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`US 2008016?6?2A1
`
`(19) United States
`(12) Patent Application Publication (10) Pub. No.: US 2008/0167672 A1
`Giordano et al.
`(43) Pub. Date:
`Jul. 10, 2008
`
`(54) SURGICAL INSTRUMENT WITH WIRELESS
`COMMUNICATION BETWEEN CONTROL
`UNIT AND REMOTE SENSOR
`
`(76)
`
`inventors:
`
`James R. Giordano. Milford. OH
`(US); Jeffreyr S. Swayze.l-Ia111ilton.
`01] (US): Frederick E. Shelton.
`New Vienna. OH (US)
`
`Correspondence Address:
`KIRKPATRICK & LOCKHART PRESTON
`GATES ELLIS LLP
`535 SMITH Fl ELI) S’l‘REET
`PITTSBURGH, PA 15222
`
`(21) Appl. No;
`
`111651.807
`
`(22)
`
`I-‘iled:
`
`Jan. 10, 2007
`
`Publication Classification
`
`[51)
`
`Int. Cl.
`A613 [7/32
`(52} U.S. Cl.
`
`(2006.01)
`
`606l167
`
`(57)
`
`ABSTRACT
`
`A surgical instrument, such as an endoscopic or laparoscopic
`instrument. The surgical instrument may comprise an end
`effector comprising at least one sensor. The surgical instru—
`tnenl may also comprise an electrically conductive shaft hav-
`ing a distal end connected to the end elToctor wherein the
`sensor is electrically insulated from the shalt. The surgical
`instrument may also comprise a handle connected to a proxi-
`mate end 0 flhc sha it. The handle may comprise a control unit
`electrically coupled to the shaft such that the shaft radiates
`signals as an antenna from the control unit to the sensor and
`receives radiated signals from the sensor. Other components
`electrically coupled to the shaft may also radiate the signals.
`
`
`
`IS 1014
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`US 2008f016'i‘6’i2 Al
`
`Jul. 10, 2008
`
`SURGICAL INSTRUMENT WITH WIRELESS
`COMMUNICATION BETWEEN CONTROL
`UNIT AND REMOTE SENSOR
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`
`[0001] The present application is related to the following.
`concurrently-filed US. patent applications. which are incor-
`porated herein by reference:
`. entitled
`[0002]
`(I ] U .S. patent application Ser. No.
`“SURGICAL INSTRUMENT WITH WIRELESS COM—
`MUNICATION HE’I‘WlEl-iN CONTROL UNIT AND SEN-
`SOR 'l‘RANSPONDI-IRS.“ by J. Giordano ct a]. (Attorney
`Docket No. 060338fEND5923-USNP):
`. entitled
`[0003]
`(2) US. patent application Ser. No.
`“SURGICAL INSTRUMENT WITH ELEMENTS TO
`COMMUNICATE BETWEEN CONTROL UNIT AND
`END 1-5171? l'iC'I‘OR," by J. Giordano ct a1. (Attorney Docket
`No. 060340fliNDS925USNP):
`. entitled
`[0004]
`(3) US. patent application Ser. No.
`“PREVENTION OF CARTRIDGE REUSE IN A SURGI-
`CAL INSTRUMENT." by F. Shelton et al. (Attorney Docket
`No. 06034IfEND5926USNP}:
`._ entitled
`[0005]
`(4} U .S. patent application Ser. No.
`“POST-STERII..IZAI'ION PROGRAMMING ()I’ SURG1-
`CAL INSTRUMENTS,” by I . Sway ze et al. (Attorney Docket
`No. 060342fEND5924USNI’}:
`[0006]
`(5) US. patent application Ser. No.
`“lN'l‘l-ERI..OCK
`AND
`SURGICAL.
`
`. entitled
`lNS'l‘RUMENT
`
`INCLUDING SAME. by F. Shelton et al. (Attorney Docket
`No. 060343i'END5928USNP): and
`. entitled
`[0007]
`(6) US. patent application Ser. No.
`“SURGICAL INSTRUMENT WITH ENHANCED BAT—
`TERY PERFORMANCE." by F. Shelton et al. (Attorney
`Docket No. (l60347i’liNl)5931USNP).
