Firing circuitry and control algorithms for surgical staplers.

Abstract

The surgical instrument includes a body having a firing actuator, a shaft, a motor, an end effector, and a control circuit. The motor is configured to activate in response to a firing actuation of the firing actuator. The end effector is operable to staple and cut tissue and includes a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position in response to activation of the motor. The control circuit is configured to generate a forward motor control signal to pulse the cutting edge. The forward motor control signal includes a first duration that includes distal movement of the cutting edge from the proximal position to a second longitudinal position, a second duration that includes stopped movement of the cutting edge, and a third duration that includes distal movement of the cutting edge from the second longitudinal position toward the distal position.

Description

[Background technology]

[0001] Examples of surgical instruments include surgical staplers, some of which are operable to clamp tissue layers, cut the clamped tissue layers, and drive staples through the tissue layers to substantially seal the cut tissue layers together near the cut ends of the tissue layers. Examples of surgical staplers are disclosed in U.S. Pat. No. 7,404,508, entitled "Surgical Stapling and Cutting Device," issued July 29, 2008; U.S. Pat. No. 7,434,715, entitled "Surgical Stapling Instrument Having Multistroke Firing with Opening Lockout," issued October 14, 2008; U.S. Pat. No. 7,721,930, entitled "Disposable Cartridge with Adhesive for Use with a Stapling Device," issued May 25, 2010; U.S. Pat. No. 8,408,439, entitled "Surgical Stapling Instrument with An Articulatable End Effector," issued April 2, 2013; and U.S. Pat. No. 8,453,914, entitled "Motor-Driven Surgical Cutting Instrument with Electric Actuator Directional Control Assembly," issued June 4, 2013. The disclosure of each of the above-cited US patents is incorporated herein by reference in its entirety.

[0002] While many different types of surgical stapling instruments and related components have been made and used, it is believed that no one prior to the present inventors has made or used the invention as set forth in the appended claims. [Brief explanation of the drawings]

[0003] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description of the embodiments given below, serve to explain the principles of the invention. [Figure 1] FIG. 1 is a perspective view of an exemplary articulating surgical stapling instrument. [Figure 2] FIG. 2 is a side view of the device of FIG. 1. [Figure 3] FIG. 2 is a perspective view of the open end effector of the instrument of FIG. 1; [Figure 4A] 4 is a side cross-sectional view of the end effector of FIG. 3 taken along line 4-4 of FIG. 3 with the firing beam in a proximal position. [Figure 4B] 4 is a side cross-sectional view of the end effector of FIG. 3 taken along line 4-4 of FIG. 3 with the firing beam in a distal position. [Figure 5] 5 is a cross-sectional end view of the end effector of FIG. 3 taken along line 5-5 of FIG. 3. [Figure 6] FIG. 4 is an exploded perspective view of the end effector of FIG. 3. [Figure 7] 4 is a perspective view of the end effector of FIG. 3 after being placed in tissue and actuated once within the tissue. [Figure 8] FIG. 2 is a schematic diagram of an exemplary control circuit that may be incorporated into the device of FIG. 1. [Figure 9] 9 is a first exemplary firing circuit that can be incorporated into the control circuit of FIG. 8. [Figure 10] 10 is a graph illustrating the relationship between firing motor position and the output of the firing circuit of FIG. 9, where the firing circuit is configured for a pulsed firing mode and activated for cutting and stapling operations. [Figure 11] 9 is a second exemplary firing circuit that can be incorporated into the control circuit of FIG. 8. [Figure 12] 12 is the firing circuit of FIG. 11, including a pulse adjustment mechanism and a pulse bypass mechanism. [Figure 13] 9 is a third exemplary firing circuit that can be incorporated into the control circuit of FIG. 8. [Figure 14] 14 is the firing circuit of FIG. 13, including a pulse adjustment mechanism and a pulse bypass mechanism. [Figure 15] 9 is a fourth exemplary firing circuit that may be incorporated into the control circuit of FIG. 8. [Figure 16] 9 is a fifth exemplary firing circuit that may be incorporated into the control circuit of FIG. 8.

[0004] The drawings are not intended to be limiting in any manner, and it is contemplated that various embodiments of the invention may be embodied in a variety of other ways, including those not necessarily depicted in the drawings. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate several aspects of the invention and, together with the description, serve to explain the principles of the invention. It will be understood, however, that the invention is not limited to the precise arrangements shown. DETAILED DESCRIPTION OF THE INVENTION

[0005] The following description of specific examples of the present invention should not be used to limit the scope of the present invention. Other examples, features, aspects, embodiments, and advantages of the present invention will become apparent to those skilled in the art from the following description, which is by way of example only one of the best modes contemplated for carrying out the invention. As will be understood, the present invention is capable of other different and obvious aspects, all without departing from the present invention. Accordingly, the drawings and description should be regarded as illustrative in nature, and not as restrictive.

[0006] I. Exemplary Surgical Stapler 1-7 illustrate an example of a surgical stapling and severing instrument 10 sized for insertion into a patient's surgical site through a trocar cannula, thoracotomy, or other incision in a non-articulated position, as shown in FIG. 1, to perform a surgical procedure. The instrument 10 in this example includes a handle portion 20 connected to a shaft 22. The shaft 22 terminates distally in an articulation joint 11, which is further coupled to an end effector 12. It should be understood that the terms "proximal" and "distal" are used herein with reference to a clinician grasping the handle portion 20 of the instrument 10. Thus, the end effector 12 is distal to the more proximal handle portion 20.

[0007] Once the articulation joint (11) and end effector (12) are inserted into the patient, the articulation joint (11) can be remotely articulated by the articulation control (13), as depicted in phantom in FIG. 1, so that the end effector (12) can be deflected to a desired angle (α) from the longitudinal axis (LA) of the shaft (22). By way of example only, articulation joint 11 and / or articulation control 13 may be constructed and operative in accordance with at least part of the teachings of U.S. Patent No. 9,186,142, entitled "Surgical Instrument End Effector Articulation Drive with Pinion and Opposing Racks," issued November 17, 2015, the disclosure of which is incorporated herein by reference in its entirety, and / or U.S. Patent No. 9,795,379, entitled "Surgical Instrument with Multi-Diameter Shaft," issued October 24, 2017, the disclosure of which is incorporated herein by reference in its entirety. Other suitable forms that articulation joint 11 and articulation control 13 may take will be apparent to those skilled in the art in view of the teachings herein.

[0008] The end effector 12 of this example includes a lower jaw 16 and an upper jaw in the form of a pivotable anvil 18. By way of example only, the lower jaw 16 may be constructed and operative in accordance with at least some of the teachings of U.S. Pat. No. 9,808,248, issued November 7, 2017, entitled "Installation Features for Surgical Instrument End Effector Cartridge," the disclosure of which is incorporated herein by reference in its entirety. The anvil 18 may be constructed and operative in accordance with at least some of the teachings of U.S. Pat. No. 10,092,292, issued October 9, 2018, entitled "Staple Forming Features for Surgical Stapling Instrument," the disclosure of which is incorporated herein by reference in its entirety. Other suitable forms that the lower jaw 16 and anvil 18 may take will be apparent to those skilled in the art in view of the teachings herein.

[0009] The handle portion 20 includes a pistol grip 24 and a closure trigger 26. The closure trigger 26 is pivotable toward the pistol grip 24 to clamp or close the anvil 18 toward the lower jaw 16 of the end effector 12. Such closure of the anvil 18 is effected via a closure tube 32 and a closure ring 33, both of which translate longitudinally relative to the handle portion 20 in response to pivoting of the closure trigger 26 relative to the pistol grip 24. The closure tube 32 extends along the length of the shaft 22, and the closure ring 33 is positioned distal to the articulation joint 11. The articulation joint 11 is operable to transfer longitudinal movement from the closure tube 32 to the closure ring 33.

[0010] The handle portion (20) also includes a firing trigger (28). An elongate member (not shown) extends longitudinally through the shaft (22) and transfers longitudinal firing motion from the handle portion (20) to the firing beam (14) in response to actuation of the firing trigger (28). As described in further detail below, this distal translation of the firing beam (14) effects stapling and severing of tissue clamped within the end effector (12). The triggers (26, 28) can then be released, releasing the tissue from the end effector (12).

