Communication of Smoke Exhaust System Parameters to a Hub or Cloud within a Smoke Exhaust Module of an Interactive Surgical Platform

Abstract

To operate a computer-implemented surgery system.SOLUTION: A method for operating a computer-implemented surgery system includes: acquiring parameter values on the environment in a surgery room by a surgical exhaust system; transmitting the parameter values to a surgical hub; processing the parameter values by the surgical hub; determining an influence of the parameter values on at least one of the surgical exhaust system and a generator by the surgical hub; transmitting an instruction for adjusting an operation to at least one of the surgical exhaust system and the generator from the surgical hub on the basis of the influence; and adjusting an operation of at least one of the surgical exhaust system and the generator on the basis of the instruction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62 / 691,257, filed on June 28, 2018, entitled "COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM", the entire disclosure of which is incorporated herein by reference.

[0002] This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62 / 650,887, filed on March 30, 2018, entitled "SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES"; U.S. Provisional Patent Application No. 62 / 650,877, filed on March 30, 2018, entitled "SURGICAL SMOKE EVACUATION SENSING AND CONTROLS"; U.S. Provisional Patent Application No. 62 / 650,882, filed on March 30, 2018, entitled "SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM"; and U.S. Provisional Patent Application No. 62 / 650,898, filed on March 30, 2018, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS", the entire disclosures of each of which are incorporated herein by reference.

[0003] This application also claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62 / 640,417, filed Mar. 8, 2018, entitled "TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR", and U.S. Provisional Patent Application No. 62 / 640,415, filed Mar. 8, 2018, entitled "ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR", the entire disclosures of each of which are incorporated herein by reference.

[0004] This application also claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62 / 611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM", U.S. Provisional Patent Application No. 62 / 611,340, filed Dec. 28, 2017, entitled "CLOUD-BASED MEDICAL ANALYTICS", and U.S. Provisional Patent Application No. 62 / 611,339, filed Dec. 28, 2017, entitled "ROBOT ASSISTED SURGICAL PLATFORM", the entire disclosures of each of which are incorporated herein by reference. BACKGROUND OF THE INVENTION

[0005] The present disclosure relates to a surgical system and an ejector thereof. A surgical smoke evacuator is configured to evacuate smoke, as well as fluid and / or particulates, from a surgical site. For example, smoke may be generated at a surgical site during a surgical procedure involving an energy device. SUMMARY OF THE INVENTION SUMMARY OF SOLUTION TO PROBLEM

[0006] The present disclosure provides a novel and innovative method and system for communicating smoke exhaust system parameters to a hub or cloud within a smoke exhaust module for an interactive surgical platform. An exemplary method includes a surgical exhaust system that obtains values of parameters and transmits the values of the parameters to a cloud computing network or a surgical hub. The cloud computing network or the surgical hub processes the values of the parameters, determines the effect of the values of the parameters on the surgical exhaust system or a modular device, and may send instructions for adjusting the operation to the surgical exhaust system or the modular device. The surgical exhaust system or the modular device adjusts its operation based on the instructions.

[0007] An exemplary system includes a surgical hub that includes a processor and a memory, and the surgical hub communicates with a smoke exhaust module. The smoke exhaust module is configured to obtain values of parameters and transmit the values of the parameters to a cloud computing network or a surgical hub. The cloud computing network or the surgical hub is configured to process the values of the parameters, determine the effect of the values of the parameters on the smoke exhaust module or a modular device, and send instructions for adjusting the operation to the smoke exhaust module or the modular device. The smoke exhaust module or the modular device adjusts its operation based on the instructions.

[0008] Further features and advantages of the disclosed method and system will be described in the following "Detailed Description of the Invention" and the drawings, and will become apparent therefrom. **Brief Description of the Drawings**

[0009] The features of the various aspects are set forth in detail in the appended claims. However, the various aspects, both of the structure and of the method of operation, together with further objects and advantages thereof, may best be understood from the following description taken in conjunction with the accompanying drawings hereinafter.

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DETAILED DESCRIPTION

[0010] The applicant of the present application owns the following U.S. patent applications filed on June 29, 2018, the entire disclosures of each of which are incorporated herein by reference. · U.S. Patent Application No. __________, Attorney Docket No. END8542USNP / 170755, entitled "CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS", · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP / 170760, entitled "CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP1 / 170760-1, entitled "SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE INFORMATION" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP2 / 170760-2, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP3 / 170760-3, entitled "SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP4 / 170760-4, entitled "SURGICAL SYSTEMS FOR DETECTING END EFFECTOR TISSUE DISTRIBUTION IRREGULARITIES" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP5 / 170760-5, entitled "SYSTEMS FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP6 / 170760-6, entitled "SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES" · U.S. Patent Application No. __________, Attorney Docket No. END8543USNP7 / 170760-7, entitled "VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY" · U.S. Patent Application No. __________, Attorney Docket No. END8544USNP / 170761, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE" · U.S. Patent Application No. __________, Attorney Docket No. END8544USNP1 / 170761-1, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT" · U.S. Patent Application No. __________, Attorney Docket No. END8544USNP2 / 170761-2, entitled "SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY" · U.S. Patent Application No. __________, Attorney Docket No. END8544USNP3 / 170761-3, entitled "SURGICAL SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES" · U.S. Patent Application No. __________, Attorney Docket No. END8545USNP / 170762, entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL" · U.S. Patent Application No. __________, Attorney Docket No. END8545USNP1 / 170762-1, entitled "SURGICAL EVACUATION SENSOR ARRANGEMENTS" · U.S. Patent Application No. __________, Attorney Docket No. END8545USNP2 / 170762-2, entitled "SURGICAL EVACUATION FLOW PATHS" · U.S. Patent Application No. __________, Attorney Docket No. END8545USNP3 / 170762-3, entitled "SURGICAL EVACUATION SENSING AND GENERATOR CONTROL" · U.S. Patent Application No. __________, Attorney Docket No. END8545USNP4 / 170762-4, entitled "SURGICAL EVACUATION SENSING AND DISPLAY" · U.S. Patent Application No. __________, Attorney Docket No. END8546USNP1 / 170763-1, entitled "SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM" · U.S. Patent Application No. __________, Attorney Docket No. END8547USNP / 170764, entitled "SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE", and · U.S. Patent Application No. __________, Attorney Docket No. END8548USNP / 170765, entitled "DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS".

[0011] The applicant of the present application owns the following U.S. Provisional Patent Applications filed on June 28, 2018, the entire disclosures of each of which are incorporated herein by reference. · U.S. Provisional Patent Application No. 62 / 691,228, entitled "A METHOD OF USING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITH ELECTROSURGICAL DEVICES" · U.S. Provisional Patent Application No. 62 / 691,227, entitled "CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS", · U.S. Provisional Patent Application No. 62 / 691,230, entitled "SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE", · U.S. Provisional Patent Application No. 62 / 691,219, entitled "SURGICAL EVACUATION SENSING AND MOTOR CONTROL", · U.S. Provisional Patent Application No. 62 / 691,257, entitled "COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM", · U.S. Provisional Patent Application No. 62 / 691,262, entitled "SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE", and · U.S. Provisional Patent Application No. 62 / 691,251, entitled "DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS".

[0012] The applicant of the present application owns the following U.S. Provisional Patent Applications filed on April 19, 2018, the entire disclosures of each of which are incorporated herein by reference. · U.S. Provisional Patent Application No. 62 / 659,900, entitled "METHOD OF HUB COMMUNICATION".

[0013] The applicant of the present application owns the following U.S. Patent Applications filed on March 29, 2018, the entire disclosures of each of which are incorporated herein by reference. · U.S. Patent Application No. 15 / 940,641 entitled "Interactive Surgical Systems With Encrypted Communication Capabilities", · U.S. Patent Application No. 15 / 940,648 entitled "Interactive Surgical Systems With Condition Handling of Devices and Data Capabilities", · U.S. Patent Application No. 15 / 940,656 entitled "Surgical Hub Coordination of Control and Communication of Operating Room Devices", · U.S. Patent Application No. 15 / 940,666 entitled "Spatial Awareness of Surgical Hubs in Operating Rooms", · U.S. Patent Application No. 15 / 940,670 entitled "Cooperative Utilization of Data Derived From Secondary Sources by Intelligent Surgical Hubs", · U.S. Patent Application No. 15 / 940,677 entitled "Surgical Hub Control Arrangements", · U.S. Patent Application No. 15 / 940,632 entitled "Data Stripping Method To Interrogate Patient Records And Create Anonymized Record", · U.S. Patent Application No. 15 / 940,640 entitled "Communication Hub And Storage Device For Storing Parameters And Status Of A Surgical Device To Be Shared With Cloud Based Analytics Systems", · U.S. Patent Application No. 15 / 940,645 entitled "SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT", · U.S. Patent Application No. 15 / 940,649 entitled "DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME", · U.S. Patent Application No. 15 / 940,654 entitled "SURGICAL HUB SITUATIONAL AWARENESS", · U.S. Patent Application No. 15 / 940,663 entitled "SURGICAL SYSTEM DISTRIBUTED PROCESSING", · U.S. Patent Application No. 15 / 940,668 entitled "AGGREGATION AND REPORTING OF SURGICAL HUB DATA", · U.S. Patent Application No. 15 / 940,671 entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER", · U.S. Patent Application No. 15 / 940,686 entitled "DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE", · U.S. Patent Application No. 15 / 940,700 entitled "STERILE FIELD INTERACTIVE CONTROL DISPLAYS", · U.S. Patent Application No. 15 / 940,629 entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS", · U.S. Patent Application No. 15 / 940,704 entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT", · U.S. Patent Application No. 15 / 940,722 entitled "CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY", and · U.S. Patent Application No. 15 / 940,742 entitled "DUAL CMOS ARRAY IMAGING".

[0014] The applicant of the present application owns the following U.S. patent applications filed on March 29, 2018, the entire disclosure of each of which is incorporated herein by reference. · U.S. Patent Application No. 15 / 940,636 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES", · U.S. Patent Application No. 15 / 940,653 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS", · U.S. Patent Application No. 15 / 940,660 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER", · U.S. Patent Application No. 15 / 940,679 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET", · U.S. Patent Application No. 15 / 940,694 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION", · U.S. Patent Application No. 15 / 940,634, entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES", · U.S. Patent Application No. 15 / 940,706, entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK", and · U.S. Patent Application No. 15 / 940,675, entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES".

[0015] The applicant of the present application owns the following U.S. patent applications filed on March 29, 2018, the entire disclosure of each of which is incorporated herein by reference. · U.S. Patent Application No. 15 / 940,627, entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Patent Application No. 15 / 940,637, entitled "COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Patent Application No. 15 / 940,642, entitled "CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Patent Application No. 15 / 940,676, entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Patent Application No. 15 / 940,680, entitled "CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Patent Application No. 15 / 940,683, entitled "COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Patent Application No. 15 / 940,690, entitled "DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", and · U.S. Patent Application No. 15 / 940,711, entitled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS".

[0016] The applicant of the present application owns the following U.S. Provisional Patent Applications filed on March 28, 2018, the entire disclosure of each of which is incorporated herein by reference. · U.S. Provisional Patent Application No. 62 / 649,302, entitled "INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES", · U.S. Provisional Patent Application No. 62 / 649,294, entitled "DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD", · U.S. Provisional Patent Application No. 62 / 649,300, entitled "SURGICAL HUB SITUATIONAL AWARENESS", · U.S. Provisional Patent Application No. 62 / 649,309, entitled "SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER", · U.S. Provisional Patent Application No. 62 / 649,310, entitled "COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS", · U.S. Provisional Patent Application No. 62 / 649,291, entitled "USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT", · U.S. Provisional Patent Application No. 62 / 649,296 entitled "ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES", · U.S. Provisional Patent Application No. 62 / 649,333 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER", · U.S. Provisional Patent Application No. 62 / 649,327 entitled "CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES", · U.S. Provisional Patent Application No. 62 / 649,315 entitled "DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK", · U.S. Provisional Patent Application No. 62 / 649,313 entitled "CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES", · U.S. Provisional Patent Application No. 62 / 649,320 entitled "DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", · U.S. Provisional Patent Application No. 62 / 649,307 entitled "AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS", and · U.S. Provisional Patent Application No. 62 / 649,323 entitled "SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS".

[0017] Before describing various aspects of the surgical device and generator in detail, it should be noted that the illustrated embodiments are not limited in their application or use to the details of the structure and arrangement of the components shown in the accompanying drawings and description. Exemplary embodiments may be implemented in or incorporated with other aspects, variations, and modifications, and may be carried out or executed in various ways. Further, unless otherwise specified, the terms and expressions used herein are selected for the purpose of describing the exemplary embodiments for the convenience of the reader and are not intended to limit them. Additionally, it should be understood that one or more of the aspects, implementations, and / or embodiments described below can be combined with any one or more of the other aspects, implementations, and / or embodiments described below.

[0018] Energy Device and Smoke Exhaust The present disclosure relates to an energy device and an intelligent surgical exhaust system for exhausting smoke and / or other fluids and / or particulates from a surgical site. Smoke is often generated during a surgical procedure that utilizes one or more energy devices. The energy device uses energy to affect tissue. In the energy device, the energy is supplied by a generator. Examples of energy devices include devices having a tissue contact electrode such as an electrosurgical device having one or more radio frequency (RF) electrodes, and devices having a vibrating surface such as an ultrasonic device having an ultrasonic blade. In an electrosurgical device, the generator is configured to generate an oscillating current to energize the electrode. In the case of an ultrasonic device, the generator is configured to generate ultrasonic vibrations to energize the ultrasonic blade. The generator is further described herein.

[0019] Ultrasonic energy can be utilized to coagulate and cut tissue. Ultrasonic energy coagulates and cuts tissue by vibrating an energy delivery surface (e.g., an ultrasonic blade) that contacts the tissue. The ultrasonic blade can be connected to a waveguide that transmits vibrational energy from an ultrasonic transducer, and this waveguide generates mechanical vibrations and is powered by a generator. By vibrating at a high frequency (e.g., 55,500 times per second), the ultrasonic blade generates friction and heat between the blade and the tissue, i.e., at the blade-tissue interface, which denatures proteins within the tissue and forms an adhesive clot. The pressure exerted by the blade surface on the tissue causes blood vessels to collapse, enabling the clot to form a hemostatic seal. The accuracy of cutting and coagulation can be controlled, for example, by the skill of the clinician and by adjustment of the power level, the blade edge, tissue traction, and blade pressure.

[0020] Ultrasonic surgical instruments are finding an increasingly wide range of uses in surgical procedures due to the special performance characteristics of such instruments. Depending on the particular instrument configuration and operating parameters, ultrasonic surgical instruments can provide hemostasis by cutting and coagulating tissue substantially simultaneously and, desirably, can minimize trauma to the patient. The cutting operation is typically achieved by an end effector or blade tip at the distal end of the ultrasonic instrument. The ultrasonic end effector transmits ultrasonic energy to the tissue in contact with the end effector. Such ultrasonic surgical instruments can be configured, for example, for open surgery, including robot-assisted surgery, laparoscopic use, or endoscopic surgery.

[0021] Electrical energy can also be utilized for coagulation and / or cutting. Electrosurgical devices can typically include a handpiece and an instrument having an end effector (e.g., one or more electrodes) attached to the distal end. The end effector can be positioned against and / or adjacent to tissue such that an electric current is introduced into the tissue. Electrosurgery is widely used and offers many advantages, including the use of a single surgical instrument for both coagulation and cutting.

[0022] The electrode or tip of an electrosurgical device is small at the point of contact with the patient so as to generate a high-frequency electric current having a high current density to produce a surgical effect of coagulating and / or cutting tissue by cauterization. The return electrode conveys the same RF signal back to the electrosurgical generator after passing through the patient, thus providing a return path for the RF signal.

[0023] Electrosurgical devices can be configured for bipolar or monopolar operation. During bipolar operation, current is introduced into the tissue by the active electrodes of the end effector and returned from the tissue by the return electrodes of the end effector. During monopolar operation, current is introduced into the tissue by the active electrode of the end effector and returned through a return electrode (e.g., a grounding pad) positioned separately on or against the patient's body. Heat generated by the current flowing through the tissue can form a hemostatic seal within and / or between tissues and can thus be particularly useful, for example, for sealing blood vessels. The end effector of an electrosurgical device can also include a cutting member movable relative to the tissue and the electrode for severing the tissue.

[0024] In the case of electrosurgical devices, a low-frequency RF current can be transmitted through tissue, which causes ion agitation or friction, i.e., resistive heating, thereby raising the temperature of the tissue. Since a boundary is created between the diseased tissue and the surrounding tissue, the clinician can operate with a high level of accuracy and control without sacrificing adjacent non-target tissue. The low operating temperature of RF energy is useful for removing, shrinking, or shaping soft tissue while simultaneously sealing blood vessels. RF energy can act particularly well on connective tissue, which is mainly composed of collagen and contracts when exposed to heat. Other electrosurgical instruments include, but are not limited to, irreversible and / or reversible electroporation, and / or microwave technology. Accordingly, the techniques disclosed herein are applicable, inter alia, to ultrasonic, bipolar, and / or monopolar RF (electrosurgical), irreversible and / or reversible electroporation, and / or microwave-based surgical instruments.

[0025] The electrical energy applied by an electrosurgical device can be transmitted from a generator to the instrument. The generator is configured to convert electricity into a high-frequency waveform consisting of an oscillating current that is transmitted to the electrode to affect the tissue. The current passes through the tissue and discharges the tissue in the form of coagulation (where the current arc over the tissue produces tissue carbonization), desiccation (direct energy application to expel the water from the cells), and / or cutting (indirect energy application to vaporize the cell fluid and cause cell explosion). The response of the tissue to the current is a function of the resistance of the tissue, the current density passing through the tissue, the power output, and the duration of the current application. In certain examples, as further described herein, the current waveform can be adjusted to affect different surgical functions and / or to adapt to tissues of different properties. For example, different types of tissue - vascular tissue, nerve tissue, muscle, skin, fat, and / or bone can respond differently to the same waveform.

[0026] Electrical energy may be in the form of RF energy that can be within the frequency range described in EN60601-2-2:2009+A11:2011, Definition 201.3.218 - HIGH FREQUENCY. For example, in monopolar RF applications, the frequency is typically limited to less than 5 MHz in order to minimize problems associated with high - frequency leakage current. Frequencies above 200 kHz can typically be used for monopolar applications to avoid unnecessary stimulation of nerves and muscles resulting from the use of low - frequency currents.

[0027] In bipolar RF applications, the frequency can be almost any frequency. In certain examples, such as when a risk analysis indicates that the potential for neuromuscular stimulation has been mitigated to an acceptable level, lower frequencies can be used with bipolar technology. Generally, 10 mA is recognized as the lower threshold for thermal effects on tissue. Higher frequencies can also be used in the case of bipolar technology.

[0028] In certain examples, the generator can generate the output waveform digitally and provide it to the surgical device, such that the surgical device can be configured to utilize the waveform for various tissue effects. The generator can be a monopolar generator, a bipolar generator, and / or an ultrasonic generator. For example, a single generator can supply energy to a monopolar device, a bipolar device, an ultrasonic device, or a combined electrosurgical / ultrasonic device. The generator can facilitate tissue - specific effects through waveform shaping and / or can extrude RF energy and ultrasonic energy simultaneously and / or sequentially to a single surgical instrument or multiple surgical instruments.

[0029] In one example, a surgical system can include a generator and various surgical instruments that can be used together, including ultrasonic surgical instruments, RF electrosurgical instruments, and combinations of ultrasonic / RF electrosurgical instruments. The generator can be configured to be used with various surgical instruments as further described in U.S. Patent Application No. 15 / 265,279, filed September 14, 2016, entitled "TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS," which is hereby incorporated by reference in its entirety (currently U.S. Patent Application Publication No. 2017 / 0086914).

[0030] As described herein, medical procedures for cutting tissue and / or cauterizing blood vessels are often performed by utilizing RF electrical energy, which is generated by a generator and transmitted to a patient's tissue through an electrode operated by a clinician. The electrode delivers an electrical discharge to the cellular material of the patient's body adjacent to the electrode. This electrical discharge heats the cytoplasm to cut the tissue and / or cauterize the blood vessel.

[0031] The high temperatures associated with electrosurgery can cause thermal necrosis of the tissue adjacent to the electrode. The longer the tissue is exposed to the high temperatures associated with electrosurgery, the higher the likelihood that the tissue will undergo thermal necrosis. In certain examples, thermal necrosis of the tissue not only reduces the rate at which the tissue is cut and increases the incidence of thermal damage to tissue located away from the cut site, but can also increase postoperative complications, eschar formation, and healing time.

[0032] The concentration of RF energy discharge affects both the efficiency with which the electrode can cut tissue and the potential for tissue damage away from the cut site. With a standard electrode shape, RF energy tends to be distributed uniformly over a relatively large area adjacent to the intended incision site. This generally uniform distribution of RF energy discharge increases the potential for stray charge loss into the surrounding tissue, which can increase the potential for unwanted tissue damage in the surrounding tissue.

[0033] Typical electrosurgical generators produce various operating frequencies of RF electrical energy and output power levels. The specific operating frequency and power output of the generator vary based on the particular electrosurgical generator being used and the needs of the physician during the electrosurgical procedure. The specific operating frequency and power output levels can be adjusted manually on the generator by the clinician or other operating room personnel. Appropriate adjustment of these various settings requires extensive knowledge, skill, and attention on the part of the clinician or other personnel. When the clinician makes the desired adjustments to the various settings on the generator, the generator can maintain those output parameters during the electrosurgical procedure. Generally, wave generators used in electrosurgery are adapted to produce RF waves with an output power in the range of 1 - 300 W in the cutting mode, and 1 - 120 W in the coagulation mode, and frequencies in the range of 300 - 600 kHz. A typical wave generator is adapted to maintain the settings selected during the electrosurgical procedure. For example, if the clinician sets the output power level of the generator to 50 W and then touches the electrode to the patient to perform an electrosurgical procedure, the power level of the generator rapidly rises and is maintained at 50 W. Setting the power level to a specific setting such as 50 W enables the clinician to cut the patient's tissue, and maintaining such a high power level increases the potential for thermal necrosis of the patient's tissue.

[0034] In some forms, the generator is configured to provide sufficient power to effectively perform electrosurgery in relation to an electrode that increases the concentration of RF energy discharge, while at the same time being configured to limit unwanted tissue damage, reduce postoperative complications, and promote faster healing. For example, the waveform from the generator can be optimized by a control circuit throughout the surgical procedure. However, the subject matter claimed herein is not limited to eliminating any disadvantages or operating only in the environments as described above. Rather, this background art is provided merely to illustrate an example of the technical field in which some of the aspects described herein may be practiced.

[0035] As provided herein, an energy device delivers mechanical and / or electrical energy to a target tissue for treating the tissue (e.g., for cutting the tissue, cauterizing a blood vessel, and / or coagulating the tissue in and / or near the target tissue). Cutting, cauterizing, and / or coagulating the tissue can release fluids and / or particulates into the air. Such fluids and / or particulates released during a surgical procedure can include, for example, smoke that can contain carbon particles and / or other particles suspended in the air. In other words, the fluid can include smoke and / or other fluid substances. Approximately 90% of endoscopic and open surgical procedures generate some degree of smoke. Smoke can be unpleasant to the olfactory senses of the clinician(s), assistant(s), and / or patient(s), can obscure the vision of the clinician(s) at the surgical site, and in certain instances can be unhealthy to inhale. For example, smoke generated during an electrosurgical procedure can include acrolein, acetonitrile, acrylonitrile, acetylene, alkylbenzene, benzene, butadiene, butene, carbon monoxide, creosol, ethane, ethylene, formaldehyde, free radicals, hydrogen cyanide, isobutene, methane, phenol, polycyclic aromatic hydrocarbons, propene, propylene, pyridine, pyrrole, styrene, toluene, and xylene, as well as dead and live cell material (including blood fragments), and viruses. Certain materials identified in surgical smoke have been identified as known carcinogens. It is estimated that one gram of tissue cauterized during an electrosurgical procedure can be equivalent to the toxins and carcinogenic agents in six unfiltered cigarettes. Further, exposure to smoke released during an electrosurgical procedure has been reported to cause eye and lung irritation in healthcare workers.

[0036] In addition to the toxicity and odor associated with the materials in surgical smoke, the size of the particulate matter in surgical smoke can be harmful to the respiratory systems of the clinician(s), assistant(s), and / or patient(s). In certain instances, the particulates can be very small. Repeated inhalation of very small particulate matter can, in certain instances, lead to acute and chronic respiratory diseases.

[0037] Many electrosurgical systems use a surgical exhaust system that captures the smoke generated from a surgical procedure and directs the captured smoke away from the clinician(s) and / or patient(s) through a filter and an exhaust port. For example, the exhaust system can be configured to exhaust the smoke generated during an electrosurgical procedure. The reader can refer to such an exhaust system as a "smoke evacuation system," but will understand that such an exhaust system can be configured to evacuate not only smoke from the surgical site, but also other things. Throughout this disclosure, the "smoke" evacuated by the exhaust system is not limited to just smoke. Rather, the smoke evacuation systems disclosed herein can be used to evacuate various fluids including liquids, gases, vapors, smoke, steam, or combinations thereof. The fluids can be inherently biological and / or can be introduced to the surgical site from an external source during the procedure. Examples of fluids can include, for example, water, saline, lymphatic fluid, blood, exudate, and / or purulent discharge. Additionally, the fluids can include particulates or other substances (e.g., cellular material or debris) evacuated by the exhaust system. For example, such particulates can be suspended in the fluid.

[0038] Exhaust systems often include a pump and a filter. The pump creates a suction that draws the smoke into the filter. For example, the suction can be configured to draw the smoke through an exhaust conduit from the surgical site to a conduit opening and into an ejector housing of the exhaust system. The ejector housing 50018 of the surgical exhaust system 50000 is shown in FIG. 1. In one aspect of the disclosure, the pump and the filter are positioned within the ejector housing 50018. The smoke drawn into the ejector housing 50018 moves through a suction conduit 50036 to the filter, where harmful toxins and unpleasant odors are filtered from the smoke as it passes through the filter. The suction conduit can also be referred to as, for example, a vacuum and / or an exhaust conduit and / or a tube. The filtered air can then exit the surgical exhaust system as an exhaust. In certain examples, the various exhaust systems disclosed herein can also be configured to deliver fluids to a desired location such as the surgical site.

[0039] Referring now to FIG. 2, the suction conduit 50036 from the ejector housing 50018 (FIG. 1) may terminate at a handpiece such as handpiece 50032. The handpiece 50032 includes an electrosurgical instrument that includes an electrode tip 50034 and a discharge conduit opening near and / or adjacent to the electrode tip 50034. The discharge conduit opening is configured to capture fluid and / or particulates released during a surgical procedure. In such an example, the discharge system 50000 is integrated into the electrosurgical instrument 50032. Referring further to FIG. 2, the smoke S is drawn into the suction conduit 50036.

[0040] In certain examples, the discharge system 50000 can include a separate surgical tool having a conduit opening and configured to aspirate smoke within the system. In yet other examples, the tool having the discharge conduit and opening can be snap-fitted onto an electrosurgical tool as shown in FIG. 3. For example, a portion of the suction conduit 51036 can be positioned around (or adjacent to) the electrode tip 51034. In one example, the suction conduit 51036 can be releasably secured to the handpiece 51032 of an electrosurgical tool having an electrode tip 51034 with a clip or other fastener.

[0041] Various internal components of the ejector housing 50518 are shown in FIG. 4. In various examples, the internal components of FIG. 4 can also be incorporated into the ejector housing 50018 of FIG. 1. Referring primarily to FIG. 4, the exhaust system 50500 includes an ejector housing 50518, a filter 50502, an exhaust mechanism 50520, and a pump 50506. The exhaust system 50500 defines a flow path 50504 through the ejector housing 50518 having an inlet port 50522 and an outlet port 50524. The filter 50502, the exhaust mechanism 50520, and the pump 50506 are arranged in series and continuously along the flow path 50504 through the ejector housing 50518 between the inlet port 50522 and the outlet port 50524. The inlet port 50522 can be fluidly connected to a suction conduit, such as the suction conduit 50036 of FIG. 1, for example, and this suction conduit can comprise a distal conduit opening positionable at the surgical site.

