Surgical instrument having force feedback capabilities

  • US 10,098,636 B2
  • Filed: 07/29/2016
  • Issued: 10/16/2018
  • Est. Priority Date: 01/31/2006
  • Status: Active Grant
First Claim
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1. A surgical instrument system, comprising:

  • a handle assembly;

    a shaft extending from said handle assembly and defining a shaft axis;

    an articulation joint;

    an end effector attached to said shaft by way of said articulation joint, wherein said end effector is configured to be articulated relative to said shaft axis between a first position and a second position, said end effector comprising;

    a first jaw;

    a second jaw movable relative to said first jaw;

    a staple cartridge comprising a plurality of staples removably stored within said staple cartridge, wherein said staples are configured to be ejected from said staple cartridge; and

    an anvil configured to deform said staples;

    a motor configured to provide a vibratory force to a user of said surgical instrument system through said handle assembly to signal the user when said end effector moves into said first position and when said end effector moves into said second position; and

    a sensor configured to;

    sense a first condition of said end effector when said end effector moves into said first position;

    sense a second condition of said end effector when said end effector moves into said second position; and

    send a signal to said motor indicative of said first condition and said second condition when one of said first condition and said second condition is sensed, wherein said signal comprises one of the group consisting of a square wave signal and a sine wave signal.

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