• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SURGICAL INSTRUMENT WITH RAPID POST EVENT DETECTION A surgical instrument (100) is disclosed, the instrument (100) including: a handle assembly (102); a jaw assembly (300) including a staple cartridge (305) containing a plurality of staples (307) and an anvil (312) to form the plurality of staples (307) upon firing; a lockout mechanism (373) configured to prevent reuse of the jaw assembly (300); a drive assembly (360) at least partially located within the handle (102) and connected to the jaw assembly (300); a motor (164) operatively coupled to the drive assembly (360); and a controller (404) operatively coupled to the motor (164), the controller (404) configured to control supply of electrical current to the motor (164) and to monitor a current draw of the motor (164), wherein the controller (404) is further configured to terminate the supply of electrical current to the motor (164) in response to a drop in the current draw.
    公开号:AU2013221973A1
    申请号:U2013221973
    申请日:2013-08-29
    公开日:2014-05-08
    发明作者:Michael Ingmanson；Philip Irka；Thomas Wingardner
    申请人:Covidien LP；
    IPC主号:A61B17-068
    专利说明:
    1 SURGICAL INSTRUMENT WITH RAPID POST EVENT DETECTION FIELD [0001] The present disclosure relates to surgical apparatuses, devices and/or systems for performing endoscopic surgical procedures and methods of use thereof. More specifically, the present disclosure relates to electromechanical, hand-held surgical apparatus, devices and/or systems configured for use with removable disposable end effectors and/or single use end effectors for clamping, cutting and/or stapling tissue. BACKGROUND [0002] A number of surgical device manufacturers have developed product lines with proprietary drive systems for operating and/or manipulating electromechanical surgical devices. In many instances the electromechanical surgical devices include a reusable handle assembly, and disposable or single use end effectors. The end effectors are selectively connected to the handle assembly prior to use and then disconnected from the handle assembly following use in order to be disposed of or in some instances sterilized for re-use. [0003] Many of these electromechanical surgical devices include complex drive components that utilize a variety of user interfaces that accept user inputs (e.g., controls) for controlling the devices as well as provide feedback to the user. To prevent inadvertent activation, various lock out mechanisms exist. However, existing mechanisms only provide a single safety check. [0004] Unlike purely mechanical systems, powered systems possess the ability to detect and react to some failures even after they have occurred. If this detection is completed in a rapid manner, corrective actions and emergency measures can be implemented to reduce and/or prevent patient and/or user harm. Accordingly, there is a need for systems and apparatuses having redundant safety mechanisms that can detect such failures. OBJECT [0005] It is the object of the present invention to substantially overcome or ameliorate one or more of the disadvantages of the prior art, or at least provide a useful alternative.
    2 SUMMARY [0006] The present disclosure provides a surgical instrument including: a handle assembly; a jaw assembly including a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; a lockout mechanism configured to prevent reuse of the jaw assembly; a drive assembly at least partially located within the handle and connected to the jaw assembly and the lockout mechanism; a motor or motors operatively coupled to the drive assembly; and a controller operatively coupled to the motor, the controller configured to control supply of electrical current to the motor and to monitor a current draw of the motor, wherein the controller is further configured to terminate the supply of electrical current to the motor in response to a drop in the current draw, or detection of other triggering metrics (RPM, acceleration, etc.). [0007] According to one aspect of the present disclosure, the jaw assembly a drive beam coupled to the lockout mechanism, the lockout mechanism configured to transition between an unlocked state and a locked state upon distal movement of the drive beam. [0008] According to one aspect of the present disclosure, the drop in the current draw corresponds to a failure of the lockout mechanism to properly prohibit device use after the lockout mechanism should have been triggered. According to one aspect of the present disclosure, the lockout mechanism includes a locking member pivotal between an unlocked position and a locked position. [0009] According to one aspect of the present disclosure, the jaw assembly further includes a housing defining a projection mounted therein configured to engage the locking member upon retraction of the drive beam. [0010] The present disclosure also provides for a surgical instrument, including: a handle assembly; a disposable end effector removably coupled to the handle assembly, the disposable end effector including a jaw assembly including a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; and a drive assembly at least partially located within the handle and connected to the jaw assembly, the drive assembly including a lockout mechanism. The surgical instrument also includes a motor(s) operatively coupled to the drive assembly; a drive circuit coupled to the motor(s) and configured to measure 3 a current draw of the motor (+ other metrics); and a controller operatively coupled to the motor, the controller configured to terminate the supply of electrical current to the motor in response to a drop in the current draw indicative of a failure of the lockout mechanism. [0011] According to one aspect of the present disclosure, the controller is further configured to store a fault state in a memory in response to the drop in the current draw. [0012] According to one aspect of the present disclosure, the fault state is cleared after the disposable end effector is removed from the handle assembly. [0013] According to one aspect of the present disclosure, the controller is configured to detect the drop in the current draw based on a rate of change of the current draw. [0014] According to one aspect of the present disclosure, the jaw assembly includes a drive beam coupled to the lockout mechanism. [0015] According to one aspect of the present disclosure, the lockout mechanism configured to transition between an unlocked state and a locked state upon distal movement of the drive beam. [0016] According to one aspect of the present disclosure, the drop in the current draw corresponds to a failure of the lockout mechanism to transition into the locked state upon retraction of the drive beam. [0017] According to one aspect of the present disclosure, the lockout mechanism includes a locking member pivotal between an unlocked position and a locked position. [0018] According to one aspect of the present disclosure, the jaw assembly further includes a housing defining a projection mounted therein configured to engage the locking member upon retraction of the drive beam. [0019] According to one aspect of the present disclosure, the surgical instrument further includes a control assembly coupled to the controller, wherein the controller disregards user inputs in response to the drop in the current draw.
    4 [0020] A method for controlling a surgical instrument is also provided by the present disclosure. The method including the steps of: activating a motor operatively coupled to disposable end effector. The end effector including: a drive beam coupled to a jaw assembly including a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; and a lockout mechanism coupled to the drive beam and configured to transition from an unlocked state to a locked state upon retraction of the drive beam. The method further including: measuring a current draw of the motor; and terminating supply of electric current to the motor in response to a drop off of the current draw indicative of a failure of the lockout mechanism. [0021] According to one aspect of the present disclosure, the method further includes the step of storing a fault state in a memory in response to the drop in the current draw. [0022] According to one aspect of the present disclosure, the method further includes the step of clearing the fault state after the disposable end effector is removed from the handle assembly. DESCRIPTION OF THE DRAWINGS [0023] Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein: [0024] Fig. 1 is a perspective, disassembled view of an electromechanical surgical system including a surgical instrument, an adapter, and an end effector, according to the present disclosure; [0025] Fig. 2 is a perspective view of the surgical instrument of Fig. 1, according to the present disclosure; [0026] Fig. 3 is perspective, exploded view of the surgical instrument of Fig. 1, according to the present disclosure; [0027] Fig. 4 is a perspective view of a battery of the surgical instrument of Fig. 1, according to the present disclosure; 5 [0028] Fig. 5 is a top, partially-disassembled view of the surgical instrument of Fig. 1, according to the present disclosure; [0029] Fig. 6 is a front, perspective view of the surgical instrument of Fig. 1 with the adapter separated therefrom, according to the present disclosure; [0030] Fig. 7 is a side, cross-sectional view of the surgical instrument of Fig. 1, as taken through 7-7 of Fig. 2, according to the present disclosure; [0031] Fig. 8 is a top, cross-sectional view of the surgical instrument of Fig. 1, as taken through 8-8 of Fig. 2, according to the present disclosure; [0032] Fig. 9 is a perspective, exploded view of a end effector of Fig. 1, according to the present disclosure; [0033] Fig. 10A is a top view of a locking member according to the present disclosure; [0034] Fig. 10B is a perspective view of the locking member of Fig. 10A according to the present disclosure; [0035] Fig. 11 is a schematic diagram of the surgical instrument of Fig. 1 according to the present disclosure; [0036] Fig. 12 is a flow chart of a method for controlling the surgical stapler of Fig. 1 according to the present disclosure; [0037] Figs. 13-15 are plots of mechanical resistance, rotational speed, and current applied to a motor of the surgical stapler as controlled by the method of the present disclosure; and [0038] Fig. 16 is a plot of current draw of the motor of the surgical stapler as controlled by the method of the present disclosure.
    6 DETAILED DESCRIPTION [0039] A surgical system, in accordance with an embodiment of the present disclosure, is generally designated as 10, and is in the form of a powered hand held electromechanical instrument configured for selective attachment thereto of a plurality of different end effectors that are each configured for actuation and manipulation by the powered hand held electromechanical surgical instrument. [0040] As illustrated in Fig. 1, surgical instrument 100 is configured for selective connection with an adapter 200, and, in turn, adapter 200 is configured for selective connection with an end effector or single use loading unit or reload 300. [0041] As illustrated in Figs. 1-3, surgical instrument 100 includes a handle housing 102 having a lower housing portion 104, an intermediate housing portion 106 extending from and/or supported on lower housing portion 104, and an upper housing portion 108 extending from and/or supported on intermediate housing portion 106. Intermediate housing portion 106 and upper housing portion 108 are separated into a distal half-section 1 10a that is integrally formed with and extending from the lower portion 104, and a proximal half-section 1 10b connectable to distal half-section 1 10a by a plurality of fasteners. When joined, distal and proximal half sections 1 10a, 1 10b define a handle housing 102 having a cavity 102a therein in which a circuit board 150 and a drive mechanism 160 is situated. [0042] Distal and proximal half-sections 1 10a, 1 10b are divided along a plane that traverses a longitudinal axis "X" of upper housing portion 108, as seen in Figs. 2 and 3. Handle housing 102 includes a gasket 112 extending completely around a rim of distal half-section and/or proximal half-section 1 10a, 1 10b and being interposed between distal half-section 1 10a and proximal half-section 1 10b. Gasket 112 seals the perimeter of distal half-section 1 10a and proximal half-section 1 10b. Gasket 112 functions to establish an air-tight seal between distal half-section 110a and proximal half-section 110b such that circuit board 150 and drive mechanism 160 are protected from sterilization and/or cleaning procedures. [0043] In this manner, the cavity 102a of handle housing 102 is sealed along the perimeter of distal half-section 1 10a and proximal half-section 1 10b yet is configured to enable easier, more efficient assembly of circuit board 150 and a drive mechanism 160 in handle housing 102.
    7 [0044] Intermediate housing portion 106 of handle housing 102 provides a housing in which circuit board 150 is situated. Circuit board 150 is configured to control the various operations of surgical instrument 100, as will be set forth in additional detail below. [0045] Lower housing portion 104 of surgical instrument 100 defines an aperture (not shown) formed in an upper surface thereof and which is located beneath or within intermediate housing portion 106. The aperture of lower housing portion 104 provides a passage through which wires 152 pass to electrically interconnect electrical components (a battery 156, as illustrated in Fig. 4, a circuit board 154, as illustrated in Fig. 3, etc.) situated in lower housing portion 104 with electrical components (circuit board 150, drive mechanism 160, etc.) situated in intermediate housing portion 106 and/or upper housing portion 108. [0046] Handle housing 102 includes a gasket 103 disposed within the aperture of lower housing portion 104 (not shown) thereby plugging or sealing the aperture of lower housing portion 104 while allowing wires 152 to pass therethrough. Gasket 103 functions to establish an air-tight seal between lower housing portion 106 and intermediate housing portion 108 such that circuit board 150 and drive mechanism 160 are protected from sterilization and/or cleaning procedures. [0047] As shown, lower housing portion 104 of handle housing 102 provides a housing in which a rechargeable battery 156, is removably situated. Battery 156 is configured to supply power to any of the electrical components of surgical instrument 100. Lower housing portion 104 defines a cavity (not shown) into which battery 156 is inserted. Lower housing portion 104 includes a door 105 pivotally connected thereto for closing cavity of lower housing portion 104 and retaining battery 156 therein. [0048] With reference to Figs. 3 and 5, distal half-section 1 10a of upper housing portion 108 defines a nose or connecting portion 108a. A nose cone 114 is supported on nose portion 108a of upper housing portion 108. Nose cone 114 is fabricated from a transparent material. An illumination member 116 is disposed within nose cone 114 such that illumination member 116 is visible therethrough. Illumination member 116 is may be a light emitting diode printed circuit board (LED PCB). Illumination member 116 is configured to illuminate multiple colors with a specific color pattern being associated with a unique discrete event.
