US 12,137,902 B2
Adaptive anti-twitch algorithm for powered surgical devices
Robert Knapp, Middlebury, CT (US); and Matthew Eschbach, Cheshire, CT (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jun. 14, 2019, as Appl. No. 16/442,030.
Claims priority of provisional application 62/702,995, filed on Jul. 25, 2018.
Prior Publication US 2020/0029960 A1, Jan. 30, 2020
Int. Cl. A61B 17/068 (2006.01); A61B 17/115 (2006.01); A61B 17/28 (2006.01); A61B 17/00 (2006.01); A61B 17/072 (2006.01)
CPC A61B 17/068 (2013.01) [A61B 17/115 (2013.01); A61B 17/282 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00393 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00464 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00486 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A surgical device comprising:
a handle assembly including:
a controller;
an articulation motor; and
a firing motor;
an adapter assembly including:
a tubular housing defining a longitudinal axis having a proximal end portion configured to couple to the handle assembly, and a distal end portion;
a articulation actuation assembly disposed within the tubular housing and coupled to the articulation motor; and
a firing actuation assembly disposed within the tubular housing and coupled to the firing motor; and
an end effector configured to couple to the distal end portion of the adapter assembly, the end effector coupled to the articulation actuation assembly that articulates the end effector about an articulation axis that is perpendicular to the longitudinal axis, the end effector includes a flexible drive beam coupled to the firing actuation assembly and movable axially by the firing actuation assembly;
wherein the controller is configured to:
maintain an initial articulation position of the end effector in response to axial movement of the flexible drive beam;
measure current articulation position; and
adjust the articulation motor to compensate for a change in the initial articulation position based on the current articulation position due to movement of the flexible drive beam by the firing motor.