Handheld electromechanical surgical system

Abstract

The surgical device includes an end effector having a pair of opposing jaw members and a drive beam longitudinally movable through the pair of opposing jaw members, thereby approximating the pair of opposing jaw members toward one another. The device also includes an adapter assembly configured to selectively couple to the end effector. The adapter assembly includes an actuation assembly configured to mechanically engage and longitudinally move the drive beam. The device also includes a handle assembly configured to selectively couple to the adapter assembly.

Description

Technical Field

[0001] The present disclosure relates to surgical devices. More specifically, the present disclosure relates to a handheld electromechanical surgical system for performing surgical procedures.

Background Art

[0002] Surgical fastener devices for applying fasteners or staples to tissue are well known. These fastener devices include single-use devices in which one or more staples are pre-loaded and disposable after single use. Reusable devices are also available, with multiple staples pre-loaded. Reusable devices may include a handle assembly that is actuated electromechanically, for example, electrically or manually. These devices can be used with a single-use loading unit (SULU) or a multiple-use loading unit (MULU). The loading unit includes a body and an end effector and is attached to the handle assembly directly or via an adapter assembly that can be coupled to the handle assembly. The loading unit may also include an articulating end effector. In an electrosurgical device that uses a motor to actuate and / or articulate the end effector, the motor can cause the staples to be ejected more slowly than in a manually actuated surgical device. Therefore, there is a need for an electrosurgical stapler configured to eject staples at a higher speed comparable to a manual stapler.

Summary of the Invention

Means for Solving the Problems

[0003] According to one embodiment of the present disclosure, a surgical device is disclosed. The surgical device includes an end effector having a pair of opposing jaw members and a drive beam that is longitudinally movable through the pair of opposing jaw members, thereby bringing the pair of opposing jaw members closer together. The device also includes an adapter assembly configured to be selectively coupled to the end effector. The adapter assembly includes an actuation assembly configured to mechanically engage with the drive beam and to move the drive beam longitudinally. The device also includes a handle assembly configured to be selectively coupled to the adapter assembly. The handle assembly includes a power supply, a motor coupled to the power supply, a sensor configured to measure a force applied to the drive beam, and a motor controller configured to control the motor to maintain a constant force on the drive beam based on the force measured by the sensor during longitudinal movement of the drive beam bringing the pair of opposing jaw members closer together.

[0004] Embodiments may include one or more of the following features: According to one aspect of the above embodiment, one jaw member of a pair of opposing jaw members may include a plurality of staples. The end effector may further include an actuation sled that is movable through one jaw member of a pair of opposing jaw members to eject the plurality of staples. A drive beam may be configured to engage with the actuation sled and move the actuation sled through one jaw member of a pair of opposing jaw members. The drive beam may further include a distally facing knife. The motor controller includes a proportional-integral-derivative (PID) controller configured to receive a measured force as input and to output a motor control signal to maintain a constant force on the drive beam. The motor control signal may be pulse-width modulated. The motor controller may further be configured to increase a constant force at a constant speed. The handle assembly may further include a user input button and a main controller configured to receive an input signal from the user input button and to send a signal to the motor controller to control the motor.

[0005] Another embodiment of the present disclosure discloses a surgical device. The surgical device includes an end effector having an anvil assembly, a cartridge assembly having a plurality of staples, and a drive beam that is longitudinally movable through the anvil assembly and the cartridge assembly, thereby bringing the anvil assembly and the cartridge assembly closer together and ejecting the plurality of staples. The surgical device also includes an adapter assembly configured to be selectively coupled to the end effector. The adapter assembly includes an actuation assembly configured to mechanically engage with the drive beam and to move the drive beam longitudinally. The surgical device also includes a handle assembly configured to be selectively coupled to the adapter assembly. The handle assembly includes a power supply, a motor coupled to the power supply, a sensor configured to measure the force applied to the drive beam, and a motor controller configured to control the motor to maintain a constant force on the drive beam based on the force measured by the sensor during the movement of the drive beam to bring the anvil assembly and the cartridge assembly closer together and eject the plurality of staples.

