Surgical Stapler Motor Control via Dynamic Braking
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Solution Overview
Problem
Motorized surgical stapling and cutting instruments face issues with undesirable articulation of the end effector, leading to the need for a dynamic brake to synchronize the motor with the articulation member when the end effector jaws are open.
Innovation Solution
The implementation of a control circuit and sensor arrangement that provides a holding load to create a dynamic brake, ensuring the end effector does not articulate unnecessarily by monitoring and controlling the articulation joint through a position sensor and motor control system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the end effector is allowed to articulate freely when jaws are open, then the instrument has greater operational flexibility, but the end effector may articulate undesirably causing loss of synchronization with the motor
Solution Approach 1:
The control circuit applies a holding load to the articulation member when the jaws are open and the end effector is not articulating. This preliminary counteracting force prevents unwanted articulation movements before they can occur, maintaining synchronization between the motor and articulation member while allowing operational flexibility when needed.
2Reliability
If a holding load is applied to create a dynamic brake, then unwanted articulation is prevented, but additional control complexity is introduced
Solution Approach 1:
The control circuit continuously monitors the position of the articulation member and jaw actuator through sensor arrangements. Based on this feedback information about whether the jaws are open or closed and whether articulation is actively commanded, the control circuit automatically adjusts the holding load applied to the articulation member, preventing unwanted articulation without requiring complex manual intervention.
Data Source
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AI summary
A motorized surgical instrument is disclosed. The surgical instrument includes a control circuit configured to control the movement of an end effector. If the end effector moves outside a predetermined desired position, the control circuit may activate the energized condition of the motor to move the end effector back to the desired position. When the end effector is in the desired position, the control circuit may engage the de-energized condition of the motor and engage an electromagnetic lock.