CN106413582B - Surgical instrument control circuit with safety processor - Google Patents

Abstract

The present disclosure provides a surgical instrument control circuit. The control circuit includes a main processor, a safety processor in signal communication with the main processor, and a segmented circuit. The segmented circuit includes multiple circuit segments in signal communication with the main processor. The multiple circuit segments are configured to control one or more operations of the surgical instrument. The safety processor is configured to monitor one or more parameters of the multiple circuit segments.

Description

Surgical instrument control circuit with safety processor

Background technique

The present invention relates to surgical instruments and, in various cases, to surgical stapling and cutting instruments and cartridges thereof designed for stapling and cutting tissue.

Description of drawings

The features and advantages of the present invention, and the method of obtaining them, will become more apparent and the invention itself can be better understood by reference to the following description of the invention taken in conjunction with the accompanying drawings in which:

1 is a perspective view of a surgical instrument including a power assembly, a handle assembly, and an interchangeable shaft assembly;

Figure 2 is a perspective view of the surgical instrument of Figure 1 with the interchangeable shaft assembly separated from the handle assembly;

Fig. 3 is a circuit diagram of the surgical instrument of Fig. 1;

Figure 4 illustrates one embodiment of a segmented circuit comprising a plurality of circuit segments configured to control a powered surgical instrument;

Figure 5 shows a segment circuit comprising a security processor configured to implement a watchdog function;

6 shows a block diagram of one embodiment of a segmented circuit including a safety processor configured to monitor a first property and a second property of a surgical instrument and compare the two properties;

Figure 7 shows a block diagram illustrating a security process configured to be implemented by a security processor;

Figure 8 shows an embodiment of a 4x4 switch bank comprising four input/output pins;

FIG. 9 shows an embodiment of a 4×4 bank circuit comprising an input/output pin;

Figure 10 shows one embodiment of a segment circuit comprising a 4x4 switch bank coupled to a host processor;

Figure 11 shows one embodiment of a process for sequentially energizing segmented circuits;

Figure 12 shows an embodiment of a power stage comprising a plurality of daisy-chained power converters;

Figure 13 illustrates one embodiment of a segmented circuit configured to maximize the power available for critical and/or power intensive functions;

Figure 14 illustrates one embodiment of a power system comprising a plurality of daisy-chained power converters configured to be energized sequentially;

Figure 15 shows an embodiment of a segmentation circuit including an isolation control section;

Figure 16 shows one embodiment of a segmented circuit including an accelerometer;

FIG. 17 shows one embodiment of a process for sequentially starting segment circuits;

FIG. 18 illustrates one embodiment of a method 1950 for controlling a surgical instrument that includes a segmented circuit, such as the segmented control circuit 1602 shown in FIG. 12 .

Detailed ways

The applicant of the present application owns the following patent applications filed March 1, 2013, each of which is incorporated herein by reference in its entirety:

- U.S. Patent Application Serial No. 13/782,295, entitled "Articulatable Surgical Instruments With Conductive Pathways For Signal Communication";

- US Patent Application Serial No. 13/782,323 entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS";

- US Patent Application Serial No. 13/782,338 entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS";

- U.S. Patent Application Serial No. 13/782,499, entitled "Electromechanical Surgical Device with Signal Relay Arrangement";

- US Patent Application Serial No. 13/782,460 entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICALINSTRUMENTS";

- US Patent Application Serial No. 13/782,358 entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS";

- US Patent Application Serial No. 13/782,481 entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGHTROCAR";

- US Patent Application Serial No. 13/782,518 entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLEIMPLEMENT PORTIONS";

- US Patent Application Serial No. 13/782,375 entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OFFREEDOM"; and

- US Patent Application Serial No. 13/782,536 entitled "SURGICAL INSTRUMENT SOFT STOP", which applications are hereby incorporated by reference in their entirety.

The applicant of the present application also owns the following patent applications filed on March 14, 2013, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 13/803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE";

- U.S. Patent Application Serial No. 13/803,193 entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT";

- US Patent Application Serial No. 13/803,053 entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT";

- US Patent Application Serial No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONLOCK";

- US Patent Application Serial No. 13/803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS";

- U.S. Patent Application Serial No. 13/803,148 entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT";

- US Patent Application Serial No. 13/803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS";

- US Patent Application Serial No. 13/803,117 entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS";

- US Patent Application Serial No. 13/803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS"; and

-US Patent Application Serial No. 13/803,159 entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT."

The applicant of the present application also owns the following patent applications, which were filed on the same date as the present application, each of which is hereby incorporated by reference in its entirety:

US Patent Application Serial No. _______________, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM" (Attorney Docket No. END7386USNP/130458);

U.S. Patent Application Serial No. _______________, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS" (Attorney Docket No. END7387USNP/130459);

US Patent Application Serial No. _______________ entitled "STERILIZATION VERIFICATION CIRCUIT" (Attorney Docket No. END7388USNP/130460);

U.S. Patent Application Serial No. _______________, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT" (Attorney Docket No. END7389USNP/130461);

U.S. Patent Application Serial No. _______________, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITAND WAKE UP CONTROL" (Attorney Docket No. END7390USNP/130462);

U.S. Patent Application Serial No. _______________, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES" (Attorney Docket No. END7391USNP/130463);

U.S. Patent Application Serial No. _______________, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS" (Attorney Docket No. END7392USNP/130464);

US Patent Application Serial No. _______________, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION" (Attorney Docket No. END7393USNP/130465);

US Patent Application Serial No. _______________, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS" (Attorney Docket No. END7395USNP/130467);

U.S. Patent Application Serial No. _______________, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS" (Attorney Docket No. END7396USNP/130468);

US Patent Application Serial No. _______________ entitled "MODULAR SURGICAL INSTRUMENT SYSTEM" (Attorney Docket No. END7397USNP/130469);

U.S. Patent Application Serial No. _______________, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT" (Attorney Docket No. END7399USNP/130471);

US Patent Application Serial No. _______________, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEVOLTAGE PROTECTION" (Attorney Docket No. END7400USNP/130472);

US Patent Application Serial No. _______________ entitled "SURGICAL STAPLING INSTRUMENT SYSTEM" (Attorney Docket No. END7401USNP/130473);

US Patent Application Serial No. ___________ entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT" (Attorney Docket No. END7402USNP/130474).

Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these implementations are illustrated in the accompanying drawings. Those of ordinary skill in the art should understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be covered within the scope of the present invention.

Reference throughout this specification to "various embodiments," "some embodiments," or "one embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in various embodiments," "in some embodiments," or "in one embodiment," etc. throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure or characteristic shown or described in connection with one embodiment may be combined in whole or in part with features, structures or characteristics of one or more other embodiments, without limitation. Such modifications and variations are intended to be covered within the scope of the present invention.

The terms "proximal" and "distal" are used herein with respect to a clinician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion that is closest to the clinician, and the term "distal" refers to the portion that is located away from the clinician. It should also be understood that spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein in connection with the drawings for the sake of brevity and clarity. However, surgical instruments are used in many orientations and positions, and these terms are not limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgery. However, those of ordinary skill in the art will readily appreciate that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including, for example, in conjunction with open surgery. Continuing to refer to the detailed description, those skilled in the art will further understand that various instruments disclosed herein can be inserted into the body in any way, such as through natural orifices, through incisions or puncture holes formed in tissues, and the like. The working or end effector portion of the instrument may be inserted directly into the patient or may be inserted through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument may be advanced.

1-3 generally illustrate a motor-driven surgical fastening and cutting instrument 2000 . As shown in FIGS. 1 and 2, surgical instrument 2000 may include a handle assembly 2002, a shaft assembly 2004, and a power assembly 2006 ("power source," "power pack," or "battery pack"). Shaft assembly 2004 can include end effector 2008, which in some cases can be configured to act as a linear cutter for clamping, severing, and/or stapling tissue, but in other embodiments, can Employs different types of end effectors, such as end effectors for other types of surgical instruments, such as graspers, cutters, staplers, clip appliers, access devices, drug/gene therapy devices, ultrasound devices, radio frequency devices and/or laser devices. Several radio frequency devices can be found in U.S. Patent 5,403,312, issued April 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE," and U.S. Patent Application, filed February 14, 2008, entitled "SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES" Serial No. 12/031,573, the entire disclosure of which is incorporated herein by reference in its entirety.

Referring primarily to FIGS. 2 and 3 , handle assembly 2002 may be used with a variety of interchangeable shaft assemblies, such as shaft assembly 2004 . Such interchangeable shaft assemblies may include a surgical end effector, such as end effector 2008, which may be configured to perform one or more surgical tasks or surgical procedures. An example of a suitable interchangeable shaft assembly is disclosed in U.S. Provisional Patent Application Serial No. 61/782,866, filed March 14, 2013, entitled "CONTROL SYSTEM OF A SURGICAL INSTRUMENT," the entire disclosure of which is hereby Incorporated herein by reference in its entirety.

Referring primarily to FIG. 2, the handle assembly 2002 can include a housing 2010 consisting of a handle 2012 that can be configured to be grasped, manipulated, and actuated by a clinician. It should be understood, however, that the various unique and novel configurations of the various forms of interchangeable shaft assemblies disclosed herein may also be effectively used in conjunction with robotically controlled surgical systems. Accordingly, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise operatively supports at least one drive system configured to generate and apply the At least one control action of the interchangeable shaft assembly and its corresponding equivalent. For example, the interchangeable shaft assemblies disclosed herein may be combined with the various shaft assemblies disclosed in U.S. Patent Application Serial No. 13/118,241 (now U.S. Patent Application Publication 2012/0298719), entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS." Robotic systems, apparatus, components and methods, the entirety of which is incorporated herein by reference.

Referring again to FIG. 2 , the handle assembly 2002 can operably support therein a plurality of drive systems that can be configured to generate and apply various control actions to the handle operably attached thereto. Corresponding part of the interchangeable shaft assembly on . For example, the handle assembly 2002 can operably support a first or closing drive system operable to impart closing and opening motions to the shaft assembly 2004 operably attached or coupled to the handle assembly 2002 . In at least one form, the handle assembly 2002 can operably support a firing drive system that can be configured to impart a firing motion to a corresponding portion of an interchangeable shaft assembly attached thereto.

Referring primarily to FIG. 3 , the handle assembly 2002 can include a motor 2014 that can be controlled by a motor driver 2015 and that can be used by the firing system of the surgical instrument 2000 . In various forms, the motor 2014 can be, for example, a DC brush drive motor with a maximum speed of approximately 25,000 RPM. In other constructions, the motor 2014 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. In some cases, the motor driver 2015 may include, for example, an H-bridge field effect transistor (FET) 2019 , as shown in FIG. 3 . Motor 2014 may be powered by power assembly 2006 ( FIG. 3 ), which is releasably mountable to handle assembly 2002 to provide control power to surgical instrument 2000 . Power assembly 2006 may include a battery, which may include a plurality of battery cells connected in series, that may be used as a power source to power surgical instrument 2000 . In some cases, the battery cells of power assembly 2006 may be replaceable and/or rechargeable. In at least one example, the battery cells may be lithium-ion batteries detachably coupleable to power assembly 2006 .

Shaft assembly 2004 can include a shaft assembly controller 2022 that can communicate with power management controller 2016 via an interface when shaft assembly 2004 and power assembly 2006 are coupled to handle assembly 2002 . For example, the interface may include a first interface portion 2025, which may include one or more electrical connectors for coupling engagement with a corresponding shaft assembly electrical connector, and a second interface portion 2027, the second interface portion 2027. The portion may include one or more electrical connectors for coupling engagement with corresponding power assembly electrical connectors, thereby allowing shaft assembly controller 2022 and power Electrical communication between management controllers 2016 . One or more communication signals may be transmitted over the interface to communicate one or more power requirements of the attached interchangeable shaft assembly 2004 to the power management controller 2016 . In response, the power management controller may adjust the power output of the batteries of the power assembly 2006 according to the power requirements of the attached shaft assembly 2004, as described in more detail below. In some cases, one or more electrical connectors may include switches that may be mechanically coupled to the shaft assembly 2004 and/or power assembly 2006 at the handle assembly 2002 to allow the shaft assembly controller 2022 to communicate with the power management control It is activated after electrical communication between the controllers 2016.

In some cases, for example, the interface routes one or more communication signals through the host controller 2017 located within the handle assembly 2002, thereby facilitating the transfer of such signals between the power management controller 2016 and the shaft assembly controller 2022. type of communication signal. In other cases, the interface may facilitate routing communication lines between power management controller 2016 and shaft assembly controller 2022 through handle assembly 2002 when shaft assembly 2004 and power assembly 2006 are coupled to handle assembly 2002 .

In one instance, the main microcontroller 2017 may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex, available from Texas Instruments. In one instance, the surgical instrument 2000 may include a power management controller 2016, such as a secure microcontroller platform (known by the trade name Hercules ARM Cortex R4 , also available from Texas Instruments). However, other suitable alternatives to microcontrollers and security processors may be employed without limitation. In one case, the safety processor can be explicitly configured for IEC 61508 and ISO 26262 safety-critical applications and others to provide advanced integrated safety features while offering scalable performance, connectivity and memory options.

In some cases, microcontroller 2017 may be, for example, an LM4F230H5QR available from Texas Instruments. In at least one example, the LM4F230H5QR from Texas Instruments is an ARM Cortex-M4F processor core that includes: 256KB single-cycle flash memory or other non-volatile memory (up to 40MHZ) on-chip memory for improved performance Over 40MHz Prefetch Buffer, 32KB Single-Cycle Serial Random Access Memory (SRAM), Loaded with Internal read-only memory (ROM) for software, 2KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder input (QEI) simulations, One or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, and other features readily available on the product data sheet. The disclosure should not be limited in this context.