[0006] Embodiments may include one or more of the following features: According to one aspect of the above embodiment, the end effector may include an actuation sled that is movable through a cartridge assembly and configured to eject a plurality of staples. A drive beam may be configured to engage with the actuation sled and move the actuation sled through the cartridge assembly. The drive beam may further include a distally facing knife. A motor controller may include a proportional-integral-derivative (PID) controller configured to receive a measured force as input and to output a motor control signal to maintain a constant force on the drive beam. The motor control signal may be pulse-width modulated. The motor controller may further be configured to increase a constant force at a constant speed.

[0007] Further embodiments of the present disclosure disclose a method for controlling a surgical device. The method includes acting on a motor coupled to a drive beam configured to move through an anvil assembly and a cartridge assembly of an end effector. The method also includes bringing the anvil assembly and the cartridge assembly closer together. The method also includes ejecting a plurality of staples disposed within the cartridge assembly. The method further includes measuring the force applied to the drive beam. The method further includes controlling the force applied to the drive beam to maintain it constant at a certain setpoint during longitudinal movement.

[0008] Embodiments may include one or more of the following features. According to one aspect of the above embodiment, the method may also include increasing the force applied to the drive beam at a constant rate to reach a set value. The method may further include advancing the knife through an anvil assembly and a cartridge assembly. The method may also include controlling the force by processing the measured force as input through a proportional-integral-derivative (PID) controller and outputting a motor control signal from the PID controller to maintain a constant force on the drive beam. The present invention provides, for example, the following: (Item 1) A surgical device, A pair of opposing jaw members, A drive beam is movable longitudinally through the pair of opposing jaw members, thereby bringing the pair of opposing jaw members closer together. A motor configured to move the aforementioned drive beam, A sensor configured to measure the force applied to the drive beam, A surgical device comprising: a motor controller configured to control the motor to maintain a constant force on the drive beam based on the force measured by the sensor during longitudinal movement of the drive beam, which brings the pair of opposing jaw members closer together; (Item 2) The surgical device according to item 1, wherein one of the pair of opposing jaw members includes a plurality of staples. (Item 3) The surgical device according to item 2, further comprising an operating sled that is movable through one of the pair of opposing jaw members for ejecting the plurality of staples. (Item 4) The surgical device according to item 3, wherein the drive beam is configured to engage with the working sled and move the working sled through one of the pair of opposing jaw members. (Item 5) The surgical device according to item 1, wherein the drive beam further includes a knife facing distally. (Item 6) The surgical device according to item 1, wherein the motor controller includes a proportional-integral-derivative (PID) controller configured to receive the measured force as input and output a motor control signal to maintain the constant force on the drive beam. (Item 7) The surgical device according to item 6, wherein the motor control signal is pulse-width modulated. (Item 8) The surgical device according to item 6, wherein the motor controller is further configured to increase the constant force at a constant speed. (Item 9) A handle assembly, User input button and The surgical device according to item 1, further comprising a handle assembly, the main controller configured to receive an input signal from the user input button and to send a signal to the motor controller to control the motor. (Item 10) A surgical device, It is an end effector, Anvil assembly and, A cartridge assembly having multiple staples, An end effector including a drive beam that is longitudinally movable through the anvil assembly and the cartridge assembly, thereby bringing the anvil assembly and the cartridge assembly closer to each other and ejecting the plurality of staples, An adapter assembly configured to selectively couple to the end effector, comprising an adapter assembly that mechanically engages with the drive beam and is configured to move the drive beam longitudinally, A handle assembly configured to be selectively coupled to the adapter assembly, wherein the handle assembly is Power supply and A motor coupled to the aforementioned power supply, A sensor configured to measure the force applied to the drive beam, A surgical device comprising: a handle assembly, which includes a motor controller configured to bring the anvil assembly and the cartridge assembly closer together and to control the motor to maintain a constant force on the drive beam based on the force measured by the sensor during longitudinal movement of the drive beam to eject the plurality of staples. (Item 11) The surgical device according to item 10, further comprising an operating sled which is movable through the cartridge assembly and configured to eject the plurality of staples. (Item 12) The surgical device according to item 11, wherein the drive beam is configured to engage with the working sled and move the working sled through the cartridge assembly. (Item 13) The surgical device according to item 10, wherein the drive beam further includes a knife facing distally. (Item 14) The surgical device according to item 10, wherein the motor controller includes a proportional-integral-derivative (PID) controller configured to receive the measured force as input and to output a motor control signal to maintain the constant force on the drive beam. (Item 15) The surgical device according to item 14, wherein the motor control signal is pulse-width modulated. (Item 16) The surgical device according to item 14, wherein the motor controller is configured to increase the constant force at a constant speed. (Item 17) A method for controlling a surgical device, To actuate a motor coupled to a drive beam configured to move longitudinally through the anvil assembly and cartridge assembly of the end effector, Bringing the anvil assembly and the cartridge assembly closer together, The process involves ejecting multiple staples arranged within the aforementioned cartridge assembly, To measure the force applied to the drive beam, A method comprising controlling the force applied to the drive beam during longitudinal movement to maintain it at a constant value set to a certain set value. (Item 18) The method of item 17, further comprising increasing the force applied to the drive beam at a constant rate so as to reach the set value. (Item 19) The method according to item 17, further comprising advancing the knife through the anvil assembly and the cartridge assembly. (Item 20) The aforementioned force control is In a proportional-integral-derivative (PID) controller, the measured force is processed as input, The method of item 17, further comprising outputting a motor control signal from the PID controller to maintain the constant force on the drive beam. [Brief explanation of the drawing]

