# US 11,998,230 B2 · End effector control and calibration

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- Number: US 11,998,230 B2
- Document ID: US11998230B2
- Status: Granted
- Kind: B2
- Application number: 17/665,163
- Filed: 2022-02-04
- Published: 2022-07-21
- Granted: 2024-06-04
- Earliest claimed: 2016-11-29
- Assignees: Cilag GmbH International
- Applicants: Cilag GmbH International
- Inventors: Phillip H. Clauda; Cameron Nott; John F. Cummings; David J. Cagle; Daniel J. Ulrich
- Web page: https://patentgrep.com/patent/US11998230B2

## CPC

- A61B 17/320092: {with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw}
- A61B 17/2909: {Handles}
- A61B 17/295: combined with cutting implements
- 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 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod}
- A61B 2017/00026: {Conductivity or impedance, e.g. of tissue}
- A61B 2017/00039: {Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect}
- A61B 2017/00128: {related to intensity or progress of surgical action}
- A61B 2017/00725: {Calibration or performance testing}
- A61B 2017/00977: {the depression depth determining the power rate}
- A61B 2017/2808: {Clamp, e.g. towel clamp}
- A61B 2017/2925: {Pistol grips}
- A61B 2017/320094: {additional movable means performing clamping operation}
- A61B 2017/320095: {with sealing or cauterizing means}
- A61B 2018/00595: {Cauterization}
- A61B 2018/00607: {Coagulation and cutting with the same instrument}
- A61B 2018/00642: {with feedback, i.e. closed loop control}
- A61B 2018/00666: {using a threshold value}
- A61B 2018/00702: {Power or energy}
- A61B 2018/00875: {Resistance or impedance}
- A61B 2018/00994: {combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

Methods and apparatus for end effector control and calibration are described. The method may include detecting a signal in response to movement of a first tube relative to a second tube, the first tube driving movement of a clamp arm of the end effector. The method may further include determining a clamp arm position of the end effector relative to a ultrasonic blade of the end effector based on the signal. The method may also include adjusting a power output to the ultrasonic blade of the end effector based on the clamp arm position.

## Claims

### Claim 1

An apparatus for controlling an end effector comprising a clamp arm, the apparatus comprising:
a sensor configured to generate signals in response to movement of a first tube relative to a second tube, the first tube driving movement of the clamp arm of the end effector; and
a control circuit configured to:
receive a first signal, second signal, and a third signal from the sensor, wherein the first signal, the second signal, and the third signal are associated with positions of the clamp arm of the end effector as it moves;
generate a fit curve based on the first signal, the second signal, and the third signal;
receive a fourth signal from the sensor, wherein the fourth signal is associated with a current position of the clamp arm of the end effector as it moves; and
generate a conclusion associated with a relative position of the clamp arm based on the fourth signal and the generated fit curve.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the end effector further comprises an ultrasonic blade, and wherein the control circuit is further configured to:
determine an impedance of the ultrasonic blade in contact with tissue; and
determine a type of the tissue based on the impedance.

### Claim 3 (depends on 2)

The apparatus of claim 2, wherein the generated conclusion comprises an estimated gap between the clamp arm and the ultrasonic blade.

### Claim 4 (depends on 3)

The apparatus of claim 3, further comprising a transducer configured to dynamically adjust a power output to the ultrasonic blade of the end effector during an ultrasonic treatment, to adjust a tissue cut based on the estimated gap and the type of the tissue.

### Claim 5 (depends on 2)

The apparatus of claim 2, wherein the first signal is associated with an open position of the clamp arm relative to the ultrasonic blade, wherein the second signal is associated with an intermediate position of the clamp arm relative to the ultrasonic blade, and wherein the third signal is associated with a closed position of the clamp arm relative to the ultrasonic blade.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the control circuit is further configured to calibrate signals generated by the sensor during movement of the clamp arm of the end effector based on the generated fit curve to confirm that the sensor is generating accurate signals.

### Claim 7 (depends on 6)

The apparatus of claim 6, wherein the calibration comprises a comparison of the fourth signal to the generated fit curve.

