CN106456169B - The interface system being used together with surgical instruments - Google Patents

Abstract

The invention discloses one kind as operator's surgical instruments used in surgical operation, which includes elongated shaft, the end effector extended from elongated shaft and control system.End effector can carry out joint motions relative to elongated shaft between natural state position and articulated position.Control system includes processor and is connected to processor to store the memory of program instruction.Processor can prompt operator when end effector reaches natural state position from articulated position.

Description

The interface system being used together with surgical instruments

Background technique

The present invention relates to surgical instruments, and in all cases, are related to the surgery for being designed to suture and cut tissue Suture and cutting device and its nail bin.

Detailed description of the invention

Refer to the following explanation of present example, the features and advantages of the present invention and its acquisition side in conjunction with the accompanying drawings Method will become more apparent, and be better understood invention itself, in which:

Fig. 1 be include handle assembly and shaft assembly surgical instruments perspective view, which includes end effector；

Fig. 2 is the perspective view of the handle assembly of the surgical instruments of Fig. 1；

Fig. 3 is the schematic block diagram of the control system of the surgical instruments of Fig. 1；

Fig. 4 is the schematic block diagram for the module being used together with the surgical instruments of Fig. 1；

Fig. 5 is the schematic block diagram for the module being used together with the surgical instruments of Fig. 1；

Fig. 6 is the schematic block diagram for the module being used together with the surgical instruments of Fig. 1；

Fig. 7 is the schematic diagram at the interface of the surgical instruments of Fig. 1 in un-activation or neutral gear configuration；

Fig. 8 is to be activated so that end effector carries out the schematic diagram at the interface of Fig. 7 of joint motions；

Fig. 9 is to be activated so that end effector returns to the signal at the interface of Fig. 7 of joint motions natural state position Figure；

Figure 10 is the schematic diagram for showing the partial view of the handle assembly of the surgical instruments of Fig. 1 of display；

Figure 11 shows the module of the surgical instruments of Fig. 1；

Figure 12 A is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 12 B is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 12 C is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 12 D is the schematic diagram of the screen orientation of the display of Figure 10；

Figure 13 shows the module of the surgical instruments of Fig. 1；

Figure 14 A is the side view of the handle assembly of Figure 10 in a vertical position；

Figure 14 B is the side view of the handle assembly of Figure 10 in upside down position；

Figure 15 is the schematic diagram for showing the display of Figure 10 of multiple icons；

Figure 16 is the schematic diagram for showing the display of Figure 10 of navigation menu；

Figure 17 is the schematic block diagram of the indicator system of the surgical instruments of Fig. 1；

Figure 18 is the module of the surgical instruments of Fig. 1；

Figure 19 is the perspective view for being connected to the surgical instruments of Fig. 1 of remote operation unit；

Figure 20 is the perspective view for being connected to the surgical instruments of Fig. 1 of remote operation unit；

Figure 21 is the schematic block diagram of the surgical instruments of the Fig. 1 wirelessly communicated with remote operation unit；

Figure 22 is the schematic diagram for including the first surgical instruments for controlling the remote operation unit of the second surgical instruments；

Figure 23 is the perspective view according to the modularization surgical instruments of the various embodiments of the disclosure；

Figure 24 is the decomposition perspective view of the modularization surgical instruments of Figure 23；

Figure 25 is the schematic diagram for showing the control system of modularization surgery system of the various embodiments according to the disclosure；

Figure 26 is the side for showing the component for update module surgery system of the various embodiments according to the disclosure The flow chart of method；

Figure 27 is the side for showing the component for update module surgery system of the various embodiments according to the disclosure The flow chart of method；

Figure 28 (A) and Figure 28 (B) is the schematic diagram for showing the control circuit of the various embodiments according to the disclosure；

Figure 29 (A) and Figure 29 (B) is the schematic diagram for showing the control circuit of the various embodiments according to the disclosure；

Figure 30 is the side for being used to handle the data by surgical instruments record for showing the various embodiments according to the disclosure The flow chart of method；

Figure 31 is the side for being used to handle the data by surgical instruments record for showing the various embodiments according to the disclosure The flow chart of method；

Figure 32 (A) -32 (C) is to show being recorded by surgical instruments for handling according to the various embodiments of the disclosure The flow chart of the various methods of data；

Figure 33 is the signal for showing the surgery system with wireless communication ability of the various embodiments according to the disclosure Figure；

Figure 34 is the outside for showing the end effector positioned at surgical site according to the various embodiments of the disclosure The front view of screen；

Figure 35 is the front view according to the external screen of Figure 34 for showing notice of the various embodiments of the disclosure；And

Figure 36 is the front view according to the external screen of Figure 34 for showing selection menu of the various embodiments of the disclosure.

Specific embodiment

Present applicant, which possesses, to be submitted on March 1st, 2013 and full text is respectively hereby incorporated herein by Following patent application:

Entitled " Articulatable Surgical Instruments With Conductive Pathways The U.S. Patent Application Serial Number 13/782,295 of For Signal Communication "；

Entitled " ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/782,323；

The beauty of entitled " THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS " State's patent application serial number 13/782,338；

Entitled " ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY The U.S. Patent Application Serial Number 13/782,499 of ARRANGEMENT "；

Entitled " MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/782,460 of INSTRUMENTS "；

The U.S. of entitled " JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS " is special Sharp patent application serial numbers 13/782,358；

Entitled " SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH The U.S. Patent Application Serial Number 13/782,481 of TROCAR "；

Entitled " CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE The U.S. Patent Application Serial Number 13/782,518 of IMPLEMENT PORTIONS "；

Entitled " ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF The U.S. Patent Application Serial Number 13/782,375 of FREEDOM "；And

The U.S. Patent Application Serial Number 13/782,536 of entitled " SURGICAL INSTRUMENT SOFT STOP ", These applications are incorporated by reference accordingly to be incorporated to.

Present applicant also possesses to be submitted and is respectively hereby incorporated herein by full on March 14th, 2013 Following patent application:

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/803,097；

Entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL The U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT "；

Entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL The U.S. Patent Application Serial Number 13/803,053 of INSTRUMENT "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION The U.S. Patent Application Serial Number 13/803,086 of LOCK "；

Entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR The U.S. Patent Application Serial Number 13/803,210 of SURGICAL INSTRUMENTS "；

The U.S. Patent application of entitled " MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT " Sequence number 13/803,148；

Entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,066 of INSTRUMENTS "；

Entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL The U.S. Patent Application Serial Number 13/803,117 of INSTRUMENTS "；

Entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,130 of INSTRUMENTS "；And

The U.S. of entitled " METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT " Patent application serial number 13/803,159.

Present applicant, which also possesses, to be submitted by one day with the application and is respectively herein incorporated by reference in full Following patent application:

Entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " (attorney number END7386USNP/130458 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " (generation Manage people file number END7387USNP/130459) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " STERILIZATION VERIFICATION CIRCUIT " (attorney number END7388USNP/ 130460) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT " The U.S. Patent Application Serial Number of (attorney number END7389USNP/130461) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT The U.S. Patent Application Serial of AND WAKE UP CONTROL " (attorney number END7390USNP/130462) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT The U.S. Patent Application Serial of ASSEMBLIES " (attorney number END7391USNP/130463) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL The U.S. Patent Application Serial of INSTRUMENTS " (attorney number END7392USNP/130464) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " (attorney number END7393USNP/130465 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR " The U.S. Patent Application Serial Number of (attorney number END7394USNP/130466) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS " (attorney docket Number END7395USNP/130467) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " (attorney number END7397USNP/ 130469) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT " (agency People file number END7399USNP/130471) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE The U.S. Patent Application Serial of VOLTAGE PROTECTION " (attorney number END7400USNP/130472) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL STAPLING INSTRUMENT SYSTEM " (attorney number END7401USNP/ 130473) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；With

Entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " (attorney number END7386USNP/130474 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _.

Certain exemplary implementation schemes will now be described, to understand the knot of apparatus and method as disclosed herein on the whole Structure, function, the principle of manufacture and purposes.One or more examples of these embodiments have been shown in the accompanying drawings.This field It is to be appreciated by one skilled in the art that specifically describing herein and being illustrated in the device and method in attached drawing is unrestricted show Example property embodiment.It can be with other embodiments in conjunction with the feature that an exemplary implementation scheme is illustrated or described Feature is combined.These modifications and variations are intended to be covered within the scope of the present invention.

" various embodiments ", " some embodiments ", " embodiment " or " implementation that this specification refers in the whole text Scheme " etc., it is meant that be included at least one embodiment in conjunction with the specific features of embodiment description, structure or characteristic In.Therefore, this specification occurs in the whole text phrase " in various embodiments ", " in some embodiments ", " in a reality Apply in scheme " or " in embodiments " etc. might not refer both to identical embodiment.In addition, in one or more embodiment party In case, specific features, structure or characteristic can combine in any suitable manner.Therefore, under unconfined situation, in conjunction with one Specific features that embodiment shows or describes, structure or characteristic can entirely or partly with other one or more embodiments Feature, structure or characteristic combination.These modifications and variations are intended to be covered within the scope of the present invention.

Terms used herein " nearside " and " distal side " be relative to manipulation surgical instruments handle portions clinician and Speech.Term " nearside " refers near the part of clinician, and term " distal side " refers to far from clinician's positioning Part.It is also understood that for it is succinct and clearly for the sake of, herein in combination with attached drawing use space term such as " vertical ", "horizontal", "up" and "down".However, surgical operating instrument uses in many directions and position, and these being not intended to limit property of term And/or it is absolute.

Various exemplary means and method are provided to execute laparoscopic type and minimally invasive surgical procedures.However, this field Those of ordinary skill it will be readily understood that various method and apparatus disclosed herein can be used for many surgical operations and application In, including for example combined with open surgery.With continued reference to present embodiment, those of ordinary skill in the art Member will be further understood that, various instruments disclosed herein can in any way in insertion body, such as by natural cavity, pass through Notch or puncturing hole for being formed in tissue etc..The working portion or end effector portion of instrument can be plugged directly into patient's body Interior or can be inserted by the device that enters with service aisle, the end effector and elongated shaft of surgical instruments can pass through the work Make channel and promotes.

Fig. 1 generally shows the surgical instruments 2200 of motor driving.In some cases, surgical instruments 2200 may include handle Parts 2202, shaft assembly 2204 and (PCC) power 2206 (or " power supply " or " power supply group ").Shaft assembly 2204 may include end Portion's actuator 2208, the end effector are configured to serve as clamping, cutting off and/or suture in some cases The linear cutter of tissue, but in other cases, can be used different types of end effector, such as grasper, cut Cutter, stitching unstrument, Clip Applier, into other types such as device, medicine/gene therapeutic device, ultrasound, RF and/or laser aids The end effector of surgical device.Several RF devices can be in the entitled " ELECTROSURGICAL for being published on April nineteen ninety-five 4 The United States Patent (USP) 5 of HEMOSTATIC DEVICE ", 403,312, and it is filed on 2 14th, 2008 entitled The United States Patent (USP) Shen of " SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES " It please be found in sequence 12/031,573.It is published in entitled " the ELECTROSURGICAL HEMOSTATIC on 4 days April nineteen ninety-five The United States Patent (USP) 5 of DEVICE ", 403,312, and it is filed on 2 14th, 2008 entitled " SURGICAL CUTTING The U.S. Patent Application Serial Number 12/031,573 of AND FASTENING INSTRUMENT HAVING RF ELECTRODES " Entire disclosure be incorporated by reference and be incorporated herein.

Referring again to Fig. 1, handle assembly 2202 may include shell 2210, and the shell is clinical including being configured to The shank 2212 that doctor grasps, manipulates and/or activates.It will be appreciated, however, that the various unique and novel constructions of shell 2210 The surgery system that can also effectively control with robot is used together.Therefore, term " shell " can also cover robot system Accommodate or be otherwise operably supported the shell or similar portions of at least one drive system, at least one described driving System, which is configured to generate and apply, can be used for activating shaft assembly 2204 disclosed herein and its corresponding equivalent At least one control movement.For example, shell 2210 disclosed herein can in entitled " SURGICAL STAPLING The U.S. Patent Application Serial of INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " Various robot systems, instrument, portion disclosed in number 13/118,241 (being now U.S. Patent Application Publication 2012/0298719) Part and method are used together.Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE The U.S. Patent Application Serial Number 13/118,241 of DEPLOYMENT ARRANGEMENTS " (is now U.S. Patent Application Publication 2012/0298719) disclosure, which is incorporated by reference, to be incorporated herein.

In some cases, surgical instruments 2200 may include it is several can operating system, it is described can operating system at least partly Ground extends through axis 2204 and is operatively engaged with end effector 2208.For example, surgical instruments 2200 may include that can make Closing assembly that end effector 2208 changes between open configuration and closed configuration, can make end effector 2208 relative to Axis 2204 carries out the joint motions component of joint motions, and/or can fasten and/or cut the group captured by end effector 2208 The percussion component knitted.In addition, shell 2210 is detachably coupled to axis 2204 and may include the closure of supplement, joint motions And/or percussion drive system is for operation closure respectively, joint motions and percussion component.

In use, the operator of surgical instruments 2200 can wish to reset surgical instruments 2200 and make surgical instruments 2200 One or more components return default location.For example, end effector 2208 can be inserted into patient's body by entrance by operator Interior operative site, and end effector 2208 then can be made to carry out joint motions and/or be closed end effector to catch Obtain intracavitary tissue.Some or all before subsequent operator's alternative is such as cancelled act, and may be selected to remove from chamber Surgical instruments 2200.Surgical instruments 2200 may include one or more systems, and one or more of systems are configured to Promote that said one or multiple components is made to be reliably returned to natural state under the minimum input of operator, to allow operator Surgical instruments is removed from chamber.

Referring to Fig. 1 and 3, surgical instruments 2200 may include control system 3000.For example, operator can utilize control system System 3000 make end effector 2208 relative to axis 2204 between joint motions natural state position and articulated position into Row joint motions.In some cases, operator can be such that the end for carrying out joint motions executes using control system 3000 Device 2208 resets or returns joint motions natural state position.Control system 3000 can be positioned at least partially shell 2210 In.In some cases, as shown in figure 3, control system 3000 may include microcontroller 3002 (controller), the microcontroller It is configured to receive input signal, and in response, starter motor 2216, so that such as root of end effector 2208 Class input signal carries out joint motions accordingly.

Apart from the above, end effector 2208 (herein also referred to as can not be closed in joint motions natural state position Save the position of movement) it is oriented sufficiently to be aligned with axis 2204, so that at least part of end effector 2208 and axis 2204 The trochar that can be for example located in the wall of patient bore by entrance is inserted into patient bore or from its retraction, without damaging Entrance.In some cases, when end effector 2208 is in joint motions natural state position, end effector 2208 can It is aligned with the longitudinal axis " LL " for passing through axis 2204 or is at least substantially aligned, as shown in Figure 1.In at least one situation, close Section movement natural state position can on the either side of longitudinal axis " LL " with longitudinal axis " LL " at maximum and including 5 ° appoint What angle.In another case, joint motions natural state position can on the either side of longitudinal axis " LL " with longitudinal axis " LL " is at maximum and including 3 ° of any angle.In another case, joint motions natural state position can be in longitudinal axis With longitudinal axis " LL " at maximum and including 7 ° of any angle on the either side of " LL ".

Control system 3000 can be operated to end effector 2208 in the plane extended along a longitudinal axis relative to Axis 2204 for example counterclockwise carries out joint motions with first direction such as clockwise direction and/or second direction.At least In a kind of situation, control system 3000 can be operated to end effector 2208 from joint motions natural state position along up time The joint motions of needle direction are to 10 ° on the right side of such as longitudinal axis " LL " of articulated position.For another example, control system 3000 can be grasped Make so that end effector 2208 on the right side of the longitudinal axis " LL " 10 ° articulated position in the counterclockwise direction joint motions to Joint motions natural state position.For another example, control system 3000 can be operated to end effector 2208 relative to axis 2204 From joint motions natural state position in the counterclockwise direction joint motions to 10 ° on the left of such as longitudinal axis " LL " of joint motions Position.It will be appreciate that end effector can along clockwise direction and/or counter clockwise direction joint motions are to different angle.

Referring to Fig. 1 and 2, the shell 2210 of surgical instruments 2200 may include interface 3001, which may include can be by operating Person utilizes to operate multiple controls of surgical instruments 2200.In some cases, interface 3001 may include multiple switch, described more A switch can be connected to controller 3002 for example, by circuit.In some cases, as shown in figure 3, interface 3001 includes three Switch 3004A-C, wherein each switch in switch 3004A-C passes through circuit (such as circuit 3006A-C) respectively is connected to control Device 3002 processed.It will be appreciate that other combinations of switch and circuit can be used together with interface 3001.

