Methods and systems for detecting clamping or firing failure
First Claim
1. An apparatus comprising:
- an end effector having a first jaw and a second jaw for clamping a material, and a staple for stapling the material clamped between the first and second jaws;
a drive system operatively coupled to the end effector such that driving an actuator of the drive system actuates the end effector for either a surgical or non-surgical method, wherein the drive system moves the first jaw toward the second jaw so as to clamp the material between the jaws such that a clamping force is applied, and wherein the drive system is coupled to the staple such that driving the actuator to staple produces a firing force so as to fire the staple into the material clamped between the first and second jaws;
a sensor for monitoring a drive parameter of the drive system when the actuator induces the clamping force, the firing force, or both the clamping force and the firing force;
a processor which continuously monitors the drive parameter of the drive system and compares the drive parameter to an acceptable range of drive parameters as the drive system drives the jaws to clamp at a desired clamping force; and
a user interface having an indicator for indicating success or failure of clamping or firing, wherein the indicator is of failure when the drive parameter during clamping is outside of an acceptable range of desired drive parameters for clamping or when the drive parameter during firing is outside an acceptable range of desired drive parameters for firing.
2 Assignments
0 Petitions
Accused Products
Abstract
Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.
-
Citations
12 Claims
-
1. An apparatus comprising:
-
an end effector having a first jaw and a second jaw for clamping a material, and a staple for stapling the material clamped between the first and second jaws; a drive system operatively coupled to the end effector such that driving an actuator of the drive system actuates the end effector for either a surgical or non-surgical method, wherein the drive system moves the first jaw toward the second jaw so as to clamp the material between the jaws such that a clamping force is applied, and wherein the drive system is coupled to the staple such that driving the actuator to staple produces a firing force so as to fire the staple into the material clamped between the first and second jaws; a sensor for monitoring a drive parameter of the drive system when the actuator induces the clamping force, the firing force, or both the clamping force and the firing force; a processor which continuously monitors the drive parameter of the drive system and compares the drive parameter to an acceptable range of drive parameters as the drive system drives the jaws to clamp at a desired clamping force; and a user interface having an indicator for indicating success or failure of clamping or firing, wherein the indicator is of failure when the drive parameter during clamping is outside of an acceptable range of desired drive parameters for clamping or when the drive parameter during firing is outside an acceptable range of desired drive parameters for firing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
Specification