# US 11,896,222 B2 · Methods of operating surgical end effectors

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- Number: US 11,896,222 B2
- Document ID: US11896222B2
- Status: Granted
- Kind: B2
- Application number: 17/012,241
- Filed: 2020-09-04
- Published: 2021-02-18
- Granted: 2024-02-13
- Earliest claimed: 2017-12-15
- Assignees: Cilag GmbH International
- Applicants: Cilag GmbH International
- Inventors: Frederick E. Shelton, IV; Daniel J. Mumaw; Jason L. Harris; Jerome R. Morgan
- Web page: https://patentgrep.com/patent/US11896222B2

## CPC

- A61B 17/07207: {the staples being applied sequentially}
- A61B 90/06: {Measuring instruments not otherwise provided for}
- A61B 2017/00017: {Electrical control of surgical instruments}
- A61B 2017/0023: {disposable}
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2017/00407: {Ratchet means}
- A61B 2017/0046: {with a releasable handle; with handle and operating part separable}
- A61B 2017/00473: {Distal part, e.g. tip or head (A61B2017/00464 takes precedence)}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/00734: {battery operated}
- A61B 2017/07257: {characterised by its anvil}
- A61B 2017/07271: {characterised by its cartridge}
- A61B 2017/07278: {characterised by its sled or its staple holder}
- A61B 2017/07285: {characterised by its cutter}
- A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft}
- A61B 2017/2933: {camming or guiding means}
- A61B 2017/2948: {Sealing means, e.g. for sealing the interior from fluid entry}
- A61B 2090/034: {abutting on parts of the device itself}
- A61B 2090/061: {for measuring dimensions, e.g. length}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/067: {for measuring angles}
- A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus}
- A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument}
- A61B 2090/0813: {Accessories designed for easy sterilising, i.e. re-usable}
- A61B 2090/0814: {Preventing re-use}
- H01M 10/425: {Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing (printed circuits H05K1/00)}
- H01M 50/213: adapted for cells having curved cross-section, e.g. round or elliptic (H01M50/209, H01M50/216 take precedence)
- H01M 2220/30: Batteries in portable systems, e.g. mobile phone, laptop
- Y02E 60/10: Energy storage using batteries
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- H01M: PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION

## Abstract

A surgical system is disclosed comprising a firing member, a motor configured to advance the firing member, a current sensor, and a control system configured to set a target firing speed range of the firing member based on a current draw of the motor sensed by the current sensor, set a threshold current draw range corresponding to the target firing speed range of the firing member, advance the firing member at a firing speed within the target firing speed range, monitor a current draw of the motor as the firing member is driven, compare the monitored current draw to the threshold current draw range, and adjust the firing speed of the firing member based on the monitored current draw crossing below a first non-zero current value corresponding to the threshold current draw range or above a second non-zero current value corresponding to the threshold current draw range.

## Claims

### Claim 1

A surgical system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw moveable relative to the first jaw between an open position and a closed position;
a firing member movable between a starting position and an ending position;
a motor configured to advance the firing member toward the ending position;
a current sensor configured to sense a current draw of the motor; and
a control system comprising a processor and a memory, wherein the control system is configured to:
set, by the control system, a target firing speed range of the firing member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the second jaw being placed in the closed position, and wherein the target firing speed range is between a first non-zero speed value and a second non-zero speed value;
set, by the control system, a threshold current draw range corresponding to the target firing speed range of the firing member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
advance, by the motor, the firing member toward the ending position at a firing speed within the target firing speed range;
monitor, by the current sensor, a current draw of the motor as the firing member is driven toward the ending position at the firing speed within the target firing speed range;
compare, by the control system, the monitored current draw to the threshold current draw range; and
adjust, by the control system, the firing speed of the firing member based on the monitored current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.

### Claim 2 (depends on 1)

The surgical system of claim 1, wherein the control system is configured to pause advancement of the firing member based on the monitored current draw reaching or exceeding the threshold current draw.

### Claim 3 (depends on 2)

The surgical system of claim 2, wherein the control system is configured to resume advancement of the firing member toward the ending position based on a predetermined amount of time elapsing after pausing advancement of the firing member.

### Claim 4 (depends on 1)

The surgical system of claim 1, wherein the control system is configured to reduce a speed at which the firing member advances toward the ending position based on the monitored current draw reaching or exceeding the threshold current draw.

### Claim 5 (depends on 1)

The surgical system of claim 1, wherein the control system is configured to:
advance, by the motor, the firing member from the starting position to a closure end position;
monitor, by the current sensor, a closure current draw of the motor as the firing member advances to the closure end position; and
set, by the control system, the target firing speed range of the firing member based on the monitored closure current draw.

### Claim 6 (depends on 1)

The surgical system of claim 1, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein the staples are deployable from the staple cartridge based on the firing member advancing toward the ending position.

