00.00080000
`
`as) United States
`a2) Patent Application Publication co) Pub. No.: US 2008/0167672 Al
`(43) Pub. Date:
`Jul. 10, 2008
`Giordano etal.
`
`(54) SURGICAL INSTRUMENT WITH WIRELESS
`COMMUNICATION BETWEEN CONTROL
`UNIT AND REMOTE SENSOR
`
`(76)
`
`Inventors:
`
`James R. Giordano, Milford,OH
`(US); Jeffrey S. Swayze, Hamilton,
`OH (US); Frederick E. Shelton,
`NewVienna, OH (US)
`
`Correspondence Address:
`KIRKPATRICK & LOCKHART PRESTON
`GATES ELLIS LLP
`535 SMITHFIELD STREET
`PITTSBURGH,PA 15222
`
`(21) Appl. No.:
`
`11/651,807
`
`(22)
`
`Filed:
`
`Jan. 10, 2007
`
`Publication Classification
`
`(51)
`
`Int. CL
`(2006.01)
`AGIB 17/32
`(529 USMY nssanirensensianmencpavnaenna
`
`secseseeses 606/167
`
`(57)
`
`ABSTRACT
`
`A surgical instrument, suchas an endoscopic or laparoscopic
`instrument. The surgical instrument may comprise an end
`effector comprising at least one sensor. The surgical instru-
`ment mayalso comprise anelectrically conductive shaft hav-
`ing a distal end connected to the end effector wherein the
`sensor is electrically insulated from the shaft. The surgical
`instrument mayalso comprise a handle connected to a proxi-
`mate end of the shaft. The handle may comprise a control unit
`electrically coupled to the shaft such that the shaft radiates
`signals as an antenna fromthe control unit to the sensor and
`receives radiated signals from the sensor. Other components
`electrically coupled tothe shaft may alsoradiate the signals.
`
`
`
`IS 1014
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`SURGICAL INSTRUMENT WITH WIRELESS
`COMMUNICATION BETWEEN CONTROL
`UNIT AND REMOTE SENSOR
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`
`[0001] The present applicationis related to the following,
`concurrently-filed U.S. patent applications, whichare incor-
`porated herein by reference:
`, entitled
`[0002]
`(1) U.S. patent application Ser. No.
`“SURGICAL INSTRUMENT WITH WIRELESS COM-
`MUNICATION BETWEEN CONTROL UNIT AND SEN-
`SOR TRANSPONDERS,” by J. Giordanoet al. (Attorney
`Docket No. 060338/END5923USNP);
`
`, entitled
`[0003]
`(2) U.S. patent application Ser. No.
`“SURGICAL INSTRUMENT WITH ELEMENTS TO
`COMMUNICATE BETWEEN CONTROL UNIT AND
`END EFFECTOR,” by J. Giordanoet al. (Attorney Docket
`No. 060340/END5925USNP);
`. entitled
`[0004]
`(3) U.S. patent application Ser. No.
`“PREVENTION OF CARTRIDGE REUSE IN A SURGI-
`CAL INSTRUMENT,”by F. Sheltonet al. (Attorney Docket
`No. 060341/END5926USNP);
`. entitled
`[0005]
`(4) U.S. patent application Ser. No.
`“POST-STERILIZATION PROGRAMMING OF SURGI-
`CAL INSTRUMENTS,”by J. Swayze et al. (Attorney Docket
`No. 060342/END5924USNP);
`, entitled
`[0006]
`(5) U.S. patent applicationSer. No.
`INSTRUMENT
`“INTERLOCK
`AND
`SURGICAL
`INCLUDING SAME,byF. Shelton et al. (Attorney Docket
`No. 060343/END5928USNP); and
`
`. entitled
`[0007]
`(6) U.S. patent application Ser. No.
`“SURGICAL INSTRUMENT WITH ENHANCED BAT-
`TERY PERFORMANCE,” by F. Shelton et al. (Attorney
`Docket No. 060347/END5931USNP).
