Systems and methods for operating an end effector

Patent metadata

Field	Value
Publication number	US-11832900-B2
Application number	US-202117306721-A
Country	US
Kind code	B2
Filing date	May 3, 2021
Priority date	Feb 15, 2011
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

First claim

What is claimed is:

1. An apparatus comprising:
an end effector for grasping a material;
a drive system coupled to the end effector; and
a processor configured to:
use the drive system to grasp the material using the end effector;
determine a grasping separation parameter of the end effector;
determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material; and
based on the determined grasping separation parameter, output an indicator of whether conditions are safe to proceed with stapling of the material grasped by the end effector.

2. The apparatus of claim 1 , wherein:
the end effector comprises a first jaw and a second jaw for grasping the material; and
the grasping separation parameter is a distance between the first jaw and the second jaw or an angle between the first jaw and the second jaw.

3. The apparatus of claim 1 , wherein the determined grasping separation parameter is determined based on one or more of an angle of articulation of the end effector, a thickness of the material, a type of the material, a characteristic of the material, a length of a staple to be applied by the end effector, or a size of the staple.

4. The apparatus of claim 1 , wherein the processor is further configured to delay firing of a staple for a predetermined period of time after clamping of the material.

5. The apparatus of claim 4 , wherein the predetermined period of time is determined based on one or more of a type of the end effector, a thickness of the material, a type of the material, a size of the staple, or a type of the staple.

6. The apparatus of claim 4 , wherein the indicator further comprises an amount of time since the clamping of the material or a countdown of the predetermined period of time.

7. The apparatus of claim 1 , wherein the indicator further comprises an audio sound, a haptic response, or a combination of the audio sound and the haptic response.

8. The apparatus of claim 1 , wherein the indicator comprises a visual element that toggles between a wait indication and a safe to proceed indication.

9. The apparatus of claim 1 , wherein the processor is further configured to indicate a change in status of the indicator using a change in color of the indicator, an audio sound, or a combination of the change in color and the audio sound.

10. The apparatus of claim 1 , wherein the indicator further indicates a likelihood of success or failure in clamping the material at a clamping force.

11. A method comprising:
using, by a processor, a drive system to grasp a material using an end effector;
determining, by the processor, a grasping separation parameter of the end effector;
determining, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material; and
based on the determined grasping separation parameter, output an indicator of whether conditions are safe to proceed with stapling of the material grasped by the end effector.

12. The method of claim 11 , wherein:
the end effector comprises a first jaw and a second jaw for grasping the material; and
the grasping separation parameter is a distance between the first jaw and the second jaw or an angle between the first jaw and the second jaw.

13. The method of claim 11 , wherein the determined grasping separation parameter is determined based on one or more of an angle of articulation of the end effector, a thickness of the material, a type of the material, a characteristic of the material, a length of a staple to be applied by the end effector, or a size of the staple.

14. The method of claim 11 , further comprising, delaying, by the processor, firing of a staple for a predetermined period of time after clamping of the material.

15. The method of claim 14 , wherein the predetermined period of time is determined based on one or more of a type of the end effector, a thickness of the material, a type of the material, a size of the staple, or a type of the staple.

16. The method of claim 14 , wherein the indicator further comprises an amount of time since the clamping of the material or a countdown of the predetermined period of time.

17. The method of claim 11 , wherein the indicator further comprises an audio sound, a haptic response, or a combination of the audio sound and the haptic response.

18. The method of claim 11 , wherein the indicator further comprises a visual element that toggles between a wait indication and a safe to proceed indication.

19. The method of claim 11 , further comprising indicating, by the processor, a change in status of the indicator using a change in color of the indicator, an audio sound, or a combination of the change in color and the audio sound.

20. The method of claim 11 , wherein the indicator further indicates a likelihood of success or failure in clamping the material at a clamping force.

Assignees

• Intuitive Surgical Operations

Inventors

• Weir David W
• Duque Grant
• Durant Kevin
• Flanagan Patrick
• Nixon Margaret M
• Robinson David W
• Zabinski John W

Classifications

• A61B34/25 Primary

  User interfaces for surgical systems · CPC title

• A61B17/00

  Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) · CPC title

• A61B17/07207 Primary

  the staples being applied sequentially · CPC title

• A61B17/28

  Surgical forceps (biopsy forceps A61B10/06; {for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201;} obstetrical forceps A61B17/44) · CPC title

• A61B17/29

  Forceps for use in minimally invasive surgery · CPC title