :l'atezit Application No. 60/702,643) falecf f>rrly 26, 2[)05. 601760,000 fi.letl 1ar~iarary~ .18, 2006_ aiici 6[1;811,950 filed June 8, 2006. ar-itl U.S. Patent Appl:ic.at.i~~~~ Serial No. 11 r'491,626 fi1ed July 24, "(l(#ti, 1 l;'54U,'?55 atirl 1 1 r S=t l,1(l5 both filed l f3 Ss;ptc;rlil:ser 29, 2t?06e aixti 11.11'844e406 filed Atigust 24, 2007 The er:itirs; disclosure of this tamily- of applications is hereby incc?rporatedberein by. reference in its entirety.
Fl(j. 38 sliows the mechanical assenibly of the device 1000 with the left-side fraanes 1 f31 U
r=-err:7oved. :IaIC. 40, in compariso:r7, s}iows the niec17an:ica( assenibly batfi the left- ar7d raglit-s:icfe frames 10 10, 1020 rcmuve.d.
1:'IG. 37 sbcnvs the gear cover plate 1 10-5, t$Erider wliich are the first-, sec;c3iid-, ariei third-sAage <orea.rs l 110, 1 ]~t, 113t3 of the iiiotQr tratzsinission asseiiibly. Also appearitio in I~-1G. 37 is tlie etzd efTector c(osragasser'rrbly 1400. This er'icl e.f'.fedar closing assembly 1400 will be exfsla:irlc:cl in greater detail witli regard to f~:1GS. 59 to 60.
FIGS. 3 zt to 38 also shoc~~ the electric poNver iind power control assemblies. The electric '?U power assembly 1500 in this exemplary eiiibc?t1.iineÃ-at is a remov-able battery pack coziÃaiÃ-ai~ig olle or mcrre. batteries 15 1 O. As set foilh above, one ex~,'mplar)` podver strppllv is a series coiiriecticrr-i of between four and siN C R 12 3 (ar CR ~" power cells. >ilerc, there are six.
f?atte.rics 15 10. Orie of these batteries 15 l[la, ttie or-is; or:i tl-is; trpper left M. FIG. 337, is placed in ari. electrically tiiwconnectabl:e c ai.fi~~iratyc3ii so that power caD be ;;t.rpplicti selectively to the motor 1520 tkirotagfi eitlier the single 2 ; battery, 1.510a or the entire set of six batteries 1510, This is beziet=acia.1 in afiplicatioris wliere oÃily a saiial( art7oiar-tt of power is r=tecded or w17e:re, tirll torque is desired to be laro}tibitecf. +C)iie stic;l7 proliifaitÃfgti is mentioned above with r~garc1 to ~~oving the staple slec1 or bliide past the lockaout. The eXefflpl~7.ry circ;tait c3Tt14 COMIe;cts t.hi;; onecell 1510at t.hemotc3r the staf.~1ing.:'ctiattins; strakc. ~~id, in the sr;:c:otici part of the stap11ns;:/cr.rtÃing stroke, all of the cr;:lls 15 10, 30 15 1 Oa in tfsc power supply arc; conr~recteci to tfsc motor 1520, S c;e FIG. 34.
`I'he power supply control assenilaly 1600 in t(ie exempl<~i-y embodimetit takes the form of a rocker switch 1610. lti ons; actuatetl direction oftfic rocker switch 1610, the motor 152[) is catrss;ti to rotate in a first tl.irc:.ctian, ft.ar example, forward, and in the other actuated direction of the rocker s-%vitcb 1.610, the taintor 1520 is caused t~.1 rotate in aaa opposite sec~.-ariti direction, for exai7aple, reverse.
The electrically powered drive train in tfae exemplary ernbcaclime:r7t is rised to operate carae fe:~rtureofalirxca.r c.utte:ri`st~rl3ler. Here, the drive train is being used toactiiate the stap1Ãrx&'cuttiz~~.õ
f~,~ature. To do this, the drive train is connected tca a linear actuator 1700, which, in the present erail3c?diraieÃ-at, is in the fortii of a toot(irwd rack t}aat translates distally. azid proximally aloÃ-ag a rack guide 1.7~"'t). As slaoat--Ãa F1Ci. 334, the rack 1.700 is in a relativelv faroxinial position. To minimize the size o:f ttle sfaell 100 1, 1002 a:t the proxitrial end (right side of F1G. 383, the rack 1700 has a pivoting ptartioii. 1.: 10 that pivots freely- i.ta tlac; downward direc:tiEaii (as v:ie-,vc;tl in F1G 14) w}aea~i the pivoting p(artioÃ-a 1710 is raot contained'Wltbin the rack ga:ride 17~'C3. As the rack 1700 raic?ves distally (to the left in FIG. 38), the bottom of the pivritizig pcartiott 1710 contacts the prnxinial erld of the rack 4;uide 1.720 wad is caused to }aivcrt. upward to a positacara that Ãs sr.rbstaratially coaxial wÃtla the rc:~mainder of th~~, rack 1700 due to the shape of the rack gt.tid~~, 17220.
The proximal end of the rack gt$Eide 1720 is seen ira FIG. 41 .
-f he t.eeÃ11 1702 of the rack 1700 are shaped to interact witli a firial stage of t.lic drive train in a rack.r a,rad,-fsinican configuration. While var:iorrs.featr.rres of the drive train are visible in virtually all of FIGS. 37 tc? ~Ã7z the explanation of the drive train is easily seen with particular reference to FIGS. 43 and 46. It is noted laer~.~ that some o.fthe trar-ismissic.xrl stages shsan ir7 in,~n~' of the tis~ttres have no '?U teeth, This is t~ecau se the gears are iraere:lv diagranatn atic representatic?ras of a paa-ticular exctii pl~~, embodiment. Thus, the lack of teeth, or ~,~~,,en the r-it.rÃaiber or size of teeth present, shoa,lld not be takera as l:irYaitirac, or fixed. Additionally, raiany of the gears illustrated are slamvra with a. ceratraJ l.?ancl located iii.si:cle tfae tect:li.. T}ai. band s}aorrld taot be cEar~isi(lerecl as part of tlae d.evicc 1000 and is, merely, a linailati aa ol"the; soft-.wr7.re; tased to create the f`igrur-es ol"the; insttant application.
?.~ "f he explanation of the drive train starts faon-i the znotor 1520, An otÃtptÃt {~ear 15222, of the rncator 1520:is ccararaect:ed to the frrst, seccaricl, araci tliird stages l 110, 1 t20, 1.1 10 of tfae t-rarasrnissicaai.
The thircl sta(ye t 11310 is c:fgulaled to tlao final par present on the left side of the device 1000. This c raple is difficult to vievv- in all oftliefigrar-es because of its inter-ior location. :ItICi-S. 5-5 to 56, however, show the currplirig of the, third Aage 1 13 )0 to the furrrth stage, cross-over gear 1140. As 30 mentioned afiore, the cnatpGat of trac t}aircl stagt. 1130 is only diagransmatsc:ally illGastratetl -- wts a cv lirader without t:eetl-a. +t`'ontirauirac, to refer to F 1CJ. 46, tl-arv cross-over (,rvar 1140 is rotati(araallv cotaplecl to afotart:h stage s}aaft 1 14-1, which slaaf[ 1142 cr=owses over-t:he rac;k 1700:f=rorra [1-ic l:eit: siclc;
of Ãhe devic:c~, 1000 to the, ris;ht side.. Thc~, rigllt siclc~, of t.he shaft 1142. is not. clirec:tly c~.~trplcd irl a rotational manner to aaiy o1: the gears on the right sieie, ltisteati, it rotates irisieie a shaft bearing 11.44 that fits irisicle a corresponding pocket within the ti;yht side frame 1 U210, wliiefa frame 1020 is rer-t7oved fro.rn ttic view at _H('r. 46 t.t) allow vÃ~wi:r7g, of ttic right side drive trairi.
A c:astle -ear 1146 (shcn.vn by itself in FICs. 5:3)) is positione:c1on the cross-over shaft 11422 to be rotationally fixed th~,'rec\.-ith but longitudinally translatable thercoli.
To perniit such a c:onnectioii, the shaft 1.142 has a nort-il lustra.ted interior slot irt tiOiicll-a is disposed a rt(yn-illustraterl pira that passes through tat~~~ olsposi~~~ ports 1.1.462 o#'ttre castle gear 1146. Bytixc;clly securing the piii to tlic; castle gea,r 1.146, r(atatic}ri of the shatt 1142 ,wil1 cause a cor=rrvspwiding rotation ok the castlc g;rvar 1146 wliilc; still allowing ttic castle gear 1.146 to freely translate along ttic longitudinal axis of the shaft 1142, at lea.st to tlie exteri t of the siot irt t}i e shatt 1142 . As caÃ-a be seen in 1~:IG. 46; the t-iglit-side castella:tioÃas 11464 of the castle gear 1146 are shaped to tit between cnrresporidin y cast:ellatioÃa slots 11482 on the left-side of a7 fou.rtli stage pinion 1148, wliich is illustrated by :itsc:lt':irr FIG. 54 Be.cause the castle gear 1146 is rc~,Eltrirc.cl. to maÃc~, securely Nvit.h the fourth stage t.~iiiiaii 11481, a right-side bia:ririo~ #i.}rc;e; F is ri~:c;c-:t~l. To :~tr~~~~l~Y t.l~.is l~itis, a non-illustrated c;c3rt1l~r~::rsit~~~ spri~~_9, t0r exa.mple, can be provided to have one eiid contact the rioht 1'a:cc o1'the cross-over oca.r -1 1=1Ã:t and tlie ottier opposing errrl cotitact ttic left face at`a. central t'lwrge 11468, w}iicli prc~~ects ra7dÃally awa.~., troni the outer cylindrical surface tif the castle gear 1146. ('f"his flange 11,468 ANri11 be described iÃa Ãxiore detail beloNv with respect to tlYo niaalttal release feature s.at'the c:levic~.~ 1 t30t?. ).Any other similarly '?U tuticti(yning bias device can be used irastead of the exempla.a-y spring.
Sr.rel-a acoratigr:aratiozi allows the castle gear 1 146 to be selectively rotationa11~ cn~;a~;cfl c\ith the fourth sta~sc pinion 1148. More specifically, wheri the castle gear I 146 is not acted upon by a.rlv force other than t(irv force F of the bias tlea,icc;, the castellatior-is 11464 wil]. be mated with the castellatior~i slot:s 1 1482 and arrv rotation ~~f the shaft 1142 will cause aC(.)r-r`esl~~iidiii<~ rot,cr,tiori of tlie.fotrrtb stage pinion 11.48. 1-ic3wever`, 2 5, when afcrrce opposing aÃid overcoming the bias :I~- is applied, the castellatioris 1.1464 exit the ca:stellat:ion slots 11 482 aricl a:r7v rotation of ttic sha.it 1142) tias rio e.ft~cl on ttie foiart:lr stage pinion l 14& It is this selective engagement that allows a maraÃral release to oc.cr:rr. Before sÃrcl=a release is explained, the riglit side dr-ive traiii is described.
T h e , ft.rt.trth sÃas;e piriiori 1148 is directly engaged with a fifth SÃa.s;c. -1 1_5t3 of the clrive train, 30 wl) ic:}r has a. tiitli stage s}raf:t 1152, a 1-if-tls stage ir~ptrt gc;ar 1154 rotatiorrallv tixed to the frfth :t:ag c;
shaft 115 2, and a fi ktlr stacFe piniori 115 6, also rotatiorlallv tixetl to t(irv fij ftli stage sli al't 115 ?. Th e tes;tlx of the fitt.li. stage pinioii 1.1 56 are d.irec.tly coupled to the tot;tlr 1702 of the rack 1700 Th ras, aii.or rotatiaii of Ãhe fifth stas;e inpt.tà gear 1154 car.rsc~,s a corresponding rotation of the fifth stage pinion aiitf a l~~igitudinal movement of the rack 1700, As viewed in the etiernplai)' er-iibotfjr-i7eait of :ItIG. 46, a clockwise rotation of the fifth stage input gear 1154 causes a proxiznally directed riioveixient tif the rack. 1700 (retract) arid a coianter-ciocl:wise rotatÃo:r7 of t1ic fiftfi stage input gc:ar- 1154 causes a ctistallN cfirecte:cf mca~~~rrient of the rack 1700 (c:xtenÃi.l_ Based upon ttc abov~.~ connection of the five stages of the drive train, rotation of the motor shaft in oÃ-ae direction will ca>rase a 1ortg-iÃudina1movement of the rack 1700, buà (Yiily when t;(ic castle (wa:r 11.46 is r:ngagr:d with tl-ir: fourth stage pinion 1148, Wtrer~i the cast.le gear 1146 is not. en~~getl with the fourth stage piri ion 1148, rotation oi'the niotor (las no effect (ati t(ie rack 1700. It is in this l0 Lr:ticotrplc;cf state of the gears 1146, '1 1.48 that ar~~ianual release of tl-ic rack 1700 bccoziles possible.
In cYperation of the device 1 U00, the rack 1700 znoves distally (extends) to actuate some part 1700 moves distally, the sled (carrying thc~, stapling acÃt.tatar arici c:uttiiig blade) that c:atrsc.s both stapling and cutt.iD
g to occur is r~ioirl distally to c..ftec.t both sttiplingancf cuttii7g.
Because the tissue placed betweer1ÃIze jaws oftlie etici ctTcctor is cfifferent in vii-tually every swgic.al procedLÃ.re, a P}lysÃciari car=itiot ar7ticipate tiyrr~s w}ier=i the sled will b~ jam.inc:ci or str,rcl;.fo.r ar=iv reason. l:ria.
jaÃximed ca.se, the sled will zieed tobe retracted distally without trse of the ziititor. "f here also exists the possibility of a poNver loss or the possibility that the motor fails in a catastrophic fa;rhior7 ?U rezideriiig the output shaft fixed. if this c?ectirred wlien the sled tivas in adisÃa1 position, t;hejativs of the elicl cffec.tor %roulc1be held shtrt oti the tissue therebetweeii ar-icl, c;onseÃlu.ciitly, the sled would have to't~e moved proNimally 'befo~re thejaws could be of~~~~ed arir:l the tissue could be released. :l.ri :uc;li. a case, the rack 1700 will r:ic;ecl to be retracted clistal.ly without use of the motor.. To c;f Fect this desired f-m7ction, the iiiveiitiori is pr' vitie(l witha r~~antial release assen-ibly 1800.
2z; fn eacli of FfGS. 37 to 44. 55, 59 to 62, the manual release lever 18 1.0 is in the un-actuated (e.g., ciowri) }aositic~ii. :l:rr FIGS. 45 ar7d 57., the rna:r7ua1 re:lc:asc:1c:vc:r 1810 is:in ari interr-necfiate position. A~icl, iail"lCsS. 46, 47, 56, arici 58, tlxeniazi>ria1 releiiseIever 1810is apprÃ)ximatelyinafLÃ11y actuated (e.g., trp) posityc3Tt.
When Ãhc~, n~~iwal release lever 1810 is in the tÃ.naa.c.ttaated position, as can be sr;:cii in FIG. 44, 30 the c>as'tlc; ocar 1146 is t.r~~.~agt..d with the fourth st~~.~e Piniorl 1148, T11trsK any rotation of the oLrtpLrt gear 1.522 of the mc}kar 15 20 causes movement of the rack 1700. '1'fie fourtli stage piii.ioti 1148 is ri(at ozi'ly tlrrectl.y Conn.cc:tetl to t.1ic fÃftl-i st:agt; iii put: gear 1154, h ows;o c:r. It i: also directly conncc:tetl to a first scage re.lease gear 1820, which, in turn, is dir~~,e.tly cunncctc.d to asccond stage re.lc.a.se gear 183Ã3. "I'17rÃs, any rotatinri c1t the tour-tla stage pjaii~.1Ãr. 1 l48 necessa.rilv caLÃses a rotation of the secnrid stkge release par 1830 (the direction of which being dependent upon the ziutriber of gears therebetween). l:f the axle crt`th:is gear 1S' W was directly connected to the manual release lever- t810., 5 the lever 1810 would rotate eve:ry time the tourtli stage pi rxic?rx 11.48 rc?tateÃi. And, if the fourth stage pinion 1148 rotated more than one revolution, the 1over '1 81.t3 cot.tlcl possibly be caused to rotate t}irougl-a a fr.rll 360 degree revolution. As expected, this does not occur dire to t(ic presence ofi a. oÃ-ae-wav gear asscnrb.ly coupling drerr:rarrrral release lever 1.8 10 to the sc;ctarrcl stage release gear 1830 (see explanation of E{iG. 48 below). It: is noted that the first stage release gear 1820 has a tootlicd shat=t 10 1822 extentlinc, coaxially therefrom. This toa.rths;d shaft 1822 is dircc:tlor ccrtrp.letl t:o ari irxti.icat:trr tivhee1 1840. As caii be seen (Yri tl~e right surface of tl~e wheel 1.840, there is a cr.rrved shape linearly expanding abcrtÃt the axis of the wheel 1840 arid havirig a diffierettt ccrl(yr troni the remainder rif the srrr1'ace. When ccrLrpled wit.l7 ttre window 1004 present ori clrc: right side s}iel( 1 Ct0" (see FIGS. 64 to 65), the colored shape becor-nc.s mUre arid mure:~ visible in a linear manner -- corresponding t.c) a linear 15 distance of the rack 1700 tr-aveled.{i~om the frrlly pro:sirtial (c.g_ retracted) PO:rit.iOrr=
-f he ~.~tie-d~~ay ~~car assembly couplirrg the manual relea.se lever 18 10 to tlie second stage release gear 1830 is shown in F1:G. 48. This as-searibly Ãs.forr-r7ed by providing a ratchet gear 1850 ceÃiterecl at a pivot point of the lever 1810 arid extending arr ax1e 1852 of the ratchet ;year 1850 into and through a c:caltcr bor~.~ 1832 of th~.~ ;~ecor-icl sta~se release gear 1930. Witll the axle 1852 fixed to '?U the bore 1.832 of the second stage release gear 1830 in this way, any rotatic?ri of tlie second stage rel~,~as~.~ gear 1830 causes a corr~,~spoaiclirig rotation of the ratchet gear 'l.8i0. But, merely having this ratchet cFear 1850 rotate with the second sta gc release g;rvar 1830 does rlc}t,by rtseli; assist w it(-r a mar~iaral rels;a:s; crl'tlic rack 1700 w}rer~i ttre irrtrtor 152)0 is rrcrt ptrwerint~ the tlrive traill..
To create the aruaritral release 1='rearc;tion, tivo rr-iantaal releasing itc.aris are prese;rrt, `1`1ie first iter7i 2 5, is a device that uÃicouples the right side gear train troni the left side gear train and niotor. This preverrts- the rr7ar7rral release trcrrn having to overcoarie the resis-tarr.ce at"fered by both t(r.c rrratcrr 1520 aÃac1 tl~~ ~.õears of the left side train when the manual release is actuated.
The uncoupling occÃrrs when the castle getir` I l46 separates I~rom the fourth sUage pir7ior7 1148, To catrse t.lii;; t$Eiicotapliarg, a can7 plate 1860 is disposed between dhe ratchet gear 1850 arici the second ster.ge re:leas~~, gear 18;3$0 and is 30 rotationally fixed to the axle 1852). The uarti platt. 1860 is slrowtr by itself in F1G 52. The uarti plate 1860 is proz ided witlx a .Ã=azrll~ed cam srrri=ace 1862 that is 1x}si6caried to irrte.Ã=act wit:lr the ceritral flat~ge 11468 of the c.astle gear 1146, ltit~~,ractic.~i`t of the cam plate 1860 with tlle cctitral flange, 11468 cati be seeri in the prt.1gressio~ti o1:F:1G4. 44 to 47 ai7c1 in FIGS.
57 to 58.
ln FIG. 44, the manual release lever 1810 is in ati unactuated pnsit:iotlz Nvhich means tha:t it is desired to tiave the castle gc:ar 1146 rotationally coupled witli the f-orr:rtli stage pinion 11 48 In t:lri~
way', any rotation of the niotor 1520 will be translated into a rotation o1'the fourth stage piraiora 1148 iov~.'ment of therack 1.7t70. tnFlGS. 45to47 and 57 tct 58, the manual release lever 1810 is and a n in one of a fiew actuated positiorts, each of wI-aicli is i 11ttstrated as beirag suffi cierl t to rotate t;(ic catii plate 1460 to have the ramped c.;ai-rt surface 1862 cotitact tl-ir: central flaiige 1'1468 o1't:hc ca,gils~ gear 1146 atid force the castle gear 1.146 towards the left side sufficient to separate the castellations 1 1464tirom the castellation slots 1.1482 of the #iiurtl-i stage pin.ion. 1.
148. In. this 1.~sositiEtt~i, [lic castlc gear 1146 is t-oÃatiortallv t.tncoupled from the fourth stage piniozi 1148 , Th Us, atiy t-oÃatiot-a of the tnotor 15~0 (or the gears ~~f tl~e left side train) will be entirely independent trnzn tlie right side (;eat tra.irt., tltrrs. preventing any ari~vc:rrtertt of the rack 1700 brised upon rotation of the ariotar .1 520 After the rig it side gear traiti bec:ome rotatiotia.lly independent from the right side motor atid gear tt-airi, to 1ir7.re a marirta7 nac1: release fiiancti r7, the rack 1700 rieecls to be tiiove;d in the promrrial direction. 'I'Q supply this movement, a secotzd of the two a~ove-menti~.~t~ed manttal releasing itetiis is provaclecl. 't'.Iris second itetn interacts x.~,ith the teeth 1.812 of tfte ratchet gear 185(} so tliat a counter-clockwise rotation tif the tnanua.l release lever l.Sl0 (when vieNved t:rotn the right side of the device '1000) att.tscs the ratchet gear 1850 to spin in a comYter-cls.ackw:isc direction - this direction is desired '?U in t;(ic i11ustra.ted embodiment becat:tse such rotation causes a c1oektivise t-otatiora of the fifth stage pitiioti l.1i6 -- a rotation that c..orrc;spctt-icls to proximal movcsii~.'nt ( e.g.. retriac:tioti.) of the nat:k 1700.
'1'o c.oritrol the ratchet cFt~-a:r 1850 witfr this couriter-.c.lockwise lever 1810 movt~-.tnerrt, the iriverrtioti provitiow a ratchet pawl 1870 tl-iat is rotatably titotttited Ett~i a, locking boss 18 14 of the Icver 18 1Ø
I'17is configuration is best illustrated iri ItICi-. 48. A tic3ri-illta;;t.rate(l leaf spring is secured in a spring 2 5, channel 1816 tif the lever 1810 to bias the paAvl 1870 in a direction D
towards the ratchet gear 18 50.
It is rioted that .if the pawl 1870 x.~,rere not restrained irt same wa.y, ftowever., the pawl 1.870 woLtld alz~~avs contact tlio teeth 1.852 of the ratchet gear 1850 iincl prevent any clockwise rotation of the gear 1850 --- wliicli occurs in the present er'llbc3tlir-Ilc.Dt WlICr7 the castle gear 11.46 arid the fourth stage pinion 1 148 are engaged with ~.~n~~, atiother (see, i.e., 1`10, 44) and rotate tcs-,;ethe;r. To prc.vcnt this 30 condition, as :howsi in FIGS. 44 and 5 5, the cli.st;:tl erlc1 of thc;
paw1. 1870 has a wiciertetl portion 187' that extericls out from the pawl cavity 1S 18 towards t(-trv secc}ticl stage .Ã=elease gear 18:' W Witli t(-trv pre:c:tice of a secctrtd carii plate 1.840 betweert the st;cortcl sta;~~:
release gear .1t :30 aiiti the c~tr~t. plate 1870, a pawl cam 1882 can be positioned to contact the bottom stiarfac.,e of dhe widened portit.tri 1872 arid retaiti the pa-%vl 1870 in the pawl ea.vih, 1818 (by providing a force M
a directi:ori npfacrsi te to direction D and agyaimst bias of the leaf spring) when the lever 18 10 is in a faonie or trnacttrated pos:it-icrri. `l'his. t::ozitact bet4.~,eea the pawl l.870 arici the pawl caari 18821 is sti~wn:irr 1 ft_i=4. 44 arici 55.
Thirs, wherl the lever 1810 is not actuatccl, the pawl 1870 has no contact with the te:ctli 185-2 of the ratchet gear 1850. In contrast, c\.-bcn the niar-it.tal release has rotated past a positicrr-i sufficient to separate the ratchet gear 1850 from the fourth stage pinion l 1.48, tlie bottom surface of tlie pawl 1870 iita longer ctarrtaets the pawl cai-ri '1 8S-2 of the non-rotating s'et;tag-itl carr-i pla[c 'l 8Stl arrcl iw, there:fbrrv, tirve to zrlc}vc in the cl:irectioti I] (c.~aused by t.hebiasir-t ; forr:,e of the Ieak sprirlg) to crigage l f3 the ttact.li 1.S52 of [l-is; ratchet (war 1850 wl-is;ii. rotatirig counter-clockwise. T.lius, wl-is;ii. rotating elock:wise, the pawl 18 70 ratchets a2uirtst tlie top st.rrffices of the teetli 18 After about fifteen degrees oftaavel of the lever 1.8 10, for eNazii ple, the pawl 18 70 zio 1oÃager is i:r7 contact X.Yith the pawl inart7 188:2 arici the ca7.stellat:ions. 11464 of the castle gear 1:146 ave rio longer c~,ngas;c:d with t.he c:asÃc~,llat.iun slots 1148~? of dhc~, fotÃ.t-th stage pinion 11 48, At this poitit, the:.
pawl 1870 is permitted to niorelovv'ards the axle 1852 aDd t:rigtiges or7t: of the teetb 1.852 of the ratchet gear 1850, Further cotrtztcr-c.loc.k-zvise n~oveÃnent of the lcver 1810 Ãt.trns the ratcliet ~~ar 1850 correspondingly, wIracft causes. a co.rresporrd:irrg ccrttriierr c:lot::l:-wise rotation of tfte second stage release gear 1830. fn tÃrmz rotation of the second stage release gear 1830 causes clockwise rotation ofthe first stage release gear 18270, c:s.aunter-clockNvise rotation of the .f'ourth stiige pinion '1 1.48; and '?U clockwise rotatiozi of tlie frft;(i stage input gear 1.154, respectively.