`
`BACKGROUND
`
`[0008] Endoscopic surgical instruments are often preferred
`overtraditional open surgical devices since a smallerincision
`tends to reduce the post-operative recovery time and compli-
`cations. Consequently, significant development has goneinto
`a range of endoscopic surgical instruments that are suitable
`for precise placement of a distal end effector at a desired
`surgical site through a cannula of a trocar. These distal end
`effectors engage the tissue in a number of ways to achieve a
`diagnostic or therapeutic effect (e.g., endocutter, grasper, cut-
`ter, staplers, clip applier, access device, drug/gene therapy
`delivery device, and energy device using ultrasound, RF,
`laser, etc.).
`[0009] Knownsurgical staplers include anend effector that
`simultaneously makes a longitudinal incision in tissue and
`applies lines of staples on opposing sidesof the incision. The
`end effector includesa 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. Oneof the jaw members receives a staple cartridge
`havingat least twolaterally spaced rows ofstaples. The other
`jaw memberdefines 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 effect
`the firing ofthe staples toward the anvil.
`[0010] An example ofa surgical stapler suitable for endo-
`scopic applications is described in U.S. Pat. No. 5,465,895,
`whichdiscloses an endocutter with distinet closing andfiring
`
`actions. A clinician using this device is able to close the jaw
`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 canthenfire 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.
`[0011] One specific advantage of being able to close upon
`tissue before firingis that the clinician is ableto verify via an
`endoscope that the desired location for the cut has been
`achieved,includingthat a sufficient amountoftissue has been
`captured between opposing jaws. Otherwise, opposing jaws
`may be drawntooclose together, especially pinching at their
`distal ends, and thus not effectively forming closed staplesin
`the severed tissue. At the other extreme, an excessive amount
`of clamped tissue may cause binding and an incompletefir-
`ing.
`[0012] Endoscopic staplers/cutters 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 (FTF)
`to a level that all or a great majority of surgeons can handle.
`One knownsolution to lower FTFit use CO, 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 themthat the cutting/
`stapling cycle is complete, with the upper limit within the
`capabilities of most surgeons (usually around 15-30 Ibs).
`They also typically want to maintain control of deploying the
`staples and being able tostop at anytimeif the forces felt in the
`handle ofthe device feel too great or for some other clinical
`reason.
`
`[0013] To address this need, so-called “power-assist” endo-
`scopic surgical instruments have been developed in which a
`supplemental power source aids in the firing of the instru-
`ment. For example, in some power-assist devices, a motor
`provides supplemental electrical power to the powerinput by
`the user from squeezing the firing trigger. Such devices are
`capable of providing loading force feedback and control to
`the operator to reducethefiring force required to be exerted
`by the operator in order to complete the cutting operation.
`One such power-assist device is described in U.S. patent
`application Ser. No. 11/343,573, filed Jan. 31, 2006 by Shel-
`tonet al., entitled “Motor-driven surgical cutting and fasten-
`ing instrument with loading force feedback,”(“the °573 appli-
`cation”) which is incorporated herein by reference.
`[0014] These power-assist devices often include other com-
`ponents that purely mechanical endoscopic surgical instru-
`ments do not, such as sensors and control systems. One chal-
`lenge in using suchelectronics in a surgical instrument is
`delivering power and/ordata to and fromthe sensors, particu-
`larly whenthere is a free rotating joint in the surgical instru-
`ment.
`
`SUMMARY
`
`invention is
`the present
`In one general aspect,
`[0015]
`directed to a surgical instrument, such as an endoscopic or
`laparoscopic instrument. According to one embodiment, the
`surgical instrument comprises an end effector comprising at
`least one sensor transponderthat is passively powered. The
`surgical instrument also comprises a shaft having a distal end
`connected to the end effector 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
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`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 ofthe 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 ofthe present invention;
`[0029]
`FIG. 15 is a side view of an end effector including a
`sensor transponderaccording to various embodiments of the
`present invention;
`[0030]
`FIGS. 17 and 18 show the instrument ina sterile
`container according to various embodiments ofthe present
`invention;
`[0031]
`FIG. 20 is a block diagramofthe remote program-
`ming device according to various embodimentsof the present
`invention; and
`[0032]
`FIG. 21 is a diagram of a packaged instrument
`according to various embodiments of the present invention.
`
`DETAILED DESCRIPTION
`
`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 located in the
`shafi distally fromthe rotational joint 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 mechanical joints 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 berelatively short sothat relatively low power
`signals could be used to thereby minimize interference with
`other systems in the use environmentofthe instrument.
