Mechanisms for compensating for drivetrain failure in powered surgical instruments
First Claim
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1. A surgical apparatus, comprising:
- an end effector configured to interact with a tissue; and
a surgical instrument, comprising;
at least one drive mechanism operable to effect at least one motion in the end effector; and
one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the recorded vibrations, and wherein the output signal is compared to a first threshold value indicative of an acceptable status of the at least one drive mechanism, to a second threshold value indicative of a marginal status of the at least one drive mechanism, and to a third threshold value indicative of a critical status of the at least one drive mechanism to determine one of the acceptable status, the marginal status, and the critical status, wherein;
a value of the second threshold value is between a value of the first threshold value and a value of the third threshold value.
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Abstract
A surgical apparatus includes an end effector configured to interact with a tissue and a surgical instrument. The surgical instrument includes at least one drive mechanism operable to effect at least one motion in the end effector. The surgical instrument further includes one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the sensed vibrations, and wherein the output signal is employed to select between an acceptable status, a marginal status, and a critical status of the surgical instrument.
5905 Citations
14 Claims
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1. A surgical apparatus, comprising:
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an end effector configured to interact with a tissue; and a surgical instrument, comprising; at least one drive mechanism operable to effect at least one motion in the end effector; and one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the recorded vibrations, and wherein the output signal is compared to a first threshold value indicative of an acceptable status of the at least one drive mechanism, to a second threshold value indicative of a marginal status of the at least one drive mechanism, and to a third threshold value indicative of a critical status of the at least one drive mechanism to determine one of the acceptable status, the marginal status, and the critical status, wherein; a value of the second threshold value is between a value of the first threshold value and a value of the third threshold value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A surgical stapler, comprising:
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a staple cartridge comprising a plurality of staples deployable into tissue; at least one drive mechanism operable to deploy the plurality of staples into the tissue during a firing sequence of the surgical stapler; and one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the recorded vibrations, and wherein the output signal is compared to a first threshold value indicative of an acceptable status of the at least one drive mechanism, to a second threshold value indicative of a marginal status of the at least one drive mechanism, and to a third threshold value indicative of a critical status of the at least one drive mechanism to determine one of the acceptable status, the marginal status, and the critical status, wherein; a value of the second threshold value is between a value of the first threshold value and a value of the third threshold value. - View Dependent Claims (13, 14)
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Specification