`
`BACKGROUND
`
`[0008] Endoscopic surgical instruments are often preferred
`overtraditional open surgical devices since a smaller incision
`tends to reduce the post-operative recovery time and compli-
`cations. Consequently, significant development has gone into
`a range of endoscopic surgical instruments that are suitable
`for precise placement of a distal end effector at a desired
`surgical site through a camiula of a trocar. These distal end
`efiectors engage the tissue in a number of ways to achieve a
`diagnostic or therapeutic ellect (cg. endocutter, graspcr. cut-
`ter. staplers. clip applier. access device. drugfgene therapy
`delivery device. and energy device using ultrasound. RF.
`laser. etc.).
`[0009] Known surgical staplers include an end effector that
`simultaneously makes a longitudinal incision in tissue and
`applies lines ofstaples on opposing sides ofthe incision. The
`end effector includes a pair of cooperating jaw members that.
`if the instrument is intended for endoscopic or laparoscopic
`applications. are capable of passing through a cannula pas-
`sageway. One ofthejaw members receives a staple cartridge
`having at least two laterally spaced rows of staples. The other
`jaw member defines an anvil having staple-forming pockets
`aligned with the rows of staples in the cartridge. The instru-
`ment includes a plurality of reciprocating wedges which.
`when driven distally. pass through openings in the staple
`cartridge and engage drivers supporting the staples to etTect
`the firing of the staples toward the anvil.
`[0010] An example of a surgical stapler suitable for endo—
`scopic applications is described in U.S. Pat. No. 5.465.895.
`which discloses an endocutter with distinct closing and firing
`
`actions. A clinician using this device is able to close thejaw
`members upon tissue to position the tissue prior to firing
`Once the clinician has determined that the jaw members are
`properly gripping tissue. the clinician can then fire the surgi-
`cal stapler with a single firing stroke. thereby severing and
`stapling the tissue. The simultaneous severing and stapling
`avoids complications that may arise when performing such
`actions sequentially with different surgical tools that respec-
`tively only sever and staple.
`[001]] One specific advantage ofbcing able to close upon
`tissue before firing is that the clinician is able to verify via an
`endoscope that the desired location for the cut has been
`achieved. including that a sufl'icient amount oftissue has been
`captured between opposing jaws. Otherwise. opposing jaws
`may be drawn too close together. especially pinching at their
`distal ends. and thus not eliectively forming closed staples in
`the severed tissue. At the other extreme. an excessive amount
`ofclantped tissue may cause binding and an incomplete fir-
`mg.
`[0012] Endoscopic staplersfcuttets continue to increase in
`complexity and function with each generation. One of the
`main reasons for this is the quest to lower force-to-fire (FTP)
`to a level that all or a great majority of surgeons can handle.
`One known solution to lower FTF it use CO2 or electrical
`motors. These devices have not faired much better than tra-
`
`ditional hand-powered devices. but for a different reason.
`Surgeons typically prefer to experience proportionate force
`distribution to that being experienced by the end effector in
`the forming of the staple to assure them that the cutting!
`stapling cycle is complete. with the upper limit within the
`capabilities of most surgeons (usually around 15-30 lbs].
`They also typically want to maintain control of deploying the
`staples and being able to stop at anytime ifthe forces felt in the
`handle of the device feel too great or for some other clinical
`reason.
`
`[0013] To address this need. so-callc “power-assist"cndo-
`scopic surgical instruments have been developed in which a
`supplemental power source aids in the firing of the instru-
`ment. For example. in sotne power-assist devices. a motor
`provides supplemental electrical power to the power input by
`the user front squeezing the firing trigger. Such devices are
`capable of providing loading force feedback and control to
`the operator to reduce the firing force required to be cxortod
`by the operator in order to complete the cutting operation.
`One such power»assist device is described in US. patent
`application Ser. No. “£343,573. filed Jan. 31, 2006 by Shel-
`ton et al.. entitled “Motor-driven surgical cutting and fasten-
`ing instrument with loading force feedback," (“the '5 I3 appli-
`cation“) which is incorporated herein by reference.
`[0014] These power—a ssist devices often include other co m—
`ponents that purely mechanical endoscopic surgical instru—
`ments do not. such as sensors and control systems. One chal-
`lenge in using such electronics in a surgical instrument is
`delivering power andfor data to and from the sensors, particu-
`larly when there is a free rotatingjoint in the surgical instru-
`ment.