[0042] The pump 50506 is configured to generate a pressure differential within the flow path 50504 by mechanical operation. The pressure differential is configured to draw the smoke 50508 from the surgical site into the inlet port 50522 and along the flow path 50504. After the smoke 50508 has moved through the filter 50502, the smoke 50508 can be considered to be filtered smoke, or air 50510, and the smoke or air can proceed through the flow path 50504 and be pushed out through the outlet port 50524. The flow path 50504 includes a first zone 50514 and a second zone 50516. The first zone 50514 is upstream of the pump 50506. The second zone 50516 is downstream of the pump 50506. The pump 50506 is configured to pressurize the fluid within the flow path 50504 such that the fluid within the second zone 50516 has a higher pressure than the fluid within the first zone 50514. A motor 50512 drives the pump 50506. Various suitable motors are further described herein. The exhaust mechanism 50520 is a mechanism that can control the speed, direction, and / or other characteristics of the filtered smoke 50510 exiting the exhaust system 50500 at the outlet port 50524.

[0043] The flow path 50504 through the discharge system 50500 can be composed of a pipe or other conduit that substantially contains the fluid moving through the flow path 50504 and / or separates it from the fluid outside the flow path 50504. For example, the first zone 50514 of the flow path 50504 can comprise a pipe through which the flow path 50504 extends between the filter 50502 and the pump 50506. The second zone 50516 of the flow path 50504 can also comprise a pipe through which the flow path 50504 extends between the pump 50506 and the exhaust mechanism 50520. The flow path 50504 also extends through the filter 50502, the pump 50506, and the exhaust mechanism 50520 such that the flow path 50504 extends continuously from the inlet port 50522 to the outlet port 50524.

[0044] During operation, the smoke 50508 can flow into the filter 50502 at the inlet port 50522 and can be pumped through the flow path 50504 by the pump 50506 such that the smoke 50508 is drawn into the filter 50502. The filtered smoke 50510 can then be pumped through the exhaust mechanism 50520 and out of the discharge system 50500 through the outlet port 50524. The filtered smoke 50510 exiting the discharge system 50500 at the outlet port 50524 is exhaust and can be composed of the filtered gas that has passed through the discharge system 50500.

[0045] In various examples, the exhaust systems disclosed herein (e.g., exhaust system 50000 and exhaust system 50500) can be incorporated into a computer-implemented interactive surgical system, such as, for example, system 100 (FIG. 39) or system 200 (FIG. 47). In one aspect of the present disclosure, for example, the computer-implemented surgical system 100 can include at least one hub 106 and a cloud 104. Referring mainly to FIG. 41, the hub 106 includes a smoke exhaust module 126. The operation of the smoke exhaust module 126 can be controlled by the hub 106 based on its situation awareness and / or feedback from its components and / or based on information from the cloud 104. The computer-implemented surgical systems 100 and 200, and the situation awareness therefor, are further described herein.

[0046] Situation awareness encompasses the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from a database and / or an instrument. The information can include the type of procedure being performed, the type of tissue being operated on, or the body cavity being treated by the procedure. The context information related to the surgical procedure can improve, for example, the way the surgical system controls a modular device (e.g., a smoke exhaust system) that it is connected to provide context information or suggestions to a clinician during the surgical procedure. Situation awareness is further described herein and in U.S. Provisional Patent Application No. 62 / 611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM", which is hereby incorporated by reference in its entirety.

[0047] In various examples, the surgical system and / or drainage system disclosed herein can include a processor. The processor can be programmed to control one or more operating parameters of the surgical system and / or drainage system based on, for example, sensed and / or aggregated data and / or one or more user inputs. FIG. 5 is a schematic diagram of an electrosurgical system 50300 that includes a processor 50308. The electrosurgical system 50300 is powered by an AC power supply 50302 that provides either 120V or 240V AC. The voltage supplied by the AC power supply 50302 is directed to an AC / DC converter 50304 that converts 120V or 240V AC to 360V DC. The 360V DC is then directed to a power converter 50306 (e.g., a step-down converter). The power converter 50306 is a step-down DC / DC converter. The power converter 50306 is adapted to reduce the input 360V to a desired level within the range of 0 to 150V.

[0048] The processor 50308 can be programmed to adjust various aspects, functions, and parameters of the electrosurgical system 50300. For example, the processor 50308 can determine a desired output power level at an electrode tip 50334 that can be similar in many respects to the electrode tip 50034 of FIG. 2 and / or the electrode tip 51034 of FIG. 3, and can instruct the power converter 50306 to step down the voltage to a specified level to provide the desired output power. The processor 50308 is coupled to a memory 50310 configured to store machine-executable instructions for operating the electrosurgical system 50300 and / or its subsystems.

[0049] A digital-to-analog converter (“DAC”) 50312 is connected between the processor 50308 and the power converter 50306. The DAC 50312 is adapted to convert the digital code generated by the processor 50308 into an analog signal (current, voltage, or charge), and this analog signal controls the voltage step-down performed by the power converter 50306. When the power converter 50306 steps down 360V to the level determined by the processor 50308 to provide the desired output power level, the stepped-down voltage is directed to the electrode tip 50334 to achieve electro-surgical treatment of the patient's tissue and then to the return electrode or ground electrode 50335. The voltage sensor 50314 and the current sensor 50316 are adapted to detect the voltage and current present in the electro-surgical circuit and communicate the detected parameters to the processor 50308 so that the processor 50308 can determine whether to adjust the output power level. As described herein, a typical wave generator is adapted to maintain the selected settings throughout the electro-surgical procedure. In other examples, the operating parameters of the generator can be optimized during the surgical procedure based on one or more inputs to the processor 5308, such as inputs from a surgical hub, cloud, and / or situation awareness module, as further described herein.

[0050] Processor 50308 is connected to communication device 50318 for communicating via a network. The communication device includes a transceiver 50320 configured to communicate physically wired or wirelessly. Communication device 50318 may further include one or more additional transceivers. Examples of transceivers include, but are not limited to, cellular modems, wireless mesh network transceivers, Wi-Fi® transceivers, low-power wide-area (LPWA) transceivers, and / or near-field communication transceivers (NFC). Examples of communication device 50318 include, or can be configured to communicate with, mobile phones, sensor systems (e.g., environmental, location, movement, etc.) and / or sensor networks (wired and / or wireless), computing systems (e.g., servers, workstation computers, desktop computers, laptop computers, tablet computers (e.g., iPad® and Galaxy Tab® etc.), ultra-portable computers, ultra-mobile computers, netbook computers, and / or sub-notebook computers, etc.). In at least one aspect of the present disclosure, one of the devices may be a coordinator node.

[0051] The transceiver 50320 may be configured to receive serial transmission data from the processor 50308 via each UART, modulate the serial transmission data onto an RF carrier wave to generate a transmission RF signal, and transmit the transmission RF signal via each antenna. The transceiver(s) may be further configured to receive a received RF signal including an RF carrier wave modulated with serial reception data via each antenna, demodulate the received RF signal to extract the serial reception data, and provide the serial reception data to each UART for providing to the processor. Each RF signal has an associated carrier frequency and an associated channel bandwidth. The channel bandwidth is associated with the carrier frequency, the transmission data, and / or the reception data. Each RF carrier frequency and channel bandwidth is associated with the operating frequency range(s) of the transceiver(s) 50320. Each channel bandwidth is further associated with a wireless communication standard and / or protocol that the transceiver(s) 50320 may comply with. In other words, each transceiver 50320 may be compatible with a selected wireless communication standard and / or protocol, for example, an implementation of IEEE 802.11a / b / g / n for Wi-Fi (registered trademark) and / or IEEE 802.15.4 for a wireless mesh network using Zigbee routing.

[0052] Processor 50308 is connected to a sensing and intelligent control device 50324 that is connected to an exhaust gas purifier 50326. The exhaust gas purifier 50326 can include one or more sensors 50327 and can also include a pump motor controlled by a pump and motor driver 50328. The motor driver 50328 is communicably connected to the processor 50308 and the pump motor within the exhaust gas purifier 50326. The sensing and intelligent control device 50324 includes a sensor algorithm 50321 and a communication algorithm 50322 that facilitate communication between the exhaust gas purifier 50326 and other devices and adapt their control programs. The sensing and intelligent control device 50324 is configured to evaluate the fluid, particles, and gases extracted through the discharge conduit 50336 to improve, for example, the smoke extraction efficiency and / or reduce the user smoke output as further described herein. In certain examples, the sensing and intelligent control device 50324 is communicably connected to one or more sensors 50327 within the exhaust gas purifier 50326, one or more internal sensors 50330 of the electrosurgical system 50300, and / or one or more external sensors 50332 of the electrosurgical system 50300.

[0053] In certain examples, the processor can be located within the ejector housing of the surgical drainage system. For example, referring to FIG. 6, the processor 50408 and its memory 50410 for it are positioned within the ejector housing 50440 of the surgical drainage system 50400. The processor 50408 communicates in signal with the motor driver 50428, various internal sensors 50430, the display 50442, the memory 50410, and the communication device 50418. The communication device 50418 is similar in many respects to the communication device 50318 described above in connection with FIG. 5. The communication device 50418 can enable the processor 50408 within the surgical drainage system 50400 to communicate with other devices within the surgical system. For example, the communication device 50418 can enable wired and / or wireless communication to one or more external sensors 50432, one or more surgical devices 50444, one or more hubs 50448, one or more clouds 50446, and / or one or more additional surgical systems and / or tools. The reader will readily understand that the surgical drainage system 50400 of FIG. 6 can be incorporated into the electrosurgical system 50300 of FIG. 5 in a particular example. The surgical drainage system 50400 also includes a pump 50450 including its pump motor 50451, a drainage conduit 50436, and an exhaust port 50452. Various pumps, exhaust conduits, and exhaust ports are further described herein. The surgical drainage system 50400 can also include a sensing and intelligent control device that can be similar in many respects to, for example, the sensing and intelligent control device 50324. For example, such a sensing and intelligent control device can communicate in signal with one or more of the processor 50408 and / or the sensor 50430 and / or the external sensor 50432.

[0054] The electrosurgical system 50300 (FIG. 5) and / or the surgical evacuation system 50400 (FIG. 6) can be programmed to monitor one or more parameters of the surgical system and can affect surgical functions based on one or more algorithms stored in a memory that signal communicates with processors 50308 and / or 50408. Various exemplary aspects disclosed herein can be implemented, for example, by such algorithms.

[0055] In one aspect of the present disclosure, a processor and a sensor system, such as processors 50308 and 50408 and their respective sensor systems (FIGS. 5 and 6) that communicate therewith, are configured to sense an air flow through a vacuum source, for example, to adjust parameters of a smoke evacuation system and / or an external device and / or system used in series with the smoke evacuation system, such as an electrosurgical system, an energy device, and / or a generator. In one aspect of the present disclosure, the sensor system may include a plurality of sensors positioned along an air path of the surgical evacuation system. The sensors can measure a pressure differential within the evacuation system to detect a state or status of the system between the sensors. For example, the system between two sensors may be a filter, and the pressure differential can be used to increase the rotational speed of a pump motor as the flow rate through the filter decreases to maintain the flow rate through the system. As another example, the system may be a fluid trap of the evacuation system, and the pressure differential can be used to determine an air flow path through the evacuation system. In yet another example, the system may be an inlet and an outlet (or an exhaust port) of the evacuation system, and the pressure differential can be used to determine a maximum suction load within the evacuation system to keep the maximum suction load below a threshold.

[0056] In one aspect of the present disclosure, a processor and a sensor system, e.g., processors 50308 and 50408 and their respective sensor systems (Figs. 5 and 6) that communicate therewith, are configured to detect the ratio of aerosol or carbonized microparticles, i.e., smoke, in a fluid extracted from a surgical site. For example, the sensing system may include sensors that detect the size and / or composition of particles used to select an airflow path through the exhaust system. In such an example, the exhaust system can include a first filtration path, or a first filtration state, and a second filtration path, or a second filtration state, which can have different characteristics. In one example, the first path includes only a particulate filter, and the second path includes both a fluid filter and a particulate filter. In a particular example, the first path includes a particulate filter, and the second path includes a particulate filter and a finer particulate filter arranged in series. Additional and / or alternative filtration paths are also envisioned.

[0057] In one aspect of the present disclosure, a processor and a sensor system, e.g., processors 50308 and 50408 and their respective sensor systems (Figs. 5 and 6) that communicate therewith, are configured to perform a chemical analysis on particles discharged from a patient's abdominal cavity. For example, the sensing and intelligent control device 50324 may sense particle counts and types in order to adjust the power level of an ultrasonic generator to induce the ultrasonic blade to generate less smoke. In another example, the sensor system may include sensors for detecting particle counts, temperature, fluid content, and / or the contamination ratio of the discharged fluid, and communicate the detected characteristic(s) to the generator to adjust its output. For example, the smoke exhaust 50326 and / or its sensing and intelligent control device 50324 can be configured to adjust the exhaust flow rate and / or the motor speed of the pump, and at a given particulate level, can operably affect the output power or waveform of the generator to reduce the smoke generated by the end effector.

[0058] In one aspect of the present disclosure, a processor and a sensor system, e.g., processors 50308 and 50408 and their respective sensor systems (Figs. 5 and 6) that communicate therewith, are configured to evaluate particle count and contamination in an operating room by evaluating one or more characteristics of the ambient air and / or the exhaust from the exhaust housing. The particle count and / or air quality can be displayed, for example, on a smoke exhaust system such as on the exhaust housing, to communicate information to a clinician and / or to establish the effectiveness of its smoke exhaust system and filter(s).

[0059] In one aspect of the present disclosure, a processor, e.g., processor 50308 or processor 50408 (Figs. 5 and 6), is configured to compare a sample velocity image obtained from an endoscope with an exhaust particle count from a sensing system (e.g., sensing and intelligent control device 50324), for example, to determine a correlation and / or to adjust the revolutions per minute (RPM) speed of a pump. In one example, the activation of a generator can be communicated to a smoke evacuator so that the required smoke evacuation speed can be implemented as expected. The activation of the generator can be communicated to a surgical exhaust system, for example, through a surgical hub, a cloud communication system, and / or a direct connection.

[0060] In one aspect of the present disclosure, the sensor system and algorithm of the smoke exhaust system (see, for example, FIGS. 5 and 6) can be configured to control the smoke exhaust device, and based on the needs of the surgical field at a given time, its motor parameters can be adapted to adjust the filtration efficiency of the smoke exhaust device. In one example, an adaptive air flow pump speed algorithm is provided to automatically change the motor pump speed based on the sensed particulates at the inlet of the smoke exhaust device and / or at the outlet or exhaust port of the smoke exhaust device. For example, the sensing and intelligent control device 50324 (FIG. 5) can include, for example, user-selectable speeds and automatic mode speeds. In the automatic mode speed, the air flow through the exhaust system can be expandable based on the absence of smoke in the exhaust system and / or filtered particles from the smoke exhaust system. The automatic mode speed can, in certain examples, provide automatic sensing and compensation in the laparoscopic mode.

[0061] In one aspect of the present disclosure, the exhaust system can include an electrical and communication architecture (see, for example, FIGS. 5 and 6) that provides data collection and communication functions to improve the interactivity between the surgical hub and the cloud. In one embodiment, the surgical exhaust system and / or a processor, such as processor 50308 (FIG. 5) and processor 50408 (FIG. 6), can include a segmented control circuit that is energized in a stepwise manner to check, for example, system errors, short circuits, and / or safety checks. The segmented control circuit can also be configured to have an energized portion and a non-energized portion until the energized portion performs a first function. The segmented control circuit can include circuit elements for identifying and displaying status updates to the user of the attached components. The segmented control circuit can also include circuit elements for operating the motor in a first state where the motor is activated by the user, and circuit elements for operating the motor in a second state where the motor is not activated by the user but the pump operates more quietly and at a slower speed. The segmented control circuit can, for example, enable the smoke exhaust device to be energized stepwise.

[0062] The electrical and communication architecture of the exhaust system (see, e.g., FIGS. 5 and 6) can also provide for the interconnection of the smoke evacuator with other components within the surgical hub for interaction, as well as for data communication with the cloud. Communication of surgical exhaust system parameters to the surgical hub and / or the cloud can be provided to affect the output or operation of other attached devices. The parameters can be operable or perceivable. Operational parameters include air flow, pressure differential, and air quality. Perceivable parameters include particulate concentration, aerosol fraction, and chemical analysis.

[0063] In one aspect of the present disclosure, an exhaust system, such as surgical exhaust system 50400, can include, for example, an enclosure and replaceable components, a control unit, and a display. Circuitry is provided for communicating security identifiers (IDs) between such replaceable components. For example, communication between a filter and the smoke evacuation electronics can be provided to verify component reliability, update parameters within the components to verify remaining life, log errors, and / or limit the number and / or type of components that can be identified by the system. In various examples, the communication circuitry can authenticate functions for enabling and / or disabling configuration parameters. The communication circuitry can use encryption and / or error handling schemes to manage security and unique relationships between components and the smoke evacuation electronics. Disposable / reusable components are included in certain examples.

[0064] In one aspect of the present disclosure, the exhaust system can provide fluid management and an extraction filter and air flow configuration. For example, a surgical exhaust system including a fluid capture mechanism is provided, the fluid capture mechanism having first and second sets of extraction or air flow control functions that are arranged in series with each other to extract large and small fluid droplets, respectively. In a particular example, the air flow path can accommodate a recirculation channel or a secondary fluid channel that returns from downstream of the exhaust port of the main fluid management chamber to the primary reservoir.

[0065] In one aspect of the present disclosure, an advancement pad can be coupled to an electrosurgical system. For example, the ground electrode 50335 of the electrosurgical system 50300 (FIG. 5) can include an advancement pad having local sensing integrated into the pad while maintaining capacitive coupling. For example, the capacitive coupling return path pad can have small separable array elements that can be used to detect proximity to nerve bundles at the monopolar tip or to sense movement of a selected anatomical location and / or a nerve control signal.

[0066] An electrosurgical system can include a signal generator, an electrosurgical instrument, a return electrode, and a surgical evacuation system. The generator may be an RF wave generator that generates RF electrical energy. Connected to the electrosurgical instrument is a utility conduit. The utility conduit includes a cable that communicates electrical energy from the signal generator to the electrosurgical instrument. The utility conduit also includes a vacuum hose that conveys captured and / or collected smoke and / or fluid away from the surgical site. Such an exemplary electrosurgical system 50601 is shown in FIG. 7. More specifically, the electrosurgical system 50601 includes a generator 50640, an electrosurgical instrument 50630, a return electrode 50646, and an evacuation system 50600. The electrosurgical instrument 50630 includes a handle 50632 and a distal conduit opening 50634 fluidly coupled to the suction hose 50636 of the evacuation system 50600. The electrosurgical instrument 50630 also includes an electrode that is powered by the generator 50640. A first electrical connection 50642, e.g., a wire, extends from the electrosurgical instrument 50630 to the generator 50640. A second electrical connection 50644, e.g., a wire, extends from the electrosurgical instrument 50630 to the electrode, i.e., the return electrode 50646. In other examples, the electrosurgical instrument 50630 may be a bipolar electrosurgical instrument. The distal conduit opening 50634 on the electrosurgical instrument 50630 is fluidly coupled to a suction hose 50636 that extends to a filter end cap 50603 of a filter installed within the evacuator housing 50618 of the evacuation system 50600.

[0067] In other examples, the distal conduit opening 50634 of the exhaust system 50600 may be on a handpiece or tool separate from the electrosurgical instrument 50630. For example, the exhaust system 50600 can include a surgical tool that is not connected to the generator 50640 and / or does not include a tissue energizing surface. In certain examples, the distal conduit opening 50634 of the exhaust system 50600 can be releasably attached to an electrosurgical tool. For example, the exhaust system 50600 can include a clip-on or snap-on conduit that terminates at the distal conduit opening and that can be releasably attached to a surgical tool (see, e.g., FIG. 3).

[0068] The electrosurgical instrument 50630 is configured to deliver electrical energy to a target tissue of a patient to cut the target tissue and / or cauterize blood vessels in and / or near the target tissue, as described herein. Specifically, a discharge is provided to the patient by the electrode tip to cause heating of the patient's cellular material in intimate contact with or adjacent to the electrode tip. The heating of the tissue occurs at a moderately high temperature such that an electrosurgical procedure can be performed using the electrosurgical instrument 50630. A return electrode 50646 is applied to or placed in proximity to the patient (depending on the type of return electrode) to complete the circuit and provide a return electrical path to the generator 50640 for the energy entering the patient's body.

[0069] Heating of the patient's cellular material by the electrode tip, or cauterization of blood vessels to prevent bleeding, will often result in the release of smoke at the location where the cauterization is performed, as further described herein. In such examples, since the exhaust conduit opening 50634 is near the electrode tip, the exhaust system 50600 is configured to capture the smoke released during the surgical procedure. By vacuum suction, the smoke can be drawn into the conduit opening 50634 through the electrosurgical instrument 50630 and into the vacuum hose 50636 toward the exhaust housing 50618 of the smoke evacuation system 50600.

[0070] Referring now to FIG. 8, the ejector housing 50618 of the exhaust system 50600 (FIG. 7) is shown. The ejector housing 50618 includes a socket 50620 dimensioned and configured to receive a filter. The ejector housing 50618 can completely or partially surround the internal components of the ejector housing 50618. The socket 50620 includes a first receptacle 50622 and a second receptacle 50624. A transition surface 50626 extends between the first receptacle 50622 and the second receptacle 50624.

[0071] Referring now mainly to FIG. 9, the socket 50620 is depicted along the cross-sectional plane shown in FIG. 8. The socket 50620 includes a first end 50621 that is open to receive a filter and a second end 50623 that communicates with a flow path 50699 through the ejector housing 50618. A filter 50670 (FIGS. 10 and 11) may be removably positioned with the socket 50620. For example, the filter 50670 can be inserted into and removed from the first end 50621 of the socket 50620. The second receptacle 50624 is configured to receive a connection nipple of the filter 50670.

[0072] The surgical exhaust system uses a filter to remove unwanted contaminants from the smoke before the smoke is released as exhaust. In certain examples, the filter may be replaceable. The reader will understand that the filter 50670 shown in FIGS. 10 and 11 can be used in the various exhaust systems disclosed herein. The filter 50670 can be a replaceable and / or disposable filter.

[0073] Filter 50670 includes a front cap 50672, a rear cap 50674, and a filter body 50676 disposed therebetween. The front cap 50672 includes, in certain examples, a filter inlet 50678 configured to receive smoke directly from a suction hose 50636 (FIG. 7) or other smoke source. In some aspects of the present disclosure, the front cap 50672 can direct smoke directly from the smoke source, remove at least a portion of the fluid therefrom, and then replace the partially treated smoke with a fluid trap (e.g., fluid trap 50760 shown in FIGS. 14-17) that transfers the partially treated smoke into the filter body 50676 for further processing. For example, the filter inlet 50678 can be configured to receive smoke through a fluid trap exhaust port, such as port 50766 of fluid trap 50760 (FIGS. 14-17), to transfer the partially treated smoke into the filter 50670.

[0074] When smoke enters the filter 50670, it can be filtered by components housed within the filter body 50676. The filtered smoke can then exit the filter 50670 through a filter exhaust port 50680 defined within the rear cap 50674 of the filter 50670. When the filter 50670 is associated with an exhaust system, suction generated within the exhaust housing 50618 of the exhaust system 50600 can be transmitted to the filter 50670 through the filter exhaust port 50680 to draw the smoke through the internal filtration components of the filter 50670. Filters often include particulate filters and carbon filters. The particulate filter can be, for example, a high-efficiency particulate air (HEPA) filter or an ultra-low penetration air (ULPA) filter. ULPA filtration utilizes a depth filter similar to a maze. Particulates can be filtered using at least one of direct interception (particles larger than 1.0 micron are too large to pass through the fibers of the media filter and are thus captured), inertial impaction (particles between 0.5 and 1.0 micron collide with the fibers and stay there), and diffusion interception (particles less than 0.5 micron are captured by the effect of Brownian random thermal motion such that the particles "search out" and adhere to the fibers).

[0075] The carbon filter is configured to remove toxic gases and / or odors generated by surgical smoke. In various examples, the carbon can be "activated," meaning it has been treated in a heating process to expose active absorption sites. The carbon can be obtained, for example, from activated virgin coconut shells.

[0076] Referring now to FIG. 11, filter 50670 includes a fine particulate filter layer 50686 following a coarse media filter layer 50684. In other examples, filter 50670 may be composed of a single type of filter. In still other examples, filter 50670 can include three or more filter layers and / or three or more different types of filter layers. After particulate matter is removed by filter layers 50684 and 50686, the smoke is drawn through carbon reservoir 50688 within filter 50670 to remove gaseous contaminants in the smoke, such as volatile organic compounds. In various examples, carbon reservoir 50688 can include a carbon filter. The filtered smoke is substantially free of particulate matter and gaseous contaminants and is drawn through filter exhaust port 50680 into exhaust system 50600 for further processing and / or discharge.

[0077] Filter 50670 includes a plurality of dams between components of filter body 50676. For example, first dam 50690 is positioned intermediate filter inlet 50678 (FIG. 10) and a first particulate filter, such as coarse media filter 50684. Second dam 50692 is positioned intermediate a second particulate filter, such as fine particulate filter 50686, and carbon reservoir 50688. Further, third dam 50694 is positioned intermediate carbon reservoir 50688 and filter exhaust port 50680. Dams 50690, 50692, and 50694 can include gaskets or O-rings configured to prevent movement of components within filter body 50676. In various examples, the size and shape of dams 50690, 50692, and 50694 can be selected to prevent expansion of filter components in the direction of the applied suction.

[0078] The coarse media filter 50684 can include, for example, a low air resistance filter material such as fiberglass, polyester, and / or a pleated filter configured to remove particulate matter larger than most 10 μm. In some aspects of the present disclosure, this includes a filter configured to remove at least 85% of particulate matter larger than 10 μm, at least 90% of particulate matter larger than 10 μm, at least 95% of a particular substance larger than 10 μm, at least 99% of a particular substance larger than 10 μm, at least 99.9% of a particular substance larger than 10 μm, or at least 99.99% of a particular substance larger than 10 μm.

[0079] Additionally or alternatively, the coarse media filter 50684 can include a low air resistance filter configured to remove particulate matter larger than most 1 μm. In some aspects of the present disclosure, this includes a filter configured to remove at least 85% of particulate matter larger than 1 μm, at least 90% of particulate matter larger than 1 μm, at least 95% of a particular substance larger than 1 μm, at least 99% of a particular substance larger than 1 μm, at least 99.9% of a particular substance larger than 1 μm, or at least 99.99% of a particular substance larger than 1 μm.

[0080] The fine particulate filter 50686 can include any filter with higher efficiency than the coarse media filter 50684. This includes, for example, a filter that can filter a higher percentage of particles the same size as the coarse media filter 50684 and / or a filter that can filter particles smaller than the coarse media filter 50684. In some aspects of the present disclosure, the fine particulate filter 50686 can include a HEPA filter or a ULPA filter. Additionally or alternatively, the fine particulate filter 50686 can be pleated to increase its surface area. In some aspects of the present disclosure, the coarse media filter 50684 includes a pleated HEPA filter and the fine particulate filter 50686 includes a pleated ULPA filter.

[0081] After particulate filtration, the smoke enters the downstream portion of the filter 50670 that includes the carbon reservoir 50688. The carbon reservoir 50688 is bounded by porous partitions 50696 and 50698 disposed respectively between intermediate and end dams 50692 and 50694. In some aspects of the present disclosure, the porous partitions 50696 and 50698 are rigid and / or non-flexible and define a certain spatial deposition of the carbon reservoir 50688.