[0011] As best seen in FIGS. 4A-4B, the firing beam (14) of this embodiment includes a transversely oriented upper pin (38), a firing beam cap (44), a transversely oriented middle pin (46), and a distally presented cutting edge (48). The upper pin (38) is positioned within a longitudinal anvil slot (42) of the anvil (18) and is translatable within the longitudinal anvil slot (42). The firing beam cap (44) slidably engages the underside of the lower jaw (16) by having the firing beam (14) extend through a lower jaw slot (45) (shown in FIG. 4B) formed through the lower jaw (16). The middle pin (46) slidably engages the upper side of the lower jaw (16) in cooperation with the firing beam cap (44). This allows the firing beam (14) to reliably space the end effector (12) during firing. By way of example only, firing beam 14 and / or associated lockout features may be constructed and operative in accordance with at least some of the teachings of U.S. Patent No. 9,717,497, entitled "Lockout Feature for Movable Cutting Member of Surgical Instrument," issued August 1, 2017, the disclosure of which is incorporated herein by reference. Other suitable forms that firing beam 14 may take will be apparent to those skilled in the art in view of the teachings herein.

[0012] Figure 3 shows the firing beam (14) of this example positioned proximally and the anvil (18) pivoted to an open position to allow an unused staple cartridge (37) to be removably loaded into the channel of the lower jaw (16). As best seen in Figures 5-6, the staple cartridge (37) of this example includes a cartridge body (70) that presents an upper deck (72) and is coupled to a lower cartridge tray (74). As best seen in Figure 3, a vertical slot (49) is formed through a portion of the staple cartridge (37). As also best seen in Figure 3, three rows of staple openings (51) are formed through the upper deck (72) on one side of the vertical slot (49), and another set of three rows of staple openings (51) are formed through the upper deck (72) on the other side of the vertical slot (49). Of course, any other suitable number of rows of staples (e.g., two, four, or other numbers) may be provided. Referring again to Figures 4A-6, a wedge-shaped sled (41) and a plurality of staple drivers (43) are captured between the cartridge body (70) and the tray (74), with the wedge-shaped sled (41) positioned proximal to the staple drivers (43). The wedge-shaped sled (41) is longitudinally movable within the staple cartridge (37), while the staple drivers (43) are vertically movable within the staple cartridge (37). Staples (47) are also positioned within the cartridge body (70) above their corresponding staple drivers (43). Specifically, each staple (47) is driven vertically within the cartridge body (70) by the staple driver (43) to drive the staple (47) out of an associated staple opening (51). As best seen in Figures 4A-4B and 6, wedge-shaped sled (41) presents an inclined cam surface that urges staple driver (43) upward as wedge-shaped sled (41) is driven distally through staple cartridge (37).

[0013] By way of example only, staple cartridge (37) may be constructed and operative in accordance with at least part of the teachings of U.S. Patent No. 9,517,065, entitled "Integrated Tissue Positioning and Jaw Alignment Features for Surgical Stapler," issued December 13, 2016, the disclosure of which is incorporated herein by reference in its entirety. Other suitable forms that staple cartridge (37) may take will be apparent to those skilled in the art in view of the teachings herein.

[0014] As shown in Figures 4A-4B, when the end effector 12 is closed by distally advancing the closure tube 32 and closure ring 33, the firing beam 14 advances and the upper pin 38 enters the longitudinal anvil slot 42, thereby engaging the anvil 18. A pusher block 80 (shown in Figure 5) is located at the distal end of the firing beam 14 and is configured to engage the wedge-shaped sled 41 such that the wedge-shaped sled 41 is pushed distally by the pusher block 80 as the firing beam 14 advances distally through the staple cartridge 37 upon actuation of the firing trigger 28. During such firing, the cutting edge 48 of the firing beam 14 enters the vertical slot 49 of the staple cartridge 37, severing the tissue clamped between the staple cartridge 37 and the anvil 18. As shown in FIGS. 4A-4B, the middle pin 46 and pusher block 80 together actuate the staple cartridge 37 by entering the vertical slot 49 therein, driving the wedge-shaped sled 41 into upward camming contact with the staple driver 43, which forces the staples 47 out of the staple openings 51 and into forming contact with the staple-forming pockets 53 (shown in FIG. 3) on the inner surface of the anvil 18. FIG. 4B shows the firing beam 14 fully translated distally after the tissue has been severed and stapled. While the staple-forming pockets 53 have been intentionally omitted from the views of FIGS. 4A-4B, it should be understood that the staple-forming pockets 53 are shown in FIG. 3. It should also be understood that the anvil 18 has been intentionally omitted from the view of FIG. 5.

[0015] FIG. 7 shows the end effector 12 actuated with a single stroke through tissue 90. As shown, the cutting edge 48 (hidden in FIG. 7) cuts the tissue 90, while the staple driver 43 drives three alternating rows of staples 47 through the tissue 90 on each side of the cut line created by the cutting edge 48. In this example, all of the staples 47 are oriented substantially parallel to the cut line, although it should be understood that the staples 47 may be positioned in any suitable orientation. In this example, after the first stroke is completed, the end effector 12 is withdrawn from the trocar, the spent staple cartridge 37 is replaced with a new staple cartridge, and the end effector 12 is then reinserted through the trocar or incision to reach the stapling site and perform additional cuts and staples. This process may be repeated until the desired number of cuts and staples 47 are applied. The anvil (18) may need to be closed to facilitate insertion and removal through the trocar, and may need to be opened to facilitate replacement of the staple cartridge (37).

[0016] In some variations, the instrument 10 provides motorized control of the firing beam 14. By way of example only, such motorization may be provided in accordance with at least some of the teachings of U.S. Pat. No. 9,622,746, entitled "Distal Tip Features for End Effector of Surgical Instrument," issued April 18, 2017, the disclosure of which is incorporated herein by reference in its entirety, and / or U.S. Pat. No. 8,210,411, entitled "Motor-Driven Surgical Instrument," issued July 3, 2012, the disclosure of which is incorporated herein by reference in its entirety. Other suitable components, features, and configurations for providing motorization of the firing beam 14 will be apparent to those skilled in the art in view of the teachings herein. It should also be understood that in some other variations, manual drive of the firing beam 14 may be provided such that a motor may be omitted.

[0017] In motorized versions of the instrument 10, the instrument 10 may also include a manual return switch, or bail-out switch 104 (see FIG. 8 ), located on or within the handle portion 20, such as within or below a user-accessible panel or “bail-out door” 30, configured to allow the operator to initiate rapid proximal retraction of the firing beam 14 during the firing stroke. That is, the bail-out switch 104 may be manually activated when the firing beam 14 has only partially advanced distally. The bail-out switch 104 may provide additional functionality in accordance with at least some of the teachings of U.S. Pat. No. 9,622,746, issued April 18, 2017, entitled “Distal Tip Features for End Effector of Surgical Instrument,” the disclosure of which is incorporated herein by reference. To access the bailout switch (104), the operator first opens the bailout door (30).

[0018] II. Exemplary Firing Circuit and Control Algorithm A. Overview As discussed above with reference to FIGS. 1-7 , various components are operable to translate the firing beam 14 to staple and cut clamped tissue via the end effector 12. In some variations, a motor is configured to activate and operate the end effector 12 in response to firing actuation of the firing trigger 28, first advancing the firing beam 14 distally in a "forward" direction to cut and staple the tissue, and then retracting the firing beam 14 proximally in a "rearward" direction once the cutting and stapling is complete. The motor is configured to stop upon completion of the two-stage firing stroke (i.e., once the stapling action is completed and the cutting edge 48 and firing beam 14 are retracted). Additionally, the motor may be controlled using firing circuitry and / or control algorithms to operate the end effector 12 at one or more predetermined speeds throughout the firing stroke, thereby providing a predetermined time period for completing the firing stroke. In some embodiments, the predetermined time period can range from about 1 second to about 10 seconds in duration, while in other embodiments, the predetermined time period can range from about 3 seconds in duration to about 7 seconds in duration.

[0019] In this embodiment, the instrument 10 provides motorized control of the firing beam 14. FIG. 8 illustrates an exemplary control circuit 100 that may be incorporated into the instrument 10 to provide motorized control of the firing beam 14. In particular, FIG. 8 illustrates an exemplary control circuit 100 that may be used to power an electric motor 140 with power from a battery 142. As described in more detail below, the motor 140 is operable to translate the firing beam 14 in a longitudinal manner. It should be understood that the entire control circuit 100, including the motor 140 and battery 142, may be housed within the handle portion 20. By way of example only, the motor 140 may be incorporated into the instrument 10 in accordance with at least some of the teachings of U.S. Patent No. 8,453,914, the disclosure of which is incorporated herein by reference in its entirety.

[0020] As shown, the control circuit 100 of this embodiment includes a number of switches 102, 104, 106, 108, 110, a number of resistors 112, 114, 116, 118, 120, 122, a thermistor 124, and a relay 126, which are configured and operable to selectively couple positive and negative terminals 128, 130 of a battery 142 to positive and negative terminals 132, 134 of a motor 140 to selectively power the motor 140.