The power component 2006 may include power management circuitry that may include a power management controller 2016 , a power modulator 2038 and a current sense circuit 2036 . The power management circuitry may be configured to regulate the power output of the battery based on the power requirements of the shaft assembly 2004 when the shaft assembly 2004 and the power assembly 2006 are coupled to the handle assembly 2002 . For example, power management controller 2016 can be programmed to control power modulator 2038 to regulate the power output of power component 2006, and current sense circuit 2036 can be used to monitor the power output of power component 2006 to provide power management controller 2016 with battery Feedback about the power output of the power module enables the power management controller 2016 to adjust the power output of the power component 2006 to maintain a desired output.

Notably, power management controller 2016 and/or axle assembly controller 2022 may each include one or more processors and/or memory units that may store a number of software modules. Although certain modules and/or blocks of surgical instrument 2000 may be described by way of illustration, it is understood that a greater or fewer number of modules and/or blocks may be used. In addition, although various situations may be described in terms of modules and/or blocks for ease of illustration, these modules and/or blocks may be implemented by one or more hardware components and/or software components and/or a combination of hardware components and software components. implemented by said hardware components such as processors, digital signal processors (DSPs), programmable logic devices (PLDs), application specific integrated circuits (ASICs), circuits, registers, said software components such as programs, subroutines, logic .

In some cases, surgical instrument 2000 can include output device 2042, which can include one or more devices for providing sensory feedback to a user. Such devices may include, for example, visual feedback devices (eg, LCD displays, LED indicators), auditory feedback devices (eg, speakers, buzzers), or tactile feedback devices (eg, tactile actuators). In some cases, output device 2042 can include a display 2043 , which can be included in handle assembly 2002 . Shaft assembly controller 2022 and/or power management controller 2016 may provide feedback to a user of surgical instrument 2000 via output device 2042 . Interface 2024 may be configured to connect shaft assembly controller 2022 and/or power management controller 2016 to output device 2042 . The reader will be aware that output device 2042 may be integrated with power assembly 2006 instead. In such cases, when the shaft assembly 2004 is coupled to the handle assembly 2002 , communication between the output device 2042 and the shaft assembly controller 2022 can be accomplished through the interface 2024 .

Now that surgical instrument 2000 has been generally described, the various electrical/electronic components of surgical instrument 2000 will now be described in detail. For convenience, any reference to the surgical instrument 2000 below should be understood as referring to the surgical instrument 2000 shown in conjunction with FIGS. 1 to 3 . Turning now to FIG. 4, one embodiment of a segmented circuit 1000 comprising a plurality of circuit segments 1002a through 1002g is shown. Segmented circuit 1000 includes a plurality of circuit segments 1002a-1002g configured to control a powered surgical instrument, such as, but not limited to, surgical instrument 2000 shown in FIGS. 1-3. Multiple circuit segments 1002a - 1002g are configured to control one or more operations of powered surgical instrument 2000 . Security processor section 1002 a (section 1 ) includes security processor 1004 . Main processor segment 1002b (segment 2 ) includes main processor 1006 . Safety processor 1004 and/or main processor 1006 are configured to interface with one or more additional circuit segments 1002c - 1002g to control operation of powered surgical instrument 2000 . The main processor 1006 includes a plurality of input devices coupled to, for example, one or more circuit segments 1002c-1002g, a battery 1008, and/or a plurality of switches 1058a-1070. Segment circuit 1000 may be implemented by any suitable circuit, such as a printed circuit board assembly (PCBA) within powered surgical instrument 2000 . It should be understood that the term "processor" as used herein includes any microprocessor, microcontroller, or other basis that combines the functionality of a computer's central processing unit (CPU) onto one integrated circuit or up to several integrated circuits computing device. A processor is a multipurpose, programmable device that receives digital data as input, processes the input according to instructions stored in its memory, and provides a result as output. Processors have internal memory, so are examples of sequential digital logic. The processor operates on numbers and symbols expressed in the binary number system.

In one embodiment, main processor 1006 may be any single-core or multi-core processor, such as those known under the trade name ARM Cortex, available from Texas Instruments. In one embodiment, the secure processor 1004 may be a secure microcontroller platform comprising two microcontroller-based families such as the TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also available from Texas Instruments . However, other suitable alternatives to microcontrollers and security processors may be employed without limitation. In one embodiment, the security processor 1004 is expressly configurable for IEC 61508 and ISO 26262 safety-critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.

In some cases, main processor 1006 may be, for example, an LM4F230H5QR available from Texas Instruments. In at least one example, the LM 4F230H5QR from Texas Instruments is an ARM Cortex-M4F processor core that includes: 256KB of single-cycle flash memory or other non-volatile memory (up to 40MHZ) on-chip memory for improved performance Its over 40MHz prefetch buffer, 32KB single-cycle serial random access memory (SRAM), loaded with Internal read-only memory (ROM) for software, 2KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder input (QEI) simulations, One or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, and other features readily available on the product data sheet. Other processors could readily be substituted, and thus, the disclosure should not be limited in this context.

In one embodiment, segment circuit 1000 includes acceleration segment 1002c (Segment 3). The acceleration segment 1002c includes an acceleration sensor 1022 . The acceleration sensor 1022 may include, for example, an accelerometer. Acceleration sensor 1022 is configured to detect motion or acceleration of powered surgical instrument 2000 . In some embodiments, input from the acceleration sensor 1022 is used, for example, to transition to and from sleep mode, identify the orientation of the powered surgical instrument, and/or identify when the surgical instrument has been put down. In some implementations, acceleration segment 1002c is coupled to security processor 1004 and/or main processor 1006 .

In one embodiment, segment circuit 1000 includes display segment 1002d (segment 4). Display segment 1002d includes a display connector 1024 coupled to main processor 1006 . Display connector 1024 couples main processor 1006 to display 1028 through one or more display driver integrated circuits 1026 . Display driver integrated circuit 1026 may be integrated with display 1028 and/or may be located separately from display 1028 . Display 1028 may include any suitable display, such as an organic light emitting diode (OLED) display, a liquid crystal display (LCD), and/or any other suitable display. In some implementations, the display segment 1002c is coupled to the security processor 1004 .

In some embodiments, the segment circuit 1000 includes a shaft segment 1002e (5 segment). Shaft segment 1002e includes one or more controls for coupling to shaft 2004 of surgical instrument 2000 and/or one or more controls for coupling to end effector 2006 of shaft 2004 . Shaft segment 1002e includes a shaft connector 1030 configured to couple main processor 1006 to shaft PCBA 1031 . The axis PCBA 1031 includes a first articulation switch 1036 , a second articulation switch 1032 and an axis PCBA electrically erasable programmable read only memory (EEPROM) 1034 . In some embodiments, axis PCBA EEPROM 1034 includes one or more parameters, routines, and/or programs specific to axis 2004 and/or axis PCBA 1031 . Shaft PCBA 1031 may be coupled to shaft 2004 and/or integrally formed with surgical instrument 2000 . In some implementations, the shaft segment 1002e includes a second shaft EEPROM 1038 . Second axis EEPROM 1038 includes various algorithms, routines, parameters, and/or other data corresponding to one or more axes 2004 and/or end effector 2006 that may interface with powered surgical instrument 2000 .

In some implementations, segment circuit 1000 includes position encoder segment 1002f (segment 6). The position encoder segment 1002f includes one or more magnetic rotary position encoders 1040a-1040b. One or more magnetic rotary position encoders 1040 a - 1040 b are configured to identify the rotational position of motor 1048 , shaft 2004 and/or end effector 2006 of surgical instrument 2000 . In some implementations, the magnetic rotary position encoders 1040a - 1040b may be coupled to the security processor 1004 and/or the main processor 1006 .

In some embodiments, segment circuit 1000 includes motor segment 1002g (segment 7). Motor section 1002g includes a motor 1048 configured to control one or more movements of powered surgical instrument 2000 . Motor 1048 is coupled to main processor 1006 through H-bridge driver 1042 and one or more H-bridge field effect transistors (FETs) 1044 . H-bridge FET 1044 is coupled to security processor 1004 . A motor current sensor 1046 is coupled in series with the motor 1048 to measure the current draw of the motor 1048 . Motor current sensor 1046 is in signal communication with main processor 1006 and/or safety processor 1004 . In some embodiments, the motor 1048 is coupled to a motor electromagnetic interference (EMI) filter 1050 .

Segment circuit 1000 includes power segment 1002h (segment 8). The battery 1008 is coupled to the security processor 1004, the main processor 1006, and one or more of the additional circuit segments 1002c-1002g. Battery 1008 is coupled to segmented circuit 1000 through battery connector 1010 and current sensor 1012 . Current sensor 1012 is configured to measure the total current consumption of segment circuit 1000 . In some embodiments, one or more voltage converters 1014a, 1014b, 1016 are configured to provide a predetermined voltage value to one or more circuit segments 1002a-1002g. For example, in some embodiments, segment circuit 1000 may include 3.3V voltage converters 1014a - 1014b and/or 5V voltage converter 1016 . Boost converter 1018 is configured to provide a boosted voltage of up to a predetermined amount, such as up to 13V. Boost converter 1018 is configured to provide additional voltage and/or current during power intensive operation and to protect against brownout or low power conditions.

In some embodiments, the safety segment 1002a includes a motor power interrupt 1020 . Motor power interrupt 1020 is coupled between power section 1002h and motor section 1002g. Safety segment 1002a is configured to interrupt power to motor segment 1002g when safety processor 1004 and/or main processor 1006 detects an error or fault condition, as discussed in greater detail herein. Although circuit segments 1002a through 1002g are shown with all components in circuit segments 1002a through 1002h in close physical proximity, those skilled in the art will recognize that circuit segments 1002a through 1002h may include physically and/or electrically Other components that are separate from those of the same circuit segment 1002a to 1002g. In some embodiments, one or more components may be shared by two or more circuit segments 1002a-1002g.

In some embodiments, a plurality of switches 1056 - 1070 are coupled to security processor 1004 and/or main processor 1006 . Number of switches 1056 - 1070 may be configured to control one or more operations of surgical instrument 2000 , to control one or more operations of segment circuit 1100 , and/or to indicate a status of surgical instrument 2000 . For example, rescue door switch 1056 is configured to indicate the status of the rescue door. Multiple articulation switches such as left to left articulation switch 1058a, left to right articulation switch 1060a, left to center articulation switch 1062a, right to left articulation switch 1058b, right to right articulation switch 1060b and right central articulation switch 1062b) are configured to control the articulation of shaft 2004 and/or end effector 2006. The left diverter switch 1064a and the right diverter switch 1064b are coupled to the main processor 1006 . In some embodiments, the left side switches (including left to left articulation switch 1058a, left to right articulation switch 1060a, left to center articulation switch 1062a, and left reversing switch 1064a) Connector 1072a couples to main processor 1006 . The right side switches (including right left articulation switch 1058b, right right articulation switch 1060b, right center articulation switch 1062b, and right reversing switch 1064b) are coupled to the main Processor 1006. In some embodiments, the firing switch 1066 , grip release switch 1068 , and shaft engagement switch 1070 are coupled to the main processor 1006 .

Plurality of switches 1056-1070 may include, for example, a plurality of handle controls mounted to a handle of surgical instrument 2000, a plurality of indicator switches, and/or any combination thereof. In various embodiments, the plurality of switches 1056-1070 allow the surgeon to manipulate the surgical instrument, provide feedback to the segmented circuit 1000 regarding the position and/or operation of the surgical instrument, and/or indicate that the operation of the surgical instrument 2000 is unsafe. In some embodiments, additional switches or fewer switches may be coupled to segment circuit 1000, one or more of switches 1056-1070 may be combined into a single switch, and/or expanded into multiple switches. For example, in one embodiment, one or more of the left articulation switch and/or the right articulation switch 1058a-1064b may be combined into a single multi-position switch.

FIG. 5 shows a segment circuit 1100 that includes an embodiment of a security processor 1104 configured to implement watchdog functions and other security operations. The security processor 1004 and the main processor 1106 of the segmentation circuit 1100 are in signal communication. A plurality of circuit segments 1102c-1102h are coupled to main processor 1106 and are configured to control one or more operations of a surgical instrument, such as surgical instrument 2000 shown in FIGS. 1-3. For example, in the illustrated embodiment, segment circuit 1100 includes an acceleration segment 1102c, a display segment 1102d, a shaft segment 1102e, an encoder segment 1102f, a motor segment 1102g, and a power segment 1102h. Each of circuit segments 1102c - 1102g may be coupled to security processor 1104 and/or main processor 1106 . The main processor is also coupled to flash memory 1186 . A microprocessor live heartbeat signal is provided at output 1196 .

Acceleration section 1102c includes accelerometer 1122 configured to monitor movement of surgical instrument 2000 . In various implementations, the accelerometer 1122 may be a single-axis, dual-axis, or triple-axis accelerometer. Accelerometer 1122 may be used to measure appropriate acceleration, which is not necessarily coordinate acceleration (rate of change in velocity). Instead, the accelerometers observe accelerations associated with gravimetric phenomena experienced by the test mass when the frame of reference of the accelerometer 1122 is at rest. For example, due to its weight, the accelerometer 1122 will measure a vertical upward (gravitational) acceleration g of 9.8 m/s ² when at rest on the surface of the earth. Another type of acceleration that accelerometer 1122 can measure is the acceleration of gravity. In various other implementations, the accelerometer 1122 can include a single-axis, dual-axis, or triple-axis accelerometer. Additionally, the acceleration segment 1102c may include one or more inertial sensors to detect and measure acceleration, tilt, shock, vibration, rotation, and multiple degrees of freedom (DoF). Suitable inertial sensors may include accelerometers (single, dual or triaxial), magnetometers for measuring magnetic fields in space (such as the Earth's magnetic field), and/or gyroscopes for measuring angular velocity.