As indicated above, clockwise rotation of the tiftli stage inptÃt gear 1_ 1. 54 causes proxin-tal mo~,,enien.t of the rack 1700 -the desired directiorl of..rnovezrlerrt cluri.rx(, a mantial release of the end effectc}r feaÃuze r:.orirterrÃed to the rack 1.700. As tl-it; lever 1Slt) is released_ a rettr.rg-i bias 1890 forces the lever 181.0 back to its uriac[uatc;ci Position (see FIG. 44), wliich causes the pawl c;aiii 188-2 to rett.rr-ri the pawl 1870 to its trpper Position 2.5 in the pawl cavity 1818 wli ere it is disenokged from the teeth 18 5 2 tif the ratchet gear 18 50. lt i s rioted tliat contact between the pawl cam 1882 aricl the lower surf.tt.ce of tfte widened por-t--icrri 1872 is r1iatie sr-nooth by shaping the respective top front and top rear strrfaces of the pawl cam 1882 and bott ari frc3rit and b(ittor-ii rear surftac;e;s of the tividene;d portion f87~~?, lt is firr'thern t:}tt:d that th e; r`et.tarri bias 1890 is shown in F1GS. 46, 57, anÃ.l 58, for example, as a coil spring, otie end of which is 30 wrappc;cf arottrtcl a bolt secured to the lever 18 10 and the other opposing t;`rlcf beisig a shaft that is sectrred to a port:ion of the shell 1001, 10022, .illustratecl in E{ lt--js.
63w66. 'I'lie oppos:itig shaft of the COil st.~titig 1890 moves in the illustrations only clt.ie to the limitations of t.he drawing progran1. This t7icrvoanerrt does aiot nectrr in the rnventrcrt7.
As discussed above, one eNeÃxiptary etxibodiÃxient tif the end effector for the device 1000 of tlic prc:sezit invention includes a set of'jriws t:lrat close ciowyi ti}acrri tisstie disposed t:lreret~etweeri ar7d a stapler/cutter to secure together each of two sides of the tisstÃe as it is being c.ut. The maziual release described above car-i be ccrtipled to the stapler/cutter ar-icl the end effector e.l.osirng assembly 1400 can be coupled to the jaws to close the jaws together wheri actuated. :FiCtS. 59 to 60 i1lustrate orae exemplary cnrbod.inrerrt of the couple betweeti t1iejaw: arr(l the cr~itl e:ftectttr closing aswernbly 1400 Here, the cticl efTectoz cIosirii) assembly 1400 is comprisecf ol='-.a. haridlrv 14 10 liavirtg a lever support 1.4 12 artc1 pivoting about a handle pivot 141 4. Tl-is; lever sup1.~sort 1412 is pivotally ca.rrirtectc;c1 to a first end of a lirik 1421C3. A. second c?pposirag ezid of the link 1420 is pivotally connected to a. slidet-shatt 1430. 'I'lie end effector sliatt assembly 1900 Ã nrr=ltÃdes an outer sha4't 1910 and an inner shaft 19~~?Ø Ttie inrrc:r sIraf-t 1910 is l.ongitudirtally fixed to the fraÃnes 1.010, 1020 and to the lower jaw of the e.ntl ef'c.c:tor atid, therefore, is the, longitudinally fixed component of t.he ctid cffccÃt.tr. The otiatc.r shaft 1920 is c;oriiict:ted abt:}ut the irir7t:r- shaft 1910 aaid longitudinally translates tbe;t-c:on. The trpper jaw of the end effector pi-vt.,ts in relation to the lowet= jaw. -l"o catise t.1ie pivotitig, tlie outer shaft 1920 is- extended ti-orii a. proxinia7:l pos.it-icrri, s:lrow:r7 in :Eal:(_'s 59, to a. distal pos.it-iort, s:lrown in f, l:(_i. 60.
Because the outer shaft 1920 surrounds the inner shaft, a port:ion (for example, azi upper porti(Yzi) contacts the proxia-nal end of'tlle. open uppt.~r Jaw, which is at a l.~s.asitior-i proxia-nal of the trpper Jaw '?U pivot. As t}i e ot.rtet- sliaf't. 192~0 moves fiirrtll-aer distal, t;(ic u pper jaw cannot trar Iate distallv becat_rse of the fixed pivot pcrsitioti, bt.tt can rotate about that pivcrt.
A.ccordingly, the r,pper j.tw closes t.tpon the lowez. long.itrrtiirrally 1~~xed jaw. Sizr1p1v PLrt, and as caribe seert iti the pzog.ressic}n 1='f-c}tYt :1<IG. 59 to FIG. 60, wticg-i t-lrta handle 1410 is i-riovcti ttrwarciw the electric power assc;nibl~, .1500, the :liclc;r 1430 mov~:s in the I~.}r~~~ittrclit~~l clire;~ti~.}r~ .fi~t:}r~~ the ~~tc~xit~7~i1 position of 1:lt~. 59 to the distal pt}sitioii 2 ; ot Fl:G. 60_ 'I'1iis prior art jaw assertiblv is presezit on a linear stapler manufactured bv Ethicon Endo-4tirge:rv under tfte trade name f:ctieloa f:[W
ft is noted that this exemplary t:.orxt"Ãguration of'the ezicl effector shaft asset-nbly 1.900 is opposite to the end effector actuation S17OW-Ti inktar-IIi1N' of co-pending palerit applications Ttit;ntior7ed abovc., iticltÃding at.~plicatiati serial rla. 11/844.406, filc.tl. Augatst 24, 2.007. As showri in this 30 application in FIGS. 39 and 40, as the lowtarJjaw,`st:aplta uartrit~ge holder 1030 is translated in the prc}xin-tal cfirecti(ari over ~Fa1~ 103 1, the Lrpper ativi1 1[}20 is caused to pivot tlowr-twarcf becatrsrv the proximal rrppc.r edge of the tÃ.ppc~,r anvil 10210 is beirig pressed against dhe longiÃt.idirially fixed drtÃ.rn sl ee:ve 1040.
Various prior art linear staplers; suc,]=a as the Echelori EC:60 rneÃatioÃied above, tÃse the same erid effector wrd sl7rift. The.re.fore, it is desi:rrible to tiave ttiose priar art erid effector sfratt. asse.itrblies be able to fit inside the device 1000 of the preserit iÃaveÃaticarx. This is ac.corriplishe:d by contiguring the left and right side frames 1010, '1 C320 as sho%,n in FIGS. 61 to 62, tor ~,~\anrplc. The frarlies 1010, 1020 are formed wit}i (Yrie side (the upper side) (Ypen as shown in :FIE:F. 61 t:rt this configuration, t(ic lsrtaxi.m.al eg-itl of the inner shaft 1910 prior ari end eff:ect-or slraft awserr-iblor carr simply side M. laeiweerr respective tabs 10 12, 10-2 tolorrg.itudinallv li\ the inner sl-ratt: 19 10 (atrd, tfrr.rs, the eritirc asscrlibly) tfrerei nand t.ranwversek' #i x[l-is; inner shaft 1. 91 0 tfrerebetwecii. in all radial (firect:icxis i.x-cel.st l.-o:r [iic direction in which the izirier sliaft 1910 was inserted irito die olaertiÃii.), betweeri the frames 101 U, 1 C3'?~1.
To close offthis openizi;y, as1=aafà pltrg 1930 is secured bemreett the Ãabs 1012, 1 U2-1, for exa.znp1e, w:itti ri bolt, as shown M l"It_i=. 61. In another alternative embodi.rtrerrt, ttie shaft. plug 4930 can be entirely d.isrc:garcled by e.xteridirig the. distal ends of the left arid right frames 10 f{l, 102.0 and shaping tl7erri, M "a clarri-slrel1 desigrr, tO krc ~eCtrrcd tir- rrrrd the irrr7cr-sl7tift 1910 wlreri p1aced t ~;etlier.
-f he f~.~reggoir1gy descript-ior1 and acc~.~mpanying drawings illtÃst-r'ate the prirrc.iples, prefirreci embodiments aricl modes ofopera:tiorr o.fttie irrverrt-icrri.
:Mo:respc:citÃcally, the o.l-itirnized pm~,er supply, motor, aÃid drive Ãrairi according to the present ittvetttiori lia.s been described with respect to a surgical stapler. Ho%vver, tlle. inventic.xal should iYot be coristrtted as beialg limited to the particular '?U eriil3c?diriieÃ-ats diser:rssed ,,i13c?ve. Additional variati(ris of the emf~odimrwnts diseussed above wi 11 be appreciated by ttios~,~ skilled in the art as well as for iapplications, unrelated to surgical cf~,~~,,iccs, tllat require an advanced power or current orrtprrt:fr~r short -and li.r-nitrvrl durations with a power cell having a lirr-iitc;cf l.~sciwor or current crutput. As is slxoa4-Ãr and described, w}rer~i optirnized according to tixc;
present invention, a lin7itccl power supply car7 pr` ttrrce lil`trng, pushing, pulling, clratf<prn4.~, r-ctair7irrg, 2.5 and other kinds of forces sr.rtticiettt to move a substantial atxiouzià of ANrei;yht, fnr example, over 82k(;_ The abcrve,-described embodiments sliorrlci be regarcic:cl a.s illiastrat:ive rather than restrictive.
Accordingly, it shor.ilcf be appreciated thiit variations to tliosc earibcrdianerlts can be ziia:de by those skilled in the art witlrotrt departing from the scope of the invention as dcFIrred by the folloivirrg c:lair-ns.
`1'rogra:m -,v~ritÃen fcyr 3c boa:rd using the Cubloc 280 chipset ote : tl-ais program is a modified versioÃ-a of the oties zioted below. .1.11 c(ianges tioà related to the adcli[iog-i o.f [li~ E./R lirt-iit switcht s apply. The progqams below were wtittetx to deal wit1i the "gray Io,(gÃc." of the I cm switch. This ~ ~rsi~at7 tises `a limit sc\.-itch at either end of the extend/retract stage.
V6.20:FiÃ-aa1 Version of t:iray Logic program as t_aserl in prototype 0, serial ntiiiiber 100 X6.t}5 znodit=ied the extend to em I azid retract to czn i routines to make stire that when they are called that they move the motor until the cm switch is t;losed, ic: When the anvi.l is all the ivay out and the retract baittt:xal is pressed, retract the anvil unÃil the c:t-n limit switch is closed re.~ar~lless of ti~>hef(~er the retra.ct buttc~Ã-a is released befc?re the ~.tii s~~itcli is ~.lc?sed. Same change for whÃ~i-i tht,~ asivil is exteÃirled from the l cÃn posit:ion.
`niade cttartges to corrtmexiÃs :in the extend/retracÃ. rout-irtes V 6.02 'added loop requiring the release of both buttons to exit jog, rout:itte, azid a 1 secozid delay, at the eÃid of jog, subroutine before ":? `goiyig back to in in routine refiormat ed da:tadtimp labels 'added variables for tri4~;t1 and l~aN~~ speed pwm values 'added extend onlv caDalailitv at ~i-itl of conipletccl fire to preare:tit crushing stapled tisstie I~~T WCi~l:LKING- R~MO~TED added che.c.ks To ensure 1 cm switch Is made whc.ti e.xtetiditig Or retracti.rig.from tfte J. cm rl.nd.fu(ly extended pos:it-iolis respectÃve1y "V6M
`All prior versions NN.ere made fcyr ÃesÃÃng the prooraÃn on the Cubloc development board . A11 outputs were aullecl I.{~N.%,'. T17eaLi-ua1 device rt;clttirt:s all the otitptits to be pulled high (4-5V). This version is set-tap to niti oii the ac:tizal dcvit.;e.
:$:> `litiiited the va.lties of the EEPROM da.Ãa to `21r,:> tiia.x 'added delays be-t:ore c.hai7gt:s in iiiotor tliret:titat7, made prograr-ii rttn stl7ootller `reÃxioved pwziioff comznands. Tliev were ziot allowiÃag the moÃors to stay on whett changÃng subroutines (f(ar some reason) Vs 2"1' acldecl tlic recordÃtxt; of jog routine btitÃfgzi presses 'added tl7t:, recording I'clatat-lÃ$Eiiip requests "V5.2.6 a.clÃ.lc.cl the recording of Extcntl.:'Rctrac:t button presse:.s added seraal number field in ee}ararii the datadt.amp routine now keeps rtinning total of data as it is re-a.d from eeprom "V5.25 (cir~ularwst<~.l~lerrSw?~.c~~l~
'added code to a11ow -Aor'a~.~e of clata each lac>wcr c>xi cycle in cepro~ti-i ~circt~larzsta~ler ~z?~.etial~
V5,2.4 works well, tio ktic.~wn btiags ig `KMS ~.*ledical LLC (e) ''006 "MAP
':1117 Ct Extend BuÃtozi 'P1 t I:etrac;t t3uttozl T12 Fire Button `P 11 Extend Limit 't? 1. 4 h.etriat: t L i mi t ':1'1 5 Fire I~ortivardLimit Tl 6 l :ire [:lack I..i m:it T17 1 czn Liznit SwiÃeli `P1S Staple Range Limit Switch Tl 9 Force Switt.;li.
':I"20 Extericl t;3tat.~.~n LED
:1zi Retract Button LED
'1'`'~ Firt,~ BLittoti. LED
'A23 Force LED (blue) `P24 Not LiSl:;D
`:1?? 5 Not USED
':1'' f i N ot I.~ S1~: D
Tm 7 N t:}t USED
T28 Not USED
`l~'?~~ Staple t~~.rage LED (green) "~?
Const Device=6280 'Comfile Tecli. Cubloc CB 1-S0 chipset Dim ver As St:r:ing*7 ker="s1C-8.03" ,set ss.aftware versic.xal here Dim extendbutton As Byte D:irrt .retractbtittoti As:Byt:e l:3ini lirt,'button As Byte Dim firstout As Byte Di iia first~backA:~ ~-vte Dn-n citig[attiwAs Byte'l.t:m l.itnit switc:}i stat:tas Ditii srstatus As Byte "staplet-aye limit saiItch status Dir7i x As lrit.c:ger Dim powerons As 13yÃe 'st:ore in eelironi address 2 Dim cycraumtires.As 1:3vte'store in eeproiii (Pc?~~~eroras ~S) Dii-ri cort;abor-t.tirt:s Ast3ort.e'store in eeprort-i (poweÃc~n.''`5)-4-1 D.Hn cycers As Byte 'store in eeprowt, number of cycle extencl.=retrac:t presses Dit7i t:vl~iogs As 134t.c.
l:3ini arni As Bytt,' Dim completefire :~~ Byte :E3im staple.ran-lestatus As Byte Dim bail As Byte Dim ds As Int:eger'eepro.in data.,start locatic}ti t'(ar individual cvc.le data writing D:ina.fiast. As Inte:wc:r Dim slow As Integer Dim extendonly As Byte L~.
irii extl.it-nit.As Byte D1ni retlimlt As Byte Dim speed As l Ãrteger 5 Dim rlracr.rla As Byte 'initalize oÃrtlaÃrts C3ut ?t3,t7 '~,'xtencl button LED
10 Out " 1,0 'retraet buÃtozi 1ed Out 2)2.0 'fire brrttari (eci Out 230 'force l ed Out 29,0'stap1e range led 15 'initialize variables flr-stfracl:~~0 corrrpl et:efire=U
arrn::: Ct 20 bai.l---O
eycrr uariti r esm t3 cyc-. tab ort t: rre:;:::;t}
~v,cea s-O
Cycj og~=0 ;'5 ext:eaidorr.lw:::Cl 'C1-f;1NGl; PWM VALUES 1-fft.Rft.
f:ist=60000 'lrlglrsl.~sec~ pwa-n value sl a",-60000'1 owst.~~~,ccl. pwm va1 tr~~.
30 speecl:::O
Output 5'tÃrrzrs on pwrir otÃtptÃt for PINCH
(-')LrtfSLrt 6'tr.rrrrs c>za p-wrr.a out~ul.fior :Ii 1:RE
`read tc?tal s i't-oÃ-ar eeproni 1~ler- powerons `irteretii ent total poti~>er on n umber If faows;rons= --255 Tlteti ptrwc;rt~irg =-'5:? `lirrut r-iarrr-il:aer of rec:a.rr(ietl pa.rwerozrs to ag-i :irrte<.~s;r t~t~crti~:
b~=tet~~~x ~
Ec;w-rite 2,poiver<rars,1 'write total power on aru.n7faer- to eepror7i cls~~o-wcrrorr s'^ 5 'JOG zi.8.id UATADUMP C11eGk 'PtÃ~h any btÃttorr wlthiai 2 (or so) seconds to go to .log ror,itiilc 'hold all three buttons ona.t startup to durirp the cla:ta Foz- x:::.1 To 50 If Key in(10,?{l}-t3 And fiey in(1 1,220}-0 And Key 1n(12,?{l}-t3 Then datadump 'wrÃt.c all stored data to the ciebtirg screen Exit For Elsc;if Key in(10,'?0)=O Or Kc;vin(l. 1.20}Wt? Or K~,~t i:n(1'?K'-')t?}=t3 Then eitflc;r es i fsr.attor-i or the fire bÃrtÃoti pressed j og Fxit Foi-Erxd lf De1ay 20 Next _________________________________________________________ 1-f+C):MING Sf?QL;f NC.E:?S
t ---------------------------------------------------------crnstattaS=Keyin(17,20) 'read the Statr.aS oftlle 1criflim.it switch It crtistaÃu~=0 't'-ben horlnÃ~retr~act E1 seif cm,-,tatus= l Then horneexterici Ea[f I:f Re;t-rern fire aiiotor to back position homefire'this returns the fire rnotor to the full retracted condition (P6 limit switch) ti Md.in Loop .'.~ 0 Do `Debrlg ttMazn Locyptt`f'r I.DE'.lay 1 000 t}ie 1 crii switch 'staplc.rar7gesttiltis =Ke.yir~(-,',,m0) `read the ;;t.apler`arige lirtiit switch extendbuttoÃ-a--IC.eyi n(l t),'?t_t ) ret:ractbuttori KeorM(1 1,20) f rebuttori-Keyir1(l 2,220) If c;mstatu.s=t7 Ar-ict Keyin(l 3,`'~.~)<>C3 Then Gtut 20,1 t.urn e,xterid led ori Out `? 1,1 tur-zi retract led on El Seif c:m.stattÃS--O And Key i n(l3, 2Ã3)=0 Then Out IN,0 Virrr off exterrd 1ed because e\ter-rd litrxit riiet t_3Lrt '? 1. 1 trarn ori retract l:irxiit Elseif cmstaws-1 Then otit "0, l Out " 1.0 End If clieck firebutton :1ed staÃus If firs[cau[:-- 1 And. firstbac.l: --1 Aiitf a:rrn 1 Aricl complc;tefl~~c :;>1 Ag-itf cmsta[us =-'O Then Ol:it.;;.w, 1 'tUrYI on firG bUttE?tl led f:r1 Je O1.it 22K~.~ 'tu.rli off fire 1ect Enrl If 'clieck fcyr extezid retract button press If extetidbuttori -- 0,knd cmst:a:tus =U '1'1~en e\telici Eiscif cmstatus=i And extendf..~uttan-t3 Thc~,li extezid ~i-ict If I:#'retractbuttorl:::O.Anci cnlstatus-::0 Then 'And exteridorily:::O
retract End If 'clieck for firel}l.iÃtc?li press l:f firebutton=() :1.nd fiirstout~l Azid firsÃ.back:=1 And arm=l And completefiiae<=' 1 Aiid ;'5 cmstatus<>0 Then iliitia(fire Looo"kcep looping til powertlown E"rid 'EriCi of progral-n }.~.~;.ti ~~=x~~:~.ti ~~=x~~.~:.ti ~~=x~~.~.ti ~~=x~~:~;.1 ~~=x~~.~.ti ~ax~~:~;.1 ~~=x~~.~:.ti ~~=x~~~.~.ti ~~=x SLJBROUTlNl T<S
------------------------------------------------------------------------TfOMF: retract to c.ili savÃt.ch riot pressed ra-aaee . .. . ... . ..... ... .
Sub 110ffleretract{} 'reÃi-act tlDtil 1 c1-11 sX.Vit.Ch is c3peTi 'Debug "f~~~neretract",Cr 'Delay 1000 :1''win 0,sf ow.,600C?(:~
Do Until Kc;yin(1.7.220)W1 'retract Llnti1 1 cm switch is clpeai out 3 1,1 'ER motor reverse LciOP
Otit 3 l,{l'er motor off t ., ~r Out '? 1 Y0 't.urn retract 1c.tl. Off (?ut 20,1 `turzi extend led On t?wtnott Wtur.T~ p-w~n off End Sub ;
'H(~NT1 : extend to cm switcla-pressed ~
------------------------------------------------------------------------Strb 1~omeextcnd{)'extend until l c..n-t sc\.-itch is c;lctsec1 1 U ':Debug N:omexÃcnd",C;r ':I:3el ay 1000 Pwm 0,slow,60000 lt Kevili(17,'0--1 Thei7 15 Do Until Rc.1'irl(17,2t3)-t3'r~ow the 1 c.r~~ switch is pressed (?ut 3 ) U, l `ER ni otor tdot ,~varrl DDD
Loop End lf (3 tr t 30,0 `DDD
20 f'wi~trtaf:f~ 0 De1 ay 00 1romerctract 'orrcetlic switc;1i is made, t;all homeretract End Sub 25 ________rr___________r______k____r_______k____r______k____rr__________rr 'Fire motor bomÃng routine ------------------------------------------------------------------------Sttb lYornefire{}
'Dc.bug Norncfire:.rr.Cr 30 `I)e1a11(}00 1:-'wÃn l, s1ow,60U00 Do [_,'afi( Revin(l.6 20):::0 'retr:tct fir`iri~; st~.~,e uzaiil t~~3cl~
switch is closed Otat 1 35 Loop 0 tat 3 :3,o 1:-'wÃxlt?ff I
Erid Sub 40 ra-aaee . .. . ... . ..... ... .
`J!t.3C~ R trtirie f Sttb .t t-}!,,{ ) Out 2)().1 45 OLit 21.K1 Do Delay 25 ..~i 4 IfKe~,jn(1t3,20)-O Arici Kc:~,jn(1 I,20)-O Thc:n Exit Do `ifb~.~tl~ buttons pre:sSed, exit rotitirae and start horning routi~~e after 1secorad delay 14' 1~.evizi(10,220)-0 Azid h.evizi(1 1,220).-' 0 And Keyi nt12,?~~~ <>O
rl'hen Pwm 0,slc?w,60000 `Out 30, .1 exter~rcf rnotor forwartf Do Until ~.e~rin(1f~,~~t3)<r~0 Or l~.eti~i~~t~l:3C}:1-t3 (lrrt 3 0,1 ex teritf iiiotor- or7 forward DDD
Loop lU Out 3 ) U,C) ext:endni otorc?ff t(ar~~~ard D UD
1'wrt7cit'1` (}
lÃlrr?r cy,~jo,,ws I:f cycjogs: ?55'I'tlerl cycjogs--_?
Fewrite cl~ 1-cvcJogS, l Endlf If ~evi:n(] I,'-')t?}=O And K~,~yi:n(] 0,220} >Ct Aiid Kcyin(1?,-,,t7)-:= 0 Then Pwrn 0,sl ow;60U00 Do t srrtil Keyirr(l 1.,20)<=>O (3:r Keyirr(14.2)0.):::0 Otrt 3 1,1 '~::~t~:g~tf t-r~t~tt~r~ reverse t:.oof~
Out 3 1Pextentf iiiotor- oll'reirerse f'wmtif't 0 22 :? If Cti cjoc,s;.::::25 :> "I'tieri cycjogs::::25 :?
1~ewr'at~ d,-,-i-,-,1zcVcjogS,1.
Erld if''-.
If Ke~,j n(1'?,20)-0 Anci Kc~j n(I t3,20)-O Then jog the fire motor tona, ard l?cvm l,sdcrw,6000(}
Do L.:ntil Kevili(1 0.`'t.~)<>C3 Or Kc;t in(1.2.2C3)ti- t7 Or Keyiii(l5,2t7)=Ct OÃit 3 2,1 fire motor forward Loop Out 32,0 ':fire i-riotor off f:orward.
N-Moff 1 IDC:.r c~4CJ~C}~611 S
If c~jcjc~gs, ` 2- .5 ; '1'h e Ãi c,, ~jo2 5 ;
Eetivrlte ds-L-31,eyejc?gs,1.
