Surgical instrument with primary and safety processors
A surgical instrument includes a motor operably coupled to a firing member, wherein the motor is configured to generate at least one rotational motion to motivate the firing member to cause staples to be deployed during a firing stroke. The surgical instrument includes a primary processor configured to determine a first acceleration of the firing member during the firing stroke, and compare the first acceleration to predetermined threshold acceleration. The surgical instrument also includes a secondary processor configured to determine a second acceleration of the firing member during the firing stroke, and compare the second acceleration to the predetermined threshold value.
1. A powered surgical stapling and cutting instrument, comprising:
a staple cartridge, comprising:
a housing;
a plurality of staple cavities;
a plurality of staples deployable from said staple cavities during a firing stroke;
a firing member movable during said firing stroke to cause said staples to be deployed from said staple cavities; and
a motor operably coupled to said firing member, wherein said motor is configured to generate at least one rotational motion to motivate said firing member to cause said staples to be deployed from said staple cavities during said firing stroke;
a primary controller, comprising:
a primary processor; and
a primary storage medium storing first program instructions which, when executed by the primary processor, cause the primary processor to:
determine a first acceleration of said firing member during said firing stroke; and
compare said first acceleration to a predetermined threshold acceleration; and
a secondary controller, comprising:
a secondary processor; and
a secondary storage medium storing second program instructions which, when executed by said secondary processor, cause the secondary processor to:
determine a second acceleration of said firing member during said firing stroke; and
compare said second acceleration to said predetermined threshold value.
2. The powered surgical stapling and cutting instrument of claim 1 , wherein said first acceleration is determined based on a distance between a first position and a second position, wherein said distance is traveled by said firing member during said firing stroke.
3. The powered surgical stapling and cutting instrument of claim 2 , further comprising a sensor configured to detect said firing member at said second position.
4. The powered surgical stapling and cutting instrument of claim 3 , wherein said sensor is a linear position encoder.
5. The powered surgical stapling and cutting instrument of claim 3 , wherein said sensor is in electrical communication with said primary processor.
6. The powered surgical stapling and cutting instrument of claim 5 , wherein said second acceleration is separately determined by said secondary processor based on said distance.
7. The powered surgical stapling and cutting instrument of claim 6 , further comprising another sensor configured to detect said firing member at said second position.
8. The powered surgical stapling and cutting instrument of claim 7 , wherein said other sensor is a linear position encoder.
9. The powered surgical stapling and cutting instrument of claim 7 , wherein said other sensor is in electrical communication with said secondary processor.
10. The powered surgical stapling and cutting instrument of claim 9 , wherein said primary processor is configured to activate a failure response mode if (i) said first acceleration is beyond said predetermined threshold value and (ii) said second acceleration is beyond said predetermined threshold value.
11. The powered surgical stapling and cutting instrument of claim 10 , wherein said failure response mode comprises stopping said motor.
12. The powered surgical stapling and cutting instrument of claim 9 , wherein said primary processor is configured to activate a failure response mode if at least one of said first acceleration and said second acceleration is beyond said predetermined threshold value.
13. The powered surgical stapling and cutting instrument of claim 12 , wherein said failure response mode comprises stopping said motor.
14. The powered surgical stapling and cutting instrument of claim 1 , wherein said second program instructions further cause the secondary processor to:
generate an output based on said comparison of said second acceleration to said predetermined threshold value; and
cause said output to be communicated to said primary controller.
15. A powered surgical stapling and cutting instrument, comprising:
a staple cartridge, comprising:
a housing;
a plurality of staple cavities; and
a plurality of staples deployable from said staple cavities during a firing stroke;
a firing member movable during said firing stroke to cause said staples to be deployed from said staple cavities;
a motor operably coupled to said firing member, wherein said motor is configured to generate at least one rotational motion to motivate said firing member to deploy said staples from said staple cavities during said firing stroke;
a primary circuit, comprising a primary processor configured to:
assess a first operational parameter indicative of performance of said firing member during said firing stroke; and
generate a first output based on an assessment of said first operational parameter; and
a second circuit, comprising a safety processor configured to:
assess a second operational parameter indicative of said performance of said firing member during said firing stroke, wherein said second operational parameter is different than said first operational parameter; and
generate a second output based on an assessment of said second operational parameter, wherein said second output is used to verify said first output within a control loop of said firing stroke.
16. The powered surgical stapling and cutting instrument of claim 15 , wherein said second output is used as a substitute for said first output if it is determined that said first operational parameter indicates an abnormal performance of said firing member during said firing stroke while said second operational parameter indicates a normal performance of said firing member.
17. The powered surgical stapling and cutting instrument of claim 15 , wherein said first output is configured to activate a mode of operation selected from a group comprising a normal mode, a warning mode, a limp mode, and a stop mode.
18. The powered surgical stapling and cutting instrument of claim 15 , wherein said second output is configured to activate a mode of operation selected from a group comprising a normal mode, a warning mode, a limp mode, and a stop mode.
19. The powered surgical stapling and cutting instrument of claim 15 , wherein said first output is communicated to said safety processor in a message comprising said first output and a security code.
20. The powered surgical stapling and cutting instrument of claim 19 , wherein said security code comprises a cyclic redundancy check (CRC).