Display segment 1102d includes a display embedded in surgical instrument 2000, such as an OLED display. In certain embodiments, surgical instrument 2000 can include an output device, which can include one or more devices for providing sensory feedback to a user. Such devices may include, for example, visual feedback devices (eg, LCD displays, LED indicators), auditory feedback devices (eg, speakers, buzzers), or tactile feedback devices (eg, tactile actuators). In some aspects, the output device can include a display, which can be included in the handle assembly 2002, as shown in FIG. 1 . The shaft assembly controller and/or power management controller may provide feedback to a user of surgical instrument 2000 via an output device. The interface may be configured to connect the shaft assembly controller and/or the power management controller to the output device.

The shaft section 1102e includes a shaft circuit board 1131 (such as a shaft PCB) configured to control the shaft 2004 and/or the end effector 2006 coupled to the shaft 2004 and a Hall effect switch 1170 for indicating that the shaft is engaged one or more operations. The shaft circuit board 1131 also includes a low power microprocessor 1190 with ferroelectric random access memory (FRAM) technology, a mechanical articulation switch 1192 , a shaft release Hall effect switch 1194 and flash memory 1134 . Encoder section 1102f includes a plurality of motor encoders 1140a, 1140b configured to provide rotational position information of motor 1048, shaft 2004, and/or end effector 2006.

The motor section 1102g includes a motor 1048, such as a brushed DC motor. Motors 1048 are coupled to main processor 1106 through H-bridge drivers 1142 and a motor controller 1143 . The motor controller 1143 controls the first motor flag 1174a and the second motor flag 1174b to indicate the state and position of the motor 1048 to the main processor 1106 . Main processor 1106 provides pulse width modulation (PWM) high signal 1176 a , PWM low signal 1176 b , direction signal 1178 , sync signal 1180 and motor reset signal 1182 to motor controller 1143 through buffer 1184 . Power segment 1102h is configured to provide a segment voltage to each of circuit segments 1102a-1102g.

In one embodiment, security processor 1104 is configured to implement a watchdog function for one or more circuit segments 1102c-1102h, such as motor segment 1102g. In this regard, the security processor 1104 employs a watchdog function to detect and recover from failure of the main processor 1006 . During normal operation, security processor 1104 monitors main processor 1104 for hardware failures or programming errors and initiates one or more corrective actions. Corrective action may include placing main processor 10006 in a safe state and restoring normal system operation. In one embodiment, the security processor 1104 is coupled to at least the first sensor. A first sensor measures a first property of surgical instrument 2000 . In some embodiments, safety processor 1104 is configured to compare the measured property of surgical instrument 2000 to a predetermined value. For example, in one embodiment, motor sensor 1140a is coupled to security processor 1104 . Motor sensor 1140a provides motor speed and position information to security processor 1104 . Safety processor 1104 monitors motor sensor 1140a and compares the value to a maximum speed and/or position value, and prevents operation of motor 1048 when the value is above a predetermined value. In some embodiments, the predetermined value is calculated based on a real-time speed and/or position calculation of the motor 1048, a value provided by a second motor sensor 1140b in communication with the main processor 1106, and/or from, for example, a signal coupled to a safety processor. The memory module of 1104 is provided to the security processor 1104 .

In some implementations, the second sensor is coupled to the main processor 1106 . The second sensor is configured to measure the first physical property. Security processor 1104 and main processor 1106 are configured to provide signals representative of the value of the first sensor and the value of the second sensor, respectively. Segmentation circuit 1100 prevents operation of at least one of circuit segments 1102c-1102h, such as motor segment 1102g, when either security processor 1104 or main processor 1106 indicates that the value is outside an acceptable range. For example, in the embodiment shown in FIG. 5, the safety processor 1104 is coupled to a first motor position sensor 1140a, and the main processor 1106 is coupled to a second motor position sensor 1140b. The motor position sensors 1140a, 1140b may include any suitable motor position sensors, such as a magnetic angular rotation input including sine and cosine outputs. Motor position sensors 1140a, 1140b provide signals indicative of the position of motor 1048 to safety processor 1104 and main processor 1106, respectively.

The safety processor 1104 and the main processor 1106 generate an activation signal when both the value of the first motor sensor 1140a and the value of the second motor sensor 1140b are within a predetermined range. Should the main processor 1106 or the safety processor 1104 detect a value outside a predetermined range, the enable signal is terminated, interrupting and/or preventing operation of at least one of the circuit segments 1102c-1102h, such as the motor segment 1102g. For example, in some embodiments, the enable signal from the main processor 1106 and the enable signal from the security processor 1104 are coupled to the AND gate. The AND gate is coupled to the motor power switch 1120 . The AND gate holds the motor power switch 1120 closed or Disconnect position. When either of the motor sensors 1140a, 1140b detects a value outside a predetermined range, the enable signal from the motor sensors 1140a, 1140b is set low and the output of the AND gate is also set low, thereby The motor power switch 1120 is turned on. In some embodiments, the value of the first sensor 1140a is compared to the value of the second sensor 1140b, such as by comparing the security processor 1104 and/or the main processor 1106 . If the value of the first sensor differs from the value of the second sensor, the safety processor 1104 and/or the main processor 1106 may prevent operation of the motor segment 1102g.

In some embodiments, the security processor 1104 receives a signal indicative of the value of the second sensor 1140b and compares the value of the second sensor with the value of the first sensor. For example, in one embodiment, safety processor 1104 is directly coupled to first motor sensor 1140a. The second motor sensor 1140b is coupled to the main processor 1106 which provides the value of the second motor sensor 1140b to the safety processor 1104 and/or is directly coupled to the safety processor 1104 . The security processor 1104 compares the value of the first motor sensor 1140 with the value of the second motor sensor 1140b. When the safety processor 1104 detects a mismatch between the first motor sensor 1140a and the second motor sensor 1140b, the safety processor 1104 may interrupt operation of the motor segment 1102g, such as by cutting power to the motor segment 1102g.

In some embodiments, the security processor 1104 and/or the main processor 1106 are coupled to a first sensor 1140a configured to measure a first property of the surgical instrument and a second sensor 1140b configured to measure a second property of the surgical instrument . The first property and the second property comprise predetermined relationships during normal operation of the surgical instrument. Security processor 1104 monitors the first property and the second property. A fault occurs when it is detected that the value of the first property and/or the value of the second property is inconsistent with a predetermined relationship. In the event of a fault, safety processor 1104 takes at least one action, such as preventing operation of at least one circuit segment, performing a predetermined operation, and/or resetting main processor 1106 . For example, safety processor 1104 may open motor power switch 1120 to cut off power to motor circuit segment 1102g when a fault is detected.

FIG. 6 shows a block diagram of one embodiment of a segmented circuit 1200 that includes a first property and a second property configured to monitor a surgical instrument, such as surgical instrument 2000 shown in FIGS. 1-3 , and A security processor 1204 capable of comparing these two properties. Security processor 1204 is coupled to first sensor 1246 and second sensor 1266 . First sensor 1246 is configured to monitor a first physical property of surgical instrument 2000 . Second sensor 1266 is configured to monitor a second physical property of surgical instrument 2000 . The first property and the second property comprise a predetermined relationship during normal operation of surgical instrument 2000 . For example, in one embodiment, the first sensor 1246 includes a motor current sensor configured to monitor the current drawn by the motor from the power source. The current drawn by the motor may indicate the speed of the motor. The second sensor includes a linear Hall sensor configured to monitor the position of the cutting member within an end effector (eg, end effector 2006 coupled to surgical instrument 2000 ). The position of the cutting member is used to calculate the cutting member velocity within the end effector 2006 . During normal operation of surgical instrument 2000, cutting member speed has a predetermined relationship to motor speed.

The security processor 1204 provides a signal to the main processor 1206 indicating that the values produced by the first sensor 1246 and the second sensor 1266 are consistent with the predetermined relationship. When the safety processor 1204 detects that the values of the first sensor 1246 and/or the second sensor 1266 are inconsistent with a predetermined relationship, the main processor 1206 indicates to the main processor 1206 an unsafe condition. Main processor 1206 interrupts and/or prevents operation of at least one circuit segment. In some embodiments, security processor 1204 is directly coupled to a switch configured to control operation of one or more circuit segments. For example, referring to FIG. 5 , in one embodiment, safety processor 1104 is directly coupled to motor power switch 1120 . Safety processor 1104 opens motor power switch 1120 to prevent operation of motor section 1102g when a fault is detected.

Referring back to FIG. 5, in one embodiment, the security processor 1104 is configured to execute a separate control algorithm. In operation, security processor 1104 monitors segment circuit 1100 and is configured to independently control and/or override signals from other circuit components, such as main processor 1106 . Safety processor 1104 may execute pre-programmed algorithms and/or may be updated or programmed online based on one or more motions and/or positions of surgical instrument 2000 during operation. For example, in one embodiment, safety processor 1104 is reprogrammed with new parameters and/or safety algorithms each time a new shaft and/or end effector is coupled to surgical instrument 2000 . In some embodiments, the one or more secure values stored by secure processor 1104 are replicated by host processor 1106 . Bidirectional error detection is performed to ensure that the values and/or parameters stored by the processor 1104 or 1106 are correct.

In some embodiments, security processor 1104 and main processor 1106 implement redundant security checks. Security processor 1104 and main processor 1106 provide periodic signals indicating normal operation. For example, during operation, the secure processor 1104 may indicate to the main processor 1106 that the secure processor 1104 is executing code and is operating normally. The main processor 1106 may also indicate to the security processor 1104 that the main processor 1106 is executing code and is operating normally. In some embodiments, the security processor 1104 and the main processor 1106 communicate at predetermined intervals. The predetermined interval may be constant, or may vary depending on circuit conditions and/or operation of surgical instrument 2000 .

FIG. 7 is a block diagram illustrating a security process 1250 configured to be implemented by a security processor, such as security processor 1104 shown in FIG. 5 . In one embodiment, values corresponding to various properties of surgical instrument 2000 are provided to security processor 1104 . The various properties are monitored by a plurality of independent sensors and/or systems. For example, in the illustrated embodiment, measured cutting member speed 1252 , suggested motor speed 1254 , and expected direction of motor signal 1256 are provided to safety processor 1104 . Cutting member speed 1252 and suggested motor speed 1254 may each be provided by separate sensors, such as linear Hall sensors and current sensors. The expected direction of the motor signal 1256 may be provided by a host processor (eg, host processor 1106 shown in FIG. 5 ). The security processor 1104 compares 1258 the properties and determines when the properties are consistent with a predetermined relationship. If the values of the plurality of properties are consistent with the predetermined relationship 1260a, no action 1262 is taken. And if the values of the plurality of properties are inconsistent with the predetermined relationship 1260b, the security processor 1104 performs one or more actions, such as blocking a function, performing a function, and/or resetting the processor. For example, in process 1250 shown in FIG. 7 , safety processor 1104 interrupts operation of one or more circuit segments, such as by interrupting power 1264 to a motor segment.

Referring back to FIG. 5 , segment circuit 1100 includes a plurality of switches 1156 - 1170 configured to control one or more operations of surgical instrument 2000 . For example, in the illustrated embodiment, staging circuit 1100 includes grip release switch 1168, firing trigger 1166, and a plurality of switches 1158a through 1164b configured to control shaft 2004 and/or couple to surgical Articulation of end effector 2006 of instrument 2000 . Grip release switch 1168, firing trigger 1166, and plurality of articulation switches 1158a-1164b may comprise analog switches and/or digital switches. In particular, switch 1156 indicates mechanical switch lift position, switches 1158a, 1158b indicate left articulation (1) and (2), switches 1160a, 1160b indicate right articulation (1) and (2), and switches 1162a, 1162b indicate Center articulation (1) and (2) and switches 1164a, 1164b indicate left and right commutation.

For example, FIG. 8 illustrates one embodiment of a switch bank 1300 that includes a plurality of switches SW1 through SW16 configured to control one or more operations of a surgical instrument. Switch bank 1300 may be coupled to a host processor (such as host processor 1106). In some implementations, one or more diodes D1-D8 are coupled to a plurality of switches SW1-SW16. Any suitable mechanical, electromechanical or solid state switches may be combined in any combination to implement the plurality of switches 1156-1170. For example, switches 1156-1170 may be limit switches that are operated by the motion of components associated with surgical instrument 2000 or by the presence of an object. Such switches may be used to control various functions associated with surgical instrument 2000 . A limit switch is an electromechanical device consisting of an actuator mechanically connected to a set of contacts. When something comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments due to their durability, ease of installation and reliable operation. Limit switches determine if an object is present, is passing, is being positioned, and the object's travel has ended. In other implementations, the switches 1156-1170 may be solid state switches that operate under the influence of a magnetic field, such as Hall effect devices, magnetoresistance (MR) devices, giant magnetoresistance (GMR) devices, magnetometers, and others. In other implementations, the switches 1156-1170 can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, and others. Likewise, switches 1156-1170 may be solid state devices such as transistors (eg, FETs, junction FETs, metal oxide semiconductor FETs (MOSFETs), bipolar transistors, etc.). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertial sensors, and others.

Figure 9 shows one embodiment of a switch bank 1350 comprising a plurality of switches. In various embodiments, one or more switches are configured to control one or more operations of a surgical instrument, such as surgical instrument 2000 shown in FIGS. 1-3 . A plurality of articulation switches SW1 - SW16 are configured to control the articulation of shaft 2004 and/or end effector 2006 coupled to surgical instrument 2000 . Firing trigger 1366 is configured to fire surgical instrument 2000 , for example, to deploy a plurality of staples, translate a cutting member within end effector 2006 , and/or deliver electrosurgical energy to end effector 2006 . In some embodiments, switch assembly 1350 includes one or more safety switches configured to prevent operation of surgical instrument 2000 . For example, rescue switch 1356 is coupled to the rescue door and prevents operation of surgical instrument 2000 when the rescue door is in the open position.