:ntf l:t l:#' Key i n(12,20).:::C3 And Keyi,n(l f,20)::::C3 Tlieri j c3g the fire nlotc3r reverse Pc.~~ m 1, S~1 ow,6t?0Cttl Do L. nt.il 1~eyin(i 1,20)...,t3 Or Ke.yrn(1 2.20}<>0 Or Kcvin(16,220}=0 1=1Rr.zt 33.1 t.i rc rrratcrr reverse Loop Out 33,0 firc rYÃc}tor off reverse Pwrxtoff I
Incr cycjogs ..~i 5 lf cye_jogs -,=255 Then cycjogs=~'55 Eewrite ds-'13.cycjogs;1 End If .-Loop Do Until Ke:yiÃa('I U,?.0)-1 And Ke:yiÃa( I 1;20)=1 "le:t off both buttons before e:xitingjog routine Delay 10 Loop Out 20,0 'ttam oÃ-a el"r btattoti leds Out 2) 1.C?
De1av, 1000 t_-~.nd ~'ub 1; +eeeevaazaaaeeeeevaa=zaaaeeeevva_zaaaeeeeevva=zaaaeeeevvaazaaaeeeeevaazaa 'Extenrl tinti1 exÃeiid li.mit is ineÃ
------------------------------------------------------------------------Sub extetid(~
Out 22,0'Ãum off t:~re btit-toyi led wli:ile exteadtÃl.
Out 1- 1,0't-urn off retract btittori leci wbile c;xtentlint,~
Pwiii 0,.{asÃ,60000 Do i:ziÃil KeyiÃa(10z20)=1 Or Kevin(13,20)-0'extenti uÃttil eitlier the extend liznià is closed or the extezid button is released ":? Out 30.1. 1t R m oto.r f-orward :E3D:E3 Loop Out 30,0 ' D:[:3 D
If't"Ãrstout=0 T~heri this will keep the extend motor going aii the lirst extensiori until the. anvil is a(1 t.17e way oLit Do U'nttl Kevin.l 1 3,210j=0 Ã:ttit 30,1 0613D
l.:00p Erici If (?ut 3 )U,t) `:DD:D
t?`wTtlot.~k 0 l:Ãtcr c~"cers It cycer%t--~,2 5 r, `I'hert c~cers~''. 5 5 '~t: rit~. clw-r'-? c~~~>e:rs,l , If Keyin(l :i ;'?.U)-O Then tir~tc~t~t:::l 'sc.t thet.irstotet flag to eriable fire tauttoi7 C3ut ?t3,t7'ttarn off extend led Eiid If End Sub ------------------------------------------------------------------------Retract wit:il cm switcti is open >
------------------------------------------------------------------------..~i 6 S1.11.."~ r4=trstct:{~
(?ut'?2,t)'turn off fire button led while retracting C3ut ?0,t7't7.arn off extend btatt~~i-i lec1 while retractii-ig :1'win 0,tas017000 Do Uti[i1 Kc;yiri(l.1..20) --1 Or ;Keyin( 1 ",20)---1 :retract untÃl citlxc;r th.e I c.m :wi[c1i. goes opc;~i or the c:',~aenÃi button is released Out '11.1 'ER niotor reverse Loop (:}ut :$1,0 :1''winoff 0 Incr cycers If cvceJs ==:2hR 1'beii cycers255 Eewrite cis-~-'Zcycers-j If Keyin(17,'`f)-1 Theii tirstbackm 1 OLit 21Kt? 'tu.rn retract led off E, Ãad lf l:t'#Ãrstout::l And lar~tt~~cl.:-l T}ieyi ann -.( set ttie arrri.1lag to arrri the fire buttorl End Sub t ------------------------------------------------------------------------`DA'1'ADUMP Routine ________rr___________r______k____r_______k____r______k____rr__________rr Sa.lb data:dumpo Dim cfief As Bv-te Diin tf As Byle'total fires Dim ta As BNu `tot.a1 aborts Dim ersAs lntet.~e.r s., D1ni tj As Byte Dim tdd As Bvte :1~~iia stari As Izafter Di i-n 1:v1: e As Byte Diiii token As :B4te ~
D1r7i ike As Byte Dim kenziv As Byte Dim sii As By-te tf O
t.a:::O
ers=t7 t.j-fi teld:::O
1'ew.rite ds-14,1,1 '~NriÃ:e 1 to the d,-}-4 eepro.in register denotinthat daÃadrimp was accessed Delay 1000 sn-Bercaci(0Y 1 }
..-i 7 Debug "~."irc:ular Stapler Stored Data",~."r Del~~~w, "L`ersiozi ,verCr D~,'bLrg "K1~~S Meclical f.LC,",Cr "aeeee eevaa-aaeeee evva--aeeee eet" C.r.
Debug Cr Ds;bu- "Serial Number: "_Dec srr,Cr poweroÃas-Eeread(', 1) lk pc}~ver ns:' m55 Then powerc3ris-::25_5 D~,'bLrg "Total C,ycles; "Pet: powvrons,Cr Debr.r-) Cr Debug tt _ _ '-j-~ebu{.~ Cr For st:an ---5 '~('o (pc}werons' 5) Step 5 Debtig "C'ycle ",~ec (titan,''5).Cr I 5 Debug ""aazaaaeeeeevaazaaaaeeeevva=zaaaae""Y~."r chef=EereadÃstan,1) Debtig "Completed Fires: ",f~~c chefCr kyle::: Ee.reaci(st.an-~-1, i ) tw_ko'le+-ta.
Debug AborÃed Fires: ",Dec kyIe,Cr ers=Ã.t?kew~-ers Debtig E/Rs: Pec token,Cr ~":? rke:::E e:r-eac1(SÃW14;3,1) tj=ike~ tj Drvbu4~ ""Jc~~Fs; `",:[~e~, ike,t~_'r kennv=Ec:read(stan-~-4, 1) Ãdd-6ny~-tcl d [)ebug aa.DaÃacirrnips. ",I3ec kenriy,Cr Debtig Cr Nrext `sÃan Ds;bu;q FF........_____...._.........._____..__........____ wcr Debug "Cycle 't'otals"",Cr Debtig Cr Debug õCoÃxiple~ed Fires: ",Dec Ãt;C:r Debr.r~; "Aborted 1~ir-es: ",Dec Ã&,Cr Debu- "FlR Presses: ";Dec: ers,Cr Debu{,y "Jog Presses: ",Dec:= tj,Cr Debtig "f1at.aeltar~~~s: ",Dec Idd,Cr D~,'bLrg Cr :E3e( ay 1000 For x.=l To tfFbliiik. the iiu.mber of completed firing cycles Out 22,1 Dela~, 500 otat 22,0 ..~i8 Del~~~ 500 Next 'x Do C"iitll Adin(~.~)>80~.~ And Kc;yln(3K220)=1 '%rait trntil datadump bLrtÃons are r~,'1~~~sed l~t?op Erid Sub -------------------------------------------------------------------------`lnit.ial fire f 1 U Sub inifia:1fire{}
Dim f As Iziteger DÃm p As Integer Dim t Astl7 t:f~'-ge1 DiÃ1i y As Integt'.i' Dim z As Integer Dim q A s .Iriteg er Dim trmrliy As Integer Dim butter As 1nteger D:irrr.rriarr7bl:irrksAs l:ntet.~e.r ~, C3irr-i fficotant. As 1:1-it.ugc;r Debuo,~ ~:lt', C~r `ttrm off extend arid retract buttoÃ-as to sthat f(icy are rioà active for abort?
;':? Out 20,0'exterrd button Out 11,0 'retract button baiI=C3 t=1 5tutal b i i rik ti m~~.
p.::3'nu.mber at` bl:izik periocls Pwm O,tast,6t700~.~
`star-C blink and adjust pÃnc}i motor to force fi-=(t-- 1 000).:p Ric:otr.11.t, --0 lk Keyin(1'?,20):::1 Theri #bc;ourit::::1.
F(ar y= 1. `l:'o 1) rrumblinks== (t*yyp For z:::1 To r7rrmbliril:s trmrI1y=f/au3:t7bi inks 1_.~utte.r=t.rmmv/50 'calibrate this t.c.) sccuntl.s If timmy=0 Then timmy=1 If Kevin(1?,20) (# Ar-rtl il)cour-rà 1 '1'heri bafl::::-1 'seE aborif:ire-flag Exit. For Erid If If Keyi n( i",''0)m 1`I'heri tbcount=1 Do Until Kcvin(19,20)=0 Or K c;y1n(1.4.2.t3)Wt.~'retrac;t usiti.1 fi?rce switc}l met or retract 1ÃÃxlit met C)ut :.> 1,1 1 fKeor ia(12,20) -;0 And.fficotagit 1 Then liail=1 'set aliortfire: flag Exit Do End If if :Kev-iÃ-a(1 2; wt3)=1'I'hen fi`bcourrt~ i Loop If baÃ1=1 Then Exit For Out :3) 1;0 Orrt 23,1 'forie led OiÃt "2,1 'fire btÃtÃori led For q=()'I'c? butter Delay 10 if And t`1icourrt-l Tlaezi b ai 1::::1 se c ab ort.fire 1l kg, .f rxi t For 1:=:rid If 1 f Kevi r7 (12' C3 )::: t Then l 1count:::1 ifKey~iÃa(19;20)=i 'I'}ierl Out 23,0 l~ex:t'q ~":? If baÃl:::1 Then E,xit 1=-o:r 13o UntilKeuÃnt 19.20-0 Or Key Ãn (l4,'0)-tl'reÃract r.nÃÃ1 force swatc}i met or retract I i.mit met Out 3,1. t If Ke.yin( l?,2.t3)=0 And tbcotant=l Theri bafl::::l set abort.iÃre t'lkg, Exit Do End If If Kevirr(1 w.'~?,0)::: l T.11C.r7 flXGurat:::l I_,oop Out 3 1,0 Otrà ''-"~,1 If IC.eviri(1'?,'?0)=C3 And fbcounÃ~1 `I'lieri kaail--1 `se[ akao:rtfiretlag Exit For Erid If If Keyin(12,20)= 1 Tlicai fbcorÃri.tW l Out 2?.0 For q=O To butter Delay 10 1:1' 1*..eyl 11Ã1 '',? 0).::;[l And.fi1)c;otant::::1 Then bail=1 sct ab~.~rttire.1-1ag Exit. For Iw:Ã-ad:tf If Key ia(12),'t3 j= 1 ThÃ~i-i fbcount= 1 5 If l~eviii(19,'0)~ l `F (~~~i Orat 22:3,0 N'ext 'q If bai1=1. Then Exit For Next 'r 'D~,'1:aug Dec..`:' tbcount,Cr 10 :If baiM `1'(icii Exit For ~er;t:'y Pwmoff o If bai.l= 1. Tlleii.
15 abortfi rc.
E1 se `stap1 er~ngcc..l~eck finalfire End If 20 End Sub ----------------------------------------------------------------------'Stap1e Range Che& Routine ----------------------------------------------------------------------"5 Sub stapleaa:n;;echecl;.() srstatus Ke_yin(29.20) 'r~ad the staplerarige litniÃ: switctl If s:rStattt~=0 Thetl fi na lfire.
30 E1se abortfir~,~
End If Eiid Sub ,_ , , , _____________________________________________________________________ `f=='ii7al :l+irc. R titilie ---------------------------------------------------------------------Sub fi:iiaffirc() 40 Out23z0'tuan force led off Out 20Pi-urn extend led off Out ? 1,0 ttam retract 1ect off Orit 2.2,1 Ttam on firc. I~~,d to si<.~r~if~.* final fire a.bort ready :l''~h~:t~tc~.f~' 1 ~
'Pwm l ,f ast.K 60Cl00 `Ouà 3?,1 fi.Ã=e motor f .à avard DI]D
cc i mpletei i re:::1 Do lr nti lKeyin (l5,20)=t3 'fire fi..~rwarci L1riÃil fon-vartl limit is met.
If spc.eÃ.1=-60000 Theri speec1=60100 1:f spe~d<60000'I'hen 5~peed=speed4-1 0000 End l1:
I'wrii 1,speed,60000 Otat >2,1 De1ay 50 l:#'Keyin(12,20).:::C3 Tlieri'Or- Keyin(t0,210):::0 OrKe4in(11,20)::::0 bai1=1 Exit Do 1=tricl If Loop (3ut:3'2,0':f-:rre iiiotor f~vt1 otTI3DI3 speed=O
Delay 250 Do i:ziÃi1 Keyira(I 6;20)=O 'retract fire motor lt' s-peed >:::60000 Ttieri ,peed :::60000 t#' speed;:60000 Thei~i :speeclm speed-- 10000 Erid li' Pwm 1,speed,60000 Out 3) 3),1 ":? ;Del a~, 50 Loop speed___(}
otit 33.t?
T3wmoff 1 Out 22,0'tum fire led off Out ? 1,0 'ttam off retract led ext:enclon1y=1 tncr c)= c11wt1 fiz-e s If c~,cnum.f.irew=' --255 Tl-is;ii. cycriunrfires 2:?5 Ee1vrite ds,cyemrmf:ires,l 'write the curreÃ-it cycle nuznber of tires to the eeprom Delay 200 1*,ndStili 'retr.rrn to the znaà n rc?uti ne -------------------------------------------------------------------4C} 'r'tbort fire -------------------------------------------------------------------Srrb al.~ortt"Ãre~,f;.?
E>ebLig "lÃre aborted bet`ore fi.r:inw' l".~,r Or,it 3 l. KÃ? 'tu.rn retract motor off (3ut: :' )2,0'turn fire i "varcf off:M:1:3 (3ui. 23,0'i-urn force led oft' Pwr-n I ,fasÃ,~0000 D~~,la4' 250 Do Until :Keyira(1 6;20)=O retract fire motor OLat3 3,1.
Loop Out 330 Pwmoff I
Out 22z0'tura`r tire: le:s.f off lricr cyc,abor't-fires lt cycabortfires>=2 55 Ther-i cyczbortfires=? 55 .luewrite ds~-1,cyca:l~ort1~.ires,1. wrÃte the cut-retià ey. ele aborxfiires to Ã1ie eeprom :E3e(ay 200 honleexÃend extetid tt? l em End Sub Also nientioned above is the possibility ofi using i:rlentiticatioii deviicrws ti~>iÃh removable andlor int:ercl=aan;yeabte portions ot-t:he end effector. Sucli identification devices, for exaÃxipte, cati be trsed.
to t-rack sa(se ay1d Ãtlve:t]tc)r~.
Orie exemplary identification dc.vice:~ employs radio-fre.que.nc~~~ and is referTecf tu a.s an RF1D.
ID ari c;xeariplarv earibod.iarierit wlierc a medical ~Aaplc.r uses re-loadable, iaiterc;liaiigeab1e staple cartridoesY such as the stapler 1 clescribed herein, an Rl~ 1D cari be placed in t.lie staple r:airt-ridg e to erisure compatibility with the par-ticialzir stapler aricl an R:EalD reader f-o:r sensing c_orrrpatÃb:lc: staple car-tridges can be associated witli the handle. fn such a configuration, the reader interrogates the RFID r~~o-Lantec.l in tlle. c:artridgc. The RFID respoiYCfs with a uniclt~c code that the stapler ver7tics. If t}le stapler cartridge is labeled as veritied, the stapler brwcoiiies active azid ready. for use. :It the cartnAge is r(~jected, ~owever, the stapler ~ives a r(jected indic.atioii (e.g., a blinking LER, an atidi'ble c.tie, avistral indicator). '~('o avoid accirlerit:al or itixproper reading of a. nearby staple cartricigc; tfxt; antenna of the 1?.RC3 reacfer cati be constructed to oti1y read [fic RFID when [fic staple cartrititfe is installed in thestapler or is very ric;arbv (optirtial1y, at the distal end of the eievic;e;). L?sc tif the Rf~iD can be combiz~~d wit:li a mechanical lock-or.it to ensure that only one fire cycle is allowed per stap:le cartridge. RFIi3s have drawbacks becaiase the reatiers are, expensive, the antennas IcAre required to be relatively large, aracf tlio cfistarxr::e for reading is relatÃvely close, typically measÃrrecf in Other wireless authentication measures, can bc:. ~~,rnploycd, Ac.tivc. RFIDS
can 1., tÃsc.cl..
Similarly, infrared (I;R) trarlsmissiori devices c;ati be used. 1=-lowevcr, both of tfsese rutlu.irc; the gerierat:ic}ri of power at t(ie rec.e:ivin5g, end, whicli is a. cost aiicf size disadvantage.
Atiotlic.r ~xemplary idc;ntific:ation dc.vie:e, etnpluys e.ncryption. With encry t.~at.ion c:oriic:s the t7oe:d for processitig ntrriibers aÃt.d, associated ~.~itki srtc;ki caictrla.tiotis, is tase of processing chips (e.g., a microprocessor), orie of ANrhich is to be placed on the interchangeable part, such as a staple car-triclgc: or a replaceable end effector sha7ft. Srteb eticryl-ifion cirips Irave certain ctiaracterisfic's tirat carx be analyzed for optimÃza.tiora with the surgical instrument of the fare:setlt invention. l/'irstz a separate power s(_)t.aree for the int'erclt.arigeable part is iiot clesirec1.
~:tiot crr-ily wot.ilcl stich a po-wcr source add cost, it wor:ald aIso add undesirable weight aiid take r.rla space that is Ã-aeeded for otl-aer features or isjuwt not ava:il,able. Ttiars_ powersrrpply to the part should come fronr t.he al:reaclv exi;ti.rtg; power sLrpply wit(-ti.rt tfre ltaticlle. Also, ,upply of powcr should be :itis>Tiretl at all times.
:Rc;cause t.lto interchangeable part is relatively si-ttal:l, the encryption chip shotdd be correspondingly small. Further, botli t;(ic handle and t;(ic iÃ-atere}taiigeable part are configured to be disposable, tlterefcyre, bc?t:li encryption processors sliould Ita.ve a cost that a11ows disposability. Final1y, connections betweeti the eÃt.c.rylat.io:r7 device on the interchangeable part and the carresport.diÃt.~.~.
c:.nc.,m,~ption device oti the handle shuti1d l.~e mitiir-nized. As will be discussed below, t.he encryption device according to the preseait inve;tttiot7 provides all oi't17ese desirable c;haracteri;;tics anti liatiit:r the uric1 esi rab1e otles.
Devices for eticrylited icletiti.ficatÃo.rr are coarirrierc.iallv available.
t:3tie o.f'siacb encry-ption devices is produced by Dallas SemicorrcltÃctor and is referred to as the DS2432 cltip. The f~S,21432 chip ixot only provides encry-f.~tcd ir.lealtific:ation betwven i reader aiYd i t.ranspon(l~.~r, bttt it also has i '?U ttietraar), t;(iat cazt be used to stc?re device-specifi~.
inforiraatic?tt, tiv hic:(i itit'ortti atioÃ-a and its uses wi11 be clescr7bed in ttirtlier detail below. qn~,~ besicfic:ia1 chas-acteristic of the U,tS21432 is that it is a 1.-w ire device. '1'his meatls that the power atid both of the ittpuà arrd o>Titp>Tit signals travel otl the same line.
Wit:li. a I-wire (iovice such as the DS2412, ths;re. is oiilor tlre need for a sitigle a4ire to traverse tl-is;
ciistat7ce.from the kiat7dle body 10 il7rougli the anvil nc;c.k :3 0 to the it7tercbaD
_9eable staple cartridge 2 ; 50 in order to make a connection between the haridle and the eÃid et:4'ector_ 'I'Itis configuration satisf=~cs the c:Eiarrtcterist:ic ot`17rtv.irrg a ariitrirt7zt1 amount af elect.r.ical canrrc:ct:io:r7s rttid Iras a correspondingly redtÃceci cost tor nxarxufac,turc, ft is trtie that the :~S2432 chip requires ground, bctx.vever, the r7ietal1 ic anir i l treck. 30 is el ect.ri c,a7l y conducti ngat7 d is cctiiriectetl tO grOUtt d of the device 1, therefore, an exemplary embodiment for the grotian~ corinectiutl of the DS24_3 )2 chip is 30 made by direct c;l:ecttical contact through a lead to t}rc stuck 30 or by directly connecting the chip's ground to the rreck 30.
Oiie exemplarv enc:r~,ptiari circ:tlit configuration pIa.ces a first encrN'pÃi~.~n chip oii the:.
interchangeable part (e.&, tlae staple cartridge). Grntiiitf for the first enci)'ption cliip is electricall;r connected to a zneÃa.11ic portiozi of the interchangeable part . ANrliich, in turzi, is electrically connected to grouzid of ttic cic:vicejor example, to tfie ziecl: 30. "1'he t-w:irc:
connection of the _13S24_32, c17:ip is electrically connected to a contact pad that is somewhere on the interchangeable part but is electrically discc~i-inect~,'ci troni groLinci. For emimplc;, if the interchangeable part is a liliear 60 mm staple c.artrfdge, f(ic DS'24:$'_ cara 1~e attached to or embedded tivithin the electj-icallv. insulated distal end of ttic cartridge distal of tl-ir: last staple set. The encryption chip can be c:infaeclcfecf oti a, s:icfe of the cartridge o1~posit.c t:hestaple e~jectiori face so that it is tleit.l~~~~
exposed to the wc}rIS:ing surfaces nor to the exf.~sost;tf tissue when M. ti:s;. TI=iegrourid lead of the l7S2432 chip c:ankaec.lectrically coziiiected to tl~e metallic otater franic of f(ic staple camidge, tiOieb is electrically coiiziected to t~r~ur~cl ~~~ tl~e st~l~l~~ The l-wire lead is electrically ccynnected to a first conductive device (suc,h as a pad., a lead, or a boss) that is- electrically iristilated froin the riietallic firanie ot'the czirtriclge. A
sins;le, electrically c:onciuctive btÃt instflateci wire is c:orinect.cd at Ãhe proximal end to the circ.uit.buard or to the appropriate control electronics X.Vithin the 11"al7tfle of'the device. This wire is ii7sulatetl frc3ni elect.rical contact with any other part of the stapler, esf.,ecial1y tl~e groLÃiided f'i-ame, and travels from ttic }iayiclle, through the rieck wicf Ltp to ttie receiving ctiart7be.r f-or tfie in te.rcl7an wcable part. At tlie.
distal end, the izisulat:ed wire is exposed and electrically connected to a second conductive device (such as a pad., a lead, or a boss.) that is shapecf to positiv~.~iv contact the first cÃ~i-icl-Lac:tivc clevice on the '?U cartridge wE-aeti the c:artridge is 1ocked into place in the etid effector. :1n such a configurati(yn; the two conductive devices form a direct electrical c..or~nec;tioti. ~,~~,,ery tsnic that the interchangeable part (e.&>
the staple cartridge) is inserted wiÃ:luil the ~iid efi=ector; in ~~iie p-articular einbodi.~~~ent, coritact c'a:rl be matfe only when ttic part is correctly iiisertetf.
`I'lie:DS24321 is also only a few square iiiillimeters in area, n7al:ing the cliip easy to i17st"all on 2 5, asinall interchangeable part, sucli as a staple cartridge, while simultaneously satisfying the minimal size rc:quirement. It :is rioted that the _DS24_32' c17:ip is relatively me.xlae.risive. ':l'o keep all conxmuraica.tiora with the :1~S2432 chip hidden ti-c~~~ outside examiraation, a DS2460 (also manufactured by Dallas Semiconductor) can be tiscd to perform a comptari soi7 c~~~aD cTicrVPted transmission received from a DS~'=f32. with an expected result calculated intc:.rnal1y. The.
30 characteristics of'butfs of tl=lese. chips are uxplaii~retl, R)r example, by Dallas St.mic:onduutors' Appl:ic.at.i~~~i Note 3675, wfiich is fiereby incorporated by refcrence hereiri in its entireÃy. '1`he DS2460 chi.p costs si;~r~ifi~.ar~tl~' rr~t~:rs~ than t}~~. D~S24;i2 c:}~i~a, fitit is sti.ll ir~exper~:ivs~ ~:g~t~aig}~ to fic;
disposed along with t.hc.haticilc~,. It is noted that t.he number ~.~f dist.~osable intc.rc:hans;c.able parts of t7iedjca1 elevic;es (strcl7 as the strrgical in stt=trÃaieri t t.1t tli e prescrit irlverltioÃi.) typically ntttrlitriiber til e handle that receives the intetchang ~eable parts by a significant atxic?uÃit. Accordingly, it: the DS243_1 cliip is placed in ttie irttercharrgeabl~ pavt and the :I:3S2460 chip is p(aced:irt the }iariclle, the low cost 5 c:racryptÃon charac:terisfic: is satÃsficÃi. There: exists an alternative circuit configuration usizi.~ two DS243.2 chips that is explained in FIC. 2 of Application ~:~ote 3675, which circLrit t,'l.iminates the iieerl of tlie more expensive DS2460 chip by performing tlie comparison witli a local niit:.roprtxessor (e.g., rnitrroprc.tcewso:r 20[)0). In sti.c.li a trontigtr:ratittrt, the cost ltx ad.ding encryptittrt into tl-ic cltavi.t;e I
is rerlucecl, (-towczer, as ex.pla:iticd, the cont:rgurati(an gides up sortie aspects of sectr.rity by makirlg 10 available to inspt<ction botlt t-iut~bers tliat are t:o be eotnparc;cl.