    8 [0049] Upper housing portion 108 of handle housing 102 provides a housing in which drive mechanism 160 is situated. As illustrated in Fig. 5, drive mechanism 160 is configured to drive shafts and/or gear components in order to perform the various operations of surgical instrument 100. In particular, drive mechanism 160 is configured to drive shafts and/or gear components in order to selectively move tool assembly 304 of end effector 300 (see Figs. 1 and 9) relative to proximal body portion 302 of end effector 300, to rotate end effector 300 about a longitudinal axis "X" (see Fig. 2) relative to handle housing 102, to move anvil assembly 306 relative to cartridge assembly 308 of end effector 300, and/or to fire a stapling and cutting cartridge within cartridge assembly 308 of end effector 300. [0050] The drive mechanism 160 includes a selector gearbox assembly 162 that is located immediately proximal relative to adapter 200. Proximal to the selector gearbox assembly 162 is a function selection module 163 having a first motor 164 that functions to selectively move gear elements within the selector gearbox assembly 162 into engagement with an input drive component 165 having a second motor 166. [0051] As illustrated in Figs. 1-4, and as mentioned above, distal half-section 1 10a of upper housing portion 108 defines a connecting portion 108a configured to accept a corresponding drive coupling assembly 210 of adapter 200. [0052] As illustrated in Figs. 6-8, connecting portion 108a of surgical instrument 100 has a cylindrical recess 108b that receives a drive coupling assembly 210 of adapter 200 when adapter 200 is mated to surgical instrument 100. Connecting portion 108a houses three rotatable drive connectors 118, 120, 122. [0053] When adapter 200 is mated to surgical instrument 100, each of rotatable drive connectors 118, 120, 122 of surgical instrument 100 couples with a corresponding rotatable connector sleeve 218, 220, 222 of adapter 200 as shown in Fig. 6. in this regard, the interface between corresponding first drive connector 118 and first connector sleeve 218, the interface between corresponding second drive connector 120 and second connector sleeve 220, and the interface between corresponding third drive connector 122 and third connector sleeve 222 are keyed such that rotation of each of drive connectors 118, 120, 122 of surgical instrument 100 causes a corresponding rotation of the corresponding connector sleeve 218, 220, 222 of adapter 200.
    9 [0054] The mating of drive connectors 118, 120, 122 of surgical instrument 100 with connector sleeves 218, 220, 222 of adapter 200 allows rotational forces to be independently transmitted via each of the three respective connector interfaces. The drive connectors 118, 120, 122 of surgical instrument 100 are configured to be independently rotated by drive mechanism 160. In this regard, the function selection module 163 of drive mechanism 160 selects which drive connector or connectors 118, 120, 122 of surgical instrument 100 is to be driven by the input drive component 165 of drive mechanism 160. [0055] Since each of drive connectors 118, 120, 122 of surgical instrument 100 has a keyed and/or substantially non-rotatable interface with respective connector sleeves 218, 220, 222 of adapter 200, when adapter 200 is coupled to surgical instrument 100, rotational force(s) are selectively transferred from drive mechanism 160 of surgical instrument 100 to adapter 200. [0056] The selective rotation of drive connector(s) 118, 120 and/or 122 of surgical instrument 100 allows surgical instrument 100 to selectively actuate different functions of end effector 300. As will be discussed in greater detail below, selective and independent rotation of first drive connector 118 of surgical instrument 100 corresponds to the selective and independent opening and closing of tool assembly 304 of end effector 300, and driving of a stapling/cutting component of tool assembly 304 of end effector 300. Also, the selective and independent rotation of second drive connector 120 of surgical instrument 100 corresponds to the selective and independent articulation of tool assembly 304 of end effector 300 transverse to longitudinal axis "X" (see Fig. 2). Additionally, the selective and independent rotation of third drive connector 122 of surgical instrument 100 corresponds to the selective and independent rotation of end effector 300 about longitudinal axis "X" (see Fig. 2) relative to handle housing 102 of surgical instrument 100. [0057] As mentioned above and as illustrated in Figs. 5 and 8, drive mechanism 160 includes a selector gearbox assembly 162; and a function selection module 163, located proximal to the selector gearbox assembly 162, that functions to selectively move gear elements within the selector gearbox assembly 162 into engagement with second motor 166. Thus, drive mechanism 160 selectively drives one of drive connectors 118, 120, 122 of surgical instrument 100 at a given time. [0058] As illustrated in Figs. 1-3, handle housing 102 supports a control assembly 107 on a 10 distal surface or side of intermediate housing portion 108. The control assembly 107 is a fully functional mechanical subassembly that can be assembled and tested separately from the rest of the instrument 100 prior to coupling thereto. [0059] Control assembly 107, in cooperation with intermediate housing portion 108, supports a pair of finger-actuated control buttons 124, 126 and a pair rocker devices 128, 130 within a housing 107a. The control buttons 124, 126 are coupled to extension shafts 125, 127 respectively. In particular, control assembly 107 defines an upper aperture 124a for slidably receiving the extension shaft 125, and a lower aperture 126a for slidably receiving the extension shaft 127. [0060] The control assembly 107 and its components (e.g., control buttons 124, 126 and rocker devices 128, 130) may be formed from low friction, self-lubricating, lubricious plastics or materials or coatings covering the moving components to reduce actuation forces, key component wear, elimination of galling, smooth consistent actuation, improved component and assembly reliability and reduced clearances for a tighter fit and feel consistency. This includes the use of plastic materials in the bushings, rocker journals, plunger bushings, spring pockets, retaining rings and slider components as described in further detail below. Molding the components in plastic also provides net-shape or mesh-shaped components with all of these performance attributes. Plastic components eliminate corrosion and bi-metal anodic reactions under electrolytic conditions such as autoclaving, steam sterilizations and cleaning. Press fits with lubricious plastics and materials also eliminate clearances with minimal strain or functional penalties on the components when compared to similar metal components. [0061] Suitable materials for forming the components of the control assembly 107 include, but are not limited to, polyamines, polyphenylene sulfides, polyphthalamides, polyphenylsulfones, polyether ketones, polytetrafluoroethylenes, and combinations thereof. These components may be used in the presence or absence of lubricants and may also include additives for reduced wear and frictional forces. [0062] Reference may be made to a commonly-owned U.S. Patent Application No. 13/331,047, the entire contents of which are incorporated by reference herein, for a detailed discussion of the construction and operation of the surgical instrument 100.
    11 [0063] Referring to Fig. 9, drive assembly 360 of end effector 300 includes a flexible drive beam 364 having a distal end which is secured to a dynamic clamping member 365, and a proximal engagement section 368. Engagement section 368 includes a stepped portion defining a shoulder 370. A proximal end of engagement section 368 includes diametrically opposed inwardly extending fingers 372. Fingers 372 engage a hollow drive member 374 to fixedly secure drive member 374 to the proximal end of beam 364. Drive member 374 defines a proximal porthole 376a which receives a connection member of drive tube 246 (Fig. 1) of adapter 200 when end effector 300 is attached to distal coupling 230 of adapter 200. [0064] When drive assembly 360 is advanced distally within tool assembly 304, an upper beam 365a of clamping member 365 moves within a channel defined between anvil plate 312 and anvil cover 310 and a lower beam 365b moves over the exterior surface of carrier 316 to close tool assembly 304 and fire staples therefrom. [0065] Proximal body portion 302 of end effector 300 includes a sheath or outer tube 301 enclosing an upper housing portion 301a and a lower housing portion 301b. The housing portions 301a and 301b enclose an articulation link 366 having a hooked proximal end 366a which extends from a proximal end of end effector 300. Hooked proximal end 366a of articulation link 366 engages a coupling hook (not shown) of adapter 200 when end effector 300 is secured to distal housing 232 of adapter 200. When drive bar 258 of adapter 200 is advanced or retracted as described above, articulation link 366 of end effector 300 is advanced or retracted within end effector 300 to pivot tool assembly 304 in relation to a distal end of proximal body portion 302. [0066] As illustrated in Fig. 9 above, cartridge assembly 308 of tool assembly 304 includes a staple cartridge 305 supportable in carrier 316. The cartridge can be permanently installed in the end effector 300 or can be arranged so as to be removable and replaceable. Staple cartridge 305 defines a central longitudinal slot 305a, and three linear rows of staple retention slots 305b positioned on each side of longitudinal slot 305a. Each of staple retention slots 305b receives a single staple 307 and a portion of a staple pusher 309. During operation of instrument 100, drive assembly 360 abuts an actuation sled and pushes actuation sled through cartridge 305. As the actuation sled moves through cartridge 305, cam wedges of the actuation sled sequentially engage staple pushers 309 to move staple pushers 309 vertically within staple retention slots 305b and sequentially eject staples 307 therefrom for formation against anvil plate 312.
    12 [0067] The hollow drive member 374 includes a lockout mechanism 373 that prevents a firing of previously fired end effectors 300. The lockout mechanism 373 includes a locking member 371 pivotally coupled within a distal porthole 376b via a pin 377, such that locking member 371 is pivotal about pin 377 relative to drive member 374. [0068] With reference to Figs. 10A and 10B, locking member 371 defines a channel 379 formed between elongate glides 381 and 383. Web 385 joins a portion of the upper surfaces of glides 381 and 383. Web 385 is configured and dimensioned to fit within the porthole 376b of the drive member 374. Horizontal ledges 389 and 391 extend from glides 381 and 383 respectively. As best shown in Fig. 9, a spring 393 is disposed within the drive member 374 and engages horizontal ledge 389 and/or horizontal ledge 391 to bias locking member 371 downward. [0069] In operation, the locking member 371 is initially disposed in its pre-fired position at the proximal end of the housing portions 301a and 301b with horizontal ledge 389 and 391 resting on top of projections 303a, 303b formed in the sidewalls of housing portion 301b. In this position, locking member 371 is held up and out of alignment with a projection 303c formed in the bottom surface of housing portion 301b, distal of the projection 303a, 303b, and web 385 is in longitudinal juxtaposition with shoulder 370 defined in drive beam 364. This configuration permits the anvil 306 to be opened and repositioned onto the tissue to be stapled until the surgeon is satisfied with the position without activating locking member 371 to disable the disposable end effector 300. [0070] Upon distal movement of the drive beam 364 by the drive tube 246, locking member 371 rides off of projections 303a, 303b and is biased into engagement with housing portion 301b by the spring 393, distal of projection 303c. Locking member 371 remains in this configuration throughout firing of the apparatus. [0071] Upon retraction of the drive beam 364, after at least a partial firing, locking member 371 passes under projections 303a, 303b and rides over projection 303c of housing portion 301b until the distal-most portion of locking member 371 is proximal to projection 303c. The spring 393 biases locking member 371 into juxtaposed alignment with projection 303c, effectively disabling the disposable end effector. If an attempt is made to reactuate the apparatus, loaded with the existing end effector 300, the locking member 371 will abut projection 303c of housing portion 301b and will inhibit distal movement of the drive beam 364.