[0009] Embodiments of the present disclosure are described herein with reference to the accompanying drawings.

[0010] [Figure 1] This is a perspective view of a handheld surgical device, including a handle assembly, an adapter assembly, and a surgical loading unit, according to one embodiment of the present disclosure. [Figure 2] This is a perspective view illustrating the connection of the adapter assembly and handle assembly shown in Figure 1 according to one embodiment of the present disclosure. [Figure 3] This is a perspective view of an internal component of a handle assembly according to one embodiment of the present disclosure. [Figure 4] This is a cross-sectional view of an adapter assembly taken along the cross-section "4-4" in Figure 1, according to one embodiment of the present disclosure. [Figure 5] This is a cross-sectional view of an adapter assembly taken along the cross section "5-5" in Figure 1, according to one embodiment of the present disclosure. [Figure 6] This is a perspective view showing the components of the adapter assembly in Figure 1 separated, according to one embodiment of the present disclosure. [Figure 7] This is a perspective view showing the components of the surgical loading unit shown in Figure 1 separated, according to one embodiment of the present disclosure. [Figure 8] Figure 1 is a schematic diagram of the handle assembly, adapter assembly, and end effector. [Figure 9] This is a flowchart of a control algorithm for controlling the surgical instrument shown in Figure 1, according to one embodiment of the present disclosure. [Figure 10] Figure 9 shows a plot of the load applied to the drive beam and the motor rotation speed in the control algorithm according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0011] Embodiments of the surgical devices of this disclosure, and adapter assemblies and / or handle assemblies for the surgical devices, are described in detail with reference to the drawings, where similar reference numerals indicate the same or corresponding elements in each of several figures. As used herein, the term “distal” refers to the part or component of a surgical instrument that is further from the user, while the term “proximal” refers to the part or component of a surgical instrument that is closer to the user.

[0012] This disclosure provides an electric surgical device 10 (e.g., a stapler) having a handle assembly, an adapter assembly coupled to the handle assembly, and an end effector coupled to the adapter assembly. Referring to Figure 1, the electric surgical device 10 includes a handle assembly 20 configured to selectively connect to an adapter assembly 30, the adapter assembly 30 then configured to selectively connect to a loading unit 40 having an end effector 44. Although generally referred to as an electric surgical device, the surgical device 10 may be manually operated or may include various configurations.

[0013] The handle assembly 20 includes a handle housing 22 having a lower housing portion 24, an intermediate housing portion 26 extending from and / or supported by a portion of the lower housing portion 24, and an upper housing portion 28 extending from and / or supported by a portion of the intermediate housing portion 26. The handle assembly 20 also includes a plurality of control units 23, which may include buttons 27, touch screens, or any other user input devices to enable a clinician to control the operation of the surgical device 10.

