Electrical surgical instrument with differential rate of closing motion speed
A surgical instrument comprised of an end effector having two opposing tissue-compression surfaces, wherein at least one of the tissue-compressing surfaces is movable with respect to the other of the tissue-compressing surfaces, and a handle connected to the end effector. The handle comprises a power source, an electric motor supplied with power from the power source, and a closure assembly comprising a drive part that is selectively moved by the motor along a drive-part axis and is operatively connected to the end effector such that, when the motor is supplied with power, the drive part advances the movable tissue-compressing surface towards the opposing tissue-compressing surface at a differential rate of speed dependent upon a position of the drive part along the drive-part axis.
1. A surgical instrument, comprising:
a stapling end effector having two opposing tissue-compressing surfaces defining a closure distance therebetween, wherein at least one of the tissue-compressing surfaces is movable with respect to the other of the tissue-compressing surfaces to apply a compressive force to tissue therebetween; and
a handle connected to the stapling end effector and comprising:
a power source;
a staple-firing assembly operatively connected to the stapling end effector and, when actuated, causing the stapling end effector to staple tissue disposed between the two opposing tissue-compressing surfaces;
a closure assembly comprising:
an electric motor powered by the power source and comprising a drive axle configured to rotate;
a rotating nut mechanically connected to the drive axle to rotate about a drive-part axis and comprising a drive pin;
a drive part:
comprising a body defining a multi-pitch thread mechanically connected to the drive pin of the rotating nut, the body moved by the motor in one of a direction away from the stapling end effector and towards the stapling end effector along the drive-part axis dependent upon a direction of rotation of the rotating nut;
comprising a detection mechanism configured to detect a position of the drive-part along the drive-part axis;
selectively moved by the motor along the drive-part axis; and
operatively connected to the stapling end effector such that, when the motor is being supplied with power, the drive part advances the movable tissue-compressing surface towards the opposing tissue-compressing surface at a differential rate of speed dependent upon a position of the drive pin within the multi-pitch thread;
a force detection component configured to detect the compressive force that is applied to the tissue and exhibit at least one of a mechanical and electrical change associated with the detected compressive force, the at least one change influencing a surgical procedure on the compressed tissue; and
a controller operatively connected to the staple-firing assembly and the detection mechanism, the controller configured to prevent actuation of the staple-firing assembly unless the drive part is at a position corresponding to a closure distance within a pre-defined firing range, wherein the power source, the motor, and the controller are entirely contained within the handle.
2. The surgical instrument according to claim 1 , wherein a position of the drive part along the drive-part axis corresponds to a closure distance between the two opposing tissue-compressing surfaces.
3. The surgical instrument according to claim 1 , wherein the two opposing tissue-compressing surfaces comprise an anvil and a staple cartridge, and the anvil is movable with respect to the staple cartridge.
4. The surgical instrument according to claim 1 , wherein:
the drive part comprises a longitudinal cylindrical body having an exterior surface with the multi-pitch thread; and
the rotating nut comprises a hollow body:
shaped to matingly receive at least a portion of the drive part; and
having an internal surface with the drive pin onto which the multi-pitch thread of the drive part is threaded such that, when the motor is supplied with power, the hollow body rotates to move the drive part along the drive-part axis.
5. The surgical instrument according to claim 4 , wherein:
the longitudinal cylindrical body of the drive part has a proximal end and a distal end; and
the thread pitch of the multi-pitch thread increases from the proximal end to the distal end of the longitudinal cylindrical body.
6. The surgical instrument according to claim 5 , wherein the increase in the thread pitch causes a rate of speed of the movement of the drive part along the drive-part axis to decrease as the drive part advances the movable tissue-compressing surface towards the opposing tissue-compressing surface.
7. The surgical instrument according to claim 1 , wherein the
controller is operatively connected to the motor, the controller configured to cause the motor to change a rate of speed of the movement of the drive part along the drive-part axis dependent upon the detected position of the drive part.
8. The surgical instrument according to claim 7 , wherein the detection mechanism is comprised of at least one limit switch configured to detect when the drive part is at a predetermined position.
9. The surgical instrument according to claim 1 , wherein:
the electric motor of the closure assembly is a first electric motor; and
the handle further comprises a firing assembly that is separate from the closure assembly and comprises a second electric motor.