[0021] More specifically, the control circuit (100) of this embodiment includes a firing trigger switch (102) configured to be actuated from a "3" position to a "2" position by the actuating firing trigger (28). The control circuit (100) also includes a bailout switch (104) configured to be actuated from a "2" position to a "3" position to effectively disconnect the negative motor terminal upon actuation of the bailout switch (104). The control circuit (100) also includes a clamp switch (106) configured to be actuated from a "3" position to a "2" position when the anvil (18) is determined to be sufficiently closed to enable a safe and effective firing stroke. The control circuit (100) also includes a motor direction switch (108). When the firing beam 14 reaches its distal-most position (e.g., at the end of the cutting stroke) and the cartridge 37 is expended, the switches 108, 136 automatically switch from their first position to their second position, latching the relay 126 "open," thereby reversing the polarity of the voltage applied to the motor terminals 132, 134. This reverses the direction of rotation of the motor 140; it should be understood that the operator would have released the closure trigger 26 at this stage of operation. When actuation of the firing trigger 28 is released and the firing trigger switch 102 is actuated back to the "3" position, the relay 126 is latched "closed." In some variations, current flows through a reverse direction indicator (e.g., including an optional LED, etc.) to provide a visual indication to the operator that the rotation of the motor 140 has reversed. Various suitable methods by which switch (108) can be automatically switched to the second position when emitted beam (14) reaches its distal-most position will be apparent to those skilled in the art in view of the teachings herein.

[0022] Further, the control circuit 100 includes a spent cartridge switch 110 that is closed by default but is configured to automatically open in response to a lockout condition. By way of example only, the lockout condition may include one or more of the following: no cartridge 37 in the lower jaw 16; a used (e.g., previously fired) cartridge 37 in the lower jaw 16; a determination that the instrument 10 has been fired multiple times; and / or any other suitable condition. Various sensors, algorithms, and other features that may be used to detect a lockout condition will be apparent to those skilled in the art in light of the teachings herein. Similarly, other suitable types of lockout conditions will be apparent to those skilled in the art in light of the teachings herein. It should be understood that when the control circuit 100, and therefore the switch 110, is open, the motor 140 is inoperable. The lockout indicator 110 (e.g., an LED, etc.) is operable to provide a visual indication of the state of the lockout switch 108. By way of example only, the lockout switch 108 and associated components / functionality may be configured in accordance with at least some of the teachings of U.S. Patent No. 7,644,848, entitled "Electronic Lockouts and Surgical Instrument Including Same," issued January 12, 2010, the disclosure of which is incorporated herein by reference. While FIG. 8 shows the various switches 102, 104, 106, 108, 110 in particular positions, it should be understood that each switch 102, 104, 106, 108, 110 is independently operable to perform a particular function and, therefore, is variable depending on the context of operation of the instrument 10 at a particular time.

[0023] Resistors 112, 114, 116, 118, 120, and 122 are operable to slow the initial stage of the firing stroke, if desired, to allow time for spent cartridge switch 110 to operate. Each resistor 112, 114, 116, 118, 120, and 122 may be provided with an equal value, e.g., 47 ohms, or may be otherwise varied or even omitted, if desired.

[0024] In some variations, one or more of the switches (102, 104, 106, 108, 110) are in the form of microswitches. Other suitable forms will be apparent to those skilled in the art in view of the teachings herein. Additionally or alternatively, at least a portion of the control circuit (100) can be configured in accordance with at least a portion of the teachings of U.S. Patent No. 8,210,411, entitled "Motor-Driven Surgical Instrument," issued July 3, 2012, the disclosure of which is incorporated herein by reference.

[0025] In some cases, it may be desirable to modify the instrument 10 to incorporate a pulsed "forward" firing stroke technique operable to more slowly advance the cutting edge 48 of the firing beam 14 into tissue. By pulsing the cutting edge 48 into tissue, i.e., by longitudinally translating the cutting edge 48 through a series of distal advancements separated by short pauses, the tissue is given time to relax as the stapling and cutting action is performed, which may result in a more accurate and effective action. As described in more detail below, various exemplary firing circuits may be included within the instrument 10 to manipulate the power provided to the motor 140 to sequentially start and stop the motor 140 during the "forward" cutting and stapling phase of the firing stroke, thereby pulsating the cutting edge 48 into tissue. The control circuit may then be operable to disable or otherwise bypass the pulsed portion of the firing circuit during the "rear" phase of the firing stroke, allowing the motor (140) to operate to retract the firing beam (14) proximally through the lower jaw (16) in one continuous motion (i.e., without pulsing).

[0026] In this embodiment, as described in more detail below, the motor 140 can be controlled using firing circuitry and / or control algorithms to operate the end effector 12 at one or more predetermined speeds through a firing stroke having a pulsed forward phase, thereby providing a predetermined time period for completing the firing stroke that is longer than non-pulsed embodiments. In some embodiments utilizing a pulsed forward phase of the firing stroke, the predetermined time period for completing the full firing stroke (including both advancement and retraction of the cutting edge 48) can range from about 2 seconds in duration to about 18 seconds in duration. In other embodiments, the predetermined time period can range from about 6 seconds in duration to about 14 seconds in duration. Specifically, the predetermined time period for only the forward phase of the firing stroke (including advancement of the cutting edge 48) can range from about 2 seconds in duration to about 10 seconds in duration. In other embodiments, the time period for only the forward phase of the firing stroke can range from about 3 seconds in duration to about 7 seconds in duration. Various factors, such as friction, battery level, and cartridge 37 size, can affect the time period required to complete the forward phase. Additionally, motor 140 may require more actuation cycles, and therefore a longer predetermined time period, for cutting and stapling procedures involving thicker tissue than motor 140 performs for thinner tissue. In one illustrative example only, motor 140 may pulse (i.e., transition from an off or stopped state to an on or activated state) three to four times over a three-second period to cut and staple thin tissue, while motor 140 may pulse seven to nine times over a seven-second period to cut and staple thicker tissue.

[0027] It should be understood that various additions and alternatives to the control circuit 100 described above may be readily used with the instrument 10. It should also be understood that, in some cases, the configuration and arrangement of the electrical components of the control circuit 100 may need to be modified to complement the configuration and arrangement of the alternative firing circuits described below. Various suitable ways in which the alternative forms for the control circuit 100 described below may be incorporated into the instrument 10 will be apparent to those skilled in the art in view of the teachings herein.

[0028] B. Exemplary Pulsed Firing Circuit Using RC Circuits and Transistors Various pulsing firing circuits may be configured to manipulate the power provided to the motor 140 to continuously and repeatedly activate and deactivate the motor 140 during the "forward" cutting and stapling phase of the firing stroke, thereby pulsatingly advancing the cutting edge 48 of the firing beam 14 into tissue. Figure 9 shows one exemplary pulsing firing circuit 150 that may be coupled to or otherwise integrated with the control circuit 100. Specifically, node 152 of circuit 150 may be coupled to node 136 of the control circuit 100, and node 154 of circuit 150 may be coupled to node 138 of the control circuit 100, to include a cutting edge 48 pulsing technique for the instrument 10. As shown, the firing circuit 150 of this embodiment includes several resistors 156, 158, 160, 162, 164, 166, 168, diodes 170, 172, capacitors 174, 176, transistors 178, 180, 182, and a switch 184.

[0029] In this embodiment, transistors 178, 180 may each be an NPN bipolar junction transistor, for example, a 2N3904 general-purpose transistor manufactured by ON Semiconductor, Inc. Alternatively, any other suitable type of transistor may be used. Diodes 170, 172 may be, for example, a 1N4148 small signal diode manufactured by ON Semiconductor, Inc. Alternatively, any other suitable type of diode may be used. Furthermore, resistors 156, 158, 160, 162, 164, 166, 168 in this embodiment may be selected as 470 ohms, 390 ohms, 12.5 kilohms, 12.5 kilohms, 390 ohms, 470 ohms, and 470 ohms, respectively. Alternatively, any other resistance value may be used. Capacitors 174, 176 may be selected as 115 microfarads and 58 microfarads, respectively. Alternatively, any other capacitance value may be used.

[0030] Firing circuit 150 is thereby configured and operable as an astable multivibrator circuit for outputting a square wave voltage signal at node 186 consisting of alternating high and low voltage outputs formed by the alternate switching of transistors 178, 180, where the peak amplitude of the high voltage output signal is approximately equal to the amplitude of the input signal at node 154. Transistor 182 may be a MOSFET transistor, for example, a SIS476DN-T1-GE3 N-channel 30V (DS) MOSFET manufactured by Vishay Intertechnology, Inc. Alternatively, any other suitable type of transistor may be used. A transistor 182 can be provided to selectively allow current to pass between nodes 152, 154 when the astable multivibrator output square waveform remains in a high state at node 186 and not allow current to pass between nodes 152, 154 when the astable multivibrator output square waveform remains in a low state at node 186.

