Surgical stapler having motor control based on an electrical parameter related to a motor current
View Patent ↗A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an H-bridge circuit, an electrically resistive element and an electrically inductive element. The H-bridge circuit includes a high side and a low side. The low side of the H-bridge circuit includes first and second switching devices. The electrically resistive element is electrically connected in series with the first switching device. The electrically inductive element is electrically connected to the electrically resistive element. The control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.
1. A surgical stapler, comprising:
a drive system;
an electric motor mechanically coupled to the drive system;
a battery electrically couplable to the electric motor; and
a control system electrically connected to the electric motor, the control system comprising:
an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises first and second switching devices;
an electrically resistive element electrically connected in series with the first switching device; and
an electrically inductive element electrically connected to the electrically resistive element, wherein the control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.
2. The surgical stapler of claim 1 , wherein:
the low side of the H-bridge circuit further comprises first and second legs; and
the electrically resistive element and the electrically inductive element are electrically connected to one of the first and second legs of the H-bridge circuit.
3. The surgical stapler of claim 1 , wherein the electrically inductive element is electrically connected in series with the electrically resistive element.
4. The surgical stapler of claim 1 , wherein the electrically inductive element is electrically connected in parallel with the electrically resistive element.
5. The surgical stapler of claim 4 , further comprising an electrically capacitive element electrically connected in series with the electrically inductive element.
6. The surgical stapler of claim 1 , further comprising:
a second electrically resistive element electrically connected in series with the second switching device; and
a second electrically inductive element electrically connected to the second electrically resistive element, wherein the control system is further configured to control a second force applied to the drive system based on a second current measured downstream of the second electrically resistive element.
7. The surgical stapler of claim 6 , wherein the second electrically inductive element is electrically connected in series with the second electrically resistive element.
8. The surgical stapler of claim 6 , wherein the second electrically inductive element is electrically connected in parallel with the second electrically resistive element.
9. The surgical stapler of claim 8 , further comprising a second electrically capacitive element electrically connected in series with the second electrically inductive element.
10. A surgical stapler, comprising:
a drive system;
an electric motor mechanically coupled to the drive system;
a battery electrically couplable to the electric motor; and
a control system electrically connected to the electric motor, the control system comprising:
an H-bridge circuit comprising a high side and a low side, wherein the low side of the H-bridge circuit comprises first and second switching devices;
an electrically inductive element electrically connected in series with the first switching device; and
a filter magnetically coupled to the electrically inductive element, wherein the control system is configured to control a force applied to the drive system based on a current in the filter.
11. The surgical stapler of claim 10 , wherein the filter comprises:
a second electrically inductive element magnetically coupled to the electrically inductive element;
an electrically resistive element electrically connected to the second electrically inductive element; and
an electrically capacitive element electrically connected to the electrically resistive element.
12. The surgical stapler of claim 10 , further comprising a sensor configured to sense the current in the filter.
13. The surgical stapler of claim 10 , further comprising:
a third electrically inductive element electrically connected in series with the second switching device; and
a second filter magnetically coupled to the third electrically inductive element, wherein the control system is further configured to control a second force applied to the drive system based on a second current in the second filter.
14. The surgical stapler of claim 13 , wherein the second filter comprises:
a fourth electrically inductive element magnetically coupled to the third electrically inductive element;
a second electrically resistive element electrically connected to the fourth electrically inductive element; and
a second electrically capacitive element electrically connected to the second electrically resistive element.
15. The surgical stapler of claim 13 , further comprising a second sensor configured to sense the second current in the second filter.
16. A surgical stapler, comprising:
a drive system;
an electric motor mechanically coupled to the drive system;
a battery electrically couplable to the electric motor; and
a control system electrically connected to the electric motor, wherein the control system comprises a pulse width modulation circuit and is configured to control a force applied to the drive system based on:
a plurality of battery current measurements taken while a pulse signal generated by the pulse width modulation circuit is above a baseline value; and
a plurality of predicted recirculating current values, wherein the predicted recirculating current values are based on at least one of the plurality of battery current measurements.
17. The surgical stapler of claim 16 , wherein the control system is further configured to:
fit the plurality of battery current measurements to a first curve defined by a first mathematical equation;
utilize a parameter of the first mathematical equation to predict a plurality of recirculating current values;
fit the plurality of predicted recirculating current values to a second curve defined by a second mathematical equation;
determine an intersection of the first and second curves; and
determine a total area under the first and second curves.
18. The surgical stapler of claim 17 , wherein the total area under the first and second curves is representative of an average current at the electric motor.
19. The surgical stapler of claim 16 , wherein the control system is further configured to predict the recirculating current values based on a maximum value of the plurality of battery current measurements taken.
20. The surgical stapler of claim 19 , wherein the control system is further configured to:
determine the maximum value;
designate the maximum value as an ending condition of a battery current curve and as an initial condition of a recirculation current curve;
generate the battery current curve based on a first mathematical equation and generate the recirculation current curve based on a second mathematical equation; and
determine a total area under the battery current curve and the recirculation current curve.
21. The surgical stapler of claim 20 , wherein the total area under the battery current curve and the recirculation current curve is representative of an average current at the electric motor.
22. A surgical stapler, comprising:
a drive system;
an electric motor mechanically coupled to the drive system;
a battery electrically couplable to the electric motor; and
a control system electrically connected to the electric motor, wherein the control system comprises a pulse width modulation circuit and is configured to control a force applied to the drive system based on:
a battery current measurement taken while a pulse signal generated by the pulse width modulation circuit is above a baseline value; and
a state of a duty cycle associated with the pulse width modulation circuit.
23. The surgical stapler of claim 22 , wherein the control system is further configured to:
read a force value from a look-up table of a memory of the surgical stapler based on the measured battery current and the state of the duty cycle;
compare the read force value to a target force value; and
modify the duty cycle.