System and method for non-contact electronic articulation sensing

Patent metadata

Field	Value
Publication number	US-10136879-B2
Application number	US-201615164038-A
Country	US
Kind code	B2
Filing date	May 25, 2016
Priority date	Oct 6, 2006
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

A surgical instrument is disclosed. The instrument includes a handle portion, a body portion extending distally from the handle portion and defining a first longitudinal axis and an articulating tool assembly defining a second longitudinal axis and having a proximal end. The articulating tool assembly is disposed at a distal end of the body portion and is movable from a first position in which the second longitudinal axis is substantially aligned with the first longitudinal axis to at least a second position in which the second longitudinal axis is disposed at an angle with respect to the first longitudinal axis. The instrument also includes an articulation mechanism configured to articulate the articulating tool assembly, the articulation mechanism including an articulation sensor assembly configured to transmit a sensor signal to a microcontroller which is configured to determine an articulation angle of the articulation assembly.

First claim

What is claimed:

1. A surgical instrument, comprising:
a handle portion;
a body portion extending distally from the handle portion and defining a first longitudinal axis;
an articulation tool assembly defining a second longitudinal axis and having a proximal end, the articulation tool assembly disposed at a distal end of the body portion and being movable from a first position in which the second longitudinal axis is substantially aligned with the first longitudinal axis to at least a second position in which the second longitudinal axis is disposed at an angle with respect to the first longitudinal axis;
an articulation mechanism configured to articulate the articulation tool assembly, the articulation mechanism including:
an articulation link mechanically engaged to the articulation tool assembly; and
an articulation knob mechanically engaged to the articulation link, wherein rotational motion of the articulation knob is translated into articulation movement of the articulation tool assembly through the articulation link; and

an articulation sensor assembly including:
a photo sensor disposed in spaced relation to the articulation link and configured to detect light reflected from the articulation link, the photo sensor configured to transmit a sensor signal; and
a microcontroller configured to determine an articulation angle of the articulation tool assembly based on the sensor signal.

2. The surgical instrument according to claim 1 , wherein the microcontroller is configured to determine the articulation angle as a function of a displacement of the articulation link based on the reflected light.

3. The surgical instrument according to claim 1 , wherein the articulation link includes a marker at a location that corresponds with an unarticulated position of the articulation tool assembly when the marker is disposed over the photo sensor.

4. A surgical instrument, comprising:
a handle portion;
a body portion extending distally from the handle portion and defining a first longitudinal axis;
an articulation tool assembly defining a second longitudinal axis and having a proximal end, the articulation tool assembly disposed at a distal end of the body portion and being movable from a first position in which the second longitudinal axis is substantially aligned with the first longitudinal axis to at least a second position in which the second longitudinal axis is disposed at an angle with respect to the first longitudinal axis;
an articulation mechanism configured to articulate the articulation tool assembly, the articulation mechanism including:
a housing; and
an articulation knob moveable relative to the housing and mechanically engaged to the articulation tool assembly, wherein rotational motion of the articulation knob is translated into articulation movement of the articulation tool assembly; and

an articulation sensor assembly including:
a magnet coupled to the articulation knob and a magnetic sensor coupled to the housing, the magnetic sensor configured to measure a magnetic field of the magnet and transmit a sensor signal; and
a microcontroller configured to determine an articulation angle of the articulation tool assembly based on the sensor signal.

5. The surgical instrument according to claim 4 , wherein the microcontroller is configured to determine the articulation angle as a function of a displacement of the articulation knob based on the magnetic field.

6. The surgical instrument according to claim 4 , further comprising a switch coupled to the housing, the switch configured to actuate when the articulation tool assembly is in at least one of the first position or the second position.

7. The surgical instrument according to claim 6 , wherein the microcontroller receives a switch signal from the switch and is configured to determine whether the articulation tool assembly is in the first position based on the switch signal.

8. A surgical instrument, comprising:
a handle portion;
a body portion extending distally from the handle portion and defining a first longitudinal axis;
an articulation tool assembly defining a second longitudinal axis and having a proximal end, the articulation tool assembly disposed at a distal end of the body portion and being movable from a first position in which the second longitudinal axis is substantially aligned with the first longitudinal axis to at least a second position in which the second longitudinal axis is disposed at an angle with respect to the first longitudinal axis; and
an articulation mechanism configured to articulate the articulation tool assembly, the articulation mechanism including:
an articulation link mechanically engaged to the articulation tool assembly, the articulation link including a contact disposed thereon; and
an articulation knob mechanically engaged to the articulation link, wherein rotational motion of the articulation knob is translated into articulation movement of the articulation tool assembly through the articulation link; and

an articulation sensor assembly including:
a potentiometer electrically coupled to the contact of the articulation link and configured to measure an electrical current through the contact and transmit a sensor signal; and
a microcontroller configured to determine an articulation angle of the articulation tool assembly based on the sensor signal.

9. The surgical instrument according to claim 8 , wherein the microcontroller is configured to determine the articulation angle as a function of a displacement of the articulation link based on the electrical current.

10. The surgical instrument according to claim 8 , further comprising a switch coupled to the articulation mechanism, the switch configured to actuate when the articulation tool assembly is in at least one of the first position or the second position.

11. The surgical instrument according to claim 10 , wherein the microcontroller receives a switch signal from the switch and is configured to determine whether the articulation knob is in the first position based on the switch signal.

Assignees

• Covidien Lp

Inventors

• Ross Adam
• Zemlok Michael
• Marczyk Stanislaw

Classifications

• A61B17/068

  Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00}) · CPC title

• A61B2017/00017

  Electrical control of surgical instruments · CPC title

• A61B2017/00367

  Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like · CPC title

• A61B2017/00734

  battery operated · CPC title

• A61B2017/2927

  the angular position of the head being adjustable with respect to the shaft · CPC title