# US 11,076,927 B2 · Usage and procedure counter for surgical tools > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,927 B2 - Document ID: US11076927B2 - Status: Granted - Kind: B2 - Application number: 16/189,343 - Filed: 2018-11-13 - Published: 2020-05-14 - Granted: 2021-08-03 - Earliest claimed: 2018-11-13 - Assignees: Cilag GmbH International - Applicants: Ethicon LLC - Inventors: John A. Hibner; Andrew Crews - Web page: https://patentgrep.com/patent/US11076927B2 ## CPC - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 18/1442: {Probes having pivoting end effectors, e.g. forceps} - A61B 2017/00119: {alarm; indicating an abnormal situation} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/00323: {Cables or rods} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2090/061: {for measuring dimensions, e.g. length} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/066: {for measuring torque} - A61B 2090/0803: {Counting the number of times an instrument is used} - A61B 2090/0809: {Indication of cracks or breakages} - A61B 2090/0814: {Preventing re-use} - A61B 2560/0266: for monitoring or limiting apparatus function - G16H 40/40: for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract A method of operating a surgical tool includes mounting the surgical tool to a tool driver. The surgical tool includes one or more drive cables movable to actuate an end effector, and one or more segments are defined along a portion of at least one of the one or more drive cables and each segment exhibits a usage value. Usage of the drive cables is monitored with a computer system in communication with the tool driver, and the usage value of one or more of the segments is altered based on usage of the surgical tool. ## Claims ### Claim 1 A method of operating a surgical tool, comprising: mounting the surgical tool to a tool driver, the surgical tool including a drive cable movable to actuate an end effector, wherein a plurality of discrete segments are defined along a contiguous portion of the drive cable and each segment exhibits a usage value corresponding to a lifetime operational usage of the corresponding segment based at least partially on tensile loading on the drive cable assumed by the corresponding segment; monitoring usage of the drive cable with a computer system in communication with the tool driver; and altering the usage value of at least one of the plurality of discrete segments based on usage of the surgical tool. ### Claim 2 (depends on 1) The method of claim 1, further comprising altering the usage value of the at least one of the plurality of discrete segments based on movement of the drive cable. ### Claim 3 (depends on 1) The method of claim 1, wherein the surgical tool further includes a drive housing having a drive input matable with a driver provided on the tool driver, the method further comprising: actuating the driver based on a signal received from the computer system and thereby causing actuation of drive input; linearly moving the drive cable as acted upon by the drive input; measuring the tensile loading on the drive cable with a torque sensor in communication with the computer system; and increasing the usage value of the at least one of the plurality of discrete segments with the computer system based on tensile data received from the torque sensor. ### Claim 4 (depends on 3) The method of claim 3, further comprising increasing the usage value of the at least one of the plurality of discrete of segments proportional to a magnitude of the tensile data. ### Claim 5 (depends on 1) The method of claim 1, wherein the surgical tool further includes a drive housing having a drive input matable with a driver provided on the tool driver, the method further comprising: actuating the driver based on a signal received from the computer system and thereby causing rotation of drive input; linearly moving the drive cable as acted upon by the drive input; measuring a rotational output of the drive input or the driver with a rotary encoder in communication with the computer system; determining a linear distance traveled by the at least one of the plurality of discrete segments with the computer system based on rotational output data received from the rotary encoder; and increasing the usage value of the at least one of the plurality of discrete segments based on the linear distance traveled. ### Claim 6 (depends on 5) The method of claim 5, wherein the surgical tool further includes a wrist having first and second sets of pulleys that define an S-bend through which the drive cable extends, the method further comprising: moving the at least one of the plurality of discrete segments at least partially through the S-bend over the linear distance; and increasing the usage value based on full bending reversal or partial bending reversal of the at least one of the plurality of discrete segments traversing the S-bend. ### Claim 7 (depends on 6) The method of claim 6, further comprising increasing the usage value of the at least one of the plurality of discrete segments proportional to a magnitude of bending forces assumed by the at least one of the plurality of discrete segments linearly traversing the S-bend. ### Claim 8 (depends on 1) The method of claim 1, further comprising aggregating usage value increments with the computer system to determine a current usage value of the at least one of the plurality of discrete segments. ### Claim 9 (depends on 8) The method of claim 8, further comprising calculating when the drive cable will fail at the at least