Surgical instrument with elements to communicate between control unit and end effector

[0001] Endoscopic surgical instruments are often preferred over traditional open surgical devices because a smaller incision allows to reduce convalescence time and complications after surgery. As a consequence, there has been significant progress in the field of endoscopic surgical instruments that are adapted to precisely position the end effector in the required surgical field through the trocar cannula. These end effectors affect the tissue in various ways to achieve a diagnostic or therapeutic effect (e.g. endonus, gripper, knife, staplers, terminal applicator, access device, dosing device for drug / gene therapy and energy device using ultrasound, radio frequency, laser and so on).

[0002] Known surgical staplers include an end effector that simultaneously performs a longitudinal incision in tissue and applies rows of staples to the opposite sides of the incision. The end effector comprises a pair of cooperating jaw members that, if the device is intended for endoscopic or laparoscopic applications, can pass through the cannula channel. In one of the jaw elements, a staple cartridge is provided, having at least two rows of staples spaced laterally in the transverse direction. The second jaw member forms an anvil having staple-forming pockets aligned with the rows of staples in the cartridge. The apparatus includes a plurality of reciprocally displaceable wedges which, driven distally, pass through openings in the staple cartridge and connect to the driving elements,

[0003] An example of a surgical stapler suitable for endoscopic applications is described in US Patent No. 5,465,895, which discloses an endo-knife with separation of the closing and triggering functions.

[0004] A physician using such a device can close the jaw members on the tissue to establish the location of the tissue prior to triggering. When the clinician determines that the jaw elements grasp the tissue correctly, it can trigger the surgical stapler with a single trigger stroke, cutting and stapling the tissue. Simultaneous cutting and stitching prevents complications that may arise from performing such operations in a sequential manner, with the help of various surgical instruments that only cut or sew only.

[0005] A particular advantage of the possibility of getting close to the tissue prior to triggering is that the physician can verify with an endoscope that the correct cutting site has been achieved and that sufficient tissue has been grasped between the opposing jaws. Otherwise, the opposing jaws can be pulled too close to each other, in particular they can be pressed against their distal ends, causing the staples not to be effectively formed closed in the cut tissue. On the other hand, an excessive amount of tight tissue can cause it to bind, resulting in incomplete triggering.

[0005] Endoscopic staplers / knives are becoming more and more complex and each new generation has more functions. One of the main reasons is to reduce the strength of FTF (force to fire) to such a level that everyone or the vast majority of doctors can handle it. One of the well-known FTF-lowering solutions uses a CO2 engine or an electric motor. Such devices are not much more popular than traditional handheld devices, but for a different reason. Surgeons usually prefer to experience a proportional distribution of forces experienced by the end effector when forming a staple, which assures them that the cutting / stitching cycle has been completed, with the upper limit being in the capabilities of most surgeons (typically around 6.8 - 13.61 kg (15- 30 lbs)).

[0007] In response to this need, so-called "assisted" endoscopic surgical instruments have been developed in which an additional power source supports the triggering of the device. For example, in some assisted devices, the motor provides additional electrical energy to the energy input by the user as a result of pressing the release trigger. Such devices can provide feedback on load force and control for the operator to reduce the trigger force required from the operator to perform the cutting operation. One such assisted device is described in U.S. Patent Application No. 11 / 343,573, filed January 31, 2006, Shelton et al., Entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH LOADING FORCE FEEDBACK",

[0008] Document WO 03/090630 discloses a laparoscopic surgical device comprising: a shaft having a proximal end and a distal end, a shaft comprising a first element of an electromechanical microsensor, an end effector connected to a distal end of the shaft, the end effector comprising a second element of the electromechanical microsensor, and also a handle connected to the proximal end of the shaft, the handle being connected to an external control unit, wherein the control unit connects to the first element of the electromechanical microsensor and the first element of the electromechanical microsensor is connected wirelessly to the second element of the electromechanical microsensor.

[0009] The first and second elements of the electromechanical microsensor disclosed in WO 03/090630 may include transducers that can communicate with each other wirelessly. In addition, the disclosed circuitry of electromechanical micro-devices and / or systems may transmit feedback signals regarding measurement and / or detected parameters to an external control unit.

[0010] These assisted devices often include other elements that are not solely mechanical endoscopic surgical instruments, such as sensors and control systems. One of the challenges of using such electronic components in a surgical instrument is to provide energy and / or information or data to and from sensors, in particular when there is a freely rotating joint or joint in a surgical instrument. Sensors can be used to determine the state of the staple cartridge, user input loads, internal device loads, stapler movements during closing and triggering, and many other aspects.

SUMMARY OF THE INVENTION [0011] In one general aspect, the present invention relates to a surgical instrument according to independent claim 1, such as an endoscopic or laparoscopic instrument. According to one embodiment, the surgical instrument comprises a shaft having a proximal end and a distal end. The shaft contains the first element of the sensor. The end effector is connected to the distal end of the shaft. The end effector contains a second sensor element. The handle is connected to the proximal end of the shaft. The holder includes a control unit. The control unit is connected to the first sensor element and the first sensor element is connected wirelessly to the second sensor element.

DRAWINGS [0012] Various embodiments of the present invention have been described herein for example with reference to the following figures, in which:

Figures 1 and 2 are perspective views of a surgical instrument in accordance with the present invention;

Figs. 3-5 are exploded views of the end effector and the roller of the device of the present invention;

Fig. 6 shows a side view of an end effector according to the present invention;

Fig. 7 is an exploded view of a device holder according to the present invention;

Fig. 8 and Fig. 9 show partial perspective views of a holder according to the present invention;

Figure 10 is a side view of the holder of the present invention;

Figure 11 is a block diagram of a control unit for a surgical instrument in accordance with the present invention;

Fig. 12 is a diagram showing the operation of a control unit in conjunction with the first and second sensor element for a surgical instrument in accordance with the present invention;

Figure 13 is a surgical device comprising a first member in a portion of the swivel of the surgical instrument rotating freely;

Figure 14 shows a surgical instrument comprising sensor elements disposed at different locations on a shaft of a surgical instrument;

Figure 15 shows a surgical instrument in which the surgical device's shaft serves as part of the antenna for the control unit.

DETAILED DESCRIPTION [0013] This surgical, such a laparoscopic. The invention relates to a device as an endoscopic instrument or includes a surgical shaft having a distal end connected to an end effector and a handle connected to the proximal end of the roller. The holder may comprise a control unit (e.g. a microcontroller) that connects to the first sensor element. In addition, the surgical instrument may include a rotating union to rotate the shaft. In this case, the surgical instrument may include a first sensor element disposed in the shaft away from the swivel joint. The first sensor element can be connected to the control unit via an electrical wired or wireless connection. The second sensor element is located in the end effector and can be connected to the first element by means of a wireless electrical connection. The first and second sensor elements can be connected and / or coupled by means of a wireless electrical connection.

[0014] The control unit may connect to the second sensor element in the end effector without a direct electrical wiring through complicated mechanical joints, such as a rotary connector or articulation, wherein it may be difficult to maintain such a wired electrical connection. Furthermore, as the distances between the induction elements can be fixed and known, the coupling between the first and second sensor element can be optimized for the purposes of inductive and / or electromagnetic energy transfer. In addition, the distances can be relatively small so that signals of relatively low power can be used to minimize interference with other systems while using the instrument environment.

[0015] In another embodiment of the present invention, the electrically conductive shaft of the surgical instrument can serve as an antenna for the control unit to wirelessly transmit signals to and from one or more sensor elements. For example, one or more sensor elements may be placed on or placed in a non-conductive element of the end effector, such as a plastic cartridge, thereby providing isolation of the sensor element from the conductive elements of the end effector and shaft. In addition, the control unit in the holder can be electrically coupled to the shaft. In this way, the shaft and / or end effector can serve as an antenna for the control unit to emit signals from the control unit to one or more sensor elements and / or receive the emitted echo response signals from one or more sensor elements. This construction is particularly useful in surgical instruments having complicated mechanical connections (e.g. rotary joints) and articulation, which makes it difficult to apply a direct electrical wiring between the sensor elements and the control unit to transmit electrical signals between them.

