Indirect end of cutline detection on an endocutter which eliminates need for tool characterization for completion thereof
AssigneeCilag GmbH International
InventorsPaul Moubarak, Joseph Thomas Mozloom, Jr., Christopher M. Korte, Jeffrey Franklin
Life of this patent
Estimating the term…
Abstract
A surgical stapler instrument drive system which indirectly maximizes the allowed/allotted cutline length of a staple cartridge, and associated staple deployment, with a reduced excess cutting force at the end thereof.
Claims25
A surgical stapling instrument comprising:
- an end effector configured to grasp tissue, the end effector comprising:
- jaws comprising a cutting edge configured to be displaced a first distance from a proximal end to a distal end of the jaws such that at least a portion of the cutting edge transects tissue grasped by the end effector, the jaws further configured to receive a staple cartridge seatable in one of the jaws and including a sled and staples, the sled configured to be displaced a second distance from a proximal end to a distal end of the staple cartridge to deploy the staples into the tissue grasped by the end effector along the transection;
- a motor located external to the end effector;
- and
- a drive train operably coupled between the motor and the cutting edge and the sled, wherein the motor is configured to controllably displace a position of a proximal end of the drive train a controllable distance to displace the cutting edge and the sled so as to substantially simultaneously transect the tissue grasped by the end effector and deploy the staples therein along, and on either side of, the transection;
- a control circuit coupled with the motor and which controls a rate at which the motor is attempting to displace the proximal end of the drive train and, during displacement of the proximal end of the drive train, monitors:
- the position of the proximal end of the drive train;
- and
- a force inputted to the proximal end of the drive train by the motor;
- and
- wherein the control circuit, during displacement of the proximal end of the drive train, causes the motor to:
- displace the proximal end of the drive train a third distance, the third distance less than the first distance, with a force inputted to the proximal end of the drive train which varies so as to substantially maintain a first rate at which the motor is attempting to displace the proximal end of the drive train;
- subsequent to displacing the third distance, continue to displace the proximal end of the drive train a fourth distance with a force inputted to the proximal end of the drive train which varies so as to substantially maintain a second rate at which the motor is attempting to displace the proximal end of the drive train, the second rate less than the first rate, during which the control circuit computes, based on the monitored force, a projected force which will be required to be inputted to the proximal end of the drive train so as to substantially maintain the second rate at which the motor is attempting to displace the proximal end of the drive train over a subsequent further distance;
- and
- continue to displace the proximal end of the drive train with a force inputted to the proximal end of the drive train which varies so as to substantially maintain the second rate at which the motor is attempting to displace the proximal end of the drive train until the force inputted to the proximal end of the drive train is determined to exceed a threshold of the computed projected force.
A control circuit for controlling a surgical instrument, the surgical instrument comprising an end effector configured to grasp tissue, the end effector comprising jaws comprising a cutting edge configured to be displaced a first distance from a proximal end to a distal end of the jaws such that at least a portion of the cutting edge transects tissue grasped by the end effector, the jaws further configured to receive a staple cartridge seatable in one of the jaws and including a sled and staples, the sled configured to be displaced a second distance from a proximal end to a distal end of the staple cartridge to deploy the staples into the tissue grasped by the end effector along the transection, the surgical instrument further comprising a motor located external to the end effector and a drive train operably coupled between the motor and the cutting edge and the sled, wherein the motor is configured to controllably displace a position of a proximal end of the drive train a controllable distance to displace the cutting edge and the sled so as to substantially simultaneously transect the tissue grasped by the end effector and deploy the staples therein along, and on either side of, the transection, the control circuit comprising:
- a processor and a memory coupled therewith, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to:
- control a rate at which the motor is attempting to displace the proximal end of the drive train;
- and
- monitor during displacement of the proximal end of the drive train:
- the position of the proximal end of the drive train;
- and
- a force inputted to the proximal end of the drive train by the motor;
- and
- during displacement of the proximal end of the drive train, cause the motor to:
- displace the proximal end of the drive train a third distance, the third distance less than the first distance, with a force inputted to the proximal end of the drive train which varies so as to substantially maintain a first rate at which the motor is attempting to displace the proximal end of the drive train;
- subsequent to displacing the third distance, continue to displace the proximal end of the drive train a fourth distance with a force inputted to the proximal end of the drive train which varies so as to substantially maintain a second rate at which the motor is attempting to displace the proximal end of the drive train, the second rate less than the first rate, during which the control circuit computes, based on the monitored force, a projected force which will be required to be inputted to the proximal end of the drive train so as to substantially maintain the second rate at which the motor is attempting to displace the proximal end of the drive train over a subsequent further distance;
- and
- continue to displace the proximal end of the drive train with a force inputted to the proximal end of the drive train which varies so as to substantially maintain the second rate at which the motor is attempting to displace the proximal end of the drive train until the force inputted to the proximal end of the drive train is determined to exceed a threshold of the computed projected force.
A method of operating a surgical instrument, the surgical instrument comprising an end effector configured to grasp tissue, the end effector comprising jaws comprising a cutting edge configured to be displaced a first distance from a proximal end to a distal end of the jaws such that at least a portion of the cutting edge transects tissue grasped by the end effector, the jaws further configured to receive a staple cartridge seatable in one of the jaws and including a sled and staples, the sled configured to be displaced a second distance from a proximal end to a distal end of the staple cartridge to deploy the staples into the tissue grasped by the end effector along the transection, the surgical instrument further comprising a motor located external to the end effector and a drive train operably coupled between the motor and the cutting edge and the sled, wherein the motor is configured to controllably displace a position of a proximal end of the drive train a controllable distance to displace the cutting edge and the sled so as to substantially simultaneously transect the tissue grasped by the end effector and deploy the staples therein along, and on either side of, the transection, the method comprising:
- controlling a rate at which the motor is attempting to displace the proximal end of the drive train;
- and
- monitoring:
- the position of the proximal end of the drive train;
- and
- a force inputted to the proximal end of the drive train by the motor;
- and
- during displacement of the proximal end of the drive train, causing the motor to:
- displace the proximal end of the drive train a third distance, the third distance less than the first distance, with a force inputted to the proximal end of the drive train which varies so as to substantially maintain a first rate at which the motor is attempting to displace the proximal end of the drive train;
- subsequent to attempting to displace the third distance, continue to displace the proximal end of the drive train a fourth distance with a force inputted to the proximal end of the drive train which varies so as to substantially maintain a second rate at which the motor is attempting to displace the proximal end of the drive train, the second rate less than the first rate, during which the control circuit computes, based on the monitored force, a projected force which will be required to be inputted to the proximal end of the drive train so as to substantially maintain the second rate at which the motor is attempting to displace the proximal end of the drive train over a subsequent further distance;
- and
- continue to displace the proximal end of the drive train with a force inputted to the proximal end of the drive train which varies so as to substantially maintain the second rate at which the motor is attempting to displace the proximal end of the drive train until the force inputted to the proximal end of the drive train is determined to exceed a threshold of the computed projected force.
Dependencies are inferred from the claim text.