Systems and methods for controlling a surgical stapling and cutting instrument
Various examples are directed to systems and methods for operating a surgical instrument comprising a firing member translatable proximally and distally along a longitudinal axis between a stroke begin position to a stroke end position distal of the stroke begin position; a knife coupled to the firing member; and a motor coupled to the firing member to translate the firing member between the stroke begin position and the stroke end position. A control circuit may receive a firing signal and begin a firing member stroke by providing an initial motor setting to the motor. The control circuit may maintain the initial motor setting for an open-loop portion of the firing member stroke. The control circuit may receive firing member motion data describing a motion of the firing member during the open-loop portion of the firing member stroke and may select a firing control program based at least in part on the motion of the firing member during the open-loop portion of the firing member stroke.
1. A surgical instrument, comprising:
a handle;
a shaft extending distally from the handle;
an end effector positioned at a distal end of the shaft, the end effector comprising:
an anvil comprising an engagement ramp;
a staple cartridge jaw;
a firing member comprising an engagement portion, wherein the firing member is translatable proximally and distally along a longitudinal axis of the end effector from a stroke beginning position to a stroke end position, wherein the stroke end position is distal to the stroke beginning position;
a knife coupled to the firing member; and
a staple cartridge comprising a wedge sled positioned to be actuated by distal translation of the firing member;
a motor coupled to the firing member to translate the firing member between the stroke beginning position and the stroke end position during a firing stroke;
a motor controller configured to receive a motor set point and provide a drive signal to the motor; and
a control circuit comprising at least one processor and a memory device in communication with the at least one processor, wherein the memory device comprises instructions that, when executed by the at least one processor, causes the at least one processor to:
operate the control circuit in an open-loop configuration to indirectly determine an amount of tissue positioned within the end effector, wherein operating the control circuit in the open-loop configuration comprises:
advancing the firing member at a substantially constant motor set point for a beginning portion of the firing stroke, wherein the beginning portion of the firing stroke spans until the engagement portion of the firing member is fully up the engagement ramp of the anvil and prior to the knife cutting tissue;
determining that the firing member has traversed the beginning portion of the firing stroke; and
determining a time required to traverse the beginning portion of the firing stroke, wherein the time required to traverse the beginning portion is indicative of the amount of tissue positioned within the end effector; and
operate the control circuit in an closed-loop configuration, wherein operating the control circuit in the closed-loop configuration comprises automatically advancing the firing member at a speed after the beginning portion of the firing stroke, wherein the speed is based on the time required to traverse the beginning portion of the firing stroke.
2. The surgical instrument of claim 1 , wherein the displacement of the firing member during the beginning portion of the firing member stroke is between 0.1″ to 0.3″.
3. The surgical instrument of claim 1 , wherein the time required to advance the firing member at the substantially constant motor set point through the beginning portion of the firing stroke determines a magnitude of the tissue positioned between the anvil and the staple cartridge jaw.
4. The surgical instrument of claim 3 , wherein the magnitude of the tissue is used to set the speed of the firing member for the rest of the firing member travel during the firing stroke.
5. A surgical instrument, comprising:
a handle;
a shaft extending distally from the handle;
an end effector positioned at a distal end of the shaft, the end effector comprising:
an anvil comprising an engagement ramp;
a firing member comprising an engagement member, wherein the firing member is translatable proximally and distally along a longitudinal axis of the end effector from a stroke beginning position to a stroke end position distal of the stroke beginning position;
a knife coupled to the firing member; and
a staple cartridge comprising a wedge sled positioned to be actuated by distal translation of the firing member;
a motor coupled to the firing member to translate the firing member between the stroke beginning position and the stroke end position during a firing stroke;
a motor controller configured to receive a motor set point and provide a drive signal to the motor; and
a control circuit comprising at least one processor and a memory device in communication with the at least one processor, wherein the memory device comprises instructions that, when executed by the at least one processor, causes the at least one processor to:
receive a first firing signal;
operate the control circuit in an open-loop configuration to indirectly determine an amount of tissue positioned within the end effector, wherein operating the control circuit in the open-loop configuration comprises:
at a first time and in response to the first firing signal, setting the motor set point to a substantially constant first motor set point value;
determining that an initial time period has passed since the first time;
receiving translation data describing a distal translation of the firing member during the initial time period, wherein the translation data is indicative of the amount of tissue positioned within the end effector; and
determining that the distal translation of the firing member during the initial time period is greater than a distal translation threshold, wherein the distal translation threshold is where the engagement member of the firing member is fully up the engagement ramp of the anvil; and
operate the control circuit in an closed-loop configuration, wherein operating the control circuit in the closed-loop configuration comprises automatically modulating the motor set point to drive the firing member distally at a thin tissue firing member velocity value at least until the firing member reaches the stroke end position, wherein the motor set point is modulated based on a distance of the distal translation of the firing member during the initial time period.
6. The surgical instrument of claim 5 , wherein the memory device further comprises instructions that, when executed by the at least one processor, causes the at least one processor to:
receive a second firing signal after the first firing signal;
at a second time and in response to the second firing signal, set the motor set point to the first motor set point value;
determine that a second initial time period has passed since the second time;
receive second translation data describing a second distal translation of the firing member during the second initial time period;
determine that the second distal translation of the firing member during the second initial time period is less than a distal translation threshold; and
modulate the motor set point to drive the firing member distally at a thick tissue firing member velocity at least until the firing member reaches the stroke end position, wherein the motor set point is modulated based on the second initial time period.