Referring to Fig. 3, controller 3002 can generally include microprocessor 3008 (" processor ") and be operably linked to locate Manage one or more storage units 3010 of device 3008.By executing the instruction code stored in memory 3010, processor 3008 The various parts of controllable surgical instruments 2200, such as motor 2216, various drive systems and/or user display.Controller 3002 can be realized using integrated and/or discrete hardware elements, software element and/or their combination.Integrated hardware element shows Example may include processor, microprocessor, microcontroller, integrated circuit, specific integrated circuit (ASIC), programmable logic device (PLD), digital signal processor (DSP), field programmable gate array (FPGA), logic gate, register, semiconductor devices, core Piece, microchip, chipset, microcontroller, system on chip (SoC) and/or package system (SIP).The example of discrete hardware elements It may include circuit and/or circuit element (such as logic gate, field effect transistor, bipolar junction transistor, resistance, capacitor, inductance Device, and/or relay).In some cases, controller 3002 may include hybrid circuit, the hybrid circuit include for example positioned at Discrete and integrated circuit component or component in one or more substrates.

In some cases, microcontroller 3002 can be the LM4F230H5QR for example purchased from Texas Instruments. In some cases, Texas Instruments LM4F230H5QR is ARM Cortex-M4F processor core comprising: The on-chip memory of the single cycle flash memory of 256KB or other nonvolatile memories (up to 40MHZ), to making property Can improve be more than 40MHz prefetch buffer, 32KB the serial random access storage device of single cycle (SRAM), be mounted withInside read-only memory (ROM), the 2KB electrically erasable programming read-only memory (EEPROM), one of software Or multiple pulsewidth modulation (PWM) modules, one or more orthogonal encoder inputs (QEI) are simulated, have 12 simulation inputs logical 12 analog-digital converters (ADC) of one or more in road, and other features being easy to get.Other microcontrollers can be easy Ground replaces to be used for the disclosure.Therefore, the disclosure should not necessarily be limited by this context.

In various forms, motor 2216 can drive for the DC brush of the maximum (top) speed for example with about 25,000RPM Dynamic motor.In other constructions, motor 2216 may include brushless motor, wireless motor, syncmotor, stepper motor or it is any its His suitable electric motor.Battery 2218 (or " power supply " or " power supply group "), such as lithium ion battery can be connected to shell 2212 for example to provide power to motor 2216.

Referring again to Fig. 3, surgical instruments 2200 may include the motor controller being operationally connected to controller 3002 3005.Motor controller 3005 is configured to the direction of rotation of control motor 2216.In some cases, motor control Device 3005 is configured to determine the electricity that battery 2218 applies to motor 2216 according to the input from controller 3002 Polarity is pressed, and then determines the direction of rotation of motor 2216.For example, when battery 2218 is applied to the polarity of voltage of motor 2216 When reversed according to the input from controller 3002 by motor controller 3005, motor 2216 can be by its direction of rotation from up time Needle direction is reversely at counterclockwise.In addition, motor 2216 can be operably linked to articulation drive, joint fortune Dynamic driver can for example be driven by motor 2216 towards distal side or proximally according to the direction that motor 2216 rotates.In addition, joint Motion drive can be operably linked to end effector 2208, so that such as axial direction of articulation drive proximally Translation can lead to end effector 2208 and carry out joint motions and/or articulation drive along such as counter clockwise direction Axial translation towards distal side can lead to end effector 2208 along such as progress joint motions clockwise.

In all cases, referring to Fig. 1-3, interface 3001 is configured to so that switch 3004A can be exclusively used in example Such as the joint motions clockwise of end effector 2208, and switch 3004B can be exclusively used in the inverse of such as end effector 2208 Hour hands joint motions.In such cases, operator can make end effector 2208 along clockwise by closure switch 3004A Direction carries out joint motions, and so that end effector 2208 is carried out joint in the counterclockwise direction by closure switch 3004B Movement.In all cases, switch 3004A-C may include the dome switch for opening bias, as shown in Figure 7.Other can also be used The switch of type, such as capacitance-type switch.

Referring to Fig. 7, dome switch 3004A and 3004B is controlled by rocker arm 3012.The disclosure is contemplated that be opened for controlling Close other devices of 3004A and 3004B.In neutral position shown in Fig. 7, both switch 3004A and 3004B, which are biased in, to be beaten Open position.Operator for example can press dome switch 3004A by swinging rocker arm forward to make 2208 edge of end effector Joint motions are carried out clockwise, as shown in Figure 8.As a result, circuit 3006A (Fig. 3) can be closed, to send out to controller 3002 The number of delivering letters makes the end effector 2208 carry out joint motions along clockwise direction with starter motor 2216, as described above.Motor 2216 can continue that end effector 2208 is made to carry out joint motions until operator discharges rocker arm 3012, to allow dome switch 3004A is back to open position and rocker arm 3012 returns to neutral position.In some cases, controller 3002 can identify End effector 2208 when reach joint motions it is predetermined utmostly, and at this moment interrupt motor 2216 electricity Source, irrespective of whether pressing dome switch 3004A.To a certain extent, controller 3002 is configured to reaching peace Total joint movement utmostly when surmount the input of operator and stop motor 2216.Alternatively, operator can for example lead to It crosses and swings rocker arm 3012 backwards to press dome switch 3004B to make end effector 2208 carry out joint in the counterclockwise direction Movement.As a result, circuit 3006B can be closed, execute end to send signal to controller 3002 with starter motor 2216 Device 2208 carries out joint motions in the counterclockwise direction, as described above.Motor 2216 can continue to close end effector 2208 Section movement discharges rocker arm 3012 until operator, to allow dome switch 3004B back to open position and rocker arm 3012 Back to neutral position.In some cases, controller 3002 can identify when end effector 2208 reaches joint motions It is predetermined utmostly, and at this moment interrupt motor 2216 power supply, irrespective of whether pressing dome switch 3004B.To a certain extent, controller 3002 be configured to reach safe joint motions utmostly when surmount The input of operator and stop motor 2216.

As described in more detail above, operator can it is expected for example to make end effector 2208 back to joint motions one's own department or unit shape State position, so that end effector 2208 is aligned with axis 2204 or is at least substantially aligned, so as to outer from the inner cavity of patient retraction Section's instrument 2200.In all cases, control system 3000 may include virtual pawl, which can be in end effector 2208 prompt operator when arrived joint motions natural state position.In some cases, control system 3000 can be configured At the joint motions that can for example stop end effector 2208 when reaching joint motions natural state position.In certain situations Under, control system 3000 be configured to for example end effector 2208 reach joint motions natural state position when to Operator provides feedback.

In some cases, control system 3000 may include various executable modules, such as software, procedure, data, driving Device, and/or application programming interfaces (API).Fig. 4 shows the example virtual pawl mould being for example storable in memory 3010 Block 10000.Module 10000 may include program instruction, which can lead to processor 3008 when executed and for example holding During portion's actuator 2208 carries out joint motions from articulated position, joint motions one's own department or unit shape is reached in end effector 2208 The operator of surgical instruments 2200 is for example prompted when state position.

As described above, operator for example can make end effector using rocker arm 3012 referring primarily to Fig. 3, Fig. 7 and Fig. 8 2208 carry out joint motions.In some cases, the dome switch 3004A of operator's pressable rocker arm 3012 is so that end executes Device 2208 for example carries out joint motions, and pressable dome switch along first direction (such as clockwise) to the right 3004B is so that (such as counterclockwise) such as progress joint motions to the left in a second direction of end effector 2208.Each In the case of kind, as shown in figure 4, processor 3008 is adjusted to from the defeated of dome switch 3004A and/or 3004B in module 10000 Enter the response of signal.For example, processor 3008 is configured to such as starter motor when dome switch 3004A is pressed 2216 so that end effector 2208 carries out joint motions to the right；And processor 3008 is configured to for example in circle Starter motor 2216 when top switch 3004B is pressed is so that end effector 2208 carries out joint motions to the left.In addition, processing Device 3008 is configured to for example when operator discharges dome switch 3004A and/or 3004B respectively, is coming from dome Stop end effector 2208 by causing motor 2216 to stop when the input signal of switch 3004A and/or 3004B stop Joint motions.

In all cases, as described above, joint motions natural state position may include position range.In certain situations Under, processor 3008 is configured to when detection end effector 2208 enters restriction joint motions natural state position Position range.In some cases, surgical instruments 2200 may include one or more positioning system (not shown) for feeling Survey and record the articulated position of end effector 2208.Processor 3008 is configured to using one or more fixed Position system come detect end effector 2208 when enter joint motions natural state position.

As shown in figure 4, in some cases, when reaching joint motions natural state position, processor 3008 can stop The joint motions of end effector 2208, to prompt operator to arrived joint motions natural state position；In some cases, Processor 3008 can stop the joint motions in joint motions natural state position, even if operator continues to press rocker arm 3012. In some cases, in order to continue through joint motions natural state position, then the releasable rocker arm 3012 of operator is put again It is moved to restart joint motions.In at least one situation, operator can push rocker arm 3012 to press dome switch 3004A, such as to make end effector 2208 rotate towards its natural state position, until end effector 2208 reaches it Position state position and processor 3008 stop the joint motions of end effector 2208, and wherein operator then can discharge rocker arm 3012 and then push rocker arm 3012 to press dome switch 3004A again, to continue end effector 2208 along identical The joint motions in direction.

In some cases, as shown in figure 5, module 10000 may include feedback mechanism to reach joint motions one's own department or unit shape Operator is prompted when state position.It is anti-to operator's offer sense organ that various feedback devices 2248 (Fig. 3) can be used for processor 3008 Feedback.In some cases, device 2248 may include such as visual feedback means, such as display screen and/or light-emitting diode display.At certain In a little situations, device 2248 may include audible feedback means, such as loudspeaker and/or buzzer.In some cases, device 2248 may include the haptic feedback devices that for example can provide touch feedback, such as mechanical detent.In some cases, touch feedback It can for example be provided by vibrating motor, which for example can provide vibratory impulse to the shank of surgical instruments.In certain feelings Under condition, device 2248 may include the combination of such as visual feedback means, audible feedback means and/or haptic feedback devices.

In some cases, processor 3008 is configured to for example when reaching joint motions natural state position Stop the joint motions of end effector 2208 and provides feedback to operator.In some cases, processor 3008 can be Feedback is provided to operator when reaching joint motions natural state position but can not stop the joint motions of end effector 2208. In at least one situation, end effector 2208 can be from the position on the first side of natural state position towards natural state position Movement passes through natural state position, and continues to move in same direction on the other side of natural state position.In such fortune During dynamic, when end effector 2208 passes through natural state position, some form of feedback can be provided to operator.Certain In the case of, processor 3008 can for example stop the joint fortune of end effector 2208 when reaching joint motions natural state position It moves but feedback can not be provided to operator.In some cases, processor 3008 can end effector 2208 through its center Suspend end effector 2208 when position and continues thereafter with by its center.In at least one situation, end is executed Device 2208 can for example its joint motions is temporarily resident about 2 seconds and is continued thereafter in position in its center, and precondition is joint fortune Dynamic switch 3012 keeps pressing.

In all cases, the operator of surgical instruments 2200 can attempt to make end effector using rocker switch 3012 2208 joint motions return to its position for not carrying out joint motions.Reader will be appreciated that operator can not be such that end executes Device 2208 accurately and/or is repeatably aligned with the longitudinal axis of surgical instrument shaft.But in all cases, operator can be easy In in the particular range that end effector 2208 is positioned accurately at center.For example, operator can push rocker switch 3012 so that end effector 2208 rotates towards its center and then believes that end effector 2208 has arrived in operator Rocker switch 3012 is discharged when up to its center or close to its center.Such situation can be construed to taste by processor 3008 Examination keeps end effector 2208 again placed in the middle, and if the not position in its center of end effector 2208, processor 3008 It can automatically make end effector 2208 placed in the middle.In at least one example, if the operator of surgical instruments is for example in end Rocker switch 3012 is discharged when actuator 2208 is located in about 10 degree of either side of center, then processor 3008 can be automatic Ground keeps end effector 2208 again placed in the middle.

In all cases, referring primarily to Fig. 3, Fig. 6 and Fig. 9, module 10000 may include joint motions reset or machine placed in the middle Structure.In some cases, kinetic control system 3000 may include resetting input, if end effector 2208 is in joint motions Position, then reset input can make end effector 2208 reset or return to joint motions natural state position.For example, connecing When receiving reseting input signal, controller 3008 can determine the articulated position of end effector 2208, and if end Actuator 2208 is in joint motions natural state position, then controller 3008 can not take any action to change end execution The articulated position of device 2208.However, if end effector 2208 is when processor 3008 receives reseting input signal In articulated position, then processor 3008 can starter motor 2216 so that end effector 2208 returns to joint motions sheet Position state position.As shown in figure 9, operator can press rocker arm 3012 downward open dome in a short period of time simultaneously or at least It closes 3004A and 3004B to be closed each other, this can transmit reseting input signal to processor 3008, so that end effector 2208 is multiple Position returns to joint motions natural state position.Operator then can discharge rocker arm 3012, so that rocker arm 3012 returns to sky File location and make switch 3004A and 3004B back to open position.Alternatively, the interface 3001 of control system 3000 can wrap Individual reset switch, such as another dome switch are included, can be independently closed from operator to be passed to processor device 3008 Defeated joint motions reseting input signal.

Referring again to Fig. 1, the end effector 2208 of surgical instruments 2200 may include the first jaw and the second jaw, this One jaw includes anvil block 10002, which has the logical of the nail bin 10006 for being configured to that reception may include multiple nails Road 10004.In some cases, end effector 2208 can change for example between open configuration and closed configuration will organize Capture is between anvil block 10002 and nail bin 10006.In addition, surgical instruments 2200 may include firing member, which can be Fire be axially moved between natural state position and firing position with when end effector 2208 is in closed configuration from nail bin The tissue of 10006 deployment nails and/or cutting capture between anvil block 10002 and nail bin 10006.

As described above, end effector 2208 can change between open configuration and closed configuration will organize to be clamped in it In.In at least one embodiment, anvil block 10002 can move between the open position and the closed position against nail bin 10006 compression tissues.In all cases, anvil block 10002 can be applied to the pressure of tissue or power may depend on the thickness of tissue. For the given clearance distance between anvil block 10002 and nail bin 10006, compared to compared with thin tissue, anvil block 10002 can be to thicker group It knits and applies biggish compression pressure or power.Surgical instruments may include the sensor of the detectable pressure for being applied to tissue or power, example Such as, load sensor.In some cases, when pressure or power are applied to tissue, the thickness and/or composition of tissue can be become Change.It can be outwardly into adjacent tissue for example, including the fluid such as blood compressed in tissue.In such cases, it organizes Can become compression pressure that is relatively thin and/or being applied to tissue or power can reduce.It is configured to detection and is applied to tissue Pressure or the sensor of power can detect this variation.Sensor can carry out signal communication with processor 3008, wherein processor 3008 can monitor the pressure for being applied to tissue or power and/or be applied to the variation of the pressure or power of tissue.In at least one situation Under, processor 3008 can assess the variation of pressure or power and convey when pressure or power have reached to the operator of surgical instruments Lower state and no longer change.Processor 3008 may further determine that the variation of pressure or power when be equal to and/or lower than threshold value or Person's threshold rates.For example, processor 3008, which can be lighted, for example to be activated with percussion when the variation of pressure or power is higher than for 10%/second The associated warning indicator of device, and when the variation of pressure or power is equal to or less than for 10%/second, processor 3008 can be lighted Such as preparation firing indicator associated with percussion actuator.In some cases, surgical instruments can forbid firing member court Distal side is advanced through end effector 2208, until the variation of such as pressure or power is equal to or less than threshold rates.

In some cases, surgical instruments operator may be selected deployment be stored in end effector 2208 more only Nail.In such cases, after firing member has been fully advanced, firing member can bounce back.In various other situations, surgery Whole nails that deployment is stored in end effector 2208 may be selected in the operator of instrument.In any case, surgical instruments The percussion actuator that operator's pressable extends from handle assembly 2210 promotes percussion structure with driven motor 2216 and towards distal side Part.Once percussion actuator has been depressed sufficiently, motor 2216 can be activated.In at least one mode of operation, it fires The further pressing of actuator can not influence the operation of motor 2216.Motor 2216 can be in the way of being specified by processor 3008 It is operated, until percussion actuator is released.Under other at least one operation modes, the degree that actuator is pressed is fired Or amount can influence the mode of the operation of motor 2216.For example, the initial compression of percussion actuator can be detected simultaneously by processor 3008 And in response, processor 3008 can operate motor 2216 with First Speed, wherein the additional compression of percussion actuator can be located Reason device 3008 detects and that in response processor 3008 can operate motor 2216 with second speed (such as, fast speed). In some cases, the pressing variation for firing actuator can be proportional to the variation of motor speed.In at least one situation, hit The pressing variation for sending out actuator can be linearly proportional with the variation of motor speed.In all cases, actuator quilt is fired Pull remoter, motor 2216 is operated faster.In certain embodiments, the pressure or power for firing actuator are applied to Size can influence the mode of the operation of motor 2216.For example, be applied to percussion actuator initial pressure or power can be by processor 3008 detect and in response, and processor 3008 can operate motor 2216 with First Speed, wherein being applied to percussion actuating The additonal pressure or power of device can be detected and that in response processor 3008 can be with second speed (such as, by processor 3008 Fast speed) operation motor 2216.In some cases, the variation for being applied to the pressure or power of percussion actuator can be with motor speed The variation of degree is proportional.In at least one situation, the variation for being applied to the pressure or power of percussion actuator can be with motor speed Variation it is linearly proportional.It is published in entitled " the SURGICAL INSTRUMENT HAVING on December 7th, 2010 The disclosure of the United States Patent (USP) 7,845,537 of RECORDING CAPABILITIES ", which is incorporated by reference, to be incorporated herein.