FIG. 10 shows one embodiment of a segment circuit 1400 that includes a switch bank 1450 coupled to the main processor 1406 . Switch set 1450 is similar to switch set 1350 shown in FIG. 9 . Switch bank 1450 includes a plurality of switches SW1 through SW16 configured to control one or more operations of a surgical instrument, such as surgical instrument 2000 shown in FIGS. 1-3 . Switch bank 1450 is coupled to an analog input of main processor 1406 . Each switch within the switch bank 1450 is further coupled to an input/output expander 1463 , which is coupled to a digital input of the main processor 1406 . Main processor 1406 receives input from switch bank 1450 and controls one or more additional sections of segment circuit 1400 (such as motor section 1402g ) in response to operation of one or more switches in switch bank 1450 .

In some embodiments, a potentiometer 1469 is coupled to the main processor 1406 to provide a signal indicative of the grip position of the end effector 2006 coupled to the surgical instrument 2000 . Potentiometer 1469 may replace and/or supplement a safety processor (not shown) by providing a signal indicative of clamp open/closed position, which main processor 1106 uses to control one or more circuit segments (such as motor segment 1102g) operation. For example, when potentiometer 1469 indicates that the end effector is in a fully clamped position and/or a fully open position, main processor 1406 may open motor power switch 1420 and prevent further operation of motor segment 1402g in a particular direction. In some embodiments, the main processor 1406 controls the current delivered to the motor segment 1402g in response to a signal received from the potentiometer 1469 . For example, the main processor 1406 may limit the amount of energy that can be delivered to the motor segment 1402g when the potentiometer 1469 indicates that the end effector is closed beyond a predetermined position.

Referring back to FIG. 5 , segment circuit 1100 includes acceleration segment 1102c. The acceleration segment includes an accelerometer 1122 . Accelerometer 1122 may be coupled to security processor 1104 and/or main processor 1106 . Accelerometer 1122 is configured to monitor movement of surgical instrument 2000 . Accelerometer 1122 is configured to generate one or more signals indicative of motion in one or more directions. For example, in some embodiments, accelerometer 1122 is configured to monitor movement of surgical instrument 2000 in three directions. In other embodiments, the acceleration segment 1102c includes a plurality of accelerometers 1122, each configured to monitor motion in a signal direction.

In some embodiments, accelerometer 1122 is configured to induce transitions to and/or from sleep mode to other modes, eg, transitioning from between sleep mode and wake mode to sleep mode and vice versa. A sleep mode may include a low power mode in which one or more of circuit segments 1102a-1102g are disabled or placed in a low power state. For example, in one embodiment, accelerometer 1122 remains active in sleep mode and secure processor 1104 is placed into a low power mode in which secure processor 1104 monitors accelerometer 1122 but does not perform any functions . The remaining circuit segments 1102b through 1102g are in a power off state. In various embodiments, the main processor 1104 and/or the security processor 1106 are configured to monitor the accelerometer 1122 and transition the segment circuit 1100 to a sleep mode, e.g., if no motion is detected for a predetermined period of time in the case of. Although the sleep mode/wake mode is described above in connection with the safety processor 1104 monitoring the accelerometer 1122, the sleep mode/wake mode may have the safety processor 1104 monitor a sensor, switch, or other indication associated with the surgical instrument 2000 as described herein. Any one of the devices can be implemented. For example, safety processor 1104 may monitor inertial sensors, or one or more switches.

In some embodiments, segment circuit 1100 transitions to sleep mode after a predetermined period of inactivity. The timer is in signal communication with the security processor 1104 and/or the main processor 1106 . The timer may be integral with the security processor 1104, the main processor 1106, and/or may be a separate circuit component. The timer is configured to monitor the period of time since accelerometer 1122 detected the last movement of surgical instrument 2000 to the present moment. When the counter exceeds a predetermined threshold, security processor 1104 and/or main processor 1106 transitions segmentation circuit 1100 to a sleep mode. In some implementations, the timer is reset each time the accelerometer 1122 detects motion.

In some embodiments, all circuit segments other than the accelerometer 1122, or other designated sensors and/or switches, and the security processor 1104 are disabled in sleep mode. Security processor 1104 monitors accelerometer 1122, or other designated sensors and/or switches. When accelerometer 1122 indicates movement of surgical instrument 2000, safety processor 1104 initiates a transition from sleep mode to operational mode. In the operational mode, all circuit segments 1102a through 1102h are fully energized and surgical instrument 2000 is ready for use. In some embodiments, the security processor 1104 transitions the main processor 1106 from sleep mode to full power mode by providing a signal to the main processor 1106 to transition the segmentation circuit 1100 to an operational mode. The main processor 1106 then transitions each of the remaining circuit segments 1102d through 1102h to an operational mode.

Transitioning to and/or from a sleep mode to other modes may include multiple stages. For example, in one embodiment, segment circuit 1100 transitions from operational mode to sleep mode in four stages. The first stage is initiated after the accelerometer 1122 detects no motion of the surgical instrument for a first predetermined period of time. After the first predetermined period of time, segment circuit 1100 dims the brightness of the backlight of display segment 1102d. If no motion is detected for a second predetermined period of time, the security processor 1104 transitions to a second stage in which the backlight of the display segment 1102d is turned off. If no motion is detected for a third predetermined period of time, the security processor 1104 transitions to a third stage in which the polling rate of the accelerometer 1122 is reduced. If no motion is detected for a fourth predetermined period of time, the display segment 1102d is deactivated and the segment circuit 1100 enters a sleep mode. In sleep mode, all circuit segments except the accelerometer 1122 and the security processor 1104 are disabled. The security processor 1104 enters a low power mode in which the security processor 1104 only polls the accelerometer 1122 . Security processor 1104 monitors accelerometer 1122 until accelerometer 1122 detects motion, at which point security processor 1104 transitions segment circuit 1100 from sleep mode to operational mode.

In some embodiments, the safety processor 1104 transitions the segmentation circuit 1100 to the operational mode only if the accelerometer 1122 detects that the motion of the surgical instrument 2000 exceeds a predetermined threshold. Since the safety processor 1104 only responds to motion that exceeds a predetermined threshold, the safety processor prevents the segment circuit 1100 from inadvertently transitioning to operating mode. In some embodiments, accelerometer 1122 is configured to monitor motion in multiple directions. For example, accelerometer 1122 may be configured to detect motion in a first direction and a second direction. Security processor 1104 monitors accelerometer 1122 and transitions segment circuit 1100 from sleep mode to operational mode when motion is detected exceeding a predetermined threshold in both a first direction and a second direction. Since motion is required to exceed a predetermined threshold in at least two directions, security processor 1104 is configured to prevent accidental transition of segmentation circuit 1100 from sleep mode to another mode due to incidental motion during storage.

In some embodiments, accelerometer 1122 is configured to detect motion in a first direction, a second direction, and a third direction. The security processor 1104 monitors the accelerometer 1122 and is configured to transition the segment circuit 1100 from the sleep mode to the other mode only if the accelerometer 1122 detects oscillatory motion in all of the first, second, and third directions . In some embodiments, the oscillatory motions in the first, second, and third directions respectively correspond to motions made by the operator on the surgical instrument 2000, so that when the accelerometer 1122 detects oscillatory motion in the three directions, A transition to an operational mode is desired.

In some embodiments, as the time since last detected motion increases, the predetermined threshold of motion required to transition segment circuit 1100 from sleep mode also increases. For example, in some embodiments, the timer continues to run during sleep mode. As the timer counts up, the security processor 1104 increases the predetermined threshold of motion required to transition the segmentation circuit 1100 to the operational mode. Security processor 1104 may increase the predetermined threshold to an upper limit. For example, in some embodiments, security processor 1104 transitions segmentation circuit 1100 to sleep mode and resets a timer. The predetermined threshold of motion is initially set to a low value requiring only minor motion of the surgical instrument 2000 to transition the segmentation circuit 1100 from sleep mode. The security processor 1104 increases the predetermined threshold of motion as the time from the transition to sleep mode (as measured by the timer) increases. At time T, the security processor 1104 has increased the predetermined threshold to an upper limit. For all times after T, the predetermined threshold remains at a constant upper value.

In some embodiments, one or more additional and/or alternative sensors are used to transition segment circuit 1100 between sleep mode and operational mode. For example, in one embodiment, touch sensors are located on surgical instrument 2000 . The touch sensor is coupled to security processor 1104 and/or main processor 1106 . The touch sensor is configured to detect user contact with surgical instrument 2000 . For example, the touch sensor may be located on the handle of the surgical instrument 2000 to detect when the surgical instrument 2000 is picked up by the operator. In the event that a predetermined period has elapsed without accelerometer 1122 detecting motion, security processor 1104 transitions segment circuit 1100 to a sleep mode. Safety processor 1104 monitors the touch sensor and transitions segment circuit 1100 to an operational mode when the touch sensor detects user contact with surgical instrument 2000 . Touch sensors may include, for example, capacitive touch sensors, temperature sensors, and/or any other suitable touch sensors. In some implementations, the touch sensor and accelerometer 1122 can be used to transition the device between sleep and operational modes. For example, the safety processor 1104 may only transition the device to a sleep mode when the accelerometer 1122 detects no motion within a predetermined threshold period and the touch sensors do not indicate user contact with the surgical instrument 2000 . Those skilled in the art will recognize that one or more additional sensors may be used to transition the segment circuit 1100 between the sleep mode and the operational mode. In some implementations, the touch sensors are only monitored by the security processor 1104 when the segment circuit 1100 is in sleep mode.

In some embodiments, safety processor 1104 is configured to transition segmental circuit 1100 from a sleep mode to an operational mode when one or more handle controls are actuated. After transitioning to sleep mode, e.g., because accelerometer 1122 has not detected motion for a predetermined period, security processor 1104 monitors one or more handle controls, e.g., plurality of articulation switches 1158a to 1164b. In other embodiments, the one or more handle controls include, for example, grip control 1166, release button 1168, and/or any other suitable handle control. An operator of surgical instrument 2000 may actuate one or more handle controls, thereby transitioning segmented circuit 1100 to an operational mode. When the safety processor 1104 detects actuation of the handle control, the safety processor 1104 causes the segment circuit 1100 to initiate a transition to the operational mode. Since the main processor 1106 is inactive when the handle control is actuated, the operator can actuate the handle control without causing corresponding motion of the surgical instrument 2000 .

FIG. 16 illustrates one embodiment of a segmented circuit 1900 that includes an accelerometer 1922 configured to monitor motion of a surgical instrument (eg, surgical instrument 2000 shown in FIGS. 1-3 ). Power section 1902 provides power from battery 1908 to one or more circuit sections, eg, accelerometer 1922 . Accelerometer 1922 is coupled to processor 1906 . Accelerometer 1922 is configured to monitor movement of surgical instrument 2000 . Accelerometer 1922 is configured to generate one or more signals indicative of motion in one or more directions. For example, in some embodiments, accelerometer 1922 is configured to monitor movement of surgical instrument 2000 in three directions.

In some cases, processor 1906 may be, for example, an LM 4F230H5QR, commercially available from Texas Instruments. Processor 1906 is configured to monitor accelerometer 1922 and transition segment circuit 1900 to sleep mode, eg, when no motion is detected for a predetermined period of time. In some implementations, segment circuit 1900 transitions to sleep mode after a predetermined period of inactivity. For example, the security processor 1904 transitions the segmentation circuit 1900 to a sleep mode in the event that a predetermined period has elapsed without the accelerometer 1922 detecting motion. In some cases, accelerometer 1922 may be, for example, a LIS331DLM, commercially available from STMicroelectronics. A timer is in signal communication with processor 1906 . The timer may be integral with the processor 1906 and/or may be a separate circuit component. The timer is configured to count the time since accelerometer 1922 detected the last movement of surgical instrument 2000 to the present moment. When the counter exceeds a predetermined threshold, processor 1906 transitions segmentation circuit 1900 to a sleep mode. In some implementations, the timer is reset each time the accelerometer 1922 detects motion.

In some embodiments, accelerometer 1922 is configured to detect impact events. For example, when surgical instrument 2000 is dropped, accelerometer 1922 will detect acceleration in a first direction due to gravity, and then detect a change in acceleration in a second direction (due to impact with the floor and/or other surface). As another example, when surgical instrument 2000 hits a wall, accelerometer 1922 will detect acceleration peaks in one or more directions. Processor 1906 may prevent operation of surgical instrument 2000 when accelerometer 1922 detects an impact event, since an impact event may loosen mechanical and/or electrical components. In some embodiments, operation of the surgical instrument is prevented only when the impact is above a predetermined threshold. In some embodiments, all impacts are monitored, and operation of surgical instrument 2000 may be prevented when cumulative impacts are above a predetermined threshold.

Referring again to FIG. 5, in one embodiment, the segment circuit 1100 includes a power segment 1102h. Power segment 1102h is configured to provide a segment voltage to each of circuit segments 1102a-1102g. The power section 1102h includes a battery 1108 . The battery 1108 is configured to provide a predetermined voltage, for example, 12 volts via the battery connector 1110 . One or more power converters 1114a, 1114b, 1116 are coupled to battery 1108 to provide a specific voltage. For example, in the illustrated embodiment, power stage 1102h includes auxiliary switching converter 1114a , switching converter 1114b , and low dropout (LDO) converter 1116 . Switching converters 1114a, 1114b are configured to provide 3.3 volts to one or more circuit components. LOD converter 1116 is configured to provide 5.0 volts to one or more circuit components. In some embodiments, the power stage 1102h includes a boost converter 1118 . Transistor switches (eg, N-channel MOSFETs) 1115 are coupled to power converters 1114b, 1116. Boost converter 1118 is configured to provide a boosted voltage greater than the voltage provided by battery 1108 (eg, 13 volts). Boost converter 1118 may include, for example, a capacitor, an inductor, a battery, a rechargeable battery, and/or any other suitable converter for providing a boosted voltage. Boost converter 1118 provides a boosted voltage to prevent brownout or low power conditions on one or more circuit segments 1102a - 1102g during power intensive operation of surgical instrument 2000 . However, these embodiments are not limited to the voltage ranges described in the context of this specification.

