CPC A61B 17/1155 (2013.01) [A61B 17/07207 (2013.01); A61B 17/1114 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/1132 (2013.01); A61B 2017/1135 (2013.01); A61B 2017/1139 (2013.01)] | 20 Claims |
1. An apparatus comprising:
(a) a controller;
(b) a motor unit in communication with the controller, wherein the motor unit includes at least one motor; and
(c) an end effector operatively coupled with the motor unit and configured to clamp, staple, and cut tissue, wherein the end effector comprises:
(i) a closure member actuatable by the motor unit to transition the end effector from an open state to a closed state to clamp tissue,
(ii) a staple driver member actuatable by the motor unit to drive a plurality of staples into the clamped tissue, and
(iii) a knife member actuatable by the motor unit to cut the clamped tissue,
wherein the controller is configured to:
(i) control the motor unit to actuate the end effector from the open state to the closed state to clamp tissue,
(ii) in response to determining that the end effector has assumed the closed state, control the motor unit to actuate the staple driver member from a first position to a second position to staple the clamped tissue, and
(iii) in response to determining that the staple driver member has advanced at least partially toward the second position, control the motor unit to initiate actuation of the knife member to cut the clamped tissue.
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