.I.he rocess for electrotlic:ally veri~yino the ideiitity ofi an iziterchano eal) le part c?ri a riiedit:.al device usizi;y et~cz),~~tiorl is described ~~~itl~ an exemplary eÃa~l}o~iir~~e:1ia~=iÃi~; one ~~S24:.~~ chip and arie DS2460 ch:ip Tlte exemplary ccrritrol circtait t:or the encryption device is sltowri in F1C=. 30.
This exemplary embodiment is de.scribed using a linc.ar staplc~,r havinga handle contaitiins; therein a 15 c,ircuit board X.Ylt.ha micropt-oces;;or."000. Ont:. t:ree I:'0 piri 2o l0 of the n7icroproc;essor 2000 is connected to a t=~rst lead 21 10 of tlie DS2460 arid ar1Qther t;'O pitl 2020 is ct.~rirtected to a second lead 2120. Fac17 interchangeable part 220[3 is provided wit}i a I)S214:32) cftila and t(ic I -wire letid is connected to a third i/0 piti 1030 of the microprocessor 2000.
To start tlYo process, aal interchangeable part ?200 is con.net:tecl to tlYo clevicc, making '?U electrical coÃ-atact tivith ground arid with the 1-wire lead. When the microlarocessor'?0t)0 deteets that a nt~-w part 2200 bas been cotiliectecl to tlic cie~vi:cc 1, it rt7sis an authentication routine. First, the mic.roprocessor 2000 irtitiates a random n umber request to the DS 2460 over t(-te t~irst cor-n.tn trn.ic:ation pir~ ~010. Tlic DS2460 has a prc-prttt,~rarri.t~ned secret titttitkaer that is the sat~tic as the prtr-progr~rnnietl sec.t-et ntarnbc;r;; stored ir7 each of the [3S24>? chips contained on the irrter6ang~able~ ~arts 2200.
2 5, Therefore, wlaeri the same raÃadcyzn number is providecl to both the DS24321 and the DS2460 chips, tlle Outllut .re"Ltlt t`roari eticli of the two cl7:ips, will be identical.
'I'}ie :I:3S2460 glerrerates a. raricloari number and st.tpp1Ãcs it, via the second pin 2020, to the microprocessor 2000 for fonvarding, via pin 20:30, or7 to the DS24:32 over the 1.--W7re lead. W17eri the DS24_"'~2 receives tlle random rit.triiber, it applies it.s SH:~-1 algorithm (developed by the Natiotial InstiÃutc of StanÃ.larÃ.ls and Technology 30 (N_lST)} to c>rypto~.~rap}tically gusic;rate wt 1i.asls code reply. This hash code reply is transmitted back over the 1 rw:irc 1cacl to the tYticroprocessor ~2(#f~0 -and is forw-arcled, via e:itfter piti 201.0 or 2[}20 to the DS2460. :C3atrirtg, this pc;riocl trl tirt-ic, the DS2460 is also calculating its a.twn a ba:1i c:oclc; reply .Firg[, the DS'460 intemallv applies the same random numbcr scnt to dh~. DS2432. to its uwnSH:~-1 a1gorithn7 and swres, iriterrÃal ly, the generated basl=.Ã code reply. The f_3S2460 a:lS~.1 stores the lia.sh code reply transmitted frcyÃn the DS2~Ã322 through the microprocessor ?000.
Bot1i of"dhe hash code replies are c_orrrpared wrd., if tlicy are, identical, tfre iriterc:lrar7-leable prirt. 2200 is confir:r~~ed as authetxticated. If'there is a difference between the hash code replie:s, then the part 2200 is rcjecteÃi and the device is placed in a state where the part 21.00 either cannot be tÃscd or can be tÃSecl, bLrt olily after certaizi sate_guard<. are met. :t~~r rwx~t~~~~le, rlata regar~liÃag the tiriie, date, environment, et~.. azid c.;haractr:riwt:i~s ot:'t:he ranauthenticated part cari be storc;cl for later or simultaneous tr=arl :Ã~rli:siorr to the manufacturer (or its agent) to infi~rm the .rn arlrÃi=acturer that the user is att:emptiÃ-rg to tise or has used art unauthorized part 2200 with tl~c device. If there was rio encryption in ttxc; iriewsages, the authentication messages could be intercepted atid ec?unteri`eit, pirated, or trraatrt;(iorized parts 1-200 could be used withrir.tt having to purchase the parts 2200 troni aai ar.tdiorized distributor. lzi the exemplary. errc:rylat.io:r7 embodiment described 17ereiri, ttre only intarrrrat:ion that is- t.:rzitisrr7:itted across liries that can be e:~xamincd is asingle randor-n nrrmbe:r and a sirigle hash code reply, It isurltl.crSt~.~od that it would take lit$Eiidreds c~Yf years to decrypt this SH:A-1. gc.nerated reply, thuS reclrrcili~ aD;r lI1CoY1tÃve fbFr reverse 13ccause tfre cliips used irr this example eacli have secure merrrories tl7zit can anly be accessed after authentication occurs, they can be pro;yranunecl to eniplov, multiple secret keys each stored within tlYo nxeanory. For exa.r~iple, if the DS2460 lYas multiple keys storetl therein and the pai-ts 2200 '?U each 1iave only one key selected from this stored set of multiple keys, the DS2460 cazi act as a ;.miast~,~r' key to th~,' >:gcncrial" singl~,~ keys of th~,~ parts 2200.
By authentica:tino; the interchano;eable part of the str.rg;ical instru.rnent of the prrvSerit invention, mar~iv positive results are okataig-io(i. Firg[, tl-is; instrurnent manufacturer cag-i provc;rxt a arser frc~tii using ur~a uthoriz:et~ parts, tbe;rel;ay ir~suria~g use of only a u thorized parts.
rlc3t. aily does this gtraranteetluat 2 5, the manufacturer caai receive royalties from sales of'the interchangeable part, btÃt it also allc~ws, the manufacture tr) irrsrrre that the quality af t.17e srr:r.gÃcal parts rerr7riiris Iragir. 1:=1avirrg the ericryl-morr circuitry c:fgzitain meanory driiniatically enhances the benefits proviclecl by the presezit invention. For extin-iple, i.{`ta single eiid effector o.f a liricar stapler can receive 30 r7iTti, 60 nin7, aaid 120 r7irti staple c:artrid.ges, for example, each size of the cartridges c:ot.tld be provided with an iiidivitl.ualizr;.d key and 30 the }iar~rcilc can be progransmed to store and Gasu each of these ttsrce keys. Upori receiving a hash code reply that ocarr~~sponds to one, br.it not the other two irrterÃ-rally calculated haSfi code replies, the liaticile would know what kig-itl of cartritige has bes;ii irisertetl iri tl-is; clevice. :acb cartridge could also contairi in its mc.r~~.~rN' e.artricl.gc.aspecif-ic parainctc.r=s, such as stapl~~, sled r~ovc.me.nt le.n~.~th, that are ciit~er=etit ariiorig the varintrs sized cartridges and, therefore, cause the handle to belia.~~e djti`ereÃitly depen den t upnri the cartridge detected. 'fhe parameÃers exarnizied can also acctir.rÃat for revision levels irr tirc: particular part. For e.xa:riiple, a:revis:io:r7 I czirtricl~e could tiave certa:irr parameters tar use arir.i, by r.ietectÃrxt; that particular cartridge, prograrnmirag could cause the liatxdle to not allow use of revision I cartridges but allow use of re~vrsrC?t3 2 ciartrld;,'.5, or vice-versa.
H:aviri<w iraeÃ-tiory. oti the encrypti(yn chips can alsoallow Ã1ie cartridge to keep track ofi odier l;:ig-itls of data. For exa.r-tiple, the cartridge cari store tfic iclerrtitv of cacfr l-ia.g-itlle to wtricli. it was corirlec.t.cd, the identity oi'the handle that fired the c.artriclgc, the titiie, date and other temp(aral da:ta wfrcg-i use arrcl"'or t;onriectiort a.rcctrrrcti, l-itrw la.rrrg it took to firc [tic cartridge, how many tir~rics the firing trigger wa.s actr:raterl durirtg,sta.ple firirig, atid many otl-aer similar paramrwters. OÃ-ae parameter in partictÃlar could record data w1=aeri the caa-tridge misfires. "I'his Avc?uld allow the manufacturer to deter:mirie :if the cartridge was faulty or i#'rrserr e.rrcrr occurrecf., f"or c::~amfsle., the lzit-te.r being investigated to assist the:~ user with remedial measures or other training. By having mernmy availa.ble.
al the hr7.nc1le, otlier hantllr;-re;levtarit ptiran-ictcrs could be storeei, .{or example, dtaratior7 c.Yf each procedure, speed of each staple firing, torcluc generated at each firing, aridlor load experienced tllrcrLtgirout each t:rrr.rrg. The Mcrriory ccrLtl~ be powered for- years merel1.i:rorr7 the litlriam-based pc~~N.'er cells already present in the handle. Thus, lcrngevity, of handle data can be ensured. The menYS.ary can be used to store all uses of a f.~sartic:t.ila.r handle, along with relevant caler-iclar data. For '?U exairalale, if a lia.rid1e is only certified for use in a siiigle surgical procedr:rre but t;(ie handle }ias data indiciating that staple cartridges wvre firecl days or weeks apart, then, when it was finial.ly r-~,~tÃtrr<ed to the nianut`ac.t.tr.r er for recyclirig, the manufacturer corrlcl detect that the user (hospital, doctor, clinic, e[t;.} was imprtrperlor ande pta;sifilv, tr~~ safely, usirrg the lrarrdl:e.
f;ncryptetl autherrticatior~i carr bs; tr:cti w-ith remoirable battery packs as 1vell. 'Lloreover-, ;;erisor-;; can be a(lde(l to ariy pc3rti~ii of the device 2 5, fiir communicating Ãrit'ormatiorl to be stored within the memon., of the encrypticyn chÃps. For examp:lc:, tempe:r-ziturc: serrso:r-s cari t.ra:r7srnit operating rootri temperature existr.rrg wtierr the cart-ridge was firecl. This temperature reading cari be risecl to determirie if 1ater irxf'ectiora was caused by ir7ipr` per teariper`at.tare cor7tr-ol existirtg dt.rr-ir~~,~ the procecitir~
(e,g_ in cc3t.rnirie;;; w. here air-conditioning is riot available).
3t] I_rI the unlikely event that the stapler becomes inoperable dtrring GascK
a. m.cuhanical override or bailrcout: is provided t:oa;11c}w rrlariual renioval oi'the device from the patient. All bailout. rrses canbe r'ecorcletl with the rneniory existing on [fiese, t;ncryptiorr chips.
Furthermore, tlat:a. that could indicate why ba.ilotirt was necessary could be stored for later examination. For quality asstÃrance, when l3ailotit is detecierl, the handle can be pr=crgrai7ianeti to iÃidicate that acertitied Ietier slintild be serit to the customer/user informing them of the bailout use.
As cic:scr-i~~ed above, the presc:nt irrveaiticrr2 Ãs:r7ot lÃmited to ri circular sta:p:lc:r, wfriel7 Iras beeri used as arx excnxlalaay e:nxlaodinxerxt abovc:, aÃacl can be applied to ariv st.rrgical stapling head, srÃch as a lir-Iear stapling device, for exasiiple. Accordingly, a l:inear stapler is being r7sed in the text that td~11c?ws for various exeriiplary. embodiriiertt. 1:-1:owever; use of a liÃ-aear stapler in this context sl-aould iiti[ be considered as lirnited only tliereto.
I3escribrvrl above are c.omporierits that exist: a;1ong; the staple cont:ro1 axis 80 oi'lineara,r-rd c;irctilar staplers ag-itl tlic;se coiriporiciits form. the staple control assembly 200.
As set forth therein, tl-is;
required force for proper staple ejection a:rid tissue cutting cari be over '400 potirids a:rid, possibly, ul) to 2;0 pounds. !t has beeri determined that minÃnirÃm requirements for carrying crrÃt the desired stapling arici cutting functions with a lir~ear c:lecÃric siargiczil stapler fcrr biarr7a:r7 tissue (sricil as colo.rr tissue, for example) are:
l 5 l } dc;liveririg approximately 54,5 kty (120 pot$Eiids) of force over a stroke c.Yfabotat 60 rlir-ii (724") in approximately 3 secorlcl.s oFr clelÃverir~g approximately 82 kw (180 pounds) crf.iorce over a str-oke of about 60 rr7m ( 1 14`'') in approximately 8serr=onds.
The clectr:ic-~owered, 1laiYC1-held linear surgical staplir7g device of the prescixt ir7ver-iti~.ti c>aal meet '?U these requirements because it is optimized in a riovel way as set forth be1otiv.
TC.? generate the force necessary to mC;f',t the al:lC?i%e-I7'lE',Ã1tIC3n'.d requirements, the maximum power (in watts) of the mechanical assembly needs to be c.alcLrlaÃ:ed 'based upor2 the max:irYlurY2 lin-IiÃs of[iiese :reqtrirt;nient:s:. 82 kc, trvs;r 60 min in 3 :ccorid.s. Mathematical conversion oftl=rest; figures gc:aier'atcs aai tlpproxin-iate r-iiaxiaiitir7i of 16 Watts o.f mechanical pow-er aiecded at the output o.f the 2 5, drive train. Conversion of the electrical power izito mechanical power is ric?t: 1: lbecar.rse the zliritor tias less- t.l7riti 100% efficiency a:r7d becaiase the drive train als-o fras less tliarr 100'}:; efficiency. `l'17e product of these two etTiciezic:y ratings forms the overall efficierlcy. The electrical pcnver required to proclticc the 1.6 Watts I'rticc.hanical p(iwe;r is ~,~reater'tbaD tlle 1.6 Watts bv ari ir7ver'se; product of the overall efficiency. OIic:~~, the re.qriirecl electrical power cari be det.emlined, arl examination of 30 availablu power su.pplies can be In adu to meet the nIinimtrm power requirements. Thc;reaftcrK an examination and cajytim.izat.ion of tl-rrv dilTererit power s~~pplies c:ar2 brv made. 'I'tris a,r-ralysis is described M. cle[ail iri [iic following [s;xt..
Matching or optimizing th~~, power sot.trc:~~, atici the motor involves Iookitig into Ãhe inciiviÃ.lt.ml c,liaracteristics c-lt l3otl7. Wlieti examining the clt.aracteristics of an electric r~~oinr, larger t7iotors cari pertiirÃai a .1livett amair.rÃat Nvork -,v~ith greater eft=acieticy than srxialler motors.
Atso motcyrs NvÃtlt rar~~
eavtli ma7-lacts or wit}i co.ieless const.riactian crtti deliver the srt:rne power in a stna:ller si.rc:, but at higher cost. Fr.irtlier, in getle:ral, larger motors cost less than stlialle:r motors if both a.re designed to dc;l:iver the sar-nc; poc~~cr (-)~,~,er a. giveli periocl of time. Larger motors, however, lia.ve ar-i undesirable characteristic whera used in surgical staplira~ devices because the Itartdle in which Ãltev are to be placed iw .li.ntitetf b~, the size of an operaior's trar~itf. l?hvwic:iarrs desire toarse devices ttrat: are :r-tiallei-arid ligliter, not larger and heavier. Based upon these c.o.rtsitleraÃimis, cost, size, and weight are Nctor-s that t;atx be optitiiizt;ci for use izt tfic surd,ical ;-,[apls;r fiar~itlls; of:'tl~.c present inventi:ort..
Available tnotors for r.ise within a pl-aysiciazt's hattdinclude ttiotors witti relatively irtexpensive ceramic zna9nets and tncttors with relatively expensive rare earth ti.e., neod~rt~it~Ãx~.}
mkg.rrets. However, cIrc: power ir7crease crt'the latter as cort7pared to cIrc: former is tiot sLtfficÃerrt1V, large to warnanà the stiabstantiet.l increase in cost of the 1attc.r. ThtÃ.s, ceramic magnet motors c.,et.ri be selected for use in tlie Itaaidle. Cxc;n7platy rncttors come in standard sizes (diaatieter) ol'217.5 atim or 24 mtn, for examg.,le, `I"hese motors Itave a. rated etticiency of approximately 60% (wliic.h decreases to 30% or below depert.diÃt.g rtlacrti the size of the loa7d). SLicfr .inotors operate at speeds of apprommately 30,000 rpm (betAveeÃa 10,000 and 40,000 rptit) w1ieÃi unloaded.
Eveal though sucll conventional motors could be r.iscd, it %rould be desirable to reduce tlle. size '?U even ftrrther. 'To that etTec.t, the inventors }tave discovered that coreless, brush-type, DC ttlotc?rs produce similar power otttput bLrt with a significant reduction in size. For exarnple, a17 nim diameter cc}rcless motor catl oLrtpLrt approximately t(-trv satYre power as a standard 24 tYrn-t rlian-teÃer motor. C'zflil:e a staiitlartl i-ttotore tlic; coreless ritotor can have att efficiency of trp to "tt%. Cors;less mot rs alrnos't all rtse r'tir`e etirtli n7tiga~ets, 2z; With sr.reli a litnited voltrme and mechanical power available, it is desirable to select a tt~echwrica:l gear trai.rr Iravitig Ã.17e greatest effilcieticy. Placing a rack rttid pitricrti assembly as ttie fiirral drive triiira control stkge places a lxiglx-etficieric:y end sta.~e in the cirive traÃrx iis compared to a screw Ã.lriv~~, has a maximttrn of al.~otat 80% efficiency, For the linear clectric stapler, Ãhc.r~~, is a 60 mr-n travel 30 rangoe for tlsc :t.aplingr`cu.t:ti.rrg mechanism wherl the stapler has a 60 nsm c;;:trtridgt. (cartridges ranging from 30 mm to 100 ti-ttrt c:arr be used brrt 60 mm is used in t(-tis ex-an-tplrv for illustrative purposes).
Wit:h. this trave.l rangc; a >-suc:ond; tull travc.l durat:iort pl:ace: the .racl: and pinion s;xtt;nsitrn ratea[ 08 inches per second. To accumplish this with a reasonably sized rae~~ and pinion assembly, a gear tr=ajÃi should redtrce the motor otatptat t~.1 approxiniately 60 rpm. Wjtb a t~iotor outl.)ut speed of approximately 30,000 rpni, the reduction izi speed for the drive train becomes approximately 5,00: l.
"l:"oactiieve tfris.ret~~ictiari witfr the moto:r, a 5-stage drive train is selected. _lt is l;.rrow.r7 ttiat. suc17 5 drive trains 1~a've an approximate 97% efficiency for each stao.õe. Thus, conxbirxed with aii iapproximate 95% efTiciency of the rack aaicl pinion, the overall offic..ien.cy of the drive triain is (0,95)(0.97) or 822~/~}. Combining the 60%} ttiotor et'~'acietic.v with tlie 824ria dtive train efficiency ~ie:lc1: aii overall electrical [o firial. rnc;chanical. efficiency of'apprtrxiniat-elor 49.2%. Knowing tl-lis overall etfic.iencv ra:tiri4~, w:(-rrvn dctermirung t(-rrv amoLrrlt of electrical power retftiirrvd for caperating tfle 10 stapler a4it:hin [tic desired re[luircrnentse ttic; actual elec:trical power needed is almost twice ttic. value that is calculated for producing tlie st.aplin~:;tcutting force.
'f'cr ;yenerat:e tlhe force necessa:rv to meet the above-mentioned requirements, the pc~Nver (in wa:tts') crt'the mec}iayrical a.ssc:rrrb11~ cari be calerrl,ated based upon the 8'~?. kg over 60 rrrrii in :3) secc~iids to be apProximat.elv 16 Watts. It is, knuwri that the overall mechanical efficiency is 49,~'%, so _3 )15 f 5 Watts is a~eecledfrorn the pox.ver ;;~ipply Ã.1 t~ iiiec.h. watts == >'~'~
5 e1ec. Watts x 0.492 overall efficiency1), Witli this riiirlinz l.anz recluiremerià for clectrical power, the kind of cells available Ã~.~
power the stapler cari be iderrtÃfied, w(iicfi., in tfris case., :irrclude high-power Lithium :Prirr7ary cells. A.
kziowrt characteristic of }iigliapower Lithium cells (e.g., t`'R12i or t``f~.2 cells) is that tl~ey, prodrrce about 5 pcal: watts of power per c:ell. TlYus, at least six cells in series Nvil:l geiYe.rate th~.~ required '?U approximate amount of 32.5 watts of electrical power, tiOieb translates iritc? 16 watts of iraec.liaziical po-wcr. This does not end the optimization process because ~~ae.h ty-pe of high-power Lithium cell.
manufacturcd fias tlitTrvrerit characteristics for delivering peak power arld t(-rrvse characteristics differ for [fic load ttia t is to be apfal.icci.
Various battery cl7arac;teristic;s exist that differentiate or7e batterv o.f ti first. manufacturer fr' ari 2 5, another battery of asecortcl manutactrrrer. Signit==icant: batten., characteristics to ccrznpare are those that l:iarrit the power that caii be obtained f:rum a batter~y, a few at which inclLicle:
* type of'electcohrte in the cell;
^ electrolyte concentration aritl cheariistxy;
= litrw the ag-iotle ag-itl cathode are manaftrcttrred (ba.rtl-i in chcrnistry aixti iri niechanir;,af construction); and = fttpc; and c:onstrrÃction of the PTC (positiv~,~ temperattare ccrefficieait of resistance) device.
Testirig ~.~t`onc or mare of t.lic.sc~, c.haracteristics gives valt.tal.~lc informatiun in the selection of'Ãhc.
most desirable batter)r for tise in the stapling device. it li,,is becÃif'otariti tl~ataaiexa.ÃiiiriatioÃicrf tlic last characteristic -- PTC device behavior -- allr~-vvs an optimizaticyzi of the type of battery to perform tlic cl es:i recl x.~,ork.
Most power sources are reciriireÃi to pertorm, 'kvitfa relative certainty and efficiency, nxarxy times throtÃgliot.tt a long pc;riocl of time. When designing and constructing a power scrr,irce, it is iiot typical to select the power source for short-duration use cortibiÃ-aed with a low number of uses.
fl~~wever, the power source of'aii. electrit; stapling device is only used for a, s.litart tlraratitag-i and for a small rlrrrYrber of Ã-imrvs. :IrI each use, t(-rrv niotor necds to'be ready for a. peak load aiicl needs to pc;r:fo:ri-n without error. This rneans tliat, for surgical staplers, the stapling/cutting feature will be c.arried out during only one inedical pr-ocedur-e, tiv hic:Ei h a.s cycle counts of be"veen 10 arid 210 uses at rxiost, Akritla each use needing to adclress a possible peak load of the device. After the one prcrcedure, the device is taken crLtt o.f`ccrmr-r7Ãssian a7.rrd cf:iscarcfeci. Therefore, the power soiarce for the presezit invention needs to bc~, constructed tÃ.iiliE;e any other traditional ~ow cr stÃ.pp1y.
TEie device according t the Pfesealt. iDVc.Dti017 i;; ~:.OrI;;tr~uctecf to have a liri7ited rrsefial life cyf a poz ver cell as conz pared to an expectccl.l.asct:ul life of the f.~~.~dN-er cell wheri riot trscd irl th e devic.e.
4h'treri so co:r7i:igured, the device Ãsirrterrded to waik few times atter this defined "lÃ.fe spwr" l:t is fE.ziowrt that self-contained pr~-vver supplies, sr.rch as batteries, lia.ve the ability to recover after so.me kind of us~.~. For optimization with tlYo present invention, the device is constructed Nvithin co.rtiiir7 '?U parameters that, f(yr a defined pr-ocedur-e, tivill pert~:orinaccordirtgly but will be liriiited (yr r:rrtdble to continue performance if the time of t.tse extends past the procc;clurc;. Everi thor7gh. the device might recover arld possiblv bc used again in a different procedure, the device is designed to use the power cells sucli. that the~' a4fll r~iiost likely rxot be abl:c to ps;rttrrm. at the enhanced lc;vel riruch trartsitle the range of iaiteri(lcd single use peric3ds or outside the r~~~_9e cYl aggregate trse tirtie, Witb tEii s in ariirid, a 2 5, uset'irllite or clinical lif'e, of the power supply or oftl~e device is defineclz which life can also be describerf as ari Ãzitericlecl iase. I:t. is r.rriclerstood that tlris uset:ulr'clirrical life does:r7ot iÃic:Errde periods crr occurreraces ot usecfurin9 a testin.~ period thereof to make sure that the r.leN=Ãc.c works as irltericled_ The life also does r7ot inclrecfe c}tbc.r- tin7es tEitat the device is activated outside the inter7ded procecltire, i.e.Y ~~~heri it is not activated in acc:ordaricc~, with a surgical proc:edtÃ.rc., 3t] Conventional batteries available in the nsarket art.. clcsignc;d to be r,rsc;cl irI two ways: (l }
provide a significant amourit of power for a short cluratiorl (sucli as in a lughrcrlra:iri digital device like came:ra:) or (2) prov:icle a snrall ar~iitrur~it of faows;r over a long duration (sucl-i as a c:orirpLtter's clock bac.ktrp}, If c.ither c.~f these operations is not followc.cf, thc.ri the batÃer-y- begins to hc.at ut.~. If left unchecked, the l3attet=y coLrld licat to a poir7t where the chemicals c;orÃlci cause significant damage, such as an explosion. As is afipareÃit, battery, explosion is to l~~ avoided.