    13 [0072] The end effector 300 may also include one or more mechanical lockout mechanisms, such as those described in commonly-owned U.S. Patent No. 5,071,052, 5,397,046, 5413,267, 5,415,335, 5,715,988, 5,718,359, 6,109,500, the entire contents of all of which are incorporated by reference herein. [0073] Another embodiment of the instrument 100 is shown in Fig. 11. The instrument 100 includes the motor 164. The motor 164 may be any electrical motor configured to actuate one or more drives (e.g., rotatable drive connectors 118, 120, 122 of Fig. 6). The motor 164 is coupled to the battery 156, which may be a DC battery (e.g., rechargeable lead-based, nickel based, lithium-ion based, battery etc.), an AC/DC transformer, or any other power source suitable for providing electrical energy to the motor 164. [0074] The battery 156 and the motor 164 are coupled to a motor driver circuit 404 disposed on the circuit board 154 which controls the operation of the motor 164 including the flow of electrical energy from the battery 156 to the motor 164. The driver circuit 404 includes a plurality of sensors 408a, 408b, 408n configured to measure operational states of the motor 164 and the battery 156. The sensors 408a-n may include voltage sensors, current sensors, temperature sensors, pressure sensors, telemetry sensors, optical sensors, and combinations thereof. The sensors 408a-408n may measure voltage, current, and other electrical properties of the electrical energy supplied by the battery 156. The sensors 408a-408n may also measure rotational speed as revolutions per minute (RPM), torque, temperature, current draw, and other operational properties of the motor 164. RPM may be determined by measuring the rotation of the motor 164. Position of various drive shafts (e.g., rotatable drive connectors 118, 120, 122 of Fig. 6) may be determined by using various linear sensors disposed in or in proximity to the shafts or extrapolated from the RPM measurements. In embodiments, torque may be calculated based on the regulated current draw of the motor 164 at a constant RPM. In further embodiments, the driver circuit 404 and/or the controller 406 may measure time and process the above-described values as a function thereof, including integration and/or differentiation, e.g., to determine rate of change of the measured values and the like. [0075] The driver circuit 404 is also coupled to a controller 406, which may be any suitable logic control circuit adapted to perform the calculations and/or operate according to a set of instructions described in further detail below. The controller 406 may include a central processing unit operably connected to a memory which may include transitory type memory 14 (e.g., RAM) and/or non-transitory type memory (e.g., flash media, disk media, etc.). The controller 406 includes a plurality of inputs and outputs for interfacing with the driver circuit 404. In particular, the controller 406 receives measured sensor signals from the driver circuit 404 regarding operational status of the motor 164 and the battery 156 and, in turn, outputs control signals to the driver circuit 404 to control the operation of the motor 164 based on the sensor readings and specific algorithm instructions, which are discussed in more detail below. The controller 406 is also configured to accept a plurality of user inputs from a user interface (e.g., switches, buttons, touch screen, etc. of the control assembly 107 coupled to the controller 406). A removable memory card or chip may be provided, or data can be downloaded wirelessly. [0076] The present disclosure provides for an apparatus and method for controlling the instrument 100 or any other powered surgical instrument, including, but not limited to, linear powered staplers, circular or arcuate powered staplers, graspers, electrosurgical sealing forceps, rotary tissue blending devices, and the like. In particular, torque, RPM, position, and acceleration of drive shafts of the instrument 100 can be correlated to motor characteristics (e.g., current draw). The present disclosure also provides a feedback system and method for controlling the instrument 100 based on external operating conditions such as firing difficulty encountered by the instrument 100 due to tissue thickness. In addition, the present disclosure provides for modeling of different usages of the instrument 100 in response to the external operating conditions (e.g., specific failures) to derive internal system feedback. [0077] The sensor information from the sensors 408a-n is used by the controller 406 to alter operating characteristics of the instrument 100 and/or notify users of specific operational conditions. In embodiments, the controller 406 controls (e.g., limits) the current supplied to the motor 164 to control the operation of the instrument 100. [0078] Fig. 12 shows a method according to the present disclosure for controlling the instrument 100, and in particular, the motor 164. The method may be implemented as software instructions (e.g., algorithm) stored in the controller 406. In step 452, the controller 406 sets the current to be supplied to the motor 164 to a first current limit value "A." This may be done manually or automatically, e.g., preloaded from a look-up table stored in memory. The controller 406 also stores first upper and lower RPM limit values "X" and "Y," respectively, associated with the first current limit value "A." In step 454, the controller 406 commences operation of the 15 instrument 100 by signaling the motor 164 to rotate the drive screw 74 to clamp tissue and/or drive staples therethrough. The controller 406 signals the drive circuit 404 to drive the motor 164 at the upper RPM limit value "X." [0079] In step 456, the drive circuit 404 continually monitors RPM of the motor 164 and provides the measurement signals to the controller 406. The controller 406 compares the measured RPM signals to the lower RPM limit value "Y." If the value is above the lower RPM limit value "Y" then the drive circuit 404 continues to drive the motor 164 at the upper RPM limit value "X." If the value is below the lower RPM limit "Y," which denotes that the motor 164 has encountered resistance during firing, e.g., thicker tissue, an obstruction, etc., then in step 458 the controller 406 sets the current supplied to the motor 164 to a second current limit value "B." [0080] The controller 406 also stores second upper and lower RPM limit values "Z" and "W," respectively, for the second current limit value "B." The second current limit value "B" is higher than the first current limit value "A" since higher current increases the torque and RPM of the motor 164 to overcome the resistance encountered during stapling. In step 460, the controller 406 drives the motor 164 at the upper RPM limit value "Z." [0081] In step 462, the drive circuit 404 continually monitors RPM of the motor 164 and provides the measurement signals to the controller 406. The controller 406 compares the limit value "W" then the drive circuit 404 continues to drive the motor 164 at the upper RPM limit value "Z." If the value is below the lower RPM limit value "W," which denotes that the motor 164 has encountered further resistance during firing, then in step 464 the controller 406 terminates current being supplied to the motor 164. The second current limit value "B" acts as a final current value at which the motor 164 may be operated. [0082] In embodiments, multiple current limit values may be set for the motor 164 and the drive circuit 404 to allow the controller 406 to switch between multiple current limit values based on the encountered resistances. Each of the current limit values may also be associated with corresponding upper and lower RPM limit values at which the controller 406 switches to a neighboring current limit value. In further embodiments, the method may switch back to a lower current limit value if the encountered resistance has lowered, which may be detected based on a lower current draw and/or higher RPM limit values.
    16 [0083] Figs. 13-15 illustrate performance plots of the motor 164 during various operational situations. Figs. 13-15 show plots of rotational speed, torque, and current as a function of time. In Figs. 13-15, horizontal axis 501 represents reference time expressed as a unitless scale, left vertical axis 503 represents mechanical resistance on the motor 164 (e.g., torque) and RPM of the motor 164, which are not proportional, and right vertical axis 505 represents the current supplied to the motor 164. The left vertical axis 503 includes first upper and lower RPM limit values "X" and "Y," respectively, and second upper and lower RPM limit values "Z" and "W." The right vertical axis 505 includes first and second current limit values "A" and "B." [0084] Figs. 13-15 illustrate various embodiments of the method of Fig. 12. Fig. 13 shows an RPM plot 500, a torque plot 502, and a current plot 504. As the firing process commences, the at the first upper RPM limit value "X" as shown by the plot 500. The method does not progress beyond the step 456 since the RPMs did not drop below the lower RPM limit value "Y." Consequently, the first current limit value "A" is not reached during the firing process as represented by the plot 504 and the torque is also held constant as shown by the plot 502. [0085] Fig. 14 shows an RPM plot 600, a torque plot 602, and a current plot 604. As the firing process commences, the mechanical load is initially constant as illustrated in Fig. 13 but increased strain on the motor 164 is illustrated at a point 606 of Fig. 14. As the load is increasing, the motor 164 requires more current to maintain the RPM at the upper RPM limit value "X." The controller 406 signals the drive circuit 404 to limit the current below the current limit value "A." [0086] Increase in the mechanical load results in the RPMs of the motor 164 dropping below the lower RPM limit value "Y" and the current exceeding the first current limit value "A" at a point 608 as represented by the plot 600. With reference to the flow chart of Fig. 12, at step 456 of the method, the drop in RPMs of the motor 164 is detected and the higher current limit value "B" along with upper and lower RPM limit values "Z" and "W" are set in steps 458 and 460, as described above. At a point 610, once the higher current limit value "B" is set, the motor 164 continues its operation at the upper RPM limit value "Z" until the firing process is complete. [0087] Fig. 15 illustrates an RPM plot 700, a torque plot 702, and a current plot 704. As the firing process commences, the mechanical load is initially constant as illustrated in Figs. 13 and 14 but increased strain on the motor 164 is illustrated at a point 706. As the load is increasing, 17 the motor 164 requires more current to maintain the RPM at the upper RPM limit value "X." The controller 406 signals the drive circuit 404 to limit the current below the current limit value "A." [0088] Increase in the mechanical load results in the RPMs of the motor 164 dropping below the lower RPM limit value "Y" at a point 708 as represented by the plot 700. With reference to the flow chart of Fig. 12, at step 456 of the method, the drop in RPMs of the motor 164 is detected and the higher current limit value "B" along with upper and lower RPM limit values "Z" and "W" are set in steps 458 and 460, as described above. [0089] At a point 710, once the higher current limit value "B" is set, the motor 164 continues its operation at the upper RPM limit value "Z" in response to the higher mechanical load until a point 712, at which the motor 164 encounters additional resistance or strain. As the load is increasing, the motor 164 requires more current to maintain the RPM at the upper RPM limit value "Z." The controller 406 signals the drive circuit 404 to limit the current below the current limit value "B." [0090] Further increase in the mechanical load results in the RPMs of the motor 164 dropping below the lower RPM limit value "W" and the current exceeding the second current limit value "B" at a point 712 as represented by the plot 700. With reference to the flow chart of Fig. 12, at step 462 of the method, the second drop in RPMs of the motor 164 is detected and the controller 406 signals the driver circuit 404 to shut off the motor 164 at a point 714, as seen in Fig. 15. [0091] The present disclosure provides several advantages to device performance, safety, and to the end users experience. The instrument 100 provides an intuitive feedback method to users during operation including visual and audible feedback. In particular, the present disclosure lowers the RPM of the motor 164 or shuts the motor 164 as the instrument 100 encounters increased mechanical load. This basic performance feedback fulfills a larger user need which was unaddressed by conventional powered devices. Its implementation allows users to more effectively use powered instruments. [0092] In any of the embodiments disclosed herein, the reload 300 and adapter 200 can be used with an instrument 100 that is powered by air pressure, alternating current (such as a wall socket), a generator, or other means. In any of the embodiments, the instrument 100 and adapter 18 200 can utilize two drive shafts rather than three, or more than three shafts. [0093] In any of the embodiments disclosed herein, the controller can store information about the current, RPM, forces, time, pressure, or other data concerning the use of the system. In any of the embodiments, sensors can be provided in the reload 300, or other places in the system. In any of the embodiments disclosed herein, the memory can wirelessly transfer the data, upon command or automatically, to another storage device, or a removable chip or card can be provided to store such data. [0094] Use of this algorithm to selectively and intelligently alter operational speeds can offer further benefits. In embodiments, the instrument 100 may decrease firing speed under excessive conditions. This slowing causes firings to take longer to complete. As a result additional time is provided in which tissues can compress and fluids can disperse. This allows reloads to be fired successfully onto a larger tissue masses than would be possible with a static firing speed stapler. Specific changes to RPM and current limit values in specific situations can reduce device fatigue, improve staple formation, lower internal temperatures, eliminate the need for duty cycles, increase devices functional lifetime, and reliability. [0095] During the use of any surgical instruments one or more safety mechanisms, such as the lockout mechanism 373, may fail. The controller 404 determines firing progress of the end effector 300 based on distance traveled by rotatable drive connectors 118, 120, 122 of Fig. 6. Completion and/or failure of the firing status is stored in the memory and may be annunciated to the user using various status indicators (e.g., LEDs). Although specific failure of the lockout mechanism 373 is described herein, it is envisioned that correlation of the metrics of the motor 164 may be used to provide an additional safety check of the mechanical safety lockouts. [0096] Fig. 16 illustrates a performance plot of the motor 164 during mechanical failure of the lockout mechanism of the 373. In Fig. 16, horizontal axis 801 represents reference time expressed in seconds, left vertical axis 803 represents current draw of the motor 164. Fig. 16 also shows a current draw plot 800 and a processed current draw plot 802. As the firing process commences, the mechanical load on the motor 164 slightly increases as the drive beam 364 is advanced as shown by the plot 800 until a point 804. The current draw then drops off precipitously until a point 806, which is indicative of the failure of the lockout mechanism 373 (e.g., the locking member 371 fails to engage the protrusion 303c). Supply of current is 19 completely shut off at a point 808 as illustrated by an almost instantaneous drop of current to 0 amperes (A). [0097] The plot 802 shows a processed plot that is indicative of the current draw. In particular, the current draw of the plot 800 may be processed by the driver circuit 404 and/or the controller 406 to output the plot 802. Plot 802 may be generated as a function of the current draw by the motor 164 (e.g., plot 800) and one or more additional metrics of the motor 164 including, but not limited to, time, rotational speed, torque, temperature, position of various drive shafts, and combinations thereof. [0098] The plot 802 tracks the initial current draw until the point 804. The first drop between points 804 and 806 is also reflected in the processed plot 802, which is indicative of the failure of the lockout mechanism 373. The current draw then drops off precipitously until the point 808. Supply of current is also completely shut off at the point 808 as illustrated by an almost instantaneous drop in the plot 802 at a point 810. [0099] The driver circuit 404 and/or the controller 406 may detect the drop off of the current draw by monitoring the rate of change of the current draw. In response to the detection of the failure of the lockout mechanism 373, the driver circuit 404 and/or the controller 406 stop application of current to the motor 164, thereby terminating the firing process. In addition, the driver circuit 404 and/or the controller 406 may lockout operation of the instrument 100 until end effector 300 is removed. During lockout, the instrument 100 may become completely or partially unresponsive to user inputs (e.g., actuation of the control assembly 107) and may annunciate the fault condition to the user via various status indicators (e.g., LEDs). In embodiments, the driver circuit 404 and/or the controller 406 may store in memory a fault indicator. The fault indicator may be resident in memory until the fault is cleared (e.g., by replacing the end effector 300), thus preventing reuse of the end effector 300. [00100] The disclosed combination of the lockout mechanism 373 and the driver circuit 404 and/or the controller 406, which detect failure of the lockout mechanism 373 allows for prevention of reuse of the end effector 300. Failure of the lockout mechanism 373 (e.g., due to intentional tampering) may allow for unauthorized reloading of the previously used end effector 300. The current drop off monitoring by the driver circuit 404 and/or the controller 406 allows for prevention of reuse of the previously used end effector 300 even when the lockout 20 mechanism 373 is absent or otherwise malfunctions. The driver circuit 404 and/or the controller 406 are configured to only trigger a fault condition when the operation of the motor 164 is indicative of a failed lockout mechanism 373. In other words, the current draw of the motor 164 does not drop off at the point 804 if the lockout mechanism 373 functions properly, thus not triggering the electronic lockout described above. In any of the embodiments disclosed herein, the surgical system can include more than one lockout in various locations, and the one or more lockouts can take various forms. [00101] In addition to basic feedback about device performance this disclosure also provides a method for powered devices to detect and discern other external factors, e.g., thicker tissue, which previously were difficult to detect. As a result, improved cutoffs and values for limits can be implemented, greatly improving the safety of powered devices in use. Using the feedback mechanisms discussed above, users may make intelligent decisions about what settings and techniques should be used when operating the instrument 100. This intelligence can range from choosing a different reload to fire with a linear stapler, deciding to fire at a different articulation angle, to choosing to use a completely different surgical technique. [00102] It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances. The embodiments described with reference to the attached drawing figures are presented only to demonstrate certain examples of the disclosure. Other elements, steps, methods and techniques that are insubstantially different from those described above are also intended to be within the scope of the disclosure.
