# US 12,108,999 B2 · Ultrasonic surgical system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,108,999 B2 - Document ID: US12108999B2 - Status: Granted - Kind: B2 - Application number: 16/845,551 - Filed: 2020-04-10 - Published: 2020-07-30 - Granted: 2024-10-08 - Earliest claimed: 2006-03-29 - Assignees: Cilag GmbH International - Applicants: Cilag GmbH International - Inventors: Kevin L. Houser; William T. Donofrio; Foster B. Stulen - Web page: https://patentgrep.com/patent/US12108999B2 ## CPC - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 17/320092: {with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw} - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 2017/00022: {Sensing or detecting at the treatment site} - A61B 2017/00026: {Conductivity or impedance, e.g. of tissue} - A61B 2017/00084: {Temperature} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/320093: {additional movable means performing cutting operation} - A61B 2017/320094: {additional movable means performing clamping operation} - A61B 2017/320095: {with sealing or cauterizing means} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An ultrasonic surgical system has an ultrasonic unit including an instrument operatively connected to an ultrasonic generator, wherein the instrument has an ultrasonic end effector on the distal end of a shaft. The system further includes a positioning unit including a movable arm adapted for releasably holding the instrument, whereby an operator may direct the positioning unit to position the end effector at a surgical site inside a body cavity of a patient for performing a plurality of surgical tasks. The system further includes a control unit operatively connected to the ultrasonic and positioning units, wherein the control unit is programmable with a surgical subroutine for performing the surgical tasks. The system further includes a user interface operatively connected to the control unit for initiating an operative cycle of the surgical subroutine such that the surgical tasks are automatically performed during the operative cycle. ## Claims ### Claim 1 An ultrasonic surgical system, comprising: an end effector comprising an ultrasonic blade; a positioning unit configured to position the ultrasonic blade; and a control unit preprogrammed with a plurality of surgical subroutines, wherein at least one of the surgical subroutines comprises causing the positioning unit to translate the ultrasonic blade according to a sweep profile of the ultrasonic blade over tissue according to a predetermined treatment procedure, wherein the end effector further comprises a clamp arm, wherein the ultrasonic surgical system further comprising an actuating unit configured to position the clamp arm relative to the ultrasonic blade, and wherein at least one of the surgical subroutines further comprises causing the actuating unit to move the clamp arm according to a clamping profile, wherein the clamping profile comprises moving the clamp arm to provide a parabolic force profile to the tissue. ### Claim 2 (depends on 1) The ultrasonic surgical system of claim 1, wherein the sweep profile comprises sweeping the ultrasonic blade against tissue in a lateral direction. ### Claim 3 (depends on 1) The ultrasonic surgical system of claim 1, wherein the sweep profile comprises sweeping the ultrasonic blade against tissue in a longitudinal direction. ### Claim 4 (depends on 1) The ultrasonic surgical system of claim 1, wherein a generator is configured to energize the ultrasonic blade during the sweep profile. ### Claim 5 (depends on 1) The ultrasonic surgical system of claim 1, wherein the ultrasonic surgical system further comprising an actuating unit configured to rotate the ultrasonic blade, and wherein at least one of the surgical subroutines further comprises causing the actuating unit to rotate the ultrasonic blade according to a blade rotation profile. ### Claim 6 An ultrasonic surgical system, comprising: an end effector, comprising: an ultrasonic blade; and a clamp arm movable relative to the ultrasonic blade to clamp tissue therebetween; an actuating unit configured to move the clamp arm; and a control unit preprogrammed with a plurality of surgical subroutines, wherein at least one of the surgical subroutines comprises causing the actuating unit to move the clamp arm according to a clamping profile of the clamp arm to clamp tissue according to a predetermined treatment procedure and a sweep profile of the ultrasonic blade over the tissue according to the predetermined treatment procedure, wherein the clamping profile comprises moving the clamp arm to provide a parabolic force profile to the tissue. ### Claim 7 (depends on 6) The ultrasonic surgical system of claim 6, wherein the clamping profile comprises moving the clamp arm to provide a discrete force to the tissue. ### Claim 8 (depends on 6) The ultrasonic surgical system of claim 6, wherein the clamping profile comprises moving the clamp arm to provide a variable force to the tissue. ### Claim 9 (depends on 6) The ultrasonic surgical system of claim 6, wherein the clamping profile comprises moving the clamp arm to provide an ascending force profile to the tissue. ### Claim 10 (depends on 6) The ultrasonic surgical system of claim 6, wherein the clamping profile comprises moving the clamp arm to provide a descending force profile to the tissue. ### Claim 11 (depends on 6) The ultrasonic surgical system of claim 6, wherein a generator is configured to energize the ultrasonic blade during the clamping profile. ### Claim 12 (depends on 6) The ultrasonic surgical system of claim 6, wherein the ultrasonic surgical system further comprising a positioning unit configured to move the ultrasonic blade, and wherein at least one of the surgical subroutines further comprises causing the positioning unit to move the ultrasonic blade according to a sweep profile. ### Claim 13 (depends on 6) The ultrasonic surgical system of claim 6, wherein at least one of the surgical subroutines further comprises causing the actuating unit to rotate the ultrasonic blade according to a blade rotation profile. ### Claim 14 An ultrasonic surgical system, comprising: an end effector comprising an ultrasonic blade; an actuating unit configured to rotate the ultrasonic blade; and a control unit preprogrammed with a plurality of surgical subroutines, wherein at least one of the surgical subroutines comprises causing the actuating unit to rotate the ultrasonic blade according to a blade rotation profile of the ultrasonic blade to clamp tissue against the blade according to a predetermined treatment procedure and a sweep profile of the ultrasonic blade over the tissue according to the predetermined treatment procedure, wherein the end effector further comprises a clamp arm, wherein the actuating unit is further configured to position the clamp arm relative to the ultrasonic blade, and wherein at least one of the surgical subroutines further comprises causing the actuating unit to move the clamp arm according to a clamping profile, wherein the clamping profile comprises moving the clamp arm to provide a parabolic force profile to the tissue. ### Claim 15 (depends on 14) The ultrasonic surgical system of claim 14, wherein the blade rotation profile comprises rotating the ultrasonic blade about a central blade axis. ### Claim 16 (depends on 14) The ultrasonic surgical system of claim 14, wherein a generator is configured to energize the ultrasonic blade during the blade rotation profile. ### Claim 17 (depends on 14) The ultrasonic surgical system of claim 14, wherein the ultrasonic surgical system further comprising a positioning unit configured to move the ultrasonic blade, and wherein at least one of the surgical subroutines further comprises causing the positioning unit to move the ultrasonic blade according to a sweep profile.