[0016] The various embodiments of the present invention relate to a surgical instrument generally comprising one or more sensor elements for detecting the position, type, presence and / or condition of the various components of interest deployed on the surgical instrument. In one embodiment, the present invention relates generally to a surgical device comprising one or more sensor elements for detecting the position, type, presence and / or condition of various components of interest disposed in the end effector part of the surgical instrument. These components of interest may include, for example, a sled, a staple cartridge, a cutting device, or any other component, which can be placed on a surgical instrument, in particular in the part of its end effector. Although the present invention may be used with any type of surgical instrument, e.g. with endoscopic or laparoscopic surgical instruments, it is particularly suitable for surgical instruments comprising one or more free rotating joints or articulation, which makes it difficult to use electrical wiring connections to one or more passive and / or active sensor elements.

[0017] The one or more sensor elements may be passive or active sensor elements adapted to communicate with the control unit in any suitable manner. In various embodiments, some of the sensor components may not be energized via a wired electrical connection and, according to this document, both passive and active sensor elements may lack internal power. The sensor elements can operate using the energy provided by very small electric current induced in the sensor element itself or the antenna coupled to the sensor element by an incoming radio query signal sent by the control unit. This means that the antenna and / or the sensor element itself can be designed to accumulate energy from the incoming query signal, and for transmitting the outgoing backscatter signal in response to the signal. The lack of built-in power means that the sensor elements can have a relatively small housing. In embodiments comprising a passive radio sensor element, query signals can be received by the passive sensor element wirelessly via a predetermined channel. The accompanying electromagnetic radiation associated with the radio interrogation signals is then dissipated or reflected back to a query signal source, such as a control unit. Thus, the passive sensor element signals by means of backscattering the radio carrier signal from the control unit. In turn, in embodiments comprising the active sensor element, sufficient energy can be taken from the radio interrogation signals to energize the active sensor element and send an analog or digital signal back to the control unit in response to the radio inquiry signal. The control unit may be referred to as a reader, developing device or the like.

[0018] In one embodiment, the condition of the component (e.g., a sled, staple cartridge, cutting device) provided in the end effector part of the surgical instrument can be determined by using a system comprising passive and / or active sensor elements coupled to the control unit. The passive sensor elements may be formed of or may include passive hardware elements such as resistance, inductive and / or capacitive elements or any combination of the above. Active sensor elements can be formed or contain active hardware elements. These active hardware elements can be elements of integrated and / or discrete circuits or any combination of the above. Examples of integrated and / or discrete hardware elements are described below.

[0019] In one embodiment, the system may comprise a control unit coupled to the main sensor element (main element) positioned at the distal end of the surgical tool shaft prior to articulation (as described below) and a secondary sensor element (secondary component) placed on the component being the subject of interest in the end effector part of the surgical instrument behind the articulation (e.g. on a sled, as described below). Instead of continuously sending energy to the secondary element as part of the electrical wired connection, the main element inquires wirelessly or illuminates the secondary element by sending the electromagnetic pulse signal through the channel at a predefined frequency, duration and speed of repetition. When the query pulse signal reaches, i.e. hits or illuminates the secondary element, an echo response signal is generated. The echo response signal is a reflection of the electromagnetic energy reaching the secondary element. After sending the interrogation signal, the main element listens to the echo response signal reflected from the secondary element and combines the echo response signal with the control unit in a suitable form for subsequent processing. The echo response signal may have the same frequency as the query impulse or a certain harmonic frequency. The amount of reflected energy in the echo response signal depends on the material, shape and size of the secondary element. The amount of reflected energy in the echo response signal also depends on the distance between the main element and the secondary element. Thus, the material, shape and size of the secondary element and the relative distance between the main and secondary elements can be selected to generate a unique echo response signal that indicates the desired measurement associated with the component of interest coupled to the secondary element. For example, echo response signals may indicate the location, type, presence and / or status of various components and component sub-components in the surgical instrument. In particular, various components and component sub-components are located in the end effector part of the surgical instrument behind a freely rotatable swivel joint or articulation joint, which may hinder or prevent the provision of a wired electrical connection between the primary and secondary components. The echo response signals can also be used for the root element and interest, and the information associated with the subject to determine the distance between the secondary. In this way, the secondary element can be made integrally with or can be attached to the component being the subject of the echo response signal can provide the element of interest. This eliminates the need to transmit or deliver energy to a secondary component within a wired connection and may be an economically efficient solution to provide various additional passive and / or active sensor elements in the surgical instrument. Before describing the aspects of the system,

[0020] Figs. 1 and 2 show a surgical endoscope 10 that includes a handle 6, a shaft 8, and an articulated end effector 12 pivotably connected to a shaft 8 at the pivot point 14. Correct placement and alignment of the end effector 12 can being facilitated by the adjusting elements on the holder 6, including (1) a rotary knob 28 for rotating the closure tube (described in detail below in connection with Figs. 4-5) at the free rotation connection 29 of the shaft 8, thereby rotating the end effector 12 and ( 2) an articulation regulating element 16 for causing the articulation of the end effector 12 to rotate around the articulation 14. In the illustrated embodiment, the end effector 12 is configured to function as a crimping tool,cutting and tissue stapling, although, in other embodiments, other types of end effectors may be used, such as for other types of surgical end effectors, such as grippers, knives, staplers, device devices, terminal applicators, dispensing devices for access therapy, electrical wired drugs / genes and using ultrasound, radio frequency, laser, etc.

The electrically conductive insulated wire can be made of an electrically conductive and / or metal polymer (e.g. copper) and can be sufficiently flexible so that it can pass through the adjusting element 16, the rotary knob 28, the free rotary connection 29 and other elements components in the holder 6 of the device 10 without damage due to rotation. The first element 21 can be at the distal end of the shaft 8 before the articulation 14. The second element 35 (shown in FIG. 3 below) can be in the articulated end effector 12 and connects wirelessly to the first element 21. Operation of the first and second element 21, 23 and the control unit 300 are described below. In one embodiment, the clinician or tool operator 10 may articulate the end effector 12 with the shaft 8,

that the operator can access it using one hand. The operator can then pivot the trigger trigger 20 towards the pistol grip 26 to cause stapling and cutting of the clamped tissue in the end effector 12. US Patent No. 2007/175952 describes various configurations for locking and unlocking the closure trigger 18.

In other embodiments, different types of clamping means may be used outside the anvil 24, such as, for example, opposing jaws, and the like.

[0023] It should be noted that the terms "proximal" and "distal" are used herein to refer to the physician holding the grip 6 of the device 10. As a result, the end effector 12 is distal to the proximal part of the grip 6. Furthermore, it should be noted that for convenience and transparency, spatial terms such as "vertical" and "levels" are used herein in connection with the drawings. However, surgical instruments are used in many directions and positions, and these terms are not limiting or absolute.

[0024] The closing trigger 18 can be activated in the first place. Once the physician accepts the position of the end effector 12, he can pull the closing trigger 18 to its fully closed, locked position closer to the pistol grip 26. The trigger trigger 20 can then be activated. When the doctor releases the pressure on the trigger trigger 20, it returns to the open position (shown in Fig. 1 and Fig. 2). Release button on handle 6, pistol grip 26, integrally of interest.

in this example, on the handle after pressing, it can release the locked closing trigger 18.