As described above, whole nails that deployment is stored in end effector 2208 may be selected in the operator of surgical instruments.? In such situation, operator's pressable fires actuator and then when they believe that all nail is in the firing schedules of firing member Period discharges actuator when being disposed.In some cases, surgical instruments may include can when firing schedule is completed by The indicator that reason device 3008 is lighted.Suitable indicator may include such as light emitting diode (LED).In some cases, it operates Person may believe that firing schedule has been fully finished, even if firing schedule has only been nearly completed.Surgical instruments may include being adapted to Enough at least one sensors of position of the detection firing member in its firing schedule, wherein sensor can with processor 3008 into Row signal communication.If firing schedule termination be nearly completed at position, processor 3008 can order motor 2216 completion hit Send out the firing schedule of component.For example, if whole percussions in addition to the last 5mm of firing schedule are for example completed in firing member Stroke, then processor 3008 can be assumed that operator is intended to complete firing schedule and is automatically completed the firing schedule.

Referring again to Fig. 1, the interface 3001 of surgical instruments 2200 may include natural state input 3014.Operator can be used Natural state input signal is transferred to processor 3008 so that surgical instruments 2200 returns to one's own department or unit shape by natural state input State may include making end effector 2208 back to joint motions natural state position and/or returning to firing member 10060 To percussion natural state position.As shown in Figure 3 and Figure 7, natural state input 3014 may include such as cap or lid, the cap or lid It can be pressed by operator with closure switch 3004C and natural state input signal is transferred to processor by circuit 3006C 3008.In some cases, natural state input 3014 is configured to transport end effector 2208 back to joint Dynamic natural state position, and individually input can be used for making firing member back to percussion natural state position.In certain feelings Under condition, natural state input 3014 is configured to make firing member back to percussion natural state position, and individually Input can be used for making end effector 2208 back to joint motions natural state position, for example, rocker arm 3012.

In all cases, processor 3008 is configured to receiving the sheet from natural state input 3014 Lead to firing member when the condition input signals of position back to percussion natural state position and end effector 2208 is caused to return To joint motions natural state position.In some cases, processor 3008 can depend on the response of natural state input signal Percussion mode or joint motions mode are in surgical instruments 2200；If processor 3008 determines that surgical instruments 2200 is in Joint motions mode, then processor 3008 can for example cause end effector 2208 to return in response to natural state input signal To joint motions natural state position；And it if processor 3008 determines that surgical instruments 2200 is in percussion mode, handles Device 3008 can for example cause firing member back to percussion natural state position in response to natural state input signal.Certain In the case of, only when end effector 2208 is in closed configuration, firing member just can be promoted axially to hit from nail bin 10006 Hair nail.In such cases, only when end effector 2208 is in closed configuration, surgical instruments 2200 just can be at percussion mould Formula.In some cases, only when end effector 2208 is in open configuration, end effector 2208 can just carry out joint fortune It is dynamic.In such cases, only when end effector 2208 is in open configuration, surgical instruments 2200 just can be at joint motions Mode.Therefore, in some cases, processor 3008 is configured to open by determining that end effector 2208 is in Configuration or closed configuration still fire mode to determine that surgical instruments 2200 is in joint motions mode.In some cases, One or more sensors 3016 (Fig. 3) can be used by processor 3008 to determine that end effector 2208 is in open configuration also It is closed configuration.

Referring now to Fig. 1 and Figure 10, surgical instruments 2200 may include screen 2251, which may include in such as shank group In part 2202.Screen 2251 can for example be prompted, be guided by one or more uses in microcontroller as described herein and/or Provide feedback to the operator of surgical instruments 2200.Screen 2251 can produce output display 2250.In use, operator can example Such as inclination, overturning, and/or rotational handle component 2202, and in response, the changeable output display 2250 of microcontroller is taken To with improvement, alignment, and/or adjustment output display 2250 relative to the visual field of the operator of surgical instruments 2200 and/or any The orientation of suitable reference system (for example, reference system of inertia or at least substantially inertia).Fixed reference frame can be at least partly It is limited by gravity.In some cases, the downward acceleration of terrestrial gravitation can be indicated by the vector-g in Figure 10.In certain situations Under, processor (such as processor 3008) is configured to change in location of the detection handle assembly 2202 relative to reference system And one in multiple orientations of screen 2251 is used relative to the relative position of reference system according to screen 2251.

In some cases, as shown in Figure 10, screen 2251 may be provided at the top surface 10008 of handle assembly 2202 On.In all cases, surface 10008 can extend along the first plane, and first plane is by the first of expression handle assembly 2202 The coordinate X1 and Y1 of group cartesian coordinate are limited.In all cases, screen 2251 can be positioned in the first plane.In some feelings Under condition, screen 2251 be can be positioned on as in lower plane, which is parallel to the first plane and/or relative to the first plane at fixation Any suitable flat of relationship extends.For the convenience purpose of this paper, it will be assumed that indicate first group of Descartes of handle assembly Coordinate is aligned with screen 2251 and because being referred to herein as group of screens cartesian coordinate.Output display 2250 can be located at by second or display In the second plane that the coordinate X2 and Y2 of group cartesian coordinate are limited.In some cases, as shown in Figure 10, the first plane can example Such as with the second co-planar.In addition, at least some cases, first or group of screens cartesian coordinate can be with second or display group Cartesian coordinate alignment.For example,+X1 can be aligned or parallel with+X2 ,+Y1 can be aligned or parallel with+Y2, and+Z1 can be with+Z2 Alignment is parallel.Therefore, in such cases ,-X1 can be aligned or parallel with-X2, and-Y1 can be aligned or parallel with-Y2, and- Z1 can be aligned or parallel with-Z2.Will in more detail below as described in, in some cases, second or display group cartesian coordinate It can be realigned relative to first or group of screens cartesian coordinate.In all cases, the certain of cartesian coordinate are shown Arrangement can be preferred.For example, the neutral position of surgical instruments 2200 can be consistent with the+Z1 of screen coordinate axis ,+Z1 the axis with The alignment of+g vector.Will in more detail below as described in, processor 3008 may be allowed specific between the screen coordinate under reference system Alignment of the deviation of amount without changing displaing coordinate；However, if it exceeds between screen coordinate under reference system it is specific partially Difference, then alignment of the displaing coordinate relative to screen coordinate can be changed in processor.

Referring to Figure 11-12D, module 10010 be configured to the change in location in response to handle assembly 2202 and Change or change the orientation of output display 2250 between multiple orientations, the position of handle assembly 2202 can hold by coming from for example The inputs of the one or more accelerometer (not shown) being contained in handle assembly 2202 monitors.As described above and as schemed Shown in 12A, first orientation is can be used in output display 2250, wherein when surgical instruments is in its neutral position, display group flute card You are aligned with+X1 and+the Y1 vector of group of screens cartesian coordinate respectively or are at least substantially aligned+X2 and+the Y2 vector of coordinate. In some cases, as shown in Figure 12 B, second orientation can be used in output display 2250, wherein shows the+Y2 of group cartesian coordinate It is for example aligned with+Y1 and-the X1 vector of group of screens cartesian coordinate with+X2 vector or is at least substantially aligned respectively.Certain In the case of, as indicated in fig. 12 c, third orientation can be used in output display 2250, wherein shows the+X2 and+Y2 of group cartesian coordinate Vector is for example aligned respectively with-X1 and-the Y1 vector of group of screens cartesian coordinate or is at least substantially aligned.In certain situations Under, as indicated in fig. 12d, the 4th orientation can be used in output display 2250, wherein shows+X2 and+the Y2 vector of group cartesian coordinate Such as it is aligned with-Y1 and+the X1 vector of group of screens cartesian coordinate or is at least substantially aligned respectively.Other orientations are also can be with 's.

Referring to Figure 11-12D, processor 3008 is configured to including for example first orientation, second orientation, third The orientation of switching output display 2250 is for example to adapt to handle assembly 2202 between multiple orientations of orientation and/or the 4th orientation Change in location.In some cases, module 10010 may include Hysteresis control algorithm for example to avoid when in first orientation, second The trembling of orientation when switching between orientation, third orientation and/or the 4th orientation.Hysteresis control algorithm, which can produce, will lead to display Lag between the initial detecting of the event of change in orientation and the processor command to change display orientation.Stagnant ring control as a result, Algorithm processed can be ignored the time that will lead to possible transient state orientation and most preferably reorientation be waited to show, until having reached stable state Or the state of stable state enough.In some cases, processor 3008 be configured to for example when the+Z1 vector of Z1 axis with again Output display 2250 is orientated to first orientation when angle between the-g vector of power axis g is less than or equal to maximum angle.At certain In a little situations, processor 3008 is configured to for example when the angle between the+X1 vector of X1 axis and the+g vector of gravity axis g Output display 2250 is orientated to second orientation when degree is less than or equal to maximum angle.In some cases, processor 3008 can It is configured to for example when the angle between the+Y1 vector of Y1 axis and the+g vector of gravity axis g is less than or equal to maximum angle When will output display 2250 be orientated to third orientation.In some cases, processor 3008 is configured to for example work as X1 Output display 2250 is orientated when angle between the+X1 vector of axis and the-g vector of gravity axis g is less than or equal to maximum angle At the 4th orientation.In some cases, maximum angle can be any angle selected from for example, about 0 degree to for example, about 10 degree range. In some cases, maximum angle can be any angle selected from for example, about 0 degree to for example, about 5 degree range.In some cases, Maximum angle can be for example, about 5 degree.Above-mentioned maximum angle is illustrative and is not intended to be limited to the scope of the present disclosure.

Referring to Figure 11-12D, in some cases, processor 3008 is configured to the+Z1 vector for example when Z1 axis Output display 2250 is orientated to first orientation when being in alignment with each other or be at least substantially aligned with-g the vector of gravity axis g.At certain In a little situations, processor 3008 is configured to for example when the+X1 vector of X1 axis and the+g vector of gravity axis g are in alignment with each other Or output display 2250 is orientated to second orientation when being at least substantially aligned.In some cases, processor 3008 can be matched Being set to will for example export when+Y1 the vector of Y1 axis is in alignment with each other or is at least substantially aligned with+g the vector of gravity axis g Display 2250 is orientated to third orientation.In some cases, processor 3008 be configured to for example when the+X1 of X1 axis to Output display 2250 is orientated to the 4th orientation when amount is in alignment with each other or is at least substantially aligned with-g the vector of gravity axis g.

Referring to Figure 11-12D, in some cases, processor 3008 is configured in shank 2212 around longitudinal Axis LL (Fig. 1) is rotated clockwise makes output aobvious in the case of the angle within the scope of for example, about 80 degree to for example, about 100 degree Show that 2250 rotate to second orientation from first orientation.In this example, if shank 2212 revolves clockwise around longitudinal axis L L Turn less than 80 degree, then processor 3008 can not reorientation output display 2250.In some cases, processor 3008 can be matched Being set to can rotate counterclockwise within the scope of for example, about 80 degree to for example, about 100 degree in shank 2212 around longitudinal axis L L Output display 2250 is set to rotate to the 4th orientation from first orientation in the case of angle.In this example, if shank 2212 encloses 80 degree are rotated less than counterclockwise around longitudinal axis L L, then processor 3008 can not reorientation output display 2250.

As described above, operator can for example make end effector 2208 carry out joint motions using rocker arm 3012.At certain In a little situations, operator for example can move its finger along first direction to swing rocker arm 3012 to press dome switch 3004A, from And end effector 2208 is made to carry out joint motions to the right along clockwise direction；And operator can such as edge and first direction Its mobile finger of opposite second direction is to press dome switch 3004B, to make end effector 2208 in the counterclockwise direction Joint motions are carried out to the left.

Position and/or orientation according to rocker arm 3012 relative to interface 3001 and/or handle assembly 2202, in certain situations Under, in first or neutral position of handle assembly 2202, first direction may be, for example, upward direction and second direction can example For example in downward direction, as shown in Fig. 1 and Figure 14 A.In such cases, the operator of surgical instruments 2200 can for example get used to Its finger of upper movement is for example to make end effector 2208 carry out joint motions to the right；And operator can for example get used to Lower its finger of movement is for example to make end effector 2208 carry out joint motions to the left.However, in some cases, operator It can be the second position by the position change of handle assembly 2202, for example, upside down position as shown in Figure 14B.In such cases, If operator forgets to make the moving direction of its finger reversed, operator can make unintentionally end effector 2208 along with behaviour The opposite direction of author's anticipated orientation carries out joint motions.

Referring to Figure 13, surgical instruments 2200 may include module 10012, which allows operator to keep surgeon can The moving direction that operation relative to surgical instruments 2200 has been accustomed to.As described above, processor 3008 is configured to example The variation of position and/or orientation such as in response to handle assembly 2202 and switch between multiple configurations.In some cases, such as Shown in Figure 13, processor 3008 is configured to associated with the first position of handle assembly 2202 and/or orientation Second structure of first configuration at interface 3001 and interface 3001 associated with the second position of handle assembly 2202 and/or orientation Switch between type.

In some cases, in the first configuration, processor 3008 is configured to for example in dome switch 3004A Order joint motions motor makes end effector 2208 carry out joint motions to the right when being pressed, and processor 3008 can quilt Be configured to for example when dome switch 3004B is pressed order joint motions motor make end effector 2208 to the left into Row joint motions.In the second configuration, processor 3008 can such as order joint motions horse when dome switch 3004A is pressed Up to making end effector 2208 carry out joint motions to the left, and processor 3008 can be pressed for example in dome switch 3004B Order joint motions motor makes end effector 2208 carry out joint motions to the right when pressure.In various embodiments, surgery Instrument may include a motor for making end effector 2208 carry out joint motions in both directions, and in other embodiments In, surgical instruments may include the first motor for being configured to that end effector 2208 is made to carry out joint motions along first direction With the second motor for being configured to that end effector 2208 is made to carry out joint motions in a second direction.

Referring to Figure 13-14B, processor 3008 is configured to for example be in first position in handle assembly 2202 And/or the first configuration is used when orientation, and for example when handle assembly 2202 is in the second position and/or orientation using second Configuration.In some cases, processor 3008 is configured to for example be contained in handle assembly 2202 by coming from The inputs of one or more accelerometer (not shown) detect orientation and/or the position of handle assembly 2202.In various feelings Under condition, such accelerometer can detect orientation of the handle assembly 2202 relative to gravity, that is, up and/or down.

In some cases, processor 3008 is configured in the vector D (figure for extending through handle assembly 2202 1) the first structure is used when the angle between gravity vector g is any angle within the scope of for example, about 0 degree to for example, about 100 degree Type.In some cases, it is for example, about 0 that processor 3008, which is configured to the angle between vector D and gravity vector g, Using the first configuration when spending to any angle within the scope of for example, about 90 degree.In some cases, processor 3008 can be configured At can angle between vector D and gravity vector g be e.g., less than or equal to about 80 degree when use the first configuration.

In some cases, processor 3008 is configured to for the angle between vector D and gravity vector g The second configuration is used when such as larger than or equal to about 80 degree.In some cases, processor 3008 is configured in vector D Angle between gravity vector g is to be greater than or when equal to about 90 degree using the second configuration.In some cases, processor 3008 to be configured to angle between vector D and gravity vector g be to be greater than or when equal to about 100 degree using the Two configurations.

Reader will be appreciated that, the orientation of handle assembly 2202 and/or position and its pair used by processor 3008 It answers configuration to be exemplary in nature and is not intended to be limited to the scope of the present disclosure.Processor 3008 is configured to adopt With various other configurations related with various other orientations of handle assembly 2202 and/or position.

Referring to Figure 15, in some cases, surgical instruments 2200 can be by receiving from display (for example, display 2250) The input from operator control and/or operate or at least partly control and/or operate；Display 2250 may include Touch screen, the touch screen are suitable for receiving the input in one or more touch gestures forms from operator.In various feelings Under condition, display 2250 can be connected to processor, for example, processor 3008, processor 3008 be configured in response to Surgical instruments 2200 is caused to perform various functions by the touch gestures of operator's offer.In some cases, display 2250 It may include such as capacitance touch screen, electric resistance touch screen or any suitable touch screen.

Referring again to Figure 15, display 2250 may include multiple icons, the multiple icon can with can be by surgical instruments The 2200 multiple functions of executing are associated.In some cases, processor 3008 is configured to indicating specific function Icon by surgical instruments 2200 operator selection, touch, and/or pressing when cause surgical instruments 2200 execute this function. In some cases, memory (for example, memory 3010) may include for making multiple icons associated with multiple functions one A or multiple modules.