[0082] The carbon reservoir 50688 can include additional adsorbents that function with or independently of the carbon particles to remove gaseous contaminants. Examples of additional adsorbents can include adsorbents such as magnesium oxide and / or copper oxide, which can function to adsorb gaseous contaminants such as carbon monoxide, ethylene oxide, and / or ozone. In some aspects of the present disclosure, the additional adsorbent is dispersed throughout the reservoir 50688 and / or positioned in a separate layer above, below, or within the reservoir 50688.

[0083] Referring again to FIG. 4, the exhaust system 50500 includes a pump 50506 within the exhaust housing 50518. Similarly, the exhaust system 50600 shown in FIG. 7 can include a pump located within the exhaust housing 50618, which can generate suction to draw smoke from the surgical site through the suction hose 50636 and through the filter 50670 (FIGS. 10 and 11). During operation, the pump can create a pressure differential within the exhaust housing 50618 such that the smoke moves into the filter 50670 and exits an exhaust mechanism (e.g., exhaust mechanism 50520 of FIG. 4) at the outlet of the flow path. The filter 50670 is configured to extract harmful, contaminated, or otherwise unwanted particulates from the smoke.

[0084] The pump can be arranged in a row with a flow path through the ejector housing 50618 such that the gas flowing through the ejector housing 50618 enters the pump at one end and exits the pump at the other end. The pump can provide a sealed positive displacement flow path. In various examples, the pump can create a sealed positive displacement flow path by capturing (sealing) a first volume of gas and reducing that volume to a second, smaller volume as the gas moves through the pump. By reducing the volume of the captured gas, the pressure of the gas increases. The second pressurized volume of gas can be discharged from the pump at the pump outlet. For example, the pump can be a compressor. More specifically, the pump can include a hybrid regenerative blower, a claw pump, a lobe compressor, and / or a scroll compressor. The positive displacement compressor can provide an improved compression ratio and operating pressure while limiting the vibration and noise generated by the discharge system 50600. Additionally or alternatively, the discharge system 50600 can include a fan for moving fluid therethrough.

[0085] An example of a positive displacement compressor, such as a scroll compressor pump 50650, is shown in FIG. 12. The scroll compressor pump 50650 includes a stator scroll 50652 and an orbiting scroll 50654. The stator scroll 50652 can be fixed in a stationary position while the orbiting scroll 50654 orbits eccentrically. For example, the orbiting scroll 50654 can orbit eccentrically about the central longitudinal axis of the stator scroll 50652 such that it rotates. As shown in FIG. 12, the central longitudinal axis of the stator scroll 50652 and the orbiting scroll 50654 extend perpendicular to the plane of view of the scrolls 50652, 50654. The stator scroll 50652 and the orbiting scroll 50654 are alternately arranged with respect to each other to form individual sealed compression chambers 50656.

[0086] In use, gas can enter the scroll compressor pump 50650 at the inlet 50658. As the orbiting scroll 50654 orbits relative to the stator scroll 50652, the inlet gas is first trapped within the compression chamber 50656. The compression chamber 50656 is configured to move individual volumes of gas along the spiral contours of the scrolls 50652 and 50654 towards the center of the scroll compressor pump 50650. The compression chamber 50656 defines a sealed space in which the gas is present. Also, as the orbiting scroll 50654 moves the trapped gas towards the center of the stator scroll 50652, the volume of the compression chamber 50656 decreases. This decrease in volume increases the pressure of the gas inside the compression chamber 50656. The gas within the sealed compression chamber 50656 is trapped while its volume is decreasing, thereby pressurizing the gas. When the pressurized gas reaches the center of the scroll compressor pump 50650, the pressurized gas is discharged through the outlet 50659.

[0087] Referring now to FIG. 13, a portion of the exhaust system 50700 is shown. The exhaust system 50700 may be similar in many respects to the exhaust system 50600 (FIG. 7). For example, the exhaust system 50700 includes an exhaust housing 50618 and a suction hose 50636. Referring again to FIG. 7, the exhaust system 50600 is configured to generate suction and thereby draw smoke into the exhaust housing 50618 from the distal end of the suction hose 50636 for treatment. In particular, the suction hose 50636 is not connected to the exhaust housing 50618 through the filter end cap 50603 of FIG. 13. Rather, the suction hose 50636 is connected to the exhaust housing 50618 through a fluid trap 50760. A filter similar to the filter 50670 may be positioned within a socket of the exhaust housing 50618 behind the fluid trap 50760.

[0088] The fluid trap 50760 is a first processing point that extracts and holds at least a portion of fluid (e.g., liquid) from the smoke before relaying the partially processed smoke to the exhaust system 50700 for further processing and filtration. The exhaust system 50700 is configured to process, filter, and otherwise clean the smoke to reduce or eliminate unpleasant odors or other problems associated with smoke generation in an operating room (or other surgical environment) as described herein. By extracting liquid droplets and / or aerosols from the smoke before it is further processed by the exhaust system 50700, the fluid trap 50760 can, among other things in certain examples, increase the efficiency of the exhaust system 50700 and / or extend the life of the filters associated with the exhaust system 50700.

[0089] Referring primarily to FIGS. 14 - 17, the fluid trap 50760 is shown removed from the ejector housing 50618 (FIG. 13). The fluid trap 50760 includes an inlet port 50762 defined in a front cover or surface 50764 of the fluid trap 50760. The inlet port 50762 can be configured to releasably receive the suction hose 50636 (FIG. 13). For example, an end of the suction hose 50636 can be at least partially inserted within the inlet port 50762 and can be fixed therebetween with an interference fit. In various examples, the interference fit can be a liquid-tight and / or airtight fit such that substantially all of the smoke passing through the suction hose 50636 is transferred within the fluid trap 50760. In some examples, other mechanisms for connecting or joining the suction hose 50636 to the inlet port 50762 can be used, such as a latch-based compression fitting, an O-ring, a threaded connection of the suction hose 50636 to the inlet port 50762, and / or other connection mechanisms.

[0090] In various examples, the liquid-tight and / or airtight fit between the suction hose 50636 and the fluid trap 50760 is configured to prevent fluid and / or other materials in the exhausted smoke from leaking at or near the junction of these components. In some examples, for instance, the suction hose 50636 can be associated with the inlet port 50762 through an intermediate connection device such as an O-ring and / or an adapter to further ensure an airtight and / or liquid-tight connection between the suction hose 50636 and the fluid trap 50760.

[0091] As described above, the fluid trap 50760 includes an exhaust port 50766. The exhaust port extends in a direction away from the back cover or surface 50768 of the fluid trap 50760. The exhaust port 50766 defines an open channel between the internal chamber 50770 of the fluid trap 50760 and the external environment. In some examples, the exhaust port 50766 is sized and shaped such that it is closely associated with the surgical exhaust system or its components. For example, the exhaust port 50766 can be sized and shaped to be associated with and communicate with at least partially processed smoke from the fluid trap 50760 and a filter (FIG. 13) housed within the ejector housing 50618. In certain examples, the exhaust port 50766 can extend in a direction away from the front plate, top surface, or side surface of the fluid trap 50760.

[0092] In certain examples, the exhaust port 50766 includes a membrane that spaces the exhaust port 50766 from the ejector housing 50618. Such a membrane can function to prevent water or other liquids collected within the fluid trap 50760 from passing through the exhaust port 50766 and entering the ejector housing 50618 while allowing air, water, and / or vapor to freely pass through the ejector housing 50618. For example, a high-flow microporous polytetrafluoroethylene (PTFE) can be positioned downstream of the exhaust port 50766 and upstream of the pump to protect the pump or other components of the exhaust system 50700 from damage and / or contamination.

[0093] The fluid trap 50760 also includes a gripping region 50772 that is positioned and dimensioned to assist a user in handling the fluid trap 50760 and / or to assist in connecting the fluid trap 50760 to the suction hose 50636 and / or the ejector housing 50618. The gripping region 50772 is shown as an elongated recess. However, the reader will readily understand that the gripping region 50772 may include, for example, at least one recess, groove, protrusion, sag, and / or ring, which may be sized and shaped to correspond to a user's finger or otherwise provide a gripping surface.

[0094] Referring now mainly to FIGS. 16 and 17, the internal chamber 50770 of the fluid trap 50760 is shown. The relative positioning of the inlet port 50762 and the exhaust port 50766 is configured to facilitate the extraction and retention of fluid from the smoke as it passes through the fluid trap 50760. In a particular example, the inlet port 50762 can comprise a notched cylindrical shape that can direct smoke and entrained fluid in one direction towards the fluid reservoir 50774 of the fluid trap 50760 or otherwise away from the exhaust port 50766. One example of such fluid flow is shown by the arrows A, B, C, D, and E in FIG. 17.

[0095] As shown, smoke enters the fluid trap 50760 through the inlet port 50762 (indicated by arrow A) and exits the fluid trap 50760 through the exhaust port 50766 (indicated by arrow E). At least in part due to the shape of the inlet port (e.g., the longer upper sidewall 50761 and the shorter lower sidewall 50763), the smoke entering the inlet port 50762 is initially directed mainly downward into the fluid reservoir 50774 of the fluid trap 50760 (indicated by arrow B). As the smoke continues to be drawn downward into the fluid trap 50760 along arrows A and B, the initially downward-directed smoke rotates downward and is directed away from the smoke source in a direction that moves in a path that is substantially opposite but parallel, toward the upper portion of the fluid trap 50760 and out of the exhaust port 50766 (indicated by arrows D and E).

[0096] The one-way flow of smoke through the fluid trap 50760 can ensure that the liquid in the smoke is extracted and retained within the lower portion of the fluid trap 50760 (e.g., the fluid reservoir 50774). Further, when the fluid trap 50760 is in an upright position, the relative positioning of the exhaust port 50766 vertically above the inlet port 50762 is configured to substantially prevent the flow of fluid in and out of the fluid trap 50760 while suppressing the inadvertent conveyance of liquid through the exhaust port 50766 by the flow of smoke. Further, in a particular example, the configuration of the inlet port 50762 and the outlet port 50766, and / or the size and shape of the fluid trap 50760 itself, can enable the fluid trap 50760 to have effluent resistance.

[0097] In various examples, the exhaust system can include a plurality of sensors and an intelligent control unit, as further described herein in connection with, for example, FIGS. 5 and 6. In one aspect of the present disclosure, the exhaust system can include one or more temperature sensors, one or more fluid detection sensors, one or more pressure sensors, one or more particle sensors, and / or one or more chemical sensors. The temperature sensor can be positioned to detect the temperature of the fluid at the surgical site that moves through and / or is exhausted from the surgical exhaust system into the operating room. The pressure sensor can be positioned to detect the pressure within the exhaust system, such as within the exhaust housing. For example, the pressure sensor can be positioned upstream of the filter, between the filter and the pump, and / or downstream of the pump. In a particular example, the pressure sensor can be positioned to detect the pressure in the ambient environment outside of the exhaust system. Similarly, the particle sensor can be positioned to detect particles within the exhaust system, such as within the exhaust housing. The particle sensor can be positioned, for example, upstream of the filter, between the filter and the pump, and / or downstream of the pump. In various examples, the particle sensor can be positioned to detect particles in the ambient environment, for example, to determine the air quality in the operating room.

[0098] The ejector housing 50818 of the discharge system 50800 is schematically shown in FIG. 18. The ejector housing 50818 may be similar in many respects to, for example, the ejector housings 50018 and / or 50618, and / or may be incorporated into various discharge systems disclosed herein. The ejector housing 50818 includes a number of sensors further described herein. The reader will understand that a particular ejector housing may not include each sensor shown in FIG. 18 and / or may include additional sensor(s). Similar to the ejector housings 50018 and 50618 disclosed herein, the ejector housing 50818 of FIG. 18 includes an inlet 50822 and an outlet 50824. The fluid trap 50860, the filter 50870, and the pump 50806 are sequentially aligned along the flow path 50804 through the ejector housing 50818 between the inlet 50822 and the outlet 50824.

[0099] As further described herein, the ejector housing can include modular and / or replaceable components. For example, the ejector housing can include a socket or receptacle 50871 sized to receive a modular fluid trap and / or a replaceable filter. In a particular example, as shown in FIG. 18, the fluid trap and the filter can be incorporated into a single interchangeable module 50859. More specifically, the fluid trap 50860 and the filter 50870 can form an interchangeable module 50859 that is modular and / or replaceable and can be removably installed within the receptacle 50871 within the ejector housing 50818. In other examples, the fluid trap 50860 and the filter 50870 can be separate and individual modular components, which can be assembled together and / or installed separately within the ejector housing 50818.

[0100] Referring further to the ejector housing 50818, the ejector housing 50818 includes a plurality of sensors for detecting various internal parameters and / or parameters of the surrounding environment. Additionally or alternatively, one or more modular components installed within the ejector housing 50818 can include one or more sensors. For example, referring further to FIG. 18, the interchangeable module 50859 includes a plurality of sensors for detecting various internal parameters.

[0101] In various examples, the ejector housing 50818 and / or the modular component(s) compatible with the ejector housing 50818 can include processors such as processors 50308 and 50408 (FIGS. 5 and 6 respectively), which are configured to receive input from one or more sensors and / or communicate output to one or more systems and / or drivers. Various processors for use with the ejector housing 50818 are further described herein.

[0102] During operation, smoke from the surgical site can be drawn into the inlet 50822 and into the ejector housing 50818 via the fluid trap 50860. The flow path 50804 through the ejector housing 50818 of FIG. 18 can comprise a sealed conduit or tube 50805 extending between various rows of components. In various examples, the smoke can pass through the fluid detection sensor 50830 and the chemical sensor 50832 and flow to the branch valve 50834 further described herein. A fluid detection sensor such as sensor 50830 can detect fluid particles in the smoke. In one example, the fluid detection sensor 50830 can be a continuity sensor. For example, the fluid detection sensor 50830 can include two spaced electrodes and a sensor for detecting the degree of continuity therebetween. In the absence of fluid, the continuity can be, for example, zero or substantially zero. The chemical sensor 50832 can detect the chemical characteristics of the smoke.

[0103] In the diverter valve 50834, fluid can be directed into the condenser 50835 of the fluid trap 50860, and smoke can proceed toward the filter 50870. The baffle 50864 is positioned within the condenser 50835 to promote the condensation of fluid droplets in the fluid trap 50860 from the smoke to the reservoir. The fluid detection sensor 50836 can ensure that any fluid within the ejector housing is completely or at least substantially captured within the fluid trap 50860.

[0104] Referring further to FIG. 18, the smoke can then be directed to flow into the filter 50870 of the interchangeable module 50859. At the inlet to the filter 50870, the smoke can flow through the particle sensor 50838 and the pressure sensor 50840. In one form, the particle sensor 50838 can include a laser particle counter, as further described herein. The smoke can be filtered through the pleated ultra-low penetration air (ULPA) filter 50842 and the carbon filter 50844, as shown in FIG. 18.

[0105] Once the filter is exited, the filtered smoke can flow through the pressure sensor 50846 and then proceed towards the pump 50806 along the flow path 50804 within the ejector housing 50818. Upon moving through the pump 50806, the filtered smoke can flow through the particle sensor 50848 and the outlet pressure sensor 50850 and into the ejector housing 50818. In one form, the particle sensor 50848 can include a laser particle counter, as further described herein. The ejector housing 50818 of FIG. 18 also includes an air quality particle sensor 50852 and an ambient pressure sensor 50854 to detect various characteristics of the surrounding environment, such as the environment within an operating room. The air quality particle sensor, or the external / ambient air particle sensor 50852, can include at least one form of a laser particle counter. The various sensors shown in FIG. 18 are further described herein. Additionally, in various examples, alternative sensing means can be utilized in the smoke evacuation system disclosed herein. For example, alternative sensors for counting particles and / or determining the particle concentration in a fluid are further disclosed herein.

[0106] In various examples, the fluid trap 50860 shown in FIG. 18 can be configured to prevent the outflow and / or leakage of the captured fluid. For example, the shape of the fluid trap 50860 can be selected to prevent the captured fluid from flowing out and / or leaking. In a particular example, the fluid trap 50860 can include baffles and / or splash screens, such as a screen 50862, to prevent the captured fluid from splashing out of the fluid trap 50860. In one or more examples, the fluid trap 50860 can include a sensor for detecting the volume of fluid within the fluid trap and / or determining whether the fluid trap 50860 is filled to capacity. The fluid trap 50860 may include a valve for emptying the fluid therefrom. The reader will readily understand that various alternative fluid trap arrangements and shapes can be used to capture the fluid drawn into the ejector housing 50818.

[0107] In certain examples, the filter 50870 can include additional and / or fewer filtration levels. For example, the filter 50870 can include one or more filtration layers selected from the following filter groups: a coarse media filter, a fine media filter, and an adsorbent-based filter. The coarse media filter can be, for example, a low air resistance filter composed of fiberglass, polyester, and / or a pleated filter. The fine media filter can be a high efficiency particulate air (HEPA) filter and / or an ULPA filter. The adsorbent-based filter can be, for example, an activated carbon filter. The reader will readily understand that various alternative filter arrangements and shapes can be used to filter the smoke drawn along the flow path through the exhaust housing 50818.

[0108] In one or more examples, the pump 50806 shown in FIG. 18 can be replaced with and / or used in combination with another compressor and / or pump, such as, for example, a hybrid regenerative blower, a claw pump, and / or a lobe compressor. The reader will readily understand that various alternative pump arrangements and shapes can be used to generate suction within the flow path 50804 to draw the smoke into the exhaust housing 50818.

[0109] Various sensors within the exhaust system, such as the sensor shown in FIG. 18, can communicate with a processor. The processor can be incorporated into the exhaust system and / or can be a component of another surgical instrument and / or surgical hub. Various processors are further described herein. The on-board processor can be configured to adjust one or more operating parameters of the exhaust system (e.g., the motor for the pump 50806) based on inputs from the sensor(s). Additionally or alternatively, the on-board processor can be configured to adjust one or more operating parameters of another device, such as an electrosurgical tool and / or an imaging device, based on inputs from the sensor(s).

[0110] Referring now to FIG. 19, another ejector housing 50918 for the exhaust system 50900 is shown. The ejector housing 50918 of FIG. 19 may be similar in many respects to the ejector housing 50818 of FIG. 18. For example, the ejector housing 50918 defines a flow path 50904 between an inlet 50922 to the ejector housing 50918 and an outlet 50924 from the ejector housing 50918. Intermediate the inlet 50922 and the outlet 50924, a fluid trap 50960, a filter 50970, and a pump 50906 are sequentially arranged. The ejector housing 50918 can include a socket or receptacle 50971 dimensioned to receive a modular fluid trap and / or a replaceable filter, similar to receptacle 50871, for example. At the diverter valve 50934, the fluid can be directed into the condenser 50935 of the fluid trap 50960 and the fumes can proceed towards the filter 50970. In a particular example, the fluid trap 50960 can include baffles 50964 such as a screen 50962 and / or a baffle such as a splash screen to prevent the captured fluid from splashing out of the fluid trap 50960. The filter 50970 includes a pleated ultra-low penetration air (ULPA) filter 50942 and a carbon filter 50944. A sealed conduit or tube 50905 extends between various rows of components. The ejector housing 50918 also includes the sensors 50830, 50832, 50836, 50838, 50840, 50846, 50848, 50850, 50852, and 50854 further described herein and shown in FIGS. 18 and 19.

[0111] Referring further to FIG. 19, the ejector housing 50918 also includes a centrifugal blower mechanism 50980 and a recirculation valve 50990. The recirculation valve 50990 can be selectively opened and closed to recirculate fluid through the fluid trap 50960. For example, when the fluid detection sensor 50836 detects fluid, the recirculation valve 50990 can be opened so that the fluid is directed away from the filter 50970 and back into the fluid trap 50960. When the fluid detection sensor 50836 does not detect fluid, the valve 50990 can be closed so that smoke is directed into the filter 50970. When fluid is recirculated through the recirculation valve 50990, the fluid can be drawn through the recirculation conduit 50982. The centrifugal blower mechanism 50980 engages the recirculation conduit 50982 to generate a recirculation suction force within the recirculation conduit 50982. More specifically, when the recirculation valve 50990 is opened and the pump 50906 is activated, the suction force generated by the pump 50906 downstream of the filter 50970 can cause the rotation of the first centrifugal blower, or the rotating basket 50984, which can be transferred into the second centrifugal blower, or the rotating basket 50986, that draws the recirculated fluid through the recirculation valve 50990 and into the fluid trap 50960.

[0112] In various aspects of the present disclosure, the control schematic diagrams of FIGS. 5 and 6 can be utilized with the various sensor systems and ejector housings of FIGS. 18 and 19.

[0113] Communication Of Smoke Evacuation System Parameters to Surgical Hub Or Cloud To Effect The Output Or Operation Of Other Attached Devices END8546USNP(M-1 / 164469) During a surgical procedure in which an electrosurgical instrument is being used, parameters such as the type, concentration, and size of particles in the surgical smoke have not been previously monitored. This lack of smoke monitoring during the surgical procedure suggests that a smoke evacuation device present at the surgical site has not been able to adjust its operation to more carefully evacuate the smoke in order to compensate for changes in the parameters during the surgical procedure (e.g., higher particle concentrations in the emitted smoke, etc.).

[0114] Referring to FIGS. 20-22 and FIGS. 25-35, an exemplary smart smoke evacuation system 56100 as described herein can communicate detected or sensed parameters to a surgical hub 206 or a cloud analytics computing environment 204 (hereinafter, cloud 204), thereby affecting the output and operation of other devices that communicate with the surgical hub 206 or cloud 204. For example, when various particle concentrations are detected, these various parameters are communicated to the surgical hub 206 or cloud 204, and the surgical hub 206 or cloud 204 may adjust the operation of another component within the smart smoke evacuation system 56100, such as the power level applied to the electrosurgical instrument, to compensate for the various parameters.

[0115] Due to the parameters detected by the smart smoke evacuation system, by automatically adjusting the operation of other devices, the smoke generated by the operation of the electrosurgical instrument is more effectively removed, reducing the risk to the surgeon and other personnel present during the surgical procedure.

[0116] Figure 20 shows a smoke evacuation system 56100 in which various modules and devices are communicating with each other, according to at least one aspect of the present disclosure. Communication between the modules and devices identified in the smoke evacuation system 56100 can occur directly or indirectly via a connection through the surgical hub 204 and / or the cloud 204. The smoke evacuation system 56100 can be actively coupled to the surgical hub 206 and / or the cloud 204, as described, for example, in FIGS. 25-35. In this way, the parameters sensed or detected by the smoke evacuation module 226 can affect the functionality of other modules, devices, or components within a computer-implemented surgical system, such as those shown in FIGS. 32-24. FIG. 20 shows, for example, a computer-implemented smoke evacuation system 56100 comprising the cloud 204, the surgical hub 206, the smoke evacuation module 226, module A 56108, module B 56106, and module C 56104. Module A 56108, B 56106, and C 56104 may be any module or device that communicates with the surgical hub 206 or is part thereof. For example, module A 56108, B 56106, and C 56104 may be components of the visualization system 208, components of the robotic system 222, intelligent instruments 235, imaging modules 238, generator modules 240, suction / irrigation modules 228, communication modules 230, processor modules 232, storage arrays 234, operating room mapping modules 242, and the like. Examples and descriptions of these various types of modules and components can be found, for example, in the descriptions of FIGS. 25-35.

[0117] The smoke exhaust module 226 includes at least one sensor. This sensor can be any type of sensor, including, for example, sensors that detect operating parameters such as ambient pressure sensors, air quality particle sensors, etc. Further, the sensor can be, for example, an internal sensor such as a pressure sensor, a fluid detection sensor, a chemical sensor, a laser particle counter, etc. Further, two or more pressure sensors may be included in the smoke exhaust module 226 to determine the pressure difference across various parts of the smoke exhaust module 226. Descriptions of sensors used in the context of the smoke exhaust system 56100 can be found, for example, in connection with FIGS. 4-6, FIG. 18, and FIG. 19.

[0118] In various aspects, the smoke exhaust module 226 and modules A 56108, B 56106, and C 56104 may communicate directly or indirectly with, for example, the surgical hub 206 and / or the cloud 204. Referring again to FIG. 20, the smoke exhaust module 206 and modules A 56108, B 56106, and C 56104 are shown to engage in two-way communication with the surgical hub 206. This two-way communication is indicated by two-way arrows such as arrow 56112. This two-way communication can be achieved, in one example, by connecting the modular housing of the smoke exhaust module 226 or modules A 56108, B 56106, and C 56104 to a modular backplane including an internal connector console. The modular backplane is configured to connect horizontally or vertically to the modular housing of the smoke exhaust module 226 having the surgical hub 206 or modules A 56108, B 56106, and C 56104. This one embodiment is shown in FIGS. 27-31. In an alternative embodiment, two-way communication may be established by the housing of the smoke exhaust module 226 or modules A 56108, B 56106, and C 56104 being a stand-alone housing having a wired connection attachment on the back of the device to enable an interface with the surgical hub 206. Alternatively, in another embodiment, the smoke exhaust module 226 and modules A 56108, B 56106, and C 56104 may be directly connected to each other. In yet another embodiment, the smoke exhaust module 226 and modules A 56108, B 56106, and C 56104 may include a wireless communication module for communicating directly or indirectly with the surgical hub 206 and / or the cloud 204. In the embodiment illustrated in FIG. 20, the surgical hub 206 is shown as communicating bi-directionally with the cloud 204. Alternatively, in another embodiment, the smoke exhaust module 226, as indicated by the dashed line 56110, and any one or all of modules A 56108, B 56106, and C 56104 may communicate directly with the cloud 204 to receive commands or information directly from the cloud without passing through the surgical hub 206.

[0119] FIG. 21 shows an exemplary method flow diagram 56200 of the interconnection between a surgical hub 206, a cloud 204, a smoke exhaust module 226, and / or various other modules A 56108, B 56106, and C 56104 according to at least one aspect of the present disclosure. The exemplary method 56200 is described with reference to the flow diagram shown in FIG. 21, but it will be understood that many other methods for performing the operations associated with this method may also be used. For example, the order of some of the blocks may be changed, certain blocks may be combined with other blocks, and some of the described blocks are optional.

[0120] Referring also to FIGS. 25 - 35, initially, parameters are acquired by the smoke exhaust module 226 (56202). For example, sensor components of the smoke exhaust module 226, such as an air quality particle sensor, will detect the parameters. These parameters may be any parameters related to the surrounding environment of the operating room, such as the air quality in the operating room. In this embodiment, there is only one sensed parameter, but the present disclosure should not be limited in such a way. In alternative embodiments, there may be many sensed parameters by any number of different sensors. How frequently the parameters are sensed and how frequently the smoke exhaust module 226 is activated depend on the amount of smoke being exhausted. For example, when little smoke is being exhausted, the smoke exhaust module 226 may operate more slowly and / or sense the parameters less frequently. Alternatively, when the smoke exhaust module 226 is acting actively to exhaust rapidly generated smoke, it may be useful for the smoke exhaust module 226 to operate at a higher speed and / or sense the parameters more frequently to ensure that the equipment is functioning properly. This can provide a safe environment for all surgeons, personnel, and medical equipment present in the operating room. Other parameters that can be sensed include, for example, those sensed by internal sensors such as particulate concentration, aerosol ratio, or chemical analysis. Alternatively, operating parameters sensed by sensors on the housing of the smoke exhaust module 226 include, for example, air flow, pressure difference, or air quality. A description of the sensors used in the context of the smoke exhaust system 56100 can be found, for example, in FIGS. 4 - 6, FIG. 18, and FIG. 19.

[0121] Next, the smoke exhaust module 226 transmits the obtained parameter values to the surgical hub 206 or the cloud 204 (56204). For example, when the value of the air quality in the operating room is obtained, the value may be sent by the smoke exhaust module 226 to the surgical hub 206. The surgical hub 206 may process the parameter and / or communicate the received air quality parameter to the cloud 204. This can be achieved via the network router 211, the network hub 207, the network switch 209, or any combination thereof. In an alternative embodiment, the smoke exhaust module 226 may directly communicate the air quality parameter to the cloud 204 using wired or wireless communication technology.