[0031] Figure 10 shows an exemplary voltage output waveform received at node 186 of Figure 9. As described above, the firing circuit 150 is powered upon receiving a power signal from the positive battery terminal 130, initiated in part by the actuation of the firing trigger switch 102. The output waveform at node 186 remains in a low state, as shown in initial stage 188, unless and until the firing circuit 150 receives a power signal. Upon receiving a power signal at node 154, the astable multivibrator circuit (i.e., resistors 156, 158, 160, 162, 164, 166, capacitors 174, 176, diodes 170, 172, and transistors 178, 180) is enabled and operable to repeatedly output a square wave signal 190 until the firing trigger switch 102 is released and current ceases to flow through node 152.

[0032] In some embodiments, it may be desirable to pulse the cutting edge 48 forward with two pulses, thus requiring any number of square wave periods ranging from about 1.5 to about 2.0 periods. In other embodiments, it may be desirable to pulse the cutting edge 48 forward with three or more pulses, thus requiring about 2.5 or more square wave periods. It may also be desirable to modify the length of the time period 192 of the signal 190. In this embodiment, the frequency of the signal 190 ranges from about 0.5 Hz to about 3.0 Hz. In alternative embodiments, the frequency of the signal 190 may range from about 0.75 Hz to about 2.0 Hz. In other alternative embodiments, the frequency of the signal 190 may be 1.5 Hz or about 1.5 Hz (i.e., 1.5 seconds in length, 1.0 second high, and 0.5 second low). In other embodiments, the values ​​of resistors 156, 158, 160, 162, 164, 166 and capacitors 174, 176 may be varied to adjust time period 192 as needed. While the duty cycle of signal 190 is approximately 50%, in various other embodiments, the duty cycle of signal 190 may be selected to be 0%, 25%, 75%, 100%, or some other value. However, it should be understood that various alternative duty cycles may be configured.

[0033] In this embodiment, firing circuit 150 is not utilized to provide power to motor 140 to retract cutting edge 48 from tissue. Rather, once the cutting action is complete, motor direction switch 108 of control circuit 100 switches from a first state to a second state, causing the power signal to be removed from node 154, causing the output provided at node 152 of firing circuit 150 to return to a low state 194.

[0034] Still further, it may be desirable to include a bypass mechanism that allows an operator of instrument 10 to bypass the pulse-inducing features of firing circuit 150, such as by advancing cutting edge 48 in one continuous motion (i.e., via signal 190 having a 100% duty cycle) if the operator desires to cut a blood vessel, or for any other reason dictated by the circumstances, as shown in Figure 8. In this example, a user-actuable bypass switch 184, such as an on / off rocker switch or other switch form commonly used in the art that is easily implemented by the user, may be included on the exterior of instrument 10, such as on handle portion 20 of instrument 10.

[0035] C. Exemplary Pulsed Firing Circuit Using an RC Circuit and a Timer 11-12 illustrate another exemplary firing circuit 200 that may be incorporated into instrument 10. Specifically, node 202 of circuit 200 may be coupled to node 136 of control circuit 100, and node 204 of circuit 200 may be coupled to node 138 of control circuit 100 to implement cutting edge 48 pulsing technology for instrument 10. As shown, firing circuit 200 of this example includes several resistors 206, 208, 210, 212, capacitors 214, 216, 218, transistor 220, and timer 222. Transistor 220 may be a MOSFET transistor, such as a SIS476DN-T1-GE3 N-channel 30V (DS) MOSFET manufactured by Vishay Intertechnology, Inc. Alternatively, any other suitable type of transistor may be used. Additionally, timer 222 may be, for example, an LMC555 CMOS low-power timer manufactured by Texas Instruments, Inc. It will be appreciated that in other embodiments, timer 222 may take a variety of other suitable forms apparent to those skilled in the art in view of the teachings herein.

[0036] The timer 222 in this embodiment is a single integrated chip that functions similarly to a multivibrator. The timer 222 can operate in three different modes: astable, bistable, and monostable. In astable mode, as described below, the timer 222 outputs an oscillating pulse signal or waveform. Specifically, the output 226 of the timer 222 oscillates between high and low states at a configurable frequency and pulse width. At the end of the adjustable duration, the timer 222 returns to a steady low state output unless and until an external trigger restarts the timer 222. Thus, the output 226 can be configured to resemble the waveform illustrated in FIG. 10.

[0037] Specifically, an RC circuit 224 including resistors 206, 208 and capacitor 214 is configurable by changing the values ​​of resistors 206, 208 and capacitor 214 to adjust the oscillating square waveform provided at the output 226 of timer 222. Referring to Figure 10, the duration of one complete period 192 is approximately: T = 0.693(R1 + 2R2). * The resistance can be calculated using C, where T is equal to the length of time of one period (192), R1 is resistor (206), R2 is resistor (208), and C is capacitor (214). In this example, resistors (206, 208, 210, 212) can be selected at 22 kilohms, 16 kilohms, 470 ohms, and 10 kilohms, respectively. Alternatively, any other suitable resistance value can be used. Capacitors (214, 216, 218) can be selected at 47 microfarads, 0.01 microfarads, and 1 microfarad, respectively. Alternatively, any other suitable type of capacitor value can be used.

[0038] Because the firing circuit 200 is configured and operative to output a square wave voltage signal consisting of alternating high and low voltage outputs at the output node 226, the transistor 182 can further be provided to selectively allow current to pass between the nodes 202, 204 when the output square waveform remains in a high state at the node 226 and not allow current to pass between the nodes 202, 204 when the astable multivibrator output square waveform remains in a low state at the node 226.

[0039] In some embodiments, it may be desirable to pulse the cutting edge 48 of the emitted beam 14 forward with two pulses, thus requiring 1.5 to 2 square wave periods. In other embodiments, it may be desirable to pulse the cutting edge 48 forward with three or more pulses, thus requiring 2.5 or more square wave periods. It may also be desirable to modify the length of one period 192 of the signal 190. In this embodiment, a single period 192 may be 1 second in length (i.e., 0.5 seconds high, 0.5 seconds low). In other embodiments, the value of the RC circuit 224 may be changed to adjust the period 192 as needed. In various embodiments, the duty cycle of the signal 190 may be selected to be 0%, 25%, 50%, 75%, or 100%, however, it should be understood that various alternative duty cycles may be configured.

[0040] In this embodiment, firing circuit 200 is not utilized to provide power to motor 140 to retract cutting edge 48 from tissue. Rather, once the cutting action is complete, motor direction switch 108 of control circuit 100 switches from a first state to a second state, causing the power signal to be removed from node 204, causing the output provided at node 226 of firing circuit 200 to return to low state 194.

[0041] It may be desirable to provide a version of firing circuit 200 that includes features that allow a user of instrument 10 to adjust the pulsing (i.e., adjust period 192) or selectively bypass the pulsing feature entirely. FIG. 12 illustrates an embodiment of firing circuit 200 that provides a user with the ability to adjust the values ​​of resistors 206, 208 described above in real time. Specifically, resistors 206, 208 may be replaced with potentiometers 230, 232. Potentiometers 230, 232 may be actuable via one or more user-adjustable dials that may be included on instrument 10, such as on handle portion 20 of instrument 10. In one embodiment, potentiometer 230 may be adjustable from 1 to 30 kilohms, and potentiometer 232 may be adjustable from 1 to 25 kilohms. However, it should be understood that the values ​​of the potentiometers (230, 232) may be varied to meet the requirements of alternative configurations of the instrument (10).

[0042] Also, as shown in Figure 12, the circuit 200 of this example may include a bypass mechanism that allows an operator of the instrument 10 to bypass the pulse-guiding features of the firing circuit 200 and instead advance the cutting edge 48 of the firing beam 14 in one continuous motion (i.e., via a signal 190 having a 100% duty cycle) as shown in Figure 8. In this example, a user-actuable bypass switch 234, such as an on / off rocker switch or other switch form commonly used in the art that is easily actuated by a user, may be included on the exterior of the instrument 10, such as on the handle portion 20 of the instrument 10.

[0043] D. Exemplary Pulsed Firing Circuit Using an RC Circuit and an Operational Amplifier 13-14 illustrate another exemplary firing circuit 300 that may be incorporated into instrument 10. Specifically, node 302 of circuit 300 may be coupled to node 136 of control circuit 100, and node 304 of circuit 300 may be coupled to node 138 of control circuit 100 to implement cutting edge 48 pulsing technology for instrument 10. As shown, firing circuit 300 of this example includes several resistors 306, 308, 310, 312, 314, a capacitor 316, a transistor 318, and an operational amplifier 320. Transistor 320 may be a MOSFET transistor, such as a SIS476DN-T1-GE3 N-channel 30V (DS) MOSFET manufactured by Vishay Intertechnology, Inc. Alternatively, any other suitable type of transistor may be used. Additionally, operational amplifier 320 may be, for example, an SG1536Y high voltage operational amplifier manufactured by Microsemi Corporation. It will be appreciated that in other embodiments, operational amplifier 320 may take a variety of other suitable forms that will be apparent to those skilled in the art in view of the teachings herein.