In some cases, as shown in figure 15, display 2250 may include such as percussion icon 10014.Processor 3008 Detection percussion input signal when being configured to touch and/or press percussion chart 10014 in operator.In response to detection To percussion input signal, processor 3008 is configured to such as starter motor 2216 to actuate hitting for surgical instruments 2200 Component is sent out, thus the group from 10006 percussion nail of nail bin and/or cutting capture between anvil block 10002 and nail bin 10006 It knits.In some cases, as shown in figure 15, display 2250 may include for making end effector 2208 along first direction (example Such as, clockwise the joint motions icon 10016 of joint motions) is carried out；Display 2250 may also include for holding end Row device 2208 carries out the joint motions icon 10018 of joint motions in a second direction (for example, counterclockwise).Reader will know Road, display 2250 may include various other icons for example associated with various other functions, when such icon is by surgery device Tool 2200 operator selection, touch, and/or pressing when, processor 3008 can lead to surgical instruments 2200 execute it is described various Other function.

In some cases, one or more icons of display 2250 may include that for example expression can be by touching or pressing Text, symbol and/or the image for the function that icon executes.In some cases, joint motions icon 10016 can be shown along up time Needle direction carries out the image of the end effector 2208 of joint motions.In some cases, joint motions icon 10018 can be shown The image of the end effector 2208 of joint motions is carried out in the counterclockwise direction.In some cases, percussion icon 10014 can be shown Show the image of the nail fired from nail bin 10006.

Referring to Fig. 1 and Figure 16, the interface 3001 of surgical instruments 2200 may include multiple operational controls, for example, closure triggering Device 10020,3017 (Figure 17) of knob 10022, joint motions rocker arm 3012 and/or percussion input.In some cases, surgery device The various operational controls at the interface 3001 of tool 2200 also act as navigation controls other than its operating function.In certain situations Under, surgical instruments 2200 may include operation mode and navigation mode.In operation mode, in the control of surgical instruments 2200 one It is configured to a bit or all execute operating function；And in navigation mode, in the control of surgical instruments 2200 one It is configured to a bit or all execute navigation feature.In all cases, by some in the control of surgical instruments 2200 Or the navigation feature all executed can be related, associated and/or related to the operating function executed by these controls.Sentence is changed to change It says, the navigation feature executed by this class control can be limited by the operating function that the control of surgical instruments 2200 executes.

Referring to Fig. 1 and Figure 16, in some cases, processor (for example, processor 3008) is configured to outside Section's instrument 2200 be in operation mode during main interface configuration and surgical instruments 2200 be in navigation mode during second level circle Switch between the configuration of face；Processor 3008 is configured to that operating function is for example distributed to interface in an operation mode 3001 some or all controls and navigation feature is distributed into such control under navigation mode.In some cases, two The navigation feature of control in the configuration of grade interface is for example limited by the operating function of the control in main interface configuration.

Referring to Figure 16, in some cases, the operator of surgical instruments 2200 can be for example by opening or starting display Navigation menu 10024 in 2250 starts navigation mode.In some cases, surgical instruments 2200 may include leading for starting The navigation mode button or switch (not shown) of model plane formula.Under any circumstance, processor 3008 can receive navigation mode The control at interface 3001 is switched to secondary interface configuration from main interface configuration when input signal.

As shown in figure 16, navigation menu 10024 may include various selectable classifications, menu and/or file, and/or Various subcategories, submenu and/or sub-folder.In some cases, navigation menu 10024 may include such as joint motions class Mesh, percussion classification, closure classification, battery classification and/or rotation classification.

In some cases, as described above, joint motions rocker arm 3012 for example can be used for holding end in an operation mode Row device 2208 carries out joint motions, and can be used under navigation mode selecting joint motions classification and/or starting and/or Navigate joint motions menu.In some cases, 3017 (Figure 17) of percussion input for example can be used for percussion nail in an operation mode, And it can be used for selecting percussion classification and/or starting and/or navigation percussion menu under navigation mode.In certain situations Under, as described above, closure trigger 10020 for example can be used for making in an operation mode end effector 2208 open configuration with It approaches between configuration and changes, and can be used for selecting closure classification and/or starting and/or navigation closure under navigation mode Menu.In some cases, knob 10022 for example can be used for making end effector 2208 relative to elongated shaft in an operation mode 2204 rotations, and can be used for selecting rotation classification and/or starting and/or navigation rotary menu under navigation mode.

Referring primarily to Fig. 1 and Figure 17, a series of the step of operation of surgical instruments 2200 can be related to or sequence, movement, thing Part and/or their combination.In all cases, as shown in figure 17, surgical instruments 2200 may include indicator system 10030, The indicator system is configured to guide, prompt and/or provide relative to various steps, movement and/or event anti- Feed the operator of surgical instruments 2200.

In all cases, indicator system 10030 may include multiple indicators 10032.In some cases, indicator 10032 may include such as visual detector, for example, display screen, backlight or LED.In some cases, indicator 10032 can Including audio indicator, for example, loudspeaker and/or buzzer.In some cases, indicator 10032 may include tactile instruction Device, for example, tactile actuator.In some cases, indicator 10032 may include for example visual detector, audio indicator, And/or the combination of tactile indicators.

Referring to Figure 17, indicator system 10030 may include one or more microcontrollers, such as microcontroller 3002, be somebody's turn to do Microcontroller may include one or more processors (for example, processor 3008) and/or one or more storage unit (for example, Memory 3010).In all cases, processor 3008 can be connected to various sensors 10035 and/or feedback system, this is anti- Feedback system is configured to provide the state and/or surgical instruments for example in relation to surgical instruments 2200 to processor 3008 The feedback of the process of step involved in 2200 operation, movement and/or event.

In all cases, the operation of surgical instruments 2200 may include multiple steps, and the step is transported including such as joint Dynamic step, closure step, percussion step, percussion reset process, closed reduction step, joint motions reset process and/or they Combination.In all cases, joint motions step can be related to close end effector 2208 relative to elongated shaft 2204 Section moves to articulated position；And joint motions reset process can be related to for example make end effector 2208 back to joint Move natural state position.In all cases, closure step can be related to that end effector 2208 is for example made to be converted to closure structure Type；And closed reduction step can be related to that end effector 2208 is for example made to be converted to open configuration.In all cases, it fires Step can be related to that firing member is for example promoted to be caught to dispose nail from nail bin 10006 and/or cut by end effector 2208 The tissue obtained.In all cases, percussion reset process can be related to that firing member is for example retracted to percussion natural state position.

Referring to Figure 17, one or more indicators 10032 of indicator system 10030 can be with combination surgical instruments 2200 The one or more steps operated in each step executed are associated.In all cases, as shown in figure 17, indicator 10032 may include relief indicator 10033 for example associated with relief component 2228, pass associated with joint motions step Section motion indicator 10034, closing indicator 10036 associated with closure step, percussion associated with percussion step refer to Show device 10038, joint motions reset indicator 10040 associated with joint motions reset process and closed reduction step phase Associated closed reduction indicator 10042, and/or percussion reset indicator 10044 associated with percussion reset process.Reader It will be appreciated that above-mentioned steps and/or indicator are exemplary in nature and are not intended to be limited to the scope of the present disclosure.This public affairs It opens it is contemplated that various other steps and/or indicator.

Referring to Fig. 1, in all cases, one or more controls at interface 3001 can be used for the operation of surgical instruments 2200 One or more steps in.In some cases, closure trigger 10020 can for example be used to be closed in step.In certain feelings Under condition, 3017 (Figure 17) of percussion input can for example be used to fire in step.In some cases, joint motions rocker arm 3012 can example Such as in joint motions step and/or joint motions reset process.In some cases, natural state input 3014 can be such as For firing in reset process.

Referring to Figure 17, in all cases, with the step of the operation of surgical instruments 10030 in an associated instruction Device 10032 can also be associated with for the control in such step.For example, joint motions indicator 10034 can be with joint motions Rocker arm 3012 is associated, and closing indicator 10036 can be associated with closure trigger 10020, firing indicator 10038 can with hit Hair input 3017 is associated, and/or percussion reset indicator 10044 can be associated with natural state input 3014.At certain In a little situations, keeping indicator associated with the control at interface 3001 may include that indicator is arranged or is located on control, interior Portion, nearby, partly arrangement or orient control inside, and/or arrangement or be located immediately adjacent control for example so that indicator and control Part is associated.Reader will be appreciated that above-mentioned control and/or indicator are exemplary in nature and are not intended to be limited to this public affairs The range opened.The disclosure is contemplated that various other controls and indicator associated with such control.

In all cases, processor 3008 is configured to according to by step associated with indicator 10032 Sequence one or more sequences for limiting start indicator 10032.For example, operator can need according to start carry out joint Movement step carries out closure step later and carries out firing the series of steps of step followed by operate surgical instruments 2200.In such example, processor 3008 is configured to by according to sequence starting pair identical with sequence of steps Joint motions indicator 10034, closing indicator 10036 and the firing indicator 10038 answered guide operator complete step Sequentially.It changes sentence and changes and say, processor 3008 is configured to for example start joint motions indicator 10034, Zhi Houqi first Dynamic closing indicator 10036, and start firing indicator 10038 followed by.In some cases, surgical instruments 2200 can wrap Such as by-pass switch (not shown) is included, which is configured to allow operator around recommended but and nonessential The step of.In such cases, pressing by-pass switch can signal to processor 3008 to start next instruction in sequence Device.

In all cases, processor 3008 is configured to switch indicator between multiple indicator configurations 10032 with guidance, prompt and/or provide feedback to the operator of surgical instruments 2200.In all cases, processor 3008 can Such as by may include between the multiple indicator configurations for starting configuration and/or deactivated configuration switching indicator 10032 come to The operator of surgical instruments 2200 provides visual cues.In some cases, one or more indicators in indicator 10032 It may include that the light source that can for example start in the first indicator configuration for example prompts operator's execution related to indicator 10032 The step of connection；And the light source can be for example deactivated for example with the prompt operation when the step is completed in the second indicator configuration Person.

In some cases, light source can be flashing lamp, the flashing lamp can by processor 3008 flashing configuration with it is non- Change between flashing configuration.In some cases, the flashing lamp in non-flickering configuration can for example be transformed into solid-state lighting or by It closes.In some cases, the flashing lamp in flashing configuration can for example indicate the latent period during step is carrying out.? In some cases, the flicker frequency of flashing lamp can be changed to provide various visual cues.For example, when latent period is completed close to it When, the flicker frequency for indicating the flashing lamp of latent period can be increased or decreased.Reader will be appreciated that, latent period may be, for example, by Compel latent period and/or recommends latent period.In some cases, being forced latent period can be by being different from recommending latent period Flash configuration expression.In some cases, flashing lamp may include indicating to be forced the first color of latent period and indicating recommendation etc. To second color in period, wherein the first color is different from the second color.In some cases, the first color may be, for example, red Color, and the second color may be, for example, yellow.

In all cases, one or more indicators in indicator 10032 can for example be existed by processor 3008 It indicates the first indicator configuration of the control in the next standard step for the operating procedure that can be used for surgical instruments 2200, indicate Second indicator configuration of the control that can be used in next non-standard step of the operating procedure of surgical instruments 2200, and/or It indicates to cut between the third indicator configuration of the control in the next step for the operating procedure for being not useable for surgical instruments 2200 It changes.For example, when the end effector 2208 of surgical instruments 2000 is in open configuration, joint motions indicator 10034 and close Closing indicator 10036 can be lit, and thus indicate the two functions (that is, end effector to the operator of surgical instruments 2200 Joint motions and end effector closure) it is available at this point for operator.In this state, firing indicator 10038 can not It is lit, thus indicates that percussion function is unavailable at this point for operator to operator.Once end effector 2208 has been arranged It can be closed at closure and/or clamp configuration, joint motions indicator 10034, thus indicate joint motions function to operator It can be no longer available at this time.In this state, the brightness of closing indicator 10036 can reduce, thus to operator's indicating closing Function can be reversed at this time.In addition, in this state, firing indicator 10038 can be lit, thus hit to operator's instruction It is available at this point for operator to send out function.Once firing member is at least partly promoted, closing indicator 10036 can be by It closes, thereby indicates that closure function can not be reversed at this time.When firing member retracts to its non-firing position backward, percussion refers to Show that the brightness of device 10038 can reduce, thus indicates that firing member can be promoted again as needed to operator.Alternatively, Once firing member has bounced back, firing indicator 10038 can be closed, and thus indicate that firing member at this time can not to operator Again it is promoted.In any case, after firing member retracts to its non-firing position backward, closing indicator 10036 can be lighted again, thus can be reversed at this time to operator's indicating closing function.Joint motions indicator 10034 can It remains turned-off, thereby indicates that joint motions function is unavailable at this time.Once end effector 2208 has been opened, firing indicator 10038, which can be closed (if it is not closed also), thus indicates that percussion function is unavailable at this time to operator, closure instruction Device 10036 can keep being lit or its brightness can reduce thus still available at this time to operator's indicating closing function, and close Thus section motion indicator 10034 can be lighted again indicates that joint motions function can be used at this time to operator.It is provided above Example is that illustrative and other embodiments are also possible.

In some cases, one or more indicators in indicator 10032 may include such as light source, which can lead to Cross processor 3008 and in the first color in the first indicator configuration, the second color in the second indicator configuration and/or Switch between third color in three indicator configurations.In some cases, indicator 10032 can for example pass through processor 3008 And the luminous intensity by changing light source or scanning chromatography are in the first indicator configuration, the second indicator configuration and/or third Switch between indicator configuration.In some cases, the first indicator configuration may include such as the first luminous intensity, the second indicator Configuration may include such as the second luminous intensity and/or third indicator configuration may include such as third indicator configuration.

In all cases, in the percussion step of the operation of surgical instruments 2200, firing member can be actuated with will be more A nail is deployed in the tissue captured between anvil block 10002 and nail bin 10006 from nail bin 10006, and can promote cutting structure Part (not shown) is to cut the tissue of capture.Reader will be appreciated that, use up in the case where nail bin is not present or in presence Propulsion cutting element can be worthless with the tissue for cutting capture in the case where nail bin.Therefore, in all cases, surgery device Tool 2200 may include such as locking mechanism (not shown), which uses up in the case where nail bin is not present or existing Nail bin in the case where can be actuated to prevent cutting element propulsion.

Referring to Figure 18, module 10046 can be instructed to device system (for example, indicator system 10030 (Figure 17)) use.Each In the case of kind, module 10046 may include that the program being stored in one or more storage units (for example, memory 3010) refers to It enables, which for example can lead to processor 3008 using indicator 10032 in surgical instruments 2200 when executed The operator of surgical instruments 2200 is prompted, guides and/or provided feedback to during the percussion step of operation.In some cases, One or more indicators (for example, firing indicator 10038 and/or percussion reset indicator 10044) in indicator 10032 It can be switched between the first indicator configuration, the second indicator configuration and/or third indicator configuration by processor 3008 To prompt, guide and/or provide feedback to the behaviour of surgical instruments 2200 during the percussion step of the operation of surgical instruments 2200 Author.

Referring to Figure 17 and Figure 18, the actuatable percussion input 3017 of the operator of surgical instruments 2200 is to lead to processor 3008 Starter motor 2216, for example, to actuate firing member with by it is multiple nail be deployed in the tissue of capture from nail bin 10006 and Cutting element is promoted to cut the tissue of capture.In some cases, firing indicator 10038 can be set to the first indicator Configuration to operator to prompt percussion input 3017 available and/or to can be used for completing firing the standard control of step One in option.

In some cases, as shown in Figure 17 and Figure 18, if processor 3008 detects that locking mechanism is activation, Processor 3008 for example can stop the propulsion of cutting element by stopping and/or deactivating motor 2216.In addition, processor 3008 It is configured to that firing indicator 10038 is made to be transformed into third indicator configuration from the first indicator configuration, to alert behaviour It is unavailable that author fires input 3017.In some cases, processor 3008 may be additionally configured to for example put bright display 2250 and show missing nail bin image.In some cases, processor 3008 will also can for example fire reset indicator 10044 are set as the first indicator configuration, to notify the input 3014 of operator's natural state available to actuate firing member, Thus cutting element is made to retract to percussion natural state position.In some cases, processor 3008 is configured to example The installation and in response that new nail bin is such as detected by sensor 10035, refers to firing indicator 10038 back to first Show device configuration.

In some cases, as shown in figure 18, processor 3008 is configured to complete in percussion step in operator At stopping motor 2216 in the case of the input of release percussion before 3017.In some cases, processor 3008 can also for example by Firing indicator 10038 is maintained at the first indicator configuration, can be used as standard control choosing to prompt operator to fire input 3017 Item is with the percussion step of the operation for completing surgical instruments 2200.In some cases, processor 3008 will also can for example be hit Hair reset indicator 10044 is set as the second indicator configuration, to notify operator's natural state input 3014 to can be used as can be used One's own department or unit is fired in for example retracting to cutting element when operator determines to stop the percussion step of the operation of surgical instruments 2200 The non-standard control option of state position.