[0122] Next, the value of the parameter is processed (56206), and it is determined whether the value of the parameter affects how the surgical exhaust system 56100 or another modular device should operate (56208). This processing can occur within the surgical hub 206 in the cloud 204 or in combination with the surgical hub 206 and the cloud 204. The processing performed on the sensed parameter includes using the value of the sensed parameter with various algorithms and learning software to determine whether the operation of any of the smoke exhaust module 226 or modules A 56108, B 56106, and C 56104 should be automatically adjusted to compensate for the detected parameter value. The value of the parameter is a smoke exhaust variable. The algorithms and learning software may be stored in the cloud 204 (storage 105) or the surgical hub 206 (storage 248) before processing and may be remotely updated as needed.

[0123] For example, if the value of the sensed air quality parameter indicates a large amount of smoke particles in the air, cloud 204 may include a software algorithm that uses the value of the air quality parameter to determine how to change the operation of the smoke exhaust module or modules A 56108, B 56106, and C 56104 to improve the air quality around the operating room. In this example, cloud 204 may determine that the operation of intelligent instrument 235 should be modified, and this operation is optimally adjusted by adjusting the output of the generator to supply the intelligent instrument 235. Generator module 240 converts electricity into a high-frequency waveform consisting of an oscillating current that is transmitted to the electrodes to affect the tissue. In an alternative example, cloud 204 may determine that it must adjust none of modules A 56108, B 56106, and C 56104, but must adjust the operation of smoke exhaust module 226. In this alternative example, cloud 204 may determine that the value of the air quality parameter indicates that the smoke exhaust module 226 may provide a safer environment when adjusting the operation of the smoke exhaust module 226 to more quickly exhaust the smoke from the operating room.

[0124] Next, send (56210) instructions to the surgical exhaust system 56100 or modular device to adjust the operation. For example, cloud 204 can determine that the operation of intelligent instrument 235 should be adjusted based on the value of the sensed air quality parameter. This has been previously determined by cloud 204 to be most effective in this example by modifying the output of generator module 240. Thus, in step 56210 of this example, cloud 204 sends instructions to generator module 240 (e.g., module A 56108). In the example, instructions are sent to generator module 240 to instruct it to modify the output of generator module 240 to change the operation of intelligent instrument 235.

[0125] Finally, the operation of the surgical drainage system 56100 or the modular device is regulated (56212) based on instructions. For example, the generator module 240 conforms to the instructions received from the cloud 204 and changes the shape of the waveform output to the intelligent instrument 235. With this regulation, the intelligent instrument 235 affects the tissue in a desired manner. In one embodiment, the instructions for the various modules are pre-stored in the cloud 204 or the surgical hub 206, but may be remotely updated as needed. Alternatively, these instructions are dynamically generated by the cloud 204 or the surgical hub 206 as needed.

[0126] FIG. 22 shows a smoke evacuation system 56300 that communicates with various other modules and devices according to at least one aspect of the present disclosure. The embodiment illustrated in FIG. 22 discloses an alternative embodiment of the computer-implemented surgical system shown in FIG. 20. Continuing to refer to FIGS. 25-35 and FIG. 22, the cloud 204 and the surgical hub 206 are shown. The illustrated embodiment shows one cloud 204 and one surgical hub 206 in the alternative embodiment, but two or more clouds 204 and / or surgical hubs 206 may be present within the computer-implemented surgical system.

[0127] In FIG. 22, the surgical hub 206 may include various modules such as a suction / irrigation module 228, a smoke evacuation module 226, and a generator module 240. The smoke evacuation module 226 may include a first sensor 56302 and a second sensor 56304 that detect different parameters. For example, the first sensor 56302 may be a chemical sensor that performs a chemical analysis on the smoke being discharged from the operating room, and the second sensor 56304 may be a laser particle counter that determines the particle concentration of the smoke being discharged from the operating room. In alternative embodiments, two or more sensors may be present within the smoke evacuation module 226.

[0128] In an embodiment, the first sensor 56302 senses a first parameter 56306, for example, the pH of the smoke being exhausted from the operating room. The second sensor 56304 senses a second parameter 56308, for example, the number of particles (parts per million) of the smoke being exhausted from the operating room. The smoke exhaust module 226 may be connected to the surgical hub 206 or may be a part of the surgical hub 206, and thus, the first parameter 56306 and the second parameter 56308 may be automatically provided to the surgical hub 206 after being sensed. In an alternative embodiment, the surgical hub 206 may periodically request any sensed parameter from the smoke exhaust module 226 or in response to a user request for the sensed parameter information, and the smoke exhaust module 226 will provide the value of the sensed parameter in response to the request. Alternatively, the smoke exhaust module 226 may periodically provide the sensed values to the surgical hub 206 without being requested.

[0129] In one embodiment, the surgical hub 206 can process, modify, or manipulate a first parameter 56306 and a second parameter 56308 to result in a first processed parameter 56306' and a second processed parameter 56308'. In an alternative embodiment, the surgical hub 206 may not perform any processing of the first parameter 56306 and the second parameter 56308. The surgical hub 206 can send the first processed parameter 56306' and the second processed parameter 56308' to the cloud 204 for further processing to determine whether the operation of various modules should be adjusted based on the values of the sensed parameters. The cloud 204 can execute various algorithms to determine whether the values of the first processed parameter 56306' and the second processed parameter 56308' indicate that the operation of any of the other modules and devices, including the smoke exhaust module 226, should be adjusted to create a more ideal surgical environment in the operating room. In this embodiment, the cloud 204 can determine whether the values of the first processed parameter 56306' and the second processed parameter 56308' exceed or fall below an acceptable threshold and, thus, whether the operation of the other modules should be adjusted to compensate for the sensed / detected values of the first processed parameter 56306' and the second processed parameter 56308'.

[0130] In the embodiment shown in FIG. 22, the cloud 204 may determine that the display of the visualization system 208 should be adjusted to accurately depict the surgical site. In this case, the cloud 204 may send an instruction A 56312 to the visualization system 208 to adjust the display of the surgical site. The visualization system 208 is communicatively coupled to the surgical hub 206.

[0131] Furthermore, in an embodiment, after executing various algorithms, the cloud 204 may also determine that the operation of the aspiration / irrigation module 228 should be adjusted based on either the value of the first processing parameter 56306' or the value of the second processing parameter 56308'. In an embodiment, the instruction B 56310 may be sent from the cloud 204 to the surgical hub 206. The surgical hub 206 may send the instruction B 56310 to the aspiration / irrigation module 228. In an alternative embodiment, the surgical hub 206 may cause the processor 244 located within the surgical hub 206 to adjust the operation of the aspiration / irrigation module 228. In another alternative embodiment, the cloud 204 may send the instruction B 56310 directly to the aspiration / irrigation module 228 without first sending it through the surgical hub 206.

[0132] After executing various algorithms, the cloud 204 may determine that the generator module 240 may not receive the benefit of in-operation adjustment, or that the sensed parameters may not be effectively affected by the in-operation adjustment of the generator module 240. Thus, in the embodiment illustrated in FIG. 22, the cloud 204 may not need to send an instruction to the generator module 240. Alternatively, the cloud 204 may send an instruction to the generator module 240 indicating that no modification of the operation is necessary.

[0133] Smoke Evacuation System Containing a Segmented Control Circuit Where the Circuit is Energized in a Staged Method to Check for Errors,Shorts,and Safety Checks of the System END8546USNP1(M-7 / 162220) If no faults are detected within the smoke exhaust system, the smoke exhaust system may inadvertently operate when it is not functioning properly. This can create an unsafe surgical environment where dangerous or carcinogenic smoke is not properly filtered from the operating room. Alternatively, even if some parts of the smoke exhaust system are functioning properly, other parts may not be. As a result, the smoke exhaust system may generally be dangerous to energize and operate.

[0134] For example, as described with reference to FIGS. 20-22, smoke exhaust systems 56100, 56300 comprising a smoke exhaust module 226 coupled to a surgical hub 206 and / or a cloud 204 may further comprise a segmented control circuit 57100 as described with reference to FIG. 23. The segmented control circuit 57100 is energized in stages to check for faults, errors, and short circuits, and to perform various safety checks while activating the smoke exhaust module 226, which can help determine that it is safe for the smoke exhaust module 226 to operate.

[0135] By starting the smoke exhaust module 226 in a stepwise manner, faults and errors can be identified before attempting to operate the smoke exhaust module 226. This can improve the overall safety of the surgical procedure, as the smoke exhaust system may be repaired or, if necessary, replaced with a replacement smoke exhaust module.

[0136] In one aspect, the smoke exhaust module 226 described in FIGS. 20-22 includes a segmented control circuit, where the circuit may be powered in a step-by-step manner to check for errors, short circuits, and perform safety checks on the system. FIG. 23 shows one aspect of a segmented control circuit 57100 according to at least one aspect of the present disclosure. It should be noted that specific features, modules, processors, motors, etc. are grouped into various segments shown in FIG. 23, but the present disclosure should not be limited to this example. In alternative embodiments, the segments may include more, fewer, or different components than those disclosed in FIG. 23. Further, in another alternative embodiment, the number of segments in an example of a segmented circuit may be more than three or less than three segments.

[0137] In the embodiment of FIG. 23, the segmented control circuit 57100 includes a first segment 57102, a second segment 57104, and a third segment 57106. In one embodiment, the first segment 57102 includes a main processor 57108 and a safety processor 57110. The main processor 57108 may be directly wired to a power button or switch 57120. Thus, in this embodiment, the first segment 57102, specifically the main processor 57108, activates the first segment 57102 and the component 57108.

[0138] The safety processor 57110 and / or the main processor 57108 may be configured to interact with one or more additional circuit segments, such as a second segment 57104 that may include a sensing circuit 57112 and a display circuit 57114, and a third segment 57106 that may include a motor control circuit 57116 and a motor 57118, and their components. Each of the circuit segments and their components may be connected to or communicate with the safety processor 57110 and / or the main processor 57108. The main processor 57108 and / or the safety processor 57110 may also be connected to or may include an internal memory. The main processor 57108 and / or the safety processor 57110 may also be connected to or communicate, wired or wirelessly, with a communication device that will enable communication via a network such as the surgical hub 206 and / or the cloud 204.

[0139] The main processor 57108 may include a plurality of inputs connected to, for example, one or two or more circuit segments, batteries, and / or a plurality of switches. The segmented control circuit 57100 may be implemented by any suitable circuit, such as a printed circuit board assembly (PCBA) within the smoke exhaust module 226. As used herein, the term processor is understood to include any microprocessor, processor, one or more controllers, or other basic computing device that incorporates the functionality of a computer's central processing unit (CPU) on one integrated circuit or up to a few integrated circuits. The main processor 57108 and the safety processor 57110 are multi-purpose programmable devices that accept digital data as input, process the data according to instructions stored in their memory, and provide the results as output. Since this has internal memory, it is an example of sequential digital logic. The safety processor 57110 may be specifically configured for safety-critical applications, among other things, to provide advanced integrated safety features while offering scalable performance, connectivity, and memory options.

[0140] In the embodiment shown in FIG. 23, the second segment 57104 may include a sensing circuit 57112 and a display circuit 57114 that are either connected together to or in signal communication with the main processor 57108. The sensing circuit 57112 of the smoke exhaust module 226 generally described herein includes various sensors, some of which are inside the smoke exhaust module 226 and some of which are outside and located on the housing of the smoke exhaust module 226. These sensors include various pressure sensors, fluid sensors, chemical sensors, laser particle counters, or other laser sensors, and air quality sensors. A description of the sensors used in the context of the smoke exhaust system 56100 can be found, for example, in FIGS. 4-6, FIG. 18, and FIG. 19.

[0141] In an alternative embodiment, the sensing circuit 57112 may include communication and / or connection between some sensors located on the outer housing of the smoke exhaust module 226 and the sensing circuit 57112, the main processor 57108, and / or the safety processor 57102 via a communication device. The display circuit 57114 may include a screen or other display capable of displaying text, images, graphs, charts, etc. obtained by the smoke exhaust module 226 or another device communicating with the smoke exhaust module 226 or the surgical hub 206. For example, the display circuit 57114 may include a monitor or screen (e.g., display 210, 217, or monitor 135) capable of displaying and overlaying images or data received from the imaging module 238, the device / instrument 235, and / or another visualization system 208. This display or screen may present the status of each segment within the segmented control circuit 57100, or the status of each component within each segment, to the user. The status of each segment, or each component within each segment, may be identified by the segmented control circuit 57100 by identifying each component or segment, receiving or determining the status of each component or segment, and displaying the status of each component or segment to the user. Components or segments may be identified using, for example, unique data packet formats, authentication information, encryption, ID numbers, passwords, signal communication, flags, etc. The status of a component or segment may be determined using flags, instructions, values of sensed parameters, measurements, etc.

[0142] These functions (identification, determination, and display) may be implemented using, for example, Wi-Fi, wired connection, signal communication, Thread, Bluetooth, RFID, or NFC. For example, the components of the segmented control circuit 57100 may include a communication device for communicating via a network, or may be coupled to an external communication device that enables communication via a network. The communication device may include a transceiver configured to communicate physically wired or wirelessly. The device may further include one or more additional transceivers. Examples of transceivers include, but are not limited to, a cellular modem, a wireless mesh network transceiver, a Wi-Fi® transceiver, a low power wide area (LPWA) transceiver, and / or a near field communication transceiver (NFC). The communication device may include, or be configured to communicate with, a main processor 57108, a security processor 57110, a display circuit 57114, a surgical hub 206, or a cloud 204, which may verify the identification information of the components and their associated status, or may receive their identification information. The transceiver may be configured to receive serial transmission data from the processor via respective UARTs, modulate the serial transmission data onto an RF carrier wave to generate a transmitted RF signal, and transmit the RF signal via respective antennas. Each transceiver may be compatible with a selected wireless communication standard and / or protocol, such as IEEE 802.11a / b / g / n for Wi-Fi® and / or an implementation of IEEE 802.15.4 for a wireless mesh network using Zigbee routing as described herein. In an alternative aspect, the display circuit may include a small speaker that sends signals audibly, or a small light / display, to indicate the status of the smoke detector, on / off operation, remaining life of the filter, etc. The identification of each component and their status may be optionally provided by each component and such information may be sent or transmitted at regular or irregular time intervals. An example of an irregular time interval may be, for example, when the user instructs information to be sent.In an alternative embodiment, the identification information and status information of each component or segment may be requested at regular or irregular time intervals. For example, the identification information and status of the motor control circuit 57116 may be requested every 1 minute, 20 minutes, 40 minutes, 1 hour, 3 hours, 24 hours, etc.

[0143] In another aspect, the segmented control circuit 57100 enables the energization of a status circuit that allows the smoke exhaust module 226 to query or poll all attached components. The status circuit may be located in any of the segments, but in this embodiment, it may be located within the first segment 57102. This status circuit may be capable of querying / polling all components, including the first segment 57102, the second segment 57104, the third segment 57106, and any other additional components such as those depicted in FIGS. 25 - 35. Polling / querying of attached components may be for compatibility, i.e., that the component or segment may be compatible with the smoke exhaust system or hub, reliability, i.e., that the component or segment may be the correct component and reliable, the status of any segment or component based on the status used, or the lifespan based on use such as a filter, and to verify the correct insertion of a segment or component, such as accurately inserting a filter before energizing a motor and a pump connected to the motor. In one embodiment, an intelligent appliance, such as the intelligent appliance 235, may be further queried / polled to confirm that the appropriate appliance is being used and that the smoke exhaust system can function with or knows how to function with the intelligent appliance being polled / queried. For example, the intelligent appliance 235 being polled or queried may be Zip Pen®. Knowing that Zip Pen® is being used may help determine how the smoke exhaust system functions. If an unconfirmed intelligent appliance is being used, the smoke exhaust system may determine that energizing the motor is inappropriate or unsafe, and an error may be displayed by the display circuit 57114. This may be done for any component of the smart surgical environment, not just limited to the intelligent appliance 235. Alternatively, if an unconfirmed intelligent appliance is being used, the smoke exhaust system may determine that the device may be used in a generally safe operating mode.

[0144] As described above, energizing the status circuit that enables the smoke exhaust module 226 to query / poll other components can also provide a unique identification, authentication, and status text string for the queried / polled components. This enables controlled identification of the smoke exhaust module 226 and the sub-components of the smoke exhaust module 226 to prevent the mimic device from deceiving the security device. For example, an exemplary attempt to deceive a security device is made by constructing a "skimmer" for making a unique connection. To prevent the system from being deceived, operations can be performed to authenticate each component. Each component attached to the smoke exhaust system may be authenticated based on stored data, security encryption, authentication, parameters, or some combination thereof. The stored data may include an identification number or other identifier, product name, and product type, unique device identifier, company trademark, serial number, and / or other manufacturing data, configuration parameters, usage information, enabled or disabled features, or algorithms / instructions regarding how the attached component is used.

[0145] In the example shown in FIG. 23, the third segment 57106 may include a motor control circuit 57116 and a motor 57118. The motor control circuit 57116 and / or the motor 57118 may be connected to or in signal communication with the main processor 57108 and / or the safety processor 57110. The main processor 57108 may instruct the motor control circuit 57116 to decrease or increase the speed of the motor 57118. In an alternative embodiment, the motor control circuit 57116 and the motor 57118 may be connected to or in signal communication with the safety processor 57110. The motor 57118 may be connected to a pump within the smoke exhaust module 226 (see FIGS. 4 and 6-19), and the operation of the motor 57118 may function the pump. Specifically, in one embodiment, the motor 57118 may operate in two different states. The first state may be when the motor 57118 is activated by the user. In this first state, the motor 57118 may operate at a higher speed than in the second state. In the second state, the motor 57118, the motor control circuit 57116, the main processor 57108, or the safety processor 57110 may sense the absence of user activity, or may receive an instruction to slow down the operating speed of the motor 57118 from the main processor 57108, the safety processor 57110, the surgical hub 204, the cloud 206, or another module (e.g., the processor module 232) located within the surgical hub 206.

[0146] The number of different states in which the motor 57118 may operate is not limited to two. The motor 57118 may change or select its operating state based on various measured values of parameters. In another aspect, the motor 57118 may determine or set its operating state based on a user activity level that enters, exceeds, or falls below a specific threshold. Further, these thresholds may be related to or interrelated with the thresholds of other modules or components of the smoke exhaust module 226.

[0147] In an alternative embodiment, motor 57118 may optionally have a mode, arbitrarily called the sleep mode. In this example, the sleep mode may be activated, or the motor 57118 may be shut down to the sleep mode (a significant mode, or a low power mode) when not used for a predetermined amount of time. The threshold amount of time of activity before entering the sleep mode may vary depending on a number of factors, including the type of surgical procedure, the particular surgeon performing the procedure, or other factors. Thus, the predetermined amount of time may be preset, but may also be easily adjusted. For example, the threshold from switching from an exemplary active state to the sleep mode may be 10 minutes. In this embodiment, if the intelligent instrument 235 is not used by the surgeon for more than 10 minutes, the motor control circuit 5716 or the motor 5718 may receive an instruction to enter the sleep mode. In an alternative embodiment, if the intelligent instrument 235 is not used by the surgeon for more than 10 minutes, the intelligent device 235 may automatically activate the sleep mode by decelerating the motor 57118 to the sleep mode state. Further, when the smoke exhaust module 226 or the intelligent instrument 235 is used again, or when a user interaction is sensed, the smoke exhaust module 226 may receive a wake-up sequence to re-energize the segmented circuit 57100. This wake-up sequence may be the same as the startup sequence used to energize the segmented circuit 57100 while checking for errors or malfunctions. Alternatively, the wake-up sequence may be a shortened version of the startup sequence for quickly re-energizing the segmented circuit 57100 when a user interaction is sensed.

[0148] The embodiment shown in FIG. 24 discloses a method 57200 of operating the control circuit portion of the smoke exhaust module 226 to energize the segmented control circuit 57100 step by step according to at least one aspect of the present disclosure. In this way, various parts of the control circuit can perform safety checks before energizing subsequent segments, and a safe electrical startup circuit method can be provided. The exemplary method 57200 is described with reference to the flowchart shown in FIG. 24, but it will be understood that many other methods of performing the operations associated with this method may also be used. For example, the order of some of the blocks may be changed, certain blocks may be combined with other blocks, and some of the described blocks are optional.

[0149] According to the method 57200, the control circuit 57100 first activates the first segment 57102 (57202). For example, as previously described with reference to FIG. 23, the first segment 57102 may include the main processor 57108 and the safety processor 57110. In an alternative embodiment, other components may also be included in the first segment 57102, or the first segment 57102 may not include the main processor 57108 and / or the safety processor 57110.

[0150] Next, the first segment 57102 implements a first function 57204. This first function may be related to, for example, verifying the safety of the control circuit 57100 and / or the smoke exhaust module 226. For example, the main processor 57108 or the safety processor 57110 may check each segment or component of the segment for short circuits and other errors before engaging the high-power portion of the segmented control circuit 57100. The main processor 57108 and / or the safety processor 57110 may perform a safety check on each component or each segment to determine that they are functioning properly. Further, in another embodiment, the main processor 57108 or the safety processor 57110 may perform a verification function to ensure that the components within the smoke exhaust module 226 are the correct components. For example, the main processor 57108 or the safety processor 57110 may include a Trusted Platform Module (TPM), or the TPM may be a separate component within the segmented control circuit 57100 to ensure that the components of the smoke exhaust systems 56100, 56300 are the correct components. This verification can be done in various ways. For example, one exemplary method is to store the keys of each component or segment within the TPM. When the connected components are compared and the keys of each component or segment are not found within the TPM, the smoke exhaust module 226 may not enable or power those modules. In a further example, the keys described may incorporate encryption, or alternatively, authentication by a component of the smoke exhaust module 226 such as the main processor 57108 or the safety processor 57110 may be required.

[0151] Furthermore, for example, the main processor 57108 and / or the safety processor 57110 may include switching logic stored in memory to prevent the segmented control circuit 57100 from activating a part of the circuit when certain safety conditions are not met. For example, various conditions may exist that are stored within the safety processor 57118 associated with a logic switch or multiple logic switches. For example, if the protective housing is not fully closed, if the filter module is not fully or properly inserted, if the fluid reservoir is not fully or properly inserted, if the hose is not properly or fully inserted, and if the fluid reservoir is not sufficiently filled, the logic switch may be triggered and the segmented control circuit 57100 or the relevant part of the smoke exhaust module 226 may not be activated.

[0152] In an alternative embodiment, there may be a separate enclosure circuit to confirm that the enclosure is fully and properly closed before enabling the activation or operation of the smoke exhaust module 226 or one of the various segments. For example, if the enclosure is not fully closed, the circuit may not be complete. Thus, the remaining segments or components of the segmented control circuit 57100 may not be activated. This concept of an enclosure circuit may be used within a tamper circuit to prevent unauthorized maintenance. For example, the tamper circuit may include a verification circuit. If an enclosure that should not be opened is opened, the verification circuit may be permanently destroyed, either electrically or mechanically. This breakable verification circuit may have an internal connection strip that bridges two rigidly fixed electrical connection blocks, one block may be located on the shell of the enclosure and the other block may be located on the base frame of the enclosure. The internal connection has a rigid insertable electrical connector that can latch onto each connection block, and this electrical connector has a latching mechanism on each of the shell and the base frame. When broken, it may become apparent that the enclosure has been opened or tampered with. Once broken, the electrical connector can be easily released and replaced when the enclosure is opened for replacement. In an alternative aspect, the blocks and latching mechanisms may be located in different parts, and each segment may include a separate block and latching mechanism. For example, the first segment 57102, the second segment 57104, and the third segment 57106 may each have a separate verification circuit. If the first segment 57102 has been tampered with or opened, the verification circuit may have the rigid internal connection strip broken, and thus, be identified as tampered with and / or the verification circuit may be replaced. By having separate verification circuits, it may be possible to easily detect whether any of the various segments or components of the segmented control circuit 57100 have been tampered with.

[0153] Alternatively, the enclosure circuit may be used as a segmented security device. For example, if a portion of the system requires maintenance, the enclosure circuit may allow a portion of the system to be opened and maintained, but after an unauthorized separate portion of the segmented control circuit 57100 is opened, disassembled, or modified, the use of the segmented control circuit 57100 or the smoke exhaust module 226 can be prevented. For example, if the segmented control circuit 57100 of the smoke exhaust system 226 needs to be maintained, but only the display circuit 57114 needs to be provided with maintenance, there may be no reason for a maintenance technician or other personnel to maintain the third segment 57106 or the first segment 57102. Thus, the third segment 57106 and the first segment 57102 may include separate enclosure circuits including a single use fuse or other mechanical / electromechanical device, or a digital version of the like. When the third segment 57106 and the first segment 57102 are opened, modified, or disassembled, the fuse may blow to prevent power from reaching the third segment 57106 and the first segment 57102.

[0154] If an error, short circuit, fault, or other problem is detected, the segmented control circuit 57100 may operate at least one segment of the segmented control circuit 57100 while not operating other segments. To ensure the safety of the segmented control circuit 57100, parts of the segmented control circuit 57100 and the connections between them may physically be switches, fuses, or circuit breakers, whereby the switches, fuses, and circuit breakers can trip and prevent power-on when an unsafe condition exists. Multiple switches may be implemented using any suitable mechanical switch, electromechanical switch, or solid-state switch. For example, there may be a one-time use fuse, resettable fuse, or solid-state switching device present between the main processor 57108 and the motor control circuit 57116. Generally, a fuse is an electrical safety device that operates to provide overcurrent protection for an electrical circuit. A fuse may include a metal wire or strip that melts when too much current flows through it, thereby interrupting the current. Generally, a resettable fuse is a polymer positive temperature coefficient (PPTC) device, which is a passive electronic component used to protect against overcurrent faults in an electronic circuit. The device may also be known as a polyfuse or polyswitch. Generally, a solid-state switch may be a solid-state switch that operates under the influence of a magnetic field, such as, among others, a Hall effect device, a magnetoresistive (MR) device, a giant magnetoresistive (GMR) device, a magnetometer, etc. In other implementations, the switch may be a solid-state switch that operates under the influence of light, such as, among others, an optical sensor, an infrared sensor, and an ultraviolet sensor. Further, the switch may be a solid-state device such as, for example, a transistor (e.g., FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, etc.). Other switches may include, among others, wireless switches, ultrasonic switches, accelerometers, and inertial sensors.

[0155] Next, the second segment may be activated (57206). For example, a second segment 57104 including a sensing circuit 57112 and a display circuit 57114 may be energized. Next, the third segment may be activated (57208). For example, a third segment 57106 including a motor control circuit 57116 and a motor 57118 may be energized. This exemplary aspect discloses activating the first segment 57102 before the second segment 57104 and activating the second segment 57104 before the third segment 57106, but the order of activation of the segments may be modified if considered appropriate. Further, in an alternative embodiment, various error checks, validations, etc. may be performed while energizing the second segment 57104 and the third segment 57106.

[0156] The reader will readily understand that the various surgical drainage systems and components described herein can be incorporated into a computer-implemented interactive surgical system, a surgical hub, and / or a robotic system. For example, a surgical drainage system can communicate data to and / or receive data from a surgical hub, a robotic system, and / or a computer-implemented interactive surgical system. Various examples of computer-implemented interactive surgical systems, robotic systems, and surgical hubs are further described below.

[0157] Computer-implemented interactive surgical system Referring to FIG. 25, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (e.g., a cloud 104 that may include a remote server 113 coupled to a storage device 105). Each surgical system 102 includes at least one surgical hub 106 that communicates with a cloud 104 that may include a remote server 113. In one embodiment, as shown in FIG. 25, the surgical system 102 includes a visualization system 108, a robotic system 110, and a handheld intelligent surgical instrument 112 that are configured to communicate with each other and / or with the hub 106. In some aspects, the surgical system 102 may include M hubs 106, N visualization systems 108, O robotic systems 110, and P handheld intelligent surgical instruments 112, where M, N, O, and P are integers greater than or equal to 1.

