Handheld Electromechanical Stapler for Stroke Loss Compensation
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Solution Overview
Problem
Conventional circular clamping, cutting, and stapling devices experience inaccurate actuation due to dynamic losses in the transmission assembly, which affects the proper functioning of the staple cartridge.
Innovation Solution
The powered circular stapler incorporates an adapter assembly with a transmission system that undergoes an end-of-line final functional test to map stroke loss characteristics using a second-order equation and specific coefficients. These coefficients are stored and used by the controller to calculate real-time stroke losses, compensating by adding additional motor ticks to ensure accurate actuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a transmission assembly is used to transmit actuation from the powered handle to the staple cartridge, then the device structure is complete and functional, but dynamic losses occur resulting in inaccurate actuation of the staple cartridge
Solution Approach 1:
The system incorporates encoders on the motor to determine position output and provides feedback to the controller. The controller uses this feedback information to monitor and adjust motor actuation in real-time, compensating for dynamic losses in the transmission assembly and ensuring accurate staple cartridge actuation.
Solution Approach 2:
The system dynamically adjusts motor parameters (such as actuation distance and force) based on real-time feedback from encoders and strain gauges. The controller modifies motor commands to account for varying dynamic losses in the transmission assembly, maintaining actuation accuracy despite energy losses.
2Manufacturing precision
If the transmission assembly is run through end-of-line final functional testing to map stroke loss characteristics, then actuation accuracy is improved, but the manufacturing process complexity increases
Solution Approach 1:
The system performs end-of-line final functional testing during manufacturing to map stroke loss characteristics of the transmission assembly. Coefficients derived from this testing are stored in memory before the device reaches the customer. This preliminary characterization enables the controller to compensate for specific transmission losses during actual surgical use, improving actuation accuracy.
3Measurement precision
If additional motor ticks are added to compensate for stroke losses, then staple cartridge actuation accuracy is improved, but the control system complexity increases
Solution Approach 1:
The controller continuously monitors position feedback from encoders and force feedback from strain gauges during operation. Based on this real-time feedback and the pre-stored stroke loss coefficients, the controller calculates and applies compensation by adding appropriate motor ticks to the actuation commands, ensuring accurate staple cartridge positioning despite transmission losses.
Solution Approach 2:
The system replaces pure mechanical actuation control with an electromechanical control system that uses electronic feedback and software-based compensation algorithms. Instead of mechanically pre-adjusting for transmission losses, the system uses the controller to dynamically calculate and apply compensation, reducing the need for complex mechanical adjustment mechanisms.
Data Source
AI summary
A surgical device includes a handle assembly having a power source, a motor coupled to the power source, and a controller configured to control the motor. The device also includes an adapter assembly configured to selectively couple to the handle assembly, the adapter assembly including a stapling transmission assembly movable by the motor. The device also includes a reload configured to selectively couple to a distal portion of the adapter assembly, the reload including a plurality of staples ejectable from the reload by the stapling transmission assembly. The device also includes an anvil assembly selectively couplable to the distal portion of the adapter assembly, the anvil assembly being movable relative to the reload, where the controller may be further configured to control the motor to move the stapling transmission assembly to eject the staples while compensating for mechanical losses of the stapling transmission assembly.