In some embodiments, segment circuit 1100 is configured for sequential activation. Error checking is performed by each circuit segment 1102a-1102g before powering on the next sequential circuit segment 1102a-1102g. FIG. 11 illustrates one embodiment of a process for sequentially energizing a segment circuit 1270 , such as segment circuit 1100 . When battery 1108 is coupled to segment circuit 1100, security processor 1104 is powered (step 1272). Security processor 1104 performs an error self-check (step 1274). When an error is detected (step 1276a), the security processor stops powering the segment circuit 1100 and generates an error code (step 1278a). When no errors are detected (step 1276b), the security processor 1104 begins powering up the main processor 1106 (step 1278b). The main processor 1106 performs error self-tests. When no errors are detected, the main processor 1106 begins sequentially powering on each remaining circuit segment (step 1278b). Each circuit segment is powered and error checked by the main processor 1106 . When no errors are detected, power is applied to the next circuit segment (step 1278b). When an error is detected, the security processor 1104 and/or the main processor stops energizing the current segment and generates an error code (step 1278a). Startup continues sequentially until circuit segments 1102a through 1102g have all been energized. In some embodiments, segment circuit 1100 transitions from sleep mode following a similar sequential power-on flow 1250 .

FIG. 12 shows one embodiment of a power section 1502 that includes a plurality of daisy-chained power converters 1514 , 1516 , 1518 . Power section 1502 includes battery 1508 . The battery 1508 is configured to provide a source voltage, such as a voltage of 12V. A current sensor 1512 is coupled to the battery 1508 to monitor the current draw of a segment circuit and/or one or more circuit segments. Current sensor 1512 is coupled to FET switch 1513 . The battery 1508 is coupled to one or more voltage converters 1509 , 1514 , 1516 . Always-on converter 1509 provides a constant voltage to one or more circuit components, such as motion sensor 1522 . Always-on converters 1509 include, for example, 3.3V converters. Always-on converter 1509 may provide a constant voltage to additional circuit components, such as a security processor (not shown). Battery 1508 is coupled to boost converter 1518 . Boost converter 1518 is configured to provide a boosted voltage that is greater than the voltage provided by battery 1508 . For example, in the illustrated embodiment, battery 1508 provides a voltage of 12V. Boost converter 1518 is configured to boost this voltage to 13V. Boost converter 1518 is configured to maintain a minimum voltage during operation of a surgical instrument (eg, surgical instrument 2000 shown in FIGS. 1-3 ). Operation of the motor may cause the power supplied to the main processor 1506 to drop below a minimum threshold and create a voltage drop or reset condition in the main processor 1506 . Boost converter 1518 ensures that sufficient power is available for main processor 1506 and/or other circuit components, such as motor controller 1543 , during operation of surgical instrument 2000 . In some embodiments, boost converter 1518 is directly coupled to one or more circuit components, eg, OLED display 1588 .

Boost converter 1518 is coupled to one or more buck converters to provide a voltage below the boosted voltage level. The first voltage converter 1516 is coupled to the boost converter 1518 and provides a reduced voltage to one or more circuit components. In the illustrated embodiment, the first voltage converter 1516 provides a voltage of 5V. The first voltage converter 1516 is coupled to a rotary position encoder 1540 . FET switch 1517 is coupled between first voltage converter 1516 and rotary position encoder 1540 . FET switch 1517 is controlled by processor 1506 . Processor 1506 turns off FET switch 1517, thereby disabling position encoder 1540, eg, during power intensive operation. The first voltage converter 1516 is coupled to the second voltage converter 1514 configured to provide a second reduced voltage. The second reduced voltage includes, for example, a voltage of 3.3V. Second voltage converter 1514 is coupled to processor 1506 . In some implementations, boost converter 1518, first voltage converter 1516, and second voltage converter 1514 are coupled in a daisy-chain configuration. The daisy-chain configuration allows the use of smaller and more efficient converters to generate lower voltage levels than the aforementioned boosted voltage levels. However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

FIG. 13 illustrates one embodiment of a segment circuit 1600 configured to maximize the power available for circuits and/or power intensive functions. Segment circuit 1600 includes battery 1608 . The battery 1608 is configured to provide a source voltage, for example a voltage of 12V. The source voltage is provided to a plurality of voltage converters 1609,1618. Always-on voltage converter 1609 provides a constant voltage to one or more circuit components, eg, motion sensor 1622 and security processor 1604 . The always-on voltage converter 1609 is directly coupled to the battery 1608 . An always-on voltage converter 1609 provides a voltage of, for example, 3.3V. However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

Segmentation circuit 1600 includes boost converter 1618 . Boost converter 1618 provides a boosted voltage greater than the source voltage provided by battery 1608 (eg, 13V). Boost converter 1618 provides a boosted voltage directly to one or more circuit components, eg, OLED display 1688 and motor controller 1643 . By coupling OLED display 1688 directly to boost converter 1618 , segment circuit 1600 eliminates the need for a dedicated power converter for OLED display 1688 . Boost converter 1618 provides a boosted voltage to motor controller 1643 and motor 1648 during one or more power intensive operations of motor 1648 , such as cutting operations. Boost converter 1618 is coupled to buck converter 1616 . Buck converter 1616 is configured to provide a voltage lower than the boosted voltage (eg, 5V) to one or more circuit components. Buck converter 1616 is coupled to, for example, FET switch 1651 and position encoder 1640 . FET switch 1651 is coupled to main processor 1606 . The main processor 1606 turns off the FET switch 1651 when the segment circuit 1600 transitions to sleep mode, and/or during power intensive functions that require delivering additional voltage to the motor 1648 . Opening FET switch 1651 disables position encoder 1640 and eliminates power consumption by position encoder 1640 . However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

Buck converter 1616 is coupled to linear converter 1614 . The linear converter 1614 is configured to provide a voltage of, for example, 3.3V. Linear converter 1614 is coupled to main processor 1606 . The linear converter 1614 provides an operating voltage to the main processor 1606 . Linear converter 1614 may be coupled to one or more additional circuit components. However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

Segment circuit 1600 includes rescue switch 1656 . The rescue switch 1656 is coupled to the rescue door of the surgical instrument 2000 . Salvage switch 1656 and safety processor 1604 are coupled to AND gate 1619 . AND gate 1619 provides input to FET switch 1613 . When the salvage switch 1656 detects a reduced voltage condition, the salvage switch 1656 provides a salvage close signal to the AND gate 1619 . Safety processor 1604 provides a shutdown signal to AND gate 1619 when safety processor 1604 detects an unsafe condition, eg, due to sensor mismatch. In some embodiments, both the salvage shutdown signal and the shutdown signal are high during normal operation and are low when a brownout or unsafe condition is detected. When the output of AND gate 1619 is low, FET switch 1613 is open and operation of motor 1648 is prevented. In some embodiments, the shutdown signal is used by the safety processor 1604 to transition the motor 1648 to an off state in sleep mode. A third input is provided to FET switch 1613 by current sensor 1612 coupled to battery 1608 . The current sensor 1612 monitors the current drawn by the circuit 1600, and when a current greater than a predetermined threshold is detected, opens the FET switch 1613 thereby turning off power to the motor 1648. FET switch 1613 and motor controller 1643 are coupled to a set of FET switches 1645 configured to control operation of motor 1648 .

Motor current sensor 1646 is coupled in series with motor 1648 to provide motor current sensor readings to current monitor 1647 . A current monitor 1647 is coupled to the main processor 1606 . Current monitor 1647 provides a signal indicative of motor 1648 current draw. The main processor 1606 can use the signal from the motor current 1647 to control the operation of the motor, for example, to ensure that the current draw of the motor 1648 is within an acceptable range, to link the current draw of the motor 1648 to the circuit 1600 (e.g., position encoding 1640) and/or used to determine one or more parameters of the treatment site. In some implementations, a current monitor 1647 may be coupled to the security processor 1604 .

In some embodiments, actuation of one or more handle controls, such as a firing trigger, causes main processor 1606 to reduce power to one or more components when the handle control is actuated. For example, in one embodiment, a firing trigger controls the firing stroke of the cutting member. The cutting member is driven by a motor 1648. Actuation of the firing trigger causes forward operation of the motor 1648 and advancement of the cutting member. During firing, main processor 1606 closes FET switch 1651 , removing power from position encoder 1640 . Disabling one or more circuit components allows higher power to be delivered to the motor 1648 . When the firing trigger is released, full power is restored to the deactivated components, eg, by closing FET switch 1651 and deactivating position encoder 1640 .

In some embodiments, security processor 1604 controls the operation of segmentation circuit 1600 . For example, security processor 1604 may initiate a sequential power-on of segmented circuitry 1600 , transition segmented circuitry 1600 to and from sleep mode, and/or may override one or more control signals from main processor 1606 . For example, in the illustrated embodiment, security processor 1604 is coupled to buck converter 1616 . Security processor 1604 controls the operation of segment circuit 1600 by enabling or disabling buck converter 1616 to provide power to the remainder of segment circuit 1600 .

FIG. 14 illustrates one embodiment of a power system 1700 comprising a plurality of daisy-chained power converters 1714, 1716, 1718 configured to be energized sequentially; a plurality of daisy-chained power converters 1714, 1716, 1718 may be enabled sequentially by, for example, a security processor during initial power-on and/or transition from sleep mode. The security processor may be powered by a separate power converter (not shown). For example, in one embodiment, when the battery voltage V _BATT is coupled to the power system 1700 and/or the accelerometer detects motion in sleep mode, the safety processor initiates a sequential start-up of the daisy-chained power converters 1714, 1716, 1718 . The security processor enables the 13V boost stage 1718 . The boost stage 1718 is powered on and performs a self-test. In some embodiments, the boost stage 1718 includes an integrated circuit 1720 configured to boost the source voltage and perform self-tests. Diode D prevents 5V supply stage 1716 from energizing until boost stage 1718 has completed its self-tests and provided a signal to diode D indicating that boost stage 1718 has not identified any errors. In some embodiments, the signal is provided by a security processor. However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

The 5V supply stage 1716 is energized sequentially after the boost stage 1718 . The 5V supply segment 1716 performs self-tests during power-up to identify any errors in the 5V supply segment 1716 . The 5V supply segment 1716 includes an integrated circuit 1715 configured to provide the reduced voltage (from the boosted voltage) and to perform error checking. When no errors are detected, the 5V supply segment 1716 completes the power sequence and provides a start signal to the 3.3V supply segment 1714 . In some embodiments, the security processor provides an enable signal to the 3.3V supply segment 1714 . The 3.3V supply segment includes an integrated circuit 1713 configured to provide a reduced voltage from the 5V supply segment 1716 and to perform error self-tests during power-up. The 3.3V supply stage 1714 provides power to the main processor when no errors are detected during the self-test. The main processor is configured to sequentially power each remaining circuit segment. By sequentially energizing the power system 1700 and/or the remainder of the segment circuit, the power system 1700 reduces the risk of error, achieves stabilization of voltage levels before applying a load, and prevents all hardware from being switched on simultaneously in an uncontrollable manner And produce larger current consumption. However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

In one embodiment, power system 1700 includes overvoltage recognition and mitigation circuitry. The overvoltage recognition and mitigation circuit is configured to detect unipolar return current in the surgical instrument and to interrupt power from the power section when the unipolar return current is detected. The overvoltage identification and mitigation circuit is configured to identify floating grounds of the power system. Overvoltage recognition and mitigation circuitry includes metal oxide varistors. The overvoltage identification and reduction circuit includes at least one transient voltage suppression diode.

FIG. 15 shows one embodiment of a segmentation circuit 1800 including an isolation control section 1802 . Isolation control section 1802 isolates the control hardware of segment circuit 1800 from the power section (not shown) of segment circuit 1800 . Control section 1802 includes, for example, a main processor 1806 , a security processor (not shown), and/or additional control hardware such as FET switches 1817 . The power section includes, for example, a motor, a motor driver, and/or a plurality of motor MOSFETs. The isolated control section 1802 includes a charging circuit 1803 and a rechargeable battery 1808 coupled to a 5V power converter 1816 . The charging circuit 1803 and rechargeable battery 1808 isolate the main processor 1806 from the power stage. In some embodiments, the rechargeable battery 1808 is coupled to the security processor and any additional supporting hardware. Isolating the control section 1802 from the power section allows the control section 1802 (e.g., the main processor 1806) to remain active even when main power is removed, and provides a filter via the rechargeable battery 1808, thereby avoiding the control section 1802 is subject to noise, and also isolates control section 1802 from large fluctuations in battery voltage to ensure proper operation even in the presence of heavy motor loads, and/or allows segment circuit 1800 to use a real-time operating system (RTOS). In some implementations, the rechargeable battery 1808 provides a reduced voltage, eg, a voltage of 3.3V, to the main processor. However, these embodiments are not limited to the specific voltage ranges described in the context of this specification.