`
`SUMMARY
`
`invention is
`the present
`In one general aspect.
`[0015]
`directed to a surgical instalment. such as an endoscopic or
`laparoscopic instrument. According to one embodiment. the
`surgical instrument comprises an end etl‘ector comprising at
`least one sensor transponder that is passively powered. The
`surgical instrument also comprises a shaft having a distal end
`connected to the end efi‘ector and a handle connected to a
`proximate end of the shaft. The handle comprises a control
`unit (e.g.. a microcontroller) that is in communication with
`
`23
`
`23
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`

`

`US 2008t016'i‘6’i2 Al
`
`Jul. 10, 2008
`
`the sensor transponder via at least one inductive coupling.
`Further. the surgical instrument may comprise a rotational
`joint for rotating the shaft. in such a case. the surgical instru—
`ment may comprise a first inductive element looaled in the
`sha fl distally from the rotationaljoint and inductively coupled
`to the control unit. and a second inductive element located
`distally in the shaft and inductively coupled to the at least one
`sensor transponder. The first and second inductive elements
`may be connected by a wired. physical connection.
`[0016] That way. the control unit may communicate with
`the transponder in the end effector without a direct wired
`connection through complex mechanicaljoints like the rotat—
`ing joint where it may be difficult to maintain such a wired
`connection. In addition. because the distances between the
`inductive elements may be fixed and known. the couplings
`could be optimized for inductive transfer of energy. Also, the
`distances could be relatively short so that relatively low power
`signals could be used to thereby minimize interference with
`other systems in the use environment of the instrument.
`[0017]
`In another general aspect of the present invention.
`the eleclrically conductive shaft of the surgical instrument
`may serve as an antenna for the control unit to wirelessly
`communicate signals to and from the sensor transponder. For
`example. the sensor transponder could be located on or dis-
`posed in a nonconductive component ofthe end effector. such
`as a plastic cartridge. ther thy insulating the sensor from con-
`ductive components of the end effector and the shaft. In
`addition. the control unit in the handle may be electrically
`coupled to the shall. In that way. the shaft and/”or the end
`effector may serve as an antenna for the control unit by
`radiating signals from the control unit to the sensor andfor by
`receiving radiated signals from the sensor. Such a design is
`particularly useful in surgical instruments having complex
`mechanical joints (such as rotary joints). which make it dif—
`licult to use a direct wired connection between the sensor and
`control unit for communicating data signals.
`[0018]
`In another embodiment. the shaft andfor compo-
`nents of the end effector could serve as the antenna for the
`sensor by radiating signals to the control unit and receiving
`radiated signals from the control unit. According to such an
`embodiment. the control unit is electrically insulated from the
`shaft and the end effector.
`[0019]
`In another general aspect. the present invention is
`directed to a surgical instrument comprising a programmable
`control unit that can be programmed by a programming
`device alter the instrument has been packaged and sterilized.
`In one such embodiment. the programming device may wire-
`lessly program the control unit.
`'lhe control unit may be
`passively powered by the wireless signals from the program—
`ming device during the programming operation. In another
`embodiment. the sterile container may comprise a connection
`interface so that the programming unit can be connected to the
`surgical instrument while the surgical instrument is in its
`sterilized container.
`
`FIGURES
`
`[0020] Various embodiments of the present invention are
`described herein by way of example in conjunction with the
`following figures wherein:
`[002]]
`FIGS. 1 and 2 are perspective views of a surgical
`instmrnent according to various embodiments of the present
`invention:
`[0022]
`FIGS. 3-5 are exploded views o'fan end ell‘wlor and
`shaft of the instrument according to various embodiments of'
`the present invention;
`[0023]
`FIG. 6 is a side View ofthe end effector according to
`various embodiments of the present invention;
`
`FIG. 7 is an exploded view of the handle of the
`[0024]
`instrument according to various embodiments of the present
`invention;
`[0025]
`FIGS. 8 and 9 are partial perspective views of the
`handle according to various embodiments of the present
`invention;
`[0026]
`FIG. 10 is a side view of the handle according to
`various embodiments of the present invention;
`[0027]
`FIGS. 11. 13-14. 16, and 22 are perspective views of
`a surgical instrument according to various embodiments of
`the present invention:
`[0028]
`FIGS. 12 and 19 are block diagrams ofa control unit
`according to various embodiments of the present invention;
`[0029]
`F 16. 15 is a side view of an end effector including a
`sensor transponder according to various embodiments of the
`present invention:
`[0030]
`FIGS. 17 and 18 show the instrument in a sterile
`container according to various embodiments of‘ the present
`invention;
`[0031]
`FIG. 20 is a block diagram of the remote program-
`ming device according to various embodiments o fthe present
`invention; and
`[0032]
`FIG. 2'1 is a diagram of a packaged instrument
`according to various embodiments of the present invention.
