SURGICAL STAPLER HAVING FORCE-BASED MOTOR CONTROL
First Claim
Patent Images
1. A surgical stapler, comprising:
- a drive system comprising a movable drive member;
a handle assembly comprising a frame configured to support the movable drive member therein;
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 a sensor positioned on the frame, and wherein the control system is configured to control the electric motor based on a force applied to the frame by the movable drive member.
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Accused Products
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.
277 Citations
25 Claims
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1. A surgical stapler, comprising:
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a drive system comprising a movable drive member; a handle assembly comprising a frame configured to support the movable drive member therein; 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 a sensor positioned on the frame, and wherein the control system is configured to control the electric motor based on a force applied to the frame by the movable drive member. - View Dependent Claims (2, 3, 4, 5)
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6. A surgical stapler, comprising:
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a drive system comprising a movable drive member; a handle assembly comprising a frame, wherein the frame defines a receptacle configured to support the movable drive member therein; 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 battery, wherein the control system comprises a sensor positioned on the receptacle, and wherein the control system is configured to control the electric motor based on a force applied to the receptacle by the movable drive member. - View Dependent Claims (7, 8, 9)
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10. A surgical stapler, comprising:
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a 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 bushing block configured to support the shaft; 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 a sensor positioned on the bushing block and is configured to control the electric motor based on a force applied to the bushing block by the drive system. - View Dependent Claims (11, 12, 13)
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14. 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 a sensor coupled to the three-layered bushing, and 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 (15, 16)
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17. A surgical stapler, comprising:
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a 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 frame configured to support the shaft; 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 array of sensors surrounding the magnet, and wherein the control system is configured to control the electric motor based on a force applied to shaft. - View Dependent Claims (18, 19)
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20. A method for limiting an impact force applied by a surgical stapler, the method comprising:
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reading mass values and stiffness values for components of a system from one or more memories of the surgical stapler; reading maximum force values from one or more memories for each state of the surgical stapler; determining a current state of the surgical stapler; and controlling an electric motor of the surgical stapler to limit the impact force applied by an end effector the surgical stapler based on the maximum force values for the determined state of the surgical stapler. - View Dependent Claims (21, 22, 23, 24, 25)
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Specification