CPC A61B 17/07207 (2013.01) [A61B 34/00 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/0023 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2090/0814 (2016.02)] | 20 Claims |
1. A system comprising:
a manipulator, the manipulator being configured to have an instrument mounted thereto, the instrument including an end effector configured for mounting of a replaceable stapler cartridge and a pusher member configured to articulate a staple pushing shuttle of the replaceable stapler cartridge to deploy staples from the replaceable stapler cartridge;
an actuation mechanism drivingly coupled with the pusher member; and
a control unit configured to:
control operation of the actuation mechanism to move the pusher member from a first position to a second position, wherein at the second position, the pusher member makes contact with a portion of the replaceable stapler cartridge or a portion of the end effector;
determine a length that the pusher member moves from the first position to the second position; and
determine, based on the length that the pusher member moves, an operational status of the instrument relating to the replaceable stapler cartridge.
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