`
`[)l'i'l'AlIJED DIESCRIP'I'ION
`
`[0033] Various embodiments of the present invention are
`directed generally to a smgical instrument having at least one
`remote sensor transponder and means for communicating
`power andr‘or data signals to the transponder(s] from a control
`unit. The present invention may be used with any type of
`surgical instrument comprising at least one sensor transpon—
`der, such as endoscopic or laparoscopic surgical instrtunents;
`but is particularly useful for surgical instruments where some
`feature of the instrument. such as a free rotating joint. pre-
`vents or otherwise inhibits the use ofa wired connection to the
`sensor(s). Before describing aspects of the system, one type
`of surgical instrument in which embodiments of the present
`invention may be used—an endoscopic stapling and cutting
`instrument (i L an cndoculter}
`is first described by way of
`illustration.
`[0034]
`FIGS. 1 and 2 depict an endoscopic surgical instru—
`ment 10 that comprises a handle 6, a shaft 8. and an articu—
`lating end effector 12 pivotal ly connected to the shaft 8 at an
`articulation pivot 14. Correct placement and orientation of the
`end effector 12 may be facilitated by controls on the hand 6.
`including (1) a rotation knob 28 for rotating the closure tube
`(described in more detail below in comiection with FIGS.
`4—5) at a free rotatingjoint 29 of the shaft 8 to thereby rotate
`the end effector 12 and [2) an articulation control 16 to effect
`rotational articulation of the end effector 12 about the anion-
`
`lation pivot 14. In the illustrated embodiment. the end effector
`12 is configured to act as an endocutter for clamping. severing
`and stapling tissue, although in other embodiments. different
`types of end effectors may be used. such as end effectors for
`other types ofsurgica] instruments. such as graspers. cutters.
`staplers. clip appliers, access devices. drug/gene therapy
`devices. ultrasound. RF or laser devices; etc.
`[0035] The handle 6 of the instrument 10 may include a
`closure trigger 18 and a firing trigger 20 for actuating the end
`effector l 2. It will be appreciated that instruments having end
`effectors directed to different surgical tasks may have differ-
`ent numbers or types of triggers or other suitable controls for
`operating the end effector 12. The end effector 12 is shown
`separated from the handle 6 by the preferably elongate shaft
`8. In one embodiment. a clinician or operator ofthe instru-
`ment 1 0 may articulate the end effector 12 relative to the shaft
`
`24
`
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`
`

`

`US 2008f016'i‘6’i2 Al
`
`Jul. 10, 2008
`
`8 by utilizing the articulation control 16. as described in more
`detail in pending U .S. patent application Ser. No. 1 if?) 29,020.
`filed Jan. 10, 2006. entitled “Surgical Instrument Having An
`Articulati 11g find Effector.” by Geoffrey (.7. line“ ct al ., which
`is incomoralcd herein by reference.
`[0036] The end effector 12 includes in this example. among
`other things. a staple channel 22 and a pivotally translatable
`clamping member. such as an anvil 24. which are maintained
`at a spacing that assures effective stapling and severing of
`tissue clamped in the end effector 12. The handle 6 includes a
`pistol grip 26 towards which a closure trigger 18 is pivotally
`drawn by the clinician to cause clamping or closing of the
`anvil 24 toward the staple channel 22 ofthe end effector 12 to
`thereby clamp tissue positioned between the anvil 24 and
`channel 22. The firing trigger 20 is farther outboard of the
`closure trigger 18. Once the closure trigger 18 is locked in the
`closure position. the firing trigger 20 may rotate slightly
`toward the pistol grip 26 so that it can be reached by the
`operator using one hand. Then the operator may pivotally
`draw the firing trigger 20 toward the pistol grip 12 to cause the
`stapling and severing ofclamped tissue in the end effector 12.
