Surgical stapler having force-based motor control
First Claim
Patent Images
1. A surgical stapler, comprising:
- a firing drive system comprising;
a movable driving member;
a gear mechanically coupled with the movable driving member; and
a shaft connected to the gear;
a handle assembly comprising a housing and a bushing block surrounded by the housing, wherein the bushing block is configured to support the shaft;
an electric motor mechanically coupled to the firing drive system;
a battery electrically couplable to the electric motor; and
a control system electrically connected to the electric motor, wherein the control system comprises;
an H-bridge circuit; and
a sensor positioned on the bushing block, wherein the control system is configured to control the electric motor based on a force applied to the bushing block by the firing drive system.
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Abstract
A surgical stapler. The surgical stapler includes a drive system, a handle assembly, an electric motor, a battery and a control system. The drive system includes a movable drive member. The handle assembly includes a frame configured to support the movable drive member. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes a sensor positioned on the frame. The control system is configured to control the electric motor based on a force applied to the frame by the movable drive member.
5813 Citations
11 Claims
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1. A surgical stapler, comprising:
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a firing drive system comprising; a movable driving member; a gear mechanically coupled with the movable driving member; and a shaft connected to the gear; a handle assembly comprising a housing and a bushing block surrounded by the housing, wherein the bushing block is configured to support the shaft; an electric motor mechanically coupled to the firing drive system; a battery electrically couplable to the electric motor; and a control system electrically connected to the electric motor, wherein the control system comprises; an H-bridge circuit; and a sensor positioned on the bushing block, wherein the control system is configured to control the electric motor based on a force applied to the bushing block by the firing drive system. - View Dependent Claims (2, 3, 4)
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5. A surgical stapler, comprising:
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a drive system comprising; a movable drive member; a gear mechanically coupled with the movable drive member; and a shaft connected to the gear; a handle assembly comprising a bushing block configured to support the shaft, wherein the bushing block comprises a three-layer bushing; an electric motor mechanically coupled to the drive system; a battery electrically couplable to the electric motor; and a control system electrically connected to the electric motor, wherein the control system comprises; an H-bridge circuit; and a sensor coupled to the three-layer bushing, wherein the control system is configured to control the electric motor based on a force applied to the three-layer bushing by the drive system. - View Dependent Claims (6, 7, 11)
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8. A surgical stapler, comprising:
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a firing drive system comprising; a movable rack; a gear mechanically coupled with the movable rack; and a shaft connected to the gear; a magnet connected to an end of the shaft; a handle assembly comprising a housing and a frame surrounded by the housing, wherein the frame is configured to support the shaft; an electric motor mechanically coupled to the firing drive system; a battery electrically couplable to the electric motor; and a control system electrically connected to the electric motor, wherein the control system comprises; an H-bridge circuit; and an array of sensors surrounding the magnet, wherein the control system is configured to control the electric motor based on a force applied to the shaft. - View Dependent Claims (9, 10)
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Specification