[0025] Fig. 3 shows an exploded view of end effector assembly 12 in accordance with various embodiments. As shown in the illustrated embodiment, the end effector 12 may include, in addition to the aforesaid channel 22 and anvil 24, a cutting device 32, a sled 33, a staple cartridge 34 which is arranged removably in the channel 22, and a screw shaft 36. the element 35 can be connected or formed by the component being part. The cutting device 32 can be, for example, a knife. The anvil 24 may be articulated openable and closed at a pivot point 25 connected to the proximal end of duct 22. Anvil 24 may also include a flap 27 at its proximal end, which is introduced into a component of the mechanical locking system (described in detail below) to open and close the anvil 24. When the closing trigger 18 is actuated, i.e., pulled by the user of the device 10, the anvil 24 may rotate about the pivot point 25 to the clamped position or closed. If the gripping of the end effector 12 is satisfactory, the operator may trigger the trigger 20, which, as explained in detail below, causes the knife 32 and sled 33 to move along the channel 22, cutting the tissue clamped in the end effector 12. Moving the sled 33 along the channel 22 causes the staples from the staple cartridge 34 to be guided through the cut tissue and to the closed anvil 24, which in turn causes the staples to attach the incision tissue. U.S. Patent 6,978,921, titled "SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM" provides detailed information on such two-stroke cutting and attachment devices. Sledges 33, which may include a second element 35, may be part of the cartridge 34 in such a way that when the knife 32 retracts after the cutting operation, the carriage 33 and the second element 35 do not retract. The cartridge 34 can be made of non-electrically conductive material (such as plastic). In one embodiment, the second element 35 may, for example, be connected to or contained in the cartridge 34. In the illustrated embodiment, the second element 35 may be attached to the slides 33 in any suitable manner and on any suitable part thereof.

The second element 35 may be formed of different materials of different sizes and shapes and may be provided at predetermined distances from the first element 21 to allow the control unit 300 to determine the type, presence and condition of the staple cartridge 34.

[0026] It should be noted that although embodiments of the tool described herein employ an end effector 12 that sutures the tissue being cut, in other embodiments other techniques used in US tissue may be used. A patent entitled notched

5,709,680, for attaching or sealing the incision tissue. For example, end effectors that use radio frequency energy or a binder may also be for the "ELECTROSURGICAL HEMOSTATIC DEVICE", Yates, and others, as well as U.S. Patent No. 5,688,270, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND / OR OFFSET ELECTRODE ", Yates et al., Disclose cutting instruments that use radio frequency energy to fix the incision tissue. United States Patent Application No. 11 / 267,811, Morgan et al., Published as patent No. 2007/102453 discloses a cutting instrument that uses adhesives to fix the incision tissue. Therefore, although this description is for cutting / stitching and similar operations, it should be noted that this is only an exemplary embodiment and that it is not limiting. It is possible to use other techniques of tissue attachment.

[0027] Figs. 4 and 5 show exploded views of the assembly, and Figure 6 shows a side view of the end effector 12 and roller 8 in accordance with various embodiments. As shown in the embodiment shown, the shaft 8 may include a proximal closure tube 40 and a further closure tube 42 hingedly connected by articulation fittings 44. The distal closure tube 42 includes an opening 45 into which the flap 27 on the anvil 24 is inserted to open and close the anvil. 24. Inside the closure tubes 40, 42 a proximal dorsal tube 46 can be placed. Inside the proximal dorsal tube 46, a main rotatable (or proximal) drive shaft 48 can be placed which connects to the secondary (or further) drive shaft 50 via a conical gearing. 52. In the embodiment shown, the first element 21 may be a coil located around the proximal dorsal tube 46 (e.g. as shown in Figs. 4 and 5). In the wiring configuration of the electrical connection, the first element 21 can be connected to the control unit 300 by means of a wired electrical connection 23, which can include sections of the conductor forming the coil. The cable lengths may be provided along the proximal dorsal tube 46 to connect to the control unit 300. In the wireless electrical connection configuration, no wire is required and the electrical connection 23 to the control unit 300 is a wireless electrical connection. In one embodiment, the first element 21 can be contained within the proximal dorsal tube 46 (e.g. as shown in Fig. 6).

[0028] The second drive shaft 50 is connected to a gear 54 that meshes with the drive gear 56 of the helical gear 36. The vertical conical gear 52b can be positioned and rotated in the opening 57 at a distal end of the proximal spine tube 46. Further tube The dorsal 58 may be used to position the second drive shaft 50 and the drive gears 54, 56. The combined main drive shaft 48, the secondary drive shaft 50, and the articulation assembly (e.g. conical toothed gear 52a-c) are sometimes referred to as "main assembly" drive shaft ". The components of the main drive shaft assembly (e.g., drive shafts 48, 50) may be made of non-conductive material (such as plastic).

which causes the knife 32 to move along the channel 22 to cut the tissue clamped in the end effector 12. The slides 33 can be made of, for example, plastic and can have a further inclined surface. As discussed above, the second element 35 may be attached to the slides 33 in any suitable manner to determine the condition, location and type of the sled 33 and / or staple cartridge 34. When the sleds 33 move along channel 22, the inclined front surface may push or guide staples in the staple cartridge 34 with the clamped tissue and the anvil 24. The crotch 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22. Sledges 33 can be made of, for example, plastic and may have a further inclined surface. As discussed above, the second element 35 may be attached to the slides 33 in any suitable manner to determine the condition, location and type of the sled 33 and / or staple cartridge 34. When the sleds 33 move along channel 22, the inclined front surface may push or guide staples in the staple cartridge 34 with the clamped tissue and the anvil 24. The crotch 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22. Sledges 33 can be made of, for example, plastic and may have a further inclined surface. As discussed above, the second element 35 may be attached to the slides 33 in any suitable manner to determine the condition, location and type of the sled 33 and / or staple cartridge 34. When the sleds 33 move along channel 22, the inclined front surface may push or guide staples in the staple cartridge 34 with the clamped tissue and the anvil 24. The crotch 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22. the second element 35 can be attached to the slides 33 in any suitable manner to determine the condition, location and type of the sled 33 and / or staple cartridge 34. When the sled 33 moves along the channel 22, the inclined front surface can push or guide the staples in the cartridge 34 with staples through the clamped tissue and the anvil 24. The anvil 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22. the second element 35 can be attached to the slides 33 in any suitable manner to determine the condition, location and type of the sled 33 and / or staple cartridge 34. When the sled 33 moves along the channel 22, the inclined front surface can push or guide the staples in the cartridge 34 with staples through the clamped tissue and the anvil 24. The anvil 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22. the inclined front surface can push or guide the staples in the staple cartridge 34 through the clamped tissue and the anvil 24. The crotch 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22. the inclined front surface can push or guide the staples in the staple cartridge 34 through the clamped tissue and the anvil 24. The crotch 24 bends the staples, thereby stapling the incision tissue. During the retraction of the knife 32, the knife 32 and the sledges 33 can be disengaged, as a result of which the sleds 33 remain at the distal end of the channel 22.

[0030] According to various embodiments, as shown in Figs. 7-10, the surgical instrument may comprise a battery 64 in the holder 6. The illustrated embodiment provides feedback to the user about the ejection and cutting force of the cutting device in the end effector 12. Furthermore the embodiment can utilize the energy provided by the user while releasing the trigger 18 to power the device 10 (so-called "power assist" mode). As shown in the embodiment, the handle 6 comprises outer lower side members 59, 60 and outer upper side elements 61, 62 that are adapted to each other in such a way that together they form the outer part of the handle 6. The handle elements 59-62 can be made of electrically non-conductive material such as plastic. The battery 64 may be located in part 26 of the pistol grip 6. The battery 64 supplies the motor 65 located in the upper part 26 of the pistol grip 6. The battery 64 may be constructed according to any suitable design or chemical composition, e.g. a lithium-ion battery, such as LiCoO2 or LiNiO2, nickel-metal-hydride and the like. According to various embodiments, the motor 65 may be a DC brush motor with a maximum rotational speed of approximately 5,000 to 100,000 RPM. The motor 64 may drive a 90 ° bevel gear 66 comprising a first bevel gear 68 and a second bevel gear 70. The bevel gear 66 may drive the planet gear 72. The planet gear 72 may include a pinion 74 connected to the drive shaft 76. The gobock 74 can drive a ring gear 78 that drives the helical wheel shaft 80 through the drive shaft 82. The ring 84 can be screwed onto the shaft 80 of the helical wheel. As a result, when the motor 65 rotates, the ring 84 moves along the shaft 80 of the helical wheel 80 by means of a bevel gear 66, a planetary gear 72 and a ring gear 78.

