Surgical instrument comprising an adaptive control system
A surgical instrument system comprising an adaptive control system is disclosed.
1. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
staples removably stored in said cartridge body;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body; and
an anvil jaw, comprising:
staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said staple forming pocket is configured to deform a said staple; and
electrical circuits in communication with said motor control system, wherein said motor control system is configured to detect when a said staple has been malformed against said anvil jaw via said electrical circuits, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when a said staple has been malformed against said anvil jaw.
2. The surgical instrument of claim 1 , wherein said motor control system is configured to slow said electric motor down even further when said motor control system detects that a second said staple has been malformed against said anvil jaw.
3. The surgical instrument of claim 2 , wherein said motor control system is configured to stop said electric motor when said motor control system detects that a third said staple has been malformed against said anvil jaw.
4. The surgical instrument of claim 1 , wherein said staples are configured to contact said electrical circuits during said staple firing stroke.
5. The surgical instrument of claim 1 , wherein said electrical circuits comprise Hall Effect sensors configured to detect whether said staples have entered said staple forming pockets.
6. The surgical instrument of claim 1 , wherein said motor control system comprises a pulse width modulation control circuit configured to control the speed of said electric motor.
7. The surgical instrument of claim 1 , wherein said motor control system comprises a frequency modulation control circuit configured to control the speed of said electric motor.
8. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
staples removably stored in said cartridge body;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body; and
an anvil jaw, comprising:
staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said staple forming pocket is configured to deform a said staple; and
electrical circuits in communication with said motor control system, wherein said staples are aligned with said electrical circuits such that said staples contact said electrical circuits when said staples are ejected from said cartridge body during said staple firing stroke, wherein said motor control system is configured to detect when a predetermined number of said staples have been malformed against said anvil jaw via said electrical circuits, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when said predetermined number of said staples have been malformed against said anvil jaw.
9. The surgical instrument of claim 8 , when said anvil jaw comprises a metal frame, wherein said staple forming pockets are defined in said metal frame, and wherein said electrical circuits are part of a flex circuit attached to said metal frame.
10. The surgical instrument of claim 9 , wherein said flex circuit comprises an electrical connector configured to place said electrical circuits in electrical communication with said motor control system.
11. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
a staple removably stored in said cartridge body;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staple from said cartridge body; and
an anvil jaw, comprising:
a staple forming pocket configured to deform said staple during said staple firing stroke, wherein said staple forming pocket comprises a first forming cup configured to receive a first leg of said staple and a second forming cup configured to receive a second leg of said staple; and
a first electrical circuit in communication with said motor control system, wherein said first electrical circuit extends into said first forming cup, and wherein said motor control system is configured to detect whether said first leg of said staple is being properly deformed during said staple firing stroke; and
a second electrical circuit in communication with said motor control system, wherein said second electrical circuit extends into said second forming cup, and wherein said motor control system is configured to detect whether said second leg of said staple is being properly deformed during said staple firing stroke, and wherein said motor control system is configured to slow down said electric motor when said motor control system detects that one of said first leg and said second leg was not properly formed.
12. The surgical instrument of claim 11 , wherein said motor control system is configured to slow said electric motor down even further when both said first leg and said second leg of said staple were not properly formed.
13. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
staples removably stored in said cartridge body, wherein said staples comprise proximal staples, intermediate staples, and distal staples;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body; and
an anvil jaw, comprising:
a proximal group of proximal staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said proximal staple forming pocket is configured to deform a said proximal staple, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when said motor control system detects that a predetermined number of said proximal staples have been malformed against said anvil jaw;
an intermediate group of intermediate staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said intermediate staple forming pocket is configured to deform a said intermediate staple, wherein said intermediate group is distal to said proximal group, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when said motor control system detects that a predetermined number of said intermediate staples have been malformed against said anvil jaw; and
a distal group of distal staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said distal staple forming pocket is configured to deform a said distal staple, wherein said distal group is distal to said intermediate group, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when said motor control system detects that a predetermined number of said distal staples have been malformed against said anvil jaw.
14. The surgical instrument of claim 13 , wherein said motor control system is configured to slow down said electric motor and said staple firing stroke to a first speed when said motor control system detects that said predetermined number of said proximal staples have been malformed against said anvil jaw, wherein said motor control system is configured to slow down said electric motor and said staple firing stroke to a second speed when said motor control system detects that said predetermined number of said intermediate staples have been malformed against said anvil jaw, and wherein said first speed is different than said second speed.
15. The surgical instrument of claim 14 , wherein said motor control system is configured to slow down said electric motor and said staple firing stroke to a third speed when said motor control system detects that said predetermined number of said distal staples have been malformed against said anvil jaw, and wherein said third speed is different than said first speed and said second speed.
16. The surgical instrument of claim 13 , wherein said motor control system is configured to slow down said electric motor and said staple firing stroke to a first speed when said motor control system detects that said predetermined number of said intermediate staples have been malformed against said anvil jaw, wherein said motor control system is configured to slow down said electric motor and said staple firing stroke to a second speed when said motor control system detects that said predetermined number of said distal staples have been malformed against said anvil jaw, and wherein said first speed is different than said second speed.