`The ’573 application describes various configurations for
`locking and unlocking the closure trigger 18.
`In other
`embodiments, different types of clamping members besides
`the anvil 24 could be used. such as, for example, an opposing
`jaw. etc.
`It will be appreciated that the terms “proximal" and
`[0037]
`“distal“ are used herein with reference to a clinician gripping
`the handle 6 ofan instrument 10. Thtts. the end effector 12 is
`distal with respect to the more proximal handle 6. it will be
`further appreciated that. for convenience and clarity. spatial
`terms such as “vertical" and “horizontal“ are used herein with
`
`respect to the drawings. Ilmvever, surgical instruments are
`used in many orientations and positions. and these terms are
`not intended to be limiting and absolute.
`[0038] The closure trigger 18 may be actuated first. Once
`the clinician is satisfied with the positioning ofthe end effec-
`tor 12. the clinician may draw back the closure trigger 18 to its
`fully closed. locked position proximate to the pistol grip 26.
`The firing trigger 20 may then be actuated. The firing trigger
`20 returns to the open position {shown in FIGS. 1 and 2)when
`the clinician removes pressure. A release button 30 on the
`handle 6. and in this example, on the pistol grip 26 of the
`handle. when depressed may release the locked closure trig-
`ger 18.
`FIG. 3 is an exploded view of the end effector 12
`[0039]
`according to various embodiments. As shown in the illus-
`trated embodiment, the end effector 12 may include. in addi—
`tion to the previously—mentioned channel 22 and anvil 24. a
`cutting instrument 32. a sled 33, a staple cartridge 34 that is
`removably seated in the channel 22. and a helical screw shaft
`36. The cutting instrument 32 may be, for example. a knife.
`The anvil 24 may be pivotably opened and closed at a pivot
`point 25 connected to the proximate end of the channel 22.
`The anvil 24 may also inclttdc a tab 27 at its proximate end
`that is inserted into a component of the mechanical closure
`system (described further below) to open and close the anvil
`24. When the closure trigger 18 is actuated, that is, drawn in
`by a user ofthe instrument 10. the anvil 24 may pivot about the
`pivot point 25 into the clamped or closed position. Ifclamping
`ofthe end effector 12 is satisfactory, the operator may actuate
`the liri ng trigger 20. which. as explained in more detail below,
`causes the knife 32 and sled 33 to travel longitudinally along
`the channel 22, thereby cutting tissue clamped within the end
`effector 12 . The movement ofthe sled 33 alongthe charme] 22
`causes the staples of the staple cartridge 34 to be driven
`through the severed tissue and against the closed anvil 24.
`
`which turns the staples to fasten the severed tissue. U.S. Pat.
`No. 6,978,921. entitled “Surgical stapling instrument incor—
`porating an E~beam firing mechanism.“ which is incorporated
`herein by reference, provides more details about such two-
`stroke cutting and fastening instruments. The sled 33 may be
`part of the cartridge 34, such that when the knife 32 retracts
`following the cutting operation. the sled 33 does not retract.
`The channel 22 and the anvil 24 may be tnade of an electri-
`cally conductive material (such as metal) so that they may
`serve as part ofthe antenna that communicates with the sensor
`(5) in the end effector, as described further below. The car-
`tridge 34 could he made ofa nonconductive material (such as
`plastic) and the sensor may be connected to or disposed in the
`cartridge 34. as described further below.
`[0040]
`It should be noted that although the embodiments of
`the instrument 1 0 described herein employ an end effector 12
`that staples the severed tissue, in other embodiments different
`techniques for fastening or sealing the severed tissue may be
`used. For example. end effectors that use RF energy or adhe—
`sives to fasten the severed tissue may also be used. U.S. Pat.
`No. 5,709.680, entitled “Electresurgical Ilemostatic Device”
`to Yates ct al., and U S Pat. No. 5.688.270. entitled “Electro-
`surgical Hemostatic Device With Recessed Andr‘Or Offset
`Electrodes" to Yates et al.. which are incorporated herein by
`reference. discloses cutting instruments that use RF energy to
`fasten the severed tissue. U.S. patent application Ser. No.
`11967.81] to Morgan et al. and U.S. patent application Ser.
