Systems and subsystems for firing a surgical instrument
AssigneeCilag GmbH International
InventorsWilliam Claiborne Ryle, Paul Moubarak, Adel Shams, Zachary Miller, Jeffrey Franklin, Darryl A. Parks, Christopher Korte
Life of this patent
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Abstract
A surgical instrument designed to operate with a robotic platform is disclosed. The surgical instrument assembly includes a shaft, an end effector, a knife firing subsystem to actuate functions of the end effector, an articulation subsystem that is actuatable to articulate the end effector, an articulation joint about which the end effector articulates, a roll subsystem to roll the shaft, and a housing that couples to the robotic platform.
Claims21
1-15. (canceled)
A knife firing subsystem for a surgical instrument comprising:
- a knife;
- a sled coupled to or integral with the knife and configured to move the knife in an end effector;
- a firing rod configured to drive the sled;
- a first push rod comprising:
- a first push rod distal end coupled to the sled;
- and
- a first push rod proximal end coupled to the firing rod;
- and
- a second push rod comprising:
- a second push rod distal end coupled to the sled;
- and
- a second push rod proximal end coupled to the firing rod.
A control device configured to:
- read a firing force of a knife driven by a motor;
- determine whether the firing force exceeds an upper threshold;
- in response to determining that the firing force exceeds the upper threshold, calculate an error;
- calculate, using the error, a time modulator;
- calculate, using the time modulator, a new time to move the knife from a current position of the knife to a beginning of end of cutline;
- and
- transmit the new time to a motor trajectory generator, the motor trajectory generator being configured to accelerate or decelerate the motor based on the transmitted new time.
The control device of claim 33, wherein the time modulator is calculated using the equation:
- Time
-
- Modular
- =
- kp
- *
- error
- +
- ki
-
- ∫
- error
- *
- dt
- ,
- where kp is the proportional gain, ki is the integral gain, error is the calculated error, and dt is the delta time.
A surgical instrument comprising:
- an end effector comprising a channel and an anvil coupled to the channel;
- and
- a knife firing subsystem comprising:
- a knife;
- a sled coupled to or integral with the knife and configured to move the knife in the end effector;
- a firing rod configured to drive the sled;
- a first push rod comprising:
- a first push rod distal end coupled to the sled;
- and
- a first push rod proximal end coupled to the firing rod;
- and
- a second push rod comprising:
- a second push rod distal end coupled to the sled;
- and
- a second push rod proximal end coupled to the firing rod.
Dependencies are inferred from the claim text.