17. The surgical instrument of claim 13 , wherein said proximal staples comprise a first configuration, said intermediate staples comprise a second configuration, and said distal staples comprise a third configuration, and wherein said first configuration, said second configuration, and said third configuration are different.
18. The surgical instrument of claim 13 , wherein said proximal staples comprise a first configuration, said intermediate staples comprise a second configuration, and said distal staples comprise a third configuration, and wherein said first configuration, said second configuration, and said third configuration are the same.
19. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
staples removably stored in said cartridge body, wherein said staples comprise proximal staples and distal staples;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body; and
an anvil jaw, comprising:
a proximal zone of proximal staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said proximal staple forming pocket is configured to deform a said proximal staple; and
a distal zone of distal staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said distal staple forming pocket is configured to deform a said distal staple, wherein said distal zone is distal to said proximal zone, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when said motor control system detects that a said proximal staple and a said distal staple have been malformed against said anvil jaw.
20. The surgical instrument of claim 19 , wherein said proximal staples have a first configuration and said distal staples have a second configuration, and wherein said first configuration and said second configuration are different.
21. The surgical instrument of claim 19 , wherein said proximal staples have a first configuration and said distal staples have a second configuration, and wherein said first configuration and said second configuration are the same.
22. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
staples removably stored in said cartridge body, wherein said staples comprise a longitudinal row of first staples and a longitudinal row of second staples;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body;
an anvil jaw, comprising:
a longitudinal row of first staple forming pockets configured to deform said first staples during said staple firing stroke; and
a longitudinal row of second staple forming pockets configured to deform said second staples during said staple firing stroke; and
means for detecting when a first staple of said longitudinal row of first staples has been malformed against said anvil jaw and for detecting when a second staple of said longitudinal row of second staples has been malformed against said anvil jaw, wherein said means is in communication with said motor control system, and wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when said motor control system detects that a said first staple and a said second staple have been malformed against said anvil jaw.
23. The surgical instrument of claim 22 , wherein said first staples have a first configuration and said second staples have a second configuration, and wherein said first configuration and said second configuration are different.
24. The surgical instrument of claim 22 , wherein said first staples have a first configuration and said second staples have a second configuration, and wherein said first configuration and said second configuration are the same.
25. A surgical instrument, comprising:
a cartridge jaw, comprising:
a cartridge body; and
staples removably stored in said cartridge body;
a staple firing system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body;
an anvil jaw comprising staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said staple forming pocket is configured to deform a said staple; and
means for detecting when a said staple has been malformed against said anvil jaw and for detecting when a said staple has missed said anvil jaw, wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when a said staple has been malformed against said anvil jaw and to slow down said electric motor and said staple firing stroke when a said staple has missed said anvil jaw.
26. The surgical instrument of claim 25 , wherein said motor control system comprises a pulse width modulation control circuit configured to control the speed of said electric motor.
27. The surgical instrument of claim 25 , wherein said motor control system comprises a frequency modulation control circuit configured to control the speed of said electric motor.
28. The surgical instrument of claim 25 , wherein said motor control system comprises a current sensor circuit configured to detect spikes in electrical current drawn by said electric motor and compare the magnitude of said detected current spikes to the magnitude of expected current spikes and slow down said electric motor if the difference between the magnitude of said detected current spikes and the magnitude of said expected current spikes exceeds a predetermined threshold.
29. The surgical instrument of claim 28 , wherein said motor control system is configured to slow said electric motor after two consecutive detected current spikes exceed said predetermined threshold.
30. The surgical instrument of claim 28 , wherein said motor control system is configured to slow said electric motor after three consecutive detected current spikes exceed said predetermined threshold.
31. The surgical instrument of claim 28 , wherein said motor control system is configured to slow said electric motor after a first detected current spike exceeds a first threshold above a first expected current spike and a second detected current spike exceeds a second threshold above a second expected current spike.
32. The surgical instrument of claim 31 , wherein said first expected current spike and said second detected current spike have different magnitudes.
33. The surgical instrument of claim 31 , wherein said first threshold is different than said second threshold.
34. A surgical instrument, comprising:
a first jaw;
a second jaw, wherein said first jaw is rotatable relative to said second jaw;
a cartridge body;
staples removably stored in said cartridge body;
a tissue cutting system, comprising:
an electric motor;
a motor control system in communication with said electric motor, wherein said motor control system is configured to control the speed of said electric motor; and
a firing member movable through a staple firing stroke by said electric motor to eject said staples from said cartridge body;
an anvil jaw comprising staple forming pockets configured to deform said staples during said staple firing stroke, wherein each said staple forming pocket is configured to deform a said staple; and
means for detecting when a said staple has been malformed against said anvil jaw and for detecting when a said staple has missed said anvil jaw, wherein said motor control system is configured to slow down said electric motor and said staple firing stroke when a said staple has been malformed against said anvil jaw and to slow down said electric motor and said staple firing stroke when a said staple has missed said anvil jaw.