Systems and methods for operating an end effector

Patent metadata

Field	Value
Publication number	US-12232829-B2
Application number	US-202318485714-A
Country	US
Kind code	B2
Filing date	Oct 12, 2023
Priority date	Feb 15, 2011
Publication date	Feb 25, 2025
Grant date	Feb 25, 2025

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, a user interface, and a processor. The processor is configured to actuate the drive system to clamp the material using the end effector and in response to detecting successful clamping of the material, display a timer on the user interface. The timer provides an indication of when conditions will be safe to proceed with stapling of the material clamped 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;
a user interface; and
a processor configured to:
actuate the drive system to clamp the material using the end effector; and
in response to detecting successful clamping of the material, display a timer on the user interface, the timer providing an indication of when conditions will be safe to proceed with stapling of the material clamped by the end effector.

2. The apparatus of claim 1 , wherein the timer further indicates an amount of time since the clamping of the material.

3. The apparatus of claim 1 , wherein the timer further indicates a countdown of a predetermined period of time.

4. The apparatus of claim 3 , 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 a staple to be applied by the end effector, or a type of the staple.

5. The apparatus of claim 1 , wherein the processor is further configured to display, on the user interface, an indicator of when it is safe to proceed with the stapling of the material clamped by the end effector.

6. The apparatus of claim 1 , wherein the processor is further configured to emit an audio sound, cause a haptic response, or emit the audio sound and cause the haptic response when it is safe to proceed with the stapling of the material clamped by the end effector.

7. The apparatus of claim 1 , wherein the processor is further configured to:
actuate the drive system to staple the material; and
after actuating the drive system to staple the material, display a second timer on the user interface, the second timer providing an indication of how much longer clamping of the material should continue after stapling the material.

8. The apparatus of claim 1 , wherein the processor is further configured to:
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
display the prediction on the user interface.

9. The apparatus of claim 8 , 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.

10. The apparatus of claim 8 , wherein the 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.

11. A method comprising:
using, by a processor, a drive system to grasp a material using an end effector; and
in response to detecting successful clamping of the material, displaying, by the processor on a user interface, a timer providing an indication of when conditions will be safe to proceed with stapling of the material clamped by the end effector.

12. The method of claim 11 , wherein the timer further indicates an amount of time since the clamping of the material.

13. The method of claim 11 , wherein the timer further indicates a countdown of a predetermined period of time.

14. The method of claim 13 , further comprising determining, by the processor, the predetermined period of time 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 a staple to be applied by the end effector, or a type of the staple.

15. The method of claim 11 , further comprising displaying, by the processor on the user interface, an indicator of when it is safe to proceed with the stapling of the material clamped by the end effector.

16. The method of claim 11 , further comprising emitting an audio sound, causing a haptic response, or emitting the audio sound and causing the haptic response when it is safe to proceed with the stapling of the material clamped by the end effector.

17. The method of claim 11 , further comprising:
using, by the processor, the drive system to staple the material; and
after using the drive system to staple the material, displaying, by the processor, a second timer on the user interface, the second timer providing an indication of how much longer clamping of the material should continue after stapling the material.

18. The method of claim 11 , further comprising:
determining, by the processor, a grasping separation parameter of the end effector;
determining, by the processor 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
displaying, by the processor on the user interface, the prediction.

19. The method of claim 18 , 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.

20. The method of claim 18 , further comprising determining, by the processor, the grasping separation parameter 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.

Assignees

• Intuitive Surgical Operations

Inventors

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

Classifications

• G06F3/16

  Sound input; Sound output (speech processing G10L) · CPC title

• G06F3/14

  Digital output to display device {; Cooperation and interconnection of the display device with other functional units} · CPC title

• G06F3/016

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• A61B2017/2808

  Clamp, e.g. towel clamp · CPC title

• A61B2017/00132

  Setting operation time of a device (A61B2017/00123 takes precedence) · CPC title