'I'liese extremes are preverrted irr conventional batteries w:it}i the presence of tfre YTC device --- a. device tfrat is constructed to limit conduction of the battery as the battery increases in terripera.tÃrre: a positive temperat7.ar~,~ cocffic:ietit of resistance). The PTC device protects batteries and/or circLriis from overcurrent atid overtemperature coÃ-aditioris. Si.~rtil~i~.ai~tl;~~, the I'`I'C' rlevi ee larc~tects a l~~.tter~~ from extc;rrial. short circuits while still allowing the bat-teror to t;tant:intrc;
functioning altcr the short ci.rcuit, is retiioved. Swne batteries provide sliortrc..irc.uià anc,ror overtetiiperaÃ-urc protrvctiorl using a wiertime fiuwe. ifowc;vc;r, ati accidental sho:rt-circuit of such a ftase(i battery catrses tlio ftase ttr operie rendering t}i e battery. useles& PTE:'-protected batteries have an advantag.,-e over fused batter-ies because t}l ey are able to automatically "reset" when the short circuit is removed; all~Aving the batter), to resume its normal operation. t'riclerstayiclirig characteristics of the PTC' device is particularly important i.rr ttie pre;sent invention because the:~ rnator will be drawing se'veral times greater currerit thar~ would c.vcr be seen in a t;rpica7 high--dra.in applic,at.i0r1.
-fhe PTC devic.e. is providcd in series with the anode arid cat.l~ode and is made of a partially conducting 1ayer sar7dwicfred between two conductive :lavcrsJor example.
'I'}ie deL ice :is in ri low-resist:artce conditiozi at a temperature during a normal rifierataon (depending on circuit coziditicYrIs in which the device is tiscd, for eximple; from roc.xa-n toinporiture to 40` C.
j. On exf.~s.astrrc to high ?U temperature due to, for example, unusually large ctirrerit rrwstrltiri from tlie f(yrriiatiori of a s(iort circLrii or excessive dischaqge (depending crr-i cirer,iit conditions irl c\.-bic.h the device is u.secl, for ex.c-ir-rip1e, frorn CiU' to 13 )0 t'}. Ãhe:1''I'C device switches intoar-r cNtretnclv high-resistance mode.
Sirirp.ly f.-~ar[, w.lieri a PTC tiov:ice is ig-icluticti in a, circuit and ag-i akariorr-tial. cu-r.rerxt passes tlrrotrgl-i the c,irc;tiit, the device eaiters the higher t~r7~f~ertattrrc condition and, thereby, sx.6tches iritc3 the higher 2 5, resÃstance coridÃti(yri to decrease the current passing tfarotÃgh tfae cirer.rit to a Ãxiinimal level and, thus, protect electric elements of t}~e Circuit and the bat.tery;`ies. At thenfinima:l level t~.~.. about 20% of pea1;. current), the battery can cool off to a"safe," level iit which tiziie greater power can be supplied.
The partially conducting layer of the PTC device is, fi.}r example, a cc3mposite I'ca.rbc3r~ poAvcfer and poIvoIc.finpla.sÃie.. futÃ.rthcr= descriptiari of'stÃ.ch cievic:cs is tiannecessary, as the:'s c devices arc. de.scribeci 30 and are dtivll known in the art.
Because I''~R' circuits of tlitfercnt: manufacturers operate with tlift'rvrcnÃ
characteristic behaviors, the preserrt invention takes advantage of this feature arid provi:tles a faroc:ess tor.
5.s optiniizing tlle selec:tion of a particular batÃ~~,rv to r-natc:h a part.ictialar mUtor and a paitict.tlar ris~~,. Ari examination of the tiane wheri the 1'"f C device svv-itehes to the kiiglier resistance condition caÃi tae lised as this indicator for optimizing a particular motor and drive traizi to abatÃery. it Ãs desÃr-ab1etoltÃaow wl7czi tlic PTC device riial;.es this <w-it:cli sr) ttiat,, dr.rriag.rrcrrrr7al stapler Lise., t.lreP'I`C device does.rrot.
r1ia~w this change.
Exemplary batteries were loaded with van.olas levels from approximately 3 anips to appr-oxi.mately 8 anips. At the :Ilig:li end, the I''I'C device c}iaiiged to the hi h-resistance state almost irnmetliatel~,, rnaking this curreiit level too high for starrclarcl C1i'123 cells. It was tletc;rmiiietl t-trai, k(ar laetwerv.ri 4 and 6 arrips, one manufacturer's aell had :l'TC activation soorier than another manufacturer's cc;l:l. The longest PTC c}rant,~ccrver durat:iori for t.li.c sc;corrcl manufacturer was>1 imnutes for 4 aiaps, approximately 2 miriutes for 5 aiiips, and alinost 50 secoÃids for 6 ar~ips, Each rif these duratic?ns was significa.nd~ {~re~:ter than tl~~. 8aseccrz~d peal;.
lc~acl reqr.rÃrer~ent_ .~.~~cr~r~lizi;yl~r, it was determined that the secarici rr7ar7ufacturer's cells wcrLtld be alAinral for use at peak amps as compared to the first mantÃ.facturer's c:~~,lls.
Initially, it was surnii;;ecl that liiglier aiiiperes witl7 1ONVU Or C
alst.aDt -voltage would generate lZiglZer pQNver out of t.l~~ ~ower cell(s). Based xrpQri the configu.ration of 6 cells in series, tlle peak voltaggge could be 18 volts witlr a peak current crt`orilv 6 amps. l`'lac:iziw cells in pa:r-a1leL, :irr theory, shrir.rld allr~-,v a higher peak ariipeaage and a 3~2.. configuration (two parallel set rif three cells in series) c:o-Ldcl lYavc a 9 volt peak with Lrp to a 12 ~~ip peak.
?U Difl'ererit sirt~;le cells were investigated azid it was confirmed tl~~.t a relatively vc?lta<we (abot.tt 1.5 to 2 volts.) and approximately 4 to 6 anip~,'res produces the highest po-wcr in Wi-nts. Two sixwaell corrkio.urations were examined: a6x1 series connection arid a 3x2 p-arallel connection. '1'l~~
.)X2 corrfigtrratiog-i protlarc:s;d the greate:4 peak aiiipc;res of'apl.~sroxi.mately 10 arr-ips. The 6x1 c ai.tiguratyc3ri prc3duc:edabout 6 amps peak and the sirlgle c;c.ll w-as able to petak at 5-6,amps before 2.5 the I'TC device changed state. This information indicated the stat:e at which any single cell in the series group would be activzit-irrg its PR; clevice aÃid, tfrLts, l:imit.:irrg cr.rr~-errt ttrrorrwb ttie entire group of c:e11s. Tliris, tlio tentative conclusion of yielding peak amps at lower volta(e with a'3x-2 configuration x.vas rtia.intaine;d.
Three difR-=nt CRI 23 battery c.c.~ntigt.trat.iuns were tested: 4x 1, 6x 1, arltl. _3 )x?, to see how fast 30 the piisiois dti--oulcl more tlsc rack {in ir~rc:ht.s per suc;ond CFIPS")3 for the 120,4' and 1804 loads and for a giveri tvpical geari.rxg;. 'I'he rrvsults of this real world dynamic loading test are sliowtr in the chart of F1G. a 1, for btatl-i the 12044 load:
= the 4x]. battery pack was able to move the loa(l at abctait 06 IPS at approxintately 15 amps but at approNimately 8 volts;
= ttic 6x'l. batt:c;rt~~ pack. was able to move the load at about Ct.9 IPS iat approximiately ~.5 ariilas b ut at approximately 1. 3 volts; atid * ttic ')x.-2 tratt:t;r~~ pack. was able to move the loacl at, about t:]A IPS
at approximately 5 amps but at approNittiaÃeiv 6 volts;
aridt:lic l 8tl4'lnaci:
= the 4x 1 1}attet-y pack- was able to znove tlie load at about 0.65 IPS at a.pp.roxir-na:te(y 4 anrps but at approx:iariately 7.5 volts, = the 6x l batterv pail:was able to silovu the load at about 0.9 1PS at approximately 4 amps btrt a:t approx.ima:telv 1 ~~ volts; aiicl = tlrta 1x2 batter-tr pack was able to zitove tl~c load at akaotrt 0.4 IPS at approximately 4amps bttt at approximately 7 volts.
l;
Clearly, the }a~~ik cr.rr~-ertt was :lirnitc:cl and this lÃ:mit was depetidetit upon the load. ':E liis experiment revealed that thc~, motor drew a similar current regardless of t.hc. power supply for a given load btÃt that the voltage cl7arigeei depending tapori the br7.tterv cell t:onfigurttti~ri. Witli respect to eitlier load, ttic power otitput was ttic greatest in the 6x l configuration and not in the 3x/2 configtÃ.ratiorl, as was s;xps;t tetl. From this, it was clt;=ts;rr-iiirxc;cl that the total power of tlic; cell pack is ti.rivc;ti by voltage anti not by current and, Ãheaefiore; the parallel conf'i;ytrration (3x-1) was not the path to take in optimizing the power sotrt-t:e.
Traditionally, wliezi desigriiiig specifications for a motor, the wizidizi<ws of ttle tiiotor are matched to ttic ar-itit;tpatr~d voltage at which ttic motor will be rtÃri..
This matching takes into ac..cot.tnt 15 the duration ot individual cycles -anti t(ie desired overa:1l 1ite ot ttle prodricÃ. In a case of an electric stapling device tlit: r-tiotor wi.ll. oii.ly be usetl for very short c.yc:les art(l for a very short life, tratlit:iotial.
matching r7ietbt:}ds yield results that are belt:m., c3pti.n7tt1.
Manufacturers ot'the n7ot rs give a voltage rating on a motor that correspotids to the Ãitrml}er of ttrrrts of the windings. The lt~-,ver tlie Ãatrrliber of tur-rts., the(ower t.lrc: ra.tc:cl voltage. Wit?ririagivert ,,irecrt`rirt)to:r w:izid:iziw, alc3wc:r rtLtrliber t).ftttrris 10 allows laagea wÃre to be used, such that a loNN.er number of turns restr1Ãs in a lower resistance in tlie wiiidirigs, and a liiglier ritrr7iber of tt.rrr7s results iri a liiglier rt:.Si;;tarIt:.e. These chartat:tt:ristyt:s limit the t-naxinitiani e.tÃ.rrc.nt that t.he motor will draw, which is what creates most uf'thc, heat atid damage when the motor is ovc.rdriveii. For the present invention, a desirable configuration will have the lowest winding reSistai7ce: to draw the anoSt ctirrerit ~rotn the power supply (i,e., taatter-y= pack). By running the ziititor at a voltage Ãxlucli hi;yher tliaai the motor rating, significantly greater power caÃi be dra-vvn t:rorri sirr7ilarly sized r-notors. This trait was verified witli testing of nearly identical coreless rtiot:ors 5 that onlv raaried in winÃiin{,~ resista.nce: (and, lierxc,ez the rxr.imber of tr.irns). For c:xanip1e, i?.avolt and 6-volt rated motors were ru.ai with 6 cc;lls (i.e., at 19.2 votts}. Tlic motors rated for 12 volts output peak ~~~,ver of 4 Watts tividh the battet-y voltage ozil~~~ falling slightly to 18 vo1ts wliezi rlrwvin<w O.7 anipw. t.n comparison, the motors rated for 6 volts orrttarrt 15 Watts of poat-vr with itrc voltage dropping ti) 15 volts brrt rlrawirii) 2 amps of current. Therefore, tlirv lower resistance w:iridirigS were 10 .c.lect:eci to draw c;notrgh power out ol:'t.hc Nattc;ries. It i.s rroted that the i-riotor= windings should be balanced to the partictrlar battery pack so diat, irt a st.all coÃ-adiÃiozi, the motor does n ot draw curreriÃ
from the cells sufficient to activate the PTt``, ANrliicl=a condition would impermissibly delay tÃse of ati electric srr:rt4ical stapler during ari opera7tiorr.
Thc. 6x 1 power cell conf ot.tratian appeared to b~~, more than stÃftici~~,lit to meet dhc.
15 requirements o#'the c.lectric st.aplirtg device. Nonethelr;SS,,'Ut tl7is point, tlle POW-er CCll c;aD be #iarthff ~.~pÃimized to detemzirze if six ccIlS are necessary to per-fomz the r~quircd work. Four cells Avere, theii, tested and it x.~~~s determined that, under the 120~=;-r load, tfie rrrotar;`drive train could riot rrr~vc: the rack over the 60 mrn span withiÃa 3 seconds. Six cells were tested and it was determined that, under the '1 2#7 t load, the motor/drive triir7 cotrlcl nYove the rack over th~.~ 60 mni spin in ? 1secc.xalt,ls -~ ~nuch '?U h, sÃer t;(iari the :$-secoÃ-ad recluireriiertt. :It was turther determined that, rartder the 18U,"t, Ioad, tlie motor/drive train could rliovc; the rack over the 60 mm ~pffli in less than 2.5 seconds - nit.tch quicker than the 8-sec.orid requirement. At this poirrt, it is rlesirab1e to optimize the power source and mechanical 1a~'cnat to make sure that there is no"rui~awaN.' staplins,/cuttinc-; irr other wtartls, il:'t:hc load is significantly less than the re;cltaired 1 S.(3;1 maxi.mun7, or even the 120= rtiaximreari, therl it X.v uld 2 5, riot be desirable to have the rack move too fast.
The gear rc:cluctionr-;r:tio wrd tlic drive systc:ni:r7ec:cl to bc: optimized to keep tlic motor.rrear pea1;. officÃency clr:rring the firing stroke. The desired stroke of'60 rmn in 3 seconds rneaz~s a miriir-iitar-ii rack ve;locit;r I'0 r~~iii/se;c (.- 0,8 inches/second). To reduce the number c.Yf rarNables 1,11 t.llc optimization process, a basic reduction of 33$3:1 issct in dhe gear box. This leaves the final 30 reduction to bc; Performed by t}rc gears present between ttrc otrtptrt shaft 214 of t}rc gear box and t}rc rac.k,2? 17, whicfr (,rvar5 include, f(ar example, a bevel gear'? 15 arirl the p.iriic}ri 216 (which tlrivrvs dhc rack), a sir-tipliti:ed exarr-ipls; ol:'whicfr is illustrated in FIG 11 .
These variablc~,s can l.~e combitic.d into the tititn~ber of inc.hes t.tf rack tr'avcl with a sitiglc~.
t=evolLttyorl t.1f tlte tttatptat sbaft 2 14 of the i:i3 ):1 gearl:tcrx. :lf the gearbox ntttput (irt rptti) tievet=
cltaatged; it wotÃlcl be a sintpte function to m attttt the ittches of rack travel per output slta:ft revtiltrti(Yrt (`l=l?R") to the cttat.ptat rprrt t.t) get a desired velocity as.ittl:lows;
(60 rptn --~ l. revolt:rtion: se:c:onci (rps); 1 rps, ~~~ 0.8 IPR -) 0,8 tni'sc:c), In stÃcb at-t idc;eli~ed case, if the IPR is plotted against velocity, a straiglrt line would bt.~ prodt.ac:ecl.
Velocity. ovet- atixed distance can be fiirrt(ier reduced to )~iring`l'irtle.
Thus, a plot of firin.-'I'iMe versus 1PP, at~ottlci also be a stt=ai(ltt line in this :icftaaliretl case.
Hoat~ea, er, output of t}tentotor (in r1xt-t) attrl, tltereforc. of ttle gearbox, is ttot: fixed becatisc this speed varies with the load. `I':(-trv degree of load clc;tentiiiies the ai-rtottttt of power t:li.e. rritrtEtr can put otrt.. As t-ltta loacf increases, tl-is; rptxts decrease artd the efficiertcy changes. Based upt-trt aii exantiitation of efficiency'WIt;h differing loads, it has beert determined that efficiency peaks at_jtrst over 60%. HoANrever, the corresponding voltage arid arrrperes at this efficiency :l~eak are rrctt. tfte swnc: as ~.;t:t the laoirit. of peak. power. PoNver cortti.rriaes to 1nc.re,ase as the load increases tÃ.tttrl the ctYtcÃc~,ttcy is fi$llrng faster thati the t.~t.t~N--e;r is trtcreasrtig. As the l;l?R iticreases, aii irtcrer7.;;e in velocity is expected, btat a c rrt:spc3ritfing increase in IPR lowers tlte mechanical advajttageattd, t.lterefQre, increases the 1oad. "f his itiereasittg load, with tlie corresponding decrease in e1-1:iciency at p:r-qgress:ively 17:ig17e:r- loads., :rneans that a. poirtt will exist when greater velocity out of the rack is no longer possible with greater IPR.
TItis behavior is reflected as a deviation frs.anY i predicted straight l:irtt.~ in the plot of Firing Tia-nc (in. sec) verstrs 1PR..
'?U Experirraei-atation of the system of the present invention rev-eals t}tat dte boundary betweert unneccssan, mechanical advantagc; and insufficient mechanical advantage occt,irs at approximately UA :(PR.
F:rortt this l:l?R valuce it is possible to, ttow, select [tic final i gt`ar ratitr of the bevel gear 2'1 5 to be approximately tl7ree tirties greater 431:1;P tfttari the sprocket oftlie output shaft. `i'his ratit.} trartslates 2 5, into att approximate IPR of 0,4_ Now t}tat the bevel -lear 215 ftas bectt opt-itt7rzed, tfte ba:tte:r-y pack can be rc:etart7:izteci to detert-nine if six cells could be retit.tc:ed to f-iarc or even four c:e11s, which ~vtttild save cost and cottsidr;t-ably decrease the volttarie needed #i:}r the power sttpply wit}tirt the 1~~iidle;. A constant load of approximately l ~?04"was useci with the optimized motor, drive traiti, bc:~~'e1 gear, atici rack atid pinion 30 ati.d it was discovered that tts~.. of'4 cells resulted in aii aImost. 5 second tirtie period for movittg the rack t>(# rt-trt-t. With 5 cells, the tirne was retlLrcrvd to approximately 3.5 seconds. With a ti-cell ccxt:figuratiEtn, [fic tiitte was 2.5 set;onds Tfiarse itxttarpolat.ittg this ctr.ri s; rtasu.lted in a niig-m-ntrrrt cs;ll contigtrratiori of 55 e:e.lls. 1;3rie, to dhe fact that cells only can be strpplic;d in integer amurrnts, it was discovered that the d-cell configuration was r7oedeti to meet the requjreiaieaits provided for the electric stapling device.
From Ã.l7:is, the niiriiinrrni power soiarce volume could be calculated as a.
fixed value, uziless datfe:rezià sizc:t.l c.e11s could be used that provided the sarne electrical power charac:terasties. Lithium cells referrecl as CR2s have similar clcc.trical power cbartac:teristsc:s as liave CRt2_3s bt.tt are smaller.
'Yh eretc?re, usirig a 6-cell power supply of C'R'?s reduced the space requiretii eri t by riiore t(iari 17%, As set fi.art:h. in detail abtave, the poat-vr s'tirarce (:i.e., batteries), drive train, arid rnotor are qYtim:izetl :f=Or total efficiency to deliver t(-rrv desired oritptit force w.idh.iri the requiredw irrdc}w oi'ti.r-nc l0 fo:r cornf.sleti.ng t:li.c strric:al p:rtrcecfrtrc;. Tlic eliicic;ncy of eac.li kirici of power strurcce drive trairie alxci.
motor was examiried arad, thereafter, the type of power source, drive train, and tiiotor- was selected based upozi this examination to deliver the maximuni power over the desired time period. lra otlier words, the:rn axirnr.zrn ,-l~owe:r condition (voltage arici ctirrerit) is examined Ã.l7rit cwr exist for a w:iverr period of time withotÃ:t activating dhc. PTC (c:..g., approximately 15 seconds). The, f.~reserià inventiori locates the s ~}lia~~-c trrr~r~t-l~c~t~~r vtaltre; that optimizes the way M
t~~liicb pow-er is extractetf frc3m the ceils to drive. the motor. Even a1'ter sxrch optimization, Qt.fler cl~anges can be made to improvel.apcrl tlic t`eaÃures, of ttie c:lectric st.ripler 1.
Another ftind of power supply caai be used and is ref'orred to liereira as a:.<hyl}rid" cell. lra suclY i configuration, a recl~argoible Lithit7:ni-ion or Lithium-polymer cell is con.nectec:l to one or '?U riior-e of the olatitiiized cells mentioraed above (or perhaps another primar).- cell of smaller size btrt of a sirliilar or higher voltage). fn. such ia coiifigu.ration, the U-i.on cell wot.tlcl power the staplirlg,tc.r.atting motor bec:aLrsc the total eneQ4y c(aritainecl w:ittrirr one t'R2 cell is sufflicicnt to recharge the Li ic}ri cell mar~iv tinies, hoa4~ever, [l-is; priniary cells are lirnitod as to delivery.
T_:i-ion and I-;i-l?olyrner cell: lxave very low iiiternal resistance anc.l ar'e capable of very high currents over short durations. "f'o hamess 2 5, tliis beneficÃal behavior, a primary cell (e.g., CR l223, CR2, (yr another cell) er-ir.rld take 10 to 30 sc:caricis to cl7rirwe r.zp the secondary cell, which x.~,orrlci tarrrr riti additional powc:r sorrrcc: tor the moÃo.r during firing. An altemative ernfaodiment of tl~e Li-ion cell is the Ãrse ot'a capacatfgr: however, captacitors tir-e volrari7eitie;fficierit f;===veri so, a super c.tipticitor-n'lr7.y be put i11U.) tlle r~ic}tor powering syst.cm; it may l.~e disc.onriectc.Ã.l electrically therefrom trntil thc~, operator dcterriiiric.s that additi~.~rial 30 power is re(ftiired. At strul) a ti.r~neK the operator wotild conn c;c:t the c;;:tpc:ic>itor for ari. c:idcled"boost" of energy.
As tnentiotic.cl abovc, if t.hc. It.racl ati the motor increases past .1.
giveri t.~t.tint, the c~,fficienc:y 13egins totlecrease. In sttell a situation, a mtalti-ratiotransanissit~n cari be used to change the delivered power over the desired time period. W}ierl the load becorlies too great such that efficierlc~, decreases, a ariulti-.ratio trwrsm:issiari cati be used to switcli the gea7.r ratiori to return ttie niotor to tlle higher efficiency point, at whÃc.h, for exanilale, at least a I80-,iforce: can be suplaliecl. It is noted, howrever, that the motor of the prr~sclit ir-iver-itiori. neecls to operate in both for=warcl and reverse directions. In the latter operating riic?de, the motor mt_ast brw able to disrwtigage the stapling/cutting in-s-[rtrrnent from out o.f a"jarni-necl" tissare trl,arnpi:rig sittaatioii..
Thuw, it wtauld be beneficial for the reverse (jearirlg to generate more force thati the forward cFearirlg.
Witli significantly varying loads, s;.&, from low pouttds trp to 180 poug-itls, there is the possibility of t(irw drive assembly being too potiverfi.rl in tlie lower etid of the load t-azige. `I'hus, the invention caai izittlude a speed governing device. Possible governing clevittes irlcltrde dissipative (active) gloverrtars and }aass:ivc: glcnrernors. Orte exemplary passive governor is a flvwheel., stach as the e.rlc.rg ~y storage clemc~,tit 56, 456 disclosc.d in U.S. Paterià Applicati~.~n No.
2.005:'027795-5 t.~.~
Palmer t::t al. Anotlier ptassiveg(.),v~crrior t.1iat c;~~~ bCtrSCcl is tt "flyõ padcilt::wliecl, Stac.htanassert-ibl;r uses ia=ind resistance to gt.~vem speed becatrse it a.bsorbs more force as it spins faster and, tliercfore, provacles a speed govern:irrg cftaracteristic wlieti the riiatcrr:is moving tcrcr .fast.. A.ncrthe.r k:irici at`
governor cati be a compression sprizi;y that the motor compresses slt~-vOy to a compressed state_ When actuation is clesirecl, the compressed spring is rt.~leased, allowing all of the energy to be '?U transferred to the drivrw in a relatively sliort amot_artt of ti.me. A
further exemplary goverÃ-aor embodiment can include a multi-stage switch having stages tliat are connected respectively to variotis sub-sets of the battery cells. Wheti low force is desired, a first switch or first part of.a. switch car~i be activateti to place only a l-ew of tl-is; cells in tlit; power supply c:irctr.it. A: more power is desired, the tiser (or aai tautornated t:.omptatirig device) t;aai place steccessive additional cells iritc3 the 2 5, poANrer stÃpply c,:ircuit. Ryr example, in a 6-cell coÃitigLtratinzi, the tirst 4 cells can be connected to the l~ower sti}aply circtait witft a first position of a7 sx.~,it:ch., the fiiÃ.17 cell cwr be connected wit.ir a7 set::ozid position of the switch, and the sixth cell cari be connected ~vitl=a a third position of tlic swit:ch.
Ele;ctrit: motors taritl the associated gear box pt-odtat:e; a certain aiiiot$Eiit of ncAse wheri tased.
