US 12,274,519 B2
Pulsed closure control methods for surgical tools
Mark Overmyer, Cincinnati, OH (US); Raffaele Definis, Loveland, OH (US); and Christopher Denzinger, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jul. 11, 2022, as Appl. No. 17/861,705.
Application 17/861,705 is a continuation of application No. 16/554,135, filed on Aug. 28, 2019, granted, now 11,382,704.
Prior Publication US 2022/0409310 A1, Dec. 29, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/072 (2006.01); A61B 17/29 (2006.01); A61B 17/00 (2006.01); A61B 34/37 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/07207 (2013.01); A61B 17/29 (2013.01); A61B 2017/00123 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2932 (2013.01); A61B 2017/2943 (2013.01); A61B 2034/302 (2016.02); A61B 34/37 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of operating a surgical tool, the surgical tool having a drive housing, a closure tube extending from the drive housing, and an end effector arranged at an end of the closure tube and having opposing jaws, the method comprising:
i) mounting the drive housing to a tool driver of a robotic surgical system;
ii) operating one or more motors of the tool driver in a first direction at a constant velocity and thereby urging the closure tube to move and actuate the opposing jaws to engage and clamp onto tissue;
iii) stopping operation of the one or more motors in the first direction when a torque on the one or more motors exceeds a predetermined torque;
iv) storing an angular position of the one or more motors when the torque exceeds the predetermined torque;
v) operating the one or more motors in a second direction opposite the first direction over a preset angular magnitude; and
vi) upon reaching the preset angular magnitude, operating the one or more motors in the first direction at the constant velocity.