[0044] In this embodiment, the operational amplifier 320 is configured to operate similarly to a multivibrator, outputting an oscillating pulse signal or waveform. Specifically, the output 322 of the operational amplifier 320 oscillates between high and low states at a configurable frequency and pulse width. At the end of an adjustable duration, the operational amplifier 320 returns to a steady low state output. Thus, the output 322 can be configured to resemble the waveform illustrated in FIG. 10.

[0045] Specifically, an RC circuit including resistors (306, 308, 310) and capacitor (316) can be constructed by varying the values ​​of resistors (306, 308, 310) and capacitor (316) to adjust the oscillating square waveform provided at the output (322) of operational amplifier (320). Referring to Figure 10, the duration of one complete period (192) can be approximated by the following equation: T=2* C * R1 * This can be calculated using loge(1+R3 / R2), where T is equal to the length of time of one period 192, C is capacitor 316, R1 is resistor 306, R2 is resistor 308, and R3 is resistor 310. In this example, resistors 306, 308, and 310 can be selected at 0.2 megaohms, 27 kiloohms, and 27 kiloohms, respectively, and capacitor 316 can be selected at 0.47 microfarads. Alternatively, any other suitable types of resistance and capacitance values ​​can be used.

[0046] Because firing circuit 300 is configured and operative to output a square wave voltage signal consisting of alternating high and low voltage outputs at output node 322, transistor 318 can further provide for selectively allowing current to pass between nodes 302, 304 when the output square waveform remains in a high state at node 322 and not allowing current to pass between nodes 302, 304 when the multivibrator (i.e., operational amplifier with an RC circuit) output square waveform remains in a low state at node 322. In various embodiments, the duty cycle of signal 190 can be selected to be 0%, 25%, 50%, 75%, or 100%, however, it should be understood that various alternative duty cycles can be configured.

[0047] In this embodiment, firing circuit 300 is not utilized to provide power to motor 140 to retract cutting edge 48 from tissue. Rather, once the cutting action is complete, motor direction switch 108 of control circuit 100 switches from a first state to a second state, causing the power signal to be removed from node 304, causing the output provided at node 322 of firing circuit 300 to return to low state 194.

[0048] It may be desirable to provide a version of firing circuit 300 that includes features that allow a user of instrument 10 to adjust the pulsing (i.e., adjust period 192) or selectively bypass the pulse feature entirely. FIG. 14 illustrates an embodiment of firing circuit 300 that provides a user with the ability to adjust the value of resistor 306 in real time. Specifically, resistor 306 may be replaced with potentiometer 330. Potentiometer 330 may be actuable via one or more user-adjustable dials that may be included on instrument 10, such as on handle portion 20 of instrument 10. In one embodiment, potentiometer 330 may be adjustable from 1 to 30 kilohms, and potentiometer 232 may be adjustable from 2 kilohms to 20 megahms. However, it should be understood that the value of potentiometer 330 may be varied to meet the requirements of alternative configurations of instrument 10.

[0049] Also, as shown in Figure 14, the circuit 300 of this example may include a bypass mechanism that allows an operator of the instrument 10 to bypass the pulse-guiding features of the firing circuit 300 and instead advance the cutting edge 48 of the firing beam 14 in one continuous motion (i.e., via a signal 190 having a 100% duty cycle) as shown in Figure 8. In this example, a user-actuable bypass switch 332, such as an on / off rocker switch or other switch form commonly used in the art that is easily actuated by a user, may be included on the exterior of the instrument 10, such as on the handle portion 20 of the instrument 10.

[0050] E. Example Pulsed Firing Circuit Using a Relay FIG. 15 illustrates another exemplary firing circuit 400 that may be incorporated into instrument 10. Specifically, node 402 of circuit 400 may be coupled to node 136 of control circuit 100, and node 404 of circuit 400 may be coupled to node 138 of control circuit 100 to implement cutting edge 48 pulsing technology for instrument 10. As shown, firing circuit 400 of this example includes resistors 406, 408, transistor 410, and relay 320. Transistor 410 may be a MOSFET transistor, such as a SIS476DN-T1-GE3 N-channel 30V (DS) MOSFET manufactured by Vishay Intertechnology, Inc. Alternatively, any other suitable type of transistor may be used. Additionally, relay 412 may be, for example, an H3FA solid-state timer manufactured by OMRON Corp. Alternatively, any other suitable type of relay may be used. It will be appreciated that in other embodiments, relay 412 may take a variety of other suitable forms that will be apparent to those skilled in the art in view of the teachings herein.

[0051] In this embodiment, relay 412 is configured to operate similarly to a multivibrator, outputting an oscillating pulse signal or waveform. Specifically, output 414 of relay 412 oscillates between high and low states at a configurable frequency and pulse width. At the end of an adjustable duration, relay 412 returns to a steady low state output unless and until an external trigger activates relay 412 again. Thus, output 414 can be configured to resemble the waveform illustrated in FIG. 10.

[0052] Specifically, relay 412 includes one or more input or time range selectors 416, 418, 420 that are user adjustable to vary the oscillating square waveform provided at output 414 of relay 412. In this example, resistors 406, 408 may be selected at 470 ohms and 10 kilohms, respectively.

[0053] Because the firing circuit 400 is configured and operative to output a square wave voltage signal consisting of alternating high and low voltage outputs at the output node 414, the transistor 410 can further provide for selectively allowing current to pass between the nodes 402, 404 when the output square waveform remains in a high state at the node 414 and not allowing current to pass between the nodes 402, 404 when the multivibrator (i.e., operational amplifier with an RC circuit) output square waveform remains in a low state at the node 414. In various embodiments, the duty cycle of the signal 190 can be selected to be 0%, 25%, 50%, 75%, or 100%, however, it should be understood that various alternative duty cycles can be configured.

[0054] In this embodiment, firing circuit 400 is not utilized to provide power to motor 140 to retract cutting edge 48 from tissue. Rather, once the cutting action is complete, motor direction switch 108 of control circuit 100 switches from a first state to a second state, causing the power signal to be removed from node 204, causing the output provided at node 414 of firing circuit 400 to return to low state 194.

[0055] As shown in Figure 8, it may be desirable to provide a version of the firing circuit 400 that includes a feature that bypasses the pulse-guiding feature of the firing circuit 400 and instead advances the cutting edge 48 of the firing beam 14 in one continuous motion (i.e., via a signal 190 having a 100% duty cycle). To that end, the firing circuit 400 may include a user-actuable bypass switch 422. The bypass switch 422 may be in the physical form of an on / off rocker switch or other switch form commonly used in the art that is easily actuated by the user, and it may be included on the exterior of the instrument 10, such as on the handle portion 20 of the instrument 10.

[0056] F. Exemplary Pulsed Firing Circuit Using a Microcontroller 16 illustrates another exemplary firing circuit 500 that may be incorporated into instrument 10. Specifically, node 502 of circuit 500 may be coupled to node 136 of control circuit 100, and node 504 of circuit 500 may be coupled to node 138 of control circuit 100, comprising cutting edge 48 technology for instrument 10. As shown, firing circuit 500 of this example includes resistors 506, 510, 512, 516, 518, 520, 522, 524, potentiometers 508, 514, capacitors 530, 532, switch 534, transistor 536, and microcontroller 546. Transistor 536 may be a MOSFET transistor, such as a SIS476DN-T1-GE3 N-channel 30V (DS) MOSFET manufactured by Vishay Intertechnology, Inc. Alternatively, any other suitable type of transistor may be used. Furthermore, microcontroller 546 may be, for example, a PIC12F1501 8-pin flash, 8-bit microcontroller manufactured by Microchip Technology, Inc. It will be appreciated that in other embodiments, microcontroller 546 may take a variety of other suitable forms apparent to those skilled in the art in view of the teachings herein.

[0057] In this embodiment, microcontroller 546 is configured to operate similarly to a multivibrator, outputting an oscillating pulse signal or waveform. Specifically, the signal at output node 548 of microcontroller 546 oscillates between high and low states at a configurable frequency and pulse width. At the end of the adjustable duration, microcontroller 546 returns to a steady low state output unless and until an external trigger again activates relay 412. Thus, the signal at output node 548 of microcontroller 546 can be configured to resemble the waveform illustrated in FIG. 10. In various embodiments, the duty cycle of signal 190 can be selected to be 0%, 25%, 50%, 75%, or 100%, however, it should be understood that various alternative duty cycles can be configured.