Apart from the above, as shown in figure 18, if percussion input 3017 is activated again by operator, processor 3008 can Motor 2216 is restarted in response to continue to promote cutting element, until cutting element is fully advanced.In certain feelings Under condition, sensor 10035 is can be used to detect when cutting element is fully advanced in processor 3008；Processor 3008 then can Such as make the direction of rotation of motor 2216 reversely for example so that cutting element retracts to percussion natural state position.In certain situations Under, processor 3008 is configured to for example detect that cutting element arrived percussion natural state position in processor For example stop motor 2216 under situation and/or closed reduction indicator 10042 is for example set as the first indicator configuration.

As described herein, surgical instruments can enter various modes of operation, mode and/or configuration.In some cases, instrument The undesirable mode of operation of operator, mode and/or configuration can be entered, which can be it is uncertain how makes instrument exit the not phase State, mode and/or the configuration of prestige.In at least one situation, surgical instruments may include reset button, and the reset button is in quilt Instrument can be arranged to default conditions, mode and/or configuration when actuating.For example, default conditions, mode and/or configuration may include Operation mode, and non-navigational mode.In at least one situation, default conditions and/or configuration may include for example showing output 2250 specific orientation.Reset button can carry out signal communication with processor 3008, which can be arranged to surgical instruments Default conditions, mode and/or configuration.In some cases, processor 3008 is configured to for surgical instruments being maintained at Default conditions, mode and/or configuration.In at least one situation, surgical instruments may include locking press button, and the locking press button is in quilt Surgical instruments can be locked in its default conditions, mode and/or configuration when actuating.In some cases, locking press button can will be outer Section's instrument is locked in its current state, mode and/or configuration.It can be by activating locking press button again come to mode of operation, mode And/or configuration unlock.In various embodiments, surgical instruments may include carrying out at least the one of signal communication with processor 3008 A accelerometer, the processor can determine when instrument shank is just shaken or just moved rapidly back and forth.When sensing this When class is shaken, surgical instruments can be arranged to default operating state, mode and/or configuration by processor 3008.

Referring to Figure 19, in all cases, surgical assembly 10050 may include surgical instruments (for example, surgical instruments 2200) With remote operation unit 10052.In some cases, surgical instruments 2200 may include main interface, for example, may be present in shank group Interface 3001 in part 2202, as shown in Figure 1.In some cases, interface 3001 may include multiple dominant controls, for example, closure Trigger 10020 (Fig. 1), knob 10022, joint motions rocker arm 3012, natural state input 3014 and/or percussion input 3017 (Figure 17).

In all cases, the operator of surgical instruments 2200 can manually operate the dominant control at interface 3001 for example to hold Row surgical operation.As described above, operator can for example actuated articulation movement rocker arm 3012 be with starter motor 2216, to make end Actuator 2208 carries out joint motions between the position and articulated position for not carrying out joint motions.In some cases, Operator can for example activate closure trigger 10020 so as to change between 2208 open configuration of end effector and closed configuration. In some cases, operator can for example activate percussion input 3017 with starter motor 2216, to actuate surgical instruments 2200 Firing member, thus from 10006 percussion nail of nail bin and/or cutting capture between anvil block 10002 and nail bin 10006 Tissue.

In all cases, the operator of surgical instruments 2200 can be sufficiently close together handle assembly 2202 can manually grasp Make interface 3001.For example, operator operates surgical instruments 2200 in combination with the surgery system that robot controls, the robot control The surgery system of system can be controlled from remote location.In such cases, operator can for example need to operate machine from operator The remote location of the surgery system of device people control operates surgical instruments 2200；Operator can be for example, by using remote operation unit 10052 remotely operate surgical instruments 2200.Various robot systems, instrument, component and method are disclosed in entitled “SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS” U.S. Patent Application Serial Number 13/118,241 (being now U.S. Patent Application Publication 2012/0298719) in, the patent application It is incorporated by reference and is incorporated herein.

Referring to Figure 19 and Figure 20, remote operation unit 10052 may include such as secondary interface 3001 ', display 2250 ' And/or (PCC) power 2206 ' (or " power supply " or " power supply group ").In all cases, secondary interface 3001 ' may include can be right It should be in multiple second level controls of the dominant control of main interface 3001 '.In some cases, remote operation unit 10052 may include example Such as correspond to the long-range joint motions rocker arm 3012 ' of joint motions rocker arm 3012.In some cases, remote operation unit 10052 may include the long-range percussion input 3017 ' for example corresponding to the percussion input 3017 of surgical instruments 2200.In certain situations Under, remote operation unit 10052 may include long-range one's own department or unit for example corresponding to the natural state input 3014 of surgical instruments 2200 State input 3014 '.

In some cases, as shown in figure 19, remote operation unit 10052, interface 3001 ' and/or multiple second level controls It may include the shape and/or design for being different from handle assembly 2202, interface 3001 and/or multiple dominant controls.In certain feelings Under condition, as shown in figure 20, remote operation unit 10052, interface 3001 ' and/or multiple second level controls may include respectively with shank Component 2202, interface 3001 and/or the identical or substantially the same shape and/or design of multiple dominant controls.

In all cases, as illustrated in figures 19 and 20, remote operation unit 10052 can be for example via elongated flexible cable 10054 are connected to the handle assembly 2202 of surgical instruments 2200, which is configured to various actuatings Signal is transferred to the processor 3008 of surgical instruments 2200；Various actuating signals can for example pass through the multiple of actuating interface 3001 ' Second level control generates.In some cases, as shown in figure 21, remote operation unit 10052 may include such as transmitter 10056, which is configured to for example will be by second level by the receiver 10058 that can be located in handle assembly 2202 The actuating signal that the second level control at interface 3001 ' generates is emitted to processor 3001 from remote operation unit 10052.

In all cases, surgical instruments 2200 and/or remote operation unit 10052 may include that communication starting inputs (not It shows).In some cases, actuating communication starting input may be, for example, preliminary step to establish surgical instruments 2200 and long-range behaviour Make the communication between unit 10052；Once communication is established, operator can be for example remote using remote operation unit 10052 Control to journey surgical instruments 2200.

In all cases, memory 3010 may include the program instruction for automatic configuration mode, the program instruction Processor 3008 be can lead to when executed according to the cause with processor 3008 to multiple dominant controls generation by main interface 3001 Dynamic signal responds identical or at least similar mode to respond by the actuating of multiple second level controls generation of secondary interface 3001 ' Signal.It changes sentence and changes and say, processor 3008 is configured to example to the response of the actuating signal generated by multiple second level controls Such as imitate response of the processor 3008 to the actuating signal generated by multiple dominant controls.

In some cases, the actuating of long-range percussion input 3017 ' can request and percussion input 3017 from processor 3008 The identical or at least similar response of actuating；The response of request may include the starting of such as motor 2216 to actuate firing member, Thus the tissue from 10006 percussion nail of nail bin and/or cutting capture between anvil block 10002 and nail bin 10006.Certain In the case of, the actuating of long-range joint motions rocker arm 3012 ' can request and the actuating of joint motions rocker arm 3012 from processor 3008 Identical or at least similar response；The response of request may include the starting of such as motor 2216 so that end effector 2208 is opposite Joint motions are carried out in elongated shaft 2204.

In some cases, processor 3008 is configured to need dominant control and second level from main interface 3001 The input actuating signal of the correspondence second level control at interface 3001 ' is to execute the function of being requested by this class control.In such cases, The length of run operator of remote operation unit 10052 can need the assistance of other operator, which can be for example long-range Operator manually activates the dominant control of main interface 3001 when activating the second level control of secondary interface 3001 '.

In all cases, as described above, operator operates surgical instruments in combination with the surgery system that robot controls 2200, the surgery system of robot control can be controlled by robot control system from remote location.In certain situations Under, remote operation unit 10052 is configured to and robot control system tandem working.In some cases, machine People's control system may include one or more control ports；And remote operation unit 10052 may include for robot control The attachment device of the control port connection engagement of system processed.In such cases, operator, which can for example be controlled by robot, is The interface of system operates surgical instruments 2200.In all cases, control port may include for example unique mechanical and/or electrical Configuration, the machinery and/or electrical configuration can need to ensure consistent product quality and property using original equipment manufacturer's component Energy.

In all cases, remote operation unit 10052 may include that can be similar to handle assembly 2202 in many aspects The various indicators 10032 ' of indicator 10032.In some cases, the indicator 10032 ' of remote operation unit 10052 can According to identical as indicator 10032 or at least substantially identical mode by processor 3008 using relative to surgical instruments Each step of 2200 operation guides, prompts and/or provide feedback to operator.

In all cases, remote operation unit 10052 may include that can be similar to handle assembly 2202 in many aspects The various feedback devices 2248 ' of feedback device 2248.In some cases, the feedback device 2248 ' of remote operation unit 10052 Can according to identical as feedback device 2248 or at least substantially identical mode by processor 3008 using relative to surgery device Each step of the operation of tool 2200 to provide sensory feedback to operator.Similar to feedback device 2248, feedback device 2248 ' It may include such as visual feedback means, audible feedback means, haptic feedback devices and/or their combination.

In all cases, as shown in figure 22, remote operation unit 10052 can for example be included in the first surgical instruments In 10060 or it is integrated, and can be used for operating the second surgical instruments 10062.In some cases, the first surgery device Tool 10060 can for example be present in visual area 10065, and can be manually operated in visual area 10065 by operator；And second Surgical instruments 10062 may be present in except visual area 10065.In some cases, in order to avoid leaving visual area 10065, operator It can be for example using remote operation unit 10052 remotely to operate the second surgical instruments 10062 out of visual area 10065.Certain In the case of, the second surgical instruments 10062 may be, for example, circular stapler.It is published in the entitled of on January 29th, 2013 The U.S. of " SURGICAL CUTTING AND STAPLING INSTRUMENT WITH SELF ADJUSTING ANVIL " is special The complete disclosure of benefit 8,360,297 is herein incorporated by reference.

In all cases, the first surgical instruments 10060 and/or the second surgical instruments 10062 may include that communication starting is defeated Enter (not shown).In such cases, actuating communication starting input may be, for example, preliminary step to establish the first surgical instruments 10060 and the second communication between surgical instruments 10062；Once communication is established, operator can be for example using remote operation Unit 10052 remotely controls the second surgical instruments 10062.

In all cases, surgery system may include modular member, which attaches and/or be incorporated in one It rises to form surgical instruments.In some cases, modular member can in different times and/or according to different software and/ Or firmware modification and design of more newly arriving, manufacture, programming and/or update.For example, referring primarily to Figure 23 and Figure 24, surgical instruments 100 It may include the first modular member 110 (for example, shank) and the second modular member 120 (for example, axis 122 and end effector 124), as described in more detail below.In all cases, the first modular member 110 and the second modular member 120 can groups It is fitted together to form modularization surgical instruments 100 or its at least part.Optionally, different modular members can be coupled To the first modular member 110, for example, having the axis of the size and/or feature different from the second modular member 120.Each In the case of kind, surgical instruments may include addition modular component, such as modular battery.The component of modularization surgical instruments 100 It may include control system, which is designed and configured into the various elements and/or function that can control surgical instruments 100 Energy.For example, the first modular member 110 and the second modular member 120 can respectively include control system, and each modularization The control system of component 110,120 can communicate and/or cooperate.In all cases, the first modular member 110 can for example exist Different time and/or be designed, manufactured with the software and/or firmware for being different from the second modular member 120, programmed and/ Or it updates.

Referring now to Figure 25, the surgery system of assembling may include the first control system 150 ' and the second control system 150.Control System 150 ' processed, 150 can for example carry out signal communication.In all cases, the second modular member 120 may include for example controlling System 150, the control system may include multiple control modules 152.Control module 152 can for example with and/or pass through surgical instruments 100 element or subsystem influence surgical function.Control module 152 can routine for example based on preprogramming, operator it is defeated Enter and/or system feedback influences feedback function.In all cases, the first modular member 110, which may also comprise, for example controls System 150 ', the control system may include multiple control modules 152 '.The control system 150 ' of first modular member 110 and/ Or a control module in control module 152 ' may differ from the control system 150 and/or control of the second modular member 120 A control module in module 152.Although control system 150 and 150 ' can be to be different, control system 150 and 150 ' can It is configured to control corresponding function.For example, control module 152 (a) and control module 152 (a) ' both can for example by Order is sent to firmware module 158 to execute firing schedule.In all cases, control system 150, one in 150 ' and/ Or its control module 152,152 ' may include the software updated and/or firmware and/or can have nearest validity date, such as It is described in further detail herein.

Control module 152,152 ' may include such as software, firmware, program, module and/or routine, and/or can wrap Include for example multiple softwares, firmware, program, control module and/or routine.In all cases, control system 150,150 ' can wrap Include multiple order levels and/or rank.For example, control system 150 may include the first level 144 of control module 152, control mould Second level 146 of block 152 and/or the third level 148 of control module 152.The control module 152 of first level 144 can quilt It is configured to for example send commands to the control module 152 of the second level 146, and the control module of the second level 146 152 are configured to send commands to the control module 152 of third level 148.In all cases, control system 150,150 ' may include for example less than three levels and/or more than three levels.

Referring also to Figure 25, the control module 152 in the first level 144 may include high-level software or clinical algorithm 154.Face Bed algorithm 154 can for example control the high-level function of surgical instruments 100.In some cases, the control mould in the second level 146 Block 152 may include such as middleware software or structure module 156, and the middleware software or structure module can control surgical instruments 100 Intermediate level function.In some cases, the clinical algorithm 154 of the first level 144 can send the second level for abstract order 146 structure module 156 is to control surgical instruments 100.In addition, the control module 152 in third level 148 may include for example solid Part module 158, the firmware module can particular hardware component 160 specific to surgical instruments 100 or certain components.For example, firmware Module 158 for example can correspond to specific cutting element, trigger shaft, trigger, sensor and/or the motor of surgical instruments 100, and And/or person can correspond to the particular subsystem of surgical instruments 100.In all cases, structure module 156 can be sent commands to Firmware module 158 is to execute surgical function with corresponding hardware component 160.Therefore, the various control modules of surgery system 100 152 can communicate and/or cooperate during surgery.

Referring also to Figure 25, the control system 150 of second component 120 can correspond to the control system 150 ' of the first component 110, And the various control modules 152 of second component 120 can correspond to the control module 152 ' of the first component 110.It changes sentence and changes and say, often A control module 152 may include parallel or corresponding control module 152 ', and control module 152 and 152 ' is configured to It enough executes identical, similar and/or related function and/or identical, similar and/or related order is provided.Referring also to figure 25, control module 152a can correspond to control module 152a '.For example, the controllable cutting member of both control module 152a and 152a ' The firing schedule of part；However, control module 152a is for example configured to the design of the first cutting element of control or model simultaneously And control module 152a ' is configured to control different cutting element design or model.In other cases, mould is controlled Block 152a ' may include software program and control module 152a may include update or the revision of such as software program.

In all cases, the first component 110 of surgical instruments 100 may include calculating different from the clinical of second component 120 The clinical algorithm 154 ' of method 154.In addition to this and/or alternatively, the first component 110 may include being not used in second component 120 The structure module 156 ' and/or the first component 110 of corresponding structure module 156 may include pair different from second component 120 Answer the firmware module 158 ' of firmware module 158.

In all cases, corresponding control module 152,152 ' may include different validity date.This field it is common Technical staff will be appreciated that the validity date of control module 152,152 ' can for example be set corresponding to control module 152,152 ' Meter generates, the date of programming and/or update.The validity date of control module for example can record or be stored in the journey of control module In sequence code.In some cases, the control module of surgical instruments 100 can be out-of-date.In addition, it is out-of-date or it is recent update compared with Few control module can it is incompatible with update and/or recent renewal control module, be disengaged and/or disconnect.Cause This, in certain circumstances, it may be desirable to which control module when updated is to ensure the appropriate of surgical instruments 100 and operate effectively.

In all cases, the modular member of surgery system may include predetermined default or master control system.? In such situation, if the control system of the modular member of assembling be it is different, default control system is renewable, rewrite, Modify and/or replace non-default control system.It changes sentence and changes and say, if corresponding control module is, for example, different, incompatible Or it is inconsistent, then non-default control module can be updated and the control module defaulted can be retained.For example, such as carpopodium Portion 110 includes control system 150 ' (it is non-default control system) and axis 120 includes that (it is master control to control system 150 System processed), then the control system 150 ' of shank 110 can be updated based on the control system 150 of axis 120.

The shaft member 120 for programming surgical instruments can it is expected to be more often updated and/or repair than handle assembly in shaft member It include the control system of default in the case where changing.For example, if the new version and/or iteration of shaft member 120 compares handle components 110 new version and/or iteration introduces more frequent, then can be advantageously in the shaft member of modularization surgical instruments 100 It include default or master control system in 120.Various situations described in the entire disclosure are related to the control module based on shaft member To update the control module of handle components；However, those skilled in the art will be easy to know, the case where other are imagined Under, the control module of shaft member and/or disparate modules component may be updated in substitution or the control module in addition to handle components.

