Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory. The device includes a handle assembly that operably supports a plurality of electrically powered motors that are controlled by a processor within the handle assembly. The handle assembly is encased in an outer shell housing. A barrier plate assembly is interposed between the handle assembly the outer shell housing and supports a shaft coupling arrangement for coupling shafts of the powered motors to corresponding portions of the surgical accessory located outside of the outer shell. Sensing arrangements are supported within the handle assembly for monitoring rotation of each of motor drive shaft and communicating with the processor to apply appropriate control signals to the motors.
1. A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory, wherein said handheld electromechanical surgical device comprises:
a handle assembly, comprising:
a plurality of electrically powered motors supported by a motor bracket within said handle assembly, wherein each said electrically powered motor comprises a rotatable motor drive shaft; and
a processor coupled to and configured to control each said electrically powered motor, and wherein said handheld electromechanical surgical device further comprises:
an outer shell housing configured to selectively encase said handle assembly therein;
a barrier plate assembly interposed between said handle assembly and said outer shell housing, wherein said barrier plate assembly comprises a rotatable coupling shaft assembly corresponding to each said rotatable motor drive shaft for driving engagement therewith, wherein each said rotatable coupling shaft assembly protrudes through said outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to said handle assembly;
at least one switch on said motor bracket corresponding to each said rotatable motor drive shaft and communicating with said processor; and
a coupler sleeve corresponding to each said rotatable motor drive shaft and said corresponding rotatable coupling shaft assembly, wherein each said coupler sleeve is configured for attachment thereto to drivingly couple said rotatable motor drive shaft and said corresponding rotatable coupling shaft assembly together to rotate as a unit, and wherein each said coupler sleeve comprises at least one actuator configured to actuate said at least one switch corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached as said rotatable motor drive shaft rotates.
2. The handheld electromechanical surgical device of claim 1 , wherein said at least one switch comprises a plurality of switches corresponding to each said rotatable motor drive shaft and arranged in a circumferential spaced arrangement therearound on said motor bracket and communicating with said processor, and wherein said at least one actuator comprises a plurality of circumferentially spaced actuators on each said coupler sleeve and configured to actuate said plurality of switches corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached.
3. The handheld electromechanical surgical device of claim 2 , wherein each said plurality of circumferentially spaced actuators on each said coupler sleeve are configured to mechanically actuate said plurality of switches corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached.
4. The handheld electromechanical surgical device of claim 1 , wherein each said rotatable coupling shaft assembly comprises a coupler shaft rotatably supported in said barrier plate assembly and corresponding to each said rotatable motor drive shaft, and wherein each said coupler sleeve is configured to non-rotatably engage said corresponding coupler shaft and said rotatable motor drive shaft.
5. A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory, wherein said handheld electromechanical surgical device, comprises:
a handle housing;
a plurality of electrically powered motors supported within said handle housing, wherein each said electrically powered motor comprises a rotatable motor drive shaft;
an outer shell housing configured to selectively encase said handle housing;
a barrier plate assembly interposed between said handle housing and said outer shell housing, wherein said barrier plate assembly comprises a rotatable coupling shaft corresponding to each said rotatable motor drive shaft for driving engagement therewith, wherein each said rotatable coupling shaft protrudes through said outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to said handheld electromechanical surgical device; and
a motor control system, comprising:
a processor configured to control each said electrically powered motor; and
a motor controller arrangement supported in said handle housing and corresponding to each said rotatable motor drive shaft, wherein each said motor controller arrangement is configured to transmit signals to said processor relating to a rotary position of said corresponding rotatable motor drive shaft, and wherein said motor controller arrangement comprises:
at least one stationary switch corresponding to each said rotatable motor drive shaft and communicating with said processor; and
a coupler sleeve corresponding to each said rotatable motor drive shaft and said corresponding rotatable coupling shaft, wherein each said coupler sleeve is configured to drivingly couple said rotatable motor drive shaft and said corresponding rotatable coupling shaft together to rotate as a unit, and wherein each said coupler sleeve comprises at least one actuator configured to actuate said at least one stationary switch corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached as said corresponding rotatable motor drive shaft rotates.
6. The handheld electromechanical surgical device of claim 5 , wherein said at least one stationary switch comprises a plurality of stationary switches corresponding to each said rotatable motor drive shaft and arranged in a circumferential spaced arrangement therearound on a motor bracket and communicating with said processor and wherein said at least one actuator comprises a plurality of circumferentially spaced actuators on each said coupler sleeve and configured to actuate said plurality of stationary switches corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached.
7. The handheld electromechanical surgical device of claim 5 , wherein said processor is configured to adjust a rate of rotation and a direction of rotation of each said rotatable motor drive shaft of said electrically powered motors in response to said signals transmitted thereto by each said motor controller arrangement.
8. A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory, wherein said handheld electromechanical surgical device, comprises:
a handle assembly, comprising:
a plurality of electrically powered motors supported by a motor bracket supported by said handle assembly, wherein each said electrically powered motor comprises a rotatable motor drive shaft;
a processor coupled to and configured to control each said electrically powered motor; and
a plurality of sensors on said motor bracket, wherein each said sensor corresponds to one of said rotatable motor drive shafts and communicates with said processor, and wherein said handheld electromechanical surgical device further comprises:
an outer shell housing configured to selectively encase said handle assembly therein;
a barrier plate assembly interposed between said handle assembly and said outer shell housing to form a sterile barrier therebetween, wherein said barrier plate assembly comprises;
a plurality of coupler bushings rotatably supported in said barrier plate assembly, wherein each said coupler bushing corresponds to one of said rotatable motor drive shafts; and
a coupler shaft corresponding to each said coupler bushing for rotational travel therewith, wherein each said coupler shaft comprises:
a distal end configured to extend through said outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to said handle assembly; and
a proximal end configured to be coupled to said corresponding rotatable motor drive shaft by a coupler sleeve, and wherein said barrier plate assembly further comprises a plurality of sensor actuators, wherein each said sensor actuator corresponds to one of said coupler bushings and is supported therein, wherein each said sensor actuator is configured to be sensed by said sensor corresponding to said rotatable motor drive shaft to which said corresponding coupler shaft is attached.
9. The handheld electromechanical surgical device of claim 8 , wherein each said sensor comprises a Hall effect sensor communicating with said processor, and wherein each said sensor actuator comprises a magnet.
10. The handheld electromechanical surgical device of claim 8 , further comprising a motor controller arrangement supported in said handle assembly and corresponding to each said rotatable motor drive shaft, wherein each said motor controller arrangement is configured to transmit signals to said processor relating to a rotary position of said corresponding rotatable motor drive shaft.
11. The handheld electromechanical surgical device of claim 10 , wherein said processor is configured to adjust a rate of rotation and a direction of rotation of each said rotatable motor drive shaft of said electrically powered motors in response to said signals transmitted thereto by each said motor controller arrangement.