Motor-driven surgical cutting instrument
View Patent ↗A motor-driven surgical cutting and fastening instrument that comprises an end effector, an electric motor, and a motor control circuit. The motor control circuit is for monitoring a parameter of the electric motor that is indicative of movement of a moveable member of the end effector, and for adjustably controlling the electric motor based on the monitored parameter to thereby adjustably control movement of the moveable member of the end effector during forward rotation of the electric motor.
1. A surgical instrument for cutting and stapling tissue, wherein the surgical instrument comprises:
a handle;
a shaft extending from the handle;
an end effector connected to the shaft, wherein the end effector is configured to staple and cut tissue, and wherein the end effector comprises:
a proximate end adjacent to the shaft and a distal end spaced from the proximate end; and
a cutting instrument for moving along a cutting travel path to cut the tissue, wherein the cutting travel path comprises:
a forward path in which the cutting instrument moves from the proximate end of the end effector to the distal end; and
a return path in which the cutting instrument moves from the distal end of the end effector to the proximate end;
a motor;
a power source for providing electrical energy to the motor, wherein the power source comprises one or more battery cells;
a cutting instrument position sensor for sensing a position of the cutting instrument along the cutting travel path; and
a motor control circuit connected to the motor and to the power source, wherein the motor control circuit controls power levels supplied to the motor from the power source based on the position of the cutting instrument along the cutting travel path sensed by the cutting instrument position sensor, such that:
the motor control circuit causes a first power level to be supplied to the motor when the cutting instrument is in a first position range along the forward path of the cutting travel path; and
the motor control circuit causes a second power level to be supplied to the motor when the cutting instrument is in a second position range along the forward path of the cutting travel path without changing the number of one or more battery cells electrically connected to the motor.
2. The surgical instrument of claim 1 , wherein the first power level comprises a low torque mode and the second power level comprises a high torque mode.
3. The surgical instrument of claim 1 , wherein the handle houses the motor.
4. The surgical instrument of claim 3 , wherein the power source comprises one or more replaceable and rechargeable battery cell.
5. The surgical instrument of claim 4 , wherein the handle comprises a user-control that when activated by a user of surgical instrument causes the motor control circuit to electrically connect the power source to the motor.
6. The surgical instrument of claim 1 , wherein the motor control circuit comprises a transistor that controls power levels supplied to the motor from the power source, wherein the transistor comprises a control terminal connected to an output from the cutting instrument position sensor such that operation of the transistor is controlled based on the position of the cutting instrument along the cutting travel path.
7. The surgical instrument of claim 1 , further comprising a staple cartridge.
8. A surgical instrument for cutting and stapling tissue, comprising:
a handle;
a shaft extending from the handle;
an end effector connected to the shaft, wherein the end effector is configured to staple and cut tissue, and wherein the end effector comprises:
a proximate end adjacent to the shaft and a distal end spaced from the proximate end; and
a cutting instrument for moving along a cutting travel path to cut the tissue, wherein the cutting travel path comprises:
a forward path in which the cutting instrument moves from the proximate end of the end effector to the distal end; and
a return path in which the cutting instrument moves from the distal end of the end effector to the proximate end;
a motor;
a power source for providing electrical energy to the motor, wherein the power source comprises one or more battery cells;
a cutting instrument position sensor for sensing a position of the cutting instrument along a cutting travel path; and
motor control means for controlling power levels supplied to the motor from the power source based on the position of the cutting instrument along the cutting travel path sensed by the cutting instrument position sensor, such that:
the motor control means is for supplying a first power level to the motor when the cutting instrument is in a first position range along the forward path of the cutting travel path; and
the motor control means is for supplying a second power level to the motor when the cutting instrument is in a second position range along the forward path of the cutting travel path without changing the number of one or more battery cells connected to the motor.
9. The surgical instrument of claim 8 , wherein the first power level comprises a low torque mode and the second power level comprises a high torque mode.
10. The surgical instrument of claim 8 , wherein the handle houses the motor.
11. The surgical instrument of claim 8 , wherein the power source comprises one or more replaceable and rechargeable battery cells.
12. The surgical instrument of claim 8 , further comprising a staple cartridge.
13. A surgical instrument, comprising:
a handle;
a shaft extending from the handle;
an end effector connected to the shaft, wherein the end effector comprises:
a proximate end adjacent to the shaft and a distal end spaced from the proximate end; and
a cutting instrument for cutting tissue in the end effector by moving along a cutting travel path, wherein the cutting travel path comprises:
a forward path in which the cutting instrument moves from the proximate end of the end effector to the distal end; and
a return path in which the cutting instrument moves from the distal end of the end effector to the proximate end;
a motor;
a power source for providing electrical energy to the motor, wherein the power source comprises one or more battery cells;
a cutting instrument position sensor configured to sense a position of the cutting instrument along a cutting travel path; and
a motor control circuit connected to the motor and to the power source, wherein the motor control circuit controls the power supplied to the motor from the power source based on the position of the cutting instrument as sensed by the cutting instrument position sensor such that the motor control circuit modulates the supplied power to a first power level when the cutting instrument is in a first position range along the forward path of the cutting travel path and to a second power level when the cutting instrument is in a second position range along the forward path of the cutting travel path without changing the number of battery cells connected to the motor, and wherein the first position range defines a proximal portion of the cutting travel path.
14. The surgical instrument of claim 13 , further comprising a staple cartridge.
15. A surgical stapler, comprising:
a shaft;
an end effector extending from the shaft, wherein the end effector comprises:
a proximal end;
a distal end; and
a cutting instrument configured to move along a cutting travel path, wherein the cutting travel path comprises:
a forward path in which the cutting instrument moves from the proximal end of the end effector to the distal end of the end effector; and
a return path in which the cutting instrument moves from the distal end of the end effector to the proximal end of the end effector;
a motor;
a power source for providing electrical energy to the motor;
a cutting instrument position sensor for sensing a position of the cutting instrument along the cutting travel path; and
a motor control circuit connected to the motor and to the power source, wherein the motor control circuit controls power levels supplied to the motor from the power source based on the position of the cutting instrument along the cutting travel path sensed by the cutting instrument position sensor, such that:
the motor control circuit causes a first power level to be supplied to the motor when the cutting instrument is in a first position range along the forward path of the cutting travel path; and
the motor control circuit causes a second power level to be supplied to the motor when the cutting instrument is in a second position range along the forward path of the cutting travel path by changing a resistance level of a connection in the motor control circuit from the power source to the motor.
16. The surgical stapler of claim 15 , further comprising a staple cartridge.