Active braking electrical surgical instrument and method for braking such an instrument
View Patent ↗An electrically powered surgical instrument includes a surgical end effector having a surgical procedure effecting actuation assembly. A handle is coupled with the end effector. An electric motor is disposed within a shell of the handle and has power terminals and a drive train actuating the assembly when the motor is supplied with power. A break-before-make power supply switch at the handle selectively controls supply of power to the motor. A post-termination braking circuit electrically short-circuits the power terminals when the switch does not supply power to the motor. A method for post-termination braking of an electrical motor utilizes the permanent magnetic field of the motor to counteract an inertia-induced over-stroke characteristic of the motor, drive train, and/or actuation assembly after powered operation by short-circuiting the still-spinning motor to create an electrically generated magnetic field in opposition to the permanent magnetic field upon ceasing supply of power to the motor.
1. A surgical instrument, comprising:
a surgical end effector having at least one actuation assembly to effect a surgical procedure when actuated;
a handle mechanically coupled with the end effector and having a shell;
an electric motor disposed within the shell and having:
motor terminals; and
a drive train operatively coupled to the at least one actuation assembly to actuate the at least one actuation assembly when the motor is supplied with power;
a power supply having power terminals; and
a selective switching connection disposed within the shell and having a break-before-make switch with three positions including a forward position, a reverse position, and an off position, the selective switching connection:
in the forward position, electrically connecting the power terminals to the motor terminals to power the motor in a forward direction;
in the reverse position, electrically connecting the power terminals to the motor terminals to power the motor in a reverse direction; and
in the off position, electrically separating at least one of the power terminals from the motor terminals.
2. The instrument according to claim 1 , wherein:
the power supply is a removable battery pack and has two power terminals; and
the switch of the selective switching connection is a double-pole/double-throw, break-before-make switch with three positions including the forward position, the reverse position, and the off position, and:
in the forward position, electrically connects the two power terminals to the two motor terminals to power the motor in a forward direction;
in the reverse position, electrically connects the two power terminals to the two motor terminals to power the motor in a reverse direction; and
in the off position, electrically separates at least one of the two power terminals from the two motor terminals.
3. The instrument according to claim 1 , wherein the end effector, handle, motor, and selective switching connection are all operable with only a single hand.
4. The instrument according to claim 1 , wherein the end effector is a surgical stapling endocutter.
5. The instrument according to claim 1 , wherein:
the motor has a permanent magnetic field; and
at least one of the motor, the drive train, and the actuation assembly has an inertia-induced over-stroke characteristic after powered operation.
6. The instrument according to claim 5 , further comprising a post-termination braking circuit having the selective switching connection as a component thereof, the post-termination braking circuit electrically short-circuiting the motor terminals with the off position of the switch.
7. The instrument according to claim 1 , wherein:
the drive train has a rotational inertia when operating; and
the motor has:
a rotational inertia when spinning; and
a permanent magnetic field.
8. The instrument according to claim 7 , further comprising a post-termination braking circuit having the selective switching connection as a component thereof, the post-termination braking circuit operable to create an electrically-generated magnetic field in opposition to the permanent magnetic field with the rotational inertia of at least one of the drive train and the motor when short-circuiting the motor terminals with the off position of the switch.
9. A surgical instrument, comprising:
a surgical end effector having at least one actuation assembly to effect a surgical procedure when actuated;
a handle mechanically coupled with the end effector and having a shell;
an electric motor disposed within the shell and having:
motor terminals; and
a drive train operatively coupled to the at least one actuation assembly to actuate the at least one actuation assembly when the motor is supplied with power;
a power supply having power terminals; and
a post-termination braking circuit:
having a selective switching connection disposed within the shell and having a break-before-make switch with three positions including a forward position, a reverse position, and an off position, the selective switching connection:
in the forward position, electrically connecting the power terminals to the motor terminals to power the motor in a forward direction;
in the reverse position, electrically connecting the power terminals to the motor terminals to power the motor in a reverse direction; and
in the off position, electrically separating at least one of the power terminals from the motor terminals; and
electrically short-circuiting the motor terminals with the off position of the switch.
10. The instrument according to claim 9 , wherein:
the power supply is a removable battery pack and has two power terminals; and
the switch of the selective switching connection is a double-pole/double-throw, break-before-make switch with three positions including the forward position, the reverse position, and the off position, and:
in the forward position, electrically connects the two power terminals to the two motor terminals to power the motor in a forward direction;
in the reverse position, electrically connects the two power terminals to the two motor terminals to power the motor in a reverse direction; and
in the off position, electrically separates at least one of the two power terminals from the two motor terminals.
11. The instrument according to claim 9 , wherein:
the motor has a permanent magnetic field; and
at least one of the motor, the drive train, and the actuation assembly has an inertia-induced over-stroke characteristic after powered operation.
12. The instrument according to claim 11 , wherein the inertia-induced over-stroke of at least one of the motor, the drive train, and the actuation assembly is counteracted with the short-circuit.
13. A surgical instrument, comprising:
a surgical end effector having at least one actuation assembly to effect a surgical procedure when actuated;
a handle mechanically coupled with the end effector and having a shell;
an electric motor disposed within the shell and having:
a rotational inertia when spinning;
a permanent magnetic field;
motor terminals; and
a drive train operatively coupled to the at least one actuation assembly to actuate the at least one actuation assembly when the motor is supplied with power, the drive train having a rotational inertia when operating;
a power supply having power terminals; and
a post-termination braking circuit:
having a selective switching connection disposed within the shell and having a break-before-make switch with three positions including a forward position, a reverse position, and an off position, the selective switching connection:
in the forward position, electrically connecting the power terminals to the motor terminals to power the motor in a forward direction;
in the reverse position, electrically connecting the power terminals to the motor terminals to power the motor in a reverse direction; and
in the off position, electrically separating at least one of the power terminals from the motor terminals;
electrically short-circuiting the motor terminals with the off position of the switch; and
being operable to create an electrically-generated magnetic field in opposition to the permanent magnetic field with the rotational inertia of at least one of the drive train and the motor when short-circuiting the motor terminals with the off position of the switch.
14. The instrument according to claim 13 , wherein:
the power supply is a removable battery pack and has two power terminals; and
the switch of the selective switching connection is a double-pole/double-throw, break-before-make switch with three positions including the forward position, the reverse position, and the off position, and:
in the forward position, electrically connects the two power terminals to the two motor terminals to power the motor in a forward direction;
in the reverse position, electrically connects the two power terminals to the two motor terminals to power the motor in a reverse direction; and
in the off position, electrically separates at least one of the two power terminals from the two motor terminals.