# US 11,998,199 B2 · System and methods for controlling a display of a surgical instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,199 B2 - Document ID: US11998199B2 - Status: Granted - Kind: B2 - Application number: 16/929,264 - Filed: 2020-07-15 - Published: 2021-01-07 - Granted: 2024-06-04 - Earliest claimed: 2017-09-29 - Assignees: Cllag GmbH International - Applicants: Cilag GmbH International - Inventors: Richard L. Leimbach; Raymond E. Parfett; Mark D. Overmyer; Gregory J. Bakos - Web page: https://patentgrep.com/patent/US11998199B2 ## CPC - A61B 17/07207: {the staples being applied sequentially} - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - G05B 15/02: electric - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 40/63: for local operation - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 34/25: {User interfaces for surgical systems} - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00119: {alarm; indicating an abnormal situation} - A61B 2017/00128: {related to intensity or progress of surgical action} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - 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 2017/00464: {for use with different instruments} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00734: {battery operated} - A61B 2017/00738: {part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon} - 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 2018/1455: {having a moving blade for cutting tissue grasped by the jaws} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2059: {Mechanical position encoders} - A61B 2090/067: {for measuring angles} - A61B 2090/0807: {Indication means} - 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: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract Various systems and methods of controlling a surgical instrument are disclosed. The surgical instrument can include one or more sensors that are configured to detect or measure parameters associated with the use of the instrument and a display. A control circuit can be configured to detect whether the instrument is articulating, firing, clamping, and so on according to relationships between the detected parameters. The control circuit can further cause the display to display an image or sequences of images according to the particular operational state of the instrument. The images can provide alerts, instructions on how to use the instrument, or information detected by the one or more sensors, such as the position of the knife during transection. ## Claims ### Claim 1 A surgical system, comprising: an end effector, comprising: a first jaw; and a second jaw rotatable relative to the first jaw between an open position and a closed position; an elongate shaft; an articulation joint, wherein the end effector is rotatable relative to the elongate shaft about the articulation joint; an articulation driver configured to drive the end effector about the articulation joint; a motor configured to drive the articulation driver; a current sensor for sensing a firing force experienced by the articulation driver, wherein the current sensor is configured to sense the firing force by sensing a current through the motor; and a control circuit configured to control the motor based on the sensed current through the motor, such that the motor is variably controlled as a function of an articulation angle of the end effector relative to the elongate shaft. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein the control circuit is configured to control the motor based on a comparison of the sensed current through the motor to a threshold current, the threshold current being based on the articulation angle of the end effector relative to the elongate shaft. ### Claim 3 (depends on 2) The surgical system of claim 2, wherein the control circuit is configured to interrupt the current through the motor based on the sensed current through the motor reaching or exceeding the threshold current. ### Claim 4 (depends on 3) The surgical system of claim 3, further comprising a means for notifying a user why the current through the motor has been interrupted. ### Claim 5 (depends on 4) The surgical system of claim 4, wherein the means for notifying comprises a display configured to display an image depicting the end effector contacting a structure. ### Claim 6 (depends on 1) The surgical system of claim 1, wherein the end effector further comprises a staple cartridge. ### Claim 7 A surgical system, comprising: an end effector; an elongate shaft; an articulation joint, wherein the end effector is rotatable relative to the elongate shaft about the articulation joint; an articulation member configured to drive the end effector about the articulation joint; a motorized system configured to drive the articulation member; means for monitoring a firing force experienced by the articulation member, wherein the means for monitoring is configured to monitor the firing force by monitoring a current through the motorized system; and a control circuit configured to control the motorized system based on the monitored current through the motorized system, such that the motor is variably controlled as a function of an articulation angle of the end effector relative to the elongate shaft. ### Claim 8 (depends on 7) The surgical system of claim 7, wherein the control circuit is configured to control the motorized system based on a comparison of the monitored current through the motorized system to a threshold current, the threshold current being based on the articulation angle of the end effector relative to the elongate shaft. ### Claim 9 (depends on 8) The surgical system of claim 8, wherein the control circuit is configured to interrupt the current through the motorized system based on the monitored current through the motorized system reaching or exceeding the threshold current. ### Claim 10 (depends on 9) The surgical system of claim 9, further comprising a means for notifying a user why the current through the motorized system has been interrupted. ### Claim 11 (depends on 10) The surgical system of claim 10, wherein the means for notifying comprises a display configured to display an image depicting the end effector contacting a structure. ### Claim 12 (depends on 7) The surgical system of claim 7, wherein the means for monitoring comprises a current sensor. ### Claim 13 (depends on 7) The surgical system of claim 7, wherein the end effector further comprises a staple cartridge. ### Claim 14 A surgical system, comprising: an end effector, comprising: a first jaw; and a second jaw, where the first jaw and second jaw are configurable between an open configuration and a closed configuration; an elongate shaft; an articulation pivot, wherein the end effector is rotatable relative to the elongate shaft about the articulation pivot; an articulation bar configured to drive the end effector about the articulation pivot; a motor configured to drive the articulation bar; means for monitoring a firing force experienced by the articulation bar, wherein the means for monitoring is configured to monitor the firing force by monitoring a current through the motor; and a control circuit configured to control the motor based on a comparison of the monitored current and a threshold current, the threshold current being based on an articulation angle of the end effector relative to the elongate shaft. ### Claim 15 (depends on 14) The surgical system of claim 14, wherein the control circuit is configured to interrupt the current through the motor based on the monitored current reaching or exceeding the threshold current. ### Claim 16 (depends on 15) The surgical system of claim 15, further comprising a means for notifying a user why the current through the motor has been interrupted. ### Claim 17 (depends on 16) The surgical system of claim 16, wherein the means for notifying comprises a display configured to display an image depicting the end effector contacting a structure. ### Claim 18 (depends on 14) The surgical system of claim 14, wherein the means for monitoring comprises a current sensor. ### Claim 19 (depends on 14) The surgical system of claim 14, wherein the end effector further comprises a staple cartridge.