### Claim 7 (depends on 1)

The surgical system of claim 1, wherein the firing member is configured to maintain the second jaw in the closed position based on the firing member advancing toward the ending position.

### Claim 8

A surgical system, comprising:
an end effector, comprising:
an elongate channel; and
an anvil rotatable relative to the elongate channel between an open position and a clamped position;
a clamping member movable between a proximal position and a distal position;
a motor configured to drive the clamping member toward the distal position;
a current sensor configured to sense a current draw of the motor; and
a controller, configured to:
set, by the controller, a target speed range of the clamping member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the anvil being placed in the clamped position, and wherein the target speed range is between a first non-zero speed value and a second non-zero speed value;
set, by the controller, a threshold current draw range corresponding to the target speed range of the clamping member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
drive, by the motor, the clamping member toward the distal position at a speed within the target speed range;
sense, by the current sensor, a current draw of the motor as the clamping member is driven toward the distal position at the speed within the target speed range;
compare, by the controller, the sensed current draw to the threshold current draw range; and
adjust, by the controller, the speed of the clamping member based on the sensed current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.

### Claim 9 (depends on 8)

The surgical system of claim 8, wherein the controller is configured to halt movement of the clamping member based on the sensed current draw reaching or exceeding the threshold current draw.

### Claim 10 (depends on 9)

The surgical system of claim 9, wherein the controller is configured to resume driving of the clamping member toward the distal position based on a predetermined amount of time elapsing after halting movement of the clamping member.

### Claim 11 (depends on 8)

The surgical system of claim 8, wherein the controller is configured to reduce a speed at which the clamping member is driven toward the distal position based on the sensed current draw reaching or exceeding the threshold current draw.

### Claim 12 (depends on 8)

The surgical system of claim 8, wherein the controller is configured to:
drive, by the motor, the clamping member from the proximal position to a clamping end position, wherein the clamping end position corresponds to the anvil being placed in the clamped position;
sense, by the current sensor, a clamping current draw of the motor as the clamping member is driven to the clamping end position; and
set, by the controller, the target speed range of the clamping member based on the sensed clamping current draw.

### Claim 13 (depends on 8)

The surgical system of claim 8, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein the staples are deployable from the staple cartridge based on the clamping member moving toward the distal position.

### Claim 14 (depends on 8)

The surgical system of claim 8, wherein the clamping member is configured to maintain the anvil in the clamping position based on the clamping member moving toward the distal position.

### Claim 15

A surgical fastening system, comprising:
an end effector, comprising:
an elongate channel;
an anvil, wherein the elongate channel and the anvil are configurable between an open configuration and a closed configuration; and
a fastener cartridge removably positioned in the elongate channel, wherein the fastener cartridge comprises a plurality of fasteners removably stored therein;
a firing member movable between a first position and a second position;
a motor configured to drive the firing member toward the second position;
a current sensor configured to sense a current draw of the motor; and
a controller, configured to:
set, by the controller, a target speed range of the firing member based on a current draw of the motor sensed by the current sensor at a closure end position, wherein the closure end position corresponds to the elongate channel and the anvil being placed in the closed configuration, and wherein the target speed range is between a first non-zero speed value and a second non-zero speed value;
set, by the controller, a threshold current draw range corresponding to the target speed range of the firing member, wherein the threshold current draw range is between a first non-zero current value and a second non-zero current value;
move, by the motor, the firing member toward the second position at a speed within the target speed range;
monitor, by the current sensor, a current draw of the motor as the firing member is moved toward the second position at the speed within the target speed range;
compare, by the controller, the monitored current draw to the threshold current draw range; and
adjust, by the controller, the speed of the firing member based on the monitored current draw crossing below the first non-zero current value corresponding to the threshold current draw range or above the second non-zero current value corresponding to the threshold current draw range.

### Claim 16 (depends on 15)

The surgical fastening system of claim 15, wherein the controller is configured to pause movement of the firing member based on the monitored current draw reaching or exceeding the threshold current draw.

### Claim 17 (depends on 15)

The surgical fastening system of claim 15, wherein the controller is configured to reduce a speed at which the firing member is moved toward the second position based on the monitored current draw reaching or exceeding the threshold current draw.

### Claim 18 (depends on 15)

The surgical fastening system of claim 15, wherein the controller is configured to:
move, by the motor, the firing member from the first position to a closure end position;
monitor, by the current sensor, a closure current draw of the motor as the firing member is moved to the closure end position; and
set, by the controller, the target speed range of the firing member based on the monitored closure current draw.

### Claim 19 (depends on 15)

The surgical fastening system of claim 15, wherein the fasteners are deployable from the fastener cartridge based on the firing member moving toward the second position.

### Claim 20 (depends on 15)

The surgical fastening system of claim 15, wherein the firing member is configured to maintain the elongate channel and the anvil in the closed configuration based on the firing member moving toward the second position.