US 12,419,638 B1
Adaptive knife-based closure methods for surgical stapler
Paul Moubarak, West Chester, OH (US); and Christopher M. Korte, North Bend, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 25, 2024, as Appl. No. 18/752,932.
Int. Cl. A61B 17/072 (2006.01); A61B 17/068 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 17/32 (2006.01); A61B 34/00 (2016.01)
CPC A61B 17/07207 (2013.01) [A61B 17/068 (2013.01); A61B 17/072 (2013.01); A61B 34/30 (2016.02); A61B 90/06 (2016.02); A61B 2017/00022 (2013.01); A61B 17/00234 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/07285 (2013.01); A61B 17/320092 (2013.01); A61B 34/71 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
16. An apparatus comprising:
(a) an end effector operable to clamp, staple, and cut tissue, comprising:
(i) a first jaw configured to selectively receive a staple cartridge,
(ii) a second jaw, wherein at least one of the first or second jaws includes a ramp surface, and
(iii) a knife configured to move relative to the first and second jaws, wherein the knife is configured to contact the ramp surface to transition the first and second jaws from an open position to a closed position;
(b) a motor configured to actuate the knife along a firing stroke while the staple cartridge is housed within the first jaw to thereby cut tissue clamped by the first and second jaws;
(c) a sensor configured to sense force exerted by the motor; and
(d) a controller in communication with the motor and the sensor, the controller being configured to:
(i) advance the knife along the ramp surface at a first speed,
(ii) communicate from the sensor a first force value exerted by the motor as the knife is contacting the ramp surface,
(iii) determine whether the first force value exerted by the motor exceeds a first predetermined force threshold, and
(iv) alter travel of the knife as the knife is contacting the ramp surface, by:
(A) pausing the knife for a predetermined amount of time, and
(B) after pausing the knife for a predetermined amount of time, advancing the knife at a second speed that is less than the first speed.