[0031] The handle 6 may also include a motor starter sensor 110 connected to the firing trigger 20 to detect when the firing trigger 20 has been pulled (or "closed") towards the pistol grip part 26 by the operator to initiate the cutting / stitching operation by the end effector 12. The sensor 110 may be a proportional sensor, such as e.g. a rheostat or adjustable resistor. When the firing trigger 20 is attracted, the sensor 110 detects motion, and sends an electrical signal indicative of the voltage (or energy) to be supplied to the motor 65. When the sensor 110 is an adjustable resistor or the like, the rotary motion of the motor 65 may be generally proportional to the amount of dislocation of the trigger 20. This means that if the operator only slightly pulls or closes the firing trigger 20, the rotation of the motor 65 is substantially small. When the firing trigger 20 is fully extended (or in the fully closed position), the rotary motion of the motor 65 is maximum. In other words, the harder the user pulls the trigger 20, the higher the voltage is supplied to the motor 65, resulting in a higher rotational speed.

[0032] The handle 6 may include a central handle member 104 adjacent the upper portion of the firing trigger 20. The holder 6 may also include a deflection spring 112 connected between the posts on the handle middle element 104 and a firing trigger 20. The deflection spring 112 may deflect the firing trigger 20 to a position completely open. In this way, when the operator releases the trigger trigger 20, the deflection spring 112 will pull the trigger trigger 20 to the open position, thereby immobilising the sensor 110 and stopping the rotary motion of the motor 65. Furthermore, with the biasing spring 112, each time the user closes the trigger triggering 20, will feel resistance at closing, and receive feedback about the amount of rotational motion exerted by the motor 65.

[0033] A further end of the helical wheel shaft 80 includes a further drive shaft 120 that drives a ring gear 122 cooperating with a pinion 124. The gobock 124 is connected to the main drive shaft 48 of the main drive shaft assembly. In this way, the rotation of the motor 65 causes the main drive shaft assembly to rotate, which causes the end effector 12 to be actuated as described above.

[0034] The ring 84 screwed on the shaft 80 of the helical wheel may comprise a post 86, which is positioned in the slit 88 of the slotted arm 90. The slotted arm 90 has an opening 92 at its opposite end 94, in which there is a pivot pin 96, which is connected between the outer side members 59, 60 of the handle. The pin 96 is also inserted through the opening 100 in the trigger trigger 20 and the hole 102 in the middle member 104 of the holder.

[0035] Furthermore, the handle 6 may comprise a motor reverse sensor 130 (or a stroke end sensor) and a motor stop sensor 142 (or stroke start). In various embodiments, the reverse motor sensor 130 may be a limit switch located on the distal end of the helical wheel shaft 80 so that the ring 84 screwed onto the helical wheel shaft 80 contacts and triggers the engine reverse sensor 130 when the ring 84 reaches further. the end of the screw shaft 80. The motor reverse sensor 130, in the event that it is activated, transmits a signal to the control unit which transmits the signal to the motor 65 to change its rotating direction, thus withdrawing the knife 32 of the end effector 12 after the cutting operation.

[0036] The engine stop sensor 142 may be, for example, a normally closed limit switch. In various embodiments, it can be arranged at the proximal end of the helical wheel shaft 80 so that the ring 84 triggers the switch 142 when the ring 84 reaches the proximal end of the helical wheel shaft 80.

[0037] The holder 6 may also comprise a control unit 300. The control unit 300 may be powered by a battery 64 connected to the conditioning circuit (not shown). The control unit 300 is connected to the first element 21 via an electrical connection 23. As discussed above, the electrical connection 23 can be a wired electrical connection or a wireless connection.

[0038] In operation, when the instrument operator 10 pulls the trigger 20, the sensor 110 detects the release of the firing trigger 20 and sends a signal to the control unit that sends a signal to the motor 65, causing the motor to rotate forward, e.g., at a rate proportional to how much the operator will pull the trigger 20. Motor rotation in front of the motor 65, in turn, causes rotation of the ring gear 78 at the distal end of the planetary gear assembly 72, thereby causing rotational movement of the helical wheel shaft 80, which in turn it causes the ring 84 screwed on the shaft 80 of the helical wheel to move further along it. The rotational movement of the helical wheel shaft 80 also drives the main drive shaft assembly as described above, which in turn causes the knife 32 to slide out in the end effector 12. This means

[0039] At the moment when the cutting / stapling operation with the end effector 12 is completed, the ring 84 on the shaft 80 of the helical wheel reaches its further end, causing the engine reverse sensor 130 to be triggered and sends a signal to the control unit that sends a signal to the motor 65, causing a change in the direction of rotation of the motor 65. This in turn causes the retraction of the knife 32, and also moving the ring 84 on the shaft 80 of the helical wheel back to its proximal end.

[0040] The central holder element 104 includes a side arm 106 that connects to the slotted arm 90, as best shown in FIGS. 8 and 9. The central handle element 104 also has a forward movement stop 107 connected to the trigger trigger 20. Movement of the arm 90 with a gap is controlled, as explained above, by the rotation of the motor 65. When the shoulder 90 with the slot rotates counterclockwise (CCW) when the ring 84 moves from the proximal end of the helical shaft 80 to the distal end, the central handle element 104 will rotate freely in a counter-clockwise (CCW) direction. As a result, when the user pulls the trigger trigger 20, it will engage the front stop 107 of the center movement element 104 of the handle, causing rotation of the central handle member 104 in a counter-clockwise direction (CCW). However, by the side arm 106 communicating with the slotted arm 90, the center handle member 104 will be able to rotate only counterclockwise (CCW) as far as the shoulder 90 with the slit allows. In this way, if the motor 65 stops rotating for some reason, the arm with the slot 90 stops rotating and the user can not continue to pull the trigger trigger 20, because the central holder element 104 will not be able to rotate freely in the opposite direction to the movement clockwise (CCW) due to shoulder 90 with a slit. connecting with the slotted arm 90, the center handle member 104 will be able to rotate only counterclockwise (CCW) as far as the arm 90 with a slit permits. In this way, if the motor 65 stops rotating for some reason, the arm with the slot 90 stops rotating and the user can not continue to pull the trigger trigger 20, because the central holder element 104 will not be able to rotate freely in the opposite direction to the movement clockwise (CCW) due to shoulder 90 with a slit. connecting with the slotted arm 90, the center handle member 104 will be able to rotate only counterclockwise (CCW) as far as the arm 90 with a slit permits. In this way, if the motor 65 stops rotating for some reason, the arm with the slot 90 stops rotating and the user can not continue to pull the trigger trigger 20, because the central holder element 104 will not be able to rotate freely in the opposite direction to the movement clockwise (CCW) due to shoulder 90 with a slit.

[0041] The components of the exemplary closure system for closing (or squeezing) the anvil 24 of the end effector 12 by retracting the closure trigger 18 are also shown in Figs. 7-10. In the embodiment shown, the closing system includes a yoke 250 connected to the closing trigger 18 by a bolt 251 which is introduced through openings in one axis in the closing gate 18 and yoke 250. A rotating pin 252 around which the locking trigger 18 is rotated is inserted through another opening in the closing orifice 18, which is offset from the point where the pin 251 is inserted by the closing trigger 18. As a result, the withdrawal of the closing trigger 18 causes the upper part of the closing trigger 18 to which the yoke 250 is fixed by the pin 251, rotates counterclockwise (CCW). The distal end of the yoke 250 is connected by means of a pin 254 to the first closing bracket 256. The first closing bracket 256 connects to a second closure support 258. Together, the closing brackets 256, 258 define an opening in which the proximal end of the proximal closure tube 40 is positioned (see FIG. 4) and maintained in such a way that the longitudinal movement of the closing brackets 256, 258 causes a longitudinal movement of the proximal closure tube 40. The device 10 also includes a closing bar 260 positioned within the proximal closure tube 40. The closing bar 260 may include a window 261 in which it is positioned. there is a post 263 on one of the outer elements of the holder, such as the outer lower side member 59 in the embodiment shown,

