US 12,433,588 B2
Integrated sensors for surgical staplers
Berk Gonenc, San Jose, CA (US); Benjamin Alan Sanker, San Jose, CA (US); Jose Luis Cordoba, Malaga (ES); and Pablo Garcia Kilroy, Menlo Park, CA (US)
Assigned to Verb Surgical, Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Oct. 19, 2021, as Appl. No. 17/504,880.
Prior Publication US 2023/0123673 A1, Apr. 20, 2023
Int. Cl. A61B 17/072 (2006.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/07207 (2013.01) [A61B 34/30 (2016.02); A61B 2017/00039 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2034/302 (2016.02); A61B 2090/064 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical stapler for a surgical robotic system, the surgical stapler comprising:
a jaw coupled to a base, the jaw having an anvil that moves relative to a jaw portion between an open position and a closed position;
an array of sensors comprising a first force sensor and a second force sensor operable to detect a force applied to the jaw over time to determine a rate of change in force concentration position, the first force sensor comprising a first capacitive plate and a second capacitive plate coupled to interfacing surfaces of a first channel within the anvil, and the second force sensor comprising a first capacitive plate and a second capacitive plate coupled to interfacing surfaces of the first channel within the first anvil; and
a third force sensor coupled to an actuation ring of the base and operable to measure a compressive axial stress on the actuation ring that is correlated to the force applied to the jaw.