FIG. 17 illustrates one embodiment of a sequential start-up flow for a segment circuit, such as the segment circuit 1100 shown in FIG. 5 . The start-up sequence 1820 begins when one or more sensors initiate a transition from sleep mode to operational mode. When one or more sensors cease to detect a state change (step 1822), a timer is started (step 1824). The timer counts the time from the moment the one or more sensors detected the last movement/interaction with the surgical instrument 2000 to the present moment. The timer count is compared to a table of sleep mode stages by, for example, the security processor 1104 (step 1826). When the timer count exceeds one or more counts for transitioning to the sleep mode stage (step 1828a), the security processor 1104 stops powering the segmenting circuit 1100 (step 1830) and transitions the segmenting circuit 1100 to the corresponding sleep mode phase. When the timer count is below the threshold for either sleep mode stage (step 1828b), the segment circuit 1100 continues to power the next circuit segment in sequence (step 1832).

Referring again to FIG. 5, in some embodiments, the segmentation circuit 1100 includes one or more environmental sensors to detect improper storage and/or handling of surgical instruments. For example, in one embodiment, segment circuit 1100 includes a temperature sensor. The temperature sensor is configured to detect the maximum and/or minimum temperature to which segment circuit 1100 is exposed. Surgical instrument 2000 and segmented circuit 1100 include maximum and/or minimum temperature exposure design limits. When the surgical instrument 2000 is exposed to temperatures exceeding a limit, for example a temperature exceeding a maximum limit during a sterilization technique, the temperature sensor detects the overexposure and prevents operation of the device. The temperature sensor may include, for example, a bimetallic strip, a solid state temperature sensor, and/or any other suitable temperature sensor, wherein the bimetallic strip is configured to deactivate the surgical instrument 2000 when exposed to a temperature greater than a predetermined threshold, Instead, the solid-state temperature sensor is configured to store and provide temperature data to the security processor 1104 .

In some embodiments, accelerometer 1122 is configured as an environmental safety sensor. Accelerometer 1122 records the acceleration experienced by surgical instrument 2000 . Acceleration greater than a predetermined threshold may indicate, for example, that the surgical instrument has been dropped. Surgical instruments include a maximum acceleration tolerance. Safety processor 1104 prevents operation of surgical instrument 2000 when accelerometer 1122 detects an acceleration greater than the maximum acceleration tolerance.

In one embodiment, segment circuit 1100 includes a humidity sensor. The humidity sensor is configured to indicate when segment circuit 1100 has been exposed to moisture. The wetness sensor may include, for example, an immersion sensor configured to indicate when the surgical instrument 2000 has been fully submerged in the cleaning liquid, configured to indicate when moisture comes into contact with the segment circuit 1100 while the segment circuit 1100 is energized. the indicating humidity sensor, and/or any other suitable humidity sensor.

In one embodiment, segmentation circuit 1100 includes a chemical exposure sensor. The chemical exposure sensor is configured to indicate when surgical instrument 2000 has been in contact with noxious and/or hazardous chemicals. For example, during a sterilization step, inappropriate chemicals may be used that cause surgical instrument 2000 to degrade. The chemical exposure sensor may indicate inappropriate chemicals that have contacted the safety processor 1104 so that operation of the surgical instrument 2000 may be prevented.

Segmentation circuit 1100 is configured to monitor multiple cycles of use. For example, in one embodiment, battery 1108 includes circuitry configured to monitor a usage cycle count. In some embodiments, security processor 1104 is configured to monitor the usage cycle count. The use cycle may include surgical events induced by the surgical instrument, for example, the number of shafts 2004 used with the surgical instrument 2000, the number of cartridges inserted into the surgical instrument 2000 and/or the number of cartridges deployed by the surgical instrument, and and/or the number of shots of the surgical instrument 2000. In some embodiments, a use cycle may include environmental events, eg, impact events, exposure to improper storage conditions and/or unsuitable chemicals, disinfection procedures, cleaning procedures, and/or reconditioning procedures. In some embodiments, a usage cycle may include a replacement and/or charging cycle of a power component (eg, a battery pack).

Segmentation circuit 1100 may maintain a total usage cycle count for all defined usage cycles and/or may maintain its respective usage cycle count for one or more defined usage cycles. For example, in one embodiment, segmentation circuit 1100 may maintain a single use cycle count for all surgical events initiated by surgical instrument 2000 and maintain its own use cycle count for each environmental event experienced by surgical instrument 2000 . The cycle count is used to constrain one or more behaviors of the segmentation circuit 1100 . For example, the usage cycle count may be used to disable segment circuit 1100 , eg, by disabling battery 1108 , when a detected number of usage cycles exceeds a predetermined threshold or exposure to an inappropriate environmental event. In some embodiments, the usage cycle count is used to indicate when it is necessary to perform recommended and/or mandatory servicing of the surgical instrument 2000 .

FIG. 18 illustrates one embodiment of a method 1950 for controlling a surgical instrument that includes a segmented circuit, such as the segmented control circuit 1602 shown in FIG. 12 . At step 1952, power assembly 1608 is coupled to the surgical instrument. Power assembly 1608 may include any suitable battery, such as power assembly 2006 shown in FIGS. 1-3 . Power component 1608 is configured to provide a source voltage to segment control circuit 1602 . The source voltage may include any suitable voltage, for example, a voltage of 12V. At step 1954 , power component 1608 powers boost converter 1618 . Boost converter 1618 is configured to provide a set voltage. The set voltage includes a voltage greater than the source voltage provided by the power component 1608 . For example, in some embodiments, the set voltage includes a voltage of 13V. In a third step 1956, boost converter 1618 powers one or more voltage regulators to provide one or more operating voltages to one or more circuit components. The operating voltage includes a voltage less than a set voltage provided by the boost converter.

In some embodiments, boost converter 1618 is coupled to first voltage regulator 1616 configured to provide a first operating voltage. The first operating voltage provided by the first voltage regulator 1616 is less than the set voltage provided by the boost converter. For example, in some embodiments, the first operating voltage includes a voltage of 5V. In one embodiment, a boost converter is coupled to the second voltage regulator 1614 . The second voltage regulator 1614 is configured to provide a second operating voltage. The second operating voltage includes a voltage less than the set voltage and the first operating voltage. For example, in some embodiments, the second operating voltage includes a voltage of 3.3V. In some embodiments, the battery 1608, boost converter 1618, first voltage regulator 1616, and second voltage converter 1614 are configured in a daisy-chain configuration. Battery 1608 provides a source voltage to boost converter 1618 . Boost converter 1618 boosts the source voltage to a set voltage. The boost converter 1618 provides a set voltage to the first voltage regulator 1616 . The first voltage regulator 1616 generates a first operating voltage and provides the first operating voltage to the second voltage regulator 1614 . The second voltage regulator 1614 generates a second operating voltage.

In some embodiments, one or more circuit components are powered directly by boost converter 1618 . For example, in some embodiments, OLED display 1688 is directly coupled to boost converter 1618 . The boost converter 1618 provides the set voltage to the OLED display 1688 without requiring the OLED to have an integrated power generator within it. In some embodiments, a processor, eg, security processor 1604 shown in FIG. 5 , validates the voltage provided by boost converter 1618 and/or one or more voltage regulators 1616 , 1614 . Security processor 1604 is configured to verify the voltage provided by each boost converter 1618 and voltage regulator 1616 , 1614 . In some embodiments, the security processor 1604 verifies the set voltage. The security processor 1604 supplies power to the first voltage regulator 1616 when the set voltage is equal to or greater than a first predetermined value. The security processor 1604 verifies the first operating voltage provided by the first voltage regulator 1616 . The security processor 1604 powers the second voltage regulator 1614 when the first operating voltage is equal to or greater than a second predetermined value. The security processor 1604 then verifies the second operating voltage. The security processor 1604 powers each of the remaining circuit components of the segment circuit 1600 when the second operating voltage is equal to or greater than a third predetermined value.

Various aspects of the subject matter described herein relate to methods of controlling power management of surgical instruments through segmented circuits and variable voltage protection. In one embodiment, a control surgical instrument is provided (the surgical instrument includes a main processor, a safety processor, and a segment circuit comprising a plurality of circuit segments in signal communication with the main processing processor, the plurality of circuit Segments include a method of power management in a power segment) that includes providing variable voltage control to each segment by the power segment. In one embodiment, the method includes providing power stabilization for at least one segment voltage by a power segment comprising a boost converter. The method also includes providing power stabilization by the boost converter to the main processor and the security processor. The method also includes providing, by the boost converter, a constant voltage greater than a predetermined threshold to the main processor and the security processor independent of power consumption of the plurality of circuit segments. The method also includes detecting, by the overvoltage recognition and mitigation circuit, a unipolar return current in the surgical instrument, and interrupting power from the power section when the unipolar return current is detected. The method also includes identifying a floating ground of the power system by the overvoltage detection and mitigation circuit.

In another embodiment, the method also includes sequentially powering each of the plurality of circuit segments by the power segment, and performing an error check on each circuit segment prior to powering the sequential circuit segments. The method also includes powering the safety processor from a power source coupled to the power stage, performing error checking by the safety processor when the safety processor is powered on, and performing operations and powering the safety processor when no errors are detected during the error checking. , Main processor power supply. The method also includes performing, by the main processor, error checking when the main processor is powered on, and wherein each of the plurality of circuit segments is sequentially powered by the main processor when no errors are detected during the error checking. The method also includes error checking, by the host processor, each of the plurality of circuit segments.

In another embodiment, the method includes powering the safety processor by the boost converter when the power source is connected to the power stage, performing, by the safety processor, an error check, and when no error is detected during the error check, by the The security processor supplies power to the main processor. The method also includes performing, by the host processor, error checking, and sequentially powering, by the host processor, each of the plurality of circuit segments when no errors are detected during the error checking. The method also includes error checking, by the host processor, each of the plurality of circuit segments.

In another embodiment, the method also includes providing the section voltages from the power section to the main processor, providing variable voltage protection for each section, supplying the section voltages from the boost converter, overvoltage identification and mitigation At least one of the circuits provides power stability, each of the plurality of circuit segments is powered sequentially by the power segment, and each circuit segment is error checked prior to powering the sequential circuit segments.

Various aspects of the subject matter described herein relate to methods of controlling a surgical instrument control circuit having a safety processor. In one embodiment, a control surgical instrument is provided (the surgical instrument includes a control circuit including a main processor, a safety processor in signal communication with the main processor, and a segment circuit including a A plurality of circuit segments in signal communication with a host processor), the method comprising monitoring, by a security processor, one or more parameters of the plurality of circuit segments. The method also includes verifying, by the security processor, one or more parameters of the plurality of circuit segments, and verifying the one or more parameters independently of one or more control signals generated by the host processor. The method also includes verifying, by the security processor, the speed of the cutting element. The method also includes monitoring, by a first sensor, a first property of the surgical instrument, and monitoring, by a second sensor, a second property of the surgical instrument, wherein the first property and the second property comprise a predetermined relationship, and wherein the first sensor and the second The sensor is in signal communication with the safety processor. The method also includes preventing, by the safety processor, operation of at least one of the plurality of circuit segments when a fault is detected, wherein the fault includes a first property and a second property having values inconsistent with a predetermined relationship. The method also includes monitoring the cutting member position by the Hall effect sensor and monitoring the motor current by the motor current sensor.

In another embodiment, the method includes disabling, by the security processor, in the plurality of circuit segments when a mismatch between verification of one or more parameters and one or more control signals generated by the host processor is detected. at least one circuit segment of . The method also includes preventing, by the safety processor, operation of the motor section and interrupting power flow from the power section to the motor section. The method also includes preventing, by the safety processor, forward operation of the motor section and allowing, by the safety processor, reversing operation of the motor section when a fault is detected.

In another embodiment, the segmented circuit includes a motor segment and a power segment, the method includes controlling one or more mechanical operations of the surgical instrument by the motor segment, and monitoring one or more parameters of the plurality of circuit segments by the safety processor . The method also includes verifying, by the safety processor, one or more parameters of the plurality of circuit segments, and independently verifying, by the safety processor, the one or more parameters independently of one or more control signals generated by the main processor .

In another embodiment, the method also includes independently verifying, by the safety processor, the velocity of the cutting element. The method also includes monitoring, by a first sensor, a first property of the surgical instrument, and monitoring, by a second sensor, a second property of the surgical instrument, wherein the first property and the second property comprise a predetermined relationship, and wherein the first sensor and the second The sensor is in signal communication with the safety processor, wherein the fault comprises a first property and a second property having values inconsistent with a predetermined relationship, and when the safety processor detects the fault, the safety processor prevents the fault from occurring in the plurality of circuit segments operation of at least one circuit segment. The method also includes monitoring the cutting member position by the Hall effect sensor and monitoring the motor current by the motor current sensor.

In another embodiment, the method includes disabling, by the security processor, in the plurality of circuit segments when a mismatch between verification of one or more parameters and one or more control signals generated by the host processor is detected. at least one circuit segment of . The method also includes preventing, by the safety processor, operation of the motor section and interrupting power flow from the power section to the motor section. The method also includes preventing, by the safety processor, forward operation of the motor section and allowing, by the safety processor, reversing operation of the motor section when a fault is detected.

In another embodiment, the method includes monitoring, by the safety processor, one or more parameters of the plurality of circuit segments, verifying, by the safety processor, the one or more parameters of the plurality of circuit segments, by the safety processor independently of the one or more control signals generated by the main processor to verify the one or more parameters, and when a mismatch between the verification of the one or more parameters and the one or more control signals generated by the main processor is detected , disabling at least one of the plurality of circuits by the security processor. The method also includes monitoring, by a first sensor, a first property of the surgical instrument, and monitoring, by a second sensor, a second property of the surgical instrument, wherein the first property and the second property comprise a predetermined relationship, and wherein the first sensor and the second The sensor is in signal communication with the safety processor, wherein the fault comprises a first property and a second property having values inconsistent with the predetermined relationship, and wherein when the fault is detected, at least one of the plurality of circuit segments is blocked by the safety processor operation of a circuit segment. The method also includes preventing, by the safety processor, operation of the motor section by interrupting power flow from the power section to the motor section when a fault is detected.