    权利要求:
    Claims (18)
    [1] 1. A surgical instrument, comprising: a handle assembly; a jaw assembly comprising a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; a lockout mechanism configured to prevent reuse of the jaw assembly; a drive assembly at least partially located within the handle and connected to the jaw assembly and the lockout mechanism; a motor operatively coupled to the drive assembly; and a controller operatively coupled to the motor, the controller configured to control supply of electrical current to the motor and to monitor a current draw of the motor, wherein the controller is further configured to terminate the supply of electrical current to the motor in response to a drop in the current draw indicative of a failure of the lockout mechanism.
    [2] 2. The surgical instrument according to claim 1, wherein the jaw assembly comprises a drive beam coupled to the lockout mechanism, the lockout mechanism configured to transition between an unlocked state and a locked state upon distal movement of the drive beam.
    [3] 3. The surgical instrument according to claim 2, wherein the drop in the current draw corresponds to a failure of the lockout mechanism to properly prohibit device use after the lockout mechanism is triggered.
    [4] 4. The surgical instrument according to claim 3, wherein the lockout mechanism comprises a locking member pivotal between an unlocked position and a locked position.
    [5] 5. The surgical instrument according to claim 4, wherein the jaw assembly further comprises a housing defining a projection mounted therein configured to engage the locking member upon retraction of the drive beam. 22
    [6] 6. A surgical instrument, comprising: a handle assembly; a disposable end effector removably coupled to the handle assembly, the disposable end effector comprising a jaw assembly including a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; a drive assembly at least partially located within the handle and connected to the jaw assembly, the drive assembly comprising a lockout mechanism; a motor operatively coupled to the drive assembly; a drive circuit coupled to the motor and configured to measure a current draw of the motor; and a controller operatively coupled to the motor, the controller configured to terminate the supply of electrical current to the motor in response to a drop in the current draw indicative of a failure of the lockout mechanism.
    [7] 7. The surgical instrument according to claim 6, wherein the controller is further configured to store a fault state in a memory in response to the drop in the current draw.
    [8] 8. The surgical instrument according to claim 7, wherein the fault state is cleared after the disposable end effector is removed from the handle assembly.
    [9] 9. The surgical instrument according to claim 6, wherein the controller is configured to detect the drop in the current draw based on a rate of change of the current draw.
    [10] 10. The surgical instrument according to claim 6, wherein the jaw assembly comprises a drive beam coupled to the lockout mechanism.
    [11] 11. The surgical instrument according to claim 10, the lockout mechanism configured to transition between an unlocked state and a locked state upon distal movement of the drive beam.
    [12] 12. The surgical instrument according to claim 11, wherein the drop in the current draw corresponds to a failure of the lockout mechanism to transition into the locked state upon retraction of the drive beam.
    [13] 13. The surgical instrument according to claim 12, wherein the lockout mechanism comprises a locking member pivotal between an unlocked position and a locked position. 23
    [14] 14. The surgical instrument according to claim 13, wherein the jaw assembly further comprises a housing defining a projection mounted therein configured to engage the locking member upon retraction of the drive beam.
    [15] 15. The surgical instrument according to claim 6, further comprising a control assembly coupled to the controller, wherein the controller disregards user inputs in response to the drop in the current draw.
    [16] 16. A method for controlling a surgical instrument, the method comprising the steps of: activating a motor operatively coupled to a disposable end effector, the disposable end effector comprising: a drive beam coupled to a jaw assembly comprising a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; and a lockout mechanism coupled to the drive beam and configured to transition from an unlocked state to a locked state upon retraction of the drive beam; measuring a current draw of the motor; and terminating supply of electric current to the motor in response to a drop off of the current draw indicative of a failure of the lockout mechanism.
    [17] 17. The method according to claim 16, further comprising the step of: storing a fault state in a memory in response to the drop in the current draw.
    [18] 18. The method according to claim 17, further comprising the step of: clearing the fault state after the disposable end effector is removed from the handle assembly. Covidien LP Patent Attorneys for the Applicant/Nominated Person SPRUSON & FERGUSON
    类似技术:
    公开号 | 公开日 | 专利标题
    US10838372B2|2020-11-17|Surgical instrument with rapid post event detection
    US11129613B2|2021-09-28|Surgical instruments with separable motors and motor control circuits
    AU2014203037B2|2018-07-12|Method of emergency retraction for electro-mechanical surgical devices and systems
    CN107580472B|2020-09-29|Stacked multi-sensor Radio Frequency | electrode system to measure tissue compression
    US11058422B2|2021-07-13|Mechanisms for compensating for battery pack failure in powered surgical instruments
    EP3187124A1|2017-07-05|Mechanisms for compensating for drivetrain failure in powered surgical instruments
    EP2851009B1|2019-09-04|Apparatus for differentiating between tissue and mechanical obstruction in a surgical instrument
    EP2815704A1|2014-12-24|Emergency retraction for electro-mechanical surgical devices and systems
    JP2019518491A|2019-07-04|System and method for controlling a surgical stapling and severing instrument
    JP2019518486A|2019-07-04|System and method for controlling a surgical stapling and severing instrument
    同族专利:
    公开号 | 公开日
    CA2824668A1|2014-04-23|
    US20190121301A1|2019-04-25|
    EP2724674A3|2014-10-08|
    CN103767750A|2014-05-07|
    US10838372B2|2020-11-17|
    US20160132026A1|2016-05-12|
    US10162312B2|2018-12-25|
    ES2654319T3|2018-02-13|
    EP2724674B1|2017-11-29|
    JP2018140209A|2018-09-13|
    JP2014083440A|2014-05-12|
    US9265585B2|2016-02-23|
    CN103767750B|2017-06-30|
    US20140110453A1|2014-04-24|
    JP6509484B2|2019-05-08|
    AU2013221973B2|2018-05-24|
    EP2724674A2|2014-04-30|
    CA2824668C|2020-06-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5071052A|1988-09-22|1991-12-10|United States Surgical Corporation|Surgical fastening apparatus with activation lockout|
    US5413267A|1991-05-14|1995-05-09|United States Surgical Corporation|Surgical stapler with spent cartridge sensing and lockout means|
    US5397046A|1991-10-18|1995-03-14|United States Surgical Corporation|Lockout mechanism for surgical apparatus|
    US5383880A|1992-01-17|1995-01-24|Ethicon, Inc.|Endoscopic surgical system with sensing means|
    US5433721A|1992-01-17|1995-07-18|Ethicon, Inc.|Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue|
    US5563481A|1992-04-13|1996-10-08|Smith & Nephew Endoscopy, Inc.|Brushless motor|
    US5602449A|1992-04-13|1997-02-11|Smith & Nephew Endoscopy, Inc.|Motor controlled surgical system and method having positional control|
    JP3242223B2|1993-08-02|2001-12-25|オークマ株式会社|Motor control device|
    US5543695A|1993-12-15|1996-08-06|Stryker Corporation|Medical instrument with programmable torque control|
    US5415335A|1994-04-07|1995-05-16|Ethicon Endo-Surgery|Surgical stapler cartridge containing lockout mechanism|
    US5782749A|1994-05-10|1998-07-21|Riza; Erol D.|Laparoscopic surgical instrument with adjustable grip|
    US5715988A|1995-08-14|1998-02-10|United States Surgical Corporation|Surgical stapler with lockout mechanism|
    US5718359A|1995-08-14|1998-02-17|United States Of America Surgical Corporation|Surgical stapler with lockout mechanism|
    US5804936A|1995-10-31|1998-09-08|Smith & Nephew, Inc.|Motor controlled surgical system|
    US5747953A|1996-03-29|1998-05-05|Stryker Corporation|Cordless, battery operated surical tool|
    US6017354A|1996-08-15|2000-01-25|Stryker Corporation|Integrated system for powered surgical tools|
    US6109500A|1996-10-04|2000-08-29|United States Surgical Corporation|Lockout mechanism for a surgical stapler|
    USRE38486E1|1997-03-04|2004-04-06|Makita Corporation|Electric motor control circuit|
    US6025683A|1998-12-23|2000-02-15|Stryker Corporation|Motor control circuit for regulating a D.C. motor|
    US6320348B1|1999-06-14|2001-11-20|Andrew S. Kadah|Time rate of change motor start circuit|
    JP3744735B2|1999-07-13|2006-02-15|ローム株式会社|Motor drive device|
    DE102004038415A1|2004-07-30|2006-03-23|Aesculap Ag & Co. Kg|Surgical machine and method for controlling and / or regulating a surgical machine|
    DE102004038414A1|2004-07-30|2006-03-23|Aesculap Ag & Co. Kg|Surgical machine and method for operating a surgical machine|
    US7432677B2|2004-12-16|2008-10-07|Seagate Technology Llc|Closed-loop rotational control of a brushless dc motor|
    US7898198B2|2005-06-29|2011-03-01|Drs Test & Energy Management, Llc|Torque controller in an electric motor|
    US9554803B2|2005-07-26|2017-01-31|Ethicon Endo-Surgery, Llc|Electrically self-powered surgical instrument with manual release|
    US9662116B2|2006-05-19|2017-05-30|Ethicon, Llc|Electrically self-powered surgical instrument with cryptographic identification of interchangeable part|
    US8241322B2|2005-07-27|2012-08-14|Tyco Healthcare Group Lp|Surgical device|
    JP4125311B2|2005-08-30|2008-07-30|株式会社東芝|Robots and manipulators|
    US8161977B2|2006-01-31|2012-04-24|Ethicon Endo-Surgery, Inc.|Accessing data stored in a memory of a surgical instrument|
    US7845537B2|2006-01-31|2010-12-07|Ethicon Endo-Surgery, Inc.|Surgical instrument having recording capabilities|
    US8038046B2|2006-05-19|2011-10-18|Ethicon Endo-Surgery, Inc.|Electrical surgical instrument with optimized power supply and drive|
    US7911168B2|2007-02-27|2011-03-22|Ricoh Company, Limited|Method and device for controlling motor, and image forming apparatus|
    US7721931B2|2007-01-10|2010-05-25|Ethicon Endo-Surgery, Inc.|Prevention of cartridge reuse in a surgical instrument|
    US7738971B2|2007-01-10|2010-06-15|Ethicon Endo-Surgery, Inc.|Post-sterilization programming of surgical instruments|
    US7721936B2|2007-01-10|2010-05-25|Ethicon Endo-Surgery, Inc.|Interlock and surgical instrument including same|
    US8684253B2|2007-01-10|2014-04-01|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor|
    US7954682B2|2007-01-10|2011-06-07|Ethicon Endo-Surgery, Inc.|Surgical instrument with elements to communicate between control unit and end effector|
    US7810691B2|2007-05-16|2010-10-12|The Invention Science Fund I, Llc|Gentle touch surgical stapler|
    TWI347078B|2007-05-25|2011-08-11|Delta Electronics Inc|Motor control method and device thereof|
    US7905380B2|2007-06-04|2011-03-15|Ethicon Endo-Surgery, Inc.|Surgical instrument having a multiple rate directional switching mechanism|
    US7960931B2|2007-06-15|2011-06-14|Illinois Institute Of Technology|Digital control of motor drives|
    US7755310B2|2007-09-11|2010-07-13|Gm Global Technology Operations, Inc.|Method and apparatus for electric motor torque monitoring|
