METHODS AND SYSTEMS FOR DETECTING CLAMPING OR FIRING FAILURE

摘要

Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.

主权项

1. A method comprising:
driving an actuator of a drive system for an end effector, the end effector having a first jaw and a second jaw for clamping a material and a staple for stapling the material clamped between the first and second jaws, wherein driving the actuator to clamp moves the first jaw toward the second jaw so as to clamp the material between the first and second jaws such that a clamping force is applied and driving the actuator to staple produces a firing force so as to fire the staple into the material clamped between the first and second jaws; continuously monitoring a drive parameter of the drive system during application of the clamping force, the firing force, or both the clamping force and the firing force; comparing the monitored drive parameter to an acceptable range of drive parameters; and outputting, on a user interface, an indicator for indicating success or failure of clamping or firing, wherein the indicator is of failure when the drive parameter during clamping is outside of an acceptable range of desired drive parameters for clamping or when the drive parameter during firing is outside an acceptable range of desired drive parameters for firing.