The stapler of Ãhe present itivc.ntiun isolates the motor anÃ.1,"or thc:~
motor drive traiti frot-n the handle to 30 decrease butls thc; ac;otrstic; and vibratior~s characteristics arid, therubyt the overall r~soista protlt.rced cltrrirlg operatioti. In a first er-til?odimetit, a dampening material is disposed between the hatirllc 'bocly artcl butli of rnotor and tltta drive trairi. The material can be fbarn, strt li as latex, polyester, plant-basctl., t.~o1y c.the:r, polye.therimide., palvimidc:" polyolc.finY pc.~ly prapy~lenc." phc.nt.ilic, palvis~.~cy-anates, polytrretliatie, siljcon~, vinyl-, etlivlerre copolymer, expanded polyetkiyletie, t7unropolymer, or styrof'oani_ The mat:eriat can be an elastoÃxier; such as sÃlittozie, polyuredhane: chlcyroprene: butylz poly b utadie:r7e. :r7eopre.r7e., natural rtibbe.r, crr:iscrprerte. 'I'Irc:
tbanr can be closed cellular, open cellular, flexible, reticular, or syntactic, for e:xample. The material cazi be placed at oivetx pcasitions betwc:en the bandlt,~ fflid motor/gear laox, or cffli entirely fill the chasnbc;r surrounding the motor/gear b(-)\. ln a, second eiraf3c?diiraerat, the motor aiid drive traira are isolated 'Wlthin a nested box coratigt:rratiozi, somtati:rires referred to as a''fiinese:Rox" or "Russian nestino doll." l:n saicti a configuration, tfic;
damprvr-ti.rxg; tYtater:ial is placed around the motor;r'jrvar box and the two are placed w it(-tin a:first box witfi tl-is; gear box wtiatt: protruding therefrom. Tfttati, t}tetrr:t: box is r-txtruiiteti witfti.n tlxc; "set;trg-itl box ' -- t(ic handle body --- and the dampening material is place betweeti t(~c first box atid the liazid1e Ãn t:eri or.
The electric stapler of the present itiveticiari criti be used in surgical applica:trcrrts. Most staplitig devices arc~, one-time use. They cati be disposed after one medical procedtrre l.~c.catrsc~, dhc.
cost is reltttivt;lv It:}iv, The elet:.trit: surgical staplt:r=, l7ow-eirer, Itas a greater cost aDd it may be desirable to use at least the liaridle for moFrc t.liati orle tiiedicaf procedtare. Acct.~rdÃtzgly, sterilization aft.f7etiartdlecoriiparierrts ~7.iÃ.er r.zsebeco:riic:s art :issue.
`~t~rr:l`ar~7.ta~rr ~~~tcrre trs~ is ~~f~o ~i,~;rtitic~r~t.
Because the electric stapler includes electrcyziie components that typically do nc?t go through standard steriliziitic:xal processes (i.e.; steam or gamma radiation), tlle. stipler noctfs to be sterilizet;l by- other, '?U possibly more expensive, mearas sucti as ettivlerte-oxide gas. It would be desirable, hc?~~~ever, to make the stapler ivs,ailable to gammia radiaticrr-i sterilization to reclt.ice the cost asscrciialed with gas steril:izatioti. It is fS.now n that rvlect.roriics -are usable irt space, which is ari eriv.iro.ri.mcnt w}iere sLrch electronics are exposed to ga.mma radiation. In stac.l~ ~pplit;ations, btrwtaver, [tic electronics need to tivork wfiile being e;~pose(f. In t:.ontrast, tl7e electric stapler does not nt:.e(f to work while beill 2.5 exposed to the gamma st:erifÃzation zacliation. When seziiiccyziductcyrs are eznployed, even if the power to the elect.rc~iiics is tLzr-tied off, gart7mzi radiaticrri adversel1~
affect ttie stored rrtert7ory.
These c.otnponents only need to withstand strch radiatÃfgn itnd; c?txly after exposttre ceases, need to be t-etidy for tase. Kr7ow-ing tl7is- there are various Me;"Ustares that can be laken to gr7.n7ma-l7ttreit:n the electronic comt.~t.ttictits withiti the hantl.le. FirA, instead of usc.IN1~S-FET memory, for e:~xamt.~1cY
30 ti,isable link mc;moties cari be u.seci. For such mt.morit;`s, or~rc>e ttsc fuses arc; programmt..d. (i.e., burtit)"
the rnemoÃy becomes permarient ar-ttl resistant to the gazrltYta sterilization. Second, the memory can be rna.k-programnied. If tfrta zitt:rrlory is hard prograrnmtad usirtg itiawl,.se gamma :radiationat tftta 1evc.l for r-nc.tl.ical sterilizatiari will not aÃ.lverse:ly afYe,c.t the prograr-nming, ThirÃ.l, dhe sterilization cati 13e pertnrriied while the volatile memory is empty and, a.fÃer=
sieriliza.ti:ori, the memory can be pro;yramtiied through various measures, for example, a Avireless link including infrared, radio, Ltlt.rasoLtnci., or Bluetooth corririiLiriica.tiari criti be rised.
Alternatively, or acid:itiona:l1y, ex-terrial 5 electrodes can fie c.carxtacted in a c:learr erivirc?rxment and thc:se conductors can program the memory.
Finally, a radiopaque shield (made from niolybclenr.ani or ttangstcr1K for ex .~mple) c..ar-i be provided around the gaiiima radiation scrisitive components to preveÃÃ-at exposure Of these compozierits to t}le potentially clam.a.~{i:i~~{ r~acli,~.tit~r~.
~: ~:
As set forth herein, cfraracteri stics of the f?a.ttrv.Ã-y, drive train, a,nd zrlotc}ra,rrv exam:iried a,nd 10 optirr-iirerl f:oran clec:tric stapling app.licati:orr. Tl-it; particular d.ewigr~i (i.t;., clremistrtr ati(i PTC) of a battery will deterrairae the ainotrrit of current tliat caii be srapplied and/or the ariioutit of power that can be generated over a period tif time. It has been deterrniraed that standard alkaline cells do zic?t liave ttie abilitv to wetierate tfie li:igli power needed over tfre short pertoci of tariie to afTecl actuation of the e.lc.c:tric: st.apling dc.vie.e. lt wa.s also cleterrninecl that some lithitÃ.rnzrnanganese. Ã.lioxidc~, c:c.lls, also 15 tivere trr7rible to r~ieet t17enc;edsfor ricttratirig the sUapling device.
Therefore, characteristics o.f`cervairi lithir.tm-ma.ns;a.ricse dioxide ccll cr.~titigtaraÃions were exanzined, sxrch as the electrolyte a.rid the positive tert7per-riture coefficient device.
1:Ã is urtclerstood that conventioraal lit:liir.izn-niazi;yatiese dioxide cells (e~g, CR.l213 and CR?) r loads over a lc:xalg pc:r.iod of time. For example, SUREERR1/: markets flashlights are designed fo '?U a:rid sucli cells and states that the cells will last for from 210 rainutes to afew hours f3) to 6) at the maxirlir.ani ltrm~,'n ot.ttpt.tt of the flashlight. Load t.tporl the cells(s) during this period of tinic is not close to the power capacity of the battery(ies) aiicl, therefore, the critical current rate of the fiatte:ry(ies) is rrot rcachetl aiiti tlicrs; i.s rio danger o.foverlreat.ing or t;xplositrri. If waic'ti trse is rrot c aitiritr rrs, the batteries CaD last thr'ougli ariariy cycles (i.e., lit.rritire(ls) at this same fLal1 polver output.
?.~ Simply prrt, sucli baÃteries are not designed for loads over a period of 1 U seconds or less, for example, five seconds, arici are also riot designed t`or a small nri.mber of iasesjor e-:mirliple, ten to fiftecn. What the present invention does is to configure the power supply, drive trairx, arxd anotor to optir7iize the p(iwe;r strpply brittel)` ) for a smti7l rireariber` of uses Witll eac;li Use Oc;CtrrÃ'irig c3ver a period of less than teri sc.cc.~nds anÃ.l at a l~.~a:d that is significantly higher tharl rated.
3t] All of the pd.rn.ary- lithiunl cells that were uxamir~red possess a critical c>r,rrrer~st rate defined by the respective P'~R' device and,'or the cherYristr), and interrral corrsÃructiori. tf uwd above the critical currerrt ratetor a ps;i-ioti of tizire, ttic ce1l: carr ovs;rl-it;at and, pa.rswibly, explod.c Wlrerr exposetl to a very high power dc.mantl. (close to Ãht_~, PTC threshold) with a It.t~N--ritrr~~ber of cyclt_~,s, the valtage and amperage profiles do Ãiot behave the same as in prior art standard tises. It ha.s beeri i`nttricf that some ce11s tiave, 1'"f C: deN=irres that prevent generation c?f'poNN.er required by the stapler of the present it~r~ret~rt.ic~:t7, ~l~t.tt ttiat. ottier cells tir~c: able t.t) generate the ~fesire~f power (cZIaI stiPlal~ ttie t:uE:rertt at) volta<e) for powering the e1ec.tric: staplizi Ãi .~ evice:_ This means that the critical current rate is different depending t.tporl itic particular cbcrlnistry, construction, and/or PTC of the cell..
.I.he present invention c(Yrifigt.tres the power st.tpply to operate iÃ-a a range above tlie critical t;ti.rreg-it rat:e_ referred to liertaig-i as the "Super-tu:rit:ical Cttrretit Ratc;." It is g-itttcd wit-hirt the tletinut-i:tart of Super-Critical t;LtrTertt Rate also is ati averag;i.txg; of a rrloclula:ted current supplied by the power supply that :is abovt: tlio critical current rat:e. Btrcause the t t:l.ls t;aritxot last long while stapf.sloriiig power at tlie Super-C'rÃtical Current:lt:ate, the time period of their Use is shortened. `l'his,sI-aor-tened ti~~e periocl wliere the ce11s are, able to operate at the Super-Critical CLrrrezià Rate is referred to herein as the "Super Crit-ical Pulse DischargePeriod,"' whereas the entire t.:irrte wftert cltc: lacrwer sttpp(y is ~e f'erit.td." In other words, Ãht_, Super-Critical Ptrlsc.
activated is referred to as a "Pulse l3ischarg Discharge Period is a 1imt: that is less than or equal to the Ptal;;e Di;;c;liargc Period, during lt~liit:b tyr~le t.lie ctrrretzt rate is ~-=rea.ter t.liari the critical current r-ate of the cells. 'I'he Sttper-Critical Pulse Discharge l?ericrd tcrr the laresertt invc:ntion:is less tftaÃi about 16 secotitfs., in atfter wcrrcls, in a .rtitiwe of al}out one-half to fitteeri seconds, tor example, betweeÃi two and four seconds and, rncrre particularly, at ibot7t three ;~ecot-ttls. During tht.~ l:ife of the stapling device, the pc:xwer st,tpply may lat.~
'?U st.tk~jec.ted to the St_tper-Critical C'ut-t-erit Rate over the Pulse Dischary;-e :I'eriod for at least one titiie and less than twenty times within the timt,~ of ia clinical procedu.re, for example, bet%reen.
apprc}xin-tat:cly t:r~~e and :f:tfteer-t times, in particular, between teri artcf tifteert times "i-itli.iri a period of five rninutes Therefore, M cort~parison to the .litrurs of use for wt.aiitiar(i applications of ttxc; power supply, tfie prc.Wnt illirent.iOD will hatt: an ~~,~grt:gatt; ttst::, rc.ferrt:tf toas tlic Aggregatt`. t?ttlst:: ir~ie, f, 2 5, at Ãxiost, approximately 't}[t to 300 seconds, in particular, approximately 224.7, seconds. It is ric?t:ed tha.t., duri:t7g, ttri at::tiva7taort. the devit::e.inay rtat be retlt.tired to exceed or to a.lwa~,s exceed the Supc:r-C'ritÃcitl Current Rate in a given Prot:.ecftÃre f?et:.a:tÃse the load presetited to the instrument is tiepencfent tapt:}ri the specific cliriit:al applicatior7 (i.e., s arie tissue is tferist`r'tl~aD others aritl iaic,rctased tissttc dc.n sity will increase load presented to device). However, tht_~, stapler is designed t.c) be able ta ext =c.cd 30 the Strpcr-t;-'.ritical Current Rate for a t~st.trtiber of times during tfsc irttended use of the su.r.gical.
prot;edtrre. Acting irt this Super C'riÃ:it;al I'uIse Disc.(-targrv I'er:Ãoti.
the tled ic.e c-an operate a sutfic.iertt amcwnt ~.~f tir-nc.s to c.c.~mplcte the tl.csirc.d surgical proc:cd Ã.rc., btrt not many more b ecausc:, t.h c power supply is asked to perforr-i7 at ati ir7creased ctarreÃit=
W}ien performing in the iticrea.sed range, the force generated by the device, e.g., the e1ectric stapler 1. :is significantly greater than existed in a hancl-powered stapler.
I:rr.fact, tlie force is so alrucll grcaÃc.r tbat it c(ytild da.ma.~e the stapler itself. In one e:xe:nxplaav tÃse, the motor and drive asseriiblie:s c.ar-i be operated to th~,~ detrimelit of the knife blade 1ook-ou.t feature --the safety- that pr~,~~vents the k.rlife blade 1060 frc?rii a.dvariciiig wliezi there is no staple cartridge or a previously fired staple t;artri:tlgeiritl-icstafal:ecartri(igelrolcler 10:")O. Tli.iw tc;a[ure is illu:t:ra:tetl iri FIG. 333. Asd.iwt;ussed_ thc;
k-riike blade 1060 sfrotrld 'be a.11owet1Ã:o move distally only wheri the staple sled 102 is preserlt at the firi.ng-riatl~~ l~ars:i[iirgl, i_~., ~~~l~~:rr the s.letl 102 is in the 1.~s~asitiE~r~i illustrated in FIG. ;i:~. If the sleti 1.[l~' is riot present in dhis posiÃiozi, this caÃ-a meaÃ-a one of Ãtivo things, either t;(iere is Ã-ao staple cartridge in the liol der 1030 or the sled 10,2 has already been moved distally -- in other words, a partial or fiill firi.rrc, lias already occurred with the loaded staple cartridge. Tl7ris, ttie blade 1060 slic~ul:cl rrot be allowed to move, or shotÃ1~ be restricted in its movemc.nt. Accurtl.ingly, to insure, that the sled 102 c,ari prop tap the blade 1060 wlier7 Mti firing state, the sled 102 is pr'ovided witli a lock-c}tit cor7tact strrfa~~c 104 and tlie blade I060 is provided witli a correspondingly shaped cQiitacà nose -1 t36r}. It is rioted at this poirrt tlrat, tlic lcrwer -Ltide wings 1065 do ricrt rc:st a7ga.irrst a.f1oor 1034 irr the cartridge holder 1030 uziÃÃ1 the blade 1060 has moved dista.lly past ati edge 103 5.
Witli sucli a ccrzifiigura:tion, if the sled '1 C32 is not prose:tit at tlle distal end of the blade 1060 to prop up the nose 1069, then the '?U lower-guide wings 1065 will follow the depression 103 7 just proximal of the edge 103 5 aÃid, instead of advancing on the tlcxcrr 1t7_' W, will bit th~.~ edge '1 C33 5 ar-icl prevent fLarther forward movement of the blade 1060. 'I'o assist with sLrch c.oritact w:(-rrvn the sled 102 is not prcserit (referred to as a"lock out"), the staple cartridge 1.010 has a plate spring 1090 (at-[acbed tl-it;reto by at least a.rtic rivet 1.016) for faiasirig the blade 1(360. With i17e plale spring 1090 flexed upward a.iid prc;ssir~g dovv-mvar'd 2 ; a;;a:itrst the flange 1067 (at least uÃitil the flange 1067 is distal rif the distal end of the plate spring 1090)., a dowriwarcilv directed force is iairparted agai.rrst the blade 1060 to press the wirigs 1.()65 down into the depression 1037. TfaÃrs, as the blade 1060 advances distally without the sled 102 beir1g present, the wings 1065 foilovv- the l(iwe;r ct.rrN~e of the de;prc;ssior7 10>7 andare stopped frc3rtl fLa.rtlier Ã.lisÃal r~~ovc.r-ncnt when thc~, distal edge of the wir~~s 1065 flit the e.dge, 103 _45.
30 This saf ty feature operates as dt.scribed so lorig as the R)rc:e transmitted by the knife blades 1 t3t>2~ to the blade 1060 is not 4.ueat errou~;b ti) tear off the lower guide wings 1065 ti-om tlle b1ade 1.060. Wi[li the forces able to be gerxc;ra[s;d by [fic power supply, rno[a.rr aixti cfrive, train of tlre, present invention, th~~, blade 1060 caai be ptiash~~,d distally s~.a strongly that the wings 1065 are torn ~~~ay. If this ncctars, there is raca ~~~,ay t~.1 pr=overat distal r-i7taveaiaerat taf the blade 1060 or the sled 1.02.
A~~cordin;yly, the present inventinn provides a wav to lower the forces able to be imparted upon the w.irags, 1065 p.rio.r to t}aeir passage past the edge 10_35. l:ri other wcards., the iapper lirnÃt caf.icarce able to be applied to the blade 1060 is rc:r.iÃaceÃi in the first part of blade travel (past the e:dge 1035) and increases after thc c\.-ings 1065 have cleared th~,~ edge 103 5 ar-icl rest on tlic floor lt.~3fN10re specifically, a first exemplary embodiment of dhis "vo-parà fc?rce generation limiter takes the fortia of a circuit ira which only tag-ic or a few of tl~e cells in the power supply are conraected, tta ttac; r-tatator drrrirlg tl-ae first part of the stapIirac,.`c,rrtti.rxg; st.r=c*e arad, in the s~corad part of the staplingp`eut-tir-ag.
l0 stroke, r-txog[ or a11 of the cell.s M the power supply are c:a.araraectc;(l to the rraotor A f-irst s;xentp.larA=
form of :~uc}a a circuit is ilirastrated in:FiC}, 334. lÃ-a this first embodiraient, whera the s'WItch 1100 is in tlie "A'"' position, the motor staplirlg motor 21 1.0) is cYzily powered Avit}r one pcaNN.er cell 602 (of a laossi~ale t:oua~ ir~. t}ais exemplary er~.al~cadir~aerat). (=~c~l~~e~~e.r, when tl~e s~~;-itela l 100 is i:r7 t}ae "B,.
pasitiunY the, motor is powered with all four of the cells 602 of'dhe paNver supPly 600, thereby iracrealsino~ the ~7.iia~~triit of force t}ar~t. cari be sra}~plietl to the k~lta~le l.ft(~t~. Control I't.hr; s"l7tc}a 1 100 between the A and B positions can oectrr by pQsit-ioning a second switcli soinewherc along t}ae blad e control assenab:lv car along ttie sled 102, the second switc}a seriding a sigraal to a controller after the wings 1065 1iave passed the edge 103 51, It is noted that this first embodiment of the ccazitrcal circuit is on.l~ exemplary aiYd any similarlv peafsarminu, assembly c>aal prc:xvide the lock-out protection fc:xr the '?U device, see, for exaiiiple, the srwcozid exemplaa-y eml~odimrwiit i1ltasta~.ted ira I~:IG. 36.
A first exemplary forsii of a. fonlard and reverse motor cor-itrol circuit is illustrated in, F1G.
_aS. '1'}a.is first eNernplary embodiment Lrses a rlotifale-t.larow, double pole switch 12200. 'I'lae sw:itc}a.
12200is raor.tnally spring-biased toacent:erposititata in which both pEale:
are off. T}aernotorX!1.
illustrated can, fc3r c;xaaraple, represcrat the stapling raic}tor 210 O.f tlle prese;Dt ir~~~entioaa. A;; c'aia be 2.5 seeÃi, the power-on switch 1210 must be closed to turn cYzi the clevice.
Of cor.irse, tlias switch is ol-itioraal. Wtieri a fcarwavd ari~veraient of tlic raicatcar M is desired, the switcti 1200 Ãs' placed in the rig}at position as viewed in FIG. 35, iz~ ~vlaic}a power is sÃapplied to the motor to rtira the motor in a first directiora, defiraetl as the fii:}nvar'd tfireci7c3ra lierc; because the "4-" of the; battery is connected to the "~-" of the motor M. In this for~~~ard switching position> the motor M can power the blade }060 30 iri. wt distal direction. Plaueraient of an appropriate scri.sor or switch to indicate t}ac forward-most desired position oi'tfa.e blade 1.060 or the sled 10" cara be used to coaitrol aforward travel liraiit switch 12)20 that interrupts t.~aciwor strpply to tlat; r~iiotoi.- N1 aracl prevents furtl-is;r f-o:rwartl travel, at, least, as long as dhe switch 1220 reml.ins apc.n. Circuitry cati be programmed to riever allow this switch 1?~?0 to close and coanfalete the circuit or to ~.1rily allow resettitig of the switcE1 1220 wlieri a nevv- staple cartrid;ye, for example, is loaded.
Wbe:r7 a:r~everse movement at`tf7e rncrtcrr M is cic:s:ireci., the switcfr 120[3 is placed irr the (eft position as viewed in :f~IG. :3 ) -5. in whic:lx power is supplied to the motor to rurx the anotor in a se:coracf dsrection, defined as the reverse dirc;c;tiori here because the :<-,of ttic battery is colir-iectecl to the of the motc?r ~~:t. In this reverse stivitching position, the motc?r N-:t cari potiver the blade 1060 in a fsrtaxi.nial direction. Placement o.f arr appropriate sensor or switch to indicate the rearwartf-nitrst desired position oi'tEte blade 1060 or the sled 10 " cati be used to control a rearward travel li.rnit l f3 switch 12330 t}rat ir~itcrrtapt:s power strpply to the i-rtoto.r N1:
arrcf f.~sreveg-it:s further rearivarcf t:ravel, at least as laiig as tlie switch 12-3 0 ret~i ains c?pen . it is noted that ot}i er switches (iridit:.ated with dotted arrows.) cati be provided in the circuit to selectively prevent movement in eitlier direction independent of the EÃ.rnit s~Yltcf7es 1:21.0, 1230.
It is noted that the motor can power the gear train with a significant arnt.~trnt uf'force, which translates iaito a l7ig17 rotational inert.ia. Assttc;h, wbt;n tariy :rvv-itchn7enlioned lvidh respect to E-"IGS, 34 arlcl 3 5 is trseci to tt.irn t.~ff the riiotQr, t.lie gears may not ixrst stop. Instead, the rotatit.~tiaf irz ert.ia corrtÃ:r7t~es, to fsropc:l, t`or ea:aritple, tlic racla 217111 the direction it was traveling wf7cti power to the niotor was terminated. Strtth movement cati be disadvantageous for many reasons. By configuring the power stapp:ly aalr.l motor appropriately, a c:irt:.tait c;ar-i be formed to substantially cliniir-iate sLrt:h '?U post-termination mc?veiraertt, tlierebv givirtg,the user more control over actuation.
FIG. 36 illustrates an excmplar~= embodiment where the motor (fc)r exar-nple, stapling motor.
210} is arrested from ftirtEter rotation wEteri forward or reverse corttrol is terminated. F1G'. 36 also illtas-[ratc;s altt;riiativs; cr~iiba.rtlir~iicrit: of [tic f-b:ra4~ard./rs;o=crse c:otttrol aixti of tl-is; rr-Iarlt:i-:t.agc; power sttpply. The cirt.trit of f'iG, 36 ki~rs a motor arr~::~t sttb-t:~ir~:trit~
utilizing a sl~c~r`t-~c;irt:.tri~t property of ai~.
2.5 electrical motor. Mcrre specifÃcalty, the electrical znotor,%-l is placed into a short-circtrià so that an electrically generated magrret.:ic fic:ld :is created i.rr oppctsitio:r7 to the fserrr7rttietit magnetic field, thus slowÃrxu the still-spinning Motor at a rate that substantially prevents inertia-induced over-stroke. To explain kiow the circuit of f'lG. 36 caii brake the ruc3t.orM, tari explanation o.f`the for-wtardrreve;r-;;e switch 1300 is provided. As can be seen, the forward re,versc switch 1300 has three positions,.jtÃst.
30 lif<;c; the switifl 120(l of FIG. 35. When. placed in the right position, the nlotor l1'E is actuated in a, k(ar-ward rotation cf:irectioti. W}ierl placed in t(-rrv lefl fx}sitiorl, ttle nlotc}r N4 is actuated irt a. rea."vard rotation direc't.iozi. Wtreti the switch 1 i0t? iw ntrt acttrats;d --- as showri in F1:G. 36 - the nit.rtorM is short circuiteci. This short circuit is Ã.liagrammat.icallv illtrstrateÃ.l by the upper portion of the switch 1300. lt is Ãioteci that the sN.Otcl7ia~g processes in a l;ar=akirig switcli is desired to take place in a titne-del~~~ed manner, which is also referred to as a break-before-make s~oritchino c(zifiigura:tioÃa. When swite}iirig crver.f.rom operating ttie niotorM to braking tfre ariotor 'Lf., the dor.rble-lacrle., double tfrr~w 5 portion ofthe forwarcli're:ve:rse svvitch 1:3 )00 is opened before the riic?tor short circuit is etfecÃed.
Conversely, when switching over frcxm lariaking the motor M to operating the niotorM, th~,~ short 6rcr.rià is operaed before the stiOtch 1300 eari car:rse tiiotor actuation.
