Surgical instrument with wireless communication between control unit and remote sensor
A surgical instrument, such as an endoscopic or laparoscopic instrument. The surgical instrument may comprise an end effector comprising at least one sensor. The surgical instrument may also comprise an electrically conductive shaft having a distal end connected to the end effector wherein the sensor is electrically insulated from the shaft. The surgical instrument may also comprise a handle connected to a proximate end of the shaft. The handle may comprise a control unit electrically coupled to the shaft such that the shaft radiates signals as an antenna from the control unit to the sensor and receives radiated signals from the sensor. Other components electrically coupled to the shaft may also radiate the signals.
1. A cordless surgical instrument for cutting and stapling tissue, comprising:
a handle;
a battery in the handle; and
a firing system, comprising:
a shaft extending from the handle;
a motor in the handle, the motor comprising an output connected to the shaft, wherein the battery powers the motor;
an end effector connected to the shaft, wherein the end effector comprises a proximal end, a distal end, and a working portion, wherein the proximal end is closer to the handle than the distal end, and wherein upon actuation of the firing system the working portion traverses the end effector from the proximal end toward the distal end;
a control circuit in the handle for controlling current through the motor from the battery; and
a digital rotary encoder in the handle that outputs digital signals to the control circuit related to rotation of the shaft,
wherein the control circuit comprises a relay connected to the motor, wherein the control circuit is configured to:
determine a position of the working portion in the end effector based on the digital signals from the digital rotary encoder;
compare a level of the motor current to a threshold motor current level; and
change the current supplied to the motor by changing a state of the relay when both the working portion is within a specified position range in the end effector and the motor current level exceeds a threshold motor current level for the specified position range.
2. The surgical instrument of claim 1 , wherein the control circuit is configured to reduce to zero the current supplied to the motor when the position of the working portion is within the specified position range of the end effector and the motor current exceeds the threshold current level.
3. The surgical instrument of claim 2 , wherein the specified position range of the end effector is a specified position range at the proximal end of the end effector.
4. The surgical instrument of claim 1 , wherein the control circuit comprises a pulse width modulation controller configured to control the speed in which the output shaft of the motor rotates.
5. The surgical instrument of claim 4 , wherein the handle comprises a user-control that, when activated by a user of the surgical instrument, actuates the firing system.
6. The surgical instrument of claim 1 , further comprising a staple cartridge.
7. A cordless surgical instrument for cutting and stapling tissue, wherein the surgical instrument comprises:
a handle;
a battery in the handle; and
a firing system, comprising:
a shaft attached to the handle;
a motor comprising an output connected to the shaft, wherein the battery powers the motor;
an end effector connected to the shaft, wherein the end effector comprises a proximal end, a distal end, and a working portion, wherein the proximal end is closer to the handle than the distal end, and wherein upon actuation of the firing system the working portion traverses the end effector from the proximal end toward the distal end;
a digital rotary encoder in the handle, wherein the digital rotary encoder is configured to output signals indicative of rotation of the shaft; and
motor control means, in the handle and connected to the motor, the battery and the end effector, wherein the motor control means comprises a relay connected to the motor, and wherein the motor control means is for:
modulating a width of power pulses supplied to the motor from the battery;
determining a position of the working portion in the end effector based on the digital signals from the digital rotary encoder;
comparing a level of the motor current to a threshold motor current level; and
changing the current supplied to the motor by changing a state of the relay when the motor current level exceeds the threshold motor current level for a specified position range of the working portion in the end effector.
8. The surgical instrument of claim 7 , wherein the motor control means is for reducing to zero the current supplied to the motor when the position of the working portion is within the specified position range of the end effector and the current exceeds the threshold current level.
9. The surgical instrument of claim 8 , wherein the specified position range of the end effector is the specified position range at a proximal end of the end effector.
10. The surgical instrument of claim 7 , wherein the handle houses the motor.
11. The surgical instrument of claim 10 , wherein the handle comprises a user-control that, when activated by a user of the surgical instrument, actuates the firing system.
12. The surgical instrument of claim 7 , further comprising a staple cartridge.
13. A cordless surgical instrument for cutting and stapling tissue, comprising:
a handle;
a battery in the handle;
a shaft connected to the handle;
an end effector connected to the shaft, wherein the end effector comprises a proximal end and a distal end, and wherein the proximal end is closer to the shaft than the distal end, and
a firing system, comprising:
a cutting member configured to move toward the distal end during a firing stroke;
a motor comprising an output connected to the shaft, wherein the battery powers the motor;
a rotary encoder in the handle for outputting output signals indicative of rotation of the shaft;
a pulse width modulation controller in the handle to control the speed at which the output shaft of the motor rotates;
a control circuit in the handle, wherein the control circuit comprises a relay connected to the motor, wherein the control circuit, and wherein the control circuit is configured to:
determine a position of the working portion in the end effector based on the output signals from the rotary encoder; and
compare a current through the motor with a threshold and change the current to the motor by changing a state of the relay when both the working portion is within a specified position range in the end effector and the motor current level exceeds a threshold motor current level for the specified position range.
14. The surgical instrument of claim 13 , further comprising a staple cartridge.