Handheld electromechanical surgical system

Patent metadata

Field	Value
Publication number	US-12016556-B2
Application number	US-202117246828-A
Country	US
Kind code	B2
Filing date	May 3, 2021
Priority date	May 3, 2021
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A surgical device includes an end effector having a pair of opposing jaw members and a drive beam movable longitudinally through the pair of opposing jaw members thereby approximating the pair of opposing jaw members relative to each other. The device also includes an adapter assembly configured to selectively couple to the end effector. The adapter assembly includes an actuation assembly configured to mechanically engage the drive beam and to move the drive beam longitudinally. The device also includes a handle assembly configured to selectively couple to the adapter assembly. The handle assembly includes: a power source, a motor coupled to the power source, a sensor configured to measure a force imparted on the drive beam, and a motor controller configured to control the motor to maintain constant force on the drive beam based on the force measured by the sensor during longitudinal movement of the drive beam approximating the pair of opposing jaw members closer relative to each other.

First claim

What is claimed is:

1. A surgical device comprising:
a pair of opposing jaw members, wherein one jaw member of the pair of opposing jaw members includes a plurality of staples and a longitudinal slot;
an actuation sled movable through the one jaw member of the pair of opposing jaw members to eject the plurality of staples;
a drive beam movable longitudinally through the pair of opposing jaw members from a proximal-most position of the longitudinal slot to a distal-most end of the longitudinal slot, thereby approximating the pair of opposing jaw members relative to each other and moving the actuation sled through the one jaw member of the pair of opposing jaw members;
a motor configured to move the drive beam;
a sensor configured to measure a force imparted on the drive beam; and
a motor controller configured to control the motor to maintain constant force on the drive beam during approximation of the pair of opposing jaw members relative to each other and ejection of the plurality of staples, wherein constant force is maintained based on the force measured by the sensor during longitudinal movement of the drive beam until the drive beam reaches the distal-most end of the longitudinal slot.

2. The surgical device according to claim 1 , wherein the drive beam further includes a distally facing knife.

3. The surgical device according to claim 1 , wherein the motor controller includes a proportional-integral-derivative (PID) controller configured to receive the measured force as input and to output motor control signals to maintain the constant force on the drive beam.

4. The surgical device according to claim 3 , wherein the motor control signals are pulse-width-modulated.

5. The surgical device according to claim 3 , wherein the motor controller is further configured to ramp up to the constant force at a constant rate.

6. The surgical device according to claim 1 , further comprising:
a handle assembly including:
a user input button; and
a main controller configured to receive an input signal from the user input button and to signal the motor controller to control the motor.

7. A surgical device comprising:
an end effector including:
an anvil assembly;
a cartridge assembly having a plurality of staples and a longitudinal slot; and
a drive beam movable longitudinally through the anvil assembly and the cartridge assembly thereby approximating the anvil assembly and the cartridge assembly from a proximal-most position of the longitudinal slot to a distal-most end of the longitudinal slot relative to each other and ejecting the plurality of staples;

an adapter assembly configured to selectively couple to the end effector, the adapter assembly including an actuation assembly configured to mechanically engage the drive beam and to move the drive beam longitudinally; and
a handle assembly configured to selectively couple to the adapter assembly, the handle assembly including:
a power source;
a motor coupled to the power source;
a sensor configured to measure a force imparted on the drive beam; and
a motor controller configured to control the motor to maintain constant force on the drive beam during approximation of the anvil assembly and the cartridge assembly relative to each other and ejection of the plurality of staples, wherein constant force is maintained based on the force measured by the sensor during longitudinal movement of the drive beam until the drive beam reaches the distal-most end of the longitudinal slot.

8. The surgical device according to claim 7 , wherein the end effector further includes an actuation sled movable through the cartridge assembly and configured to eject the plurality of staples.

9. The surgical device according to claim 8 , wherein the drive beam is configured to engage the actuation sled to move the actuation sled through the cartridge assembly.

10. The surgical device according to claim 7 , wherein the drive beam further includes a distally facing knife.

11. The surgical device according to claim 7 , wherein the motor controller includes a proportional-integral-derivative (PID) controller configured to receive the measured force as input and to output motor control signals to maintain the constant force on the drive beam.

12. The surgical device according to claim 11 , wherein the motor control signals are pulse-width-modulated.

13. The surgical device according to claim 11 , wherein the motor controller is configured to ramp up to the constant force at a constant rate.

14. A method for controlling a surgical device, the method comprising:
activating a motor coupled to a drive beam configured to move longitudinally through an anvil assembly and a longitudinal slot of a cartridge assembly of an end effector from a proximal-most position of the longitudinal slot to a distal-most end of the longitudinal slot;
approximating the anvil assembly and the cartridge assembly relative to each other;
ejecting a plurality of staples disposed in the cartridge assembly;
measuring force imparted on the drive beam; and
controlling the force imparted on the drive beam to remain constant at a setpoint during longitudinal movement of the drive beam while the anvil assembly and the cartridge assembly are approximated relative to each other and the plurality of staples are ejected, wherein constant force is maintained based on the force measured during longitudinal movement of the drive beam until the drive beam reaches the distal-most end of the longitudinal slot.

15. The method according to claim 14 , further comprising ramping up the force imparted on the drive beam at a constant rate to reach the setpoint.

16. The method according to claim 14 , further comprising:
advancing a knife through the anvil assembly and the cartridge assembly.

17. The method according to claim 14 , wherein controlling the force further includes:
processing the measured force as input at a proportional-integral-derivative (PID) controller; and
outputting motor control signals from the PID controller to maintain the constant force on the drive beam.

Assignees

• Covidien Lp

Inventors

• Evans Christopher K
• Knapp Robert H

Classifications

• A61B2017/07285

  characterised by its cutter · CPC title

• A61B2017/07278

  characterised by its sled or its staple holder · CPC title

• A61B2017/07271

  characterised by its cartridge · CPC title

• A61B2017/07257

  characterised by its anvil · CPC title

• A61B17/072

  for applying a row of staples in a single action, e.g. the staples being applied simultaneously · CPC title