Therefore, in operati:ori, tiOen the arser releases the a-way s-witcfi .1300 #royri either ifie:fbrat~artl or reverse posititrrrs_ tfic; mtator'NM is short-circuited arid brakes quickly.
10 Otlxc;r f:eattrrc;s of tl-is; c:iretr.it iri f:'t.G. 36 have fic;err explained a4-it.1i regard to f=t.G.. 35. For exairalale, ari on/off switcti 1'z 10 is prov'ided. Also preseiit is the power:lock-out switcti 11U0 t;(iat only powers the motor with cYzie power cell 602' izi agiverr portiori of the actuation (wliiela can occur at the begirrriirig or at ritiy otlier desired part o.f'ttie st.roke.) arici powers. tIre.inotor M witIr all of the power cells 602. (hcre., for e:\arnt.~lc, six power cells) in another partion of the. a.cttaatian.
15 A. r7evv- feature of the r-everse and forward limit switches 1>'~'C3, 1:330 preve;nts any t:trrtlrer ft.~r =ard nzoN=ement of t.lic. motor M: after the for =ard limit swiÃcli 1 320 is actLÃ.ated. Wlien this limit is reacl~ed, ttie .fb.r4.~,arc1(:irrrit. switeli 1320 is actuated and the switch moves to the second positiori. In this state, zio power cati get to the znotor for forward movement:but power can be delivered to the niotc~r for reverse nic~v~.'r~lealt. The forward Iiniit switch c:aiY be programmed to toggle or be ao:tie-'?U time trse for a given staple cartridge. :More specifically, tlie switch l3 )'?U wi11 remairi in the second positior-i u.n.tsl a reset occr,irs by replacing the staple cu-tticig~,~ with ia liew or-ie. Thus, trntil the replacement occurs, the moto.Ã= M cari or-rly be powered in the reverse direction. tf the switch is merely a toggle, theti power cari be restored for adtlit.iorial further rnovemt;nt only wherr the movearicrtt kias retreated the part takvay fromactuatir7g the sv~r7tch 1-3~20=
2z; "f he reverse liÃnit switch 13 30 carr be ~-orr~gurecl similar1y.When the reverse limit is reacheci., the sNvitcfr 1~:~[3 to the secarici pos:it-icrri ar7d stays ttiere until a reset oeciars. lt is noted that, in this position, the anotor !~'l is in a short-cÃrcuit, which prevents motor movement in either tiir`ec;tioai. With strch a configuration, the operation of the stapler cai7 be lir-iiiictl to a single stroke ut.~ to the forward lir-nit and a sirigl~~, retreat up to the rear lir-nit. Wheii both have ucc:trrred, the 30 motor N-1. is disabled until the two switclses 1320 are reset.
Refrv.r=ring riow to t(-rrv figures of the drawirigs in detail arld tirst, particulariv tc}FIfr$S. 3 7 to 40 tlteretrl, [tiers; is sfxoav-Ãr aii. exemplary embtrtliment a.rl an electric strrgical cls;vic.e 1.000 ac:t;trrtlin` to the inventioti. whic.hY in Ãhis cmbocl.imeriÃ, is an clcctric sr,Ã.rgic.al linc.ar stapler. F 1G. 37 shows the left side of the device 1000 with the liaridle's otater skiell 1.001 atici 1002 rern~.1verl. Similarly, F:1G. 39 shows the right side of the device 1000 ANritfa the handle's outer s}ie11 removed. The tAvo faalves of the outer slicll 1001 and 1()(}2 are orilv shown ir-i Itl:(_i-4. 63 to 66 to zillow tor c(~~~- vi~wi.rw of tlic ir'iterÃia:l asseariblies. Also not shown M t1icse and the subse:cfr:re:nt figures is the encl effec.tor. An e:xe:mp1ar-y ~,~mbociiment of a linear stapliiig end effector is described in detail in the farni1y ofco-c 1,ried ianc1 co-pending patent applications iiic.ltrdiitg U.S. :l'rc?vi.sioziil :l'atezit Application No. 60/702,643) falecf f>rrly 26, 2[)05. 601760,000 fi.letl 1ar~iarary~ .18, 2006_ aiici 6[1;811,950 filed June 8, 2006. ar-itl U.S. Patent Appl:ic.at.i~~~~ Serial No. 11 r'491,626 fi1ed July 24, "(l(#ti, 1 l;'54U,'?55 atirl 1 1 r S=t l,1(l5 both filed l f3 Ss;ptc;rlil:ser 29, 2t?06e aixti 11.11'844e406 filed Atigust 24, 2007 The er:itirs; disclosure of this tamily- of applications is hereby incc?rporatedberein by. reference in its entirety.
Fl(j. 38 sliows the mechanical assenibly of the device 1000 with the left-side fraanes 1 f31 U
r=-err:7oved. :IaIC. 40, in compariso:r7, s}iows the niec17an:ica( assenibly batfi the left- ar7d raglit-s:icfe frames 10 10, 1020 rcmuve.d.
1:'IG. 37 sbcnvs the gear cover plate 1 10-5, t$Erider wliich are the first-, sec;c3iid-, ariei third-sAage <orea.rs l 110, 1 ]~t, 113t3 of the iiiotQr tratzsinission asseiiibly. Also appearitio in I~-1G. 37 is tlie etzd efTector c(osragasser'rrbly 1400. This er'icl e.f'.fedar closing assembly 1400 will be exfsla:irlc:cl in greater detail witli regard to f~:1GS. 59 to 60.
FIGS. 3 zt to 38 also shoc~~ the electric poNver iind power control assemblies. The electric '?U power assembly 1500 in this exemplary eiiibc?t1.iineÃ-at is a remov-able battery pack coziÃaiÃ-ai~ig olle or mcrre. batteries 15 1 O. As set foilh above, one ex~,'mplar)` podver strppllv is a series coiiriecticrr-i of between four and siN C R 12 3 (ar CR ~" power cells. >ilerc, there are six.
f?atte.rics 15 10. Orie of these batteries 15 l[la, ttie or-is; or:i tl-is; trpper left M. FIG. 337, is placed in ari. electrically tiiwconnectabl:e c ai.fi~~iratyc3ii so that power caD be ;;t.rpplicti selectively to the motor 1520 tkirotagfi eitlier the single 2 ; battery, 1.510a or the entire set of six batteries 1510, This is beziet=acia.1 in afiplicatioris wliere oÃily a saiial( art7oiar-tt of power is r=tecded or w17e:re, tirll torque is desired to be laro}tibitecf. +C)iie stic;l7 proliifaitÃfgti is mentioned above with r~garc1 to ~~oving the staple slec1 or bliide past the lockaout. The eXefflpl~7.ry circ;tait c3Tt14 COMIe;cts t.hi;; onecell 1510at t.hemotc3r the staf.~1ing.:'ctiattins; strakc. ~~id, in the sr;:c:otici part of the stap11ns;:/cr.rtÃing stroke, all of the cr;:lls 15 10, 30 15 1 Oa in tfsc power supply arc; conr~recteci to tfsc motor 1520, S c;e FIG. 34.
`I'he power supply control assenilaly 1600 in t(ie exempl<~i-y embodimetit takes the form of a rocker switch 1610. lti ons; actuatetl direction oftfic rocker switch 1610, the motor 152[) is catrss;ti to rotate in a first tl.irc:.ctian, ft.ar example, forward, and in the other actuated direction of the rocker s-%vitcb 1.610, the taintor 1520 is caused t~.1 rotate in aaa opposite sec~.-ariti direction, for exai7aple, reverse.
The electrically powered drive train in tfae exemplary ernbcaclime:r7t is rised to operate carae fe:~rtureofalirxca.r c.utte:ri`st~rl3ler. Here, the drive train is being used toactiiate the stap1Ãrx&'cuttiz~~.õ
f~,~ature. To do this, the drive train is connected tca a linear actuator 1700, which, in the present erail3c?diraieÃ-at, is in the fortii of a toot(irwd rack t}aat translates distally. azid proximally aloÃ-ag a rack guide 1.7~"'t). As slaoat--Ãa F1Ci. 334, the rack 1.700 is in a relativelv faroxinial position. To minimize the size o:f ttle sfaell 100 1, 1002 a:t the proxitrial end (right side of F1G. 383, the rack 1700 has a pivoting ptartioii. 1.: 10 that pivots freely- i.ta tlac; downward direc:tiEaii (as v:ie-,vc;tl in F1G 14) w}aea~i the pivoting p(artioÃ-a 1710 is raot contained'Wltbin the rack ga:ride 17~'C3. As the rack 1700 raic?ves distally (to the left in FIG. 38), the bottom of the pivritizig pcartiott 1710 contacts the prnxinial erld of the rack 4;uide 1.720 wad is caused to }aivcrt. upward to a positacara that Ãs sr.rbstaratially coaxial wÃtla the rc:~mainder of th~~, rack 1700 due to the shape of the rack gt.tid~~, 17220.
The proximal end of the rack gt$Eide 1720 is seen ira FIG. 41 .
-f he t.eeÃ11 1702 of the rack 1700 are shaped to interact witli a firial stage of t.lic drive train in a rack.r a,rad,-fsinican configuration. While var:iorrs.featr.rres of the drive train are visible in virtually all of FIGS. 37 tc? ~Ã7z the explanation of the drive train is easily seen with particular reference to FIGS. 43 and 46. It is noted laer~.~ that some o.fthe trar-ismissic.xrl stages shsan ir7 in,~n~' of the tis~ttres have no '?U teeth, This is t~ecau se the gears are iraere:lv diagranatn atic representatic?ras of a paa-ticular exctii pl~~, embodiment. Thus, the lack of teeth, or ~,~~,,en the r-it.rÃaiber or size of teeth present, shoa,lld not be takera as l:irYaitirac, or fixed. Additionally, raiany of the gears illustrated are slamvra with a. ceratraJ l.?ancl located iii.si:cle tfae tect:li.. T}ai. band s}aorrld taot be cEar~isi(lerecl as part of tlae d.evicc 1000 and is, merely, a linailati aa ol"the; soft-.wr7.re; tased to create the f`igrur-es ol"the; insttant application.
?.~ "f he explanation of the drive train starts faon-i the znotor 1520, An otÃtptÃt {~ear 15222, of the rncator 1520:is ccararaect:ed to the frrst, seccaricl, araci tliird stages l 110, 1 t20, 1.1 10 of tfae t-rarasrnissicaai.
The thircl sta(ye t 11310 is c:fgulaled to tlao final par present on the left side of the device 1000. This c raple is difficult to vievv- in all oftliefigrar-es because of its inter-ior location. :ItICi-S. 5-5 to 56, however, show the currplirig of the, third Aage 1 13 )0 to the furrrth stage, cross-over gear 1140. As 30 mentioned afiore, the cnatpGat of trac t}aircl stagt. 1130 is only diagransmatsc:ally illGastratetl -- wts a cv lirader without t:eetl-a. +t`'ontirauirac, to refer to F 1CJ. 46, tl-arv cross-over (,rvar 1140 is rotati(araallv cotaplecl to afotart:h stage s}aaft 1 14-1, which slaaf[ 1142 cr=owses over-t:he rac;k 1700:f=rorra [1-ic l:eit: siclc;
of Ãhe devic:c~, 1000 to the, ris;ht side.. Thc~, rigllt siclc~, of t.he shaft 1142. is not. clirec:tly c~.~trplcd irl a rotational manner to aaiy o1: the gears on the right sieie, ltisteati, it rotates irisieie a shaft bearing 11.44 that fits irisicle a corresponding pocket within the ti;yht side frame 1 U210, wliiefa frame 1020 is rer-t7oved fro.rn ttic view at _H('r. 46 t.t) allow vÃ~wi:r7g, of ttic right side drive trairi.
A c:astle -ear 1146 (shcn.vn by itself in FICs. 5:3)) is positione:c1on the cross-over shaft 11422 to be rotationally fixed th~,'rec\.-ith but longitudinally translatable thercoli.
To perniit such a c:onnectioii, the shaft 1.142 has a nort-il lustra.ted interior slot irt tiOiicll-a is disposed a rt(yn-illustraterl pira that passes through tat~~~ olsposi~~~ ports 1.1.462 o#'ttre castle gear 1146. Bytixc;clly securing the piii to tlic; castle gea,r 1.146, r(atatic}ri of the shatt 1142 ,wil1 cause a cor=rrvspwiding rotation ok the castlc g;rvar 1146 wliilc; still allowing ttic castle gear 1.146 to freely translate along ttic longitudinal axis of the shaft 1142, at lea.st to tlie exteri t of the siot irt t}i e shatt 1142 . As caÃ-a be seen in 1~:IG. 46; the t-iglit-side castella:tioÃas 11464 of the castle gear 1146 are shaped to tit between cnrresporidin y cast:ellatioÃa slots 11482 on the left-side of a7 fou.rtli stage pinion 1148, wliich is illustrated by :itsc:lt':irr FIG. 54 Be.cause the castle gear 1146 is rc~,Eltrirc.cl. to maÃc~, securely Nvit.h the fourth stage t.~iiiiaii 11481, a right-side bia:ririo~ #i.}rc;e; F is ri~:c;c-:t~l. To :~tr~~~~l~Y t.l~.is l~itis, a non-illustrated c;c3rt1l~r~::rsit~~~ spri~~_9, t0r exa.mple, can be provided to have one eiid contact the rioht 1'a:cc o1'the cross-over oca.r -1 1=1Ã:t and tlie ottier opposing errrl cotitact ttic left face at`a. central t'lwrge 11468, w}iicli prc~~ects ra7dÃally awa.~., troni the outer cylindrical surface tif the castle gear 1146. ('f"his flange 11,468 ANri11 be described iÃa Ãxiore detail beloNv with respect to tlYo niaalttal release feature s.at'the c:levic~.~ 1 t30t?. ).Any other similarly '?U tuticti(yning bias device can be used irastead of the exempla.a-y spring.
Sr.rel-a acoratigr:aratiozi allows the castle gear 1 146 to be selectively rotationa11~ cn~;a~;cfl c\ith the fourth sta~sc pinion 1148. More specifically, wheri the castle gear I 146 is not acted upon by a.rlv force other than t(irv force F of the bias tlea,icc;, the castellatior-is 11464 wil]. be mated with the castellatior~i slot:s 1 1482 and arrv rotation ~~f the shaft 1142 will cause aC(.)r-r`esl~~iidiii<~ rot,cr,tiori of tlie.fotrrtb stage pinion 11.48. 1-ic3wever`, 2 5, when afcrrce opposing aÃid overcoming the bias :I~- is applied, the castellatioris 1.1464 exit the ca:stellat:ion slots 11 482 aricl a:r7v rotation of ttic sha.it 1142) tias rio e.ft~cl on ttie foiart:lr stage pinion l 14& It is this selective engagement that allows a maraÃral release to oc.cr:rr. Before sÃrcl=a release is explained, the riglit side dr-ive traiii is described.
T h e , ft.rt.trth sÃas;e piriiori 1148 is directly engaged with a fifth SÃa.s;c. -1 1_5t3 of the clrive train, 30 wl) ic:}r has a. tiitli stage s}raf:t 1152, a 1-if-tls stage ir~ptrt gc;ar 1154 rotatiorrallv tixed to the frfth :t:ag c;
shaft 115 2, and a fi ktlr stacFe piniori 115 6, also rotatiorlallv tixetl to t(irv fij ftli stage sli al't 115 ?. Th e tes;tlx of the fitt.li. stage pinioii 1.1 56 are d.irec.tly coupled to the tot;tlr 1702 of the rack 1700 Th ras, aii.or rotatiaii of Ãhe fifth stas;e inpt.tà gear 1154 car.rsc~,s a corresponding rotation of the fifth stage pinion aiitf a l~~igitudinal movement of the rack 1700, As viewed in the etiernplai)' er-iibotfjr-i7eait of :ItIG. 46, a clockwise rotation of the fifth stage input gear 1154 causes a proxiznally directed riioveixient tif the rack. 1700 (retract) arid a coianter-ciocl:wise rotatÃo:r7 of t1ic fiftfi stage input gc:ar- 1154 causes a ctistallN cfirecte:cf mca~~~rrient of the rack 1700 (c:xtenÃi.l_ Based upon ttc abov~.~ connection of the five stages of the drive train, rotation of the motor shaft in oÃ-ae direction will ca>rase a 1ortg-iÃudina1movement of the rack 1700, buà (Yiily when t;(ic castle (wa:r 11.46 is r:ngagr:d with tl-ir: fourth stage pinion 1148, Wtrer~i the cast.le gear 1146 is not. en~~getl with the fourth stage piri ion 1148, rotation oi'the niotor (las no effect (ati t(ie rack 1700. It is in this l0 Lr:ticotrplc;cf state of the gears 1146, '1 1.48 that ar~~ianual release of tl-ic rack 1700 bccoziles possible.
In cYperation of the device 1 U00, the rack 1700 znoves distally (extends) to actuate some part 1700 moves distally, the sled (carrying thc~, stapling acÃt.tatar arici c:uttiiig blade) that c:atrsc.s both stapling and cutt.iD
g to occur is r~ioirl distally to c..ftec.t both sttiplingancf cuttii7g.
Because the tissue placed betweer1ÃIze jaws oftlie etici ctTcctor is cfifferent in vii-tually every swgic.al procedLÃ.re, a P}lysÃciari car=itiot ar7ticipate tiyrr~s w}ier=i the sled will b~ jam.inc:ci or str,rcl;.fo.r ar=iv reason. l:ria.
jaÃximed ca.se, the sled will zieed tobe retracted distally without trse of the ziititor. "f here also exists the possibility of a poNver loss or the possibility that the motor fails in a catastrophic fa;rhior7 ?U rezideriiig the output shaft fixed. if this c?ectirred wlien the sled tivas in adisÃa1 position, t;hejativs of the elicl cffec.tor %roulc1be held shtrt oti the tissue therebetweeii ar-icl, c;onseÃlu.ciitly, the sled would have to't~e moved proNimally 'befo~re thejaws could be of~~~~ed arir:l the tissue could be released. :l.ri :uc;li. a case, the rack 1700 will r:ic;ecl to be retracted clistal.ly without use of the motor.. To c;f Fect this desired f-m7ction, the iiiveiitiori is pr' vitie(l witha r~~antial release assen-ibly 1800.
2z; fn eacli of FfGS. 37 to 44. 55, 59 to 62, the manual release lever 18 1.0 is in the un-actuated (e.g., ciowri) }aositic~ii. :l:rr FIGS. 45 ar7d 57., the rna:r7ua1 re:lc:asc:1c:vc:r 1810 is:in ari interr-necfiate position. A~icl, iail"lCsS. 46, 47, 56, arici 58, tlxeniazi>ria1 releiiseIever 1810is apprÃ)ximatelyinafLÃ11y actuated (e.g., trp) posityc3Tt.
When Ãhc~, n~~iwal release lever 1810 is in the tÃ.naa.c.ttaated position, as can be sr;:cii in FIG. 44, 30 the c>as'tlc; ocar 1146 is t.r~~.~agt..d with the fourth st~~.~e Piniorl 1148, T11trsK any rotation of the oLrtpLrt gear 1.522 of the mc}kar 15 20 causes movement of the rack 1700. '1'fie fourtli stage piii.ioti 1148 is ri(at ozi'ly tlrrectl.y Conn.cc:tetl to t.1ic fÃftl-i st:agt; iii put: gear 1154, h ows;o c:r. It i: also directly conncc:tetl to a first scage re.lease gear 1820, which, in turn, is dir~~,e.tly cunncctc.d to asccond stage re.lc.a.se gear 183Ã3. "I'17rÃs, any rotatinri c1t the tour-tla stage pjaii~.1Ãr. 1 l48 necessa.rilv caLÃses a rotation of the secnrid stkge release par 1830 (the direction of which being dependent upon the ziutriber of gears therebetween). l:f the axle crt`th:is gear 1S' W was directly connected to the manual release lever- t810., 5 the lever 1810 would rotate eve:ry time the tourtli stage pi rxic?rx 11.48 rc?tateÃi. And, if the fourth stage pinion 1148 rotated more than one revolution, the 1over '1 81.t3 cot.tlcl possibly be caused to rotate t}irougl-a a fr.rll 360 degree revolution. As expected, this does not occur dire to t(ic presence ofi a. oÃ-ae-wav gear asscnrb.ly coupling drerr:rarrrral release lever 1.8 10 to the sc;ctarrcl stage release gear 1830 (see explanation of E{iG. 48 below). It: is noted that the first stage release gear 1820 has a tootlicd shat=t 10 1822 extentlinc, coaxially therefrom. This toa.rths;d shaft 1822 is dircc:tlor ccrtrp.letl t:o ari irxti.icat:trr tivhee1 1840. As caii be seen (Yri tl~e right surface of tl~e wheel 1.840, there is a cr.rrved shape linearly expanding abcrtÃt the axis of the wheel 1840 arid havirig a diffierettt ccrl(yr troni the remainder rif the srrr1'ace. When ccrLrpled wit.l7 ttre window 1004 present ori clrc: right side s}iel( 1 Ct0" (see FIGS. 64 to 65), the colored shape becor-nc.s mUre arid mure:~ visible in a linear manner -- corresponding t.c) a linear 15 distance of the rack 1700 tr-aveled.{i~om the frrlly pro:sirtial (c.g_ retracted) PO:rit.iOrr=
-f he ~.~tie-d~~ay ~~car assembly couplirrg the manual relea.se lever 18 10 to tlie second stage release gear 1830 is shown in F1:G. 48. This as-searibly Ãs.forr-r7ed by providing a ratchet gear 1850 ceÃiterecl at a pivot point of the lever 1810 arid extending arr ax1e 1852 of the ratchet ;year 1850 into and through a c:caltcr bor~.~ 1832 of th~.~ ;~ecor-icl sta~se release gear 1930. Witll the axle 1852 fixed to '?U the bore 1.832 of the second stage release gear 1830 in this way, any rotatic?ri of tlie second stage rel~,~as~.~ gear 1830 causes a corr~,~spoaiclirig rotation of the ratchet gear 'l.8i0. But, merely having this ratchet cFear 1850 rotate with the second sta gc release g;rvar 1830 does rlc}t,by rtseli; assist w it(-r a mar~iaral rels;a:s; crl'tlic rack 1700 w}rer~i ttre irrtrtor 152)0 is rrcrt ptrwerint~ the tlrive traill..
To create the aruaritral release 1='rearc;tion, tivo rr-iantaal releasing itc.aris are prese;rrt, `1`1ie first iter7i 2 5, is a device that uÃicouples the right side gear train troni the left side gear train and niotor. This preverrts- the rr7ar7rral release trcrrn having to overcoarie the resis-tarr.ce at"fered by both t(r.c rrratcrr 1520 aÃac1 tl~~ ~.õears of the left side train when the manual release is actuated.
The uncoupling occÃrrs when the castle getir` I l46 separates I~rom the fourth sUage pir7ior7 1148, To catrse t.lii;; t$Eiicotapliarg, a can7 plate 1860 is disposed between dhe ratchet gear 1850 arici the second ster.ge re:leas~~, gear 18;3$0 and is 30 rotationally fixed to the axle 1852). The uarti platt. 1860 is slrowtr by itself in F1G 52. The uarti plate 1860 is proz ided witlx a .Ã=azrll~ed cam srrri=ace 1862 that is 1x}si6caried to irrte.Ã=act wit:lr the ceritral flat~ge 11468 of the c.astle gear 1146, ltit~~,ractic.~i`t of the cam plate 1860 with tlle cctitral flange, 11468 cati be seeri in the prt.1gressio~ti o1:F:1G4. 44 to 47 ai7c1 in FIGS.
57 to 58.
ln FIG. 44, the manual release lever 1810 is in ati unactuated pnsit:iotlz Nvhich means tha:t it is desired to tiave the castle gc:ar 1146 rotationally coupled witli the f-orr:rtli stage pinion 11 48 In t:lri~
way', any rotation of the niotor 1520 will be translated into a rotation o1'the fourth stage piraiora 1148 iov~.'ment of therack 1.7t70. tnFlGS. 45to47 and 57 tct 58, the manual release lever 1810 is and a n in one of a fiew actuated positiorts, each of wI-aicli is i 11ttstrated as beirag suffi cierl t to rotate t;(ic catii plate 1460 to have the ramped c.;ai-rt surface 1862 cotitact tl-ir: central flaiige 1'1468 o1't:hc ca,gils~ gear 1146 atid force the castle gear 1.146 towards the left side sufficient to separate the castellations 1 1464tirom the castellation slots 1.1482 of the #iiurtl-i stage pin.ion. 1.
148. In. this 1.~sositiEtt~i, [lic castlc gear 1146 is t-oÃatiortallv t.tncoupled from the fourth stage piniozi 1148 , Th Us, atiy t-oÃatiot-a of the tnotor 15~0 (or the gears ~~f tl~e left side train) will be entirely independent trnzn tlie right side (;eat tra.irt., tltrrs. preventing any ari~vc:rrtertt of the rack 1700 brised upon rotation of the ariotar .1 520 After the rig it side gear traiti bec:ome rotatiotia.lly independent from the right side motor atid gear tt-airi, to 1ir7.re a marirta7 nac1: release fiiancti r7, the rack 1700 rieecls to be tiiove;d in the promrrial direction. 'I'Q supply this movement, a secotzd of the two a~ove-menti~.~t~ed manttal releasing itetiis is provaclecl. 't'.Iris second itetn interacts x.~,ith the teeth 1.812 of tfte ratchet gear 185(} so tliat a counter-clockwise rotation tif the tnanua.l release lever l.Sl0 (when vieNved t:rotn the right side of the device '1000) att.tscs the ratchet gear 1850 to spin in a comYter-cls.ackw:isc direction - this direction is desired '?U in t;(ic i11ustra.ted embodiment becat:tse such rotation causes a c1oektivise t-otatiora of the fifth stage pitiioti l.1i6 -- a rotation that c..orrc;spctt-icls to proximal movcsii~.'nt ( e.g.. retriac:tioti.) of the nat:k 1700.