    US9113880B2|2007-10-05|2015-08-25|Covidien Lp|Internal backbone structural chassis for a surgical device|
    US8960520B2|2007-10-05|2015-02-24|Covidien Lp|Method and apparatus for determining parameters of linear motion in a surgical instrument|
    US8967443B2|2007-10-05|2015-03-03|Covidien Lp|Method and apparatus for determining parameters of linear motion in a surgical instrument|
    US7866527B2|2008-02-14|2011-01-11|Ethicon Endo-Surgery, Inc.|Surgical stapling apparatus with interlockable firing system|
    US8752749B2|2008-02-14|2014-06-17|Ethicon Endo-Surgery, Inc.|Robotically-controlled disposable motor-driven loading unit|
    US7843158B2|2008-03-31|2010-11-30|Intuitive Surgical Operations, Inc.|Medical robotic system adapted to inhibit motions resulting in excessive end effector forces|
    US8210411B2|2008-09-23|2012-07-03|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument|
    JP5475262B2|2008-10-01|2014-04-16|テルモ株式会社|Medical manipulator|
    US8020743B2|2008-10-15|2011-09-20|Ethicon Endo-Surgery, Inc.|Powered articulatable surgical cutting and fastening instrument with flexible drive member|
    US20110006101A1|2009-02-06|2011-01-13|EthiconEndo-Surgery, Inc.|Motor driven surgical fastener device with cutting member lockout arrangements|
    TWI416835B|2009-03-24|2013-11-21|Anpec Electronics Corp|Current limit control method of dc motor and related device and circuit|
    JP2010268844A|2009-05-19|2010-12-02|Terumo Corp|Medical manipulator|
    US9265585B2|2012-10-23|2016-02-23|Covidien Lp|Surgical instrument with rapid post event detection|
    US10052122B2|2014-01-17|2018-08-21|Cardiovascular Systems, Inc.|Spin-to-open atherectomy device with electric motor control|US20070084897A1|2003-05-20|2007-04-19|Shelton Frederick E Iv|Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism|
    US9060770B2|2003-05-20|2015-06-23|Ethicon Endo-Surgery, Inc.|Robotically-driven surgical instrument with E-beam driver|
    US8215531B2|2004-07-28|2012-07-10|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a medical substance dispenser|
    EP1827248B1|2004-10-08|2014-03-26|Covidien LP|Endoscopic surgical clip applier|
    US7934630B2|2005-08-31|2011-05-03|Ethicon Endo-Surgery, Inc.|Staple cartridges for forming staples having differing formed staple heights|
    US10159482B2|2005-08-31|2018-12-25|Ethicon Llc|Fastener cartridge assembly comprising a fixed anvil and different staple heights|
    US9237891B2|2005-08-31|2016-01-19|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical stapling devices that produce formed staples having different lengths|
    US11246590B2|2005-08-31|2022-02-15|Cilag Gmbh International|Staple cartridge including staple drivers having different unfired heights|
    US7669746B2|2005-08-31|2010-03-02|Ethicon Endo-Surgery, Inc.|Staple cartridges for forming staples having differing formed staple heights|
    US20070106317A1|2005-11-09|2007-05-10|Shelton Frederick E Iv|Hydraulically and electrically actuated articulation joints for surgical instruments|
    US8708213B2|2006-01-31|2014-04-29|Ethicon Endo-Surgery, Inc.|Surgical instrument having a feedback system|
    US11224427B2|2006-01-31|2022-01-18|Cilag Gmbh International|Surgical stapling system including a console and retraction assembly|
    US20120292367A1|2006-01-31|2012-11-22|Ethicon Endo-Surgery, Inc.|Robotically-controlled end effector|
    US7845537B2|2006-01-31|2010-12-07|Ethicon Endo-Surgery, Inc.|Surgical instrument having recording capabilities|
    US20110295295A1|2006-01-31|2011-12-01|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical instrument having recording capabilities|
    US11207064B2|2011-05-27|2021-12-28|Cilag Gmbh International|Automated end effector component reloading system for use with a robotic system|
    US7753904B2|2006-01-31|2010-07-13|Ethicon Endo-Surgery, Inc.|Endoscopic surgical instrument with a handle that can articulate with respect to the shaft|
    US8820603B2|2006-01-31|2014-09-02|Ethicon Endo-Surgery, Inc.|Accessing data stored in a memory of a surgical instrument|
    US8186555B2|2006-01-31|2012-05-29|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting and fastening instrument with mechanical closure system|
    US8992422B2|2006-03-23|2015-03-31|Ethicon Endo-Surgery, Inc.|Robotically-controlled endoscopic accessory channel|
    US8322455B2|2006-06-27|2012-12-04|Ethicon Endo-Surgery, Inc.|Manually driven surgical cutting and fastening instrument|
    US8348131B2|2006-09-29|2013-01-08|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument with mechanical indicator to show levels of tissue compression|
    US10568652B2|2006-09-29|2020-02-25|Ethicon Llc|Surgical staples having attached drivers of different heights and stapling instruments for deploying the same|
    US8684253B2|2007-01-10|2014-04-01|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor|
    US8652120B2|2007-01-10|2014-02-18|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between control unit and sensor transponders|
    US8827133B2|2007-01-11|2014-09-09|Ethicon Endo-Surgery, Inc.|Surgical stapling device having supports for a flexible drive mechanism|
    US11039836B2|2007-01-11|2021-06-22|Cilag Gmbh International|Staple cartridge for use with a surgical stapling instrument|
    US20090005809A1|2007-03-15|2009-01-01|Hess Christopher J|Surgical staple having a slidable crown|
    US8893946B2|2007-03-28|2014-11-25|Ethicon Endo-Surgery, Inc.|Laparoscopic tissue thickness and clamp load measuring devices|
    US8931682B2|2007-06-04|2015-01-13|Ethicon Endo-Surgery, Inc.|Robotically-controlled shaft based rotary drive systems for surgical instruments|
    US7753245B2|2007-06-22|2010-07-13|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments|
    RU2493788C2|2008-02-14|2013-09-27|Этикон Эндо-Серджери, Инк.|Surgical cutting and fixing instrument, which has radio-frequency electrodes|
    US8573465B2|2008-02-14|2013-11-05|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical end effector system with rotary actuated closure systems|
    US8636736B2|2008-02-14|2014-01-28|Ethicon Endo-Surgery, Inc.|Motorized surgical cutting and fastening instrument|
    US8758391B2|2008-02-14|2014-06-24|Ethicon Endo-Surgery, Inc.|Interchangeable tools for surgical instruments|
    US9179912B2|2008-02-14|2015-11-10|Ethicon Endo-Surgery, Inc.|Robotically-controlled motorized surgical cutting and fastening instrument|
    US7866527B2|2008-02-14|2011-01-11|Ethicon Endo-Surgery, Inc.|Surgical stapling apparatus with interlockable firing system|
    US7819298B2|2008-02-14|2010-10-26|Ethicon Endo-Surgery, Inc.|Surgical stapling apparatus with control features operable with one hand|
    US9585657B2|2008-02-15|2017-03-07|Ethicon Endo-Surgery, Llc|Actuator for releasing a layer of material from a surgical end effector|
    US9386983B2|2008-09-23|2016-07-12|Ethicon Endo-Surgery, Llc|Robotically-controlled motorized surgical instrument|
    US8210411B2|2008-09-23|2012-07-03|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument|
    US9005230B2|2008-09-23|2015-04-14|Ethicon Endo-Surgery, Inc.|Motorized surgical instrument|
    US8608045B2|2008-10-10|2013-12-17|Ethicon Endo-Sugery, Inc.|Powered surgical cutting and stapling apparatus with manually retractable firing system|
    US8517239B2|2009-02-05|2013-08-27|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument comprising a magnetic element driver|
    US8444036B2|2009-02-06|2013-05-21|Ethicon Endo-Surgery, Inc.|Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector|
    US20110024477A1|2009-02-06|2011-02-03|Hall Steven G|Driven Surgical Stapler Improvements|
    US8220688B2|2009-12-24|2012-07-17|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument with electric actuator directional control assembly|
    US9364233B2|2010-09-30|2016-06-14|Ethicon Endo-Surgery, Llc|Tissue thickness compensators for circular surgical staplers|
    US9320523B2|2012-03-28|2016-04-26|Ethicon Endo-Surgery, Llc|Tissue thickness compensator comprising tissue ingrowth features|
    RU2644272C2|2012-03-28|2018-02-08|Этикон Эндо-Серджери, Инк.|Limitation node with tissue thickness compensator|
    CN104321024B|2012-03-28|2017-05-24|伊西康内外科公司|Tissue thickness compensator comprising a plurality of layers|
    US9282962B2|2010-09-30|2016-03-15|Ethicon Endo-Surgery, Llc|Adhesive film laminate|
    JP6026509B2|2011-04-29|2016-11-16|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Staple cartridge including staples disposed within a compressible portion of the staple cartridge itself|
    US9517063B2|2012-03-28|2016-12-13|Ethicon Endo-Surgery, Llc|Movable member for use with a tissue thickness compensator|
    US9295464B2|2010-09-30|2016-03-29|Ethicon Endo-Surgery, Inc.|Surgical stapler anvil comprising a plurality of forming pockets|
    US9629814B2|2010-09-30|2017-04-25|Ethicon Endo-Surgery, Llc|Tissue thickness compensator configured to redistribute compressive forces|
    US10945731B2|2010-09-30|2021-03-16|Ethicon Llc|Tissue thickness compensator comprising controlled release and expansion|
    US8695866B2|2010-10-01|2014-04-15|Ethicon Endo-Surgery, Inc.|Surgical instrument having a power control circuit|
    US9072535B2|2011-05-27|2015-07-07|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments with rotatable staple deployment arrangements|
    US9044230B2|2012-02-13|2015-06-02|Ethicon Endo-Surgery, Inc.|Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status|
    RU2639857C2|2012-03-28|2017-12-22|Этикон Эндо-Серджери, Инк.|Tissue thickness compensator containing capsule for medium with low pressure|
    US9101358B2|2012-06-15|2015-08-11|Ethicon Endo-Surgery, Inc.|Articulatable surgical instrument comprising a firing drive|
    US9408606B2|2012-06-28|2016-08-09|Ethicon Endo-Surgery, Llc|Robotically powered surgical device with manually-actuatable reversing system|
    US20140001231A1|2012-06-28|2014-01-02|Ethicon Endo-Surgery, Inc.|Firing system lockout arrangements for surgical instruments|
    US20140005718A1|2012-06-28|2014-01-02|Ethicon Endo-Surgery, Inc.|Multi-functional powered surgical device with external dissection features|
    US11202631B2|2012-06-28|2021-12-21|Cilag Gmbh International|Stapling assembly comprising a firing lockout|
    US9289256B2|2012-06-28|2016-03-22|Ethicon Endo-Surgery, Llc|Surgical end effectors having angled tissue-contacting surfaces|
    RU2636861C2|2012-06-28|2017-11-28|Этикон Эндо-Серджери, Инк.|Blocking of empty cassette with clips|
    US9265585B2|2012-10-23|2016-02-23|Covidien Lp|Surgical instrument with rapid post event detection|
    JP6345707B2|2013-03-01|2018-06-20|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Surgical instrument with soft stop|
    JP6382235B2|2013-03-01|2018-08-29|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Articulatable surgical instrument with a conductive path for signal communication|
    AU2014236486B2|2013-03-14|2019-02-07|Applied Medical Resources Corporation|Surgical stapler with partial pockets|
    US9629629B2|2013-03-14|2017-04-25|Ethicon Endo-Surgey, LLC|Control systems for surgical instruments|
    US9687230B2|2013-03-14|2017-06-27|Ethicon Llc|Articulatable surgical instrument comprising a firing drive|
    EP3673834A1|2013-03-15|2020-07-01|Applied Medical Resources Corporation|Surgical stapler with expandable jaw|
    JP6396417B2|2013-03-15|2018-09-26|アプライド メディカル リソーシーズ コーポレイション|Surgical stapler having an actuating mechanism with a rotatable shaft|
    US9826976B2|2013-04-16|2017-11-28|Ethicon Llc|Motor driven surgical instruments with lockable dual drive shafts|
    JP6416260B2|2013-08-23|2018-10-31|エシコン エルエルシー|Firing member retractor for a powered surgical instrument|