[0058] Specifically, the microcontroller 546 includes one or more inputs, an on-duty cycle adjuster 538 and an off-duty cycle adjuster 540, which are user adjustable to vary the oscillating square waveform provided to the signal at the output node 548 of the microcontroller 546. More specifically, resistors 506, 510 in combination with a potentiometer 508 form a variable voltage divider operable to vary the input voltage to the on-duty cycle adjuster 538 to adjust the duration of the high state of the signal at the output node 548. Additionally, resistors 512, 516 in combination with a potentiometer 514 form a variable voltage divider operable to vary the input voltage to the off-duty cycle adjuster 540 to adjust the duration of the low state of the signal at the output node 548. Potentiometers 508, 514 may be in the physical form of user-adjustable dials or other variable mechanisms commonly used in the art that are easily actuated by a user and are included on the exterior of instrument 10, such as on handle portion 20 of instrument 10. In this example, resistors 506, 510, 512, 516, 518, 520, 522, 524 may be selected to be 1 kilohm, 1 kilohm, 1 kilohm, 1 kilohm, 470 ohms, 470 ohms, 10 kilohms, and 10 kilohms, respectively. Capacitors 530, 532 may be selected to be 0.1 microfarads and 1.0 microfarads, respectively. However, it should be understood that the values ​​of all electrical components may be varied to meet the requirements of alternative configurations of instrument 10.

[0059] Because the firing circuit 500 is configured and operative to output a square wave voltage signal consisting of alternating high and low voltage outputs at the output node 548, the transistor 536 can further be provided to selectively allow current to pass between the nodes 502, 504 when the output square waveform remains in a high state at the output node 548 and not allow current to pass between the nodes 502, 504 when the multivibrator (i.e., operational amplifier with an RC circuit) output square waveform remains in a low state at the output node 548.

[0060] In this embodiment, firing circuit 500 is not utilized to provide power to motor 140 to retract cutting edge 48 from tissue. Rather, once the cutting operation is complete, motor direction switch 108 of control circuit 100 switches from a first state to a second state, causing the power signal to be removed from node 502, resulting in the output signal provided at output node 548 of firing circuit 500 returning to low state 194.

[0061] As shown in FIG. 8 , it may be desirable to provide a version of firing circuit (500) that bypasses the pulse-inducing feature of firing circuit (500) and instead includes a feature that advances cutting edge (48) in one continuous motion (i.e., via signal (190) having a 100% duty cycle). To that end, firing circuit (500) may include a user-actuable bypass switch (534) coupled to microcontroller (546) at output node (550) and configured to selectively disable the pulse feature. For example, when bypass switch (534) is coupled to ground (542), microcontroller (546) may be configured to bypass the pulse feature and instead provide a signal, a stable “one-shot” or monostable electrical pulse, at output node (548) to motor (140) upon actuation of closure trigger (26). Alternatively, if bypass switch 534 is coupled to battery or power supply voltage 544 through resistor 524, microcontroller 546 may be configured to enable a pulse feature and provide a signal, oscillating, or unstable electrical pulse at output node 548 to motor 140 upon actuation of closure trigger 26. Bypass switch 534 may be in the physical form of an on / off rocker switch or other switch form commonly used in the art that is easily actuated by a user and is included on the exterior of instrument 10, such as on handle portion 20 of instrument 10.

[0062] It should be understood that various additions and alternatives to the control circuit 100 described above may be readily used with the instrument 10. It should also be understood that, in some cases, the configuration and arrangement of the electrical components of the control circuit 100 and firing circuits 150, 200, 300, 400, 500 may need to be modified to complement the configuration and arrangement of the features of the instrument 10 described herein. Various suitable ways in which alternatives to the control circuit 100 and firing circuits 150, 200, 300, 400, 500 described herein may be incorporated into the instrument 10 will be apparent to those skilled in the art in view of the teachings herein.

[0063] III. Exemplary Combinations The following examples illustrate various non-exhaustive ways in which the teachings herein may be combined or applied. It should be understood that the following examples are not intended to limit the scope of the claims that may be presented at any time in this application or any subsequent application related to this application. No disclaimer is intended. The following examples are provided merely for illustrative purposes. It is contemplated that the various teachings herein may be configured and applied in many other ways. It is also contemplated that certain features referred to in the following examples may be omitted in some variations. Accordingly, none of the aspects or features referred to below should be considered critical unless later expressly indicated as such by the inventors or their successors. If a claim presented in this application or any subsequent application related to this application includes additional features other than those referred to below, those additional features should not be considered added for any reasons of patentability. [Example]

[0064] A surgical instrument comprising: (a) a body including a firing actuator; (b) a shaft extending distally from the body; (c) a motor configured to couple with a power source, the motor configured to activate in response to a firing actuation of the firing actuator; (d) an end effector disposed at a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut tissue; and (e) control circuitry operably coupled to the motor and the firing actuator. 1. A surgical instrument comprising: a control circuit configured to generate a forward motor control signal for activating the motor in response to a firing actuation, the forward motor control signal configured to pulse a cutting edge from a proximal position to a distal position to cut tissue, the pulsing forward motor control signal including: (i) a first duration comprising distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second duration comprising stopped movement of the cutting edge, the second duration following the first duration; and (iii) a third duration comprising distal movement of the cutting edge from the second longitudinal position towards the distal position, the third duration following the second duration. [Example]

[0065] 2. The surgical instrument of example 1, wherein the control circuit is configured to determine when the cutting edge has reached a distal position, and wherein the control circuit is further configured to generate a reverse motor control signal to activate the motor to transition the cutting edge from the distal position back to the proximal position. [Example]

[0066] 3. The surgical instrument of claim 1 or 2, wherein the control circuit further includes a switch operable to reverse the electrical polarity provided by the power source to the motor, the control circuit being configured to operate the switch in response to determining that the cutting edge has reached the distal position. [Example]

[0067] 4. The surgical instrument of any one or more of Examples 1-3, wherein the control circuitry further comprises analog electrical components configured to oscillate the forward motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor. [Example]

[0068] 5. The surgical instrument of example 4, wherein the analog electrical component further comprises an RC circuit coupled with the two transistors, the RC circuit comprising at least one resistor and at least one capacitor, and the RC circuit and the two transistors configured to oscillate the forward motor control signal. [Example]

[0069] 5. The surgical instrument of example 4, wherein the analog electrical components further comprise an integrated circuit timing device. [Example]

[0070] 5. The surgical instrument of example 4, wherein the analog electrical component further comprises an operational amplifier configured to oscillate the forward motor control signal. [Example]

[0071] 5. The surgical instrument of example 4, wherein the analog electrical component further comprises a variable timer relay configured to oscillate the forward motor control signal. [Example]

[0072] A surgical instrument described in any one or more of Examples 1-8, wherein the body further includes a closure actuator, the end effector further includes a stapling assembly configured to selectively move between an open position and a closed position in response to actuation of the closure actuator, and the stapling assembly is configured to drive a plurality of staples from the stapling assembly into tissue in response to activation of the motor. [Example]

[0073] 10. The surgical instrument of any one or more of Examples 1-9, wherein the control circuitry further comprises a microcontroller, the microcontroller configured to oscillate the forward motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor. [Example]

[0074] 11. The surgical instrument of any one or more of Examples 1-10, wherein the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from a proximal position to a distal position to cut tissue, and wherein the control circuit further includes a bypass switch, the bypass switch selectively operable to increase the duty cycle to 100%. [Example]

[0075] 12. The surgical instrument of example 11, wherein the bypass switch is positioned on an exterior surface of the body. [Example]

[0076] 13. The surgical instrument of any one or more of Examples 1-12, wherein the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from a proximal position to a distal position to cut tissue, and wherein the control circuit further includes an adjustable input feature, the adjustable input feature selectively operable to adjust the duty cycle. [Example]

[0077] 14. The surgical instrument of example 13, wherein the adjustable input feature is positioned on an exterior surface of the body. [Example]

[0078] The surgical instrument of any one or more of Examples 1-14, wherein the forward motor control signal is configured with a 50% duty cycle to pulse the cutting edge from a proximal position to a distal position to cut tissue. [Example]

[0079] 16. The surgical instrument of any one or more of Examples 1-15, wherein the forward motor control signal comprises a frequency in the range of about 0.5 hertz to about 3 hertz. [Example]

[0080] A surgical instrument comprising: (a) a body including a firing actuator; (b) a motor configured to activate in response to a firing actuation of the firing actuator; (c) an end effector disposed at a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut tissue; and (d) control circuitry operably coupled to the motor and the firing actuator. and a control circuit configured to generate oscillating motor control signals to activate the motor to pulse and transition the cutting edge from a proximal position to a distal position, and the control circuit thereafter configured to generate static motor control signals to activate the motor to transition the cutting edge from the distal position to the proximal position, the pulsing transitioning including (i) a first cycle including distal movement of the cutting edge from the proximal position to a second longitudinal position, (ii) a second cycle including stopped movement of the cutting edge, and (iii) a third cycle including distal movement of the cutting edge from the second longitudinal position toward the distal position. [Example]

