Motor-driven surgical cutting instrument
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; and
a firing system that comprises:
a shaft extending from the handle;
an end effector connected to the shaft, wherein the end effector comprises a tissue cutting knife movable distally and is configured to staple and cut tissue;
a motor operable to move the tissue cutting knife distally;
a power source for providing electrical energy to the motor;
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, wherein the motor control circuit comprises:
a power regulator that regulates voltage levels supplied to the motor, wherein the power regulator has a voltage set point that is less than the voltage at which the power source delivers maximum power; and
a pulse width modulation circuit for modulating pulse widths of voltage pulses supplied to the motor to control the speed and distal motion of the tissue cutting knife, and wherein:
the motor control circuit causes to be supplied to the motor one of at least two different power levels depending on an operating condition of the firing system.
2. The surgical instrument of claim 1 , further comprising at least one sensor for detecting the operating condition of the firing system.
3. The surgical instrument of claim 2 , wherein:
the at least two different power levels comprises a first power level and a second power level;
the motor control circuit causes the first power level to be supplied to the motor when the operating condition sensed by the at least one sensor is above a predefined threshold level; and
the motor control circuit causes the second power level to be supplied to the motor when the operating parameter sensed by the at least one sensor is below the predefined threshold level.
4. The surgical instrument of claim 1 , wherein the end effector comprises a staple cartridge.
5. The surgical instrument of claim 4 , wherein the power regulator comprises a DC-to-DC converter.
6. The surgical instrument of claim 5 , wherein the handle houses the motor.
7. The surgical instrument of claim 5 , wherein:
the motor comprises a DC motor; and
the power source comprises at least one replaceable and rechargeable battery cell.
8. The surgical instrument of claim 7 , wherein the firing system further comprises a lockout circuit that prevents actuation of the motor when an end effector lockout condition is detected.
9. The surgical instrument of claim 8 , wherein the end effector lockout condition comprises an end effector lockout condition selected from the following:
absence of a staple cartridge in the end effector;
presence of a spent staple cartridge in the end effector;
an unclosed end effector; and
an accumulated count of firing by the end effector in excess of a predefined limit.
10. The surgical instrument of claim 1 , wherein the firing system further comprises a lockout circuit that prevents actuation of the motor when an end effector lockout condition is detected.
11. A surgical instrument for cutting and stapling tissue, wherein the surgical instrument comprises:
a handle; and
a firing system that comprises:
a shaft extending from the handle;
an end effector connected to the shaft, wherein the end effector comprises a firing member movable distally and is configured to staple and cut tissue;
a motor operable to move the firing member distally;
a power supply means for providing electrical energy to the motor;
a motor control means for controlling power levels supplied to the motor from the power supply means, wherein the motor control means comprises:
a power regulator that regulates voltage levels supplied to the motor, wherein the power regulator has a voltage set point that is less than the voltage at which the power supply means delivers maximum power; and
a pulse width modulation circuit for modulating pulse widths of voltage pulses supplied to the motor to control the speed and distal motion of the firing member, and
wherein the motor control means is for causing to be supplied to the motor one of at least two different power levels depending on an operating condition of the firing system.
12. The surgical instrument of claim 11 , further comprising sensor means for detecting the operating condition of the firing system.
13. The surgical instrument of claim 11 , wherein:
the at least two different power levels comprises a first power level and a second power level;
the motor control circuit causes the first power level to be supplied to the motor when the operating condition sensed by the at least one sensor is above a predefined threshold level; and
the motor control circuit causes the second power level to be supplied to the motor when the operating parameter sensed by the at least one sensor is below the predefined threshold level.
14. The surgical instrument of claim 11 , wherein the power regulator comprises a DC-to-DC converter.
15. The surgical instrument of claim 11 , wherein the end effector comprises a staple cartridge.
16. The surgical instrument of claim 11 , wherein the handle houses the motor.
17. The surgical instrument of claim 16 , the power supply means comprises a replaceable and rechargeable power source.
18. The surgical instrument of claim 11 , wherein the firing system further comprises a lockout means for preventing actuation of the motor when an end effector lockout condition is detected.
19. The surgical instrument of claim 18 , wherein the end effector lockout condition comprises an end effector lockout condition selected from the following:
absence of a staple cartridge in the end effector;
presence of a spent staple cartridge in the end effector;
an unclosed end effector; and
an accumulated count of firing by the end effector in excess of a predefined limit.