Aspects of the subject matter described herein relate to methods of controlling power management of a surgical instrument comprising a control circuit including a main processor in signal communication with the main processor through sleep options and wake-up control of segmented circuits A security processor, and a segment circuit, the segment circuit includes a plurality of circuit segments in signal communication with a main processor, the plurality of circuit segments includes a power segment, the method includes connecting the main processor and a plurality of At least one of the circuit segments transitions from the active mode to the sleep mode, and from the sleep mode to the active mode. The method also includes tracking, by a timer, the time since the end of the last user-initiated event to the present moment, and wherein when the time since the end of the last user-initiated event to the present moment exceeds a predetermined threshold, the The security processor transitions the main processor and at least one of the plurality of circuits to a sleep mode. The method also includes detecting, by an acceleration segment (including an accelerometer), one or more movements of the surgical instrument. The method includes tracking by a timer the time since the end of the last motion detected by the acceleration segment to the present moment. The method also includes maintaining, by the safety processor, the acceleration segment in the active mode when the plurality of circuit segments transitions to the sleep mode.

In another embodiment, the method also includes transitioning to a sleep mode in multiple stages. The method also includes transitioning the segment circuit to a first stage and dimming the backlight of the display segment after a first predetermined period and transitioning the segment circuit to a second stage and turning off after a second predetermined period the backlight, transitioning the segment circuitry to a third stage and reducing the polling rate of the accelerometer after a third predetermined period, transitioning the segment circuitry to a fourth stage and turning off the display after a fourth predetermined period, And transition the surgical instrument to a sleep mode.

In another embodiment, the method includes detecting, by the touch sensor, user contact with the surgical instrument, and when the touch sensor detects user contact with the surgical instrument, switching, by the safety processor, the main processor and the plurality of circuit segments from sleep Mode transition to active mode. The method also includes monitoring, by the safety processor, at least one handle control, and transitioning, by the safety processor, the main processor and the plurality of circuit segments from a sleep mode to an active mode when the at least one handle control is actuated.

In another embodiment, the method includes transitioning, by the safety processor, the surgical device to an active mode when the accelerometer detects movement of the surgical device greater than a predetermined threshold. The method also includes monitoring, by the safety processor, motion of the accelerometer in at least a first direction and a second direction, and when motion is detected in at least the first direction and the second direction greater than a predetermined threshold, sending, by the safety processor, a surgical The device transitions from sleep mode to operational mode. The method also includes monitoring, by the safety processor, the accelerometer for oscillatory motion in the first, second, and third directions greater than a predetermined threshold, and when oscillatory motion is detected in the first, second, and third directions Above a predetermined threshold, the safety processor transitions the surgical instrument from the sleep mode to the operational mode. The method also includes increasing the predetermined threshold with increasing time from the end of the previous exercise to the present moment.

In another embodiment, the method includes switching, by the security processor, the main processor and at least one of the plurality of circuit segments to the present moment when the time since the end of the last user-initiated event exceeds a predetermined threshold. segment transitions from active mode to sleep mode and from sleep mode to active mode, and tracks the time since the acceleration segment detects the end of the last movement to the current moment through a timer, when the acceleration segment detects that the movement of the surgical instrument is greater than a predetermined When the threshold is reached, the safety processor transitions the surgical device to an active mode.

In another embodiment, a method of controlling a surgical instrument includes tracking the time since the end of the last user-initiated event, and when the time since the end of the last user-initiated event exceeds a predetermined threshold , the display's backlight is disabled by the security processor. The method also includes blinking, by the security processor, a backlight of the display to prompt the user to view the display.

Aspects of the subject matter described herein relate to methods of verifying the sterilization status of a surgical instrument via a sterilization verification circuit, the surgical instrument including a control circuit including a main processor, a security processor in signal communication with the main processor, and A segmented circuit comprising a plurality of circuit segments in signal communication with the main processor, the plurality of circuit segments including a storage verification segment, the method including indicating when the surgical instrument has been properly stored and sterilized. The method also includes detecting, by at least one sensor, one or more incorrect storage or sterilization parameters. The method also includes sensing, by the anti-drop sensor, that the instrument has been dropped, and preventing, by the safety processor, at least one circuit segment of the plurality of circuit segments when the anti-drop sensor detects that the surgical instrument has been dropped. operate. The method also includes preventing, by the security processor, operation of at least one of the plurality of circuit segments when the temperature sensor detects a temperature greater than a predetermined threshold. The method also includes preventing, by the security processor, operation of at least one of the plurality of circuit segments when the temperature sensor detects a temperature greater than a predetermined threshold.

In another embodiment, the method includes controlling, by the security processor, operation of at least one of the plurality of circuit segments when moisture is detected by the moisture detection sensor. The method also includes detecting, by the humidity detection sensor, autoclave cycling, and preventing, by the safety processor, operation of the surgical instrument if autoclave cycling is not detected. The method also includes preventing, by the safety processor, operation of at least one of the plurality of circuit segments when moisture is detected during startup of the classified circuit.

In one embodiment, the method includes indicating by a plurality of circuit segments, including a sterilization verification segment, when the surgical instrument has been properly sterilized. The method also includes detecting, by at least one sensor of the sterilization verification section, the sterilization status of the surgical instrument. The method also includes indicating by the storage verification segment when the surgical instrument has been properly stored. The method also includes detecting, by at least one sensor of the storage verification segment, an improper storage condition of the surgical instrument.

The entire disclosures of the following patents are hereby incorporated by reference herein:

U.S. Patent 5,403,312, issued April 4, 1995, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE";

US Patent 7,000,818, issued February 21, 2006, entitled "SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS";

US Patent 7,422,139 entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK" issued September 9, 2008;

US Patent 7,464,849, issued December 16, 2008, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS";

US Patent 7,670,334, issued March 2, 2010, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATINGEND EFFECTOR";

US Patent 7,753,245, issued July 13, 2010, entitled "SURGICAL STAPLING INSTRUMENTS";

US Patent 8,393,514, issued March 12, 2013, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE";

US Patent Application Serial No. 11/343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES";

U.S. Patent Application Serial No. 12/031,573, filed February 14, 2008, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTHAVING RF ELECTRODES";

U.S. Patent Application Serial No. 12/031,873, filed February 15, 2008, entitled "END EFFECTORS FOR A SURGICAL CUTTING ANDSTAPLING INSTRUMENT" (now U.S. Patent 7,980,443);

U.S. Patent Application Serial No. 12/235,782 (now U.S. Patent 8,210,411), entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT";

US Patent Application Serial No. 12/249,117 entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM" (now US Patent Application Publication 2010/0089970);

U.S. Patent Application Serial No. 12/647,100, filed December 24, 2009, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY";

U.S. Patent Application Serial No. 12/893,461, entitled "STAPLE CARTRIDGE," filed September 29, 2012 (now U.S. Patent Application Publication 2012/0074198);

U.S. Patent Application Serial No. 13/036,647, entitled "SURGICAL STAPLING INSTRUMENT," filed February 28, 2011 (now U.S. Patent Application Publication 2011/0226837);

US Patent Application Serial No. 13/118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS" (now US Patent Application Publication 2012/0298719);

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U.S. Patent Application Serial No. 13/800,025, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM";

U.S. Patent Application Serial No. 13/800,067, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM";

US Patent Application Publication 2007/0175955, filed January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM"; and

US Patent Application Publication 2010/0264194, filed April 22, 2010, entitled "SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR."

According to various embodiments, the surgical instruments described herein may include one or more processors (eg, microprocessors, microcontrollers) coupled to various sensors. Additionally, storage (with operating logic) and communication interfaces and one or more processors are coupled to each other.

As previously mentioned, the sensors may be configured to detect and collect data associated with the surgical device. A processor processes sensor data received from the sensors.

The processor may be configured to execute operational logic. The processor may be any of a number of single-core or multi-core processors known in the art. The storage device may include volatile and non-volatile storage media configured to store permanent and temporary (working) copies of the operating logic.

In various embodiments, the operational logic may be configured to process the collected biometric data associated with the user's athletic data, as described above. In various embodiments, the operational logic can be configured to perform initial processing and communicate data to the computer hosting the application to determine and generate instructions. For these embodiments, the operational logic may be further configured to receive information from and provide feedback to the hosting computer. In alternative embodiments, operational logic may be configured to take a greater role in receiving information and determining feedback. In either case, whether determined independently or in response to instructions from the hosting computer, the operational logic may be further configured to control and provide feedback to the user.

In various embodiments, the operational logic may be implemented by instructions supported by the instruction set architecture (ISA) of the processor, or implemented in a higher level language and compiled into a supported ISA. Operational logic may include one or more logic units or modules. Operational logic can be implemented in an object-oriented manner. Operational logic may be configured to execute in a multi-tasking and/or multi-threading manner. In other embodiments, the operational logic may be implemented in hardware, such as a gate array.

In various implementations, the communication interface can be configured to facilitate communication between the peripheral device and the computing system. This communication may include transferring collected biometric data associated with position, posture, and/or movement data of a user's body part to the host computer, and transferring data associated with haptic feedback from the host computer to the peripheral device. In various implementations, the communication interface may be a wired or wireless communication interface. An example of a wired communication interface may include, but is not limited to, a Universal Serial Bus (USB) interface. Examples of wireless communication interfaces may include, but are not limited to, Bluetooth interfaces.

For various implementations, a processor may be packaged with operational logic. In various implementations, a processor may be packaged with operational logic to form a system-in-package (SiP). In various implementations, the processor can be integrated with the operational logic on the same die. In various implementations, a processor may be packaged with operational logic to form a system on a chip (SoC).

Various embodiments may be described herein in the general context of computer-executable instructions, such as software, program modules, and/or engines being executed by a processor. In general, software, program modules, and/or engines include any software element arranged to perform particular operations or implement particular abstract data types. Software, program modules, and/or engines may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The software, program modules, and/or engine components and technical implementations may be stored on and/or transmitted across some form of computer readable media. In this regard, computer-readable media can be any available media that can be used to store information and can be accessed by a computing device. Some embodiments may also be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network. In a distributed computing environment, software, program modules, and/or engines may be located in both local and remote computer storage media including memory storage devices. Memory, such as random access memory (RAM) or other dynamic storage devices, may be employed to store information and instructions to be executed by the processor. Memory may also be used for storing temporary variables or other intermediate information during execution of instructions to be executed by the processor.

While some embodiments may be illustrated and described as including functional components, software, engines, and/or modules that perform various operations, it should be understood that such components or modules may be composed of one or more hardware components, software components, and /or a combination of them. Functional components, software, engines, and/or modules may be implemented by, for example, logic (eg, instructions, data, and/or code) to be executed by a logic device (eg, a processor). Such logic may be stored internally or externally to the logic device on one or more types of computer readable storage media. In other embodiments, functional components such as software, engines, and/or modules may be implemented by hardware elements, which may include processors, microprocessors, circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors, devices, etc.), integrated circuits, application-specific integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (DSPs), field-programmable gate arrays (FPGAs), logic gates, registers, semiconductor devices, chips, micro Chips, chipsets, and more.

Examples of software, engines, and/or modules may include software components, programs, applications, computer programs, application programs, system programs, machine programs, operating system software, middleware, firmware, software modules, routines, subroutines, A function, method, procedure, software interface, application program interface (API), instruction set, computational code, computer code, code fragment, computer code fragment, word, value, symbol, or any combination thereof. Determining whether an embodiment is implemented using hardware elements and/or software elements may vary according to any number of factors, such as desired computation rates, power levels, thermal tolerances, processing cycle budgets, input data rates, output data rates, memory resources, data bus speed, and other design or performance constraints.

One or more of the modules described herein may include one or more embedded applications implemented as firmware, software, hardware, or any combination thereof. One or more of the modules described herein may include various executable modules, such as software, programs, data, drivers, application programming interfaces (APIs), and the like. Firmware may be stored in controller 2016 and/or controller 2022 memory, which may include non-volatile memory (NVM), such as bit-masked read-only memory (ROM) or flash memory. In various implementations, storing the firmware in ROM protects the flash memory. Non-volatile memory (NVM) can include other types of memory including, for example, programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or battery-backed random memory Access memory (RAM), such as dynamic RAM (DRAM), double data rate DRAM (DDRAM), and/or synchronous DRAM (SDRAM).

In some cases, various embodiments may be implemented as an article of manufacture. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and/or data for performing the various operations of one or more embodiments. In various embodiments, for example, the article of manufacture may comprise a magnetic disk, optical disk, flash memory, or firmware, each of which contains computer program instructions adapted for execution by a general-purpose or special-purpose processor. However, the embodiments are not limited thereto.

The functions of the various functional elements, logical blocks, modules, and circuit elements described in connection with the embodiments disclosed herein can be implemented in the general context of computer-executable instructions, such as software executed by a processing unit, control modules, logic, and/or logic modules. In general, software, control modules, logic, and/or logic modules include any software element arranged to perform specific operations. Software, control modules, logic, and/or logic modules may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The software, control modules, logic, and/or an implementation of logic modules and techniques may be stored on and/or transmitted across some form of computer readable media. In this regard, computer-readable media can be any available media that can be used to store information and can be accessed by a computing device. Some embodiments may also be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network. In a distributed computing environment, software, control modules, logic, and/or logic modules may be located in both local and remote computer storage media including memory storage devices.