[0042] In operation, when the yoke 250 rotates due to the retraction of the closure trigger 18, the closure brackets 256, 258 cause further movement of the proximal closure tube 40 (i.e., from the end of the apparatus holder 10), which causes the distal tube The closing 42 moves further, which causes the anvil 24 to rotate around the pivot point 25 to a clamped or closed position. When the closure trigger 18 is unlocked from the locked position, the proximal closure tube 40 moves closer, which causes the distal closure tube 42 to move closer, which, due to the flap 27 inserted through the window 45 of the distal closure tube 42, causes the anvil 24 to rotate around the pivot point. 25, to an open or released position. Thanks to this, by withdrawing and blocking the closing trigger 18,

[0043] The control unit 300 (described in detail below) may receive outputs from the end stroke or stroke start sensors 130, 142 and the engine start sensor 110 and may control the motor 65 based on input signals. For example, when the operator initially pulls the firing trigger 20 after locking the lock trigger 18, the engine start sensor 110 is activated. If the staple cartridge 34 is in the end effector 12, the cartridge interlock sensor (not shown) may be closed, in which case the control unit may output a control signal to the motor 65 to cause the motor 65 to rotate in the forward direction. When the end effector 12 reaches the end of its stroke, the motor reverse sensor 130 will be activated. The control unit may receive this signal from the motor reverse sensor 130 and cause the motor 65 to change its direction of rotation. When the knife 32 is completely retracted, the motor stop switch 142 is activated, causing the motor 65 to stop by the control unit.

[0044] In other embodiments, instead of a proportional type sensor 110, an on / off type sensor may be used. In such embodiments, the rotational speed of the motor 65 will not be proportional to the force applied by the operator. Instead, the motor 65 will generally rotate at a constant speed. However, the operator will still experience feedback about the force, because the trigger trigger 20 is meshed with the transmission drive.

[0045] The apparatus 10 may include a series of sensor elements in the end effector 12 to detect various conditions associated with the end effector 12, such as sensor elements to determine the state of the staple cartridge 34 (or other type of cartridge depending on the type of surgical instrument), stapler progress during closing and triggering and the like. Sensor elements can be passively powered by inductively coupled signals. In other embodiments, the sensor elements reflect or dissipate associated electromagnetic energy or feed in response to the interrogation signal and transmit pulses or echo response signals that can be coupled back to the control unit 300 for processing. In other embodiments, the sensor elements may be powered by a very small electric current induced in the sensor element itself or an antenna coupled to the sensor element by incoming electromagnetic energy (e.g., RF carrier of the query signal) transmitted by the control unit 300. These sensor elements may include any configuration of electrical conductors for transmission, reception, amplification, coding, scattering and / or reflection of electromagnetic energy waves of any suitable predefined (e.g. wavelength [λ]) having a predetermined pulse width that can be transmitted in a pre-defined way time range. Passive sensor elements can include any suitable configuration of resistive elements, inductive and / or capacitive. Active sensor elements may include semiconductors, such as transistors, integrated circuits, processors, amplifiers, and / or any combination of these active elements. For the sake of brevity, passive and / or active sensor elements are referred to herein as the first element 21 and the second element 35. The first element 21 can be wired or wirelessly connected to a control unit 300 which, as mentioned before, can for example be located in the holder 6 of the device 10, as shown in FIG. 11. The first element 21 connects wirelessly to the second element 35.

[0046] Fig. 11 is a block diagram of one embodiment of the control unit 300. According to various embodiments, the control unit 300 may include a processor 306 and one or more memory units 308. By executing the command code stored in memory 308, the processor 306 may control various items. components of the device 10, such as a motor 65 or a user display (not shown) based on input signals received from one or more sensor elements of the end effector and / or other sensor elements within the instrument 10 (such as, for example, engine start sensor 110) , stroke end sensor 130, and stroke start sensor 142). The control unit 300 may be powered by the battery 64 during the surgical use of the device 10. The control unit 300 may be connected to the first element 21 using an electrical connection 23 and may be connected to a second element 35, as described in detail below. The control unit 300 may include a transmitter 320 and a receiver 322. The first element 21 may be connected to the transmitter 320 to transmit the output query signal or it may be coupled to the receiver 322 to receive an echo response signal according to the operation of the switch 324.

[0047] The switch 324 may operate under the control of the processor 306, transmitter 320 or receiver 322 or any combination of the above for setting the control unit 300 in transmitter or receiver mode. In transmitter mode, switch 324 connects the first element 21 to the transmitter 320, and thus the first element 21 acts as a transmission antenna. The encoder 316 codes the output interrogation signal to be transmitted, which is then modulated using the modulator 318. The oscillator 326 connected to the modulator 318 determines the operating frequency for the output signal to be transmitted. In receiver mode, the switch 324 engages the first element 21 with the receiver 322. Accordingly, the first element 21 acts as a receiving antenna and receives signals from other sensor elements (e.g. from the second sensor element 35). Received input signals may be demodulated by the demodulator 310 and decoded by the decoder 312. The input signals may include echo response signals from one or more sensor elements (e.g., the second element 35). The echo response signals may include information related to the location, type, presence and / or state of the various components included in the end effector 12 or elsewhere in the device 10. The echo response signals may, for example, include signals reflected by the second element 35, which may be attached to the sled 33, the staple cartridge 34 or any other component included in the end effector 12 or may be located on any component of interest on any part of the apparatus 10.

To transmit the output signal from the first element 21 to the second element 35, the control unit 300 may use the encoder 316 to encode the output signals and the modulator 318 to modulate the output signals according to a predefined modulation scheme. As discussed above, in the transmitter mode, the first element 21 is coupled to the transmitter 320 via a switch 324 and acts as a transmitting antenna. The encoder 316 may comprise a time unit for generating time pulses with a correspondingly predefined pulse repetition frequency. These time pulses can be applied to the modulator 318 to trigger the transmitter at precisely and regularly occurring time intervals.

A switch 324 operating under the control of the control unit 300 automatically connects the transmitter 320 to the first element 21 for the duration of each output pulse. In transmitting mode, the first element 21 emits an output pulse signal to the transmitter 320 and intercepts or detects the reflected echo response signals for use against the receiver 322. In receive mode, the switch 324 connects the first element 21 with the receiver 322 for the intervals between transmit pulses. Receiver 322 receives echo response signals of transmitted pulse output signals that may be reflected from one or more sensor elements located on the instrument, such as a second element connected to sleds 33. Receiver 322 amplifies echo response signals and transmits them to demodulator 310 in a corresponding one. form.

[0049] The control unit 300 may connect to the first element 21 using any suitable wired or wireless communication protocol and any suitable frequency (e.g. in the ISM band). The control unit 300 may transmit the output pulse signals at different frequency ranges. Although in the illustrated embodiment only the first element 21 has been depicted as carrying out the transmission and reception functions, in other embodiments the control unit 300 may, for example, comprise separate receiving and transmitting elements.