`No. 1 ”267,363 to Shelton et al., which are also incorporated
`herein by reference. disclose cutting instruments that use
`adhesives to fasten the severed tissue. Accordingly, although
`the description herein refers to cuttingfstapling operations
`and the like. it should be recognized that this is an exemplary
`embodiment and is not meant to be limiting. Other tissue-
`fastening tecliniques may also be used.
`[0041]
`l-‘IGS. 4 and 5 are exploded views and FIG. 6 is a
`side view of the end effector 12 and shaft 8 according to
`various embodiments. As shown in the illustrated embodi-
`tnent, the shaft 8 may include a proximate closure tube 40 and
`a distal closure tube 42 pivotably linked by a pivot links 44.
`The distal closure tube 42 includes an opening 45 into which
`the tab 27 on the anvil 24 is inserted in order to open and close
`the anvil 24. Disposed inside the closure tubes 40, 42 may be
`a proximate spine tube 46. Disposed inside the proximate
`spine tube 46 may be a main rotational (or proximate) drive
`shaft 48 that communicates with a secondary [or distal) drive
`shall 50 via a bevel gear assembly 52. The secondary drive
`shaft 50 is connected to a drive gear 54 that engages a proxi-
`mate drive gear 56 of the helical screw shaft 36. The vertical
`bevel gear 52!) may sit and pivot in art opening 57 in the distal
`end ofthe proximate spine tube 46. A distal spine tube 58 may
`be used to enclose the secondary drive shaft 50 and the drive
`gears 54. 56. Collectively, the main drive shafi 48. the sec-
`ondary drive shaft 50, and the articulation assembly (e.g., the
`bevel gear assembly 52a-c). are sometimes referred to herein
`as the “main drive shaft assembly." The closure tubes 40. 42
`may be made of electrically conductive material (such as
`metal) so that they may serve as part of the antenna, as
`described further below. Components of the main drive shaft
`assembly (e.g.. the drive shafts 48, 50) may be made of a
`nonconductive material (such as plastic).
`[0042] A hearing 38, positioned at a distal end ofthe staple
`channel 22. receives the helical drive screw 36. allowing the
`helical drive screw 36 to freely rotate with respect to the
`channel 22. The helical screw shaft 36 may interface a
`threaded opening (not shown) of the knife 32 such that rota—
`tion ofthe shaft 36 causes the knife 32 to trtmslate distally or
`proximately (depending on the direction of the rotation)
`
`25
`
`25
`
`

`

`US 2008f0162622 Al
`
`Jul. 10, 2008
`
`through the staple chaimel 22. Accordingly. when the main
`drive shaft 48 is caused to rotate by actuation of the firing
`trigger 20 (as explained in more detail below). the bevel gear
`assembly 52a-c causes the secondary drive shaft 59 to rotate.
`which in turn, because ofthe engagement of the drive gears
`54. 56. causes the helical screw shall 36 to rotate. which
`causes the knife 32 to travel longitudinally along the channel
`22 to cut any tissue clamped within the end effector. The sled
`33 may be made of. for example. plastic, and may have a
`sloped distal surface. As the sled 33 traverses the channel 22.
`the sloped forward surface may push up or drive the staples in
`the staple cartridge 34 through the clamped tissue and against
`the anvil 24. The anvil 24 turns the staples. thereby stapling
`the severed tissue. When the knife 32 is retracted. the knife 32
`and sled 33 may become disengaged. thereby leaving the sled
`33 at the distal end of the channel 22.
`
`[0043] According to various embodiments. as shown FIGS.
`7-10. the surgical instrument may include a battery 64 in the
`handle 6. The illustrated embodiment provides user-feedback
`regarding the deployment and loading force of the cutting
`instrument in the end effector 12. In addition. the embodiment
`may use power provided by the user in retracting the firing
`trigger 18 to power the instrument 10 (a so-called “power
`assist” mode). As shown in the illustrated embodiment. the
`handle 6 includes exterior lower side pieces 59. 60 and exte-
`rior upper side pieces 61. 62 that fit together to form. in
`general. the exterior ofthe handle 6. The handle pieces 59—62
`may be made of an electrically nonconductive material. such
`as plastic. A battery 64 may be provided in the pistol grip
`portion 26 of the handle 6. The battery 64 powers a motor 65
`disposed in an upper portion ol‘the pistol grip portion 26 of
`the handle 6. The battery 64 may be constructed according to
`any suitable construction or chemistry including.
