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US 2024/0252168 A1Published application
Surgical instrument with multiple program responses during a firing motion
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jason L. Harris, Michael J. Vendely, Charles J. Scheib
Life of this patent
Estimating the term…
Abstract
A surgical instrument. The surgical instrument includes an elongated channel configured to support a staple cartridge, an anvil pivotably connected to the elongated channel, a knife mechanically coupled to the staple cartridge, an electric motor and a control circuit electrically connected to the electric motor. The control circuit is configured to change a firing motion of the surgical instrument based on a combination of events.
Claims21
1-22. (canceled)
A surgical system, comprising:
- an end effector, comprising:
- a first jaw;
- and
- a second jaw rotatable relative to said first jaw between an open position and a closed position;
- a firing driver driveable through the end effector from a first position toward a second position during a firing stroke;
- a force sensor to measure a force to drive the firing driver;
- a position sensor to detect a position of the firing driver;
- and
- a control circuit to communicate with the force sensor and the position sensor, wherein the control circuit is to:
- advance the firing driver toward the second position;
- and
- select between maintaining advancement of the firing driver toward the second position and pausing advancement of the firing driver based on:
- the measured force exceeding a force threshold;
- and
- the detected position of the firing driver.
12 more elements
A surgical system, comprising:
- an end effector;
- a firing driver driveable through the end effector from a first position toward a second position during a firing stroke;
- a force sensor to measure a force to drive the firing driver;
- a position sensor to detect a position of the firing driver;
- and
- a control circuit to communicate with the force sensor and the position sensor, wherein the control circuit is to:
- advance the firing driver toward the second position;
- and
- maintain advancement of the firing driver toward the second position based on:
- the measured force exceeding a force threshold;
- and
- the detected position of the firing driver.
9 more elements
A surgical system, comprising:
- an end effector;
- a firing driver driveable through the end effector from a first position toward a second position during a firing stroke;
- a force sensor to measure a force to drive the firing driver;
- a position sensor to detect a position of the firing driver;
- and
- a control circuit to communicate with the force sensor and the position sensor, wherein the control circuit is to:
- advance the firing driver toward the second position;
- determine a rate of change of the measured force;
- and
- select between maintaining advancement of the firing driver and pausing advancement of the firing driver based on:
- the determined rate of change exceeding a rate of change threshold;
- and
- the detected position of the firing driver.
10 more elements
Dependencies are inferred from the claim text.