In addition, it is to be understood that the embodiments described herein set forth example implementations, and that the functional elements, logical blocks, modules, and circuit elements may be implemented in various other ways consistent with the described embodiments. Furthermore, operations performed by such functional elements, logical blocks, modules, and circuit elements may be combined and/or separated for a given implementation, and may be performed by a greater or lesser number of components or modules . As will be apparent to those skilled in the art after reading the present disclosure, each of the separate embodiments described and illustrated herein has discrete components and features that can be changed without departing from the scope of the present disclosure. Features of any of the other aspects may be readily separated or combined. Any described method may be performed in the order of events described or in any other logically possible order.

It is worth noting that any reference to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" or "in an aspect" in various places in the specification are not necessarily all referring to the same embodiment.

Unless specifically stated otherwise, it should be understood that terms such as "process," "operate," "calculate," "determine," etc. refer to the actions and/or processes of a computer or computing system, or similar electronic computing device, that A device such as a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, designed to perform the functions described herein, the manipulation of which is represented by registers and/or data of a physical quantity (e.g., electrons) within a memory and/or convert it to other data similarly represented as a physical quantity within a memory, register, or other such information storage device, transmission device, or display device.

Notably, some embodiments may be described using the expressions "coupled" and "connected" and their derivatives. These terms are not intended as synonyms for each other. For example, some embodiments may be described using the terms "connected" and/or "coupled" to mean that two or more elements are in direct physical or electrical contact with each other. However, the term "coupled" may also mean that two or more elements are not in direct contact with each other, but yet cooperate or interact with each other. With respect to software elements, for example, the term "coupled" may refer to an interface, a messaging interface, an application programming interface (API), exchanging messages, and the like.

It should be understood that any patent, publication, or other disclosure material that is incorporated by reference herein, whether in whole or in part, is solely to the extent that the incorporated material is consistent with definitions, statements, or other disclosures given in this disclosure. The material is incorporated herein to the extent that it does not conflict. Accordingly, to the extent necessary, the disclosure as expressly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is purportedly incorporated herein by reference but conflicts with existing definitions, statements, or other disclosed material stated herein, only so that no conflict arises between the incorporated material and the existing disclosed material incorporated into this article to the extent

The disclosed embodiments of the present invention have application to conventional endoscopic and open surgical instruments as well as to robotic-assisted surgery.

Embodiments of the devices disclosed herein can be designed to be disposed of after a single use, or can be designed to be used multiple times. In either or both cases above, these embodiments can be reconditioned for reuse after at least one use. Reconditioning may include any combination of disassembly of the unit followed by cleaning or replacement of specific parts and subsequent reassembly. In particular, embodiments of the device may be disassembled and any number of specific parts or components of the device may be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular components, embodiments of the device may be reassembled for subsequent use in a reconditioning facility or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that device reconditioning can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. The use of these techniques and the resulting reconditioned devices are within the scope of this application.

By way of example only, the embodiments described herein may be treated prior to surgery. First, new or used instruments can be obtained and cleaned as needed. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and airtight container, such as a plastic or TYVEK bag. The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays, or high energy electrons. Radiation kills bacteria on instruments and in containers. The sterilized instruments can then be stored in sterile containers. A sealed container keeps the instrument sterile until the container is opened in the medical facility. The device may also be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or steam.

Those skilled in the art will recognize that components (eg, operations), devices, objects and their accompanying discussion described herein are used by way of example for conceptual clarity and that various configurational modifications are contemplated. Accordingly, as used herein, the specific examples set forth and the accompanying discussion are intended to be representative of their more general categories. In general, the use of any specific example is intended to be representative of its class, and the non-inclusion of specific components (eg, operations), devices, and objects should not be taken as limiting.

For essentially any plural and/or singular term used herein, one skilled in the art can convert from plural to singular and/or from singular to plural as appropriate to the context and/or application. For the sake of clarity, various singular/plural permutations have not been expressly stated herein.

The herein described subject matter sometimes illustrates different components contained within, or connected with, different other components. It is to be understood that such described architectures are merely examples, and that in fact many other architectures can be implemented which achieve the same functionality. In a conceptual sense, any arrangement of components to achieve the same functionality is effectively "associated" such that the desired functionality is achieved. Hence, any two components herein brought together to achieve a particular functionality can be seen as "associated with" each other such that the desired functionality is achieved, irrespective of structures or intervening components. Likewise, any two components so connected can also be considered to be "operably connected" or "operably coupled" to each other to obtain the desired functionality, and any two components capable of being so connected can also be considered are "operably coupled" to each other to obtain the desired functionality. Specific examples of operably coupled include, but are not limited to, physically mateable and/or physically interactive components, and/or wirelessly interactive, and/or wirelessly interactive components, and/or logically interactive, and/or logically interactive components.

Some aspects may be described using the expressions "coupled" and "connected" and their derivatives. It should be understood that these terms are not intended as synonyms for each other. For example, certain aspects may be described using the term "connected" to indicate that two or more elements are in direct physical or electrical contact with each other. In another example, some aspects may be described using the term "coupled" to indicate that two or more elements are in direct physical or electrical contact. However, the term "coupled" may also mean that two or more elements are not in direct contact with each other, but yet cooperate or interact with each other.

In some cases, one or more components may be referred to herein as "configured to", "configurable to", "operable/operably", "suitable for", "capable of", "adapt/fit" etc. Those skilled in the art will recognize that unless the context dictates otherwise, "configured" may generally encompass an active state component and/or an inactive state component assembly and/or a standby state component.

While particular aspects of the inventive subject matter described herein have been shown and described, it will be obvious to those skilled in the art that, based on the teachings herein, that changes and modifications can be made without departing from the subject matter described herein. , and as are within the true scope of the subject matter described herein, its broader aspects and thus the appended claims include within their scope all such changes and modifications. Those skilled in the art will understand that terms used herein, in general, and particularly in the appended claims (eg, the text of the appended claims), are generally intended to be "open" terms (eg, the term "comprising" should should be interpreted as "including but not limited to", the term "having" should be interpreted as "having at least", the term "comprising" should be interpreted as "including but not limited to", etc.). It will also be understood by those skilled in the art that when a specific number of an introduced claim recitation is intended, then such an intent will be explicitly recited in the claim, and in the absence of such a recitation no such intent is present. . For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, use of such phrases should not be taken to imply that introducing a claim recitation by the indefinite article "a" or "an" limits any particular claim containing such an introduced claim recitation to containing only one such In recited claims, even when the same claim includes the introductory phrases "one or more" or "at least one" and words such as "a" or "an" (e.g., "a" and/or "an" usually should be interpreted as meaning "at least one" or "one or more"); this also applies to the use of definite articles used to introduce claim recitations.

In addition, even when a specific number introducing a claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should generally be construed to mean at least the recited number (e.g., in the absence of other modifiers, A bare narration to "two narrations" generally means at least two narrations, or two or more narrations). Also, in those cases where a convention like "at least one of A, B, and C, etc." is used, generally speaking, such constructions are intended to have the meaning that those skilled in the art would understand the convention ( For example, "a system having at least one of A, B, and C" would include, but is not limited to, having only A, only B, only C, A and B together, A and C together, B and C together, and/or A , B and C together etc. system). In those cases where a convention similar to "at least one of A, B, or C, etc." is used, such constructions are generally intended to have a meaning as would be understood by those skilled in the art (e.g., "A system having at least one of A, B, or C" will include, but is not limited to, having only A, only B, only C, A and B together, A and C together, B and C together, and/or A, B systems with C etc.). Those skilled in the art should also understand that generally, unless the context indicates otherwise, transitional words and/or phrases that present two or more alternative terms in the detailed description, claims, or drawings should be understood as The possibility of including one of the terms, either of the terms, or both terms is contemplated. For example, the phrase "A or B" will generally be read to include the possibilities of "A" or "B" or "A and B."

With regard to the appended claims, those skilled in the art will understand that the operations recited therein can generally be performed in any order. Additionally, although various operational flows are listed in a certain order, it should be understood that the various operations may be performed in an order other than that shown, or may be performed concurrently. Examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, complementary, simultaneous, reverse, or other altered orderings, unless the context dictates otherwise. Furthermore, terms like "responsive to," "related to," or other past-tense adjectives are generally not intended to exclude such variations unless the context dictates otherwise.

In summary, a number of benefits have been described that result from employing the concepts described herein. The foregoing description of one or more implementations has been presented for purposes of illustration and description. The descriptions are not intended to be exhaustive or to be limited to the precise form disclosed. Modifications or variations of the present invention may be made in light of the above teachings. The embodiment or embodiments were chosen and described in order to illustrate the principles and practical application of the invention, thereby to allow one of ordinary skill in the art to utilize the various embodiments with various modifications as are suited to the particular application contemplated. . The claims filed herewith are intended to define their full scope.

Claims (14)

1. a kind of surgical instruments control circuit, comprising:

Primary processor；

Safe processor, the safe processor and the primary processor signal communication；

Segment circuit, the segment circuit include multiple circuit sections with the primary processor signal communication, the multiple circuit Section is configured to control one or more operations of the surgical instruments, wherein the safe processor is configured to described in monitoring One or more parameters of multiple circuit sections；

First sensor, the first sensor are configured to monitor the first property of the surgical instruments；With

Second sensor, the second sensor is configured to monitor the second quality of the surgical instruments, wherein described first Property and the second quality include predetermined relationship, and wherein the first sensor and the second sensor with The safe processor signal communication；

Wherein the safe processor is configured to:

Verify one or more of parameters of the multiple circuit section；

One or more of parameters are verified independently of the one or more control signals generated by the primary processor；And

Independently verify the speed of cutting element.

2. control circuit according to claim 1, wherein failure includes with inconsistent with the predetermined relationship Value first property and the second quality, and wherein when detecting the failure, the safe processor quilt It is configured to prevent the operation of at least one circuit section in the multiple circuit section.

3. control circuit according to claim 1, wherein the first sensor includes being configured to monitoring cutting element The hall effect sensor of position, and the second sensor includes being configured to the motor current sensing of monitoring motor current Device.

4. control circuit according to claim 1, wherein the safe processor be configured to detect it is one Or when mismatch between the verifying and one or more of control signals for being generated by the primary processor of multiple parameters, Disable at least one circuit section in the multiple circuit section.

5. control circuit according to claim 4, wherein the safe processor is configured to by interrupting from power section The operation of the motor segment is prevented to the power flow of motor segment.

6. control circuit according to claim 4, wherein failure includes with inconsistent with the predetermined relationship Value first property and the second quality, and wherein the safe processor be configured to prevent motor segment before To operation, and allow when detecting the failure reverse operating of the motor segment.

7. a kind of surgical instruments control circuit, comprising:

Primary processor；

Safe processor, the safe processor and the primary processor signal communication；

Segment circuit, the segment circuit include multiple circuit sections with the primary processor signal communication, the multiple circuit Section is configured to control one or more operations of the surgical instruments, wherein the multiple circuit section includes:

Motor segment, the motor segment are configured to control one or more mechanically actuateds of the surgical instruments；With

Power section；

First sensor, the first sensor are configured to monitor the first property of the surgical instruments；With

Second sensor, the second sensor is configured to monitor the second quality of the surgical instruments, wherein described first Property and the second quality include predetermined relationship, and wherein the first sensor and the second sensor with The safe processor signal communication；

Wherein the safe processor is configured to:

Monitor one or more parameters of the multiple circuit section；

Verify one or more of parameters of the multiple circuit section；

One or more of parameters are verified independently of the one or more control signals generated by the primary processor；And

Independently verify the speed of cutting element.

8. control circuit according to claim 7, wherein failure includes with inconsistent with the predetermined relationship Value first property and the second quality, and wherein when detecting the failure, the safe processor quilt It is configured to prevent the operation of at least one circuit section in the multiple circuit section.

9. control circuit according to claim 8, wherein the first sensor includes being configured to monitoring cutting element The hall effect sensor of position, and the second sensor includes being configured to the motor current sensing of monitoring motor current Device.

10. control circuit according to claim 7, wherein the safe processor be configured to detect it is one Or when mismatch between the verifying and one or more of control signals for being generated by the primary processor of multiple parameters, Disable at least one circuit section in the multiple circuit section.

11. control circuit according to claim 10, wherein the safe processor is configured to by interrupting from described Power section prevents the operation of the motor segment to the power flow of the motor segment.

12. control circuit according to claim 10, wherein failure includes with different with the predetermined relationship First property of the value of cause and the second quality, and wherein the safe processor is configured to prevent the motor The forward direction of section operates, and allows the reverse operating of the motor segment when detecting the failure.

13. a kind of surgical instruments control circuit, comprising:

Primary processor；

Safe processor, the safe processor and the primary processor signal communication；

Segment circuit, the segment circuit include multiple circuit sections with the primary processor signal communication, the multiple circuit Section is configured to control one or more operations of the surgical instruments, wherein the safe processor is configured to described in monitoring One or more parameters of multiple circuit sections, wherein the safe processor is configured to verify the described of the multiple circuit section One or more parameters, wherein the safe processor is configured to independently of the one or more generated by the primary processor Signal is controlled to verify one or more of parameters, and wherein the safe processor is configured to detecting described one Mismatch between a or multiple parameters verifying and the one or more of control signals generated by the primary processor When, disable at least one circuit section in the multiple circuit section；

First sensor, the first sensor are configured to monitor the first property of the surgical instruments；With

Second sensor, the second sensor is configured to monitor the second quality of the surgical instruments, wherein described first Property and the second quality include predetermined relationship, and wherein the first sensor and the second sensor with The safe processor signal communication, wherein failure includes described the with the value inconsistent with the predetermined relationship One property and the second quality, and wherein when detecting the failure, the safe processor prevents the multiple electricity The operation of at least one circuit section in section.

14. control circuit according to claim 13, wherein when failures are detected, the safe processor is configured to Pass through the operation for interrupting the power flow from power section to motor segment to prevent the motor segment.