### Claim 8 (depends on 1)

The apparatus of claim 1, wherein generation of the fit curve comprises computing a polynomial based on the first signal, the second signal, and the third signal.

### Claim 9 (depends on 8)

The apparatus of claim 8, wherein generation of the conclusion comprises computing a polynomial based on the generated fit curve and the fourth signal.

### Claim 10 (depends on 9)

The apparatus of claim 9, wherein the fit curve comprises a parabola.

### Claim 11 (depends on 1)

The apparatus of claim 1, wherein the sensor is a Hall-effect sensor, and wherein the first signal, the second signal, the third signal, and the fourth signal correspond to voltages detected by the Hall-effect sensor.

### Claim 12

An apparatus for controlling an end effector comprising a clamp arm and an ultrasonic blade, the apparatus comprising:
a sensor configured to generate signals in response to movement of a first tube relative to a second tube, the first tube driving movement of the clamp arm of the end effector; and
a control circuit configured to:
receive a first signal, a second signal, and a third signal from the sensor, wherein the first signal, the second signal, and the third signal are associated with positions of the clamp arm of the end effector as it moves;
generate a fit curve based on the first signal, the second signal, and the third signal;
receive a fourth signal from the sensor, wherein the fourth signal is associated with a current position of the clamp arm of the end effector as it moves;
generate a conclusion associated with a relative position of the clamp arm based on the fourth signal and the generated fit curve;
determine an impedance of the ultrasonic blade in contact with tissue; and
determine a type of the tissue based on the impedance.

### Claim 13 (depends on 12)

The apparatus of claim 12, wherein the generated conclusion comprises an estimated gap between the clamp arm and the ultrasonic blade.

### Claim 14 (depends on 12)

The apparatus of claim 12, further comprising a transducer configured to dynamically adjust a power output to the ultrasonic blade of the end effector during an ultrasonic treatment to adjust a tissue cut based on the estimated gap and the type of the tissue.

### Claim 15 (depends on 12)

The apparatus of claim 12, wherein the first signal is associated with an open position of the clamp arm relative to the ultrasonic blade, wherein the second signal is associated with an intermediate position of the clamp arm relative to the ultrasonic blade, and wherein the third signal is associated with a closed position of the clamp arm relative to the ultrasonic blade.

### Claim 16 (depends on 12)

The apparatus of claim 12, wherein the control circuit is further configured to calibrate signals generated by the sensor during movement of the clamp arm of the end effector based on the generated fit curve to confirm that the sensor is generating accurate signals.

### Claim 17 (depends on 16)

The apparatus of claim 16, wherein the calibration comprises a comparison of the fourth signal to the generated fit curve.

### Claim 18 (depends on 12)

The apparatus of claim 12, wherein generation of the fit curve comprises computing a polynomial based on the first signal, the second signal, and the third signal.

### Claim 19 (depends on 12)

The apparatus of claim 12, wherein generation of the conclusion comprises computing a polynomial based on the generated fit curve and the fourth signal.

### Claim 20 (depends on 12)

The apparatus of claim 12, wherein the fit curve comprises a parabola.

### Claim 21

A computer-implemented method of controlling an end effector comprising a clamp arm and an ultrasonic blade, the method comprising:
receiving, via a control circuit, a first signal, a second signal, and a third signal from a sensor configured to generate signals in response to movement of a first tube of the end effector relative to a second tube of the end effector, the first tube driving movement of the clamp arm of the end effector, wherein the first signal, the second signal, and the third signal are associated with positions of the clamp arm of the end effector as it moves;
generating, via the control circuit, a fit curve based on the first signal, the second signal, and the third signal;
receiving, via the control circuit, a fourth signal from the sensor, wherein the fourth signal is associated with a current position of the clamp arm of the end effector as it moves;
generating, via the control circuit, a conclusion associated with a relative position of the clamp arm based on the fourth signal and the generated fit curve;
determining, via the control circuit, a thickness of a tissue based on the generated conclusion;
determining, via the control circuit, an impedance of the ultrasonic blade in contact with the tissue; and
determining, via the control circuit, a type of the tissue based on the impedance.