one of the plurality of discrete segments based on the current usage value of the at least one of the plurality of discrete segments. ### Claim 10 (depends on 8) The method of claim 8, further comprising issuing an alert with the computer system when the current usage value reaches a predetermined usage value for at least one of the at least one of the plurality of discrete segments. ### Claim 11 (depends on 8) The method of claim 8, further comprising preventing the surgical tool from being used in a subsequent procedure when the current usage value reaches a predetermined usage value for at least one of the at least one of the plurality of discrete segments. ### Claim 12 (depends on 1) The method of claim 1, further comprising increasing the usage value of the at least one of the plurality of discrete segments based on a non-operational procedure selected from the group consisting of an autoclave cycle, an amount of time the surgical tool is mounted to the tool driver, a number of times the surgical tool is mounted to and detached from the tool driver, a number of procedures undertaken by the surgical tool, and any combination thereof. ### Claim 13 A non-transitory medium readable by a processor and storing instructions for execution by the processor for performing a method comprising: monitoring usage of a drive cable included in a surgical tool with a computer system, wherein the surgical tool is mounted to a tool driver and a plurality of discrete segments are defined along a contiguous portion of least the drive cable, and wherein each segment exhibits a usage value corresponding to a lifetime operational usage of the corresponding segment based at least partially on tensile loading on the drive cable assumed by the corresponding segment; and altering the usage value of at least one of the plurality of discrete segments based on usage of the surgical tool. ### Claim 14 (depends on 13) The non-transitory medium of claim 13, wherein the surgical tool further includes a drive housing having a drive input matable with a driver provided on the tool driver, and wherein the instructions for execution by the processor for performing the method further comprise: actuating the driver based on a signal received from the computer system and thereby causing actuation of the drive input; linearly moving the drive cable as acted upon by the drive input; measuring the tensile loading on the drive cable with a torque sensor in communication with the computer system; and increasing the usage value of the at least one of the plurality of discrete segments with the computer system based on tensile data received from the torque sensor. ### Claim 15 (depends on 13) The non-transitory medium of claim 13, wherein the surgical tool further includes a drive housing having a drive input matable with a driver provided on the tool driver, and wherein the instructions for execution by the processor for performing the method further comprise: actuating the driver based on a signal received from the computer system and thereby causing rotation of the drive input; linearly moving the drive cable as acted upon by the drive input; measuring a rotational output of the drive input or the driver with a rotary encoder in communication with the computer system; determining a linear distance traveled by the at least one of the plurality of discrete segments with the computer system based on rotational output data received from the rotary encoder; and increasing the usage value of the at least one of the plurality of discrete segments based on the linear distance traveled. ### Claim 16 (depends on 13) The non-transitory medium of claim 13, wherein the surgical tool further includes a wrist having first and second sets of pulleys that define an S-bend through which the drive cable extends, wherein the instructions for execution by the processor for performing the method further comprise: moving the at least one of the plurality of discrete segments at least partially through the S-bend over the linear distance; and increasing the usage value based on full bending reversal or partial bending reversal of the at least one of the plurality of discrete segments traversing the S-bend. ### Claim 17 (depends on 13) The non-transitory medium of claim 13, wherein the instructions for execution by the processor for performing the method further comprise aggregating usage value increments with the computer system to determine a current usage value of the at least one of the plurality of discrete segments. ### Claim 18 (depends on 17) The non-transitory medium of claim 17, wherein the instructions for execution by the processor for performing the method further comprise calculating when the drive cable will fail based on the current usage value of the at least one of the plurality of discrete segments. ### Claim 19 (depends on 17) The non-transitory medium of claim 17, wherein the instructions for execution by the processor for performing the method further comprise issuing an alert with the computer system when the current usage value reaches a predetermined usage value for at least one of the at least one of the plurality of discrete segments. ### Claim 20 (depends on 17) The non-transitory medium of claim 17, wherein the instructions for execution by the processor for performing the method further comprise preventing the surgical tool from being used in a subsequent procedure when the current usage value reaches a predetermined usage value for at least one of the at least one of the plurality of discrete segments.