Feedback algorithms for manual bailout systems for surgical instruments

Abstract

The present disclosure provides a surgical instrument including an end effector, a drive member movable to effectuate a motion in said end effector, a motor operable to move the drive member to effectuate the motion in the end effector and a bailout assembly operable to perform a mechanical bailout of the surgical instrument in response to a bailout error. The bailout assembly includes a bailout door, a bailout handle accessible through the bailout door. The bailout handle is operable to move the drive member to effectuate a bailout motion in the end effector. A controller includes a memory and a processor coupled to the memory. The processor is configured to detect the bailout error. The processor is programed to stop the motor in response to the detection of the bailout error.

What is claimed is: 
     
         1 . A surgical instrument, comprising:
 an end effector;   a drive member movable to effectuate a motion in said end effector;   a motor operable to move said drive member to effectuate said motion in said end effector; and   a bailout assembly operable to perform a mechanical bailout of said surgical instrument in response to a bailout error, said bailout assembly comprising:
 a bailout door; 
 a bailout handle accessible through said bailout door, said bailout handle operable to move said drive member to effectuate a bailout motion in said end effector; and 
 a controller, comprising:
 a memory; and 
 a processor coupled to said memory, said processor configured to detect said bailout error, wherein said processor is programed to stop said motor in response to said detection of said bailout error. 
 
   
     
     
         2 . The surgical instrument of  claim 1 , wherein said processor is configured to store a bailed out state in said memory in response to said detection of said bailout error. 
     
     
         3 . The surgical instrument of  claim 1  further comprising an interface. 
     
     
         4 . The surgical instrument of  claim 3 , wherein said processor is configured to alert, through said interface, a user of said surgical instrument to perform said mechanical bailout in response to said detection of said bailout error. 
     
     
         5 . The surgical instrument of  claim 4 , wherein said interface comprises a display, and wherein said processor is configured to alert, through said display, the user of said surgical instrument to perform said mechanical bailout. 
     
     
         6 . The surgical instrument of  claim 5 , wherein said display comprises a backlight, and wherein said processor is configured to flash said backlight to alert the user of said surgical instrument to perform said mechanical bailout. 
     
     
         7 . The surgical instrument of  claim 3 , wherein said processor is configured to provide instructions, through said interface, to a user of said surgical instrument to perform said mechanical bailout in response to said detection of said bailout error. 
     
     
         8 . The surgical instrument of  claim 7 , wherein said processor is configured to provide said instructions to the user of said surgical instrument in a plurality of steps. 
     
     
         9 . The surgical instrument of  claim 8 , wherein said processor is configured to present, through said interface, each of said plurality of steps to the user of said surgical instrument in an animated image. 
     
     
         10 . A bailout system for use with a surgical instrument, wherein the surgical instrument includes a motor and an interface, said bailout system comprising:
 a processor; and   a memory coupled to said processor to store program instructions, which when executed from said memory cause said processor to:
 detect an error requiring mechanical bailout of said surgical instrument; 
 disable said motor in response to said detection of said error; 
 alert a user of the surgical instrument through the interface to perform said mechanical bailout; and 
 provide instructions for the user through the interface to perform said mechanical bailout. 
   
     
     
         11 . The bailout system of  claim 10 , wherein said program instructions, when executed from said memory, further cause said processor to store a bailed out state in said memory in response to said detection of said bailout error. 
     
     
         12 . The bailout system of  claim 10 , wherein said memory comprises a first memory and a second memory, wherein said program instructions, when executed from said first memory, further cause the processor to store a bailed out state in said second memory in response to said detection of said bailout error. 
     
     
         13 . The bailout system of  claim 10 , wherein said program instructions, when executed from said memory, further cause said processor to provide said instructions to the user of said surgical instrument in a plurality of steps. 
     
     
         14 . The bailout system of  claim 13 , wherein each of said plurality of steps is presented to the user through the interface in an animated image. 
     
     
         15 . A bailout system for use with a surgical instrument, wherein the surgical instrument includes an interface and a bailout handle accessible through a bailout door, said bailout system comprising:
 a processor; and   a memory coupled to said processor to store program instructions, which when executed from said memory cause the processor to:
 detect an error requiring mechanical bailout of said surgical instrument; 
 alert a user of said surgical instrument through the interface to perform said mechanical bailout; 
 instruct the user through the interface to remove the bailout door to access the bailout handle; and 
 instruct the user through the interface to operate the bailout handle to perform said mechanical bailout. 
   
     
     
         16 . The bailout system of  claim 15 , wherein the surgical instrument includes a motor, and wherein said program instructions, when executed from said memory, further cause said processor to disable the motor in response to said detection of said error. 
     
     
         17 . The bailout system of  claim 15 , wherein said program instructions, when executed from said memory, further cause said processor to store a bailed out state in said memory in response to said detection of said error. 
     
     
         18 . The bailout system of  claim 15 , wherein said memory comprises a first memory and a second memory, wherein said program instructions, when executed from said first memory, further cause the processor to store a bailed out state in said second memory in response to said detection of said error. 
     
     
         19 . The bailout system of  claim 15 , wherein said program instructions, when executed from said memory, further cause said processor to instruct the user through the interface to operate the bailout handle to perform said mechanical bailout in a plurality of steps. 
     
     
         20 . The bailout system of  claim 13 , wherein each of said plurality of steps is presented to the user through the interface in an animated image.