`[0017]
`In another general aspect of the present invention,
`the electrically 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 onordis-
`posed ina nonconductive componentofthe end effector, such
`as a plastic cartridge, thereby 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 shaft. 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 and/or by
`receiving radiated signals from the sensor. Such a designis
`particularly useful in surgical instruments having complex
`mechanical joints (suchas rotary joints), which makeit dif-
`ficult to use a direct wired connection betweenthe sensor and
`control unit for communicating data signals.
`[0018]
`In another embodiment, the shaft and/or compo-
`nents ofthe 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 controlunit is electrically insulated fromthe
`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 after the instrument has been packaged andsterilized.
`In one such embodiment, the programming device may wire-
`lessly program the control unit. The control unit may be
`passively powered bythe wireless signals from the program-
`ming device during the programming operation. In another
`embodiment,the sterile container may comprise a connection
`interface sothat the programming unit can be connected to the
`surgical instrument while the surgical instrument is in its
`sterilized container.
`
`[0033] Various embodiments of the present invention are
`directed generally to a surgical instrumenthavingat least one
`remote sensor transponder and means for communicating
`powerand/or datasignals 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 instruments,
`butis 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 connectionto the
`sensor(s). Before describing aspects of the system, one type
`of surgical instrument in which embodiments ofthe present
`invention may be used—an endoscopic stapling and cutting
`instrument(i.e., an endocutter)—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 pivotally connected to the shaft 8 at an
`articulationpivot 14. Correct placement and orientation of the
`end effector 12 may befacilitated by controls on the hand 6,
`including (1) a rotation knob 28for rotating the closure tube
`(described in more detail below in connection with FIGS.
`4-5) at a free rotating joint 29 ofthe shaft 8 to thereby rotate
`the end effector 12 and (2) anarticulation control 16 to effect
`rotational articulation ofthe end effector 12 aboutthearticu-
`lation pivot 14. In the illustrated embodiment, the end effector
`12 is configuredto 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
`othertypes of surgical instruments, such as graspers, cutters,
`[0020] Various embodiments ofthe present invention are
`staplers, clip appliers, access devices, drug/gene therapy
`described herein by way of example in conjunction with the
`devices, ultrasound, RF or laser devices, etc.
`following figures wherein:
`[0035] The handle 6 ofthe instrument 10 may include a
`[0021]
`FIGS. 1 and 2 are perspective views ofa surgical
`closure trigger 18 and a firing trigger 20 for actuating the end
`instrument according to various embodiments of the present
`effector 12. It will be appreciated that instruments having end
`invention;
`effectors directed to different surgical tasks may have differ-
`[0022]
`FIGS. 3-5 are exploded views ofan end effector and
`ent numbersor typesof triggers orother suitable controls for
`shaft ofthe instrument according to various embodiments of
`operating the end effector 12. The end effector 12 is shown
`the present invention;
`separated fromthe handle 6 by the preferably elongate shaft
`
`
`[0023] FIG. 61saside view of the end effector according to 8. In one embodiment, a clinician or operator of the instru-
`various embodiments of the present invention;
`ment 10 may articulate the end effector 12 relative to the shaft
`
`FIGURES
`
`24
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`US 2008/0167672 Al
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`Jul. 10, 2008
`
`8 byutilizing the articulation control 16, as described in more
`detail in pending U.S. patent application Ser. No. 11/329,020,
`filed Jan. 10, 2006, entitled “Surgical Instrument Having An
`Articulating End Effector,” by Geoffrey C. Hueil et al., which
`is incorporated herein by reference.
`[0036] The end effector 12 includes inthis example, among
`otherthings, 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 whicha closure trigger 18 is pivotally
`drawn by the clinician to cause clamping or closing of the
`anvil 24 toward thestaple 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 inthe
`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
`drawthefiring trigger 20 toward the pistol grip 12 to cause the
`stapling and severing ofclampedtissue inthe 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 appreciatedthatthe terms “proximal” and
`[0037]
`“distal” are used herein with reference to a clinician gripping
`the handle 6 of an instrument 10. Thus, 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. However, surgical instruments are
`used in manyorientations and positions, and these terms are
`not intended to be limiting and absolute.
`[0038] The closure trigger 18 may be actuated first. Once
`the clinicianis satisfied with the positioningofthe end etfec-
`tor 12, the clinician may draw back the closure trigger 18 to its
`fully closed, locked position proximateto the pistol grip 26.