[0081] 18. The surgical instrument of example 17, wherein the control circuit further comprises analog electrical components configured to oscillate an oscillating motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor. [Example]

[0082] A method of operating a surgical instrument, the surgical instrument including: a body having a firing actuator; a shaft extending distally from the body; an end effector having a cutting edge disposed at a distal end of the shaft; a motor configured to couple to a power source; and control circuitry operatively coupled to the motor and the firing actuator, the method comprising: (a) transmitting a fire signal to the control circuit in response to actuation of the firing actuator, the control circuit being configured to generate a pulsed forward motor control signal to selectively activate the motor; (b) activating the motor upon receiving a first portion of the forward motor control signal from the control circuit, the activation of the motor translating the cutting edge distally; and (c) maintaining the motor in an activated state for a first predetermined period of time, wherein the cutting edge translates from a first longitudinal position to a second longitudinal position during the first predetermined period of time. (d) stopping the motor upon receiving a second portion of the forward motor control signal from the control circuit, thereby stopping distal translation of the cutting edge; (e) maintaining the motor in a stopped state for a second predetermined period of time, wherein the cutting edge remains in a second longitudinal position during the second predetermined period of time and the end effector remains adjacent to the tissue during the stopped state; and (f) receiving a third portion of the forward motor control signal from the control circuit, thereby stopping distal translation of the cutting edge. (g) maintaining the motor activated for a third predetermined period of time, wherein the cutting edge translates from the second longitudinal position to a third longitudinal position during the third predetermined period of time, the cutting edge translating through the second length of tissue during translation from the second longitudinal position to the third longitudinal position; and (h) driving staples into tissue during transition of the cutting edge from the first longitudinal position to the third longitudinal position. [Example]

[0083] The method of Example 19, further comprising: (a) reversing the polarity of the power supply to the motor provided by the power source after expiration of a third predetermined time period; (b) generating a static reverse motor control signal to selectively activate the motor; (c) transmitting the reverse motor control signal to the motor; and (d) activating the motor upon receiving the static reverse motor control signal, wherein activating the motor in response to receiving the reverse motor control signal translates the cutting edge proximally and away from the cut tissue.

[0084] IV. Other It should be understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein can be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Thus, the above teachings, expressions, embodiments, examples, etc. should not be considered in isolation from one another. Various suitable ways in which the teachings herein can be combined will be readily apparent to those skilled in the art in view of the teachings herein. Such modifications and variations are intended to be within the scope of the claims.

[0085] It should be understood that all or part of any patent, publication, or other disclosure referred to herein as being incorporated by reference is incorporated herein only to the extent that the incorporated material does not contradict existing definitions, opinions, or other disclosures set forth in this disclosure. As such, and to the extent necessary, the disclosures explicitly set forth herein shall supersede any conflicting statements incorporated herein by reference. Any material, or portions thereof, that is referred to herein as being incorporated by reference but that contradicts current definitions, opinions, or other disclosures set forth herein shall be incorporated only to the extent that no conflict arises between the incorporated material and the current disclosures.

[0086] Variations of the above-described devices can be applied not only to traditional medical procedures and surgeries performed by medical professionals, but also to robotic-assisted medical procedures and surgeries. By way of example only, the various teachings herein can be readily incorporated into robotic surgical systems such as the DAVINCI™ system by Intuitive Surgical, Inc. (Sunnyvale, California).

[0087] The device variations described above can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either or both cases, the variations can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular parts, and subsequent reassembly. In particular, some device variations can be disassembled and any number of particular portions or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and / or replacement of particular parts, some device variations can be reassembled for subsequent use either at a reconditioning facility or by the user immediately prior to a procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

[0088] By way of example only, the variations described herein may be sterilized before and / or after treatment. In one sterilization technique, the device is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and device may then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays, or a high-energy electron beam. The radiation may kill bacteria on the device and in the container. The sterilized device may then be stored in the sterile container for later use. The device may also be sterilized using any other technique known in the art, including, but not limited to, beta or gamma radiation, ethylene oxide, or steam.

[0089] While various embodiments of the present invention have been shown and described, further adaptations of the methods and systems described herein can be achieved by appropriate modifications by those skilled in the art without departing from the scope of the present invention. While some such possible modifications have been mentioned, other modifications will be apparent to those skilled in the art. For example, the above examples, embodiments, geometries, materials, dimensions, proportions, steps, etc. are illustrative and not required. Accordingly, it is understood that the scope of the present invention should be considered in terms of the following claims and is not limited to the details of construction and operation shown and described in the specification and drawings.

[0090] [Embodiment] (1) A surgical instrument, (a) a body including a firing actuator; (b) a shaft extending distally from the body; (c) a motor configured to couple to a power source, the motor configured to activate in response to a firing actuation of the firing actuator; (d) an end effector disposed on a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut tissue; (e) a control circuit operatively coupled to the motor and the firing actuator, the control circuit configured to generate a forward motor control signal for actuating the motor in response to the firing actuation, the forward motor control signal configured to pulse the cutting edge from the proximal position to the distal position to cut the tissue, the pulsing forward motor control signal comprising: (i) a first duration that includes distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second duration that includes stopped movement of the cutting edge, the second duration following the first duration; (iii) a third duration that includes distal movement of the cutting edge from the second longitudinal position toward the distal position, the third duration following the second duration. (2) The surgical instrument of claim 1, wherein the control circuit is configured to determine when the cutting edge has reached the distal position, and wherein the control circuit is further configured to generate a reverse motor control signal to activate the motor to transition the cutting edge from the distal position back to the proximal position. (3) The surgical instrument of claim 2, wherein the control circuit further includes a switch operable to reverse the electrical polarity provided by the power source to the motor, and the control circuit is configured to operate the switch in response to determining that the cutting edge has reached the distal position. (4) The surgical instrument of embodiment 1, wherein the control circuitry further comprises an analog electrical component configured to oscillate the forward motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor. (5) The surgical instrument of embodiment 4, wherein the analog electrical component further comprises an RC circuit coupled with two transistors, the RC circuit comprising at least one resistor and at least one capacitor, and the RC circuit and the two transistors configured to oscillate the forward motor control signal.

[0091] (6) The surgical instrument of claim 4, wherein the analog electrical components further include an integrated circuit timing device. (7) The surgical instrument of claim 4, wherein the analog electrical component further comprises an operational amplifier configured to oscillate the forward motor control signal. (8) The surgical instrument of claim 4, wherein the analog electrical component further comprises a variable timer relay configured to oscillate the forward motor control signal. (9) The surgical instrument of embodiment 1, wherein the body further includes a closure actuator, the end effector further includes a stapling assembly configured to selectively move between an open position and a closed position in response to actuation of the closure actuator, and the stapling assembly is configured to drive a plurality of staples from the stapling assembly into the tissue in response to activation of the motor. (10) The surgical instrument of embodiment 1, wherein the control circuit further includes a microcontroller, the microcontroller configured to oscillate the forward motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor.

[0092] (11) The surgical instrument of embodiment 1, wherein the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from the proximal position to the distal position to cut tissue, and wherein the control circuit further includes a bypass switch, the bypass switch selectively operable to increase the duty cycle to 100%. (12) The surgical instrument of claim 11, wherein the bypass switch is positioned on an exterior surface of the body. (13) The surgical instrument of embodiment 1, wherein the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from the proximal position to the distal position to cut tissue, and wherein the control circuit further includes an adjustable input feature, the adjustable input feature selectively operable to adjust the duty cycle. (14) The surgical instrument of claim 13, wherein the adjustable input feature is positioned on an exterior surface of the body. (15) The surgical instrument of claim 1, wherein the forward motor control signal is configured with a 50% duty cycle to pulse the cutting edge from the proximal position to the distal position to cut tissue.