    US9283054B2|2013-08-23|2016-03-15|Ethicon Endo-Surgery, Llc|Interactive displays|
    CN105682568B|2013-11-04|2018-10-23|柯惠Lp公司|Surgical fasteners bringing device|
    CA2926748A1|2013-11-04|2015-05-07|Covidien Lp|Surgical fastener applying apparatus|
    US11033264B2|2013-11-04|2021-06-15|Covidien Lp|Surgical fastener applying apparatus|
    US9962161B2|2014-02-12|2018-05-08|Ethicon Llc|Deliverable surgical instrument|
    US9707005B2|2014-02-14|2017-07-18|Ethicon Llc|Lockout mechanisms for surgical devices|
    JP6462004B2|2014-02-24|2019-01-30|エシコン エルエルシー|Fastening system with launcher lockout|
    US9750499B2|2014-03-26|2017-09-05|Ethicon Llc|Surgical stapling instrument system|
    US11259799B2|2014-03-26|2022-03-01|Cilag Gmbh International|Interface systems for use with surgical instruments|
    US20150272557A1|2014-03-26|2015-10-01|Ethicon Endo-Surgery, Inc.|Modular surgical instrument system|
    US9804618B2|2014-03-26|2017-10-31|Ethicon Llc|Systems and methods for controlling a segmented circuit|
    US10299792B2|2014-04-16|2019-05-28|Ethicon Llc|Fastener cartridge comprising non-uniform fasteners|
    US10133248B2|2014-04-28|2018-11-20|Covidien Lp|Systems and methods for determining an end of life state for surgical devices|
    US10175127B2|2014-05-05|2019-01-08|Covidien Lp|End-effector force measurement drive circuit|
    US20150324317A1|2014-05-07|2015-11-12|Covidien Lp|Authentication and information system for reusable surgical instruments|
    EP3142569A1|2014-05-15|2017-03-22|Covidien LP|Surgical fastener applying apparatus|
    US10251725B2|2014-06-09|2019-04-09|Covidien Lp|Authentication and information system for reusable surgical instruments|
    ES2861258T3|2014-06-11|2021-10-06|Applied Med Resources|Circumferential Shot Surgical Stapler|
    US9737301B2|2014-09-05|2017-08-22|Ethicon Llc|Monitoring device degradation based on component evaluation|
    BR112017004361A2|2014-09-05|2017-12-05|Ethicon Llc|medical overcurrent modular power supply|
    JP6686004B2|2014-09-15|2020-04-22|アプライド メディカル リソーシーズ コーポレイション|Self-adjusting staple height surgical stapler|
    US10206677B2|2014-09-26|2019-02-19|Ethicon Llc|Surgical staple and driver arrangements for staple cartridges|
    MX2017003960A|2014-09-26|2017-12-04|Ethicon Llc|Surgical stapling buttresses and adjunct materials.|
    US10076325B2|2014-10-13|2018-09-18|Ethicon Llc|Surgical stapling apparatus comprising a tissue stop|
    US9924944B2|2014-10-16|2018-03-27|Ethicon Llc|Staple cartridge comprising an adjunct material|
    US11141153B2|2014-10-29|2021-10-12|Cilag Gmbh International|Staple cartridges comprising driver arrangements|
    US10517594B2|2014-10-29|2019-12-31|Ethicon Llc|Cartridge assemblies for surgical staplers|
    US9844376B2|2014-11-06|2017-12-19|Ethicon Llc|Staple cartridge comprising a releasable adjunct material|
    US10736636B2|2014-12-10|2020-08-11|Ethicon Llc|Articulatable surgical instrument system|
    US9844375B2|2014-12-18|2017-12-19|Ethicon Llc|Drive arrangements for articulatable surgical instruments|
    US9844374B2|2014-12-18|2017-12-19|Ethicon Llc|Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member|
    US10188385B2|2014-12-18|2019-01-29|Ethicon Llc|Surgical instrument system comprising lockable systems|
    US9987000B2|2014-12-18|2018-06-05|Ethicon Llc|Surgical instrument assembly comprising a flexible articulation system|
    US10117649B2|2014-12-18|2018-11-06|Ethicon Llc|Surgical instrument assembly comprising a lockable articulation system|
    US10004501B2|2014-12-18|2018-06-26|Ethicon Llc|Surgical instruments with improved closure arrangements|
    US10085748B2|2014-12-18|2018-10-02|Ethicon Llc|Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors|
    US10039545B2|2015-02-23|2018-08-07|Covidien Lp|Double fire stapling|
    US10085749B2|2015-02-26|2018-10-02|Covidien Lp|Surgical apparatus with conductor strain relief|
    US10285698B2|2015-02-26|2019-05-14|Covidien Lp|Surgical apparatus|
    US10180463B2|2015-02-27|2019-01-15|Ethicon Llc|Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band|
    US10045779B2|2015-02-27|2018-08-14|Ethicon Llc|Surgical instrument system comprising an inspection station|
    US11154301B2|2015-02-27|2021-10-26|Cilag Gmbh International|Modular stapling assembly|
    US10245033B2|2015-03-06|2019-04-02|Ethicon Llc|Surgical instrument comprising a lockable battery housing|
    US9993248B2|2015-03-06|2018-06-12|Ethicon Endo-Surgery, Llc|Smart sensors with local signal processing|
    US10687806B2|2015-03-06|2020-06-23|Ethicon Llc|Adaptive tissue compression techniques to adjust closure rates for multiple tissue types|
    US9808246B2|2015-03-06|2017-11-07|Ethicon Endo-Surgery, Llc|Method of operating a powered surgical instrument|
    US9901342B2|2015-03-06|2018-02-27|Ethicon Endo-Surgery, Llc|Signal and power communication system positioned on a rotatable shaft|
    US10441279B2|2015-03-06|2019-10-15|Ethicon Llc|Multiple level thresholds to modify operation of powered surgical instruments|
    US9924961B2|2015-03-06|2018-03-27|Ethicon Endo-Surgery, Llc|Interactive feedback system for powered surgical instruments|
    US10052044B2|2015-03-06|2018-08-21|Ethicon Llc|Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures|
    US10617412B2|2015-03-06|2020-04-14|Ethicon Llc|System for detecting the mis-insertion of a staple cartridge into a surgical stapler|
    US10213201B2|2015-03-31|2019-02-26|Ethicon Llc|Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw|
    US10463368B2|2015-04-10|2019-11-05|Covidien Lp|Endoscopic stapler|
    US10349941B2|2015-05-27|2019-07-16|Covidien Lp|Multi-fire lead screw stapling device|
    US10172615B2|2015-05-27|2019-01-08|Covidien Lp|Multi-fire push rod stapling device|
    US10064622B2|2015-07-29|2018-09-04|Covidien Lp|Surgical stapling loading unit with stroke counter and lockout|
    US10045782B2|2015-07-30|2018-08-14|Covidien Lp|Surgical stapling loading unit with stroke counter and lockout|
    CA2994554A1|2015-08-06|2017-02-09|Applied Medical Resources Corporation|Surgical stapler having locking articulation joint|
    US10835249B2|2015-08-17|2020-11-17|Ethicon Llc|Implantable layers for a surgical instrument|
    US10517599B2|2015-08-26|2019-12-31|Ethicon Llc|Staple cartridge assembly comprising staple cavities for providing better staple guidance|
    US10327769B2|2015-09-23|2019-06-25|Ethicon Llc|Surgical stapler having motor control based on a drive system component|
    US10085751B2|2015-09-23|2018-10-02|Ethicon Llc|Surgical stapler having temperature-based motor control|
    US10363036B2|2015-09-23|2019-07-30|Ethicon Llc|Surgical stapler having force-based motor control|
    US20170079642A1|2015-09-23|2017-03-23|Ethicon Endo-Surgery, Llc|Surgical stapler having magnetic field-based motor control|
    US10076326B2|2015-09-23|2018-09-18|Ethicon Llc|Surgical stapler having current mirror-based motor control|
    US10238386B2|2015-09-23|2019-03-26|Ethicon Llc|Surgical stapler having motor control based on an electrical parameter related to a motor current|
    US10105139B2|2015-09-23|2018-10-23|Ethicon Llc|Surgical stapler having downstream current-based motor control|
    US10299878B2|2015-09-25|2019-05-28|Ethicon Llc|Implantable adjunct systems for determining adjunct skew|
    US10980539B2|2015-09-30|2021-04-20|Ethicon Llc|Implantable adjunct comprising bonded layers|
    US10327777B2|2015-09-30|2019-06-25|Ethicon Llc|Implantable layer comprising plastically deformed fibers|
    US10433846B2|2015-09-30|2019-10-08|Ethicon Llc|Compressible adjunct with crossing spacer fibers|
    US10213204B2|2015-10-02|2019-02-26|Covidien Lp|Micro surgical instrument and loading unit for use therewith|
    US10772632B2|2015-10-28|2020-09-15|Covidien Lp|Surgical stapling device with triple leg staples|
    US10595864B2|2015-11-24|2020-03-24|Covidien Lp|Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof|
    US10111660B2|2015-12-03|2018-10-30|Covidien Lp|Surgical stapler flexible distal tip|
    US10368865B2|2015-12-30|2019-08-06|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|
    US10292704B2|2015-12-30|2019-05-21|Ethicon Llc|Mechanisms for compensating for battery pack failure in powered surgical instruments|
    US10265068B2|2015-12-30|2019-04-23|Ethicon Llc|Surgical instruments with separable motors and motor control circuits|
    US10966717B2|2016-01-07|2021-04-06|Covidien Lp|Surgical fastener apparatus|
    US10660623B2|2016-01-15|2020-05-26|Covidien Lp|Centering mechanism for articulation joint|
    WO2017132592A1|2016-01-29|2017-08-03|Intuitive Surgical Operations, Inc.|System and method for variable velocity surgical instrument|
    US11213293B2|2016-02-09|2022-01-04|Cilag Gmbh International|Articulatable surgical instruments with single articulation link arrangements|
    US10588625B2|2016-02-09|2020-03-17|Ethicon Llc|Articulatable surgical instruments with off-axis firing beam arrangements|
    US10349937B2|2016-02-10|2019-07-16|Covidien Lp|Surgical stapler with articulation locking mechanism|
    US10420559B2|2016-02-11|2019-09-24|Covidien Lp|Surgical stapler with small diameter endoscopic portion|
    US11224426B2|2016-02-12|2022-01-18|Cilag Gmbh International|Mechanisms for compensating for drivetrain failure in powered surgical instruments|
    US20170231628A1|2016-02-12|2017-08-17|Ethicon Endo-Surgery, Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|
    US10448948B2|2016-02-12|2019-10-22|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|
    US10258331B2|2016-02-12|2019-04-16|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|
    US10617413B2|2016-04-01|2020-04-14|Ethicon Llc|Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts|
    US10376263B2|2016-04-01|2019-08-13|Ethicon Llc|Anvil modification members for surgical staplers|
    US10542991B2|2016-04-01|2020-01-28|Ethicon Llc|Surgical stapling system comprising a jaw attachment lockout|
    BR112018070074A2|2016-04-01|2019-02-12|Ethicon Llc|surgical stapling system comprising locking a worn cartridge|
    EP3442441A1|2016-04-12|2019-02-20|Applied Medical Resources Corporation|Surgical stapler having a powered handle|
    EP3854318A1|2016-04-12|2021-07-28|Applied Medical Resources Corporation|Surgical stapler having articulation mechanism|
    ES2882141T3|2016-04-12|2021-12-01|Applied Med Resources|Refill Stem Assembly for Surgical Stapler|
    US10492783B2|2016-04-15|2019-12-03|Ethicon, Llc|Surgical instrument with improved stop/start control during a firing motion|
    US10335145B2|2016-04-15|2019-07-02|Ethicon Llc|Modular surgical instrument with configurable operating mode|
    US11179150B2|2016-04-15|2021-11-23|Cilag Gmbh International|Systems and methods for controlling a surgical stapling and cutting instrument|
    US10357247B2|2016-04-15|2019-07-23|Ethicon Llc|Surgical instrument with multiple program responses during a firing motion|
    US10426467B2|2016-04-15|2019-10-01|Ethicon Llc|Surgical instrument with detection sensors|
    US10828028B2|2016-04-15|2020-11-10|Ethicon Llc|Surgical instrument with multiple program responses during a firing motion|
    US10405859B2|2016-04-15|2019-09-10|Ethicon Llc|Surgical instrument with adjustable stop/start control during a firing motion|
    US10456137B2|2016-04-15|2019-10-29|Ethicon Llc|Staple formation detection mechanisms|
    US10368867B2|2016-04-18|2019-08-06|Ethicon Llc|Surgical instrument comprising a lockout|
    US20170296173A1|2016-04-18|2017-10-19|Ethicon Endo-Surgery, Llc|Method for operating a surgical instrument|
    US10561419B2|2016-05-04|2020-02-18|Covidien Lp|Powered end effector assembly with pivotable channel|
    US11065022B2|2016-05-17|2021-07-20|Covidien Lp|Cutting member for a surgical instrument|
