# US 12,178,434 B2 · Surgical stapling system including control circuit to monitor clamping pressure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,434 B2 - Document ID: US12178434B2 - Status: Granted - Kind: B2 - Application number: 17/720,823 - Filed: 2022-04-14 - Published: 2022-07-28 - Granted: 2024-12-31 - Earliest claimed: 2011-05-27 - Assignees: Cilag GmbH International - Applicants: Cilag GmbH International - Inventors: Frederick E. Shelton, IV; Michael E. Setser; Kevin R. Doll; Jerome R. Morgan - Web page: https://patentgrep.com/patent/US12178434B2 ## CPC - A61B 17/105: {Wound clamp magazines (for packaging sharps A61B50/3001)} - A61B 17/064: Surgical staples, {i.e. penetrating the tissue} - 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 17/0682: {for applying U-shaped staples or clamps, e.g. without a forming anvil} - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - A61B 17/07207: {the staples being applied sequentially} - A61B 34/30: Surgical robots - A61B 50/20: Holders specially adapted for surgical or diagnostic appliances or instruments (drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02) - A61B 17/320092: {with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw} - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 50/36: for collecting or disposing of used articles - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00473: {Distal part, e.g. tip or head (A61B2017/00464 takes precedence)} - A61B 2017/00734: {battery operated} - A61B 2017/0688: {Packages or dispensers for surgical staplers} - 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 2017/2923: {Toothed members, e.g. rack and pinion} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/320052: {Guides for cutting instruments} - 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 2017/320097: {with stapling means} - A61B 2018/00607: {Coagulation and cutting with the same instrument} - A61B 2018/0063: {Sealing} - A61B 2018/1455: {having a moving blade for cutting tissue grasped by the jaws} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/306: {Wrists with multiple vertebrae} - A61B 2090/0805: {automatically, e.g. by means of magnetic, optical or photoelectric detectors} - A61B 2090/0807: {Indication means} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical stapling system comprising an actuator system operable to generate independent motions and a stapling end effector responsive to the independent motions generated by the actuator system is disclosed. The stapling end effector comprises a staple cartridge jaw comprising a plurality of staples removably stored therein, an anvil jaw, and a firing member. The firing member comprises an anvil-engaging portion and a cartridge jaw-engaging portion configured to engage the staple cartridge jaw. ## Claims ### Claim 1 A surgical stapling system, comprising: a plurality of actuators operable to generate independent motions including an end effector closing motion and a staple firing motion; a stapling end effector responsive to the independent motions generated by the plurality of actuators, wherein the stapling end effector comprises: a staple cartridge jaw; an anvil jaw, comprising: a longitudinal anvil slot; and a longitudinal recess extending from the longitudinal anvil slot, wherein one of the anvil jaw and the staple cartridge jaw are movable relative to the other of the anvil jaw and the staple cartridge jaw to clamp tissue therebetween; a firing beam, comprising: an anvil-engaging cam; and a cartridge jaw-engaging cam configured to engage the staple cartridge jaw, wherein the firing beam is configured to control a relative spacing between the staple cartridge jaw and the anvil jaw during the staple firing motion; a pressure sensor; and a control circuit operably coupled to the plurality of actuators and configured to: receive an end effector closing input; generate the end effector closing motion; monitor tissue clamping pressure by way of the pressure sensor as the one of the anvil jaw and the staple cartridge jaw is moved relative to the other of the anvil jaw and the staple cartridge jaw; adjust a pressure applied by the one of the anvil jaw and the staple cartridge jaw based on the monitored tissue clamping pressure; receive a staple firing input; and generate the end effector firing motion to advance a cutting edge of the stapling end effector through a staple firing stroke independent of the generation of the end effector closing motion. ### Claim 2 (depends on 1) The surgical stapling system of claim 1, further comprising a firing motor rotatable in a first direction to advance the cutting edge of the stapling end effector through the staple firing stroke, and rotatable in a second direction, opposite the first direction, to retract the cutting edge, wherein the control circuit is further configured to control a rotational direction of the firing motor. ### Claim 3 (depends on 2) The surgical stapling system of claim 2, wherein the control circuit is configured to detect reaching an end of the staple firing stroke. ### Claim 4 (depends on 3) The surgical stapling system of claim 3, further comprising a user interface coupled to the control circuit, wherein the control circuit is configured to cause the user interface to alert based on detecting the end of the staple firing stroke. ### Claim 5 (depends on 4) The surgical stapling system of claim 4, wherein the control circuit is configured to cause the firing motor to retract the firing beam after detecting reaching the end of the staple firing stroke. ### Claim 6 (depends on 4) The surgical stapling system of claim 4, wherein the control circuit is configured to cause the user interface to provide an alert indicative of the stapling end effector reaching a closed configuration based on the end effector closing motion. ### Claim 7 A surgical stapling system, comprising: a plurality