`for
`example. a Li-ion chemistry such as LiCoO2 or I.iNi01. a
`Nickel Metal Hydride chemistry. etc. According to various
`embodiments. the motor 65 may be a DC brushed driving
`motor having a maximum rotation of. approximately. 5000
`RPM to 100.000 RPM. The motor 64 may drive a 90° bevel
`gear assembly 66 comprising a first bevel gear 68 and a
`second bevel gear 70. The bevel gear assembly 66 may drive
`a planetary gear assembly 72. The planetary gear assembly 72
`may include a pinion gear 74 connected to a drive shaft 76.
`The pinion gear 74 may drive a mating ring gear 78 that drives
`a helical gear drum 80 via a drive shaft 32. A ring 84 may be
`threaded on the helical gear drum 80. Thus. when the motor
`65 rotates. the ring 84 is caused to travel along the he] ical gear
`drum 80 by means ofthe interposed bevel gear assembly 66.
`planetary gear assembly 72 and ring gear 78.
`[0044] The handle 6 may also include a run motor sensor
`110 in communication with the firing trigger 20 to detect
`when the firing trigger 20 has been drawn in (or “closed")
`toward the pistol grip portion 26 of the handle 6 by the
`operator to thereby actuate the cuttingj'stapling operation by
`the end effector 12. The sensor 110 may be a proportional
`sensor such as. for example. a rheostat or variable resistor.
`When the firing trigger 20 is drawn in. the sensor 110 detects
`the movement. and sends an electrical signal indicative of the
`voltage (or power) to be supplied to the motor 65. When the
`sensor 110 is a variable resistor or the like. the rotation ofthe
`motor 65 may be generally proportional to the amount of
`movement of the firing trigger 20. That is. il‘the operator only
`draws or closes the firing trigger 20 in a little bit. the rotation
`of the motor 65 is relatively low. When the firing trigger 20 is
`fully drawn in (or in the fully closed position), the rotation of
`the motor 65 is at its maximum. In other words. the [larder the
`user pulls on the firing trigger 20. the more voltage is applied
`to the motor 65. causing greater rates of notation. in another
`
`embodiment. for example. the control unit (described further
`below) may output a PWM control signal to the motor 65
`based on the input from the sensor 110 in order to control the
`motor 65.
`
`[0045] The handle 6 may include a middlehandie piece 1 04
`adjacent to the upper portion of the firing trigger 20. The
`handle 6 also may comprise a bias spring 112 corulected
`between posts on the middle handle piece 104 and the firing
`trigger 20. The bias spring 112 may bias the firing trigger 20
`to its fully open position. In that way. when the operator
`releases the firing trigger 20, the bias spring 112 will pull the
`firing trigger 20 to its open position, thereby removing actua—
`tion of the sensor 110. thereby stopping rotation of the motor
`65. Moreover. by virtue ofthe bias spring 1 12. any time a user
`closes the firing trigger 20. the user will experience resistance
`to the closing operation. thereby providing the user with
`feedback as to the amount ofrolation exerted by the motor 65.
`Further. the operatorcould stop retracting the firing trigger 20
`to thereby remove force from the sensor 100. to thereby stop
`the motor 65. As such. the user may stop the deployment of
`the end effector 1 2. thereby providing a measure ofcontrol of
`the cutting} fastening operation to the operator.
`[0046] The distal end ofthe helical gear drum 80 includes a
`distal drive shaft 120 that drives a ring gear 122. which mates
`with a pinion gear 124. The pinion gear 124 is connected to
`the tuain drive shall 48 of the main drive shaft assembly. In
`that way, rotation ofllie motor 65 causes the main drive shaft
`assembly to rotate, which causes actuation of the end effector
`12. as described above.
`
`[0047] The ring 84 threaded on the helical gear drum 80
`may include a post 86 that is disposed within a slot 88 of a
`slotted arm 90. The slotted arm 90 has an opening 92 at its
`opposite end 94 that receives a pivot pin 96 that is connected
`between the handle exterior side pieces 59. 60. The pivot pin
`96 is also disposed through an opening 100 in the firing
`trigger 20 and an opening 102 in the middle handle piece 104.
`[0048]
`In addition. the handle 6 may include a rev