In all cases, surgical instruments 100 (Figure 23 and Figure 24) can be by each level or grade in control system 150 ' The control module 152 ' in other places and the control module 152 of each corresponding level or level in control system 150 are compared. If control module 152 and 152 ' in corresponding level be it is different, control system 150,150 ' can for example update non-default Control module.Referring to fig. 26, at step 201, control system 150 and/or control system 150 ' can be by the first components 110 The control module 152 ' of first level 144 ' and the control module 152 of the first level 144 of second component 120 are compared.? In the case that first level 144,144 ' respectively includes high-level clinical algorithm 154,154 ', control system 150 and/or control system System 150 ' can for example compare clinical algorithm 154 and 154 '.In addition, at step 203, if the control in the first level 144,144 ' Molding block 152,152 ' be it is different, then control system 150 and/or control system 150 ' can be for example silent with the first level 144 Module 152 is recognized to update the module 152 ' of the first level 144 '.In all cases, control system 150 is comparable and/or updates Control system and/or control module, and in other cases, control system 150 ' can for example compare and update control system And/or control module.In all cases, control system 150, one in 150 ' is configured to compare and/or more New control system and/or control module, and in other cases, two control systems 150,150 ' are configured to compare Compared with and/or update control system and/or control module.

At step 205, control system 150 and/or control system 150 ' can be by the second levels 146 ' of the first component 110 Control module 152 ' and the control module 152 of the second level 146 of second component 120 be compared.For example, in the second level In the case that 146,146 ' include intermediate level framework algorithm 156,156 ', control system 150,150 ' can be calculated for example comparison architecture Method 156 and 156 '.At step 207, if module 152,152 ' in the second level 146,146 ' be it is different, then control and be System 150,150 ' can update the control module 152 ' of the second level 146 ' with the default control module 152 of the second level 146.? In various situations, although one in control module 152 ' in the second level 146 ' can be with the corresponding mould in the second level 146 Block 152 is identical, but if any corresponding second hierarchy module 152,152 ' be it is different, then the second level 146 ' may be updated Whole control modules 152 '.In other cases, as described in more detail herein, the control different from respective modules 152 can only be updated Molding block 152 '.

At step 209, control system 150 and/or control system 150 ' can be by the third levels 148 ' of the first component 110 Control module 152 ' and the control module 152 of the third level 148 of second component 120 be compared.For example, in third level In the case that 148,148 ' include firmware module 158,158 ', control system 150 and/or control system 150 ' can for example compare admittedly Part module 158 and 158 '.If module 152,152 ' in third level 148,148 ' be it is different, then control system 150 and/ Or control system 150 ' can update third level 148 ' at step 211 with the default control module 152 of third level 148 Control module 152 '.In all cases, although one in control module 152 ' in third level 148 ' can be with third layer Grade 148 in correspondence control module 152 it is identical, but if any corresponding third hierarchy module 152,152 ' be it is different, then Whole modules 152 ' of renewable third level 148 '.In other cases, it can only update and be different from corresponding control module 152 Control module 152 '.Referring also to Figure 26, the first level control module 154,154 ' can for example in the second level control module 156, It is updated before 156 ', and the second level control module 156,156 ' can be for example in third level control module 158,158 ' It is updated before.In other cases, as described in more detail herein, third level control module 158,158 ' can be for example It is updated before two level control modules 156,156 ', and the second level control module 156,156 ' can be for example in first layer It is updated before grade control module 154,154 '.

As described above, control system 150 and/or control system 150 ' can update, replacement and/or it is writing when control Compare control system 150,150 ' and/or its control module 152 before module 152,152 ' and/or control system 150,150 ', 152'.Reader will be appreciated that, when software upgrading and/or upgrading are unnecessary or not at that time, this step can shorten the instrument starting time. Alternatively, comparison step 201,205 and 209 can be removed, and control system 150,150 ' can for example be automatically updated, replace Change, modify and/or rewrite the first modular member 110 control module 152 ' and/or the first modular member 110 it is specific, Predetermined control module 152.

In all cases, control module 152,152 ' successively can be compared and update, and in other situations Under, control system 150,150 ' can be systematically carried out one by one to be compared and updates.In other cases, control module 152,152 ' can It is updated to module one by one.For example, referring now to Figure 27, it, can be by the third layer of the first control system 150 ' at step 221 Grade module 158 ' is compared with the corresponding third hierarchy module 158 of the second control system 150.It in all cases, can be by The validity date of three hierarchy modules 158 ' is compared with the validity date of corresponding third hierarchy module 158.In addition, control system 150 and/or control system 150 ' can determine third hierarchy module 158 ' validity date whether having in third hierarchy module 158 After the effect date.If third hierarchy module 158 ' is for example newer than third hierarchy module 158, third hierarchy module 158 ' can be Step 225 place is retained., whereas if third hierarchy module 158 ' is new not as good as third hierarchy module 158, that is, third level mould Block 158 before corresponding third hierarchy module 158 or third hierarchy module 158 and corresponding third hierarchy module 158 ' tool There is identical validity date, then third hierarchy module 158 ' for example can be updated, be replaced by corresponding third hierarchy module 158 It changes, modify and/or rewrites.In addition, in all cases, it can be for each mould in the third level of control system 150,150 ' 158,158 ' Lai Chongfu step 221 of block and 223 or 225.Therefore, module 158 ' in third level 148 ' can module one by one It is updated, and in all cases, only out-of-date module 158 ' for example can be updated and/or rewrite.

Referring also to Figure 27, after being compared in whole third hierarchy modules 158,158 ' and possibly having updated, control System 150,150 ' may proceed to step 227.At step 227, control system 150 and/or control system 150 ' can confirm The third hierarchy module 158 ' of one control system 150 ' is connect and/or appropriate with the second hierarchy module 156 ' of control system 150 ' Ground communication.For example, the second hierarchy module 156 ' can be made in the case where third hierarchy module 158 ' is updated in step 223 place It is disconnected with the third hierarchy module 158 ' of update.If third hierarchy module 158 ' is for example disconnected with the second hierarchy module 156 ', Then the second hierarchy module 156 ' can be updated at step 229, replaces, modifies and/or rewrite.Second hierarchy module 156 ' can Such as it is replaced by the second hierarchy module of correspondence 156 of the second control system 150., whereas if third hierarchy module 158 ' and Two hierarchy modules 156 ' suitably connection and/or communication, then the second hierarchy module 156 ' can be retained.In addition, in various situations Under, can for control system 150,150 ' third level in 158,158 ' Lai Chongfu step 227 of each module and 229 or 231.Therefore, the module 156 ' in the second level 146 ' can be updated to module one by one, and in all cases, only be disconnected Module 156 ' for example can be updated and/or rewrite.

Updating any out-of-date third third hierarchy module 158 ' (step 221 and 223) and ensure all to update Hierarchy module 158 ' (if any) is connected to appropriate second hierarchy module, the 156 ' (step on the first modular member 110 227,229 and 231) after, control system 150,150 ' may proceed to step 233, wherein the first of the first control system 150 ' Hierarchy module 154 ' can be compared with corresponding first hierarchy module 154 of the second control system 150.If the first hierarchy module 154,154 ' is identical, then update and/or to modify process achievable., whereas if the first hierarchy module 154,154 ' is not With, then the first hierarchy module 154 ' of the first control system 150 ' can pass through the first hierarchy module of the second control system 150 154 update, replace, modify and/or rewrite.

As described herein, modular member 110,120 software and/or firmware module can one by one module, successively And/or it is systematically carried out update, modification and/or replacement one by one.In some cases, when modular member is attached and/or can be grasped When making ground connection, updates and/or modification process can carry out automatically.In other cases, the operator of surgical instruments 100 can start Or trigger update and/or modification process as described herein.

In all cases, modularization surgical instruments (for example, modularization surgical instruments 100 (Figure 23 and Figure 24)) may include The microcontroller of signal communication is carried out with engagement transducer and display.In all cases, engagement transducer can detect surgery The relative positioning of the modular member of system.It include shank in such as the first modular member 110 referring again to Figure 23 and Figure 24 And the second modular member 120 include axis in the case where, engagement transducer can detect axis 120 whether engaged with shank 110 and/ Or it is operatively coupled.In all cases, axis 120 can engagement shank 110 (Figure 23) be disengaged shank 110 (Figure 24) Between move.

Referring primarily to Figure 28 (A) and Figure 28 (B), engagement transducer (for example, engagement transducer 602) can be with surgery system Microcontroller (for example, microcontroller 604) carries out signal communication.In all cases, engagement transducer 602 can be detected for example The engagement of modular member 110,120 is still disengaged, and its engagement or disengagement state for example can be transmitted to micro-control Device 604 processed.When for example axis 120 engages the instruction of engagement transducer 602 with shank 110, microcontroller 604 is allowed outside modularization The surgical function of section's instrument 100 (Figure 23).If modular member 110,120 is for example operatively coupled, then on shank 110 The actuating of firing trigger 112 (Figure 23) can be realized for example or at least attempt to realize the firing action in axis 120., whereas if Engagement transducer 602 indicates that axis 120 is disengaged with shank 110, then microcontroller 604 can prevent surgical function.For example, if Modular member 110,120 disconnects, then the actuating of firing trigger 612 can not be realized or not attempt to realize the percussion in axis 120 Movement.

In all cases, modularization surgical instruments 100 may include display, for example, display 606 (Figure 28 (B)).It is aobvious Show that device 606 can be integrated into the modular member 110, one of 120 of surgical instruments 100, and/or modularization can be located at The outside of component 110,120 simultaneously carries out signal communication with the microcontroller of surgical instruments 100 604.In all cases, microcontroller The information detected by engagement transducer 602 can be transmitted to display 606 by device 604.For example, display 606 can show modularization The engagement of component 110,120 and/or disengaged.In addition, in all cases, display 606 can provide guidance and/or guidance, The guidance and/or guidance relate to how (a) suitably attachment, connection and/or disengaging engaging members for engaging surgical instruments 100 110,120 and/or how (b) suitably dismantles, separates and/or dismantle the joint element 110,120 of surgical instruments 100.Again 8 (A) referring to fig. 2, in all cases, engagement transducer 604 may include hall-effect switch, and in other cases, connect Closing sensor may include for example different and/or other sensor and/or switch.

In some cases, engagement transducer 604 can detect the degree of engagement between the modular member of surgical instruments.? The first component includes in the case that such as shank 110 and second component include such as axis 120, and shank 110 and axis 120 can be de- It is moved between bonding station, partially engaged position and bonding station.Partially engaged position can be for example positioned at disengaged position Among bonding station, and can there are multiple portions bonding stations for example among bonding station and disengaged position.? In various situations, engagement transducer 604 may include multiple sensors, and the multiple sensor can detect the portion of component 110,120 Divide bonding station.For example, engagement transducer 606 can be for example including multiple sensors and/or electric contact, the multiple sensor And/or electric contact can for example be staggered along the attachment part of at least one of modular member 110,120.In certain feelings Under condition, engagement transducer 604 may include such as hall effect sensor.

In some cases, referring primarily to Figure 29 (A) and Figure 29 (B), surgery system 100 may include and microcontroller (example Such as, microcontroller 614) carry out signal communication multiple sensors.Multiple sensors may include 612 (Figure 29 of first sensor (A)), which can for example detect the presence of the first component 120 and can be transmitted to the presence of the first component 120 micro- Controller 614.In all cases, first sensor 612 for example can not detect and/or transmit the first component 110 and second Degree of engagement between part 120.In all cases, second sensor 613 (Figure 29 (A)) can also be carried out with microcontroller 614 Signal communication.Second sensor 613 can degree of engagement between such as detection module component 110,120.

Similar to control system shown in Figure 28 (A) and Figure 28 (B), microcontroller 614 can be based on from 612 He of sensor 613 received feedbacks send order, and/or signal communication can be carried out with display to show feedback and/or with its other party Formula is communicated with the operator of surgery system.For example, microcontroller 614 can be in engagement position in modular member 110,120 Surgical function is prevented before setting, and for example can prevent surgical function when 110,120 part of modular member engages.In addition, The information detected by engagement transducer can be transmitted to display by microcontroller 614.For example, display can show modular member 110,120 engagement, part engagement and/or disengaged.In addition, in all cases, display can provide guidance and/or draw It leads, the guidance and/or guidance for example relate to how suitably to be attached, couple and/or engage being disengaged for surgical instruments And/or the component 110,120 of part engagement.

In all cases, surgical instruments may include the micro process that signal communication can be carried out with storage chip or storage unit Device, for example, microprocessor 604 (Figure 28 (A) and Figure 28 (B)) or 614 (Figure 29 (A) and 29 (B)).Microprocessor can for example by by Various sensors, program and/or the circuit detection of surgical instruments and/or the data and/or feedback that calculate are transmitted to storage chip. In all cases, the data of record can be for example each with the time of surgical operation and/or duration and surgical operation Function and/or partial time and/or duration are related.In addition to this or alternatively, the data of record can for example with treatment The condition in condition and/or surgical instruments at position is related.In some cases, the record of data can be automatic, and In other cases, microprocessor can not record data, unless and/or until being instructed to record data.For instance, it may be preferable to be Data are recorded during surgery, and the data of record are kept or are stored in storage chip and/or by the number of record According to being transferred to home.In other cases, it may be preferable to for example record data during surgery and delete thereafter Except the data of record.

Surgical instruments and/or its microcontroller may include data storage protocols.Data storage protocols can be provided for example and are used for Record, processing, storage, transmission and/or the rule for deleting data.In all cases, data storage protocols can be in surgical instruments Life cycle during pre-establish and/or update.In all cases, data storage protocols can be required in outer section's function And/or surgical operation complete after deletion record data, and in other cases, data storage protocols can be required predetermined The data of deletion record after the adopted period terminates.For example, the data of record can be complete in surgical function according to data storage protocols It is deleted at after one minute, one hour, one day, one week, one month or 1 year.Time predefined Duan Kewei environment allows any The suitable and period appropriate.

In some cases, data storage protocols can require the surgical function (for example, firing schedule) in predefined number The data of deletion record later.In other cases, data storage protocols can require the deletion record when outer section's instrument powers off Data.For example, with reference to Figure 31, if surgical instruments powers off, microcontroller may proceed to step 709, and wherein microcontroller can Determine mistake or significant problem whether occur during surgery, for example, instrument, component or subsystem failure.In various feelings Under condition, if detecting mistake, microcontroller may proceed to step 713, and wherein data can for example be stored in storage chip In.In addition, in some cases, if mistake is not detected, microcontroller may proceed to step 711, and wherein data can example As being deleted.In other cases, data storage protocols may not include step 709, and data storage protocols can for example continue It carries out without checking gross mistake or failure.

In other cases, data storage protocols can require outer section's instrument predefine inactive or quiescent period after The data of deletion record.For example, data storage protocols can be required in outer section's device if surgical instruments is allowed to stand for and/or is put in storage The data of deletion record after tool is static or idle time predefined section.Required quiescent period may be, for example, one minute, one Hour, one day, one week, one month or 1 year.Any suitable and week appropriate that predefined quiescent period can allow for environment Phase.In all cases, surgical instruments may include such as accelerometer, which can detect the movement of surgical instruments and quiet Only.Referring again to Figure 31, when surgical instruments not yet powers off at step 701, accelerometer can be set to detect surgery device The movement of tool.It, can be in step if detecting movement at step 703 before predefined idling cycle terminates (step 707) Predefined free time counting is restarted at rapid 705., whereas if before predefined idling cycle terminates (step 707) Movement is not detected by accelerometer, then microprocessor can for example proceed to step 709.In other cases, microprocessor Step 711 or 713 for example can be proceeded to directly to according to data storage protocols, without examination apparatus mistake or failure.

As described herein, data storage protocols may include one or more default rules of the data for deletion record. However, in certain circumstances, it may be desirable to surmounting default rule or program.For example, in order to study and/or develop purpose, it may be desirable to The data of record are stored into longer period.In addition to this or alternatively, it may be desirable to store the data of record with for impart knowledge to students and/ Or research purpose.In addition, in all cases, data storage protocols may not include error check procedure, and in such situation Under, such as can it is expected to surmount data storage association when operator detects during surgery or suspect mistake and/or exception Discuss and ensure the storage of data.The data of recovery can for example be conducive to operation check and/or the determination of error reason.Each In the case of kind, it may be desired to which key or input are to overcome or surmount normal data storage agreement.In all cases, key can be defeated Enter into surgical instruments and/or remote storage, and can for example be inputted by the operator of surgical instruments and/or user.

In all cases, surgery system can prompt user or equipment operator to come for each surgical operation or function selection Data are deleted or data storage.For example, data storage protocols can require to request instruction from the user, and can be according to user's Instruction carrys out order subsequent action.Surgery system can be in certain trigger events (for example, the knot of the power-off of instrument, time predefined section The completion of beam or particular surgical function) occur when request instruction from the user.

In some cases, surgery system for example can request input from the user when surgical instruments powers off.Referring to figure 30, when user causes the power-off of surgical instruments for example at step 801, surgery system can request data from the user to store Instruction.For example, at step 803, the display of surgery system can inquire " saving data Yes/No? " in all cases, surgery The microcontroller of system can read user's input at step 805.If user's request data stores, microcontroller can advance To step 809, wherein data are stored in the storage unit or storage chip of surgery system.If user's request data is deleted It removes, then microcontroller may proceed to step 811, and wherein data are wiped free of.In all cases, user can be without input.? In such situation, data storage protocols can require particular procedure at step 813.For example, data storage protocols can be required for example " process I ", " process II " or optionally process.In some cases, for example, " process I " can at step 813 (a) order data It deletes, and " process II " order data can be stored at step 813 (b).In all cases, user can for example instruct Instruction is provided to surgical instruments before requested.In addition to this or alternatively, display associated with surgery system can be such as Different time before starting surgical function and/or during instrument use requests instruction from the user.