7. A surgical instrument comprising:
an end effector, comprising:
an anvil comprising an engagement ramp;
a firing member comprising an engagement portion, wherein the firing member is translatable proximally and distally along a longitudinal axis between a stroke begin position to a stroke end position distal of the stroke begin position;
a knife coupled to the firing member; and
a motor coupled to the firing member to translate the firing member between the stroke begin position and the stroke end position during a firing member stroke; and
a control circuit comprising at least one processor and a memory device in communication with the at least one processor, wherein the memory device comprises instructions that, when executed by the at least one processor, causes the at least one processor to:
operate the control circuit in an open-loop configuration to indirectly determine an amount of tissue positioned within the end effector, wherein operating the control circuit in the open-loop configuration comprises:
beginning a firing member stroke by providing an initial motor setting to the motor;
maintaining the initial motor setting for an open-loop portion of the firing member stroke, wherein the open-loop portion ends when the engagement portion translates fully up the engagement ramp of the anvil; and
receiving firing member motion data describing a motion of the firing member during the open-loop portion of the firing member stroke, wherein the firing motion data comprises a time for the engagement portion to translate fully up the engagement ramp, and wherein the time is indicative of the amount of tissue positioned within the end effector;
select a firing control program based at least in part on the motion of the firing member during the open-loop portion of the firing member stroke; and
operate the control circuit in a closed-loop configuration, wherein operating the control circuit in the closed-loop configuration comprises automatically driving the firing member according to the firing control program.
8. The surgical instrument of claim 7 , wherein the open-loop portion of the firing member stroke is from a beginning of the firing member stroke to an end of an initial time period.
9. The surgical instrument of claim 7 , wherein the open-loop portion of the firing member stroke is from the stroke begin position to a point separated from the stroke begin position by an initial distance.
10. The surgical instrument of claim 9 , wherein the initial distance is about ⅙ of a distance between the stroke begin position and the stroke end position.
11. The surgical instrument of claim 7 , wherein providing the initial motor setting to the motor comprises providing a first motor set point to a motor control circuit.
12. The surgical instrument of claim 7 , wherein the initial motor setting is a voltage of a motor drive signal provided to the motor.
13. The surgical instrument of claim 7 , wherein the driving of the firing member according to the firing control program comprises driving the firing member to a first constant speed.
14. The surgical instrument of claim 7 , wherein the driving of the firing member according to the firing control program comprises driving the firing member with a constant power.
15. The surgical instrument of claim 7 , wherein the memory device further comprises instructions that, when executed by the at least one processor, causes the at least one processor to:
begin a second firing member stroke by providing the initial motor setting to the motor;
maintain the initial motor setting for an open-loop portion of the second firing member stroke;
receive firing member motion data describing a motion of the firing member during the open-loop portion of the second firing member stroke;
select a second firing control program based at least in part on the motion of the firing member during the open-loop portion of the second firing member stroke; and
after the open-loop portion of the second firing member stroke, drive the firing member according to the second firing control program.
16. The surgical instrument of claim 15 , wherein the firing member motion data indicates that the firing member moved farther during the open-loop portion of the firing member stroke than during the open-loop portion of the second firing member stroke, wherein the drive of the firing member according to the firing control program comprises driving the firing member to a first constant speed, and wherein the drive of the firing member according to the second firing control program comprises driving the firing member to a second constant speed lower than the first constant speed.
17. The surgical instrument of claim 15 , wherein the firing member motion data indicates that the firing member moved farther during the open-loop portion of the firing member stroke than during the open-loop portion of the second firing member stroke, wherein the drive of the firing member according to the firing control program comprises driving the firing member at a first constant power, and wherein the drive of the firing member according to the second firing control program comprises driving the firing member at a second constant power less than the first constant power.
18. The surgical instrument of claim 7 , further comprising a position sensor positioned to sense a position of the firing member.
19. The surgical instrument of claim 7 , further comprising an encoder in communication with the control circuit, wherein the encoder is positioned to provide a pulsed signal indicating motion of the firing member.
20. A surgical instrument, comprising:
an end effector comprising an anvil comprising an engagement ramp;
a firing member comprising an engagement portion, wherein the firing member is translatable proximally and distally along a longitudinal axis between a stroke begin position to a stroke end position distal of the stroke begin position;
a knife coupled to the firing member;
a motor coupled to the firing member to translate the firing member between the stroke begin position and the stroke end position during a firing member stroke; and
a control circuit configured to:
operate the control circuit in an open-loop configuration to indirectly determine an amount of tissue positioned within the end effector, wherein operating the control circuit in the open-loop configuration comprises:
begin the firing member stroke by providing an initial motor setting to the motor;
maintain the initial motor setting for an open-loop portion of the firing member stroke, wherein the open-loop portion ends when the engagement portion of the firing member advances fully up the engagement ramp of the anvil; and
receive data indicative of firing member motion during the open-loop portion of the firing member stroke, wherein the data comprises a time necessary to advance the engagement portion fully up the engagement ramp, and wherein the time necessary to advance the engagement portion fully up the engagement ramp is indicative of the amount of tissue positioned within the end effector;
select a firing control program based on the motion of the firing member during the open-loop portion of the firing member stroke; and
operate the control circuit in a closed-loop configuration, wherein operating the control circuit in the closed-loop configuration comprises automatically driving the firing member according to the firing control program.