10. A surgical instrument, comprising:
a stapling end effector having two opposing tissue-compressing surfaces defining a closure distance therebetween, wherein at least one of the tissue-compressing surfaces is movable with respect to the other of the tissue-compressing surfaces to apply a compressive force to tissue therebetween; and
a handle connected to the stapling end effector and comprising:
a power source; and
a staple-firing assembly operatively connected to the stapling end effector and, when actuated, causing the stapling end effector to staple tissue disposed between the two opposing tissue-compressing surfaces;
a closure assembly comprising:
an electric motor powered by the power source and comprising a drive axle configured to rotate;
a hollow rotating body mechanically connected to the drive axle to rotate about a drive-part axis and comprising an internal surface with a protruding drive pin;
a longitudinal cylindrical drive part:
comprising a detection mechanism configured to detect a position of the drive-part along the drive-part axis;
moved by the motor along the drive-part axis;
comprising multi-pitch exterior thread mechanically connected to the drive pin of the rotating body, the hollow rotating body shaped to matingly receive at least a portion of the drive part therein; and
operatively connected to the stapling end effector such that, when the motor is supplied with power, the drive part advances the movable tissue-compressing surface towards the opposing tissue-compressing surface at a differential rate of speed dependent upon a position of the drive pin within the multi-pitch thread; and
a mechanical force detection component configured to receive the compressive force that is applied to the tissue and exhibit at least one of a mechanical and electrical change associated with the received compressive force, the at least one change influencing a surgical procedure on the compressed tissue; and
a controller operatively connected to the staple-firing assembly and the detection mechanism, the controller configured to prevent actuation of the staple-firing assembly unless the drive part is at a position corresponding to a closure distance within a pre-defined firing range, wherein the power source, the motor, and the controller are entirely contained within the handle.
11. The surgical instrument according to claim 10 , wherein a position of the drive part along the drive-part axis corresponds to a closure distance between the two opposing tissue-compressing surfaces.
12. The surgical instrument according to claim 10 , wherein the two opposing tissue-compressing surfaces comprise an anvil and a staple cartridge, and the anvil is movable with respect to the staple cartridge.
13. The surgical instrument according to claim 10 , wherein:
the longitudinal cylindrical drive part has a proximal end and a distal end; and
the thread pitch of the multi-pitch thread increases from the proximal end to the distal end of the longitudinal cylindrical drive part.
14. The surgical instrument according to claim 13 , wherein the increase in the thread pitch causes a rate of speed of the movement of the drive part along the drive-part axis to decrease as the drive part advances the movable tissue-compressing surface towards the opposing tissue-compressing surface.
15. The surgical instrument according to claim 10 , wherein the
controller is operatively connected to the motor, the controller configured to cause the motor to change a rate of speed of the movement of the drive part along the drive-part axis dependent upon the detected position of the drive part.
16. The surgical instrument according to claim 15 , wherein the detection mechanism is comprised of at least one limit switch configured to detect when the drive part is at a predetermined position.
17. The surgical instrument according to claim 10 , wherein:
the electric motor of the closure assembly is a first electric motor; and
the handle further comprises a firing assembly that is separate from the closure assembly and comprises a second electric motor.
18. The surgical instrument according to claim 10 , wherein the force detection component is configured to exhibit at least one of a mechanical and electrical change associated with the detected compressive force, the at least one change influencing a surgical procedure on the compressed tissue.
19. A surgical instrument, comprising:
a stapling end effector having two opposing tissue-compressing surfaces defining a closure distance therebetween, wherein at least one of the tissue-compressing surfaces is movable with respect to the other of the tissue-compressing surfaces to apply a compressive force to tissue therebetween; and
a handle connected to the stapling end effector and comprising:
a power source;
a staple-firing assembly operatively connected to the stapling end effector and, when actuated, causing the stapling end effector to staple tissue disposed between the two opposing tissue-compressing surfaces;
a closure assembly comprising:
an electric motor powered by the power source and comprising a drive axle configured to rotate;
a rotating nut mechanically connected to the drive axle to rotate about a drive-part axis and comprising a drive pin;
a drive part:
comprising a body defining a multi-pitch thread mechanically connected to the drive pin of the rotating nut, the body moved by the motor along the drive-part axis; and
operatively connected to the stapling end effector such that, when the motor is being supplied with power, the drive part advances the movable tissue-compressing surface towards the opposing tissue-compressing surface at a differential rate of speed dependent upon a position of the drive pin within the multi-pitch thread;
a detection mechanism configured to detect a position of the drive part along the drive-part axis;
a force detection component configured to detect the compressive force that is applied to the tissue; and
a controller operatively connected to the staple-firing assembly, the detection mechanism, and to the motor, the controller configured:
to cause the motor to change a rate of speed of the movement of the drive part along the drive-part axis dependent upon the detected position of the drive part; and
to prevent actuation of the staple-firing assembly unless the drive part is at a position corresponding to a closure distance within a pre-defined firing range, wherein the power source, the motor, and the controller are entirely contained within the handle.
20. The surgical instrument according to claim 19 , wherein the detection mechanism is comprised of at least one limit switch configured to detect when the drive part is at a predetermined position.