[0158] FIG. 27 shows an example of a surgical system 102 used to perform a surgical procedure on a patient lying on an operating table 114 within an operating room 116. The robotic system 110 is used as part of the surgical system 102 in the surgical procedure. The robotic system 110 includes a surgeon's console 118, a patient-side cart 120 (surgical robot), and a surgical robot hub 122. The patient-side cart 120 can operate at least one removably coupled surgical tool 117 while the surgeon views the surgical site through the surgeon's console 118 during minimally invasive incision of the patient's body. Images of the surgical site can be obtained by a medical imaging device 124, and the medical imaging device 124 can be operated by the patient-side cart 120 to orient the imaging device 124. The robot hub 122 can be used to process images of the surgical site for subsequent display to the surgeon via the surgeon's console 118.

[0159] Other types of robotic systems can be easily adapted for use with the surgical system 102. Various examples of robotic systems and surgical tools suitable for use with the present disclosure are described in U.S. Provisional Patent Application No. 62 / 611,339, entitled "ROBOT ASSISTED SURGICAL PLATFORM," filed on December 28, 2017, the entire disclosure of which is incorporated herein by reference.

[0160] Various examples of cloud-based analysis implemented by the cloud 104 and suitable for use with the present disclosure are described in U.S. Provisional Patent Application No. 62 / 611,340, entitled "CLOUD-BASED MEDICAL ANALYTICS," filed on December 28, 2017, the entire disclosure of which is incorporated herein by reference.

[0161] In various aspects, the imaging device 124 includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, charge-coupled device (CCD) sensors and complementary metal-oxide-semiconductor (CMOS) sensors.

[0162] The optical components of the imaging device 124 may include one or more illumination light sources and / or one or more lenses. One or more illumination light sources may be directed to illuminate a portion of the surgical field. One or more image sensors can receive light reflected or refracted from the surgical field, including light reflected or refracted from tissue and / or surgical instruments.

[0163] One or more illumination light sources can be configured to emit electromagnetic energy within the visible and invisible spectra. The visible spectrum, sometimes referred to as the optical spectrum or emission spectrum, is a portion of the electromagnetic spectrum visible to the human eye (i.e., detectable by the human eye), and is sometimes referred to as visible light, or simply light. A typical human eye responds to wavelengths of approximately 380 nm to approximately 750 nm in air.

[0164] The invisible spectrum (i.e., the non-emissive spectrum) is a portion of the electromagnetic spectrum that lies below and above the visible spectrum (i.e., wavelengths less than about 380 nm and greater than about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the red visible spectrum and these become invisible infrared (IR), microwaves, and radio electromagnetic radiation. Wavelengths less than about 380 nm are shorter than the violet spectrum and these become invisible ultraviolet, X-rays, and gamma ray electromagnetic radiation.

[0165] In various aspects, the imaging device 124 is configured for use in minimally invasive surgery. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, arthroscopes, angioscopes, bronchoscopes, choledochoscopes, colonoscopes, cytoscopes, duodenoscopes, enteroscopes, esophagogastroduodenoscopes (gastroscopes), endoscopes, laryngoscopes, nasopharyngo-neproscopes, sigmoidoscopes, thoracoscopes, and ureteroscopes.

[0166] In one aspect, the imaging device uses multispectral monitoring to distinguish topography from underlying structures. A multispectral image captures image data within a specific wavelength range across the electromagnetic spectrum. The wavelengths can be separated by filters or by using instruments sensitive to light at specific wavelengths beyond the visible light range, such as IR and ultraviolet light. Spectral imaging methods can enable the extraction of additional information that the human eye cannot capture with its red, green, and blue receptors. The use of multispectral imaging methods is described in detail in the "Advanced Imaging Acquisition Module" section of U.S. Provisional Patent Application No. 62 / 611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM", the entire disclosure of which is incorporated herein by reference. Multispectral monitoring can be a useful tool for repositioning the surgical field to perform one or more of the above-described tests on the treated tissue after a surgical procedure has been completed.

[0167] It is self - evident that strict sterilization of the operating room and surgical instruments is required in any surgical procedure. The strict hygiene and sterilization conditions required in the "surgical theater", i.e., the operating room or treatment room, require the highest level of sterility for all medical devices and instruments. Part of that sterilization process is the need to sterilize anything that comes into contact with the patient or enters the sterile field, including the imaging device 124 and its accessories and components. It will be understood that the sterile field can be considered a specific area, such as within a tray or on a sterile towel, that is considered free of microorganisms, or the sterile field can be considered the area immediately surrounding the patient prepared for a surgical procedure. The sterile field can include properly attired and scrubbed team members, as well as all equipment and fixtures within that area.

[0168] In various aspects, the visualization system 108 includes, as shown in FIG. 26, one or more imaging sensors strategically positioned relative to the sterile field, one or more image processing units, one or more storage arrays, and one or more displays. In one aspect, the visualization system 108 includes interfaces for HL7, PACS, and EMR. The various components of the visualization system 108 are described in the "Advanced Imaging Acquisition Module" section of U.S. Provisional Patent Application No. 62 / 611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosure of which is incorporated herein by reference.

[0169] As shown in FIG. 26, the primary display 119 is positioned within the sterile field so as to be visible to the operator located on the operating table 114. Additionally, the visualization tower 111 is positioned outside the sterile field. The visualization tower 111 includes a first non-sterile display 107 and a second non-sterile display 109 that face away from each other. The visualization system 108, which is guided by the hub 106, is configured to use the displays 107, 109, and 119 to coordinate the flow of information to the operators inside and outside the sterile field. For example, the hub 106 can cause the visualization system 108 to display a snapshot of the surgical site recorded by the imaging device 124 on the non-sterile display 107 or 109 while maintaining a live video of the surgical site on the primary display 119. The snapshot on the non-sterile display 107 or 109 can, for example, enable a non-sterile operator to perform diagnostic steps related to the surgical procedure.

[0170] In one aspect, the hub 106 is also configured to send diagnostic inputs or feedback entered by a non-sterile operator located at the visualization tower 111 within the sterile field to a primary display 119 within the sterile area, where it can be viewed by a sterile operator located at the operating table. In one embodiment, the input may be in the form of a modification to a snapshot displayed on the non-sterile display 107 or 109 that can be sent by the hub 106 to the primary display 119.

[0171] Referring to FIG. 26, the surgical instrument 112 is being used as part of the surgical system 102 in a surgical procedure. The hub 106 is also configured to regulate the flow of information to the display of the surgical instrument 112. For example, in U.S. Provisional Patent Application No. 62 / 611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM", the entire disclosure of which is incorporated herein by reference. Diagnostic inputs or feedback entered by a non-sterile operator at the location of the visualization tower 111 may be sent by the hub 106 within the sterile field to the surgical instrument display 115, where the diagnostic inputs or feedback may be viewed by the operator of the surgical instrument 112. Exemplary surgical instruments suitable for use with the surgical system 102 are described, for example, in the section "Surgical Instrument Hardware" and in U.S. Provisional Patent Application No. 62 / 611,341, filed Dec. 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM", the entire disclosure of which is incorporated herein by reference.

[0172] Referring now to FIG. 27, hub 106 is shown in communication with visualization system 108, robotic system 110, and handheld intelligent surgical instrument 112. Hub 106 includes hub display 135, imaging module 138, generator module 140, communication module 130, processor module 132, and storage array 134. In certain aspects, as shown in FIG. 27, hub 106 further includes smoke evacuation module 126 and / or aspiration / irrigation module 128.

[0173] During a surgical procedure, the application of energy to tissue for sealing and / or cutting generally involves smoke evacuation, aspiration of excess fluid, and / or irrigation of the tissue. Fluid, power, and / or data lines from different sources often become entangled during a surgical procedure. Valuable time may be lost in addressing this problem during a surgical procedure. To untangle the lines, it may be necessary to unplug the lines from their corresponding modules, which may require resetting the modules. The modular housing 136 of the hub provides a unified environment for managing power, data, and fluid lines, reducing the frequency of such line entanglements.

[0174] Aspects of the present disclosure present a surgical hub for use in a surgical procedure involving the application of energy to tissue at a surgical site. The surgical hub includes a hub housing and a combined generator module slidably receivable within a docking station of the hub housing. The docking station includes data and power contacts. The combined generator module includes two or more of an ultrasonic energy generator component, a bipolar RF energy generator component, and a monopolar RF energy generator component housed within a single unit. In one aspect, the combined generator module further includes a smoke evacuation component, at least one energy supply cable for connecting the combined generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid, and / or particulates generated by the application of therapeutic energy to tissue, and a fluid line extending from a remote surgical site to the smoke evacuation component.

[0175] In one aspect, the fluid line is a first fluid line, and a second fluid line extends from a remote surgical site to a suction and irrigation module slidably receivable within the hub housing. In one aspect, the hub housing includes a fluid interface.

[0176] Certain surgical procedures may require the application of two or more energy types to tissue. One energy type may be more beneficial for cutting tissue, while a different energy type may be more beneficial for sealing tissue. For example, a bipolar generator can be used to seal tissue, while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution where the modular housing 136 of the hub is configured to house various generators and facilitate bidirectional communication between them. One advantage of the modular housing 136 of the hub is that it allows for the quick removal and / or replacement of various modules.

[0177] Aspects of the present disclosure present a modular surgical housing for use in surgical procedures involving the application of energy to tissue. The modular surgical housing includes a first energy generator module configured to generate a first energy for application to tissue, and a first docking station having a first docking port that includes first data and power contacts, wherein the first energy generator module is slidably movable to electrically engage with the power and data contacts, and the first energy generator module is also slidably movable to disengage from the electrical engagement with the first power and data contacts.

[0178] In addition to the above, the modular surgical housing further includes a second energy generator module configured to generate a second energy for application to tissue that is different from the first energy, and a second docking station having a second docking port that includes second data and power contacts, wherein the second energy generator module is slidably movable to electrically engage with the power and data contacts, and the second energy generator module is also slidably movable to disengage from the electrical engagement with the second power and data contacts.

[0179] Furthermore, the modular surgical housing further includes a communication bus between the first docking port and the second docking port configured to facilitate communication between the first energy generator module and the second energy generator module.

[0180] Referring to FIGS. 3 - 7, aspects of the present disclosure are presented regarding a modular housing 136 of a hub that enables modular integration of a generator module 140, a smoke exhaust module 126, and a suction / irrigation module 128. The modular housing 136 of the hub further facilitates bidirectional communication between modules 140, 126, 128. As shown in FIG. 29, the generator module 140 may be a generator module comprising integrated monopolar, bipolar, and ultrasonic components supported within a single housing unit 139 slidably insertable into the modular housing 136 of the hub. As shown in FIG. 29, the generator module 140 may be configured to connect to a monopolar device 146, a bipolar device 147, and an ultrasonic device 148. Alternatively, the generator module 140 may comprise a series of monopolar, bipolar, and / or ultrasonic generator modules that interact via the modular housing 136 of the hub. The modular housing 136 of the hub may be configured to facilitate insertion of multiple generators and bidirectional communication between the generators docked to the modular housing 136 of the hub such that the multiple generators function as a single generator.

[0181] In one aspect, the modular housing 136 of the hub comprises a modular power and communication backplane 149 with external and wireless communication headers to enable removable attachment of modules 140, 126, 128 and bidirectional communication therebetween.

[0182] In one aspect, the modular housing 136 of the hub includes a docking station or drawer 151, also referred to herein as a drawer, configured to slidably receive modules 140, 126, 128. FIG. 28 shows a partial perspective view of a surgical hub housing 136 and a combined generator module 145 slidably receivable in the docking station 151 of the surgical hub housing 136. A docking port 152 having power and data contacts on the rear side of the combined generator module 145 is configured to engage a corresponding docking port 150 of the surgical hub housing 136 with the power and data contacts of the corresponding docking station 151 of the modular housing 136 of the hub when the combined generator module 145 is slid into position within the corresponding docking station 151 of the modular housing 136 of the hub. In one aspect, the combined generator module 145 includes a bipolar, ultrasonic, and monopolar module, and a smoke evacuation module integrated with a single housing unit 139, as shown in FIG. 29.

[0183] In various aspects, the smoke evacuation module 126 includes a fluid line 154 that conveys captured / recovered smoke and / or fluid away from the surgical site, for example, to the smoke evacuation module 126. The vacuum suction generated from the smoke evacuation module 126 can draw smoke into the opening of the utility conduit at the surgical site. The utility conduit connected to the fluid line may be in the form of a flexible tube that terminates at the smoke evacuation module 126. The utility conduit and the fluid line define a fluid path extending towards the smoke evacuation module 126 received within the hub housing 136.

[0184] In various aspects, the aspiration / irrigation module 128 is connected to a surgical tool that includes an aspiration fluid line and a suction fluid line. In one embodiment, the aspiration and suction fluid lines are in the form of flexible tubes extending from the surgical site towards the aspiration / irrigation module 128. One or more drive systems may be configured to cause irrigation and aspiration of fluid to and from the surgical site.

[0185] In one aspect, a surgical tool includes a shaft having an end effector at its distal end, at least one energy treatment unit associated with the end effector, a suction tube, and an irrigation tube. The suction tube can have an inlet port at its distal end and extends through the shaft. Similarly, the irrigation tube can extend through the shaft and can have an inlet port proximate to the energy delivery device. The energy delivery device is configured to deliver ultrasonic and / or RF energy to the surgical site and is coupled to the generator module 140 by a cable that first extends through the shaft.

[0186] The irrigation tube can be in fluid communication with a fluid source, and the suction tube can be in fluid communication with a vacuum source. The fluid source and / or the vacuum source can be housed within the suction / irrigation module 128. In one embodiment, the fluid source and / or the vacuum source can be housed within the hub housing 136 separately from the suction / irrigation module 128. In such an embodiment, the fluid interface can be configured to connect the suction / irrigation module 128 to the fluid source and / or the vacuum source.

[0187] In one aspect, the corresponding docking stations on the modular housings 136 of the modules 140, 126, 128 and / or the hub can include an alignment mechanism configured to align the docking ports of the modules and engage these corresponding components within the docking stations of the modular housing 136 of the hub. For example, as shown in FIG. 28, the combined generator module 145 includes side brackets 155 configured to slidably engage corresponding brackets 156 of the corresponding docking station 151 of the modular housing 136 of the hub. The brackets cooperate to guide the docking port contacts of the combined generator module 145 into electrical engagement with the docking port contacts of the modular housing 136 of the hub.

[0188] In some embodiments, the drawers 151 of the modular housing 136 of the hub are of the same or substantially the same size, and the modules are sized to be received within the drawers 151. For example, the side brackets 155 and / or 156 may be larger or smaller depending on the size of the module. In other embodiments, the drawers 151 are of different sizes and are each designed to accommodate a specific module.

[0189] Further, to avoid inserting a module into a drawer with incompatible contacts, the contacts of a specific module may be keyed to engage the contacts of a specific drawer.

[0190] As shown in FIG. 28, the docking port 150 of one drawer 151 is coupled via a communication link 157 to the docking port 150 of another drawer 151 to facilitate two-way communication between modules housed within the modular housing 136 of the hub. The docking ports 150 of the modular housing 136 of the hub may alternatively or additionally facilitate wireless two-way communication between modules housed within the modular housing 136 of the hub. For example, any suitable wireless communication such as Air Titan - Bluetooth may be used.

[0191] FIG. 30 shows the individual power bus attachments of the plurality of lateral docking ports of a lateral modular housing 160 configured to receive a plurality of modules of a surgical hub 206. The lateral modular housing 160 is configured to receive and interconnect the modules 161 laterally. The modules 161 are slidably inserted into a docking station 162 of the lateral modular housing 160 that includes a backplane for interconnecting the modules 161. As shown in FIG. 30, the modules 161 are arranged laterally within the lateral modular housing 160. Alternatively, the modules 161 may be arranged vertically within the lateral modular housing.

[0192] Figure 31 shows a vertical modular housing 164 configured to receive a plurality of modules 165 of a surgical hub 106. The modules 165 are slidably inserted into a docking station or drawer 167 of the vertical modular housing 164 that includes a backplane for interconnecting the modules 165. Although the drawer 167 of the vertical modular housing 164 is arranged vertically, in certain cases, the vertical modular housing 164 may include a horizontally arranged drawer. Further, the modules 165 may interact with each other via the docking ports of the vertical modular housing 164. In the embodiment of Figure 31, a display 177 is provided for displaying data related to the operation of the modules 165. Additionally, the vertical modular housing 164 includes a master module 178 that houses a plurality of sub-modules slidably received within the master module 178.

[0193] In various aspects, the imaging module 138 includes a built-in video processor and a modular light source and is adapted to be used with various imaging devices. In one aspect, the imaging device is composed of a modular housing that can be assembled with a light source module and a camera module. The housing may be a disposable housing. In at least one embodiment, the disposable housing is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and / or the camera module can be selectively selected according to the type of surgical procedure. In one aspect, the camera module includes a CCD sensor. In another aspect, the camera module includes a CMOS sensor. In another aspect, the camera module is configured for imaging a scanned beam. Similarly, the light source module can be configured to deliver white light or different light according to the surgical procedure.

[0194] During a surgical procedure, it can be inefficient to remove a surgical device from the surgical field and replace it with another surgical device that includes a different camera or a different light source. Temporarily losing the view of the surgical field can result in undesirable outcomes. The modular imaging device of the present disclosure is configured to allow for the replacement of a light source module or a camera module midstream during a surgical procedure without the need to remove the imaging device from the surgical field.

[0195] In one aspect, the imaging device comprises a tubular housing that includes a plurality of channels. The first channel is configured to slidably receive a camera module that can be configured to snap-fit engage with the first channel. The second channel is configured to slidably receive a light source module that can be configured to snap-fit engage with the second channel. In another example, the camera module and / or the light source module can be rotated to a final position within their corresponding channels. A screw engagement may be employed instead of the snap-fit engagement.

[0196] In various embodiments, a plurality of imaging devices are positioned at various locations within the surgical field to provide a plurality of fields of view. The imaging module 138 can be configured to switch between the imaging devices to provide an optimal field of view. In various aspects, the imaging module 138 can be configured to integrate images from different imaging devices.

[0197] Various image processors and imaging devices suitable for use with the present disclosure are described in U.S. Patent No. 7,995,045, issued August 9, 2011, entitled "COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR", which is hereby incorporated by reference in its entirety. Further, U.S. Patent No. 7,982,776, issued July 19, 2011, entitled "SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD", which is hereby incorporated by reference in its entirety, describes various systems for removing motion artifacts from image data. Such systems may be integrated with the imaging module 138. Further, U.S. Patent Application Publication No. 2011 / 0306840, published December 15, 2011, entitled "CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS", and U.S. Patent Application Publication No. 2014 / 0243597, published August 28, 2014, entitled "SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE", are hereby incorporated by reference in their entireties, respectively.

[0198] FIG. 32 shows a surgical data network 201 comprising a modular communication hub 203 configured to connect a modular device located in one or more operating rooms of a medical facility or any room within a medical facility equipped with specialized equipment for surgical procedures to a cloud-based system (e.g., cloud 204 that may include a remote server 213 coupled to a storage device 205). In one aspect, the modular communication hub 203 comprises a network hub 207 and / or a network switch 209 that communicates with a network router. The modular communication hub 203 can further be coupled to a local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 may be configured as passive, intelligent, or switched. A passive surgical data network functions as a conduit for data, enabling data to go from one device (or segment) to another device (or segment) and to cloud computing resources. An intelligent surgical data network allows traffic to pass through the surgical data network being monitored and includes additional mechanisms that configure each port within the network hub 207 or network switch 209. An intelligent surgical data network may be referred to as a manageable hub or switch. A switching hub reads the destination address of each packet and then forwards the packet to the correct port.

[0199] The modular devices 1a to 1n arranged in the operating room may be connected to the modular communication hub 203. The network hub 207 and / or the network switch 209 are connected to the network router 211 to connect the devices 1a to 1n to the cloud 204 or the local computer system 210. The data associated with the devices 1a to 1n may be transferred via the router to a cloud-based computer for remote data processing and operation. The data associated with the devices 1a to 1n may also be transferred to the local computer system 210 for local data processing and operation. The modular devices 2a to 2m located in the same operating room may also be connected to the network switch 209. The network switch 209 is connected to the network hub 207 and / or the network router 211 to connect the devices 2a to 2m to the cloud 204. The data associated with the devices 2a to 2n may be transferred via the network router 211 to the cloud 204 for data processing and operation. The data associated with the devices 2a to 2m may also be transferred to the local computer system 210 for local data processing and operation.

[0200] It will be understood that the surgical data network 201 can be extended by interconnecting a plurality of network hubs 207 and / or a plurality of network switches 209 with a plurality of network routers 211. The modular communication hub 203 can be housed within a modular control tower configured to receive a plurality of devices 1a - 1n / 2a - 2m. The local computer system 210 may also be housed in the modular control tower. The modular communication hub 203 is connected to a display 212 to display images obtained by some of the devices 1a - 1n / 2a - 2m, for example, during a surgical procedure. In various aspects, examples of the devices 1a - 1n / 2a - 2m include, among other modular devices that can be connected to the modular communication hub 203 of the surgical data network 201, for example, an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, a smoke evacuation module 126, a suction / irrigation module 128, a communication module 130, a processor module 132, a storage array 134, a surgical device coupled to a display, and / or a non-contact sensor module, and various other modules.

[0201] In one aspect, the surgical data network 201 may include a combination of network hub(s), network switch(es), and network router(s) that connect devices 1a - 1n / 2a - 2m to the cloud. Any one or all of the devices 1a - 1n / 2a - 2m connected to the network hub or network switch can collect data in real - time and transfer the data to a cloud computer for data processing and operation. It will be understood that cloud computing relies on shared computing resources rather than having local servers or personal devices to handle software applications. The term "cloud" can be used as a metaphor for the "Internet", but this term is not so limited. Thus, the term "cloud computing" can be used herein to refer to "a type of Internet - based computing", in which case various services such as servers, storage, and applications are delivered to a modular communication hub 203 and / or a computer system 210 located at the surgical site (e.g., fixed, mobile, temporary, or in - the - operating - room or on - site space) and to devices connected to the modular communication hub 203 and / or the computer system 210 via the Internet. The cloud infrastructure can be maintained by a cloud service provider. In this context, the cloud service provider can be an entity that coordinates the use and control of devices 1a - 1n / 2a - 2m located in one or more operating rooms. Cloud computing services can perform a number of calculations based on data collected by smart surgical instruments, robots, and other computerized devices located in the operating room. Hub hardware enables multiple devices or connections to connect to a computer that communicates with cloud computing resources and storage.

[0202] By applying cloud computer data processing techniques to the data collected by devices 1a - 1n / 2a - 2m, the surgical data network provides improvements in surgical outcomes, cost reduction, and patient satisfaction. After tissue sealing and cutting procedures, at least some of devices 1a - 1n / 2a - 2m can be used to observe the state of the tissue to evaluate leakage or perfusion of the sealed tissue. At least some of devices 1a - 1n / 2a - 2m can be used to examine data including images of samples of body tissue for diagnostic purposes using cloud - based computing to identify medical conditions such as the effects of disease. This includes tissue and phenotype localization and margin confirmation. At least some of devices 1a - 1n / 2a - 2m can be used to identify the anatomical structures of the body using techniques such as various sensors integrated with the imaging device and overlaying images captured by multiple imaging devices. The data collected by devices 1a - 1n / 2a - 2m, including image data, may be transferred to cloud 204 or local computer system 210 or both for data processing and operations including image processing and manipulation. The data can be analyzed to improve the results of surgical procedures by determining whether further treatments such as endoscopic interventions, emerging technologies, targeted radiation, targeted interventions, and precision robotics can be performed on tissue - specific sites and conditions. Such data analysis may further employ prognostic analysis processing, and using a standardized approach can provide useful feedback either to confirm surgical treatment and surgeon behavior or to propose modifications to surgical treatment and surgeon behavior.

[0203] In one implementation, the operating room devices 1a - 1n may be connected to the modular communication hub 203 via a wired or wireless channel, depending on the configuration of the devices 1a - 1n with respect to the network hub. The network hub 207 may, in one aspect, be implemented as a local network broadcast device that functions on the physical layer of the Open Systems Interconnection (OSI) model. The network hub provides connectivity to the devices 1a - 1n located within the same operating room network. The network hub 207 collects data in packet form and transmits them to the router in half - duplex mode. The network hub 207 does not store any Media Access Control / Internet Protocol (MAC / IP) for transferring device data. Only one of the devices 1a - 1n can transmit data at a time via the network hub 207. The network hub 207 has no routing table or intelligence regarding the destination of the information and broadcasts all network data across each connection and to the remote server 213 (Figure 33) on the cloud 204. The network hub 207 can detect basic network errors such as collisions, but broadcasting all information to multiple ports can pose a security risk and cause bottlenecks.

[0204] In another implementation, the operating room devices 2a - 2m may be connected to the network switch 209 via a wired or wireless channel. The network switch 209 functions within the data link layer of the OSI model. The network switch 209 is a multicast device for connecting the devices 2a - 2m located within the same operating room to the network. The network switch 209 transmits data in the form of frames to the network router 211 and functions in full - duplex mode. Multiple devices 2a - 2m can transmit data simultaneously via the network switch 209. The network switch 209 stores and uses the MAC addresses of the devices 2a - 2m for transferring data.

[0205] The network hub 207 and / or the network switch 209 are connected to the network router 211 to connect to the cloud 204. The network router 211 functions within the network layer of the OSI model. The network router 211 creates a path for transmitting data packets received from the network hub 207 and / or the network switch 211 to cloud-based computer resources for further processing and manipulation of the data collected by any one or all of the devices 1a - 1n / 2a - 2m. The network router 211 may be used, for example, to connect two or more different networks located at different locations, such as different operating rooms in the same medical facility or different networks in different operating rooms of different medical facilities. The network router 211 transmits data in packet form to the cloud 204 and functions in full-duplex mode. Multiple devices can transmit data simultaneously. The network router 211 uses IP addresses to transfer data.

[0206] In one embodiment, the network hub 207 may be implemented as a USB hub that enables a plurality of USB devices to be connected to a host computer. The USB hub can expand a single USB port into several tiers to increase the number of available ports for connecting devices to the host system computer. The network hub 207 can include wired or wireless capabilities for receiving information via a wired or wireless channel. In one aspect, a wireless USB short-range high-bandwidth wireless communication protocol may be used for communication between the devices 1a - 1n and 2a - 2m located within the operating room.

[0207] In other embodiments, the operating room devices 1a - 1n / 2a - 2m can communicate with the modular communication hub 203 via the Bluetooth wireless technology standard to exchange data over short distances (using short - wavelength UHF radio waves in the 2.4 - 2.485 GHz ISM band) and to construct a personal area network (PAN). In other aspects, the operating room devices 1a - 1n / 2a - 2m can communicate with the modular communication hub 203 via a number of wireless or wired communication standards or protocols including, but not limited to, Wi - Fi (IEEE802.11 family), WiMAX (IEEE802.16 family), IEEE802.20, Long - Term Evolution (LTE), and Ev - DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols designated as 3G, 4G, 5G, and beyond. The computing module may include a plurality of communication modules. For example, the first communication module may be dedicated to short - range wireless communication such as Wi - Fi and Bluetooth, and the second communication module may be dedicated to long - range wireless communication such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev - DO.

[0208] The modular communication hub 203 can function as the central connection for one or all of the operating room devices 1a - 1n / 2a - 2m and handle a data type known as a frame. The frame carries data generated by the devices 1a - 1n / 2a - 2m. When the frame is received by the modular communication hub 203, the frame is amplified and transmitted to the network router 211, which transfers this data to cloud computing resources using a number of wireless or wired communication standards or protocols described herein.

[0209] The modular communication hub 203 may be used as a stand-alone device or may be connected to compatible network hubs and network switches to form a larger network. Since the modular communication hub 203 is generally easy to install, configure, and maintain, the modular communication hub 203 is a good option for network-connecting the operating room devices 1a~1n / 2a~2m.

