US 12,232,726 B2
Surgical instrument with multiple program responses during a firing motion
Frederick E. Shelton, IV, Hillsboro, OH (US); Jason L. Harris, Lebanon, OH (US); Michael J. Vendely, Lebanon, OH (US); and Charles J. Scheib, Loveland, OH (US)
Assigned to Cilag GmbH Intemational, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Feb. 26, 2024, as Appl. No. 18/587,265.
Application 18/587,265 is a continuation of application No. 17/592,197, filed on Feb. 3, 2022, granted, now 11,931,028.
Application 17/592,197 is a continuation of application No. 16/506,399, filed on Jul. 9, 2019, granted, now 11,284,891, issued on Mar. 29, 2022.
Application 16/506,399 is a continuation of application No. 15/130,571, filed on Apr. 15, 2016, granted, now 10,357,247, issued on Jul. 23, 2019.
Prior Publication US 2024/0252168 A1, Aug. 1, 2024
Int. Cl. A61B 17/072 (2006.01); A61B 17/068 (2006.01); A61B 17/32 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/072 (2013.01) [A61B 17/068 (2013.01); A61B 17/07207 (2013.01); A61B 17/32 (2013.01); A61B 2017/00004 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00137 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07214 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2090/065 (2016.02); A61B 2090/0811 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
an end effector, comprising:
a first jaw; and
a second jaw rotatable relative to said first jaw between an open position and a closed position;
a firing driver driveable through the end effector from a first position toward a second position during a firing stroke;
a force sensor to measure a force to drive the firing driver;
a position sensor to detect a position of the firing driver; and
a control circuit to communicate with the force sensor and the position sensor, wherein the control circuit is to:
advance the firing driver toward the second position; and
select between maintaining advancement of the firing driver toward the second position and pausing advancement of the firing driver based on:
the measured force exceeding a force threshold; and
the detected position of the firing driver.