If data are stored in the memory of surgical instruments, data can be safely stored.Example, it may require code or Key accesses the data of storage.In some cases, access key may include identification code.For example, identification code can be exclusively used in outside Operator, user or the owner of section's instrument.In such cases, the personnel being only authorized can get the identification code of license, and And the personnel being therefore entitled only to may have access to the data of storage.In addition to this or alternatively, access key can be for example exclusively used in The instrument and/or can be manufacturer code.In some cases, access key may include security server, and data For example it can be transmitted and/or be accessed by the bluetooth of approval and/or radio frequency (RF) transmission.In other cases, key is accessed It may include physical key (for example, memory key and/or data switching port connector), which can physically couple To the data switching port of surgical instruments.In such cases, access key can be programmed, for example to obtain to secure data Access and safely store and/or transmit data.In all cases, access key can be for example corresponding to specific surgery Instrument.

In all cases, the data extraction of the memory device of surgical instruments can be limited by various safety measures. In some cases, the memory device of surgical instruments may include secure data connection or data switching port.For example, data are handed over Corresponding port key can for example be obtained by changing the personnel that port can have proprietary geometry or shape, and be only authorized, should Port key is designed and configured into the proprietary geometry of adaptation or shape.In all cases, data switching port may include Mechanical lock, the mechanical lock can be for example including plug, multiple pins and/or multiple reeds.In all cases, physical key or extraction Device can be such that the mechanical lock of data switching port unlocks.For example, physical key can for example contact multiple pins, deform multiple reeds And/or make plug from locking be orientated be biased into unlock be orientated so that data switching port unlock.

In all cases, data switching port may include at least one connecting pin, which can be inclined Press and/or be maintained at first position.When physical key insertion and/or bonding data switching port, physical key can example Such as connecting pin is made to be biased into the second position from first position.In all cases, first position can for example including retraction position, and And the second position can be for example including extended position.In addition, when connecting pin is moved to the second position, connecting pin can for example with object Data switching port in reason key operativelys interface with.Therefore, the data switching port of memory device can be for example moved into Carry out signal communication by connecting pin and the data switching port of physical key so that data can swap between the two and/ Or transmission.In all cases, physical key can be for example including modular member, which is configured to can It is attached to modularization surgical instruments with removing.In some cases, physical key can replace or imitate the module of surgical instruments 100 Change component 110,120 (Figure 23 and Figure 24).For example, physical key could attach to the attachment part of shank 110 rather than axis attachment Points 120 for example for transmitting data from the memory device in shank 120.

In addition to this or alternatively, key or extraction element may include security token.In all cases, data exchange end Mouthful may be, for example, encryption and/or key information or code can be provided data switching port with authentication secret whether by Authorization and/or approval to extract data from data switching port.In some cases, key can be read for example including special data Device is taken, and data can be transmitted for example by optical data transmission configuration.

Referring now to Figure 32 (A) -32 (C), before data access is granted to the data reader of suggestion, reading data Device can need to be verified by surgical instruments and/or confirmed.Such as, it is proposed that data reader can request and read at step 821 Take verification and the numerical value of surgical instruments.Shown in surgical instruments flow chart as shown in Figure 32 (C), surgical instruments can be first in step The data reader request suggested is received at 841, and then can send verification sum number value at step 843 number of suggestion According to reader.Referring again to Figure 32 (A), at step 823, it is proposed that data reader can be based on the school provided by surgical instruments It tests with numerical value and return code appropriate is calculated or determined.It is recommended that data reader can for example access code table, and if suggest Data reader just suitably attempt access data, then return code appropriate can obtain in code table.In such cases, it builds The data reader of view can obtain or calculate return code at step 823, and can send return code at step 825 outer Section's instrument.Referring again to Figure 32 (C), when receiving the return code of the data reader from suggestion at step 845, surgery Whether instrument can verify return code at step 847 correct.If code is incorrect, the microprocessor of surgical instruments can for example before Step 849 is entered, and surgical instruments can be closed or can otherwise be denied to the access of storing data.However, If code is correct, microprocessor can for example proceed to step 851, and surgical instruments allow the data reader suggested into Row data access.For example, data can be safely transferred to data reader at step 851.Then, in step 827 (Figure 32 (A)) at, it is proposed that data reader can for example from surgical instruments read data.In all cases, the data of transmission can be such as For encryption, and data reader can for example need that inapprehensible data are decrypted before reading data.

Referring primarily to Figure 32 (B), alternatively data extract safety method can for example similar to method shown in Figure 32 (A), And it can also need to consider reader private code.Although reader can at step 831 verification of reading device and and return Code can based on verification and, but in all cases, it is proposed that data reader can have reader private code and derive from code table Appropriate return code can be based on reader private code.Such as, it is proposed that data reader can consider that reader is special at step 832 With code, and return code appropriate can be determined based on reader private code and code table for example at step 833.It is recommended that data Reader for example can provide reader private code and return code to surgical instruments at step 835.In such cases, again Referring to Figure 32 (C), the microcontroller of surgical instruments can verify return code and reader private code at step 845.In addition, if These codes are correct, then surgical instruments allows to access to the data reader of suggestion.Then, at step 827, it is proposed that Data reader for example can read data from surgical instruments.If one or two of these codes are incorrect, surgical instruments Reader can be prevented to read data.For example, the data transmission to reader can be closed or otherwise be limited to surgical instruments.

Referring now to Figure 33, in all cases, surgery system may include surgical instruments 1600, which can be by more A modular member is formed.As described in more detail herein, handle components can be for example compatible with multiple and different shaft members, and handle Portion's component and/or shaft member may be, for example, reusable.In addition, the microcontroller of surgical instruments 1600 may include for example locking Determine circuit.In all cases, lock-in circuit can prevent the actuating of surgical instruments, until for example lock-in circuit has been unlocked.? In various situations, temporary visit code can be for example input in surgery system the lock-in circuit solution so that microcontroller by operator Lock.

In all cases, operator is commercially available or otherwise obtains temporary visit code for being input to outer department In system.For example, equipment manufacturers or distributor can provide access code with for sale, and these access codes can for it is required so as to It unlocks and thus uses surgical instruments 1660.In all cases, access code can make lock-in circuit unlock the predefined time Section.Equipment manufacturers or distributor can provide it is different using the duration for purchase, and user may be selected and purchase or Obtain needed for or it is preferred use the duration.For example, user can get ten minutes using time, one hour using the time or Use the time within one day.In other cases, it is possible to provide in addition and/or different suitable service life is with for sale or award Power.In all cases, after the service life of acquisition is expired, lock-in circuit can be relocked.In other cases, it visits Ask the surgical function that code can make lock-in circuit unlock predefined number.For example, user can for example buy or otherwise obtain The percussion of single instrument or repeatedly percussion.In addition, lock-in circuit can after the number that user has made instrument percussion purchase or authorization It is relocked.In other cases, access code for example can be such that lock-in circuit permanently unlocks.

In all cases, operator can be direct by temporary visit code by keypad or other suitable input configurations It is input in surgical instruments.In other cases, lock-in circuit can be by being connected to surgical instruments for non-volatile memory cells 1600 and be unlocked, wherein non-volatile memory cells include the access code pre-established.In all cases, non-volatile to deposit Storage unit can be for example loaded into the battery 1650 of surgical instruments 1660.In addition, non-volatile memory cells can be added again It carries and/or replaces.For example, user can purchase replaceability non-volatile memory cells.In addition to this or alternatively, for example, formerly The access code of preceding acquisition it is expired or failure after, can purchase new code and upload non-volatile memory cells.Each In the case of kind, for example, new code is downloaded to non-easy when battery 1650 is connected to power supply and/or outer computer 1670 In the property lost storage unit.

In other cases, temporary visit code can be input to external or remote access code input terminal, for example, display screen, Computer and/or head-up display.For example, temporary visit code can be bought by computer 1660, and it can be transmitted connection It is connected to radio frequency (RF) device 1680 of computer 1660.In all cases, surgical instruments 1600 may include for example receiver or Antenna, the receiver or antenna can carry out signal communication with radio-frequency unit 1680.In such cases, radio-frequency unit 1680 can Such as the temporary visit code of acquisition is transferred to 1600 receiver of surgical instruments.Therefore, lock-in circuit can be unlocked, and be operated Person for example can use surgical instruments 1600 for the period of surgical function bought and/quantity.

In all cases, modularization surgical instruments can with for showing data from surgical operation and/or feedback External display is compatible.For example, surgical instruments may include the instrument display for showing the feedback from surgical operation.Each In the case of kind, instrument display can be for example located on the shank of instrument.In some cases, instrument display can for example be shown From endoscopic observation to video data.In addition to this or alternatively, display can for example detect surgical instruments, surgical operation And/or the sensing of surgical site, measurement, the approximate and/or feature that calculates.In all cases, it may be desirable to will feed back It is transferred to external display.The amplification that external display can for example provide duplication and/or reproduction feedback attempts, amplification examination Figure allows multiple operators and/or assistant simultaneously to observe feedback.In all cases, it may be desirable to which for example selection is for connecting It is connected to the surgical instruments of external display, and in other cases, selecting for surgical instruments can be automatic.

Referring to Figure 34, external display 1700 can for example show end effector 1720 and/or the surgery portion of surgical instruments Position.External display 1700 can also for example show the feedback and/or data for being sensed by surgical instruments and/or being measured.In various feelings Under condition, feedback of the reproducible offer of external display 1700 on the display of surgical instruments.In some cases, surgical instruments It for example can automatically be connect with external display 1700 and/or wireless receiver, which can be with external or operating room Display 1700 carries out signal communication.In such cases, if multiple surgical instruments just attempt to connect to external display 1700, then it can notify operator.As described herein, operator can be for example needed for the menu selection on external display 1700 Surgical instruments.In other cases, operator can be by providing input to surgical instruments to select required surgical instruments.Example Such as, the transmittable order of operator, control sequence or input code are to select surgical instruments.In all cases, operator is available outer Section's instrument completes specific control sequence to select the surgical instruments.For example, operator can open surgical instruments and pre- Reversing button is pressed in the period of definition and continues the predefined period for example to select the surgical instruments.Work as surgical instruments When chosen, the feedback on selected surgical instruments display for example can be relayed or be copied on external display 1700.

In some cases, surgery system may include proximity sensor.For example, external display and/or wireless receiver It may include proximity sensor, which can detect when surgical instruments enters in its preset range.Referring primarily to Figure 35 And Figure 36, when display 1700 and/or wireless receiver detect surgical instruments, display be can notify the user that.In certain feelings Under condition, display and/or wireless receiver can detect multiple surgical instruments.Referring to Figure 35, display 1700 may include for example non- Protrusion notifies 1704, which can be communicated in display 1700 to user and nearby have detected that surgical instruments or multiple outer Section's instrument.Therefore, using the control (for example, computer) of display 1700, user, which can click, notifies 1704 to open instrument choosing The menu 1706 (Figure 36) selected.Menu 1706 can for example show available surgical instruments, and preferred surgery device may be selected in user Tool on display 1700 for playing.For example, menu 1706 can show the sequence number and/or title of available surgical instruments.

In some cases, selected surgical instruments can provide feedback to operator to confirm its selection.For example, selected The surgical instruments selected can for example provide the sense of hearing or touch feedback.In addition, selected surgical instruments can be fed back at least one Part is played to external display 1700.In some cases, multiple surgical instruments and display 1700 may be selected in operator It can be shared by selected surgical instruments.In addition to this or alternatively, operating room may include multiple displays and at least one Surgical instruments can for example be selected for each display.Various surgery system features and/or component be further described through in Submission on August 23rd, 2013 and entitled " FIRING MEMBER RETRACTION DEVICES FOR POWERED In the U.S. Patent Application No. 13/974,166 of SURGICAL INSTRUMENTS ", which is incorporated by reference simultaneously Enter herein.

During the entire disclosure of following patent is hereby incorporated by reference:

The U.S. for being published in entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " on April nineteen ninety-five 4 is special Benefit 5,403,312；

It is published on 2 21st, 2006 entitled " SURGICAL STAPLING INSTRUMENT HAVING The United States Patent (USP) 7,000,818 of SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS "；

It is published on September 9th, 2008 entitled " MOTOR-DRIVEN SURGICAL CUTTING AND The United States Patent (USP) 7,422,139 of FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK "；

It is published in entitled " the ELECTRO-MECHANICAL SURGICAL INSTRUMENT on December 16th, 2008 The United States Patent (USP) 7,464,849 of WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS "；

It is published in entitled " the SURGICAL INSTRUMENT HAVING AN ARTICULATING on March 2nd, 2010 The United States Patent (USP) 7,670,334 of END EFFECTOR "；

It is published in the United States Patent (USP) of entitled " the SURGICAL STAPLING INSTRUMENTS " on July 13rd, 2010 7,753,245；

It is published in entitled " the SELECTIVELY ORIENTABLE IMPLANTABLE on March 12nd, 2013 The United States Patent (USP) 8,393,514 of FASTENER CARTRIDGE "；

The U.S. Patent Application Serial Number 11/ of entitled " SURGICAL INSTRUMENT HAVING RECORDING " 343,803；

It is filed on 2 14th, 2008 entitled " SURGICAL CUTTING AND FASTENING INSTRUMENT The U.S. Patent Application Serial Number 12/031,573 of HAVING RF ELECTRODES "；

It is filed on 2 15th, 2008 entitled " END EFFECTORS FOR A SURGICAL CUTTING AND The U.S. Patent Application Serial Number 12/031,873 (being now United States Patent (USP) 7,980,443) of STAPLING INSTRUMENT "；

The U.S. Patent Application Serial Number of entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " 12/235,782 (being now United States Patent (USP) 8,210,411)；

Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY The U.S. Patent Application Serial Number 12/249,117 of RETRACTABLE FIRING SYSTEM " (is now U.S. Patent Application Publication 2010/0089970)；

It is filed in entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT on December 24th, 2009 The U.S. Patent Application Serial Number 12/ of WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY " 647,100；

It is filed in the U.S. Patent Application Serial Number 12/ of on September 29th, 2012 entitled " STAPLE CARTRIDGE " 893,461 (being now U.S. Patent Application Publication 2012/0074198)；

It is filed in the United States Patent (USP) Shen of on 2 28th, 2011 entitled " SURGICAL STAPLING INSTRUMENT " It please sequence number 13/036,647 (being now U.S. Patent Application Publication 2011/0226837)；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT The U.S. Patent Application Serial Number 13/118,241 of ARRANGEMENTS " (is now U.S. Patent Application Publication 2012/ 0298719)；

It is filed in entitled " the ARTICULATABLE SURGICAL INSTRUMENT on June 15th, 2012 The U.S. Patent Application Serial Number 13/524,049 of COMPRISING A FIRING DRIVE "；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,025 of SYSTEM "；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,067 of SYSTEM "；

It is filed in entitled " the SURGICAL CUTTING AND FASTENING INSTRUMENT on January 31st, 2006 The U.S. Patent Application Publication 2007/0175955 of WITH CLOSURE TRIGGER LOCKING MECHANISM "；With

It is filed in entitled " the SURGICAL STAPLING INSTRUMENT WITH AN on April 22nd, 2010 The U.S. Patent Application Publication 2010/0264194 of ARTICULATABLE END EFFECTOR ".

According to various embodiments, surgical instruments as described herein may include the one or more for being connected to various sensors Processor (for example, microprocessor, microcontroller).In addition to processor, storage device (there is operation logic) and communication structure that This is linked together.

As previously mentioned, sensor is configured to detect and acquire data associated with surgical device.Processor It handles from the received sensing data of sensor.

Processor is configured to execute operation logic.Processor can be multiple monokaryons or more as known in the art Any of core processor.Storage device may include be configured to storage operation logic permanent and interim (work) copy The volatile and non-volatile storage medium of shellfish.

In various embodiments, operation logic is configured to handle adopt associated with the exercise data of user Collect data, as described above.In various embodiments, operation logic is configured to execute initial treatment, and will count According to the computer for being transmitted to managed application to determine and generate instruction.For these embodiments, operation logic can by into One step is configured to receive information from trustship computer and provides it feedback.In alternative embodiment, operation logic It is configured to play the part of prior role in receiving information and determining feedback.In either case, either It is independently determined or in response to the instruction from trustship computer, and operation logic can be further configured to control anti- It presents and provides feedback to user.

In various embodiments, operation logic can by the instruction that the instruction set architecture (ISA) of processor is supported Lai Implement, or is implemented with more advanced language, and be compiled into supported ISA.Operation logic may include that one or more is patrolled Collect unit or module.Operation logic can be implemented in a manner of object-oriented.Operation logic is configured to more Business mode and/or multithreading execute.In other embodiments, operation logic can be real in hardware (such as gate array) It applies.