`The firing trigger 20 may then beactuated. Thefiring 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, onthe pistol grip 26 ofthe
`handle, when depressed may release the locked closure trig-
`ger 18.
`FIG. 3 is an exploded view ofthe end effector 12
`[0039]
`according to various embodiments. As showninthe 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 closedat a pivot
`point 25 connected to the proximate end of the channel 22.
`The anvil 24 may also include a tab 27at its proximate end
`that is inserted into a component of the mechanical closure
`system (described further below) to openand close the anvil
`24. Whenthe closure trigger 18 is actuated, that is, drawn in
`by auser ofthe instrument 10, the anvil 24 may pivot aboutthe
`pivot point 25 into the clamped or closed position. Ifclamping
`ofthe end effector 12 is satisfactory, the operator may actuate
`the firing trigger 20, which, as explained in moredetail below,
`causes the knife 32 and sled 33 totravel longitudinally along
`the channel 22, thereby cutting tissue clamped within the end
`effector 12. The movement of the sled 33 along the channel 22
`causes the staples of the staple cartridge 34 to be driven
`through the severed tissue and against the closed anvil 24,
`
`whichturns the staples to fasten the severed tissue. U.S. Pat.
`No. 6,978,921, entitled “Surgical stapling instrument incor-
`porating an E-beamfiring mechanism,” which is incorporated
`herein by reference, provides more details about such two-
`stroke cutting and fastening instruments. The sled 33 may be
`part ofthe cartridge 34, such that when the knife 32 retracts
`following the cutting operation, the sled 33 doesnot retract.
`The channel 22 and the anvil 24 may be made ofan electri-
`cally conductive material (such as metal) so that they may
`serve as part ofthe antenna that communicates with the sensor
`(s) in the end effector, as described further below. The car-
`tridge 34 could be 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 notedthat although the embodiments of
`the instrument 10 described herein employ an end effector 12
`that staples the severed tissue, in other embodimentsdifferent
`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 “Electrosurgical Hemostatic Device”
`to Yates et al., and U.S. Pat. No. 5,688,270, entitled “Electro-
`surgical Hemostatic Device With Recessed And/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.
`11/267,811 to Morganet al. and U.S. patent application Ser.
`No. 11/267,363 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 cutting/stapling operations
`and thelike, it should be recognized that this is an exemplary
`embodiment and is not meant to be limiting. Other tissue-
`fastening techniques mayalso be used.
`[0041]
`FIGS. 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 shownin the illustrated embodi-
`ment, 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 24is inserted in orderto open and close
`the anvil 24, Disposedinside the closure tubes 40, 42 may be
`a proximate spine tube 46. Disposed inside the proximate
`spine tube 46 may be a mainrotational (or proximate) drive
`shafi 48 that communicates with a secondary (ordistal) drive
`shaft 50 via a bevel gear assembly 52. The secondary drive
`shafi 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 524 maysit and pivot in an opening 57 inthedistal
`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 shaft 48, the sec-
`ondary drive shaft 50, and the articulation assembly (e.g., the
`bevel gear assembly 52a-c), are sometimesreferred to herein
`as the “maindrive shaft assembly.” The closure tubes 40, 42
`may be made ofelectrically conductive material (such as
`metal) so that they may serve as part of the antenna, as
`described further below. Components of the maindrive shaft
`assembly (e.g., the drive shafts 48, 50) may be made ofa
`nonconductive material (suchas plastic).
`[0042] A bearing 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) ofthe knife 32 suchthat rota-
`tionof the shaft 36 causes the knife 32 to translate distally or
`proximately (depending on the direction of the rotation)
`
`25
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`US 2008/0167672 Al
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`Jul. 10, 2008
`
`throughthe staple channel 22. Accordingly, when the main
`drive shaft 48 is caused to rotate by actuation ofthe firing
`trigger 20 (as explained in more detail below), the bevel gear
`assembly 52a-c causes the secondary drive shaft 50to rotate,
`whichin turn, because of the engagement of the drive gears
`54, 56, causes the helical screw shaft 36 to rotate, which
`causes the knife 32 to travel longitudinally along the channel
`22 to cut any tissue clamped withinthe end effector. The sled
`33 may be made of, for example, plastic, and may have a
`sloped distal surface. Asthe sled 33 traverses the channel 22,
`the sloped forward surface maypushupor drivethestaples 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. Whenthe knife 32 is retracted, the knife 32
`and sled 33 may becomedisengaged, thereby leaving the sled
`33 at the distal end of the channel22.