[0050] According to various embodiments, the control unit 300 may be implemented using integrated and / or discrete hardware elements, software components or a combination of the above. Examples of integrated hardware may include processors, microprocessors, microcontrollers, integrated circuits, ASCs (Application Specific Integrated Circuits), PLDs (Programmable Logic Devices), DSPs (Digital Signal Processors), FPGAs (Field Programs) Gate Array), logic gates, registers, semiconductor devices, systems, microchips, sets of systems, microcontroller, SoC (System-on-Chip) or SIP (System-In-Package). Examples of discrete hardware elements may include circuits, circuit components (e.g. logic gates, FET transistors, bipolar transistors, resistors, capacitors, inductors, relay and the like). In other embodiments, the control unit 300 may be implemented as a hybrid system comprising discrete and integrated system components or components on one or more substrates. In various embodiments, the control unit 300 may provide a digital (e.g., on / off, high / low) output signal and / or an analogue output signal to the motor control unit. The motor control unit may also be implemented using elements and / or components similar to those of the control unit 300. The motor control unit may be used to control the motor 65 in response to the emitted echo response signals from one or more passive and / or active elements. sensor. induction coils, relay and the like). In other embodiments, the control unit 300 may be implemented as a hybrid system comprising discrete and integrated system components or components on one or more substrates. In various embodiments, the control unit 300 may provide a digital (e.g., on / off, high / low) output signal and / or an analogue output signal to the motor control unit. The motor control unit may also be implemented using elements and / or components similar to those of the control unit 300. The motor control unit may be used to control the motor 65 in response to the emitted echo response signals from one or more passive and / or active elements. sensor. induction coils, relay and the like). In other embodiments, the control unit 300 may be implemented as a hybrid system comprising discrete and integrated system components or components on one or more substrates. In various embodiments, the control unit 300 may provide a digital (e.g., on / off, high / low) output signal and / or an analogue output signal to the motor control unit. The motor control unit may also be implemented using elements and / or components similar to those of the control unit 300. The motor control unit may be used to control the motor 65 in response to the emitted echo response signals from one or more passive and / or active elements. sensor. In other embodiments, the control unit 300 may be implemented as a hybrid system comprising discrete and integrated system components or components on one or more substrates. In various embodiments, the control unit 300 may provide a digital (e.g., on / off, high / low) output signal and / or an analogue output signal to the motor control unit. The motor control unit may also be implemented using elements and / or components similar to those of the control unit 300. The motor control unit may be used to control the motor 65 in response to the emitted echo response signals from one or more passive and / or active elements. sensor. In other embodiments, the control unit 300 may be implemented as a hybrid system comprising discrete and integrated system components or components on one or more substrates. In various embodiments, the control unit 300 may provide a digital (e.g., on / off, high / low) output signal and / or an analogue output signal to the motor control unit. The motor control unit may also be implemented using elements and / or components similar to those of the control unit 300. The motor control unit may be used to control the motor 65 in response to the emitted echo response signals from one or more passive and / or active elements. sensor.

In one embodiment, in FIGS. 1-6, the first element 21 can be an inductive element (e.g. a first coil) connected to the control unit 300 by means of a wired electrical connection 23. The wired electrical connection 23 can be an insulated electrically conductive conductor. The second element 35 can also be an inductive element (e.g. a second coil) embedded, integrally formed or otherwise connected to the sled 33. The second element 35 is wirelessly connected to the first element 21. The first element 21 is preferably electrically insulated from the conductor 8. The second element 35 is preferably electrically insulated from the slides 33 and other components provided in the staple cartridge 34 and / or the stapling channel 22. The second element 35 receives the output pulse signal transmitted by the first element 21 and reflects or disperses the electromagnetic energy in the form of an echo response signal. As a result of changing the material, size, shape and location of the second element relative to the first element 21, the control unit 300 can determine the location, type, presence and / or condition of the various components provided in the end effector 12 by decoding the echo response signals reflected therefrom.

[0052] Fig. 12 is a diagram 400 illustrating the operation of one embodiment of the control unit 300 in combination with the first and second elements 21, 35. The following description also refers to Fig. 11. The first element 21 is connected to the control unit 300 by a channel, e.g. an electrical connection 23. The electrical connection may be a wired or a wireless channel. As discussed above, the first element 21 wirelessly interrogates or illuminates the second element 35 by transmitting a query signal in the form of one or more query pulses 402. The query pulses 402 may be pulses of a correspondingly predefined frequency f, which may be determined by an oscillator 326. Quls pulses 402 they may have a previously defined PW pulse width, which may be determined by modulator 318 and may be transmitted in accordance with the repetition rate T, which may be determined by the encoder 316. The transmitted query pulses 402 that arrive at (e.g., strike or illuminate) the second element 35, are reflected or scattered by a second element 35 in the form of echo response pulses 404. Echo response pulses 404 are reflections of the electromagnetic energy of the query pulses 402 reaching the second element 21, but the signal strength is much weaker. After sending the interrogation pulses 402, the first element 21 listens for the echo response pulses 404 and couples the echo response pulses 402 to the control unit 300 in a suitable form. The demodulator 310 receives weak echo response bursts 404, amplifies them and performs demodulation. The decoder 312 and the processor 306 process the received echo response bursts 404 to obtain information from them. (or other logic) to determine different end effector 12 and components according to received echo response bursts 404.

The programmable processor 306 associated with may be property of elements. [0053] The frequency f, PW and T of the echo response pulses 404 may be the same as in the case of the query pulses 402. In various embodiments, the frequency f, PW and T of the echo response pulses 404 may be different from the query pulses 402. In one embodiment, for example, the frequency f of the echo response bursts 404 may be the harmonic frequency of the query pulse frequency 402. The amount of reflected electromagnetic energy in the echo response pulses 404 depends on the material, shape and size of the second element 35. The magnitude of the reflected electromagnetic energy in the echo response pulses 404 also depends on the distance D between the first element 21 and the second element 35.

[0054] The material from which the second element is formed may determine the amount of reflected energy. For example, a metal object will reflect more energy than an object of the same size and shape, made of wood, plastic and the like. Essentially, the better the electrical conductivity of the material, the greater the reflection. The shape of the second element 35 can also determine the way in which the energy is reflected or dissipated. For example, if the second element 35 has a flat side facing the first element 21, the second element 35 can reflect more energy back toward the first element 21. The circular object can reflect or dissipate energy in different directions perpendicular to the surface impacted by the accompanying electromagnetic energy . and an irregular-shaped object will dissipate the accompanying electromagnetic energy more randomly. The size of the second element 21 can also determine the amount of reflected energy. For example, the larger second element 35 will reflect more energy than the smaller second element 35 made of the same material and in the same shape and being at the same distance D from the first element 21. It should be noted that the second element 35 should have a certain minimum size in relation to the wavelength (λ) of the emitted electromagnetic energy of the interrogation pulses 402 to generate the reflected pulses 404 of the echo response. For example, the size of the second element 35 may be equal to or greater than about 1/4 the wavelength (λ / 4) of the electromagnetic energy of the interrogation pulses 402. The wavelength λ of the sent query pulses 402 is related to the frequency f according to the equation: λ = α / Ε; where c is the speed of light, af is the frequency of the signal. Therefore, to detect small objects, the wavelength λ should be smaller, and thus the frequency f should be higher. Any suitable predefined frequency f may be selected to adjust the size of the second element to be detected. Accordingly, the size of the second element 35 can be selected, for example, as greater than or equal to λ / 4 (or c / 4f) when the frequency of the query pulse 402 is determined. As discussed above, the amount of energy reflected by the second element 35 also depends on the distance D between the first element 21 and the second element 35. af is the frequency of the signal. Therefore, to detect small objects, the wavelength λ should be smaller, and thus the frequency f should be higher. Any suitable predefined frequency f may be selected to adjust the size of the second element to be detected. Accordingly, the size of the second element 35 can be selected, for example, as greater than or equal to λ / 4 (or c / 4f) when the frequency of the query pulse 402 is determined. As discussed above, the amount of energy reflected by the second element 35 also depends on the distance D between the first element 21 and the second element 35. af is the frequency of the signal. Therefore, to detect small objects, the wavelength λ should be smaller, and thus the frequency f should be higher. Any suitable predefined frequency f may be selected to adjust the size of the second element to be detected. Accordingly, the size of the second element 35 can be selected, for example, as greater than or equal to λ / 4 (or c / 4f) when the frequency of the query pulse 402 is determined. As discussed above, the amount of energy reflected by the second element 35 also depends on the distance D between the first element 21 and the second element 35. Any suitable predefined frequency f may be selected to adjust the size of the second element to be detected. Accordingly, the size of the second element 35 can be selected, for example, as greater than or equal to λ / 4 (or c / 4f) when the frequency of the query pulse 402 is determined. As discussed above, the amount of energy reflected by the second element 35 also depends on the distance D between the first element 21 and the second element 35. Any suitable predefined frequency f may be selected to adjust the size of the second element to be detected. Accordingly, the size of the second element 35 can be selected, for example, as greater than or equal to λ / 4 (or c / 4f) when the frequency of the query pulse 402 is determined. As discussed above, the amount of energy reflected by the second element 35 also depends on the distance D between the first element 21 and the second element 35.