[0014] As shown in Figure 2, the distal portion of the upper housing portion 28 defines a nose or connecting portion 28a configured to receive the proximal end portion 30b of the adapter assembly 30. The connecting portion 28a of the upper housing portion 28 includes an electrical outlet 29 having a plurality of electrical contacts 31, which communicates with the electronic components (e.g., the main controller circuit board 142 in Figure 8) and electrical components (e.g., the rechargeable battery 144 in Figures 3 and 8) of the handle assembly 20. The adapter assembly 30 includes a mating electrical connector 32 configured to engage with the electrical outlet 29. The electrical connector 32 also includes a plurality of electrical contacts 34 that engage with their mating electrical contacts 31 to make an electrical connection.

[0015] Referring to Figure 3, the handle assembly 20 includes motors 36a, 36b, and 36c coupled to the corresponding drive shafts 39a, 39b, and 39c (Figure 2), the drive shafts 39a, 39b, and 39c being configured to engage with their respective sockets 33a, 33b, and 33c at their proximal end portions 30b, thereby imparting rotation of the drive shafts 39a, 39b, and 39c to the sockets 33a, 33b, and 33c.

[0016] Referring to Figures 4 to 6, the adapter assembly 30 includes a tubular housing 30a extending between a proximal end portion 30b configured to operably connect to a connecting portion 28a of the handle assembly 20 and an opposite distal end portion 30c configured to operably connect to the loading unit 40. The adapter assembly 30 includes actuating assemblies 35a, 35b, and 35c, each of which is coupled to one of the sockets 33a, 33b, and 33c (Figure 6). The actuating assemblies 35a, 35b, and 35c are configured to convert the rotational motion of the sockets 33a, 33b, and 33c into linear and / or rotational motion, and so the adapter assembly 30 is configured to convert the rotational motion provided by the handle assembly 20 into axial translation to rotate the adapter assembly 30 around the longitudinal axis XX, to articulate the loading unit 40, to clamp tissue, to eject fasteners, and to cut the fixed tissue.

[0017] Referring to Figure 6, the actuation assembly 35a, actuated by motor 36a, includes an articulated link 57 having a hook 57a disposed at the distal end of the articulated link 57. The longitudinal movement of the articulated link 57 is used to articulate the end effector 44 around the articulation axis YY (Figures 1 and 7), which is perpendicular to the longitudinal axis XX. The actuation assembly 35b, actuated by motor 36b, includes a drive member 56 used to actuate the anvil assembly 46 and cartridge assembly 48 of the end effector 44. The actuation assembly 35c, actuated by motor 36c, is used to rotate the adapter assembly 30 around the longitudinal axis XX.

[0018] Referring to Figures 1 and 7, one embodiment of the loading unit 40 is shown. The loading unit 40 includes a proximal body portion 42 and an end effector 44. The proximal body portion 42 is releasably mounted to the distal end portion 30c of the adapter assembly 30, and the end effector 44 is pivotably mounted to the distal end of the proximal body portion 42. The end effector 44 includes an anvil assembly 46 and a cartridge assembly 48. The anvil assembly 46 is pivotable relative to the cartridge assembly 48 and is movable between an open or unclamped position and a closed or clamped position. The proximal body portion 42 includes a drive assembly 50 and an articulated link 52.

[0019] The drive assembly 50 includes a flexible drive beam 54 having a distal end portion 54a and a proximal engagement portion 54b. The distal end portion 54a includes an I-shaped beam 55 having a knife 55a. The I-shaped beam 55 is configured to advance through the anvil assembly 46 and the cartridge assembly 48, thereby pushing the anvil assembly 46 toward the cartridge assembly 48 and clamping the tissue. The proximal engagement portion 54b includes fingers 54c that extend inward opposite in the diametrical direction, and the fingers 54c engage with the drive member 56 (Figures 5 and 6) to firmly secure the drive member 56 to the proximal end of the flexible drive beam 54. The drive member 56 is actuated by the actuation assembly 35b of the adapter assembly 30.

[0020] The cartridge assembly 48 of the end effector 44 includes a staple cartridge 58 that is removably supported within the carrier 60. The staple cartridge 58 defines a central longitudinal slot 58a and multiple linear rows of staple-retaining slots 58b located on either side of the central longitudinal slot 58a. Each of the staple-retaining slots 58b receives a staple 62 and a portion of a staple pusher 64. During the operation of the surgical device 10, the drive assembly 50 contacts the working sled 66 and pushes the working sled 66 through the staple cartridge 58. As the working sled 66 moves through the staple cartridge 58, the cam wedges of the working sled 66 sequentially engage with the staple pusher 64, causing the staple pusher 64 to move vertically within the staple-retaining slots 58b, from which the staples 62 are sequentially ejected and formed against the anvil plate 46a of the anvil assembly 46.