[0210] Figure 33 shows a computer-implemented interactive surgical system 200. The computer-implemented interactive surgical system 200 is similar to the computer-implemented interactive surgical system 100 in many respects. For example, the computer-implemented interactive surgical system 200 includes one or more surgical systems 202 that are similar to the surgical system 102 in many respects. Each surgical system 202 includes at least one surgical hub 206 that communicates with a cloud 204 that may include a remote server 213. In one aspect, the computer-implemented interactive surgical system 200 includes a modular control tower 236 connected to a plurality of operating room devices such as, for example, intelligent surgical instruments, robots, and other computerized devices located within the operating room. As shown in Figure 34, the modular control tower 236 includes a modular communication hub 203 coupled to a computer system 210. As shown in the embodiment of Figure 33, the modular control tower 236 is connected to an imaging module 238 coupled to an endoscope 239, a generator module 240 coupled to an energy device 241, a fume extractor module 226, a suction / irrigation module 228, a communication module 230, a processor module 232, a storage array 234, a smart device / instrument 235 optionally coupled to a display 237, and a non-contact sensor module 242. The operating room devices are connected to cloud computing resources and data storage via the modular control tower 236. A robot hub 222 may also be connected to the modular control tower 236 and cloud computing resources. Among other things, the device / instrument 235, visualization system 208 may be connected to the modular control tower 236 via the wired or wireless communication standards or protocols described herein. The modular control tower 236 may be connected to a hub display 215 (e.g., monitor, screen) to display and overlay images received from the imaging module, device / instrument display, and / or other visualization system 208.The hub display may also display data received from devices connected to the modular control tower along with the image and the overlay image.

[0211] FIG. 34 shows a surgical hub 206 comprising a plurality of modules coupled to a modular control tower 236. The modular control tower 236 comprises a modular communication hub 203, such as a network connection device, and a computer system 210 for providing, for example, local processing, visualization, and imaging. As shown in FIG. 34, the modular communication hub 203 is connected in a hierarchical configuration to extend the number of modules (e.g., devices) that can be connected to the modular communication hub 203 and transfer data associated with the modules to the computer system 210, cloud computing resources, or both. As shown in FIG. 34, each of the network hubs / switches within the modular communication hub 203 includes three downstream ports and one upstream port. The upstream network hub / switch is connected to a processor to provide communication connections to cloud computing resources and a local display 217. Communication to the cloud 204 can be performed via either a wired or wireless communication channel.

[0212] The surgical hub 206 uses a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the surgical site using either an ultrasonic or laser-based non-contact measurement device. As described in the section "Surgical Hub Spatial Awareness Within an Operating Room" of U.S. Provisional Patent Application No. 62 / 611,341, filed December 28, 2017, entitled "INTERACTIVE SURGICAL PLATFORM," the entire disclosure of which is incorporated herein by reference, the ultrasonic-based non-contact sensor module scans the operating room by transmitting ultrasonic bursts and receiving the echoes when the ultrasonic bursts are reflected off the outer walls of the operating room, where the sensor module is configured to determine the size of the operating room and adjust the distance limit for Bluetooth pairing. The laser-based non-contact sensor module scans the operating room, for example, by transmitting laser light pulses, receiving the laser light pulses reflected off the outer walls of the operating room, and comparing the phase of the transmitted pulses with the received pulses to determine the size of the operating room and adjust the Bluetooth pairing distance limit.

[0213] The computer system 210 includes a processor 244 and a network interface 245. The processor 244 is connected via a system bus to a communication module 247, a storage 248, a memory 249, a non-volatile memory 250, and an input / output interface 251. The system bus may use any of various bus architectures including a memory bus or memory controller, a peripheral bus or external bus, and / or a local bus, such as a 9-bit bus, Industry Standard Architecture (ISA), Micro Channel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI), USB, Advanced Graphics Port (AGP), Personal Computer Memory Card International Association bus (PCMCIA), Small Computer System Interface (SCSI), or any other proprietary bus, but is not limited thereto.

[0214] The processor 244 may be any single-core or multi-core processor, such as those known by the trade name of ARM Cortex made by Texas Instruments. In one aspect, the processor may include, for example, on-chip memory of 256KB single-cycle flash memory or other non-volatile memory with a maximum of 40MHz, whose details are available in the product datasheet, a prefetch buffer for improving performance beyond 40MHz, 32KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) with StellarisWare (registered trademark) software, 2KB electrically erasable programmable read-only memory (EEPROM), and / or one or more pulse width modulation (PWM) modules, one or more quadrature encoder input (QEI) analogs, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, which may be the LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments.

[0215] In one aspect, the processor 244 may include a safety controller that includes two controller families such as TMS570 and RM4x, also known by the trade name of Hercules ARM Cortex R4 made by Texas Instruments. The safety controller may be configured specifically for safety-critical applications of IEC61508 and ISO26262, among others, to provide a high-level integrated safety mechanism while offering scalable performance, connectivity, and memory options.

[0216] Examples of system memory include volatile memory and non-volatile memory. The basic input / output system (BIOS), which contains the basic routines for transferring information between elements within a computer system during startup and the like, is stored in non-volatile memory. For example, non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM, or flash memory. Examples of volatile memory include random access memory (RAM) that functions as an external cache memory. Further, RAM can be utilized in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DRRAM).

[0217] Computer system 210 also includes removable / non-removable volatile / non-volatile computer storage media, such as disk storage. Examples of disk storage include, but are not limited to, magnetic disk drives, floppy disk drives, tape drives, Jaz drives, Zip drives, LS-60 drives, flash memory cards, or memory sticks. Additionally, disk storage can include the storage media, either independently or in combination with other storage media such as optical disk drives like compact disk ROM devices (CD-ROM), compact disk recordable drives (CD-R drives), compact disk rewritable drives (CD-RW drives), or digital versatile disk ROM drives (DVD-ROM). A removable or non-removable interface may be used to facilitate connection of the disk storage device to the system bus.

[0218] It should be understood that computer system 210 includes software that functions as a medium between a user and basic computer resources, which are described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, functions to control and allocate the resources of the computer system. System applications utilize the resource management by the operating system via program modules and program data stored either in system memory or on disk storage. It should be understood that the various components described herein can be implemented with various operating systems or combinations of operating systems.

[0219] The user inputs commands or information into the computer system 210 via input device(s) connected to the I / O interface 251. Examples of input devices include, but are not limited to, pointing devices such as mice, trackballs, styli, touch pads, keyboards, microphones, joysticks, game pads, satellite dishes, scanners, TV tuner cards, digital cameras, digital video cameras, web cameras, etc. These and other input devices are connected to the processor through the system bus via interface port(s). Examples of interface port(s) include serial ports, parallel ports, game ports, and USB. Output device(s) use some of the same types of ports as input device(s). Thus, for example, a USB port may be used to provide input to and output information from the computer system to an output device. Output adapters are provided, especially among output devices that require a special adapter, to indicate the presence of some output devices such as monitors, displays, speakers, and printers. Examples of output adapters include, by way of illustration and not limitation, video and sound cards that provide connection means between the output device and the system bus. Note that other devices and / or systems of devices, such as remote computer(s), provide both input and output functions.

[0220] The computer system 210 can operate in a networked environment that uses a logical connection to one or more remote or local computers, such as a cloud computer(s). The remote cloud computer(s) can be, for example, a personal computer, a server, a router, a network PC, a workstation, a microprocessor-based device, a peer device, or other common network nodes, and typically includes many or all of the elements described with respect to the computer system. For simplicity, only a memory storage device is shown with the remote computer(s). The remote computer(s) is logically connected to the computer system via a network interface and subsequently physically connected via a communication connection. The network interface includes communication networks such as local area networks (LANs) and wide area networks (WANs). Examples of LAN technologies include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet / IEEE 802.3, Token Ring / IEEE 802.5, etc. Examples of WAN technologies include circuit-switched networks such as point-to-point links, Integrated Services Digital Network (ISDN) and its variants, packet-switched networks, and Digital Subscriber Line (DSL), but are not limited thereto.

[0221] In various aspects, the computer system 210 of FIG. 34, the imaging module 238 of FIGS. 9-10, and / or the visualization system 208, and / or the processor module 232 may include an image processor, an image processing engine, a media processor, or any dedicated digital signal processor (DSP) used for processing digital images. The image processor can use parallel computing using single instruction multiple data (SIMD) or multiple instruction multiple data (MIMD) techniques to increase speed and efficiency. The digital image processing engine can perform various tasks. The image processor may be a system-on-chip with a multi-core processor architecture.

[0222] The communication connection(s) refers to the hardware / software used to connect a network interface to a bus. For clarity of illustration, the communication connection is shown inside the computer system, but the communication connection may be external to the computer system 210. For illustrative purposes only, the hardware / software required for connection to the network interface includes modems such as ordinary telephone grade modems, cable modems, and DSL modems, ISDN adapters, and internal and external technologies such as Ethernet cards.

[0223] FIG. 35 shows a functional block diagram of an aspect of a USB network hub 300 device according to an aspect of the present disclosure. In the illustrated aspect, the USB network hub device 300 employs a TUSB2036 integrated circuit hub manufactured by Texas Instruments. The USB network hub 300 is a CMOS device that provides an upstream USB transceiver port 302 and up to three downstream USB transceiver ports 304, 306, 308 that comply with the USB 2.0 standard. The upstream USB transceiver port 302 is a differential routed data port that includes a differential data plus (DP0) input paired with a differential data minus (DM0) input. The three downstream USB transceiver ports 304, 306, 308 are differential data ports in which each port includes a differential data plus (DP1 - DP3) output paired with a differential data minus (DM1 - DM3) output.

[0224] The USB network hub 300 device is implemented with a digital state machine instead of a microcontroller and does not require firmware programming. A fully compliant USB transceiver is integrated into the circuitry of the upstream USB transceiver port 302 and all downstream USB transceiver ports 304, 306, 308. The downstream USB transceiver ports 304, 306, 308 support both high-speed and low-speed devices by automatically setting the throughput rate according to the speed of the device attached to the port. The USB network hub 300 device may be configured in either bus power mode or self-power mode and includes hub power logic 312 for managing power.

[0225] The USB network hub 300 device includes a serial interface engine 310 (SIE). The SIE 310 is the front end of the USB network hub 300 hardware and handles most of the protocols described in Chapter 8 of the USB specification. The SIE 310 typically understands signaling up to the transaction level. Functions it handles can include packet recognition, transaction rearrangement, detection / generation of SOP, EOP, RESET, and RESUME signals, clock / data separation, non-return to zero inverted (NRZI) data encoding / decoding and bit stuffing, CRC generation and checking (for tokens and data), packet ID (PID) generation, and checking / decoding, and / or serial / parallel to parallel / serial conversion. The 310 receives a clock input 314 and is connected to a suspend / resume logic as well as a frame timer 316 circuit and a hub repeater circuit 318 to control communication between the upstream USB transceiver port 302 and the downstream USB transceiver ports 304, 306, 308 via port logic circuits 320, 322, 324. The SIE 310 is connected to a command decoder 326 via interface logic for controlling commands from a serial EEPROM via a serial EEPROM interface 330.

[0226] In various aspects, the USB network hub 300 can connect up to 127 functions configured within a maximum of six logical layers (tiers) to a single computer. Further, the USB network hub 300 can be connected to all peripheral devices using four standardized wire cables that provide both communication and power distribution. The power configurations are bus power mode and self-power mode. The USB network hub 300 may be configured to support four modes of power management of a bus-powered hub with either individual port power management or linked port power management, and a self-powered hub with either individual port power management or linked port power management. In one aspect, using a USB cable and the USB network hub 300, the upstream USB transceiver port 302 is plug-connected to a USB host controller, and the downstream USB transceiver ports 304, 306, 308 are exposed for connecting USB-compatible devices, and so on.

[0227] Hardware of surgical instruments FIG. 36 shows a logic diagram of a control system 470 for a surgical instrument or tool according to one or more aspects of the present disclosure. The system 470 includes a control circuit. The control circuit includes a microcontroller 461 that includes a processor 462 and a memory 468. For example, one or more of sensors 472, 474, 476 provide real-time feedback to the processor 462. A motor 482 driven by a motor driver 492 is operably coupled to a longitudinally movable displacement member to drive an I-beam knife element. A tracking system 480 is configured to determine the position of the longitudinally movable displacement member. The position information is provided to a processor 462 that may be programmed or configured to determine the position of the longitudinally movable drive member and the positions of the firing member, the firing bar, and the I-beam knife element. Additional motors may be provided to the tool driver interface to control the firing of the I-beam, the movement of the closure tube, the rotation of the shaft, and the articulation movement. A display 473 may display various operating conditions of the instrument and include a touch screen function for data input. The information displayed on the display 473 can be overlaid with an image acquired via an endoscopic imaging module.

[0228] In one aspect, the microcontroller 461 may be any single-core or multi-core processor, such as those known by the trade name of ARM Cortex from Texas Instruments. In one aspect, the main microcontroller 461 may be, for example, an on-chip memory of up to 40 MHz 256KB single-cycle flash memory or other non-volatile memory, the details of which are available in the product datasheet, a prefetch buffer for improving performance beyond 40 MHz, 32KB single-cycle SRAM, an internal ROM with StellarisWare® software, 2KB EEPROM, one or more PWM modules, one or more QEI analogs, and / or one or more 12-bit ADCs including 12 analog input channels, such as the LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments.

[0229] In one aspect, the microcontroller 461 may include a safety controller including two controller families such as TMS570 and RM4x, also known by the trade name of Hercules ARM Cortex R4 from Texas Instruments. The safety controller may be configured specifically for safety-critical applications of IEC61508 and ISO26262, among others, to provide an advanced integrated safety mechanism while offering scalable performance, connectivity, and memory options.

[0230] The microcontroller 461 may be programmed to perform various functions such as precise control over the speed and position of the knife and articulation movement system. In one aspect, the microcontroller 461 includes a processor 462 and a memory 468. The electric motor 482 may be a brushed direct current (DC) motor with a gearbox and a mechanical coupling to the articulation movement or knife system. In one aspect, the motor driver 492 may be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be easily replaced for use in the tracking system 480 with an absolute positioning system. A detailed description of the absolute positioning system is described in U.S. Patent Application Publication No. 2017 / 0296213, published Oct. 19, 2017, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT", which is hereby incorporated by reference in its entirety.

[0231] The microcontroller 461 may be programmed to provide accurate control over the speed and position of the displacement member and the articulation movement system. The microcontroller 461 may be configured to calculate a response within the software of the microcontroller 461. The calculated response is compared to the measured response of the actual system to obtain an "observed" response, which is used for the determination of actual feedback. The observed response is a suitably adjusted value that balances the smooth and continuous nature of the response by simulation with the response by measurement, which can detect external influences on the system.

[0232] In one aspect, the motor 482 may be controlled by a motor driver 492 and may be used by a surgical instrument or tool firing system. In various forms, the motor 482 may be, for example, a brushed DC drive motor having a maximum rotational speed of about 25,000 RPM. In another configuration, the motor 482 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver 492 may comprise, for example, an H-bridge driver including field effect transistors (FETs). The motor 482 may be powered by a power supply assembly removably attached to the handle assembly or tool housing to supply control power to the surgical instrument or tool. The power supply assembly may include a battery that may include a number of battery cells connected in series that may be used as a power source to power the surgical instrument or tool. Under certain circumstances, the battery cells of the power supply assembly may be replaceable and / or rechargeable. In at least one example, the battery cells may be lithium ion batteries that may be connectable to and separable from the power supply assembly.

[0233] The motor driver 492 may be the A3941 available from Allegro Microsystems, Inc. The A3941 492 is a full-bridge controller for use with an external N-channel power metal-oxide-semiconductor field-effect transistor (MOSFET) designed particularly for inductive loads such as brushed DC motors. The driver 492 includes an inherent charge pump regulator, which provides full (>10V) gate drive to battery voltages up to 7V, enabling the A3941 to operate with a reduced gate drive up to 5.5V. A bootstrap capacitor may be used to provide the above battery supply voltage required for the N-channel MOSFET. The internal charge pump for high-side drive enables DC (100% duty cycle) operation. The full bridge can be driven in fast or slow decay modes using diodes or synchronous rectification. In the slow decay mode, current recirculation is possible by either the high-side FET or the low-side FET. The power FETs are protected from shoot-through by a register-adjustable dead time. The integrated diagnostics indicate low voltage, overtemperature, and power bridge abnormalities and can be configured to protect the power MOSFETs under most short-circuit conditions. Other motor drivers can be easily substituted for use in the tracking system 480 with an absolute positioning system.

[0234] The tracking system 480 comprises a controlled motor drive circuit configuration with a position sensor 472 according to one aspect of the present disclosure. The position sensor 472 for an absolute positioning system provides a unique position signal corresponding to the position of the displacement member. In one aspect, the displacement member represents a longitudinally movable drive member having a rack of drive teeth for meshing engagement with a corresponding drive gear of a gear reduction assembly. In other aspects, the displacement member may represent a firing member adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a firing bar or an I-beam, each of which may be adapted and configured to include a rack of drive teeth. Accordingly, as used herein, the term displacement member is used to generically refer to any movable member of a surgical instrument or tool, such as a drive member, a firing member, a firing bar, an I-beam, or any element that can be displaced. In one aspect, the longitudinally movable drive member is coupled to the firing member, the firing bar, and the I-beam. Thus, the absolute positioning system can actually track the linear displacement of the I-beam by tracking the linear displacement of the longitudinally movable drive member. In various other aspects, the displacement member may be coupled to any position sensor 472 suitable for measuring linear displacement. Accordingly, the longitudinally movable drive member, the firing member, the firing bar, or the I-beam, or combinations thereof, may be coupled to any suitable linear displacement sensor. The linear displacement sensor may include a contact or non-contact displacement sensor.Linear displacement sensors may include linear variable differential transformers (LVDTs), differential variable reluctance transducers (DVRTs), slide potentiometers, magnetic sensing systems with a movable magnet and a series of Hall effect sensors arranged in a line, magnetic sensing systems with a fixed magnet and a series of Hall effect sensors arranged on a series of movable lines, optical detection systems with a movable light source and a series of light diodes or photodetectors arranged in a line, optical detection systems with a fixed light source and a series of light diodes or photodetectors arranged on a series of movable lines, or any combination thereof.

[0235] The electric motor 482 may include a rotary shaft that operably interfaces with a gear assembly that engages a set of drive teeth or a rack on the displacement member. The sensor element may be operably coupled to the gear assembly such that one rotation of the position sensor 472 element corresponds to some linear longitudinal translation of the displacement member. The gear ring and sensor mechanism can be connected to a linear actuator by a rack and pinion mechanism or to a rotary actuator by spur gears or other connections. A power supply can supply power to the absolute positioning system and an output indicator can display the output of the absolute positioning system. The displacement member represents a longitudinally movable drive member having a rack of drive teeth formed thereon for engaging a corresponding drive gear of a gear reduction assembly. The displacement member represents a longitudinally movable firing member, firing bar, I-beam, or combination thereof.

[0236] One rotation of the sensor element associated with the position sensor 472 corresponds to a longitudinal linear displacement d1 of the displacement member, where d1 is the linear distance in the longitudinal direction that the displacement member moves from point "a" to point "b" after one rotation of the sensor element connected to the displacement member. The sensor mechanism may be connected via a gear reduction that results in the position sensor 472 completing more than one rotation with respect to the full stroke of the displacement member. The position sensor 472 can complete multiple rotations with respect to the full stroke of the displacement member.

[0237] To provide a unique position signal for two or more rotations of the position sensor 472, a series of switches (where n is an integer greater than 1) may be used either alone or in combination with a gear reduction. The state of the switches is fed back to the microcontroller 461, which applies logic to determine a unique position signal corresponding to the longitudinal linear displacement d1 + d2 +... dn of the displacement member. The output of the position sensor 472 is provided to the microcontroller 461. The position sensor 472 of the sensor mechanism may comprise an analog rotational sensor such as a magnetic sensor, a potentiometer, etc., or an array of analog Hall effect elements that output a unique combination of position signals or values.

[0238] The position sensor 472 may comprise any number of magnetic sensing elements, such as a magnetic sensor classified, for example, based on whether it measures the total magnetic field or a vector component of the magnetic field. The technologies used to produce both types of magnetic sensors involve many aspects of physics and electronics. Technologies used for magnetic field sensing include, among others, search coils, flux gates, optical pumping, nuclear precession, SQUIDs, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetic impedance, magnetostrictive / piezoelectric composites, magnetic diodes, magnetic transistors, optical fibers, magneto-optics, and microelectromechanical systems-based magnetic sensors.

[0239] In one aspect, the position sensor 472 of the tracking system 480 comprising an absolute positioning system comprises a magnetic rotary absolute positioning system. The position sensor 472 may be implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor 472 cooperates with the microcontroller 461 to provide an absolute positioning system. The position sensor 472 is a low-voltage and low-power component, and includes four Hall effect elements in the region of the position sensor 472 located above the magnet. Further, a high-resolution ADC and a smart power management controller are provided on the chip. A coordinate rotation digital computer (CORDIC) processor, also known as the digit-by-digit method and Volder's algorithm, is provided to implement a concise and efficient algorithm for calculating hyperbolic and trigonometric functions that requires only addition, subtraction, bit shifting, and table reference operations. The angular position, alarm bits, and magnetic field information are transmitted to the microcontroller 461 via a standard serial communication interface such as a serial peripheral interface (SPI) interface. The position sensor 472 provides a resolution of 12 bits or 14 bits. The position sensor 472 may be an AS5055 chip provided in a small QFN16 pin 4×4×0.85 mm package.

[0240] Tracking system 480 with an absolute positioning system may include and / or may be programmed to implement a feedback controller such as a PID, a state feedback, and an adaptive controller. A power supply converts a signal from the feedback controller into a physical input to the system, in this case a voltage. Other examples include PWM of voltage, current, and force. In addition to the position measured by position sensor 472, other sensor(s) may be provided to measure physical parameters of the physical system. In some aspects, other sensor(s) may include sensor mechanisms such as those described in U.S. Patent No. 9,345,481, issued May 24, 2016, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," which is hereby incorporated by reference in its entirety; U.S. Patent Application Publication No. 2014 / 0263552, published September 18, 2014, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," which is hereby incorporated by reference in its entirety; and U.S. Patent Application No. 15 / 628,175, filed June 20, 2017, entitled "TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT," which is hereby incorporated by reference in its entirety. In a digital signal processing system, the absolute positioning system is coupled to a digital data acquisition system where the output of the absolute positioning system has a finite resolution and sampling frequency. The absolute positioning system may include a comparison and combination circuit to combine the calculated response with the measured response using algorithms such as weighted averages and theoretical control loops that drive the calculated response towards the measured response. The calculated response of the physical system takes into account characteristics such as mass, inertia, viscous friction, inductive resistance, etc. to predict how the state and output of the physical system will be based on knowing the input.

[0241] The absolute positioning system provides the absolute position of the displacement member upon power-up of the instrument without having to retract or advance the displacement member to a reset (zero or home) position, as may be required by conventional rotary encoders that simply count the number of steps the motor 482 has traversed forward or backward to estimate the position of a device actuator, drive bar, knife, etc.

[0242] A sensor 474, such as a strain gauge or a micro-strain gauge, for example, is configured to measure one or more parameters of the end effector, such as the amplitude of the strain exerted on the anvil during a clamping operation, which can indicate, for example, the closing force applied to the anvil. The measured strain is converted to a digital signal and provided to the processor 462. Instead of, or in addition to, the sensor 474, a sensor 476, such as a load cell, for example, can measure the closing force applied to the anvil by the closing drive system. For example, a sensor 476, such as a load cell, can measure the firing force applied to the I-beam during the firing stroke of a surgical instrument or tool. The I-beam is configured to engage a wedge thread, which is configured to cam the staple driver upward to eject staples into deformation contact with the anvil. The I-beam also includes a sharp cutting edge that can be used to cut tissue when the I-beam is advanced distally by the firing bar. Alternatively, a current sensor 478 can be used to measure the current draw by the motor 482. The force required to advance the firing member can correspond, for example, to the current drawn by the motor 482. The measured force is converted to a digital signal and provided to the processor 462.

[0243] In one configuration, a strain gauge sensor 474 can be used to measure the force applied to tissue by the end effector. To measure the force exerted by the end effector on the tissue being treated, the strain gauge can be coupled to the end effector. A system for measuring the force applied to tissue grasped by the end effector includes, for example, a strain gauge sensor 474 such as a micro strain gauge configured to measure one or more parameters of the end effector. In one aspect, the strain gauge sensor 474 can measure the amplitude or magnitude of the strain exerted on the jaw members of the end effector during the clamping operation, which can indicate compression of the tissue. The measured strain is converted to a digital signal and provided to the processor 462 of the microcontroller 461. A load sensor 476 can measure, for example, the force used to operate the knife element to cut tissue captured between the anvil and the staple cartridge. A magnetic field sensor can be used to measure the thickness of the captured tissue. The measurements of the magnetic field sensor can also be converted to a digital signal and provided to the processor 462.

[0244] The measurements of tissue compression, tissue thickness, and / or the force required to close the end effector on the tissue, respectively measured by the sensors 474, 476, can be used by the microcontroller 461 to characterize corresponding values of the selected position of the firing member and / or the velocity of the firing member. In one example, the memory 468 can store techniques, equations, and / or look-up tables that can be used by the microcontroller 461 during evaluation.

[0245] The control system 470 of the surgical instrument or tool may also include a wired or wireless communication circuit for communicating with a modular communication hub as shown in FIGS. 8 - 11.

[0246] FIG. 37 shows a control circuit 500 configured to control aspects of a surgical instrument or tool. The control circuit 500 can be configured to implement the various processes described herein. The control circuit 500 can comprise a microcontroller comprising one or more processors 502 (e.g., a microprocessor, a microcontroller) coupled to at least one memory circuit 504. The memory circuit 504 stores machine-executable instructions that, when executed by the processor 502, cause the processor 502 to execute machine instructions for implementing the various processes described herein. The processor 502 can be any one of a number of single or multi-core processors known in the art. The memory circuit 504 can include volatile and non-volatile storage media. The processor 502 can include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit can be configured to receive instructions from the memory circuit 504 of the present disclosure.

[0247] FIG. 38 shows a combinational logic circuit 510 configured to control aspects of a surgical instrument or tool. The combinational logic circuit 510 can be configured to implement the various processes described herein. The combinational logic circuit 510 can include a finite state machine including combinational logic 512 configured to receive data associated with a surgical instrument or tool at an input 514, process the data by the combinational logic 512, and provide an output 516.

[0248] FIG. 39 shows a sequential logic circuit 520 configured to control aspects of a surgical instrument or tool. The sequential logic circuit 520 or combinational logic 522 can be configured to implement the various processes described herein. The sequential logic circuit 520 may include a finite state machine. The sequential logic circuit 520 may include, for example, combinational logic 522, at least one memory circuit 524, and a clock 529. The at least one memory circuit 524 can store the current state of the finite state machine. In a particular example, the sequential logic circuit 520 may be synchronous or asynchronous. The combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data by the combinational logic 522, and provide an output 528. In other aspects, the circuit may include a combination of a processor (e.g., processor 502 of FIG. 37) and a finite state machine that implements the various processes herein. In other aspects, the finite state machine can include a combination of a combinational logic circuit (e.g., combinational logic circuit 510 of FIG. 38) and the sequential logic circuit 520.

[0249] FIG. 40 shows a surgical instrument or tool having a plurality of motors that can be activated to perform various functions. In a particular example, a first motor can be activated to perform a first function, a second motor can be activated to perform a second function, a third motor can be activated to perform a third function, a fourth motor can be activated to perform a fourth function, and so on. In a particular example, the plurality of motors of the robotic surgical instrument 600 can be individually activated to cause firing motion, closing motion, and / or articulation motion at the end effector. The firing motion, closing motion, and / or articulation motion can be transmitted to the end effector, for example, via a shaft assembly.

