US 12,076,096 B2
Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
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 Feb. 8, 2022, as Appl. No. 17/666,667.
Application 17/666,667 is a continuation of application No. 16/840,534, filed on Apr. 6, 2020, granted, now 11,284,953.
Application 16/840,534 is a continuation of application No. 15/847,306, filed on Dec. 19, 2017, granted, now 10,835,330, issued on Nov. 17, 2020.
Prior Publication US 2022/0233257 A1, Jul. 28, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/072 (2006.01); A61B 17/28 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 17/29 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/07207 (2013.01); A61B 17/282 (2013.01); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/0725 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2919 (2013.01); A61B 2017/2923 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2932 (2013.01); A61B 2017/2934 (2013.01); A61B 2017/2939 (2013.01); A61B 2017/2943 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2090/067 (2016.02); A61B 2090/0818 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A method for determining a position of a rotatable jaw of a surgical instrument attachment relative to a non-rotatable jaw of the surgical instrument attachment, wherein the surgical instrument attachment comprises a first rotatable drive and a second rotatable drive configured to change the position of the rotatable jaw relative to the non-rotatable jaw, wherein the surgical instrument attachment is configured to be attached to and detached from a surgical robot, and wherein the method comprises:
rotating, by the surgical robot, a first rotatable driver of the surgical robot to align the first rotatable driver with the first rotatable drive of the surgical instrument attachment;
rotating, by the surgical robot, a second rotatable driver of the surgical robot to align the second rotatable driver with the second rotatable drive of the surgical instrument attachment, wherein the first rotatable driver and the second rotatable driver drive a common output driver; and
determining the position of the rotatable jaw relative to the non-rotatable jaw based on a comparison of a calculated amount of rotation of the common output driver and predefined amounts of rotation of the common output driver, wherein the predefined amounts of rotation of the common output driver correspond to predefined jaw positions.