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US 12,402,879 B2Granted
Surgical instrument having force feedback capabilities
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jerome R. Morgan, Richard L. Leimbach, Mark D. Overmyer
Life of this patent
Estimating the term…
Abstract
A surgical instrument. The surgical instrument has a force delivery system which communicates a changing force to a user of the surgical instrument when a limit of a surgical function is reached. A sensor senses position of a moving element to communicate a signal to the force delivery system. In various embodiments, the system generates a vibratory force to signal the user.
Claims30
A surgical assembly, comprising:
- a shaft;
- an end effector;
- a driver actuatable by a motor, wherein the driver is movable through a drive motion, and wherein the end effector comprises a first jaw and a second jaw movable relative to the first jaw;
- and
- a control circuit communicably coupled to the motor, the control circuit to:
- receive a user input corresponding to an initiation of the drive motion;
- initiate the drive motion based on the user input;
- continuously monitor the position of the driver throughout the drive motion;
- and
- deliver a feedback to a user over a period of time based on the position of the driver, wherein the feedback comprises an indication that the driver is approaching the conclusion of the drive motion.
7 more elements
A surgical assembly, comprising:
- a shaft;
- an end effector;
- a driver actuatable by a motor, wherein the driver is movable through a drive motion, and wherein the end effector comprises a first jaw and a second jaw movable relative to the first jaw;
- and
- a control circuit communicably coupled to the motor, the control circuit to:
- receive a user input corresponding to an initiation of the drive motion;
- initiate the drive motion based on the user input;
- continuously monitor the status of the driver throughout the drive motion;
- and
- deliver a feedback to a user over a period of time based on the status of the driver, wherein the feedback comprises an indication that the driver is approaching the conclusion of the drive motion.
7 more elements
A surgical assembly, comprising:
- a shaft;
- an end effector, wherein the end effector comprises a first jaw and a second jaw movable relative to the first jaw;
- a motorized driver movable through a motorized drive motion;
- and
- a control circuit to:
- initiate the motorized drive motion;
- continuously track a position of the motorized driver throughout the motorized drive motion;
- and
- deliver a feedback force to a user during the motorized drive motion based on the position of the motorized driver.
6 more elements
Dependencies are inferred from the claim text.