[0250] In certain examples, the surgical instrument system or tool may include a firing motor 602. The firing motor 602 may be operably coupled to a firing motor drive assembly 604 configured to transmit the firing motion generated by the motor 602 to the end effector, specifically to displace an I-beam element. In certain examples, the firing motion generated by the motor 602 may deploy staples, for example, from a staple cartridge into tissue captured by the end effector and / or advance the cutting edges of the I-beam element to cut the captured tissue. The I-beam element may be retracted by reversing the direction of the motor 602.

[0251] In certain examples, the surgical instrument or tool may include a closure motor 603. The closure motor 603 may be operably coupled to a closure motor drive assembly 605 configured to transmit the closure motion generated by the motor 603 to the end effector, specifically to displace a closure tube to close the anvil and compress tissue between the anvil and the staple cartridge. By the closure motion, for example, the end effector can transition from an open configuration to a proximity configuration to capture tissue. The end effector can be transitioned to an open position by reversing the direction of the motor 603.

[0252] In certain examples, the surgical instrument or tool may include, for example, one or more articulation motors 606a, 606b. The motors 606a, 606b may be operably coupled to corresponding articulation motor drive assemblies 608a, 608b configured to transmit the articulation motion generated by the motors 606a, 606b to the end effector. In certain examples, by the articulation motion, for example, the end effector can articulate relative to the shaft.

[0253] As described above, a surgical instrument or tool may include a plurality of motors configured to perform various independent functions. In certain examples, the plurality of motors of a surgical instrument or tool may be activated independently or separately to perform one or more functions while other motors remain stopped. For example, the articulation motors 606a, 606b may be activated to articulate the end effector while the firing motor 602 remains stopped. Alternatively, the firing motor 602 may be activated to fire a plurality of staples and / or advance the blade tip while the articulation motors 606 are stopped. Further, the closure motor 603 may be activated simultaneously with the firing motor 602 to advance the closure tube and the I-beam element distally, as described in more detail below herein.

[0254] In certain examples, a surgical instrument or tool may include a common control module 610 that can be used with the plurality of motors of the surgical instrument or tool. In certain examples, the common control module 610 can correspond to one of the plurality of motors at a time. For example, the common control module 610 may be individually connectable and separable with respect to the plurality of motors of a robotic surgical instrument. In certain examples, the plurality of motors of a surgical instrument or tool may share one or more common control modules such as the common control module 610. In certain examples, the plurality of motors of a surgical instrument or tool can engage with the common control module 610 independently and selectively. In certain examples, the common control module 610 can selectively switch from cooperation with one of the plurality of motors of a surgical instrument or tool to cooperation with another of the plurality of motors of the surgical instrument or tool.

[0255] In at least one example, the common control module 610 can selectively switch between an operable engagement with the articulation motors 606a, 606b and an operable engagement with either the firing motor 602 or the closing motor 603. In at least one embodiment, as shown in FIG. 40, the switch 614 can move or transition between multiple positions and / or states. For example, in a first position 616, the switch 614 may electrically couple the common control module 610 to the firing motor 602, and in a second position 617, the switch 614 may electrically couple the common control module 610 to the closing motor 603. In a third position 618a, the switch 614 may electrically couple the common control module 610 to the first articulation motor 606a, and in a fourth position 618b, the switch 614 may electrically couple the common control module 610 to the second articulation motor 606b. In a particular example, simultaneously, a separate common control module 610 may be electrically coupled to the firing motor 602, the closing motor 603, and the articulation motors 606a, 606b. In a particular example, the switch 614 may be a mechanical switch, an electromechanical switch, a solid state switch, or any suitable switching mechanism.

[0256] Each of the motors 602, 603, 606a, 606b may include a torque sensor for measuring the output torque on the motor shaft. The force on the end effector may be sensed by any conventional method, such as by a force sensor outside of the jaw or by a torque sensor of the motor that actuates the jaw.

[0257] In various examples, as shown in FIG. 40, a common control module 610 may include a motor driver 626 that can include one or more H-bridge FETs. The motor driver 626 may modulate the power transmitted from a power source 628 to a motor coupled to the common control module 610 based on an input from, for example, a microcontroller 620 (the "controller"). In a particular example, as described above, the current drawn by the motor can be determined using the microcontroller 620 while the motor is coupled to the common control module 610.

[0258] In a particular example, the microcontroller 620 may include a microprocessor 622 (the "processor") and one or more non-transitory computer-readable media or memory units 624 (the "memory"). In a particular example, the memory 624 can store various program instructions that, when executed, can cause the processor 622 to perform the multiple functions and / or calculations described herein. In a particular example, one or more of the memory units 624 may be coupled to the processor 622, for example.

[0259] In a particular example, the power source 628 may be used to supply power to, for example, the microcontroller 620. In a particular example, the power source 628 may include a battery (or "battery pack" or "power pack"), such as a lithium-ion battery, for example. In a particular example, the battery pack may be configured to be removably attached to the handle to supply power to the surgical instrument 600. A number of battery cells connected in series may be used as the power source 628. In a particular example, the power source 628 may be, for example, replaceable and / or rechargeable.

[0260] In various examples, the processor 622 can control the motor driver 626 to control the position, rotation direction, and / or speed of a motor coupled to the common control module 610. In a particular example, the processor 622 can signal the motor driver 626 to stop and / or deactivate a motor coupled to the common control module 610. As used herein, the term "processor" is to be understood to include any suitable microprocessor, microcontroller, or other basic computing device that integrates the functionality of a central processing device (CPU) of a computer on one integrated circuit or, at most, a few integrated circuits. A processor is a multi-purpose programmable device that accepts digital data as input, processes that data according to instructions stored in memory, and provides results as output. Since this has internal memory, it is an example of sequential digital logic. A processor operates on numbers and symbols represented in binary notation.

[0261] In one example, the processor 622 may be any single-core or multi-core processor, such as those known by the trade name of ARM Cortex made by Texas Instruments. In a specific example, the microcontroller 620 may be, for example, LM 4F230H5QR available from Texas Instruments. In at least one embodiment, the LM4F230H5QR of Texas Instruments has, among other characteristics readily available in the product datasheet, on-chip memory of 256KB single-cycle flash memory or other non-volatile memory with a maximum of 40MHz, a prefetch buffer for improving performance beyond 40MHz, 32KB single-cycle SRAM, an internal ROM with StellarisWare® software, 2KB EEPROM, one or more PWM modules, one or more QEI analogs, and one or more 12-bit ADCs with 12 analog input channels, which is an ARM Cortex-M4F processor core. Other microcontrollers may be easily substituted for use with the module 4410. Therefore, the present disclosure should not be limited to this context.

[0262] In a specific example, the memory 624 may include program instructions for controlling the motors of the surgical instrument 600 that can be coupled to the common control module 610, respectively. For example, the memory 624 may include program instructions for controlling the firing motor 602, the closing motor 603, and the articulation motors 606a, 606b. Such program instructions can cause the processor 622 to control the firing function, the closing function, and the articulation function according to the input from the algorithm or control program of the surgical instrument or tool.

[0263] In certain examples, one or more mechanisms and / or sensors, such as sensor 630, can be used to alert processor 622 of program instructions to be used in a particular setting. For example, sensor 630 can alert processor 622 to use program instructions related to the firing, closing, and articulation of the end effector. In certain examples, sensor 630 may comprise a position sensor that can be used, for example, to sense the position of switch 614. Thus, when processor 622 detects, via sensor 630 for example, that switch 614 is in the first position 616, processor 622 can use the program instructions associated with the firing of the I-beam of the end effector, and when processor 622 detects, via sensor 630 for example, that switch 614 is in the second position 617, processor 622 can use the program instructions associated with the closing of the anvil, and when processor 622 detects, via sensor 630 for example, that switch 614 is in the third position 618a or the fourth position 618b, processor 622 can use the program instructions associated with the articulation of the end effector.

[0264] FIG. 41 is a schematic view of a robotic surgical instrument 700 configured to operate a surgical tool described herein, according to one aspect of the present disclosure. The robotic surgical instrument 700 may be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of a closure tube, the rotation of a shaft, and the articulation using any of a single or plurality of articulation drive linkages. In one aspect, the surgical instrument 700 may be programmed or configured to individually control a firing member, a closure member, a shaft member, or one or more articulation members. The surgical instrument 700 includes a control circuit 710 configured to control a motor-driven firing member, closure member, shaft member, or one or more articulation members.

[0265] In one aspect, a robotic surgical instrument 700 includes a control circuit 710 configured to control an anvil 716 of an end effector 702, an I-beam 714 (including a sharp cutting edge) portion, a removable staple cartridge 718, a shaft 740, and one or more articulating members 742a, 742b via a plurality of motors 704a - 704e. A position sensor 734 may be configured to provide position feedback of the I-beam 714 to the control circuit 710. Other sensors 738 may be configured to provide feedback to the control circuit 710. A timer / counter 731 provides timing and count information to the control circuit 710. An energy source 712 may be provided to operate the motors 704a - 704e, and a current sensor 736 provides motor current feedback to the control circuit 710. The motors 704a - 704e can be individually operated by the control circuit 710 in open-loop or closed-loop feedback control.

[0266] In one aspect, the control circuit 710 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause one or more processors to perform one or more tasks. In one aspect, the timer / counter 731 provides an output signal such as an elapsed time or a digital count to the control circuit 710 to correlate the position of the I-beam 714 determined by the position sensor 734 with the output of the timer / counter 731, such that the control circuit 710 can determine the position of the I-beam 714 at a particular time (t) relative to the start position or time (t) when the I-beam 714 is at a particular position relative to the start position. The timer / counter 731 may be configured to measure an elapsed time, count external events, or measure the time of external events.

[0267] In one aspect, the control circuit 710 may be programmed to control the function of the end effector 702 based on one or more tissue states. The control circuit 710 may be programmed to sense a tissue state, such as thickness, either directly or indirectly, as described herein. The control circuit 710 may be programmed to select a firing control program or a closure control program based on the tissue state. The firing control program may be able to describe the distal movement of the displacement member. Various firing control programs may be selected to better handle various tissue states. For example, if there is thicker tissue, the control circuit 710 may be programmed to translate the displacement member at a slower speed and / or with less power. If there is thinner tissue, the control circuit 710 may be programmed to translate the displacement member at a faster speed and / or with more power. The closure control program may be able to control the closure force applied to the tissue by the anvil 716. Other control programs control the rotation of the shaft 740 and the articulating movement members 742a, 742b.

[0268] In one aspect, the control circuit 710 can generate a motor setpoint signal. The motor setpoint signal may be provided to various motor controllers 708a - 708e. The motor controllers 708a - 708e may include one or more circuits configured to provide motor drive signals to the motors 704a - 704e to drive the motors 704a - 704e, as described herein. In some embodiments, the motors 704a - 704e may be brushed DC electric motors. For example, the speed of the motors 704a - 704e may be proportional to their respective motor drive signals. In some embodiments, the motors 704a - 704e may be brushless DC electric motors, and their respective motor drive signals may include PWM signals provided to one or more stator windings of the motors 704a - 704e. Also, in some embodiments, the motor controllers 708a - 708e may be omitted, and the control circuit 710 may directly generate the motor drive signals.

[0269] In one aspect, control circuit 710 may first operate each of motors 704a - 704e in an open - loop configuration during a first open - loop portion of the stroke of the displacement member. Based on the response of robotic surgical instrument 700 during the open - loop portion of the stroke, control circuit 710 may select a firing control program in a closed - loop configuration. The response of the instrument may include, for example, the translational distance of the displacement member during the open - loop portion, the time elapsed during the open - loop portion, the energy provided to one of motors 704a - 704e during the open - loop portion, the sum of the pulse widths of the motor drive signals, and the like. After the open - loop portion, control circuit 710 may implement the selected firing control program for a second portion of the displacement member stroke. For example, during the closed - loop portion of the stroke, control circuit 710 may modulate one of motors 704a - 704e in a closed - loop manner based on translational data describing the position of the displacement member to translate the displacement member at a constant speed.

[0270] In one aspect, motors 704a - 704e can receive power from an energy source 712. The energy source 712 may be a main AC power source, a battery, a supercapacitor, or a DC power source driven by any other suitable energy source. Motors 704a - 704e may be mechanically coupled to individual movable mechanical elements such as I - beam 714, anvil 716, shaft 740, articulation movement 742a, and articulation movement 742b via respective transmission devices 706a - 706e. Transmission devices 706a - 706e may include one or more gears or other connection components for connecting motors 704a - 704e to the movable mechanical elements. A position sensor 734 can sense the position of the I - beam 714. The position sensor 734 may be or include any type of sensor capable of generating position data indicating the position of the I - beam 714. In some embodiments, the position sensor 734 may include an encoder configured to provide a series of pulses to the control circuit 710 as the I - beam 714 translates distally and proximally. The control circuit 710 may track the pulses to determine the position of the I - beam 714. For example, other suitable position sensors including proximity sensors may be used. Other types of position sensors can provide other signals indicating the movement of the I - beam 714. Also, in some embodiments, the position sensor 734 may be omitted. If any of motors 704a - 704e is a stepper motor, the control circuit 710 can track the position of the I - beam 714 by totaling the number and direction of steps instructed for the motor 704 to execute. The position sensor 734 can be located within the end - effector 702 or any other part of the instrument. Each output of motors 704a - 704e includes torque sensors 744a - 744e for sensing force and has an encoder for sensing the rotation of the drive shaft.

[0271] In one aspect, the control circuit 710 is configured to drive a firing member such as the I-beam 714 portion of the end effector 702. The control circuit 710 provides a motor setpoint to the motor control unit 708a, and the motor control unit 708a provides a drive signal to the motor 704a. The output shaft of the motor 704a is coupled to a torque sensor 744a. The torque sensor 744a is coupled to a transmission 706a coupled to the I-beam 714. The transmission 706a includes movable mechanical elements such as a rotating element and a firing member for controlling the distal and proximal movement of the I-beam 714 along the longitudinal axis of the end effector 702. In one aspect, the motor 704a may be coupled to a knife gear assembly that includes a knife gear reduction set including a first knife drive gear and a second knife drive gear. The torque sensor 744a provides a firing force feedback signal to the control circuit 710. The firing force signal represents the force required to fire or displace the I-beam 714. A position sensor 734 may be configured to provide to the control circuit 710, as a feedback signal, the position of the I-beam 714 or the position of the firing member along the firing stroke. The end effector 702 may include an additional sensor 738 configured to provide a feedback signal to the control circuit 710. When ready for use, the control circuit 710 can provide a firing signal to the motor control unit 708a. In response to the firing signal, the motor 704a can drive the firing member in the distal direction along the longitudinal axis of the end effector 702 from a proximal stroke start position to a stroke end position distal to the stroke start position. As the firing member translates distally, the I-beam 714, which includes a cutting element positioned at the distal end, advances distally to cut tissue positioned between the staple cartridge 718 and the anvil 716.

[0272] In one aspect, the control circuit 710 is configured to drive a closing member, such as the anvil 716 portion of the end effector 702. The control circuit 710 provides a motor setpoint to a motor controller 708b that provides a drive signal to the motor 704b. The output shaft of the motor 704b is coupled to a torque sensor 744b. The torque sensor 744b is coupled to a transmission 706b that is coupled to the anvil 716. The transmission 706b includes movable mechanical elements, such as rotating elements and closing members, for controlling the movement of the anvil 716 from an open position and a closed position. In one aspect, the motor 704b is coupled to a closing gear assembly that includes a closing reduction gear set supported in meshing engagement with a closing spur gear. The torque sensor 744b provides a closing force feedback signal to the control circuit 710. The closing force feedback signal represents the closing force applied to the anvil 716. A position sensor 734 may be configured to provide the position of the closing member to the control circuit 710 as a feedback signal. An additional sensor 738 within the end effector 702 can provide the closing force feedback signal to the control circuit 710. The pivotable anvil 716 is positioned on the opposite side of the staple cartridge 718. When ready for use, the control circuit 710 can provide a closing signal to the motor controller 708b. In response to the closing signal, the motor 704b advances the closing member to grip tissue between the anvil 716 and the staple cartridge 718.

[0273] In one aspect, the control circuit 710 is configured to rotate a shaft member, such as shaft 740, to rotate the end effector 702. The control circuit 710 provides a motor setpoint to a motor control unit 708c that provides a drive signal to motor 704c. The output shaft of motor 704c is coupled to torque sensor 744c. Torque sensor 744c is coupled to a transmission device 706c that is coupled to shaft 740. Transmission device 706c includes a movable mechanical element, such as a rotating element, to control the clockwise or counterclockwise rotation of shaft 740 up to and beyond 360 degrees. In one aspect, motor 704c is coupled to a rotational transmission device assembly that includes a tubular gear segment formed (or attached) on the proximal end of the proximal closure tube so as to be operably engaged by a rotating gear assembly operably supported on the tool mounting plate. Torque sensor 744c provides a rotational force feedback signal to control circuit 710. The rotational force feedback signal represents the rotational force applied to shaft 740. A position sensor 734 may be configured to provide the position of the closure member to control circuit 710 as a feedback signal. An additional sensor 738, such as a shaft encoder, may provide the rotational position of shaft 740 to control circuit 710.

[0274] In one aspect, the control circuit 710 is configured to articulate the end effector 702. The control circuit 710 provides a motor setpoint to a motor control unit 708d that provides a drive signal to a motor 704d. The output shaft of the motor 704d is coupled to a torque sensor 744d. The torque sensor 744d is coupled to a transmission 706d that is coupled to an articulation member 742a. The transmission 706d includes movable mechanical elements such as articulation elements for controlling the ±65° articulation of the end effector 702. In one aspect, the motor 704d is coupled to an articulation nut that is rotatably supported on the proximal end portion of the distal spine portion and is rotatably driven by an articulation gear assembly on the proximal end portion of the distal spine portion. The torque sensor 744d provides an articulation force feedback signal to the control circuit 710. The articulation force feedback signal represents the articulation force applied to the end effector 702. A sensor 738, such as an articulation encoder, may provide the control circuit 710 with the articulation position of the end effector 702.

[0275] In another aspect, the articulation function of the robotic surgical system 700 may include two articulation members, or links 742a, 742b. These articulation members 742a, 742b are driven by individual disks on a robotic interface (rack) that is driven by two motors 708d, 708e. When an individual firing motor 704a is provided, each of the articulation links 742a, 742b can be driven antagonistically with respect to the other links to provide a holding resistance movement and load to the head when the head is not moving and to provide articulation when the head is articulating. The articulation members 742a, 742b are attached to the head at a fixed radius when the head rotates. Thus, as the head rotates, the mechanical efficiency of the push-pull link changes. This change in mechanical efficiency can be more pronounced in the drive systems of other articulation links.

[0276] In one aspect, one or more of the motors 704a - 704e may comprise a brushed DC motor with a gearbox and a mechanical connection to a firing member, a closing member, or an articulating member. As another example, the electric motors 704a - 704e may operate movable mechanical elements such as displacement members, articulating connections, closing tubes, and shafts. External influences are unmeasured and unpredictable influences such as those of tissue, the surrounding body, and friction in the physical system. Such external influences may be referred to as a drag that acts against one of the electric motors 704a - 704e. External influences such as drag may cause the operation of the physical system to deviate from the desired operation of the physical system.

[0277] In one aspect, the position sensor 734 may be implemented as an absolute positioning system. In one aspect, the position sensor 734 may comprise a magnetic rotary absolute positioning system implemented as the AS5055EQFT single - chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor 734 can provide an absolute positioning system in association with the control circuit 710. The position may be located above a magnet and may include a plurality of Hall - effect elements connected to a CORDIC processor, also known as the digit - by - digit method and the Volder algorithm, which implements a concise and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, bit - shifting, and table - reference operations.

[0278] In one aspect, control circuit 710 may communicate with one or more sensors 738. The sensors 738 may be positioned on end effector 702 and adapted to operate with robotic surgical instrument 700 to measure various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors 738 may include magnetic sensors, magnetic field sensors, strain gauges, load cells, pressure sensors, force sensors, torque sensors, inductive sensors such as eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors for measuring one or more parameters of end effector 702. The sensors 738 may include one or more sensors. The sensors 738 may be located on the deck of staple cartridge 718 to determine the position of tissue using segmented electrodes. Torque sensors 744a - 744e may be configured to sense forces such as, among other things, firing force, closing force, and / or articulation force. Thus, control circuit 710 can sense (1) the closing load experienced by the distal closure tube and its position, (2) the firing member in the rack and its position, (3) which part of staple cartridge 718 has tissue thereon, and (4) the loads and positions on both articulation rods.

[0279] In one aspect, one or more sensors 738 may include strain gauges such as micro strain gauges configured to measure the magnitude of strain in anvil 716 during the gripping state. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors 738 may include pressure sensors configured to detect the pressure generated by the presence of tissue compressed between anvil 716 and staple cartridge 718. The sensors 738 may be configured to detect the impedance of the tissue portion located between anvil 716 and staple cartridge 718, which impedance indicates the thickness and / or fullness of the tissue located therebetween.

[0280] In one aspect, the sensor 738 may be implemented as, among other things, one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive (GMR) devices, magnetometers. In other implementations, the sensor 738 may be implemented as, among other things, solid state switches that operate under the influence of light such as optical sensors, IR sensors, ultraviolet sensors. Further, the switch may be a solid state device such as a transistor (e.g., FET, junction FET, MOSFET, bipolar, etc.). In other implementations, the sensor 738 may include, among other things, conductor-free switches, ultrasonic switches, accelerometers, and inertial sensors.

[0281] In one aspect, the sensor 738 may be configured to measure the force exerted on the anvil 716 by the closure drive system. For example, one or more sensors 738 may be located at the point of interaction between the closure tube and the anvil 716 to detect the closure force applied to the anvil 716 by the closure tube. The force exerted on the anvil 716 may represent the tissue compression experienced by the tissue portion captured between the anvil 716 and the staple cartridge 718. One or more sensors 738 can be positioned at various points of interaction along the closure drive system to detect the closure force applied to the anvil 716 by the closure drive system. One or more sensors 738 may be sampled in real time during the clamping operation by the processor of the control circuit 710. The control circuit 710 receives the real-time sample measurements, provides and analyzes time-based information, and evaluates in real time the closure force applied to the anvil 716.

[0282] In one aspect, a current sensor 736 can be used to measure the current drawn by each of motors 704a - 704e. The force required to advance any of the movable mechanical elements such as I - beam 714 corresponds to the current drawn by one of motors 704a - 704e. The force is converted into a digital signal and provided to control circuit 710. Control circuit 710 can be configured to simulate the response of the actual system of the instrument with the controller's software. The displacement member can be actuated to move the I - beam 714 within end - effector 702 at or near a target velocity. Robotic surgical instrument 700 can include a feedback controller, which can be any one of, for example, but not limited to, PID, state feedback, linear quadratic (LQR), and / or adaptive controllers. Robotic surgical instrument 700 can include a power source for converting a signal from the feedback controller into a physical input such as, for example, case voltage, PWM voltage, frequency - modulated voltage, current, torque, and / or force. Further details are disclosed in U.S. Patent Application No. 15 / 636,829, filed on June 29, 2017, entitled "CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT", which is hereby incorporated by reference in its entirety.

[0283] FIG. 42 shows a block diagram of a surgical instrument 750 programmed to control the distal translation of a displacement member, according to one aspect of the present disclosure. In one aspect, surgical instrument 750 is programmed to control the distal translation of a displacement member such as I - beam 764. Surgical instrument 750 includes an end - effector 752 that can include an anvil 766, an I - beam 764 (including a sharp cutting edge), and a removable staple cartridge 768.

[0284] The position, movement, displacement, and / or translation of a linear displacement member such as the I-beam 764 can be measured by an absolute positioning system, a sensor mechanism, and a position sensor 784. Since the I-beam 764 is connected to a drive member that is movable in the longitudinal direction, the position of the I-beam 764 can be determined by measuring the position of the drive member that is movable in the longitudinal direction using the position sensor 784. Thus, in the following description, the position, displacement, and / or translation of the I-beam 764 can be achieved by the position sensor 784 described herein. The control circuit 760 may be programmed to control the translation of a displacement member such as the I-beam 764. In some embodiments, the control circuit 760 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions to control a displacement member, such as the I-beam 764, in the manner described. In one aspect, a timer / counter 781 provides an output signal, such as an elapsed time or a digital count, to the control circuit 760 to correlate the position of the I-beam 764 determined by the position sensor 784 with the output of the timer / counter 781, such that the control circuit 760 can determine the position of the I-beam 764 at a particular time (t) relative to the starting position. The timer / counter 781 may be configured to measure the elapsed time, count external events, or measure the time of external events.

[0285] The control circuit 760 may generate a motor setpoint signal 772. The motor setpoint signal 772 may be provided to the motor controller 758. The motor controller 758 may include one or more circuits configured to drive the motor 754 by providing a motor drive signal 774 to the motor 754 as described herein. In some embodiments, the motor 754 may be a brushed DC electric motor. For example, the speed of the motor 754 may be proportional to the motor drive signal 774. In some examples, the motor 754 may be a brushless DC electric motor, and the motor drive signal 774 may include a PWM signal provided to one or more stator windings of the motor 754. Also, in some embodiments, the motor controller 758 may be omitted, and the control circuit 760 may directly generate the motor drive signal 774.

[0286] The motor 754 can receive power from the energy source 762. The energy source 762 may be a battery, a supercapacitor, or any other suitable energy source, or may include the same. The motor 754 can be mechanically coupled to the I-beam 764 via the transmission device 756. The transmission device 756 may include one or more gears or other coupling components for coupling the motor 754 to the I-beam 764. The position sensor 784 can sense the position of the I-beam 764. The position sensor 784 may be or include any type of sensor capable of generating position data indicating the position of the I-beam 764. In some embodiments, the position sensor 784 may include an encoder configured to provide a series of pulses to the control circuit 760 as the I-beam 764 translates distally and proximally. The control circuit 760 may track the pulses to determine the position of the I-beam 764. Other suitable position sensors, such as proximity sensors, may be used. Other types of position sensors can provide other signals indicative of the movement of the I-beam 764. Also, in some embodiments, the position sensor 784 may be omitted. If the motor 754 is a stepper motor, the control circuit 760 can track the position of the I-beam 764 by summing the number and direction of steps instructed for the motor 754 to perform. The position sensor 784 can be located within the end effector 752 or any other part of the instrument.

[0287] The control circuit 760 can communicate with one or more sensors 788. The sensors 788 are positioned on the end effector 752 and can be adapted to operate with the surgical instrument 750 to measure various derived parameters such as gap distance vs. time, tissue compression vs. time, and anvil strain vs. time. The sensors 788 can include inductive sensors such as magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors for measuring one or more parameters of the end effector 752. The sensors 788 can include one or more sensors.

[0288] One or more sensors 788 may comprise strain gauges, such as micro strain gauges, configured to measure the magnitude of strain in the anvil 766 during the clamping state. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensor 788 may comprise a pressure sensor configured to detect the pressure generated by the presence of tissue compressed between the anvil 766 and the staple cartridge 768. The sensor 788 may be configured to detect the impedance of a tissue portion located between the anvil 766 and the staple cartridge 768, which impedance indicates the thickness and / or fullness of the tissue located therebetween.

[0289] The sensor 788 may be configured to measure the force exerted on the anvil 766 by a closing drive system. For example, one or more sensors 788 may be located at the point of interaction between a closing tube and the anvil 766 to detect the closing force applied to the anvil 766 by the closing tube. The force exerted on the anvil 766 may represent the tissue compression experienced by the tissue portion captured between the anvil 766 and the staple cartridge 768. One or more sensors 788 can be positioned at various points of interaction along the closing drive system to detect the closing force applied to the anvil 766 by the closing drive system. One or more sensors 788 may be sampled in real time by the processor of the control circuit 760 during the clamping operation. The control circuit 760 receives real-time sample measurements, provides and analyzes time-based information, and evaluates in real time the closing force applied to the anvil 766.

[0290] A current sensor 786 can be used to measure the current drawn by the motor 754. The force required to advance the I-beam 764 corresponds to the current drawn by the motor 754. The force is converted into a digital signal and provided to the control circuit 760.

