# US 11,998,193 B2 · Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation

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- Number: US 11,998,193 B2
- Document ID: US11998193B2
- Status: Granted
- Kind: B2
- Application number: 16/225,140
- Filed: 2018-12-19
- Published: 2019-07-04
- Granted: 2024-06-04
- Earliest claimed: 2017-12-28
- Assignees: Cilag GmbH International
- Applicants: Cilag GmbH International
- Inventors: Frederick E. Shelton, IV; Chester O. Baxter, III; Jason L. Harris; Michael J. Vendely; David C. Yates
- Web page: https://patentgrep.com/patent/US11998193B2

## CPC

- A61B 17/068: Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00})
- A61B 17/02: for holding wounds open, e.g. retractors; Tractors
- A61B 17/07207: {the staples being applied sequentially}
- A61B 17/1155: {Circular staplers comprising a plurality of staples}
- A61B 17/32: Surgical cutting instruments ({A61B18/042 takes precedence; suture cutters A61B17/0467;} implements for ligaturing and cutting {A61B17/122, A61B17/12; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133})
- A61B 17/320092: {with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/35: for telesurgery
- A61B 17/1285: {for minimally invasive surgery}
- A61B 17/34: Trocars; Puncturing needles
- A61B 18/148: {having a short, rigid shaft for accessing the inner body transcutaneously, e.g. for neurosurgery or arthroscopy}
- A61B 90/96: using barcodes
- A61B 90/98: using electromagnetic means, e.g. transponders
- A61B 2017/00017: {Electrical control of surgical instruments}
- A61B 2017/00022: {Sensing or detecting at the treatment site}
- A61B 2017/0003: {of parts of the instruments}
- A61B 2017/00039: {Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect}
- A61B 2017/00061: {spectrum}
- A61B 2017/00075: {Motion}
- A61B 2017/00084: {Temperature}
- A61B 2017/00123: {and automatic shutdown}
- A61B 2017/00128: {related to intensity or progress of surgical action}
- A61B 2017/00154: {pulsed}
- A61B 2017/00176: {Two pulses, e.g. second pulse having an effect different from the first one}
- A61B 2017/00199: {with a console, e.g. a control panel with a display}
- A61B 2017/00203: {with speech control or speech recognition}
- A61B 2017/00221: {with wireless transmission of data, e.g. by infrared radiation or radiowaves}
- A61B 2017/00367: {Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like}
- A61B 2017/00393: {with means for switching between functions}
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2017/00424: {ergonomic, e.g. fitting in fist}
- A61B 2017/0046: {with a releasable handle; with handle and operating part separable}
- A61B 2017/00464: {for use with different instruments}
- A61B 2017/00473: {Distal part, e.g. tip or head (A61B2017/00464 takes precedence)}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/00482: {with a code}
- A61B 2017/00725: {Calibration or performance testing}
- A61B 2017/00734: {battery operated}
- A61B 2017/00809: {Lung operations}
- A61B 2017/00818: {Treatment of the gastro-intestinal system}
- A61B 2017/00876: {magnetic}
- A61B 2017/00938: {hydrophobic}
- A61B 2017/07214: {Stapler heads}
- A61B 2017/07228: {Arrangement of the staples}
- A61B 2017/07235: {containing different staples, e.g. staples of different shapes, sizes or materials}
- A61B 2017/07271: {characterised by its cartridge}
- A61B 2017/07285: {characterised by its cutter}
- A61B 2017/2901: {Details of shaft}
- A61B 2017/2903: {transferring rotary motion}
- A61B 2017/2923: {Toothed members, e.g. rack and pinion}
- A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft}
- A61B 2017/2929: {with a head rotatable about the longitudinal axis of the shaft}
- A61B 2017/2931: {with releasable head}
- A61B 2018/00011: {with fluids}
- A61B 2018/00017: {with gas}
- A61B 2018/00029: {open}
- A61B 2018/0063: {Sealing}
- A61B 2018/00702: {Power or energy}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2090/032: {pressure limiting, e.g. hydrostatic}
- A61B 2090/035: {preventing further rotation}
- A61B 2090/061: {for measuring dimensions, e.g. length}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/065: {for measuring contact or contact pressure}
- A61B 2090/0803: {Counting the number of times an instrument is used}
- A61B 2090/0807: {Indication means}
- A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus}
- A61B 2090/0809: {Indication of cracks or breakages}
- 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 2090/0814: {Preventing re-use}
- A61B 2090/392: {Radioactive markers}
- A61B 2090/3937: {Visible markers}
- A61B 2090/397: {electromagnetic other than visible, e.g. microwave}
- A61B 2217/005: with suction drainage system
- A61B 2218/008: for smoke evacuation
- A61B 2562/0261: Strain gauges
- A61M 13/00: Insufflators for therapeutic or disinfectant purposes {, i.e. devices for blowing a gas, powder or vapour into the body (hand-held units in which gas flow is produced by muscular energy at the moment of use B05B11/062)}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}

## Abstract

A method for controlling a surgical instrument is disclosed. In at least one instance, the surgical instrument comprises a shroud and the operation of the surgical instrument is modified based on input from a sensing circuit configured to sense a parameter of the shroud. In certain instances, the surgical instrument comprises a strain gage circuit and the operation of the surgical instrument is modified based on input from the strain gage circuit.