    WO2017205576A1|2016-05-26|2017-11-30|Covidien Lp|Instrument drive units|
    AU2017269350A1|2016-05-26|2018-10-25|Covidien Lp|Robotic surgical assemblies and instrument drive units thereof|
    US10363035B2|2016-08-16|2019-07-30|Ethicon Llc|Stapler tool with rotary drive lockout|
    US10631857B2|2016-11-04|2020-04-28|Covidien Lp|Loading unit for surgical instruments with low profile pushers|
    US10492784B2|2016-11-08|2019-12-03|Covidien Lp|Surgical tool assembly with compact firing assembly|
    US10463371B2|2016-11-29|2019-11-05|Covidien Lp|Reload assembly with spent reload indicator|
    US10617414B2|2016-12-21|2020-04-14|Ethicon Llc|Closure member arrangements for surgical instruments|
    US10588632B2|2016-12-21|2020-03-17|Ethicon Llc|Surgical end effectors and firing members thereof|
    US20180168625A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with smart staple cartridges|
    US10639034B2|2016-12-21|2020-05-05|Ethicon Llc|Surgical instruments with lockout arrangements for preventing firing system actuation unless an unspent staple cartridge is present|
    US10568625B2|2016-12-21|2020-02-25|Ethicon Llc|Staple cartridges and arrangements of staples and staple cavities therein|
    US10779823B2|2016-12-21|2020-09-22|Ethicon Llc|Firing member pin angle|
    US10675026B2|2016-12-21|2020-06-09|Ethicon Llc|Methods of stapling tissue|
    US10499914B2|2016-12-21|2019-12-10|Ethicon Llc|Staple forming pocket arrangements|
    US10758229B2|2016-12-21|2020-09-01|Ethicon Llc|Surgical instrument comprising improved jaw control|
    CN110087565A|2016-12-21|2019-08-02|爱惜康有限责任公司|Surgical stapling system|
    US20180168608A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical instrument system comprising an end effector lockout and a firing assembly lockout|
    US10517595B2|2016-12-21|2019-12-31|Ethicon Llc|Jaw actuated lock arrangements for preventing advancement of a firing member in a surgical end effector unless an unfired cartridge is installed in the end effector|
    US10426471B2|2016-12-21|2019-10-01|Ethicon Llc|Surgical instrument with multiple failure response modes|
    JP2020501777A|2016-12-21|2020-01-23|エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ|A firing assembly including a plurality of fault condition fuses|
    BR112019012547A2|2016-12-21|2019-11-12|Ethicon Llc|surgical instrument system comprising an end actuator lock and a trigger assembly lock|
    US10492785B2|2016-12-21|2019-12-03|Ethicon Llc|Shaft assembly comprising a lockout|
    US11134942B2|2016-12-21|2021-10-05|Cilag Gmbh International|Surgical stapling instruments and staple-forming anvils|
    US10709901B2|2017-01-05|2020-07-14|Covidien Lp|Implantable fasteners, applicators, and methods for brachytherapy|
    US10952767B2|2017-02-06|2021-03-23|Covidien Lp|Connector clip for securing an introducer to a surgical fastener applying apparatus|
    US10849621B2|2017-02-23|2020-12-01|Covidien Lp|Surgical stapler with small diameter endoscopic portion|
    US10299790B2|2017-03-03|2019-05-28|Covidien Lp|Adapter with centering mechanism for articulation joint|
    US10660641B2|2017-03-16|2020-05-26|Covidien Lp|Adapter with centering mechanism for articulation joint|
    US10390858B2|2017-05-02|2019-08-27|Covidien Lp|Powered surgical device with speed and current derivative motor shut off|
    US10603035B2|2017-05-02|2020-03-31|Covidien Lp|Surgical loading unit including an articulating end effector|
    US10524784B2|2017-05-05|2020-01-07|Covidien Lp|Surgical staples with expandable backspan|
    US10390826B2|2017-05-08|2019-08-27|Covidien Lp|Surgical stapling device with elongated tool assembly and methods of use|
    US10420551B2|2017-05-30|2019-09-24|Covidien Lp|Authentication and information system for reusable surgical instruments|
    US10478185B2|2017-06-02|2019-11-19|Covidien Lp|Tool assembly with minimal dead space|
    US10779820B2|2017-06-20|2020-09-22|Ethicon Llc|Systems and methods for controlling motor speed according to user input for a surgical instrument|
    US10888321B2|2017-06-20|2021-01-12|Ethicon Llc|Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument|
    US10390841B2|2017-06-20|2019-08-27|Ethicon Llc|Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation|
    US10368864B2|2017-06-20|2019-08-06|Ethicon Llc|Systems and methods for controlling displaying motor velocity for a surgical instrument|
    US10327767B2|2017-06-20|2019-06-25|Ethicon Llc|Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation|
    USD879808S1|2017-06-20|2020-03-31|Ethicon Llc|Display panel with graphical user interface|
    USD890784S1|2017-06-20|2020-07-21|Ethicon Llc|Display panel with changeable graphical user interface|
    US11071554B2|2017-06-20|2021-07-27|Cilag Gmbh International|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements|
    US10307170B2|2017-06-20|2019-06-04|Ethicon Llc|Method for closed loop control of motor velocity of a surgical stapling and cutting instrument|
    US10881396B2|2017-06-20|2021-01-05|Ethicon Llc|Surgical instrument with variable duration trigger arrangement|
    US10980537B2|2017-06-20|2021-04-20|Ethicon Llc|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations|
    US11090046B2|2017-06-20|2021-08-17|Cilag Gmbh International|Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument|
    US10881399B2|2017-06-20|2021-01-05|Ethicon Llc|Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument|
    USD879809S1|2017-06-20|2020-03-31|Ethicon Llc|Display panel with changeable graphical user interface|
    US10813639B2|2017-06-20|2020-10-27|Ethicon Llc|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions|
    US10646220B2|2017-06-20|2020-05-12|Ethicon Llc|Systems and methods for controlling displacement member velocity for a surgical instrument|
    US10624633B2|2017-06-20|2020-04-21|Ethicon Llc|Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument|
    US11090049B2|2017-06-27|2021-08-17|Cilag Gmbh International|Staple forming pocket arrangements|
    US10772629B2|2017-06-27|2020-09-15|Ethicon Llc|Surgical anvil arrangements|
    US10856869B2|2017-06-27|2020-12-08|Ethicon Llc|Surgical anvil arrangements|
    US10993716B2|2017-06-27|2021-05-04|Ethicon Llc|Surgical anvil arrangements|
    USD854151S1|2017-06-28|2019-07-16|Ethicon Llc|Surgical instrument shaft|
    US10716614B2|2017-06-28|2020-07-21|Ethicon Llc|Surgical shaft assemblies with slip ring assemblies with increased contact pressure|
    US10765427B2|2017-06-28|2020-09-08|Ethicon Llc|Method for articulating a surgical instrument|
    US20190000477A1|2017-06-28|2019-01-03|Ethicon Llc|Surgical instrument comprising a shaft including a housing arrangement|
    US11246592B2|2017-06-28|2022-02-15|Cilag Gmbh International|Surgical instrument comprising an articulation system lockable to a frame|
    USD906355S1|2017-06-28|2020-12-29|Ethicon Llc|Display screen or portion thereof with a graphical user interface for a surgical instrument|
    US10786253B2|2017-06-28|2020-09-29|Ethicon Llc|Surgical end effectors with improved jaw aperture arrangements|
    US10903685B2|2017-06-28|2021-01-26|Ethicon Llc|Surgical shaft assemblies with slip ring assemblies forming capacitive channels|
    USD869655S1|2017-06-28|2019-12-10|Ethicon Llc|Surgical fastener cartridge|
    US11259805B2|2017-06-28|2022-03-01|Cilag Gmbh International|Surgical instrument comprising firing member supports|
    US10211586B2|2017-06-28|2019-02-19|Ethicon Llc|Surgical shaft assemblies with watertight housings|
    USD851762S1|2017-06-28|2019-06-18|Ethicon Llc|Anvil|
    US10258418B2|2017-06-29|2019-04-16|Ethicon Llc|System for controlling articulation forces|
    US10932772B2|2017-06-29|2021-03-02|Ethicon Llc|Methods for closed loop velocity control for robotic surgical instrument|
    US10398434B2|2017-06-29|2019-09-03|Ethicon Llc|Closed loop velocity control of closure member for robotic surgical instrument|
    US11007022B2|2017-06-29|2021-05-18|Ethicon Llc|Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument|
    US10898183B2|2017-06-29|2021-01-26|Ethicon Llc|Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing|
    US10624636B2|2017-08-23|2020-04-21|Covidien Lp|Surgical stapling device with floating staple cartridge|
    US10806452B2|2017-08-24|2020-10-20|Covidien Lp|Loading unit for a surgical stapling instrument|
    US10925602B2|2017-08-29|2021-02-23|Ethicon Llc|Endocutter control system|
    US10881403B2|2017-08-29|2021-01-05|Ethicon Llc|Endocutter control system|
    US10695060B2|2017-09-01|2020-06-30|RevMedica, Inc.|Loadable power pack for surgical instruments|
    US10966720B2|2017-09-01|2021-04-06|RevMedica, Inc.|Surgical stapler with removable power pack|
    US10796471B2|2017-09-29|2020-10-06|Ethicon Llc|Systems and methods of displaying a knife position for a surgical instrument|
    US10729501B2|2017-09-29|2020-08-04|Ethicon Llc|Systems and methods for language selection of a surgical instrument|
    USD907648S1|2017-09-29|2021-01-12|Ethicon Llc|Display screen or portion thereof with animated graphical user interface|
    US10743872B2|2017-09-29|2020-08-18|Ethicon Llc|System and methods for controlling a display of a surgical instrument|
    US10765429B2|2017-09-29|2020-09-08|Ethicon Llc|Systems and methods for providing alerts according to the operational state of a surgical instrument|
    USD917500S1|2017-09-29|2021-04-27|Ethicon Llc|Display screen or portion thereof with graphical user interface|
    USD907647S1|2017-09-29|2021-01-12|Ethicon Llc|Display screen or portion thereof with animated graphical user interface|
    US10772651B2|2017-10-30|2020-09-15|Ethicon Llc|Surgical instruments comprising a system for articulation and rotation compensation|
    US11134944B2|2017-10-30|2021-10-05|Cilag Gmbh International|Surgical stapler knife motion controls|
    US20190125357A1|2017-10-30|2019-05-02|Ethicon Llc|Clip applier comprising a clip crimping system|
    US11090075B2|2017-10-30|2021-08-17|Cilag Gmbh International|Articulation features for surgical end effector|
    US11229436B2|2017-10-30|2022-01-25|Cilag Gmbh International|Surgical system comprising a surgical tool and a surgical hub|
    US10779903B2|2017-10-31|2020-09-22|Ethicon Llc|Positive shaft rotation lock activated by jaw closure|
    US10842490B2|2017-10-31|2020-11-24|Ethicon Llc|Cartridge body design with force reduction based on firing completion|
    US10925603B2|2017-11-14|2021-02-23|Covidien Lp|Reload with articulation stabilization system|
    US10863987B2|2017-11-16|2020-12-15|Covidien Lp|Surgical instrument with imaging device|
    CN111698958A|2017-12-12|2020-09-22|波士顿科学国际有限公司|Rotary medical device|
    US11033267B2|2017-12-15|2021-06-15|Ethicon Llc|Systems and methods of controlling a clamping member firing rate of a surgical instrument|
    US10743875B2|2017-12-15|2020-08-18|Ethicon Llc|Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member|
    US10687813B2|2017-12-15|2020-06-23|Ethicon Llc|Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments|
    US10743874B2|2017-12-15|2020-08-18|Ethicon Llc|Sealed adapters for use with electromechanical surgical instruments|
    US11197670B2|2017-12-15|2021-12-14|Cilag Gmbh International|Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed|
    US11006955B2|2017-12-15|2021-05-18|Ethicon Llc|End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments|
    US10779826B2|2017-12-15|2020-09-22|Ethicon Llc|Methods of operating surgical end effectors|
    US10869666B2|2017-12-15|2020-12-22|Ethicon Llc|Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument|
    US10966718B2|2017-12-15|2021-04-06|Ethicon Llc|Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments|
