Mechanisms for compensating for drivetrain failure in powered surgical instruments

  • US 10,448,948 B2
  • Filed: 02/12/2016
  • Issued: 10/22/2019
  • Est. Priority Date: 02/12/2016
  • Status: Active Grant
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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