by integrating a second element 35 or attaching it to components of interest, such as sleds 33, echo response echoes 404 can be processed by the control unit 300 to obtain and provide information related to the component of interest, such as location, type, the presence and / or condition of the slides 33, the staple cartridge 34 and the like. Such a configuration eliminates the need for transmission or power delivery within the wired connection to the second element 35, and is also an economically efficient solution for providing various sensor elements on the surgical instrument 10. echo response pulses 404 can be processed by the control unit 300 to obtain and provide information associated with the component of interest, such as location, type, presence and / or condition of the slides 33, staple cartridge 34, and the like. Such a configuration eliminates the need for transmission or power delivery within the wired connection to the second element 35, and is also an economically efficient solution for providing various sensor elements on the surgical instrument 10. echo response pulses 404 can be processed by the control unit 300 to obtain and provide information associated with the component of interest, such as location, type, presence and / or condition of the slides 33, staple cartridge 34, and the like. Such a configuration eliminates the need for transmission or power delivery within the wired connection to the second element 35, and is also an economically efficient solution for providing various sensor elements on the surgical instrument 10.

[0056] In one embodiment, in which the second element 35 is an active sensor element as discussed earlier, the first element 21 wirelessly interrogates or illuminates the second element 35 by transmitting a query signal in the form of one or more query pulses 402. The electromagnetic energy in the query pulses 402 is coupled by the sensor element 35 and serves to energize the sensor element. After energizing, the sensor element 35 sends echo response pulses 404 back to the control unit 300.

[0057] In one embodiment, the condition of the staple cartridge 34 and the location of the slides 33 may be determined by transmitting the query pulse 402 and listening for the echo response pulse 404. As discussed above, the first and second elements 21, 35 may be passive sensors or electromagnetic elements ( which may include resistive, inductive and capacitive elements or a combination of the above). In one embodiment, the first element 21 may be an inductance in the form of a primary winding located at the distal end of the shaft 8 (as shown in Figures 1, 2, 4-6). The second element 35 may be an inductive element in the form of a secondary winding located on the sled 35 (as shown in Figs. 3, 5, 6). The first element 21 "pings" or transmits the inquiry pulses 402. The echo response impulses 404 reflected by the second element 35 may indicate the presence of the sleds 33 in the stapling channel 22, their distance from the first element 21 or their location along the stapling channel 22. In this way the device 10 can determine the presence or condition of the staple cartridge 34 or slides 33 in the end effector 12 or the longitudinal position of the sledges along the stapling channel 22. This information may for example be used to determine the loaded state of the staple cartridge 34. In addition, the second element 35 may be formed of different materials, in different shapes or sizes, to generate a unique echo response pulse 404 that will indicate the type of instrument 10 or the presence of the staple cartridge 34 within the end effector 12.

[0058] In a further embodiment, the second element 35 may be attached to the sleds 33, and the echo response pulse 404 may be used for establishingthat the sleds 33 are in the first position at the proximal end of the stapling channel 22, or in the second position at the distal end of the stapling channel 22, or in any intermediate positions therebetween. The control unit 300 may determine the position of the sleds 33 based on the time elapsed between the transmission of the query pulse 402 and the receipt of the echo response pulse 404. If the carriage 33 is in the first position, the echo response response 404 is received earlier than when the carriage 33 has been located in the second position or in any position between them. For example, when the sleds 33 move along the stapling channel 22, the response time of the echo response 404 of the echo response relative to the interrogation impulse 402 increases.

[0059] In a further embodiment, the control unit 300 may provide a degree of control over the cutting / attachment operation based on whether the echo response pulse 404 is received within a predefined period of time. For example, if the echo response pulse 404 is received within a predefined time interval, the control unit 300 determines that the carriage 33 is at the proximal end of the stapling channel 22. In turn, if the echo response pulse 404 is not received within a predefined time span, the control unit 300 determines that the carriage 33 has moved from the proximal end to the distal end of the stapling channel 22 (e.g. the device has been triggered). In this way, if no echo response pulse 404 has been received, the control unit 300 can determine

[0060] Although the first element 21 has been shown positioned at one end of the elongated shaft 8 near the articulation 14, the first element 21 can be anywhere along the longitudinal shaft 8 and / or the holder 6 in appropriate wireless communication with the second element 35.

[0061] Fig. 13 illustrates an embodiment of a surgical instrument 10 comprising a first member 21 in the free-swivel 29 portion of the shaft 8. The following description also applies to Figs. 3, 5, 6 and 12. The first element 21 is coupled to the a control unit 300 via an electrical connection 23. Additional elements can be used, for example, when the surgical instrument 10 has many complicated connections and when it may be difficult to maintain a direct wired connection. In such cases, inductive connections can be used to cover each such connection. For example, induction connections can be used on both sides of the pivotal connection 29 and on both sides of the pivot 14, wherein the inductive element on the distal side of the pivotal connection 29 is connected by electrical connection to another inductive element at the proximal end of the pivot 14. Accordingly, the third element 328 and the fourth element 330 may be disposed on the shaft 8. These elements 328, 330 may be found The third element 328 can be located at the proximal end of the shaft 8 just prior to the control of the articulation 16. The fourth element 330 can be located at the distal end of the shaft 8 just before the articulation 14. The third and fourth elements 328, 330 can be coupled via an electrical connection 332, which may be a wired or wireless electrical connection. The second element 35 is arranged or attached to the component of interest in the end effector 12. The third element 328 is wirelessly coupled to the first element 21 and receives from it the query pulses 402. The third element 328 sends an inquiry pulse 402 within the electrical connection 332 to the fourth element 330. The fourth element 330 wirelessly couples the interrogation 402 to the second element 35. The echo response pulses 404 are sent back to the first element 21 in reverse order. For example, the echo response pulse 404 is wirelessly coupled to the fourth element 330, is transmitted to the third element 328 via an electrical connection 332, and is then wirelessly coupled to the first element 21. Similar to the first and second elements 21, 35 third and fourth element 328,

In one embodiment, the third and fourth elements 328, 330 may be passive coils formed of different materials and in different shapes and sizes, or may include semiconductor elements, such as transistors for operation in an active mode.

[0062] Fig. 14 shows an embodiment of a surgical instrument 10 comprising sensor elements disposed at different places on the shaft. For example, the first element 21 can be arranged at the proximal end of the shaft 8 just prior to the control of the articulation. The first element 21 is wirelessly coupled to the control unit 300 by means of a wireless electrical connection 23. The third element 328 and the fourth element 330 are arranged along the shaft 8 after the control 16 with the joint and before the joint 14. The third element 328 may be at the proximal end of the shaft 8 behind the control of the articulation 16, and the fourth element 330 can be located on the distal end of the elongated shaft 8 in front of the articulation 14. The third and fourth elements 328, 330 are coupled via an electrical connection 332, which can be a wired or wireless connection. As discussed above, the second element 35 may be on the component of interest in the end effector 12. The third element 328 is wirelessly coupled to the first element 21 and receives from it the query pulses 402. The third element 328 sends an inquiry pulse 402 within the electrical connection 332 to the fourth element 330. The fourth element 330 wirelessly couples the interrogation 402 to the second element 35. The echo response pulses 404 are sent back to the first element 21 in reverse order. For example, the echo response pulse 404 is wirelessly coupled to the fourth element 330, is transmitted to the third element 328 via an electrical connection 332,

[0063] Fig. 15 shows one embodiment of the device 10, in which the shaft serves as part of the antenna for the control unit 300. Therefore, the device shaft 8

10, including for example a proximal closure tube 40 and a distal closure tube 42, can jointly serve as an antenna for the control unit 300 by issuing the interrogation strings 402 to the second element 35 and receiving the echo response pulses 404 reflected from the second element 35. Thus, signals for and from the control unit 300 and the second element 35 provided in the end effector 12 may be transmitted via the shaft 8 of the device 10.

