US 12,076,006 B2
Surgical instrument comprising an orientation detection system
Frederick E. Shelton, IV, Hillsboro, 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 Jun. 8, 2020, as Appl. No. 16/895,284.
Claims priority of provisional application 62/955,306, filed on Dec. 30, 2019.
Prior Publication US 2021/0196267 A1, Jul. 1, 2021
Int. Cl. A61B 17/072 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/072 (2013.01) [A61B 2017/00017 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A surgical instrument assembly, comprising:
a handle;
a shaft, wherein said shaft defines a longitudinal axis, and wherein said shaft is rotatable relative to said handle about said longitudinal axis between a first orientation and a second orientation that is different than said first orientation;
an articulation joint;
an end effector rotatably attached to said shaft about said articulation joint, wherein the end effector comprises a first jaw and a second jaw movable relative to said first jaw;
an actuation driver positioned within said shaft, wherein said actuation driver is configured to move said second jaw relative to said first jaw from an open position to a closed position;
a motor configured to actuate said actuation driver;
an orientation detection system configured to determine the rotated orientation of said shaft relative to said handle; and
a control circuit configured to adjust the actuation of said motor based on the determined rotated orientation of said shaft relative to said handle, wherein said control circuit is configured to actuate said motor such that said actuation driver applies a first force to said second jaw when said shaft is in said first orientation, wherein said control circuit is configured to actuate said motor such that said actuation driver applies a second force to said second jaw when said shaft is in said second orientation, and wherein said first force and said second force are different.