`
`[0043] According to various embodiments, as shown FIGS.
`7-10, the surgical instrument may include a battery64 in the
`handle6. Theillustrated embodimentprovides user-feedback
`regarding the deployment and loading force ofthe cutting
`instrumentin the end effector 12. In addition, the embodiment
`may use power provided by the user inretracting the firing
`trigger 18 to power the instrument 10 (a so-called “power
`assist’ mode). As shownintheillustrated embodiment, the
`handle 6 includes exterior lowerside pieces 59, 60and 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 inthe pistol grip
`portion 26 of the handle 6. The battery 64 powers a motor 65
`disposed in an upper portion ofthe 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 LiCoO, or LiNiO,, a
`Nickel Metal Hydride chemistry, etc. According to various
`embodiments, the motor 65 may be a DC brushed driving
`motor having a maximumrotation 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
`aplanetary gearassembly 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 78that drives
`a helical gear drum80 via a drive shaft 82. A ring 84 may be
`threaded on the helical gear drum 80. Thus, when the motor
`65 rotates, the ring 84 is causedto travel alongthe helical gear
`drum 80 by meansof the 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
`whenthe firing trigger 20 has been drawnin (or “closed”)
`toward the pistol grip portion 26 of the handle 6 by the
`operator to thereby actuate the cutting/stapling operation by
`the end effector 12. The sensor 110 may be a proportional
`sensor such as, for example, a rheostat or variable resistor.
`Whenthe firing trigger 20 is drawn in, the sensor 110 detects
`the movement, and sendsan electrical signal indicative ofthe
`voltage (or power) to be supplied to the motor 65, Whenthe
`sensor 110 is a variable resistoror the like, the rotation ofthe
`motor 65 may be generally proportional to the amount of
`movementof the firing trigger 20. That is, ifthe operator only
`draws or closes the firing trigger 20 ina little bit, the rotation
`of the motor 65is relatively low. Whenthefiring trigger 20 is
`fully drawnin (or in the fully closed position), the rotation of
`the motor65 is at its maximum.In other words, the harder the
`user pulls onthefiring trigger 20, the more voltage is applied
`to the motor 65, causing greater rates of rotation. 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 fromthe sensor 110 in order to control the
`motor 65.
`
`[0045] The handle 6 mayinclude a middle handle piece 104
`adjacent to the upper portion ofthe firing trigger 20. The
`handle 6 also may comprise a bias spring 112 connected
`betweenposts on the middle handle piece 104 andthefiring
`trigger 20. The bias spring 112 maybiasthe firing trigger 20
`to its fully open position. In that way, when the operator
`releases thefiring trigger 20, the bias spring 112 will pull the
`firing trigger 20 to its openposition, thereby removing actua-
`tion ofthe sensor 110, thereby stopping rotation of the motor
`65. Moreover, by virtue ofthe bias spring 112, any time auser
`closesthe firing trigger 20, the user will experienceresistance
`to the closing operation, thereby providing the user with
`feedback as to the amountofrotation exerted by the motor 65.
`Further, the operator could 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 12, thereby providing a measure ofcontrol of
`the cutting/fastening operation to the operator.
`[0046] The distal end ofthe helical gear drum80 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 main drive shaft 48 of the main drive shaft assembly. In
`that way, rotation of the motor 65 causes the main drive shaft
`assembly to rotate, which causes actuationof the end effector
`12, as described above.
`[0047] The ring 84 threaded onthe 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
`betweenthe 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 reverse
`motor (or end-of-stroke sensor) 130 and a stop motor (or
`beginning-of-stroke) sensor 142. In various embodiments,
`the reverse motor sensor 130 may be a limit switch located at
`the distal end ofthe helical gear drum80 such that the ring 84
`threaded on the helical gear drum 80 contacts and trips the
`reverse motor sensor 130 whenthe ring 84 reaches thedistal
`end ofthe helical gear drum 80. The reverse motorsensor 130,
`whenactivated, sends a signal to the co