## Claims

### Claim 1

A method for controlling a surgical instrument, comprising:
rotating, with a motor control circuit, an output shaft of an electric motor;
sensing, with a strain gauge, strain experienced by the surgical instrument wherein the surgical instrument comprises a shroud, and wherein the strain gauge is attached to the shroud;
communicating, from the strain gauge, the sensed strain to the motor control circuit; and
changing, with the motor control circuit, the speed of the electric motor based on the sensed strain.

### Claim 2 (depends on 1)

The method of claim 1, wherein said changing comprises slowing the speed of the electric motor.

### Claim 3 (depends on 2)

The method of claim 2, wherein said changing comprises increasing the speed of the electric motor.

### Claim 4 (depends on 1)

The method of claim 1, wherein the surgical instrument comprises a shaft extending from the shroud and an end effector rotatably connected to the shaft, and wherein said rotating comprises rotating the output shaft of the electric motor to rotate the end effector relative to the shaft.

### Claim 5 (depends on 1)

The method of claim 1, wherein the surgical instrument comprises an end effector including a movable jaw, and wherein said rotating comprises rotating the output shaft of the electric motor to move the movable jaw.

### Claim 6 (depends on 1)

The method of claim 1, wherein the surgical instrument comprises a firing driver, and wherein said rotating comprises rotating the output shaft of the electric motor to move the firing driver.

### Claim 7 (depends on 1)

The method of claim 1, wherein the strain gauge is embedded in a wall of the shroud.

### Claim 8 (depends on 1)

The method of claim 1, wherein said method further comprises pressing the shroud to control the speed of the electric motor.

### Claim 9 (depends on 1)

The method of claim 1, wherein the motor control circuit comprises default operating controls, and wherein said method further comprises:
providing, by the strain gauge, data to the motor control circuit; and
modifying, by the motor control circuit, the default operating controls based on the provided data.

### Claim 10

A method for controlling a surgical instrument, comprising:
operating, with a motor control circuit, an electric motor;
sensing, with a strain gauge, strain experienced by the surgical instrument;
communicating, from the strain gauge, the sensed strain to the motor control circuit;
sensing, with a force sensor, a force experienced by the surgical instrument;
communicating, from the force sensor, the sensed force to the motor control circuit; and
changing, with the motor control circuit, the speed of the electric motor based on the sensed strain and the sensed force.

### Claim 11 (depends on 10)

The method of claim 10, wherein the motor control circuit comprises default operating controls, and wherein said method further comprises modifying, with the motor control circuit, the default operating controls based on the sensed strain.

### Claim 12 (depends on 10)

The method of claim 10, wherein the surgical instrument comprises a handle housing, and wherein the strain gauge is embedded in a wall of the handle housing, and wherein said method further comprises pressing the handle housing to control the speed of the electric motor.

### Claim 13 (depends on 10)

The method of claim 10, wherein the surgical instrument comprises a handle housing, and wherein the strain gauge is embedded in a wall of the handle housing.

### Claim 14

A method for controlling a surgical instrument, comprising:
operating, with a motor control circuit, an electric motor;
sensing, with a first strain gauge, a first strain experienced by the surgical instrument along a first axis;
communicating, from the first strain gauge, the sensed first strain to the motor control circuit;
sensing, with a second strain gauge, a second strain experienced by the surgical instrument along a second axis that is transverse to the first axis;
communicating, from the second strain gauge, the sensed second strain to the motor control circuit; and
changing, with the motor control circuit, the speed of the electric motor based on the sensed first strain and the second strain.

### Claim 15 (depends on 14)

The method of claim 14, wherein said changing comprises slowing the speed of the electric motor.

### Claim 16 (depends on 14)

The method of claim 14, wherein said changing comprises increasing the speed of the electric motor.

### Claim 17 (depends on 14)

The method of claim 14, wherein the surgical instrument comprises a handle housing, and wherein the first strain gauge and the second strain gauge are embedded in a wall of the handle housing.