[0291] The control circuit 760 can be configured to simulate the response of the actual system of the instrument with the controller's software. The displacement member can be actuated to move the I-beam 764 within the end effector 752 at or near the target speed. The surgical instrument 750 can include a feedback controller, and the feedback controller can be any one of any feedback controllers such as, for example, but not limited to, PID, state feedback, LQR, and / or adaptive controllers. The surgical instrument 750 can include a power source for converting a signal from the feedback controller into a physical input such as, for example, case voltage, PWM voltage, frequency modulation voltage, current, torque, and / or force.

[0292] The actual drive system of the surgical instrument 750 is configured to drive the displacement member, the cutting member, or the I-beam 764 by a brushed DC motor with a gearbox and mechanical links to the articulation motion and / or the knife system. Another example is an electric motor 754 that operates, for example, the displacement member and the articulation motion driver of an interchangeable shaft assembly. External influences are unmeasured and unpredictable influences such as tissue, ambient bodies, and friction on the physical system. Such external influences may be referred to as disturbances that act against the electric motor 754. External influences such as disturbances may cause the operation of the physical system to deviate from the desired operation of the physical system.

[0293] Various exemplary aspects are directed to a surgical instrument 750 having an end effector 752 with a motor-driven surgical stapling and cutting instrument. For example, a motor 754 may drive a displacement member distally and proximally along the longitudinal axis of the end effector 752. The end effector 752 may include a pivotable anvil 766 and, when configured for use, a staple cartridge 768 positioned on the opposite side of the anvil 766. A clinician may grasp tissue between the anvil 766 and the staple cartridge 768 as described herein. When the instrument 750 is ready for use, the clinician may provide a firing signal, for example, by depressing a trigger of the instrument 750. In response to the firing signal, the motor 754 can drive the displacement member distally along the longitudinal axis of the end effector 752 from a proximal stroke start position to a stroke end position distal to the stroke start position. As the displacement member translates distally, an I-beam 764 having a cutting element positioned at its distal end can cut tissue between the staple cartridge 768 and the anvil 766.

[0294] In various embodiments, the surgical instrument 750 may include a control circuit 760 programmed to control the distal translation of a displacement member, such as the I-beam 764, based on one or more tissue states. The control circuit 760 may be programmed to sense a tissue state, such as thickness, either directly or indirectly, as described herein. The control circuit 760 may be programmed to select a firing control program based on the tissue state. The firing control program may describe the distal movement of the displacement member. Various firing control programs may be selected to better handle various tissue states. For example, if thicker tissue is present, the control circuit 760 may be programmed to translate the displacement member at a slower speed and / or with less power. If thinner tissue is present, the control circuit 760 may be programmed to translate the displacement member at a faster speed and / or with more power.

[0295] In some embodiments, the control circuit 760 may first operate the motor 754 in an open-loop configuration for a first open-loop portion of the displacement member's stroke. Based on the response of the instrument 750 during the open-loop portion of the stroke, the control circuit 760 may select a firing control program. The response of the instrument may include, for example, the translational distance of the displacement member during the open-loop portion, the time elapsed during the open-loop portion, the energy provided to the motor 754 during the open-loop portion, the total pulse width of the motor drive signal, and the like. After the open-loop portion, the control circuit 760 may implement the selected firing control program for a second portion of the displacement member stroke. For example, during the closed-loop portion of the stroke, the control circuit 760 may modulate the motor 754 in a closed-loop manner based on translational data describing the position of the displacement member to translate the displacement member at a constant speed. Further details are disclosed in U.S. Patent Application No. 15 / 720,852, filed September 29, 2017, entitled "SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT", which is hereby incorporated by reference in its entirety.

[0296] FIG. 43 is a schematic view of a surgical instrument 790 configured to control various functions, according to one aspect of the present disclosure. In one aspect, the surgical instrument 790 is programmed to control the distal translation of a displacement member, such as an I-beam 764. The surgical instrument 790 may include an end effector 792 that may include an anvil 766, an I-beam 764, and a detachable staple cartridge 768 that can be exchanged with an RF cartridge 796 (shown in dashed lines).

[0297] In one aspect, the sensor 788 may be implemented as, among other things, a limit switch, an electromechanical device, a solid state switch, a Hall effect device, an MR device, a GMR device, or a magnetometer. In other implementations, the sensor 638 may be, among other things, a solid state switch that operates under the influence of light, such as an optical sensor, an IR sensor, or an ultraviolet sensor. Further, the switch may be a solid state device such as a transistor (e.g., FET, junction FET, MOSFET, bipolar, etc.). In other implementations, the sensor 788 may include, among other things, a conductor-free switch, an ultrasonic switch, an accelerometer, and an inertial sensor.

[0298] In one aspect, the position sensor 784 may be implemented as an absolute positioning system comprising a magnetic rotary absolute positioning system implemented as the AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor 784 can provide an absolute positioning system in association with the control circuit 760. The position may be located above a magnet and may include a plurality of Hall effect elements coupled to a CORDIC processor, also known as the digit-by-digit method and the border algorithm, which implements a concise and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, bit shifting, and table reference operations.

[0299] In one aspect, the I-beam 764 may be implemented as a knife member having a knife body that operably supports a tissue cutting blade thereon, and may further include an anvil engagement tab or feature and a channel engagement feature or foot. In one aspect, the staple cartridge 768 may be implemented as a standard (mechanical) surgical fastener cartridge. In one aspect, the RF cartridge 796 may be implemented as an RF cartridge. These, and other sensor mechanisms, are described in U.S. Patent Application No. 15 / 628,175, filed on June 20, 2017, of the same applicant and titled "TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT", which is hereby incorporated by reference in its entirety.

[0300] The position, movement, displacement, and / or translation of a linear displacement member, such as I-beam 764, can be measured by a position sensor represented as an absolute positioning system, a sensor mechanism, and position sensor 784. Since the I-beam 764 is connected to a drive member movable in the longitudinal direction, the position of the I-beam 764 can be determined by measuring the position of the drive member movable in the longitudinal direction using the position sensor 784. Thus, in the following description, the position, displacement, and / or translation of the I-beam 764 can be achieved by the position sensor 784 described herein. The control circuit 760 may be programmed to control the translation of a displacement member, such as the closure member 764, as described herein. In some embodiments, the control circuit 760 may include one or more microcontrollers, microprocessors, or other suitable processors for executing instructions to cause the displacement member, such as the I-beam 764, to be controlled in the described manner. In one aspect, a timer / counter 781 provides an output signal, such as an elapsed time or a digital count, to the control circuit 760 to correlate the position of the I-beam 764 determined by the position sensor 784 with the output of the timer / counter 781, such that the control circuit 760 can determine the position of the I-beam 764 at a particular time (t) relative to the starting position. The timer / counter 781 may be configured to measure the elapsed time, count external events, or measure the time of external events.

[0301] The control circuit 760 may generate a motor setpoint signal 772. The motor setpoint signal 772 may be provided to the motor controller 758. The motor controller 758 may include one or more circuits configured to drive the motor 754 by providing a motor drive signal 774 to the motor 754 as described herein. In some embodiments, the motor 754 may be a brushed DC electric motor. For example, the speed of the motor 754 may be proportional to the motor drive signal 774. In some examples, the motor 754 may be a brushless DC electric motor, and the motor drive signal 774 may include a PWM signal provided to one or more stator windings of the motor 754. Also, in some embodiments, the motor controller 758 may be omitted, and the control circuit 760 may directly generate the motor drive signal 774.

[0302] The motor 754 can receive power from an energy source 762. The energy source 762 may be a battery, a supercapacitor, or any other suitable energy source, or may include the same. The motor 754 can be mechanically coupled to the I-beam 764 via a transmission device 756. The transmission device 756 may include one or more gears or other coupling components for coupling the motor 754 to the I-beam 764. A position sensor 784 can sense the position of the I-beam 764. The position sensor 784 may be or include any type of sensor capable of generating position data indicating the position of the I-beam 764. In some embodiments, the position sensor 784 may include an encoder configured to provide a series of pulses to a control circuit 760 as the I-beam 764 translates distally and proximally. The control circuit 760 may track the pulses to determine the position of the I-beam 764. Other suitable position sensors, such as proximity sensors, may be used. Other types of position sensors can provide other signals indicative of the movement of the I-beam 764. Also, in some embodiments, the position sensor 784 may be omitted. If the motor 754 is a stepper motor, the control circuit 760 can track the position of the I-beam 764 by summing the number and direction of steps the motor is instructed to perform. The position sensor 784 can be located within the end effector 792 or any other part of the instrument.

[0303] The control circuit 760 can communicate with one or more sensors 788. The sensors 788 are positioned on the end effector 792 and can be adapted to operate with the surgical instrument 790 to measure various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors 788 can include inductive sensors such as magnetic sensors, magnetic field sensors, strain gauges, pressure sensors, force sensors, eddy current sensors, resistive sensors, capacitive sensors, optical sensors, and / or any other suitable sensors for measuring one or more parameters of the end effector 792. The sensors 788 can include one or more sensors.

[0304] One or more sensors 788 may comprise a strain gauge, such as a micro strain gauge, configured to measure the magnitude of strain in anvil 766 during the clamping state. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensor 788 may comprise a pressure sensor configured to detect the pressure generated by the presence of tissue compressed between the anvil 766 and the staple cartridge 768. The sensor 788 may be configured to detect the impedance of a tissue portion located between the anvil 766 and the staple cartridge 768, which impedance indicates the thickness and / or fullness of the tissue located therebetween.

[0305] The sensor 788 may be configured to measure the force exerted on the anvil 766 by a closure drive system. For example, one or more sensors 788 may be located at the point of interaction between the closure tube and the anvil 766 to detect the closure force applied to the anvil 766 by the closure tube. The force exerted on the anvil 766 may represent the tissue compression experienced by the tissue portion captured between the anvil 766 and the staple cartridge 768. One or more sensors 788 may be positioned at various points of interaction along the closure drive system to detect the closure force applied to the anvil 766 by the closure drive system. One or more sensors 788 may be sampled in real time during the clamping operation by the processor portion of the control circuit 760. The control circuit 760 receives the real-time sample measurements, provides and analyzes time-based information, and evaluates in real time the closure force applied to the clamp arm 766.

[0306] A current sensor 786 can be used to measure the current drawn by the motor 754. The force required to advance the I-beam 764 corresponds to the current drawn by the motor 754. The force is converted into a digital signal and provided to the control circuit 760.

[0307] The RF energy source 794 is coupled to the end effector 792 and is applied to the RF cartridge 796 when the RF cartridge 796 is loaded onto the end effector 792 in place of the staple cartridge 768. The control circuit 760 controls the delivery of RF energy to the RF cartridge 796.

[0308] Further details are disclosed in U.S. Patent Application No. 15 / 636,096, filed June 28, 2017, entitled "SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME", which is hereby incorporated by reference in its entirety.

[0309] Generator hardware FIG. 44 is a simplified block diagram of a generator 800 configured to provide inductive tuning, among other advantages. Additional details of generator 800 are described in U.S. Patent No. 9,060,775, filed Jun. 23, 2015, entitled “SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES,” the disclosure of which is incorporated herein by reference in its entirety. Generator 800 may include a patient isolation stage 802 that communicates with a non-isolated stage 804 via a power transformer 806. The secondary winding 808 of power transformer 806 is housed within isolation stage 802 and may comprise a tap configuration (e.g., a center tap or non-center tap configuration) for defining drive signal outputs 810a, 810b, 810c for delivering drive signals to different surgical instruments, such as ultrasonic surgical instruments, RF electrosurgical instruments, and multi-functional surgical instruments including ultrasonic and RF energy modes deliverable alone or simultaneously. Specifically, drive signal outputs 810a, 810c may output an ultrasonic drive signal (e.g., a 420V root-mean-square (RMS) drive signal) to an ultrasonic surgical instrument, and drive signal outputs 810b, 810c may output an RF electrosurgical drive signal (e.g., a 100V RMS drive signal) to an RF electrosurgical instrument by drive output 810b corresponding to the center tap of power transformer 806.

[0310] In certain forms, the ultrasonic and electrosurgical drive signals may be provided simultaneously to separate surgical instruments and / or to a single surgical instrument such as a multi-functional surgical instrument having the ability to deliver both ultrasonic energy and electrosurgical energy to tissue. The electrosurgical signal provided to either a dedicated electrosurgical instrument and / or a combined multi-functional ultrasonic / electrosurgical instrument is either a therapeutic or sub-therapeutic level signal, and the sub-therapeutic signal can be understood to be used, for example, to monitor tissue or instrument status and provide feedback to the generator. For example, ultrasonic and RF signals can be delivered separately or simultaneously from a generator having a single output port to provide the desired output signal to the surgical instrument, as will be discussed in more detail below. Thus, the generator can combine ultrasonic energy and electrosurgical RF energy to deliver the combined energy to a multi-functional ultrasonic / electrosurgical instrument. The bipolar electrodes can be placed on one or both jaws of the end effector. One jaw may be driven by ultrasonic energy in addition to electrosurgical RF energy acting simultaneously. While ultrasonic energy may be used to incise tissue, electrosurgical RF energy may be used for vessel sealing.

[0311] The non-insulated stage 804 may include a power amplifier 812 having an output connected to the primary winding 814 of the power transformer 806. In certain forms, the power amplifier 812 may include a push-pull amplifier. For example, the non-insulated stage 804 may further include a logic device 816 for supplying a digital output to a digital-to-analog converter (DAC) circuit 818 that supplies a corresponding analog signal following the input of the power amplifier 812. In certain forms, the logic device 816 may include, among other logic circuits, for example, a programmable gate array (PGA), an FPGA, a programmable logic device (PLD). Thus, the logic device 816 can control any of many parameters (e.g., frequency, waveform, waveform amplitude) of the drive signals appearing at the drive signal output portions 810a, 810b, 810C by controlling the input to the power amplifier 812 via the DAC circuit 818. In certain forms, also as described below, together with the logic device 816, a processor (e.g., the DSP described below), many DSP-based and / or other control algorithms can be implemented to control the parameters of the drive signals output by the generator 800.

[0312] Power can be supplied to the power rail of the power amplifier 812 by a switch mode regulator 820, such as a power converter. In certain forms, the switch mode regulator 820 may comprise, for example, an adjustable buck regulator. The non-insulating stage 804 may further comprise a first processor 822, which in one form may comprise, for example, a DSP processor such as the Analog Devices ADSP-21469 SHARC DSP available from Analog Devices (Norwood, MA), although in various forms any suitable processor may be used. In a particular form, the DSP processor 822 may control the operation of the switch-mode regulator 820 in response to voltage feedback data received by the DSP processor 822 from the power amplifier 812 via the ADC circuit 824. In one form, for example, the DSP processor 822 may receive as input, via the ADC circuit 824, the waveform envelope of the signal (e.g., an RF signal) amplified by the power amplifier 812. The DSP processor 822 may then control the switch-mode regulator 820 (e.g., the PWM output) such that the rail voltage supplied to the power amplifier 812 tracks the waveform envelope of the amplified signal. By dynamically modulating the rail voltage of the power amplifier 812 based on the waveform envelope, the efficiency of the power amplifier 812 can be significantly improved relative to a fixed rail voltage amplifier scheme.

[0313] In certain forms, the logic device 816, along with the DSP processor 822, may implement a digital synthesis circuit such as a direct digital synthesizer control scheme to control the waveform shape, frequency, and / or amplitude of the drive signal output by the generator 800. In one form, for example, the logic device 816 may implement a DDS control algorithm by calling waveform samples stored in a dynamically updated look-up table (LUT), such as a RAM LUT embedded within the FPGA. This control algorithm is particularly useful in ultrasonic applications where an ultrasonic transducer, such as an ultrasonic converter, can be driven by a distinct sine wave current at its resonant frequency. Since other frequencies can excite parasitic resonances, minimizing or reducing the total distortion of the operating branch current can correspondingly minimize or reduce undesirable resonance effects. The waveform of the drive signal output by the generator 800 is affected by various distortion sources (e.g., power transformer 806, power amplifier 812) present within the output drive circuit. Thus, voltage and current feedback data based on the drive signal can be input into an algorithm, such as an error control algorithm executed by the DSP processor 822, which can suitably pre-distort or correct the waveform samples stored in the LUT in a dynamic, progressive basis (e.g., in real-time) to compensate for the distortion. In one form, the amount or degree of pre-distortion applied to the LUT samples may be based on the error between the calculated operating branch current and the desired current waveform, which is determined for each sample. In this way, when the pre-distorted LUT samples are processed by the drive circuit, they can produce an operating branch drive signal having a desired waveform shape (e.g., a sine wave) to optimally drive the ultrasonic transducer. In such a form, the LUT waveform samples thus represent not the desired waveform of the drive signal, but rather the waveforms necessary to ultimately generate the desired waveform of the operating branch drive signal when considering the distortion effects.

[0314] The non-insulated stage 804 may further include a first ADC circuit 826 and a second ADC circuit 828 connected to the output of the power transformer 806 via respective isolation transformers 830, 832 to sample the voltage and current of the drive signal output by the generator 800, respectively. In certain forms, the ADC circuits 826, 828 may be configured to sample at high speed (e.g., 80 megasamples per second (MSPS)) to enable oversampling of the drive signal. In one form, for example, the sampling speed of the ADC circuits 826, 828 may enable approximately 200x (frequency-dependent) oversampling of the drive signal. In certain forms, the sampling operation of the ADC circuits 826, 828 may be performed by a single ADC circuit that receives the input voltage and current signals via a bidirectional multiplexer. The use of high-speed sampling in the form of the generator 800 enables, among other things, the calculation of complex currents flowing through the operating branches (which may be used in certain forms to implement the DDS-based waveform shaping described above), accurate digital filtering of the sampled signals, and the calculation of actual power consumption with high precision. The voltage and current feedback data output by the ADC circuits 826, 828 may be received and processed by the logic device 816 (e.g., first-in-first-out (FIFO) buffer, multiplexer, etc.) and stored in a data memory for subsequent reading, for example, by the DSP processor 822. As described above, the voltage and current feedback data may be used as input to an algorithm to pre-distort or modify the LUT waveform samples on a dynamic and progressive basis. In certain forms, this may require that each stored voltage and current feedback data pair be indexed based on or otherwise related to the corresponding LUT sample output by the logic device 816 when a voltage and current feedback data pair is obtained. The synchronization of the LUT samples with the voltage and current feedback data by this method contributes to the accurate timing and stability of the predistortion algorithm.

[0315] In certain embodiments, the feedback data of voltage and current may be used to control the frequency and / or amplitude of the drive signal (e.g., current amplitude). For example, in one embodiment, the feedback data of voltage and current may be used to determine the impedance phase. Subsequently, the frequency of the drive signal is controlled to minimize or reduce the difference between the determined impedance phase and the impedance phase set value (e.g., 0°), thereby minimizing or reducing the influence of harmonic distortion and correspondingly improving the measurement accuracy of the impedance phase. The determination of the phase impedance and the frequency control signal may be implemented, for example, in the DSP processor 822, and the frequency control signal is supplied as an input to the DDS control algorithm implemented by the logic device 816.

[0316] In another embodiment, for example, the feedback data of current may be monitored to maintain the current amplitude of the drive signal at the current amplitude set point. The current amplitude set value may be specified directly or may be determined indirectly based on the specified voltage amplitude and power set value. In certain embodiments, the control of the current amplitude may be performed by a control algorithm, such as a proportional-integral-derivative (PID) control algorithm within the DSP processor 822. To suitably control the current amplitude of the drive signal, the variables controlled by the control algorithm may include, for example, the scaling of the LUT waveform samples stored in the logic device 816 and / or the full-scale output voltage of the DAC circuit 818 (which supplies an input to the power amplifier 812) via the DAC circuit 834.

[0317] The non-insulated stage 804 may further include a second processor 836, particularly to provide user interface (UI) functionality. In one form, the UI processor 836 may include, for example, the Atmel AT91SAM9263 processor with an ARM 926EJ-S core, available from Atmel Corporation (San Jose, California). Examples of UI functions supported by the processor 836 can include auditory and visual user feedback, communication with peripheral devices (e.g., via a USB interface), communication with a foot switch, communication with an input device (e.g., a touch screen display), and communication with an output device (e.g., a speaker). The UI processor 836 can communicate with the DSP processor 822 and the logic device 816 (e.g., an SPI bus). The UI processor 836 may mainly support UI functionality, but in certain forms, the UI processor 836 may also cooperate with the DSP processor 822 to achieve risk mitigation. For example, the UI processor 836 may be programmed to monitor various aspects of user input and / or other inputs (e.g., touch screen input, foot switch input, temperature sensor input), and when an incorrect state is detected, it can invalidate the drive output of the generator 800.

[0318] In certain forms, both the DSP processor 822 and the UI processor 836 may, for example, determine and monitor the operating state of the generator 800. With respect to the DSP processor 822, the operating state of the generator 800 may, for example, represent which control and / or diagnostic processes are implemented by the DSP processor 822. With respect to the UI processor 836, the operating state of the generator 800 may, for example, represent which elements of the UI (e.g., display screen, sound) are provided to the user. The DSP processor 822 and the UI processor 836 may each separately maintain the current operating state of the generator 800 and recognize and evaluate possible transitions from the current operating state. The DSP processor 822 may function as the master in this relationship and determine when a transition between operating states occurs. The UI processor 836 may recognize valid transitions between operating states and also verify whether a particular transition is appropriate. For example, when the DSP processor 822 instructs the UI processor 836 to transition to a particular state, the UI processor 836 may verify that the requested transition is valid. If the requested transition between states is determined to be invalid by the UI processor 836, the UI processor 836 may put the generator 800 into a fault mode.

[0319] The non-insulating stage 804 may further include a controller 838 (e.g., a capacitive touch sensor, capacitive touch screen used to turn the generator 800 on and off) for monitoring the input device. In certain forms, the controller 838 may include at least one processor and / or another controller device that communicates with the UI processor 836. In one form, for example, the controller 838 may include a processor (e.g., a Meg168 8-bit controller available from Atmel) configured to monitor user input provided via one or more capacitive touch sensors. In one form, the controller 838 may include a touch screen controller (e.g., a QT5480 touch screen controller available from Atmel) for controlling and managing the acquisition of touch data from the capacitive touch screen.

[0320] In certain forms, when the generator 800 is in the "power off" state, the controller 838 may continue to receive operating power (e.g., via a line from the power source of the generator 800 such as the power supply 854 described below). In this way, the controller 838 can continue to monitor an input device (e.g., a capacitive touch sensor disposed on the front panel of the generator 800) for turning the generator 800 on and off. When the generator 800 is in the power off state, if the controller 838 detects activation of the "on / off" input device by the user, it can activate the power supply (e.g., activate the operation of one or more DC / DC voltage converters 856 of the power supply 854). As a result, the controller 838 can initiate a sequence for transitioning the generator 800 to the "power on" state. Conversely, if activation of the "on / off" input device is detected when the generator 800 is in the power on state, the controller 838 can initiate a sequence for transitioning the generator 800 to ...

Claims

1. A method for operating a computer-implemented surgical system, the computer-implemented surgical system including a surgical hub, a cloud computing network, a surgical exhaust system, and a modular device, the surgical exhaust system and the modular device being in signal communication with the surgical hub, the surgical hub being a central connection for network connecting a plurality of the modular devices installed in an operating room, at least one of the plurality of modular devices including a generator, the method comprising: obtaining, by the surgical exhaust system, a value of a parameter regarding the environment in the operating room; transmitting, to the surgical hub, the value of the parameter; processing, by the surgical hub, the value of the parameter; determining, by the surgical hub, an impact of the value of the parameter on at least one of the surgical exhaust system and the generator; sending, from the surgical hub based on the impact, an instruction for adjusting an operation to at least one of the surgical exhaust system and the generator; and adjusting, based on the instruction, an operation of at least one of the surgical exhaust system and the generator.

2. The method according to claim 1, wherein the parameter is sensed by an internal sensor within the surgical exhaust system.

3. The method according to claim 2, wherein the parameter is at least one of a particulate concentration, an aerosol ratio, or a chemical analysis, and any combination thereof.

4. The method according to claim 2, wherein the internal sensor within the surgical exhaust system is at least one of a fluid sensor, a chemical sensor, a laser particle counter, or a pressure sensor, and any combination thereof.

5. The method according to claim 1, wherein the parameter is an operation parameter.

6. The method according to claim 5, wherein the operation parameter is at least one of an air flow, a pressure difference between inside and outside of the operating room, or an air quality, and any combination thereof.

7. The method according to claim 5, wherein the operation parameter is sensed by at least one of an air quality particle sensor or a surrounding pressure sensor, and any combination thereof.

8. The method of claim 1, further comprising transmitting the value of the parameter from the surgical hub to the cloud computing network.

9. The method of claim 8, wherein the value of the parameter is processed by the surgical hub before being transmitted to the cloud computing network.

10. The method of claim 8, wherein the value of the parameter is transmitted from the surgical hub to the cloud computing network via a network router.

11. The method of claim 1, wherein the surgical drainage system obtains values of at least two of the parameters.

12. The modular device including the generator is a first modular device, the computer-implemented surgical system includes a second modular device, and the second modular device includes at least one of a visualization circuit, a robot circuit, an intelligent communication circuit, an imaging circuit, a second generator, a suction / irrigation circuit, a communication device, a processor, a storage array, and a circuit for generating a map of the operating room. The method of claim 1.

13. The method of claim 1, wherein at least one of the cloud computing network and the surgical hub communicates bidirectionally with at least one of the surgical drainage system and the generator.

14. The method of claim 1, wherein the cloud computing network communicates bidirectionally with the surgical hub.

15. The method of claim 1, wherein at least one of the cloud computing network and the surgical hub includes an algorithm included in a memory to determine an impact of the value of the parameter on at least one of the surgical drainage system and the generator.

16. The method of claim 1, wherein at least one of the cloud computing network and the surgical hub includes learning software included in a memory to determine an impact of the value of the parameter on at least one of the surgical drainage system and the generator.

17. The surgical drainage system includes a smoke exhaust module, Adjusting the operation is Operating the smoke exhaust module more slowly and / or sensing the parameter less frequently, or The method according to claim 1, comprising operating the smoke exhaust module at a higher speed and / or sensing the parameter at a higher frequency.

18. The surgical exhaust system is for exhausting smoke generated during a surgical procedure that utilizes one or more energy devices, and the energy device is configured to be supplied with energy by the generator. The method according to claim 1.

19. A computer-implemented surgical system, A surgical hub including a processor and a memory, a surgical hub, A cloud computing network, A modular device in signal communication with the surgical hub, A smoke exhaust module in signal communication with the surgical hub, and The surgical hub is a central connection unit for network-connecting a plurality of the modular devices installed in an operating room, and at least one of the plurality of modular devices includes a generator. The smoke exhaust module is Obtaining a value of a parameter regarding the environment in the operating room, and Transmitting the value of the parameter to the surgical hub, and is configured to perform. The surgical hub is Processing the value of the parameter, and Determining an influence of the value of the parameter on at least one of the smoke exhaust module and the generator, and Based on the influence, sending an instruction for adjusting the operation to at least one of the smoke exhaust module and the generator, and is configured to perform. At least one of the smoke exhaust module and the generator is A computer-implemented surgical system configured to adjust its operation based on the instruction.

20. A non-transitory computer-readable medium storing computer-readable instructions that, when executed, cause a computer-implemented surgical system comprising a surgical hub, a cloud computing network, a surgical exhaust system, and a modular device, wherein the surgical exhaust system and the modular device are in signal communication with the surgical hub, and the surgical hub is a central connection unit installed in an operating room for network-connecting a plurality of the modular devices, and at least one of the plurality of modular devices includes a generator, to a computer-implemented surgical system obtaining, by the surgical exhaust system, a value of a parameter regarding an environment in the operating room transmitting, to the surgical hub, the value of the parameter processing, by the surgical hub, the value of the parameter determining, by the surgical hub, an effect of the value of the parameter on at least one of the surgical exhaust system and the generator sending, based on the effect, from the surgical hub, an instruction for adjusting an operation to at least one of the surgical exhaust system and the generator causing at least one of the surgical exhaust system and the generator to adjust an operation based on the instruction. A non-transitory computer-readable medium

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