[0021] The proximal body portion 42 of the loading unit 40 includes an articulated link 52 having a hooked proximal end portion 52a extending from the proximal end of the loading unit 40, which engages with an opposing articulated link 57 coupled to the actuation assembly 35a of the adapter assembly 30. The articulated link 52 has a distal end portion 52b pivotably fixed to the end effector 44. When the articulated link 57 is moved axially by the actuation assembly 35a of the adapter assembly 30 in either the proximal or distal direction, the articulated link 52 of the loading unit 40 is moved in the same manner. The axial movement of the articulated link 52 then articulates (e.g., pivots) the end effector 44 around a pivot pin 59 defining axis YY.

[0022] Referring to Figure 8, the handle assembly 20 includes a main controller circuit board 142, a rechargeable battery 144 configured to power any of the electrical components of the handle assembly 100, and a plurality of motors 36a, 36b, 36c coupled to the battery 144. The handle assembly 20 also includes a display 146. In embodiments, the motors 36a, 36b, 36c may be coupled to any suitable power source configured to provide electrical energy to the motors 36a, 36b, 36c, such as an AC / DC transformer. Each of the motors 36a, 36b, 36c is coupled to a motor controller 143 that controls the operation of the motors 36a, 36b, 36c, including the flow of electrical energy from the battery 144 to the motors 36a, 36b, 36c. A main controller 147 is provided that controls the handle assembly 20. The main controller 147 is configured to execute software instructions that embody algorithms disclosed herein, such as clamping algorithms, stapling algorithms, and cutting algorithms, which control the operation of the handle assembly 20.

[0023] The motor controller 143 includes a plurality of sensors 408 (e.g., 408a, ..., 408n) configured to measure the operating status of motors 36a, 36b, 36c and battery 144. Sensors 408 include strain gauges 408b and may further include voltage sensors, current sensors, temperature sensors, telemetry sensors, optical sensors, and combinations thereof. Sensors 408 may measure the voltage, current, and other electrical characteristics of the electrical energy supplied by battery 144. One of the sensors 408, namely sensor 408a, may measure angular velocity (e.g., rotational speed) as revolutions per minute (RPM) of motor 36a, torque, temperature, current, and other operating characteristics. Sensor 408a may also include an encoder configured to count the rotational speed or other indicators of motor 36a, which is then used by the main controller 147 to calculate the linear displacement of components movable by motor 36a. Angular velocity can be determined by measuring the rotation of motors 36a, 36b, 36c, or a drive shaft (not shown) coupled to them and rotatable by motors 36a, 36b, 36c. The position of the drive shaft, which is movable in various axial directions, can also be determined by using various linear sensors disposed in or near the shaft, or by extrapolating from RPM measurements. In embodiments, torque can be calculated based on the regulated current draw of motors 36a, 36b, 36c at a constant RPM. In further embodiments, motor controllers 143 and / or main controllers 147 can measure time and process the above values ​​as a function of time, including integration and / or differentiation, to determine, for example, the rate of change in the measurements. The main controller 147 is also configured to determine the travel distance of various components of the adapter assembly 200 and / or end effector 300 by counting the rotation of motor 36a.

[0024] The motor controller 143 is coupled to a main controller 147 which includes multiple inputs and outputs for interfacing with the motor controller 143. In particular, the main controller 147 receives measured sensor signals from the motor controller 143 regarding the operating status of motors 36a, 36b, 36c and battery 144, and then outputs control signals to the motor controller 143 to control the operation of motors 36a, 36b, and 36c based on sensor readings and specific algorithmic instructions. The main controller 147 is also configured to accept multiple user inputs from a user interface (e.g., switches, buttons, touchscreens, etc., coupled to the main controller 147).

[0025] The main controller 147 is also coupled to memory 141. Memory 141 may include volatile memory (e.g., RAM) and non-volatile memory configured to store data including software instructions for operating the handle assembly 20. The main controller 147 is also coupled to the strain gauge 408b of the adapter assembly 200 using a wired or wireless connection and is configured to receive strain measurements from the strain gauge 408b used during the operation of the handle assembly 20.