    US10779825B2|2017-12-15|2020-09-22|Ethicon Llc|Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments|
    US10828033B2|2017-12-15|2020-11-10|Ethicon Llc|Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto|
    US11071543B2|2017-12-15|2021-07-27|Cilag Gmbh International|Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges|
    US10835330B2|2017-12-19|2020-11-17|Ethicon Llc|Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly|
    US11020112B2|2017-12-19|2021-06-01|Ethicon Llc|Surgical tools configured for interchangeable use with different controller interfaces|
    US10729509B2|2017-12-19|2020-08-04|Ethicon Llc|Surgical instrument comprising closure and firing locking mechanism|
    USD910847S1|2017-12-19|2021-02-16|Ethicon Llc|Surgical instrument assembly|
    US10716565B2|2017-12-19|2020-07-21|Ethicon Llc|Surgical instruments with dual articulation drivers|
    US11045270B2|2017-12-19|2021-06-29|Cilag Gmbh International|Robotic attachment comprising exterior drive actuator|
    US20190192151A1|2017-12-21|2019-06-27|Ethicon Llc|Surgical instrument having a display comprising image layers|
    US11076853B2|2017-12-21|2021-08-03|Cilag Gmbh International|Systems and methods of displaying a knife position during transection for a surgical instrument|
    US11129680B2|2017-12-21|2021-09-28|Cilag Gmbh International|Surgical instrument comprising a projector|
    US10595887B2|2017-12-28|2020-03-24|Ethicon Llc|Systems for adjusting end effector parameters based on perioperative information|
    US11234756B2|2017-12-28|2022-02-01|Cilag Gmbh International|Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter|
    US11166772B2|2017-12-28|2021-11-09|Cilag Gmbh International|Surgical hub coordination of control and communication of operating room devices|
    US11100631B2|2017-12-28|2021-08-24|Cilag Gmbh International|Use of laser light and red-green-blue coloration to determine properties of back scattered light|
    US10987178B2|2017-12-28|2021-04-27|Ethicon Llc|Surgical hub control arrangements|
    US11179208B2|2017-12-28|2021-11-23|Cilag Gmbh International|Cloud-based medical analytics for security and authentication trends and reactive measures|
    US11257589B2|2017-12-28|2022-02-22|Cilag Gmbh International|Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes|
    US11253315B2|2017-12-28|2022-02-22|Cilag Gmbh International|Increasing radio frequency to create pad-less monopolar loop|
    US11202570B2|2017-12-28|2021-12-21|Cilag Gmbh International|Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems|
    US20190201139A1|2017-12-28|2019-07-04|Ethicon Llc|Communication arrangements for robot-assisted surgical platforms|
    US11147607B2|2017-12-28|2021-10-19|Cilag Gmbh International|Bipolar combination device that automatically adjusts pressure based on energy modality|
    US10892899B2|2017-12-28|2021-01-12|Ethicon Llc|Self describing data packets generated at an issuing instrument|
    US11160605B2|2017-12-28|2021-11-02|Cilag Gmbh International|Surgical evacuation sensing and motor control|
    US20190206551A1|2017-12-28|2019-07-04|Ethicon Llc|Spatial awareness of surgical hubs in operating rooms|
    US20190205001A1|2017-12-28|2019-07-04|Ethicon Llc|Sterile field interactive control displays|
    US20190201087A1|2017-12-28|2019-07-04|Ethicon Llc|Smoke evacuation system including a segmented control circuit for interactive surgical platform|
    US10695081B2|2017-12-28|2020-06-30|Ethicon Llc|Controlling a surgical instrument according to sensed closure parameters|
    US20190201118A1|2017-12-28|2019-07-04|Ethicon Llc|Display arrangements for robot-assisted surgical platforms|
    US11069012B2|2017-12-28|2021-07-20|Cilag Gmbh International|Interactive surgical systems with condition handling of devices and data capabilities|
    US10849697B2|2017-12-28|2020-12-01|Ethicon Llc|Cloud interface for coupled surgical devices|
    US11076921B2|2017-12-28|2021-08-03|Cilag Gmbh International|Adaptive control program updates for surgical hubs|
    US11051876B2|2017-12-28|2021-07-06|Cilag Gmbh International|Surgical evacuation flow paths|
    US10966791B2|2017-12-28|2021-04-06|Ethicon Llc|Cloud-based medical analytics for medical facility segmented individualization of instrument function|
    US10892995B2|2017-12-28|2021-01-12|Ethicon Llc|Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs|
    US11109866B2|2017-12-28|2021-09-07|Cilag Gmbh International|Method for circular stapler control algorithm adjustment based on situational awareness|
    US11056244B2|2017-12-28|2021-07-06|Cilag Gmbh International|Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks|
    US11045591B2|2017-12-28|2021-06-29|Cilag Gmbh International|Dual in-series large and small droplet filters|
    US10932872B2|2017-12-28|2021-03-02|Ethicon Llc|Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set|
    US20190274716A1|2017-12-28|2019-09-12|Ethicon Llc|Determining the state of an ultrasonic end effector|
    US10943454B2|2017-12-28|2021-03-09|Ethicon Llc|Detection and escalation of security responses of surgical instruments to increasing severity threats|
    US11096693B2|2017-12-28|2021-08-24|Cilag Gmbh International|Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing|
    US11132462B2|2017-12-28|2021-09-28|Cilag Gmbh International|Data stripping method to interrogate patient records and create anonymized record|
    US10758310B2|2017-12-28|2020-09-01|Ethicon Llc|Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices|
    US10944728B2|2017-12-28|2021-03-09|Ethicon Llc|Interactive surgical systems with encrypted communication capabilities|
    WO2019140121A1|2018-01-10|2019-07-18|Boston Scientific Scimed, Inc.|Rotational medical device|
    US10945732B2|2018-01-17|2021-03-16|Covidien Lp|Surgical stapler with self-returning assembly|
    EP3758620A1|2018-02-27|2021-01-06|Applied Medical Resources Corporation|Surgical stapler having a powered handle|
    US11259830B2|2018-03-08|2022-03-01|Cilag Gmbh International|Methods for controlling temperature in ultrasonic device|
    US11219453B2|2018-03-28|2022-01-11|Cilag Gmbh International|Surgical stapling devices with cartridge compatible closure and firing lockout arrangements|
    US11207067B2|2018-03-28|2021-12-28|Cilag Gmbh International|Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing|
    US11096688B2|2018-03-28|2021-08-24|Cilag Gmbh International|Rotary driven firing members with different anvil and channel engagement features|
    US20190298350A1|2018-03-28|2019-10-03|Ethicon Llc|Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems|
    US20190298357A1|2018-03-28|2019-10-03|Ethicon Llc|Surgical instrument comprising a jaw closure lockout|
    US11213294B2|2018-03-28|2022-01-04|Cilag Gmbh International|Surgical instrument comprising co-operating lockout features|
    US11197668B2|2018-03-28|2021-12-14|Cilag Gmbh International|Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout|
    US11090047B2|2018-03-28|2021-08-17|Cilag Gmbh International|Surgical instrument comprising an adaptive control system|
    US10973520B2|2018-03-28|2021-04-13|Ethicon Llc|Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature|
    US10849622B2|2018-06-21|2020-12-01|Covidien Lp|Articulated stapling with fire lock|
    US10736631B2|2018-08-07|2020-08-11|Covidien Lp|End effector with staple cartridge ejector|
    US11134932B2|2018-08-13|2021-10-05|Covidien Lp|Specimen retrieval device|
    US10856870B2|2018-08-20|2020-12-08|Ethicon Llc|Switching arrangements for motor powered articulatable surgical instruments|
    USD914878S1|2018-08-20|2021-03-30|Ethicon Llc|Surgical instrument anvil|
    US11207065B2|2018-08-20|2021-12-28|Cilag Gmbh International|Method for fabricating surgical stapler anvils|
    US11039834B2|2018-08-20|2021-06-22|Cilag Gmbh International|Surgical stapler anvils with staple directing protrusions and tissue stability features|
    US11045192B2|2018-08-20|2021-06-29|Cilag Gmbh International|Fabricating techniques for surgical stapler anvils|
    US10912559B2|2018-08-20|2021-02-09|Ethicon Llc|Reinforced deformable anvil tip for surgical stapler anvil|
    US11253256B2|2018-08-20|2022-02-22|Cilag Gmbh International|Articulatable motor powered surgical instruments with dedicated articulation motor arrangements|
    US10842492B2|2018-08-20|2020-11-24|Ethicon Llc|Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system|
    US11083458B2|2018-08-20|2021-08-10|Cilag Gmbh International|Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions|
    US10779821B2|2018-08-20|2020-09-22|Ethicon Llc|Surgical stapler anvils with tissue stop features configured to avoid tissue pinch|
    US10849620B2|2018-09-14|2020-12-01|Covidien Lp|Connector mechanisms for surgical stapling instruments|
    US11090051B2|2018-10-23|2021-08-17|Covidien Lp|Surgical stapling device with floating staple cartridge|
    US11197673B2|2018-10-30|2021-12-14|Covidien Lp|Surgical stapling instruments and end effector assemblies thereof|
    US10912563B2|2019-01-02|2021-02-09|Covidien Lp|Stapling device including tool assembly stabilizing member|
    US11259807B2|2019-02-19|2022-03-01|Cilag Gmbh International|Staple cartridges with cam surfaces configured to engage primary and secondary portions of a lockout of a surgical stapling device|
    US11259808B2|2019-03-13|2022-03-01|Covidien Lp|Tool assemblies with a gap locking member|
    US11172929B2|2019-03-25|2021-11-16|Cilag Gmbh International|Articulation drive arrangements for surgical systems|
    US11147553B2|2019-03-25|2021-10-19|Cilag Gmbh International|Firing drive arrangements for surgical systems|
    US11147551B2|2019-03-25|2021-10-19|Cilag Gmbh International|Firing drive arrangements for surgical systems|
    US11241228B2|2019-04-05|2022-02-08|Covidien Lp|Surgical instrument including an adapter assembly and an articulating surgical loading unit|
    US11253254B2|2019-04-30|2022-02-22|Cilag Gmbh International|Shaft rotation actuator on a surgical instrument|
    US11259803B2|2019-06-28|2022-03-01|Cilag Gmbh International|Surgical stapling system having an information encryption protocol|
    US11224497B2|2019-06-28|2022-01-18|Cilag Gmbh International|Surgical systems with multiple RFID tags|
    US11229437B2|2019-06-28|2022-01-25|Cilag Gmbh International|Method for authenticating the compatibility of a staple cartridge with a surgical instrument|
    US11051807B2|2019-06-28|2021-07-06|Cilag Gmbh International|Packaging assembly including a particulate trap|
    US11219455B2|2019-06-28|2022-01-11|Cilag Gmbh International|Surgical instrument including a lockout key|
    US11246678B2|2019-06-28|2022-02-15|Cilag Gmbh International|Surgical stapling system having a frangible RFID tag|
    US11224424B2|2019-08-02|2022-01-18|Covidien Lp|Linear stapling device with vertically movable knife|
    US11123068B2|2019-11-08|2021-09-21|Covidien Lp|Surgical staple cartridge|
    CN112773451A|2019-11-11|2021-05-11|苏州英途康医疗科技有限公司|Surgical instrument|
    US11109862B2|2019-12-12|2021-09-07|Covidien Lp|Surgical stapling device with flexible shaft|
    US11234698B2|2019-12-19|2022-02-01|Cilag Gmbh International|Stapling system comprising a clamp lockout and a firing lockout|
    US11246593B2|2020-03-06|2022-02-15|Covidien Lp|Staple cartridge|
    US11191537B1|2020-05-12|2021-12-07|Covidien Lp|Stapling device with continuously parallel jaws|
    US11191538B1|2020-06-08|2021-12-07|Covidien Lp|Surgical stapling device with parallel jaw closure|
    法律状态:
    2018-09-20| FGA| Letters patent sealed or granted (standard patent)|
    优先权:
    申请号 | 申请日 | 专利标题
    US13/658,219|US9265585B2|2012-10-23|2012-10-23|Surgical instrument with rapid post event detection|
    US13/658,219||2012-10-23||
    [返回顶部]