Sensor straightened end effector during removal through trocar
AssigneeEticon Endo-Surgery, LLC
InventorsDaniel L. Baber, Richard L. Leimbach, Thomas E. Albrecht
Life of this patent
Estimating the term…
Abstract
In various forms, a sensor-straightened end effector is disclosed. The sensor-straightened end effector may comprise an end effector coupled to a shaft at an articulation point. The end effector may be articulable at an angle with respect to the shaft. A sensor may be disposed on the sensor-straightened end effector, such as on the shaft or on the end effector. The sensor is configured to detect a gross proximal movement. When detecting a gross proximal movement, the sensor may generate a signal to control a motor to begin a straightening process to straighten the end effector with respect to the shaft.
Claims20
A surgical instrument comprising:
- an end effector;
- a shaft coupled to and extending proximally from the end effector;
- a motor to control an angle of articulation of the end effector with respect to the shaft;
- and
- a first sensor in electrical communication with the motor, wherein one of the end effector or the shaft comprises the first sensor, and wherein the first sensor is configured to detect the surgical instrument being moved proximally and, in response to the detection, to activate the motor to straighten any angle of articulation of the end effector with respect to the shaft.
A surgical instrument comprising:
- a housing;
- an end effector;
- a shaft comprising a proximal end and a distal end, wherein the housing is coupled to the proximal end of the shaft, and wherein the end effector is articulably coupled to the distal end of the shaft;
- a motor to control an angle of articulation of the end effector with respect to the shaft;
- a first sensor electrically coupled to the motor, wherein one of the end effector or the shaft comprises the first sensor, and wherein the first sensor is configured to sense the surgical instrument being moved in a proximal direction and, in response to the sensing, to activate the motor to straighten any angle of articulation of the end effector;
- and
- a second sensor electrically coupled to the motor, wherein one of the end effector or the shaft comprises the second sensor, and wherein the second sensor is configured to sense the surgical instrument being moved in the proximal direction and, in response to the sensing, to activate the motor to straighten any angle of articulation of the end effector.
A method for controlling a surgical instrument having a motor-controlled articulating end effector coupled to a shaft extending proximally from the end effector, the method comprising:
- detecting, by a first sensor disposed on one of the end effector or the shaft, the surgical instrument being moved proximally;
- generating, by the first sensor, a first signal indicative of the proximal movement of the surgical instrument;
- receiving, by a motor, the first signal from the first sensor;
- straightening, by the motor, any angle of articulation of the motor-controlled articulating end effector in response to the received first signal.
Dependencies are inferred from the claim text.