Methods and systems for controlling staple firing
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid W. Weir, Kevin Durant, Patrick Flanagan, David W. Robinson
Life of this patent
Estimating the term…
Abstract
Systems and methods for controlling staple firing include an end effector, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The end effector includes a first jaw and a second jaw holding staples. The processor is configured to monitor the applied force or torque to cause staple firing to occur and maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing, when the applied force or torque is outside an acceptable range of force or torque.
Claims20
An apparatus comprising:
- an end effector comprising a first jaw and a second jaw;
- a drive system configured to apply a force or torque to cause staple firing to occur;
- and
- a processor configured to:
- monitor a drive parameter of the drive system while the drive system applies the force or torque to cause staple firing to occur;
- and
- maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing, when the drive parameter indicates failure during the staple firing.
A method comprising:
- monitoring, by a processor, a drive parameter of a drive system to an end effector comprising a first jaw and a second jaw, wherein application of force or torque by the drive system to the end effector causes staple firing to occur;
- and
- maintaining, by the processor, application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing, when the drive parameter indicates failure during the staple firing.
Dependencies are inferred from the claim text.