[0093] (16) The surgical instrument of claim 1, wherein the forward motor control signal comprises a frequency in the range of about 0.5 hertz to about 3 hertz. (17) A surgical instrument, (a) a body including a firing actuator; (b) a motor configured to activate in response to firing actuation of the firing actuator; (c) an end effector disposed on a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut tissue; (d) a control circuit operatively coupled to the motor and the firing actuator, the control circuit configured to generate an oscillating motor control signal to activate the motor and pulse the cutting edge from the proximal position to the distal position, the control circuit then configured to generate a static motor control signal to activate the motor and pulse the cutting edge from the distal position to the proximal position, the pulsing comprising: (i) a first cycle including distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second cycle including a stopped movement of the cutting edge; (iii) a third cycle including distal movement of the cutting edge from the second longitudinal position toward the distal position. (18) The surgical instrument of claim 17, wherein the control circuitry further comprises analog electrical components configured to oscillate the oscillating motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to activate the motor and the low voltage signal operable to deactivate the motor. (19) A method of operating a surgical instrument, the surgical instrument including a body having a firing actuator, a shaft extending distally from the body, an end effector having a cutting edge disposed at a distal end of the shaft, a motor configured to couple to a power source, and control circuitry operably coupled to the motor and the firing actuator, the method comprising: (a) in response to actuation of the firing actuator, transmitting a fire signal to the control circuit, the control circuit configured to generate a pulsed forward motor control signal to selectively activate the motor; (b) activating the motor upon receiving a first portion of the forward motor control signal from the control circuit, wherein activating the motor translates the cutting edge distally; (c) maintaining the motor in the activated state for a first predetermined period of time, wherein the cutting edge translates from a first longitudinal position to a second longitudinal position during the first predetermined period of time, and wherein the cutting edge translates through a first length of tissue during translation from the first longitudinal position to the second longitudinal position; (d) upon receiving a second portion of the forward motor control signal from the control circuit, stopping the motor, thereby stopping distal translation of the cutting edge; (e) maintaining the motor in the stopped state for a second predetermined period of time, wherein the cutting edge remains in the second longitudinal position during the second predetermined period of time and the end effector remains adjacent to the tissue during the stopped state; (f) starting the motor upon receiving a third portion of the forward motor control signal from the control circuit; (g) maintaining the motor in the activated state for a third predetermined period of time, wherein the cutting edge translates from the second longitudinal position to a third longitudinal position during the third predetermined period of time, and wherein the cutting edge translates through a second length of tissue during translation from the second longitudinal position to the third longitudinal position; (h) driving staples into the tissue during transition of the cutting edge from the first longitudinal position to the third longitudinal position. (20) (a) reversing the polarity of the power supply to the motor provided by the power source after expiration of the third predetermined time period; (b) generating a static reverse motor control signal for selectively activating the motor; (c) transmitting the reverse motor control signal to the motor; (d) activating the motor upon receiving the static reverse motor control signal, wherein activating the motor in response to receiving the reverse motor control signal translates the cutting edge proximally and away from the cut tissue.

Claims

1. A surgical instrument comprising: (a) a body including a firing actuator; (b) a shaft extending distally from the body; (c) a motor configured to couple to a power source, the motor configured to activate in response to a firing actuation of the firing actuator; (d) an end effector disposed on a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut the tissue; (e) a control circuit operatively coupled to the motor and the firing actuator, the control circuit configured to generate a forward motor control signal for actuating the motor in response to the firing actuation, the forward motor control signal configured to pulse the cutting edge from the proximal position to the distal position to cut the tissue, the pulsing forward motor control signal comprising: (i) a first duration that includes distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second duration that includes the cutting edge stopping at the second longitudinal position, the second duration following the first duration; (iii) a third duration that includes distal movement of the cutting edge from the second longitudinal position toward the distal position, the third duration following the second duration.

2. 10. The surgical instrument of claim 1, wherein the control circuit is configured to determine when the cutting edge has reached the distal position, and wherein the control circuit is further configured to generate a reverse motor control signal to activate the motor to transition the cutting edge from the distal position back to the proximal position.

3. 3. The surgical instrument of claim 2, wherein the control circuit further includes a switch operable to reverse electrical polarity provided by the power source to the motor, the control circuit being configured to operate the switch in response to determining that the cutting edge has reached the distal position.

4. 2. The surgical instrument of claim 1, wherein the control circuit further comprises an analog electrical component configured to oscillate the forward motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor.

5. 5. The surgical instrument of claim 4, wherein the analog electrical components further include an RC circuit coupled with two transistors, the RC circuit including at least one resistor and at least one capacitor, and the RC circuit and the two transistors configured to oscillate the forward motor control signal.

6. The surgical instrument of claim 4 , wherein the analog electrical components further include an integrated circuit timing device.

7. The surgical instrument of claim 4, wherein the analog electrical components further include an operational amplifier configured to oscillate the forward motor control signal.

8. The surgical instrument of claim 4, wherein the analog electrical component further comprises a variable timer relay configured to oscillate the forward motor control signal.

9. 2. The surgical instrument of claim 1, wherein the body further includes a closure actuator, the end effector further includes a stapling assembly configured to selectively move between open and closed positions in response to actuation of the closure actuator, the stapling assembly configured to drive a plurality of staples from the stapling assembly into the tissue in response to activation of the motor.

10. 2. The surgical instrument of claim 1, wherein the control circuit further includes a microcontroller configured to oscillate the forward motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor.

11. A surgical instrument comprising: (a) a body including a firing actuator; (b) a shaft extending distally from the body; (c) a motor configured to couple to a power source, the motor configured to activate in response to a firing actuation of the firing actuator; (d) an end effector disposed on a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut the tissue; (e) a control circuit operatively coupled to the motor and the firing actuator, the control circuit configured to generate a forward motor control signal for actuating the motor in response to the firing actuation, the forward motor control signal configured to pulse the cutting edge from the proximal position to the distal position to cut the tissue, the pulsing forward motor control signal comprising: (i) a first duration that includes distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second duration that includes the cutting edge stopping at the second longitudinal position, the second duration following the first duration; (iii) a third duration that includes distal movement of the cutting edge from the second longitudinal position toward the distal position, the third duration following the second duration; 10. A surgical instrument, wherein the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from the proximal position to the distal position to cut the tissue, and wherein the control circuit further includes a bypass switch selectively actuable to increase the duty cycle to 100%.

12. The surgical instrument of claim 11 , wherein the bypass switch is positioned on an exterior surface of the body.

13. 2. The surgical instrument of claim 1, wherein the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from the proximal position to the distal position to cut the tissue, and the control circuit further includes an adjustable input feature selectively operable to adjust the duty cycle.

14. A surgical instrument comprising: (a) a body including a firing actuator; (b) a shaft extending distally from the body; (c) a motor configured to couple to a power source, the motor configured to activate in response to a firing actuation of the firing actuator; (d) an end effector disposed on a distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut the tissue; (e) a control circuit operatively coupled to the motor and the firing actuator, the control circuit configured to generate a forward motor control signal for actuating the motor in response to the firing actuation, the forward motor control signal configured to pulse the cutting edge from the proximal position to the distal position to cut the tissue, the pulsing forward motor control signal comprising: (i) a first duration that includes distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second duration that includes the cutting edge stopping at the second longitudinal position, the second duration following the first duration; (iii) a third duration that includes distal movement of the cutting edge from the second longitudinal position toward the distal position, the third duration following the second duration; the forward motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from the proximal position to the distal position to cut the tissue, the control circuit further comprising an adjustable input feature selectively operable to adjust the duty cycle; The surgical instrument, wherein the adjustable input feature is positioned on an exterior surface of the body.

15. The surgical instrument of claim 1, wherein the forward motor control signal is configured with a 50% duty cycle to pulse the cutting edge from the proximal position to the distal position to cut the tissue.

16. The surgical instrument of claim 1, wherein the forward motor control signal comprises a frequency in the range of about 0.5 hertz to about 3 hertz.

17. A surgical instrument comprising: (a) a body including a firing actuator; (b) a motor configured to activate in response to firing actuation of the firing actuator; (c) an end effector disposed on the distal end of the shaft, the end effector operable to staple and cut tissue, the end effector including a cutting edge configured to selectively translate longitudinally between a proximal position and a distal position, the cutting edge configured to transition from the proximal position to the distal position in response to activation of the motor to cut the tissue; (d) a control circuit operatively coupled to the motor and the firing actuator, the control circuit configured to generate an oscillating motor control signal to activate the motor and pulse the cutting edge from the proximal position to the distal position, the control circuit then configured to generate a static motor control signal to activate the motor and pulse the cutting edge from the distal position to the proximal position, the pulsing comprising: (i) a first cycle including distal movement of the cutting edge from the proximal position to a second longitudinal position; (ii) a second cycle including the cutting edge stopping at the second longitudinal position; (iii) a third cycle including distal movement of the cutting edge from the second longitudinal position toward the distal position.

18. 18. The surgical instrument of claim 17, wherein the control circuit further comprises analog electrical components configured to oscillate the oscillating motor control signal between a high voltage signal and a low voltage signal, the high voltage signal operable to start the motor and the low voltage signal operable to stop the motor.

19. 18. The surgical instrument of claim 17, wherein the oscillating motor control signal is configured with a duty cycle of less than 100% to pulse the cutting edge from the proximal position to the distal position to cut the tissue, and the control circuit further includes a bypass switch selectively actuable to increase the duty cycle to 100%.

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