Control arrangements for a drive member of a surgical instrument
View Patent ↗A surgical instrument is disclosed. The surgical instrument may be operated compensating for the effect of splay in flexible knife bands on transection length of a powered surgical instrument. The surgical instrument includes a processor and a memory. A relationship between articulation angle of an end effector and effective transection length distal of an articulation joint is characterized. The characterization data is accessed by the processor from the memory of the surgical instrument. The articulation angle of the end effector is tracked by the processor during use of the surgical instrument. The target transection length is adjusted by the processor based on the known articulation angle and the stored characterization data.
1. A method of compensating for the effect of splay in flexible knife bands on transection length of a surgical instrument comprising a processor and a memory, the surgical instrument comprises stored in the memory characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint, the method comprising:
accessing, by the processor, the characterization data from the memory of the surgical instrument;
tracking, by the processor, the articulation angle of the end effector during use of the surgical instrument; and
adjusting, by the processor, a target transection length by the surgical instrument based on the tracked articulation angle and the stored characterization data.
2. The method of claim 1 , wherein accessing the characterization data from the memory of the surgical instrument comprises retrieving and storing the characterization data in a nonvolatile memory of the surgical instrument.
3. The method of claim 1 , comprising accessing characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint for a shaft of the surgical instrument.
4. The method of claim 1 , comprising characterizing a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint during manufacturing of the surgical instrument.
5. The method of claim 1 , wherein the characterization data is accessed from a lookup table implemented in the memory.
6. The method of claim 1 , wherein the characterization data is obtained from a best curve fit formula.
7. The method of claim 1 , wherein the characterization data comprises accounting for articulation angle and compressive force on the knife bands.
8. The method of claim 1 , further comprising defining the effective transection length as a distance between the distal most surface of a knife blade in relationship to a predetermined reference in a handle of the surgical instrument.
9. The method of claim 1 , comprising:
establishing communication between a microcontroller and the memory; and
utilizing the characterization data by control software of the microcontroller.
10. A surgical instrument, comprising:
a microcontroller comprising a processor configured to execute computer readable instructions; and
a memory coupled to the microcontroller;
wherein the processor is operative to:
access from the memory characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of an articulation joint;
track the articulation angle of the end effector during use of the surgical instrument; and
adjust a target transection length based on the tracked articulation angle and the stored characterization data.
11. The surgical instrument of claim 10 , wherein the memory is a nonvolatile memory.
12. The surgical instrument of claim 10 , wherein the processor is operative to access the characterization data from a lookup table implemented in the memory.
13. The surgical instrument of claim 10 , wherein the processor is operative to implement a best curve fit formula based on the characterization data.
14. The surgical instrument of claim 10 , wherein the memory is located on a shaft, handle, or both, of the surgical instrument.
15. A surgical instrument, comprising:
an end effector comprising an articulation joint;
flexible knife bands configured to translate from a position proximal of the articulation joint to a position distal of the articulation joint;
a microcontroller comprising a processor operative to execute computer readable instructions; and
a memory coupled to the microcontroller;
wherein the processor is operative to:
access from the memory characterization data representative of a relationship between articulation angle of an end effector and effective transection length distal of the articulation joint;
track the articulation angle of the end effector during use of the surgical instrument; and
adjust a target transection length based on the known articulation angle and the stored characterization data.
16. The surgical instrument of claim 15 , wherein the memory is a nonvolatile memory.
17. The surgical instrument of claim 15 , wherein the processor is operative to access the characterization data from a lookup table implemented in the memory.
18. The surgical instrument of claim 15 , wherein the processor is operative to implement a best curve fit formula based on the characterization data.
19. The surgical instrument of claim 15 , wherein the memory is located on a shaft, handle, or both, of the surgical instrument.
20. The surgical instrument of claim 15 , comprising a sensor to measure an articulation angle of the flexible knife bands, the sensor configured to provide feedback of the articulation angle to the processor.