[0064] Bliższa rurka zamykająca 40 może być podparta przy jej bliższym zakończeniu przez zewnętrzne dolne i górne elementy boczne 59-62, które mogą być wykonane z materiału nieprzewodzącego prąd elektryczny, takiego jak tworzywo sztuczne. Elementy składowe zespołu wałka napędowego (w tym główny wałek napędowy 48 oraz drugi wałek napędowy 50) wewnątrz bliższej i dalszej rurki zamykającej 40, 42 również mogą być wykonane z materiału nieprzewodzącego prąd elektryczny, takiego jak tworzywo sztuczne. Ponadto elementy składowe efektora końcowego 12 (takie jak kowadełko 24 oraz kanał 22) mogą być sprzężone elektrycznie z (lub zapewniać bezpośredni lub pośredni kontakt elektryczny z) dalszą rurką zamykającą 42 w taki sposób, że mogą one służyć jako część anteny. Ponadto drugi element 35 może być umieszczony w taki sposób, że jest on odizolowany elektrycznie od elementów składowych wałka 8 oraz efektora końcowego 12, pełniąc funkcję anteny. Na przykład drugi element 35 może znajdować się w kartridżu 34, który może być wykonany z materiału nieprzewodzącego prąd elektryczny, takiego jak tworzywo sztuczne. Jako że dalsze zakończenie wałka 8 (takie jak dalsze zakończenie dalszej rurki zamykającej 42) oraz części efektora końcowego 12, pełniącego funkcję anteny, mogą znajdować się stosunkowo w bliskiej odległości od drugiego elementu 35, energia dla przesyłanych sygnałów może być utrzymywana na niskich poziomach, co pozwala zminimalizować lub zmniejszyć zakłócenia z innymi systemami w środowisku stosowania przyrządu 10.

In such an embodiment, the control unit 300 can be electrically coupled to a shaft 8 of the device 10, such as a proximal closing tube 40, by means of an electrically conductive connection 410 (e.g. a wire). Portions of the outer shaft 8, such as the closure tubes 40, 42, can thus function as a part of the antenna for the control unit 300 by emitting the interrogation signals 402 to the second element 35 and receiving the emitted 404 echo signals from the second element 35. Echo response echos 404 received by the control unit 300 may be demodulated by the demodulator 310 and decoded by the decoder 312 in the manner described above. Echo response echoes 404 may include information from the second element 35, such as location, type,

[0066] In order to transmit data signals to or from the second element 35 in the end effector 12, the electrical connection 410 may connect the control unit 300 to components of the shaft 8 of the device 10, such as a proximal closing tube 40 that can be electrically connected to a further closure tube. 42. The further closure tube 42 is preferably electrically insulated from the remote sensor 368, which may be contained in a plastic cartridge. As mentioned before, the end effector components 12, such as channel 22 and anvil 24, may be electrically conductive and remain in electrical contact with the distal closure tube 42 in such a way that they can also serve as part of the antenna.

[0067] When the roller 8 functions as the antenna of the control unit 300, the control unit 300 may connect to the second element 35 in the end effector 12 without a direct wiring connection. Furthermore, as the distances between the shaft 8 and the second element 35 are fixed and known, the energy levels can be optimized as low levels, which allows minimizing interferences with other systems in the environment of using the instrument 10.

[0068] Although in the present description the second element 35 has been depicted as being in the articulated end effector 12, the second element 35 may be in any suitable location on the devices 10 while maintaining wireless connectivity with the first element 21 (and / or roller 8) at least in one part of the transmission or reception cycle. The second element 35 can be coupled to any component inside the staple cartridge 34.

[0069] The control unit 300 may connect to any one of the first 21, second 35, third 328 and fourth 330 elements and additional elements within complicated mechanical connections, such as rotary connection 29 without direct wire, but with wireless, where it can it is difficult to maintain a wired connection. Furthermore, as the distances between the first, second, third, fourth 21, 35, 328, 330 element, as well as any additional elements and / or connection combinations, any combination of the foregoing may be constants and known, the coupling between these elements 21, 35, 328 , 330 can be optimized for the efficient transfer of inductive electromagnetic energy. In addition, these distances can be relatively small,

[0070] In other embodiments, more or less sensor elements may be inductively coupled, electromagnetically and / or otherwise. For example, in some embodiments, the control unit 300 may include a first element 21 integrally formed therewith. The first element 21 in the holder 6 and the second element 35 in the end effector 12 can connect directly without the third and fourth elements 328, 330. Obviously, in this embodiment a stronger signal may be required due to the greater distance between the control unit 300 in the holder 6 and the second element 35 in the end effector 12.

[0071] In the embodiments described above, the battery 64 (Figure 7) supplies (at least partially) a triggering operation of the device 10. As such, the device 10 may be a so-called "assisted" device. Additional information and additional embodiments of assisted devices are found in US Patent No. 2007/175952. It should be noted, however, that the device 10 need not be a supported device and that this is only an example of a type of device that may use aspects of the present invention. For example, the device 10 may include a user display (such as an LCD or LED display) that is powered by the battery 64 and controlled by the control unit 300. Data from the sensor transponders 368 in the end effector 12 may be displayed on the display.

[0072] Various embodiments of the present invention have been described above in connection with surgical tools intended for cutting. However, it should be noted that in other embodiments, the surgical tool of the invention disclosed herein need not be a surgical instrument for cutting, but may be used in any type of surgical instrument, including transponders of remote sensors. For example, it may be an endoscopic tool not intended for cutting, a gripper, a stapler, a terminal applicator, an access device, a dosing device for drug / gene therapy, an energy device using ultrasound, radio frequency, laser and the like. In addition, the present invention can be used, for example, in laparoscopic instruments.

[0073] The devices disclosed herein may be designed to be removed after one use or may be designed to be used repeatedly. However, in any case, the device may be regenerated for reuse after at least one use. Regeneration can include any combination of steps of dismantling the device, cleaning or replacing individual elements, and then reassembling. In particular, the device can be disassembled, and any surgical regeneration of the number of individual elements or parts of the device can be selectively replaced or removed in any combination. After cleaning and / or replacing individual parts, the device may be reassembled for further use in a regeneration plant or surgical team immediately prior to the procedure. Those skilled in the art will be aware that the equipment may include a variety of different techniques for disassembly, cleaning / replacement of components, and re-submission. The use of such techniques, as well as the resulting regenerated device, is within the scope of the present application.

Preferably, the invention described herein will be prepared prior to surgery [0074] surgical document. First, new or used cleaning is obtained. According to the need for the radiation to be irradiated the device and in case the device can then be sterilized. With one of the sterilization techniques, the tool is placed in a sealed and sealed package, such as a plastic or TYVEK bag. The packaging and tool are then placed in a radiation field that can penetrate the packaging, such as gamma, X-rays or electrons with increased energy.

Radiation destroys the bacteria on the instrument and in the packaging. The sterilized device can then be stored in a sterile package. The sealed package keeps the device sterile until it is opened in a medical facility.

[0075] It is advantageous to carry out the sterilization of the device. This can be accomplished using any method known to those skilled in the art, including beta or gamma radiation, sterilization with ethyl acetate or steam.

[0076] Although the present invention has been described herein in connection with certain disclosed embodiments, it is possible to apply many modifications and variations to these embodiments. For example, it is possible to use different types of end effectors. In addition, if materials have been disclosed for certain components, other materials may be used. The following claims are intended to cover all such modifications and changes.

[0077] Some embodiments may be described using the terms "coupled" and "combined" together with their derivatives. These terms are not intended to be synonymous. For example, some embodiments may be described using the terms "combined" and / or "coupled" to indicate that two or more elements are in direct physical or electrical contact with one another. However, the term "conjugate" can also mean two or more elements that are not in direct contact with each other, but still cooperate or interact with each other.

26297 / EP / 16

EP 2 356 949