In various embodiments, communication interface is configured to be conducive between peripheral equipment and computing system Communication.The communication may include by collected with position, the associated biometric data of posture and/or user's body Point mobile data be transmitted to trustship computer, and data associated with touch feedback from master computer are transmitted to periphery Equipment.In various embodiments, communication interface can be wired or wireless communication interface.The example of wired communication interface may include But it is not limited to universal serial bus (USB) interface.The example of wireless communication interface may include but be not limited to blue tooth interface.

For various embodiments, processor can be packaged together with operation logic.In various embodiments, processor It can be packaged together with operation logic to form system in package (SiP).In various embodiments, processor can be identical naked On piece integrates together with operation logic.In various embodiments, processor can be packaged together to form piece with operation logic Upper system (SoC).

Various embodiments can be described in the general background of computer executable instructions herein, the calculating Machine executable instruction such as software, program module, and/or the engine just executed by processor.In general, software, program mould Block, and/or engine include being arranged to any software element for executing specific operation or realizing particular abstract data type.It is soft Part, program module, and/or engine may include routines performing specific tasks or implementing specific abstract data types, program, right As, component, data structure etc..The specific implementation of software, program module, and/or engine components and technology is storable in certain shape It is transmitted on the computer-readable medium of formula and/or by some form of computer-readable medium.In this regard, computer Readable medium can be any usable medium that can be used for storing information and can be accessed by calculating equipment.Some embodiments may be used also To practice in a distributed computing environment, in the distributed computing environment, operation is by be linked through a communication network one Or multiple remote processing devices execute.In a distributed computing environment, it includes depositing that software, program module, and/or engine, which can be located at, In local and remote computer storage media including reservoir storage equipment.Memory (such as random access memory can be used (RAM) or other dynamic storage devices) store information and the instruction to be executed by processor.Memory can also be used to hold Temporary variable or other average informations are stored during instruction of the row to be executed by processor.

Although some embodiments can be illustrated and described as includes that functional component, software, engine, and/or execution are each The module of kind of operation, but it is to be understood that this base part or module can by one or more hardware componenies, software component and/ Or their combination is realized.Functional component, software, engine, and/or module can by (for example) to by logical device (for example, processing Device) logic (for example, instruction, data, and/or code) that executes realizes.This logic is storable in positioned at one or more classes Inside or outside logical device on the computer readable storage medium of type.In other embodiments, functional component is such as soft Part, engine, and/or module can be realized that the hardware element may include processor, microprocessor, circuit, circuit by hardware element Element (for example, transistor, resistor, capacitor, inductor etc.), specific integrated circuit (ASIC), may be programmed and patrol integrated circuit Volume equipment (PLD), digital signal processor (DSP), field programmable gate array (FPGA), logic gate, register, semiconductor are set Standby, chip, microchip, chipset, etc..

The example of software, engine, and/or module may include software component, program, application, computer program, using journey Sequence, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, Process, software joint portion, application program joint portion (API), instruction set, calculation code, computer code, code snippet, calculating Machine code snippet, word, value, symbol or any combination of them.Determine whether embodiment uses hardware element and/or software Element can change to realize according to any amount of factor, all computation rates as desired of these factors, power level, thermal capacitance Difference, processing cycle budget, input data rate, output data rate, memory resource, data bus speed and other designs Or performance constraints.

One or more of module as described herein may include being embodied as firmware, software, hardware or their any group One or more built-in application programs of conjunction.One or more of module as described herein may include various executable moulds Block, software, procedure, data, driver, application programming interfaces (API) etc..Firmware is storable in the storage of processor 3008 In device, the memory may include nonvolatile memory (NVM), such as bit mask read-only memory (ROM) or flash storage Device.In various specific implementations, firmware, which is stored in the ROM, can protect flash memory.Nonvolatile memory (NVM) can wrap Other kinds of memory is included, including for example programming ROM (PROM), erasable programmable ROM (EPROM), electric erasable can Programming ROM (EEPROM) or battery backed random access memory (RAM), such as dynamic ram (DRAM), double data rate (DDR) DRAM (DDRAM) and/or synchronous dram (SDRAM).

In some cases, various embodiments can be realized as article of manufacture.The article of manufacture may include being arranged It is deposited for storage for executing logic, instruction and/or the computer-readable of data of the various operations of one or more embodiments Storage media.In various embodiments, for example, the product may include disk, CD, flash memories or firmware, these systems Product contain the computer program instructions for being suitable for being executed by general processor or application specific processor.However, embodiment and not only It is limited to this.

Various functional elements, logical block, module and the circuit element described in conjunction with embodiments disclosed herein Function can be implemented in the general environment of computer executable instructions, such as by processing unit execute software, control module, patrol Volume, and/or logic module.In general, software, control module, logic, and/or logic module are specific including being arranged to execute Any software element of operation.Software, control module, logic, and/or logic module may include executing particular task or implementing special Determine routine, programs, objects, component, the data structure etc. of abstract data type.Software, control module, logic, and/or logic mould The specific implementation of block and technology is storable on some form of computer-readable medium and/or by some form of meter The transmission of calculation machine readable medium.In this regard, computer-readable medium, which can be, can be used for storing information and can be visited by calculating equipment Any usable medium asked.Some embodiments can also be practiced in a distributed computing environment, in the distributed computing ring In border, operation is executed by the one or more remote processing devices being linked through a communication network.In a distributed computing environment, soft Part, control module, logic, and/or logic module can be located at the local and remote computer including memory storage device In storage medium.

In addition, it should be understood that the embodiment described herein illustrates exemplary specific implementation, and functional element, Logical block, module and circuit element can be implemented with the consistent various other modes of the embodiment.In addition, by this class The operation that functional element, logical block, module and circuit element execute can combine and/or separate for given specific reality It applies, and can be executed by greater number or lesser amount of component or module.As those skilled in the art are reading the disclosure Apparent to later, each of independent embodiment described and illustrated herein has discrete parts and feature, not Under the premise of the scope of the present disclosure, feature that the component and feature can easily with any aspect in other several aspects Separately or in combination.It can logically possible sequence executes any side by the sequence of the event or by any other Method.

It is worth noting that, any mean to combine embodiment to referring to for " embodiment " or " embodiment " The a particular feature, structure, or characteristic includes at least one embodiment.Occur everywhere in the description phrase " In one embodiment " or " in one aspect " might not be all referring to identical embodiment.

Unless stated otherwise, it should be understood that term " processing ", " operation ", " calculating ", " determination " etc. are Refer to the movement and/or process of computer or computing system or similar computing electronics, the computing electronics are such as general Processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic, discrete hardware components or it Any combination, be designed to manipulate the object being expressed as in register and/or memory to execute function as described herein It the data of reason amount (for example, electronics) and/or converts thereof into and is similarly expressed as memory, register or other such letters Cease the other data of physical quantity in storage device, transmission device or display device.

It is worth noting that, expression " connection " and " connection " and their derivative words can be used to retouch for some embodiments It states.Being not intended to these terms is synonym for each other.For example, term " connection " and/or " connection " can be used in some embodiments It describes, to indicate that two or more elements are in direct physical contact with each other or are in electrical contact.However, term " connection " can also refer to Two or more elements do not contact not instead of directly each other, are fitted to each other or interact.For software element, for example, Term " connection " can refer to interface, message interface, application programming interfaces (API), exchange message etc..

It should be appreciated that any patent being incorporated herein by reference, publication or other public materials, nothing By being full text or part, the definition only provided in incorporated material and the disclosure, statement or other public materials are not rushed It is incorporated herein in prominent range.Therefore, and at the necessary level, the disclosure being expressly recited herein replaces with the side of reference Any conflict material that formula is incorporated herein.It is said that be herein incorporated by reference but with existing definition as described herein, statement or Conflicting any material of other public materials or part thereof, does not only produce between the incorporated material and the existing public material It is incorporated herein under the degree of raw conflict.

Disclosed embodiments of the present invention are applied to conventional endoscopy and open surgical instrument and application In the operation of robot assisted.

The embodiment of apparatus as disclosed herein may be designed as abandoning using after single, be also designed to for repeatedly making With.In the case that any of the above-described or when two kinds, these embodiments can all be repaired, to make again using after at least once With.Reparation may include any combination of following steps: then provision for disengagement is cleaned or is replaced specific component and then carries out again Assembling.In particular, can be with the embodiment of provision for disengagement, and optionally replace or remove in any combination Any number of specific component or component of device.When cleaning and/or replacing particular elements, the embodiment of described device can It re-assemblies in restoration facilities or is re-assemblied immediately before surgery by surgical team for then using. It dismantled it will be understood by those skilled in the art that device reparation can use multiple technologies, clean/replace and group again Dress.The device that the use of these technologies and gained are repaired again is within the scope of application.

Only by way of example, the embodiment described herein can be handled before surgical operation.It is possible, firstly, to New or used instrument is obtained, and is cleaned as needed.Then, it can carry out disinfection to instrument.In a kind of disinfection skill In art, which is placed in the container of closure and sealing, such as in plastics or TYVEK bag.It then can be by container and instrument It is placed in the radiation field that can penetrate the container, such as γ radiation, X-ray or high energy electron.Radiation can kill on instrument and container In bacterium.Instrument after disinfection can be then stored in sterile chamber.Sealing container can keep instrument to be in sterile shape State, until opening the container in medical facilities.Any other technology known in the art also can be used to sterilize device, packet Include but be not limited to β radiation or γ radiation, ethylene oxide or steam.

It will be recognized by those skilled in the art, component part as described herein (for example, operation), device, object and it The discussion that is appended be to be used as example for the sake of clear concept, and be contemplated that a variety of configuration modifications.Therefore, such as Used herein, the specific example of elaboration and the discussion of accompanying are intended to represent their more generally classifications.In general, any specific example Use be intended to represent its classification, and concrete composition part (for example, operation), device and object are not included in part and should not be adopted Take limitation.

For substantially any plural number used herein and/or singular references, those skilled in the art can turn from plural number It changes odd number into and/or pluralizes from odd number conversion, as long as being suitable for context and/or application.For clarity, various Singular/plural displacement is not stated clearly herein.

Theme as described herein elaborates to include the different components in other different components or portion different from other sometimes The different components of part connection.It should be appreciated that the framework described in this way is only example, and realization in fact can be implemented and obtain phase Many other frameworks of congenerous.On conceptual sense, any arrangement for obtaining the component of same functionality all has It imitates " associated ", thus the functionality needed for obtaining.Therefore, herein combined for acquisition particular functionality What two component can all be considered as " associated " each other, thus the functionality needed for obtaining, regardless of structure or intermediate module are such as What.Equally, any two component being so connected can also be considered as " being operatively connected " each other or " operatively coupling ", to obtain Required functionality, and any two component that can be so connected can all be considered as " being operatively coupled " each other, to obtain Obtain required functionality.The specific example being operatively coupled include but is not limited to can Physical Match and/or physics interaction group Part and/or wireless interactive and/or wireless interactive component and/or logic interactive mode and/or logic interactive component.

Expression " connection " and " connection " and their derivative words can be used to describe in some aspects.It should be appreciated that simultaneously Being not intended to these terms is synonym for each other.For example, some aspects can use term " connection " to describe, with indicate two or More elements are in direct physical contact with each other or are in electrical contact.In another example, term " connection " can be used to come for some aspects Description, to indicate two or more element direct physical contacts or electrical contact.However, term " connection " can also refer to two or More elements do not contact not instead of directly each other, are fitted to each other or interact.

In some cases, one or more components are referred to alternatively as " being configured to " herein, " can be configured to Can ", " can operate/operationally ", " be suitble to/being suitable for ", " can ", " adapt to/be suitble to " etc..Those skilled in the art will It recognizes, unless context indicates otherwise, otherwise " is configured to " usually cover the component of state of activation and/or not swash The component of state living and/or the component of standby mode.

Although having shown and described the particular aspects of invention as described herein theme, to the technology of this field Personnel are evident that, are based on teaching herein, can be made in the case where not departing from theme as described herein change and Modification, and such as in the true scope of theme as described herein, broader aspect and therefore appended claims are by institute There is such change and modification includes within its scope.It will be understood by those of skill in the art that in general, herein especially with Term used in attached claim (for example, text of appended claims) is typically aimed at as open to the outside world term (for example, art Language " comprising " should be interpreted that " including but not limited to " term " having " should be interpreted that " at least having " that term "comprising" should be explained For " including but not limited to " etc.).Those skilled in the art is also understood that the specific number when the narration of introduced claim It is when being expected, then such to be intended to clearly to describe in the claims, and in the case where such narration is not present, There is no such intentions.For example, following appended claims can be containing to introductory phrase "at least one" to help to understand The use of " one or more " is to introduce claim narration.However, being not construed as implying to the use of such phrase logical Cross indefinite article "one" or "an" introduce claim narration will be containing any specific of such introducing claim narration Claim is limited in the claim containing narration as only one, or even when same claim includes introductory short Language " one or more " or "at least one" and such as "one" or "an" are (for example, "one" and/or "an" should usually solve Be interpreted as meaning "at least one" or " one or more ") indefinite article when；This is also applied for chatting to for introducing claim The use for the definite article stated.

In addition, even if those skilled in the art should when clearly narration introduces the given number of claim narration It recognizes, the number that this narration generally should be construed as meaning at least to be described is not (for example, having the case where other modifiers Under, at least two narrations or two or more narrations are generally meant that the naked narration of " two narrations ").In addition, making wherein In the case of with the convention similar to " at least one of A, B and C etc. ", it is however generally that, this structure is intended to have this Field the skilled person will understand that the meaning of the convention (for example, " system at least one of A, B and C " will include But be not limited to only A, only B, only C, A and B together, A and C together, B and C together and/or A, B and C system together etc.).? In the case of wherein using the convention similar to " at least one of A, B or C etc. ", it is however generally that, this structure is intended to With it should be appreciated by those skilled in the art that the meaning of the convention (for example, " system at least one of A, B or C " By include but is not limited to 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. be System).Those skilled in the art is also understood that in general, unless the context indicates otherwise, otherwise no matter in specific embodiment party The turning word and/or phrase that two or more alternative terms are presented in formula, claim or attached drawing are interpreted as covering Including any of one of described term, the term or a possibility that the two terms.For example, phrase " A or B " is logical A possibility that often will be understood to comprise " A " or " B " or " A and B ".

For the attached claims, it will be appreciated by those skilled in the art that the operation wherein listed can usually appoint What sequence carries out.In addition, although centainly sequentially to list multiple operating processes, it is to be understood that, it can be different from shown suitable Other of sequence sequentially carry out a variety of operations, or can carry out a variety of operations simultaneously.Unless the context requires otherwise, Otherwise the example of such substitution sequence may include overlapping, staggeredly, interruption, rearrangement, increment, preparation, supplement, simultaneously, reversely, Or the sequence of other changes.In addition, unless the context requires otherwise, otherwise the term as " in response to ", " related " or its The adjective of his past tense is generally not intended to exclude such variant.

In summary, it has been described that by many beneficial effects generated using concept as described herein.In order to illustrate Bright and description purpose, there has been provided the above-mentioned specific embodiment of one or more embodiments.These specific embodiment parties Formula is not intended in detail or be limited to precise forms disclosed in this invention.Can according to above-mentioned teaching content to the present invention into Row modification or modification.Selected and description one or more embodiments are to show the principle of the present invention and practical use On the way, to allow those skilled in the art can be using multiple embodiments, and it be suitble to the concrete application imagined In the case where carry out various modifications.The claims submitted together with this are intended to limit full scope.

Claims (5)

1. one kind is as operator's surgical instruments used in surgical operation, the surgical instruments includes:

Feedback mechanism；

Elongated shaft；

The end effector extended from the elongated shaft, wherein the end effector can be relative to the elongated shaft at one's own department or unit Joint motions are carried out between state position and articulated position；With

Control system, the control system include:

Processor carries out signal communication with the feedback mechanism；With

Memory, the memory are connected to the processor to store program instruction, and described program instruction is from the storage Device causes the processor to reach the natural state position from the articulated position in the end effector when executing When by the feedback mechanism prompt the operator, wherein described program instruction causes described when executing from the memory The end effector is returned to when processor is in a certain range that the end effector is located at the natural state position The natural state position.

2. surgical instruments according to claim 1, wherein described program instruction leads to institute when executing from the memory It states processor and stops the end when the end effector reaches the natural state position from the articulated position The joint motions of actuator.

3. surgical instruments according to claim 1 further includes motor, the motor can be operated so that the end executes Device carries out joint motions between the natural state position and the articulated position, and wherein described program instruction is from institute Stating when memory executes causes the processor to reach one's own department or unit shape from the articulated position in the end effector Stop the motor when state position.

4. surgical instruments according to claim 1, wherein described program instruction leads to institute when executing from the memory Processor is stated when the end effector reaches the natural state position from the articulated position to the operator Visual feedback is provided.

5. surgical instruments according to claim 1, wherein described program instruction leads to institute when executing from the memory Processor is stated when the end effector reaches the natural state position from the articulated position to the operator Touch feedback is provided.