[0026] The handle assembly 20 includes several motors 36a, 36b, and 36c, each motor including its own motor shaft (not explicitly stated) that extends from the motor and is configured to drive its respective transmission assembly. The rotation of the motor shaft by each motor functions to drive the gear components of the shaft and / or adapter assembly 200 to perform various operations of the handle assembly 100.

[0027] Figure 9 shows a method for activating the end effector 44 to clamp, staple, and cut tissue. This process is initiated by positioning the tissue between the anvil assembly 46 and the cartridge assembly 48 and pressing one of the buttons 27. The main controller 147 receives input from one of the buttons 27 and instructs the motor controller 143 to output a control signal to the motor 36b that will act as the end effector 44. The motor controller 143 is configured to output a pulse-width modulated (PWM) control signal that allows the power supplied to the motor 36b to be adjusted into separate increments. The motor controller 143 may include a proportional-integral-derivative (PID) controller or any other suitable control loop circuit using a feedback signal to achieve a desired setpoint. The parameters of the PID loop or control loop may be configurable based on various inputs, data collected during clamping, reload type, tissue type, e.g., sensing the tissue type or manually inputting the tissue type.

[0028] The motor controller 143 controls the motor 36b to move the drive beam 54 distally and initiate clamping. Accordingly, the drive beam 54 closes the anvil assembly 46 and the cartridge assembly 48, and simultaneously advances the knife 55a and the working sled 66. As a result of the operation of these components, a force is applied to the drive beam 54. Figure 10 shows superimposed plots 500 and 510, respectively, plot 500 showing the load applied to the drive beam 54 as measured by strain gauge 408b, and plot 510 illustrating the rotational speed of the motor 36b and / or the linear speed of the drive beam 54.

[0029] First, the motor controller 143 adjusts the motor 36b to tilt the force at a constant speed, as shown in segment 502 of the force plot 500, until a set value force is reached. Once the set value is reached, the force is maintained for segment 504. The speed of the motor 36b may change during the constant force segment 504, as shown by the spike 512 in the speed plot 510, while the constant force is maintained. In embodiments, the linear speed of the drive beam 54 and / or the rotational speed of the motor 36b may also be held constant during segment 503 until at least the spike 512 is reached, which occurs concurrently with the constant force segment 504. The drive beam 54 moves forward during segment 504 while maintaining the constant force, until the drive beam 54 reaches the end position of its progress corresponding to the knife 55a and / or anvil assembly 46.

[0030] The end of advancement may be determined using sensor 408a, which determines the position of the drive beam 54 based on the rotation of motor 36b or any other suitable position sensor. In embodiments, the end of advancement may be determined using strain gauge 408b, which can detect a mechanical stopper encountered by the drive beam 54. Once the end of advancement is determined, motor 36b stops the advancement of the drive beam 54 and pulls out the drive beam 54 to open the anvil assembly 46 and cartridge assembly 48. The end of advancement and pull-out of the drive beam 54 are indicated by spike 506 and segment 508, respectively. More specifically, spike 506 indicates that a mechanical limit has been reached, and segment 508 indicates the reversal of the drive beam 54.

[0031] The constant force algorithm provided herein is intended to be used with any jaw-type motorized or robotic surgical instrument, as well as end-to-end anastomotic circular staplers, and so on. It will be understood that various modifications can be made to the embodiments of the adapter assemblies of this disclosure. Therefore, the above description should not be construed as limiting, but merely as illustrative of embodiments. Those skilled in the art will anticipate other modifications within the scope and spirit of this disclosure.

[0032] In one or more embodiments, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. The computer-readable medium may include non-temporary computer-readable media corresponding to tangible media such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer).

[0033] Instructions may be executed by one or more processors, such as digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated circuits or discrete logic circuits. Therefore, the term "processor," as used herein, may refer to any of the aforementioned structures or any other physical structure suitable for implementing the described technology. Furthermore, the technology may be fully implemented by one or more circuits or logic elements.