'1'o c.oritrol the ratchet cFt~-a:r 1850 witfr this couriter-.c.lockwise lever 1810 movt~-.tnerrt, the iriverrtioti provitiow a ratchet pawl 1870 tl-iat is rotatably titotttited Ett~i a, locking boss 18 14 of the Icver 18 1Ø
I'17is configuration is best illustrated iri ItICi-. 48. A tic3ri-illta;;t.rate(l leaf spring is secured in a spring 2 5, channel 1816 tif the lever 1810 to bias the paAvl 1870 in a direction D
towards the ratchet gear 18 50.
It is rioted that .if the pawl 1870 x.~,rere not restrained irt same wa.y, ftowever., the pawl 1.870 woLtld alz~~avs contact tlio teeth 1.852 of the ratchet gear 1850 iincl prevent any clockwise rotation of the gear 1850 --- wliicli occurs in the present er'llbc3tlir-Ilc.Dt WlICr7 the castle gear 11.46 arid the fourth stage pinion 1 148 are engaged with ~.~n~~, atiother (see, i.e., 1`10, 44) and rotate tcs-,;ethe;r. To prc.vcnt this 30 condition, as :howsi in FIGS. 44 and 5 5, the cli.st;:tl erlc1 of thc;
paw1. 1870 has a wiciertetl portion 187' that extericls out from the pawl cavity 1S 18 towards t(-trv secc}ticl stage .Ã=elease gear 18:' W Witli t(-trv pre:c:tice of a secctrtd carii plate 1.840 betweert the st;cortcl sta;~~:
release gear .1t :30 aiiti the c~tr~t. plate 1870, a pawl cam 1882 can be positioned to contact the bottom stiarfac.,e of dhe widened portit.tri 1872 arid retaiti the pa-%vl 1870 in the pawl ea.vih, 1818 (by providing a force M
a directi:ori npfacrsi te to direction D and agyaimst bias of the leaf spring) when the lever 18 10 is in a faonie or trnacttrated pos:it-icrri. `l'his. t::ozitact bet4.~,eea the pawl l.870 arici the pawl caari 18821 is sti~wn:irr 1 ft_i=4. 44 arici 55.
Thirs, wherl the lever 1810 is not actuatccl, the pawl 1870 has no contact with the te:ctli 185-2 of the ratchet gear 1850. In contrast, c\.-bcn the niar-it.tal release has rotated past a positicrr-i sufficient to separate the ratchet gear 1850 from the fourth stage pinion l 1.48, tlie bottom surface of tlie pawl 1870 iita longer ctarrtaets the pawl cai-ri '1 8S-2 of the non-rotating s'et;tag-itl carr-i pla[c 'l 8Stl arrcl iw, there:fbrrv, tirve to zrlc}vc in the cl:irectioti I] (c.~aused by t.hebiasir-t ; forr:,e of the Ieak sprirlg) to crigage l f3 the ttact.li 1.S52 of [l-is; ratchet (war 1850 wl-is;ii. rotatirig counter-clockwise. T.lius, wl-is;ii. rotating elock:wise, the pawl 18 70 ratchets a2uirtst tlie top st.rrffices of the teetli 18 After about fifteen degrees oftaavel of the lever 1.8 10, for eNazii ple, the pawl 18 70 zio 1oÃager is i:r7 contact X.Yith the pawl inart7 188:2 arici the ca7.stellat:ions. 11464 of the castle gear 1:146 ave rio longer c~,ngas;c:d with t.he c:asÃc~,llat.iun slots 1148~? of dhc~, fotÃ.t-th stage pinion 11 48, At this poitit, the:.
pawl 1870 is permitted to niorelovv'ards the axle 1852 aDd t:rigtiges or7t: of the teetb 1.852 of the ratchet gear 1850, Further cotrtztcr-c.loc.k-zvise n~oveÃnent of the lcver 1810 Ãt.trns the ratcliet ~~ar 1850 correspondingly, wIracft causes. a co.rresporrd:irrg ccrttriierr c:lot::l:-wise rotation of tfte second stage release gear 1830. fn tÃrmz rotation of the second stage release gear 1830 causes clockwise rotation ofthe first stage release gear 18270, c:s.aunter-clockNvise rotation of the .f'ourth stiige pinion '1 1.48; and '?U clockwise rotatiozi of tlie frft;(i stage input gear 1.154, respectively.
As indicated above, clockwise rotation of the tiftli stage inptÃt gear 1_ 1. 54 causes proxin-tal mo~,,enien.t of the rack 1700 -the desired directiorl of..rnovezrlerrt cluri.rx(, a mantial release of the end effectc}r feaÃuze r:.orirterrÃed to the rack 1.700. As tl-it; lever 1Slt) is released_ a rettr.rg-i bias 1890 forces the lever 181.0 back to its uriac[uatc;ci Position (see FIG. 44), wliich causes the pawl c;aiii 188-2 to rett.rr-ri the pawl 1870 to its trpper Position 2.5 in the pawl cavity 1818 wli ere it is disenokged from the teeth 18 5 2 tif the ratchet gear 18 50. lt i s rioted tliat contact between the pawl cam 1882 aricl the lower surf.tt.ce of tfte widened por-t--icrri 1872 is r1iatie sr-nooth by shaping the respective top front and top rear strrfaces of the pawl cam 1882 and bott ari frc3rit and b(ittor-ii rear surftac;e;s of the tividene;d portion f87~~?, lt is firr'thern t:}tt:d that th e; r`et.tarri bias 1890 is shown in F1GS. 46, 57, anÃ.l 58, for example, as a coil spring, otie end of which is 30 wrappc;cf arottrtcl a bolt secured to the lever 18 10 and the other opposing t;`rlcf beisig a shaft that is sectrred to a port:ion of the shell 1001, 10022, .illustratecl in E{ lt--js.
63w66. 'I'lie oppos:itig shaft of the COil st.~titig 1890 moves in the illustrations only clt.ie to the limitations of t.he drawing progran1. This t7icrvoanerrt does aiot nectrr in the rnventrcrt7.
As discussed above, one eNeÃxiptary etxibodiÃxient tif the end effector for the device 1000 of tlic prc:sezit invention includes a set of'jriws t:lrat close ciowyi ti}acrri tisstie disposed t:lreret~etweeri ar7d a stapler/cutter to secure together each of two sides of the tisstÃe as it is being c.ut. The maziual release described above car-i be ccrtipled to the stapler/cutter ar-icl the end effector e.l.osirng assembly 1400 can be coupled to the jaws to close the jaws together wheri actuated. :FiCtS. 59 to 60 i1lustrate orae exemplary cnrbod.inrerrt of the couple betweeti t1iejaw: arr(l the cr~itl e:ftectttr closing aswernbly 1400 Here, the cticl efTectoz cIosirii) assembly 1400 is comprisecf ol='-.a. haridlrv 14 10 liavirtg a lever support 1.4 12 artc1 pivoting about a handle pivot 141 4. Tl-is; lever sup1.~sort 1412 is pivotally ca.rrirtectc;c1 to a first end of a lirik 1421C3. A. second c?pposirag ezid of the link 1420 is pivotally connected to a. slidet-shatt 1430. 'I'lie end effector sliatt assembly 1900 Ã nrr=ltÃdes an outer sha4't 1910 and an inner shaft 19~~?Ø Ttie inrrc:r sIraf-t 1910 is l.ongitudirtally fixed to the fraÃnes 1.010, 1020 and to the lower jaw of the e.ntl ef'c.c:tor atid, therefore, is the, longitudinally fixed component of t.he ctid cffccÃt.tr. The otiatc.r shaft 1920 is c;oriiict:ted abt:}ut the irir7t:r- shaft 1910 aaid longitudinally translates tbe;t-c:on. The trpper jaw of the end effector pi-vt.,ts in relation to the lowet= jaw. -l"o catise t.1ie pivotitig, tlie outer shaft 1920 is- extended ti-orii a. proxinia7:l pos.it-icrri, s:lrow:r7 in :Eal:(_'s 59, to a. distal pos.it-iort, s:lrown in f, l:(_i. 60.
Because the outer shaft 1920 surrounds the inner shaft, a port:ion (for example, azi upper porti(Yzi) contacts the proxia-nal end of'tlle. open uppt.~r Jaw, which is at a l.~s.asitior-i proxia-nal of the trpper Jaw '?U pivot. As t}i e ot.rtet- sliaf't. 192~0 moves fiirrtll-aer distal, t;(ic u pper jaw cannot trar Iate distallv becat_rse of the fixed pivot pcrsitioti, bt.tt can rotate about that pivcrt.
A.ccordingly, the r,pper j.tw closes t.tpon the lowez. long.itrrtiirrally 1~~xed jaw. Sizr1p1v PLrt, and as caribe seert iti the pzog.ressic}n 1='f-c}tYt :1<IG. 59 to FIG. 60, wticg-i t-lrta handle 1410 is i-riovcti ttrwarciw the electric power assc;nibl~, .1500, the :liclc;r 1430 mov~:s in the I~.}r~~~ittrclit~~l clire;~ti~.}r~ .fi~t:}r~~ the ~~tc~xit~7~i1 position of 1:lt~. 59 to the distal pt}sitioii 2 ; ot Fl:G. 60_ 'I'1iis prior art jaw assertiblv is presezit on a linear stapler manufactured bv Ethicon Endo-4tirge:rv under tfte trade name f:ctieloa f:[W
ft is noted that this exemplary t:.orxt"Ãguration of'the ezicl effector shaft asset-nbly 1.900 is opposite to the end effector actuation S17OW-Ti inktar-IIi1N' of co-pending palerit applications Ttit;ntior7ed abovc., iticltÃding at.~plicatiati serial rla. 11/844.406, filc.tl. Augatst 24, 2.007. As showri in this 30 application in FIGS. 39 and 40, as the lowtarJjaw,`st:aplta uartrit~ge holder 1030 is translated in the prc}xin-tal cfirecti(ari over ~Fa1~ 103 1, the Lrpper ativi1 1[}20 is caused to pivot tlowr-twarcf becatrsrv the proximal rrppc.r edge of the tÃ.ppc~,r anvil 10210 is beirig pressed against dhe longiÃt.idirially fixed drtÃ.rn sl ee:ve 1040.
Various prior art linear staplers; suc,]=a as the Echelori EC:60 rneÃatioÃied above, tÃse the same erid effector wrd sl7rift. The.re.fore, it is desi:rrible to tiave ttiose priar art erid effector sfratt. asse.itrblies be able to fit inside the device 1000 of the preserit iÃaveÃaticarx. This is ac.corriplishe:d by contiguring the left and right side frames 1010, '1 C320 as sho%,n in FIGS. 61 to 62, tor ~,~\anrplc. The frarlies 1010, 1020 are formed wit}i (Yrie side (the upper side) (Ypen as shown in :FIE:F. 61 t:rt this configuration, t(ic lsrtaxi.m.al eg-itl of the inner shaft 1910 prior ari end eff:ect-or slraft awserr-iblor carr simply side M. laeiweerr respective tabs 10 12, 10-2 tolorrg.itudinallv li\ the inner sl-ratt: 19 10 (atrd, tfrr.rs, the eritirc asscrlibly) tfrerei nand t.ranwversek' #i x[l-is; inner shaft 1. 91 0 tfrerebetwecii. in all radial (firect:icxis i.x-cel.st l.-o:r [iic direction in which the izirier sliaft 1910 was inserted irito die olaertiÃii.), betweeri the frames 101 U, 1 C3'?~1.
To close offthis openizi;y, as1=aafà pltrg 1930 is secured bemreett the Ãabs 1012, 1 U2-1, for exa.znp1e, w:itti ri bolt, as shown M l"It_i=. 61. In another alternative embodi.rtrerrt, ttie shaft. plug 4930 can be entirely d.isrc:garcled by e.xteridirig the. distal ends of the left arid right frames 10 f{l, 102.0 and shaping tl7erri, M "a clarri-slrel1 desigrr, tO krc ~eCtrrcd tir- rrrrd the irrr7cr-sl7tift 1910 wlreri p1aced t ~;etlier.
-f he f~.~reggoir1gy descript-ior1 and acc~.~mpanying drawings illtÃst-r'ate the prirrc.iples, prefirreci embodiments aricl modes ofopera:tiorr o.fttie irrverrt-icrri.
:Mo:respc:citÃcally, the o.l-itirnized pm~,er supply, motor, aÃid drive Ãrairi according to the present ittvetttiori lia.s been described with respect to a surgical stapler. Ho%vver, tlle. inventic.xal should iYot be coristrtted as beialg limited to the particular '?U eriil3c?diriieÃ-ats diser:rssed ,,i13c?ve. Additional variati(ris of the emf~odimrwnts diseussed above wi 11 be appreciated by ttios~,~ skilled in the art as well as for iapplications, unrelated to surgical cf~,~~,,iccs, tllat require an advanced power or current orrtprrt:fr~r short -and li.r-nitrvrl durations with a power cell having a lirr-iitc;cf l.~sciwor or current crutput. As is slxoa4-Ãr and described, w}rer~i optirnized according to tixc;
present invention, a lin7itccl power supply car7 pr` ttrrce lil`trng, pushing, pulling, clratf<prn4.~, r-ctair7irrg, 2.5 and other kinds of forces sr.rtticiettt to move a substantial atxiouzià of ANrei;yht, fnr example, over 82k(;_ The abcrve,-described embodiments sliorrlci be regarcic:cl a.s illiastrat:ive rather than restrictive.
Accordingly, it shor.ilcf be appreciated thiit variations to tliosc earibcrdianerlts can be ziia:de by those skilled in the art witlrotrt departing from the scope of the invention as dcFIrred by the folloivirrg c:lair-ns.
Claims (19)
1. An electrically operated surgical instrument, comprising:
a surgical end effector having an actuation assembly operable to effect a surgical procedure when actuated, a part of said actuation assembly operable to move between a start position and a fully actuated position; and a handle connected to said end effector for actuating said actuation assembly, said handle having:
a self-contained power supply disposed entirely within said handle;
a drive assembly disposed entirely within said handle and having:
an electrically powered motor; and a controller electrically connected to said power supply and to said motor and selectively operating said motor;
a transmission mechanically connecting said motor to said moving part and being operable to selectively displace said moving part anywhere between said start and fully extended positions when said motor is operated; and a manual release mechanically coupled to said transmission to selectively interrupt said transmission and, during interruption, displace said moving part towards said start position independent of operation of said motor.
a surgical end effector having an actuation assembly operable to effect a surgical procedure when actuated, a part of said actuation assembly operable to move between a start position and a fully actuated position; and a handle connected to said end effector for actuating said actuation assembly, said handle having:
a self-contained power supply disposed entirely within said handle;
a drive assembly disposed entirely within said handle and having:
an electrically powered motor; and a controller electrically connected to said power supply and to said motor and selectively operating said motor;
a transmission mechanically connecting said motor to said moving part and being operable to selectively displace said moving part anywhere between said start and fully extended positions when said motor is operated; and a manual release mechanically coupled to said transmission to selectively interrupt said transmission and, during interruption, displace said moving part towards said start position independent of operation of said motor.
2. The instrument according to claim 1, wherein:
said surgical end effector is surgical linear stapling endocutter; and said moving part includes at least a staple-actuating and tissue-cutting slide.
said surgical end effector is surgical linear stapling endocutter; and said moving part includes at least a staple-actuating and tissue-cutting slide.
3. The instrument according to claim 2, wherein said drive assembly and said transmission are operable to actuate a stapling-cutting feature of said endocutter.
4. The instrument according to claim 1, wherein said power supply is a removable battery pack containing at least one battery.
5. The instrument according to claim 4, wherein said power supply is a series connection of between four and six CR123 or CR2 power cells.
6. The instrument according to claim 1, wherein said controller includes a multi-state switch operable to cause rotation of said motor in a forward direction when said switch is in a first state and to cause rotation of said motor in a reverse direction when said switch is in a second state.
7. The instrument according to claim 1, wherein said transmission has a motor drive side and an actuation drive side and said manual release is coupled therebetween.
8. The instalment according to claim 1, wherein said manual release is mechanically disposed in said transmission.
9. The instrument according to claim 7, wherein:
said motor drive side has a series of rotation-reducing gears including a last gear;
said actuation drive side has:
at least one gear; and a rack-and-pinion assembly coupled to said at least one gear and directly connected to at least a portion of said moving part; and said manual release is mechanically coupled between said at least one gear and said last gear.
said motor drive side has a series of rotation-reducing gears including a last gear;
said actuation drive side has:
at least one gear; and a rack-and-pinion assembly coupled to said at least one gear and directly connected to at least a portion of said moving part; and said manual release is mechanically coupled between said at least one gear and said last gear.
10. The instrument according to claim 9, wherein:
said motor has an output gear; and said series of gears has a first stage coupled to said output gear.
said motor has an output gear; and said series of gears has a first stage coupled to said output gear.
11. The instrument according to claim 10, wherein:
said series of gears includes first, second, and third stages, and a cross-over gear with a shaft crossing from said motor drive side to said actuation drive side; and said cross-over gear is coupled to said third stage.
said series of gears includes first, second, and third stages, and a cross-over gear with a shaft crossing from said motor drive side to said actuation drive side; and said cross-over gear is coupled to said third stage.
12. The instrument according to claim 9, wherein:
said series of gears has a cross-over gear with a cross-over shaft crossing from said motor drive side to said actuation drive side;
said cross-over gear is coupled to said series of gears;
a castle gear is rotationally fixedly coupled about said cross-over shaft and longitudinally translatable thereon, said castle gear having castellations extending towards said actuation drive side;
said at least one gear of said actuation drive side includes a first pinion having castellation slots shaped to mate with said castellations;
a bias device is disposed between said cross-over gear and said castle gear and imparts a bias upon said castle gear towards said actuation drive side to permit selective engagement of said castle gear with said first pinion and, thereby, cause a corresponding rotation of said first pinion with rotation of said shaft when so engaged; and said manual release has a release part shaped and positioned to provide an opposing force to overcome said bias on said castle gear and disengage said castle gear from said first pinion when said manual release is at least partially actuated.
said series of gears has a cross-over gear with a cross-over shaft crossing from said motor drive side to said actuation drive side;
said cross-over gear is coupled to said series of gears;
a castle gear is rotationally fixedly coupled about said cross-over shaft and longitudinally translatable thereon, said castle gear having castellations extending towards said actuation drive side;
said at least one gear of said actuation drive side includes a first pinion having castellation slots shaped to mate with said castellations;
a bias device is disposed between said cross-over gear and said castle gear and imparts a bias upon said castle gear towards said actuation drive side to permit selective engagement of said castle gear with said first pinion and, thereby, cause a corresponding rotation of said first pinion with rotation of said shaft when so engaged; and said manual release has a release part shaped and positioned to provide an opposing force to overcome said bias on said castle gear and disengage said castle gear from said first pinion when said manual release is at least partially actuated.
13. The instalment according to claim 12, wherein said at least one gear of said actuation drive side includes a second pinion stage having:
a second pinion shaft;
a second pinion gear coupled to said first pinion and rotationally fixed to said second pinion shaft;
and a third pinion rotationally fixed to said second pinion shaft, said third pinion being a pinion of said rack-and-pinion assembly and longitudinally moving a rack thereof when rotated.
a second pinion shaft;
a second pinion gear coupled to said first pinion and rotationally fixed to said second pinion shaft;
and a third pinion rotationally fixed to said second pinion shaft, said third pinion being a pinion of said rack-and-pinion assembly and longitudinally moving a rack thereof when rotated.
14. The instrument according to claim 12, wherein said manual release has:
a rest state in which said release part provides said opposing force at a magnitude less than said bias to said castle gear;
a first partially actuated state in which said release part provides said opposing force at a magnitude greater than said bias to said castle gear and move said castellations out from said castellation slots;
and a second partially actuated state in which said manual release rotates said pinion to move said rack longitudinally in a withdrawing direction.
a rest state in which said release part provides said opposing force at a magnitude less than said bias to said castle gear;
a first partially actuated state in which said release part provides said opposing force at a magnitude greater than said bias to said castle gear and move said castellations out from said castellation slots;
and a second partially actuated state in which said manual release rotates said pinion to move said rack longitudinally in a withdrawing direction.
15. The instrument according to claim 12, wherein:
said at least one gear of said actuation drive side includes at least one release gear; and said first pinion is directly connected to said at least one release gear to rotate said at least one release gear when rotated.
said at least one gear of said actuation drive side includes at least one release gear; and said first pinion is directly connected to said at least one release gear to rotate said at least one release gear when rotated.
16. The instrument according to claim 12, wherein:
said at least one gear of said actuation drive side includes first and second stage release gears; and said first pinion is directly connected to said first stage release gear to rotate said first and second release gears when rotated.
said at least one gear of said actuation drive side includes first and second stage release gears; and said first pinion is directly connected to said first stage release gear to rotate said first and second release gears when rotated.
17. The instrument according to claim 15, wherein:
said manual release includes a manual release lever:
rotatably connected to said handle; and having a one-way ratchet assembly; and said at least one release gear has an axle directly connected to said ratchet assembly to rotate in a corresponding manner with said lever when said lever is at least partially actuated and to rotate independent of said lever when said lever is not actuated.
said manual release includes a manual release lever:
rotatably connected to said handle; and having a one-way ratchet assembly; and said at least one release gear has an axle directly connected to said ratchet assembly to rotate in a corresponding manner with said lever when said lever is at least partially actuated and to rotate independent of said lever when said lever is not actuated.
18. A method for operating a surgical instrument, which comprises:
mechanically coupling a manual release to a transmission of a surgical instrument having a self-contained power supply disposed entirely within a handle thereof, the transmission translating movement of an electrically powered motor inside the handle to movement of a part of a surgical end effector connected to the handle, the part being operable to move anywhere between a start position and a fully actuated position; and selectively interrupting the transmission with the manual release to move the part towards the start position independent of motor operation.
mechanically coupling a manual release to a transmission of a surgical instrument having a self-contained power supply disposed entirely within a handle thereof, the transmission translating movement of an electrically powered motor inside the handle to movement of a part of a surgical end effector connected to the handle, the part being operable to move anywhere between a start position and a fully actuated position; and selectively interrupting the transmission with the manual release to move the part towards the start position independent of motor operation.
19. A method for operating a surgical instrument, which comprises:
providing a surgical end effector at a distal end of a surgical instrument handle, the end effector having an actuation assembly operable to effect a surgical procedure when actuated, the actuation assembly having a part operable to move between a start position and a fully actuated position;
disposing a self-contained power supply and an electrically powered motor entirely within a handle and connecting a motor controller to the motor and to the power supply to selectively operate the motor with the controller;
mechanically connecting the motor to the moving part through a transmission operable to selectively displace the moving part anywhere between the start and fully extended positions when the motor is operated; and mechanically coupling a manual release to the transmission to selectively interrupt the transmission and, during interruption, displace the moving part towards the start position independent of motor operation.
providing a surgical end effector at a distal end of a surgical instrument handle, the end effector having an actuation assembly operable to effect a surgical procedure when actuated, the actuation assembly having a part operable to move between a start position and a fully actuated position;
disposing a self-contained power supply and an electrically powered motor entirely within a handle and connecting a motor controller to the motor and to the power supply to selectively operate the motor with the controller;
mechanically connecting the motor to the moving part through a transmission operable to selectively displace the moving part anywhere between the start and fully extended positions when the motor is operated; and mechanically coupling a manual release to the transmission to selectively interrupt the transmission and, during interruption, displace the moving part towards the start position independent of motor operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2925484A CA2925484C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US97748907P | 2007-10-04 | 2007-10-04 | |
| US60/977,489 | 2007-10-04 | ||
| US12/245,017 | 2008-10-03 | ||
| US12/245,017 US7959050B2 (en) | 2005-07-26 | 2008-10-03 | Electrically self-powered surgical instrument with manual release |
| PCT/US2008/078876 WO2009046394A1 (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2925484A Division CA2925484C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2699481A1 true CA2699481A1 (en) | 2009-04-09 |
| CA2699481C CA2699481C (en) | 2017-02-14 |
Family
ID=40526717
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2925484A Active CA2925484C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
| CA2699481A Active CA2699481C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
| CA3026522A Active CA3026522C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2925484A Active CA2925484C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3026522A Active CA3026522C (en) | 2007-10-04 | 2008-10-04 | Electrically self-powered surgical instrument with manual release |
Country Status (8)
| Country | Link |
|---|---|
| US (2) | US7959050B2 (en) |
| EP (3) | EP2197361B1 (en) |
| JP (6) | JP5524066B2 (en) |
| CN (2) | CN103908314B (en) |
| AU (1) | AU2008308496B2 (en) |
| BR (1) | BRPI0817866B8 (en) |
| CA (3) | CA2925484C (en) |
| WO (1) | WO2009046394A1 (en) |
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