US 12,290,320 B2
Methods and systems for controlling cooperative surgical instruments
Frederick E. Shelton, IV, Hillsboro, OH (US); Charles J. Scheib, Loveland, OH (US); and Jason L. Harris, Lebanon, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Oct. 22, 2021, as Appl. No. 17/451,961.
Claims priority of provisional application 63/249,877, filed on Sep. 29, 2021.
Prior Publication US 2023/0095221 A1, Mar. 30, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/04 (2006.01); A61B 1/313 (2006.01); A61B 18/14 (2006.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 17/115 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/000095 (2022.02); A61B 1/005 (2013.01); A61B 1/044 (2022.02); A61B 1/3132 (2013.01); A61B 18/1445 (2013.01); A61B 18/1482 (2013.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 17/115 (2013.01); A61B 2018/00654 (2013.01); A61B 2018/00702 (2013.01); A61B 2018/00708 (2013.01); A61B 2018/00779 (2013.01); A61B 2018/00898 (2013.01); A61B 2018/00982 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a first surgical instrument configured to operate on a tissue located within a patient;
a second surgical instrument configured to operate on the tissue; and
a controller configured to analyze at least one of rate of change of velocity and rate of change of acceleration of the first surgical instrument, and to automatically change movement of the second surgical instrument based on the analyzing such that at least one of rate of change of velocity and rate of change of acceleration of the first surgical instrument maintains a predefined relationship with at least one of rate of change of velocity and rate of change of acceleration of the second surgical instrument.