Claims

1. A surgical device, A pair of opposing jaw members, A drive beam, wherein the drive beam is movable longitudinally through a pair of opposing jaw members, thereby bringing the pair of opposing jaw members closer together; A motor configured to move the aforementioned drive beam, A sensor configured to measure the force applied to the drive beam, A motor controller is configured to control the motor to maintain a constant force on the drive beam based on the force measured by the sensor during longitudinal movement of the drive beam, which brings the pair of opposing jaw members closer together. A surgical device equipped with [a specific feature].

2. The surgical device according to claim 1, wherein one of the pair of opposing jaw members includes a plurality of staples.

3. The surgical device according to claim 2, further comprising an operating sled, the operating sled being movable through one of a pair of opposing jaw members to eject the plurality of staples.

4. The surgical device according to claim 3, wherein the drive beam is configured to engage with the working sled so as to move the working sled through one of the pair of opposing jaw members.

5. The surgical device according to claim 1, wherein the driving beam further includes a knife facing distally.

6. The surgical device according to claim 1, wherein the motor controller includes a proportional-integral-derivative (PID) controller, the PID controller is configured to receive the measured force as input and to output a motor control signal to maintain the constant force on the drive beam.

7. The surgical device according to claim 6, wherein the motor control signal is pulse width modulated.

8. The surgical device according to claim 6, wherein the motor controller is further configured to increase the constant force at a constant speed.

9. The surgical device further comprises a handle assembly, The handle assembly is User input button and Main controller and Includes, The surgical device according to claim 1, wherein the main controller is configured to receive an input signal from the user input button and to send a signal to the motor controller in order to control the motor.

10. A surgical device, The surgical device comprises an end effector, an adapter assembly, and a handle assembly. The aforementioned end effector is, Anvil assembly and, A cartridge assembly having multiple staples, A drive beam, the drive beam being movable longitudinally through the anvil assembly and the cartridge assembly, thereby bringing the anvil assembly and the cartridge assembly closer to each other and ejecting the plurality of staples, and Includes, The adapter assembly is configured to selectively couple to the end effector, and the adapter assembly includes an actuation assembly, which is configured to mechanically engage the drive beam and move the drive beam longitudinally. The handle assembly is configured to be selectively coupled to the adapter assembly, The handle assembly is Power supply and A motor connected to the aforementioned power supply, A sensor configured to measure the force applied to the drive beam, A motor controller is configured to control the motor to maintain a constant force on the drive beam based on the force measured by the sensor during longitudinal movement of the drive beam, in order to bring the anvil assembly and the cartridge assembly closer to each other and to eject the plurality of staples. Surgical devices, including [specific components / features].

11. The surgical device according to claim 10, wherein the end effector further includes an operating sled, the operating sled being movable through the cartridge assembly and configured to eject the plurality of staples.

12. The surgical device according to claim 11, wherein the drive beam is configured to engage with the working sled to move the working sled through the cartridge assembly.

13. The surgical device according to claim 10, wherein the driving beam further includes a knife facing distally.

14. The surgical device according to claim 10, wherein the motor controller includes a proportional-integral-derivative (PID) controller, the PID controller being configured to receive the measured force as input and to output a motor control signal to maintain the constant force on the drive beam.

15. The surgical device according to claim 14, wherein the motor control signal is pulse width modulated.

16. The surgical device according to claim 14, wherein the motor controller is configured to increase the constant force at a constant speed.

17. A method for operating a surgical device, wherein the surgical device comprises a main controller, and the method is The main controller operates a motor coupled to a drive beam, the drive beam being configured to move longitudinally through the anvil assembly and cartridge assembly of the end effector, The main controller brings the anvil assembly and the cartridge assembly closer to each other, The main controller ejects a plurality of staples located within the cartridge assembly, The main controller measures the force applied to the drive beam, The main controller controls the force applied to the drive beam to maintain it at a constant value during longitudinal movement. Methods that include...

18. The method according to claim 17, further comprising the main controller increasing the force applied to the drive beam at a constant speed so as to reach the set value.

19. The method according to claim 17, further comprising the main controller advancing the knife through the anvil assembly and the cartridge assembly.

20. Controlling the aforementioned force means The main controller processes the measured force as input in the proportional-integral-derivative (PID) controller, The main controller outputs a motor control signal from the PID controller to maintain the constant force applied to the drive beam. The method according to claim 17, further comprising:

Images