of actuators operable to generate independent motions including an end effector closing motion and a staple firing motion; a stapling end effector responsive to the independent motions generated by the plurality of actuators, wherein the stapling end effector comprises: a staple cartridge jaw; an anvil jaw, comprising: a longitudinal anvil slot; and a longitudinal recess extending from the longitudinal anvil slot, wherein one of the staple cartridge jaw and the anvil jaw is movable relative to the other of the anvil jaw and the staple cartridge jaw to clamp tissue therebetween; a firing beam, comprising: an anvil-engaging cam; and a cartridge jaw-engaging cam configured to engage the staple cartridge jaw, wherein the firing beam is configured to control a relative spacing between the staple cartridge jaw and the anvil jaw during the staple firing motion; a pressure sensor; and a control circuit operably coupled to the plurality of actuators and configured to: receive an end effector closing input; apply a closure control signal that causes the end effector closing motion, wherein the closure control signal is based on receiving the end effector closing input; monitor clamping pressure by way of the pressure sensor during the end effector closing motion; adjust a pressure applied by the one of the anvil jaw and the staple cartridge jaw based on the monitored clamping pressure; receive a staple firing input; and apply a firing control signal that causes the staple firing motion that advances the firing beam through a staple firing stroke, wherein the firing control signal is based on the staple firing input, and wherein the closure control signal is independent of the firing control signal. ### Claim 8 (depends on 7) The surgical stapling system of claim 7, further comprising a firing motor rotatable in a first direction to advance the firing beam of the stapling end effector through the staple firing stroke, and rotatable in a second direction, opposite the first direction, to retract the firing beam, wherein the control circuit is further configured to control a rotational direction of the firing motor. ### Claim 9 (depends on 8) The surgical stapling system of claim 8, wherein the control circuit is configured to detect reaching an end of the staple firing stroke. ### Claim 10 (depends on 9) The surgical stapling system of claim 9, further comprising a user interface communicably coupled to the control circuit, wherein the control circuit is configured to cause the user interface to alert based on detecting the end of the staple firing stroke. ### Claim 11 (depends on 10) The surgical stapling system of claim 10, wherein the control circuit is configured to cause the firing motor to retract the firing beam after detecting reaching the end of the staple firing stroke. ### Claim 12 (depends on 10) The surgical stapling system of claim 10, wherein the control circuit is configured to cause the user interface to provide an alert indicative of the stapling end effector reaching a closed configuration based on the end effector closing motion. ### Claim 13 A surgical stapling system, comprising: a stapling end effector, comprising: a first jaw; a second jaw, wherein the first jaw and the second jaw are configured to grasp tissue in a closed configuration achievable by an end effector closing motion; a firing beam, comprising: a knife; a first cam configured to engage the first jaw; and a second cam configured to engage the second jaw, wherein the firing beam is configured to control a relative spacing between the first jaw and the second jaw during a staple firing motion that advances the knife through a staple firing stroke, and wherein the end effector closing motion is independent from the staple firing motion; a control circuit configured to: receive an end effector closing input; apply a closure control signal that causes the end effector closing motion, wherein the closure control signal is based on receiving the end effector closing input; monitor clamping pressure by a sensor during the end effector closing motion; adjust a pressure applied by the second jaw during the end effector closing motion based on the monitored clamping pressure; receive a staple firing input; and apply a firing control signal that causes the staple firing motion that advances the knife through the staple firing stroke, wherein the firing control signal is based on the staple firing input, and wherein the closure control signal is independent of the firing control signal. ### Claim 14 (depends on 13) The surgical stapling system of claim 13, further comprising a firing motor rotatable in a first direction to advance the firing beam of the stapling end effector through the staple firing stroke, and rotatable in a second direction, opposite the first direction, to retract the firing beam, wherein the control circuit is further configured to control a rotational direction of the firing motor. ### Claim 15 (depends on 14) The surgical stapling system of claim 14, wherein the control circuit is configured to detect reaching an end of the staple firing stroke. ### Claim 16 (depends on 15) The surgical stapling system of claim 15, further comprising a user interface communicably coupled to the control circuit, wherein the control circuit is configured to cause the user interface to alert based on detecting the end of the staple firing stroke. ### Claim 17 (depends on 16) The surgical stapling system of claim 16, wherein the control circuit is configured to cause the firing motor to retract the firing beam after detecting reaching the end of the staple firing stroke. ### Claim 18 (depends on 16) The surgical stapling system of claim 16, wherein the control circuit is configured to cause the user interface to provide an alert indicative of the stapling end effector reaching a closed configuration based on the end effector closing motion.