Methods and systems for detecting staple cartridge misfire or failure
A method of controlling a surgical stapler system includes transmitting an actuation force to a staple cartridge to actuate a staple firing procedure, the staple cartridge being removably received by a portion of an end effector of a surgical instrument, measuring the transmitted actuation force, and controlling continued transmission of the actuation force based on a comparison of the measured actuation force to a range defined from a minimum threshold actuation force to a maximum threshold actuation force.
1. A method of controlling a surgical stapler system, comprising:
in response to input at a drive system, transmitting an actuation force to actuate a surgical instrument end effector to perform a stapling procedure, the surgical instrucment end effector comprising a removable staple cartridge;
measuring the transmitted actuation force; and
controlling continued transmission of the actuation force to the end effector based on a comparison of the measured actuation force to a range defined from a minimum threshold actuation force to a maximum threshold actuation force.
2. The method of claim 1 , wherein controlling the continued transmission of the actuation force comprises:
stopping transmission of the actuation force if the measured actuation force is outside the defined range, or
continuing transmission of the actuation force if the measured actuation force is within the defined range.
3. The method of claim 2 , wherein the actuation force is chosen from a force to actuate the surgical instrument end effector to perform a clamping function or a force to actuate the surgical instrument end effector to perform a staple firing function.
4. The method of claim 1 , wherein transmitting the actuation force to actuate the surgical instrument end effector causes a clamping movement of the surgical instrument end effector.
5. The method of claim 1 , further comprising:
indicating on a user interface a stapling procedure failure if the measured actuation force is outside the defined range.
6. The method of claim 5 , wherein an indication of stapling procedure failure is indicated on the user interface as a percentile range based on the comparison of the measured actuation force to the defined range.
7. The method of claim 1 , wherein transmitting the actuation force to actuate the surgical instrument end effector comprises moving one of a surgical blade of the surgical instrument end effector or deploying a staple deployment element of the staple cartridge.
8. The method of claim 7 , further comprising:
stopping movement of the surgical blade of the surgical instrument end effector if the measured actuation force is outside the defined range.
9. The method of claim 7 , further comprising:
stopping deployment of the staple deployment element of the staple cartridge if the measured actuation force is outside the defined range.
10. The method of claim 1 , wherein controlling the continued transmission of the actuation force comprises continuing transmission of the actuation force to actuate a staple deployment element of the staple cartridge to deploy one or more staples in the staple cartridge if the measured actuation force is within the defined range.
11. The method of claim 1 , wherein controlling the continued transmission of the actuation force comprises continuing transmission of the actuation force to actuate the surgical instrument end effector to perform a clamping function if the measured actuation force is within the defined range.
12. The method of claim 1 , further comprising:
indicating on a user interface jamming of a staple in the staple cartridge if the measured actuation force is greater than the maximum threshold actuation force.
13. The method of claim 1 , further comprising:
outputting an indication on a user interface of a status of the stapling procedure, wherein the status indicates a staple firing failure of the staple cartridge and/or clamping failure of jaws of the surgical instrument end effector.
14. The method of claim 13 , wherein:
outputting the indication on the user interface comprises outputting an indication of failure of the stapling procedure in response to the measured transmitted actuation force being outside the defined range.
15. The method of claim 1 , wherein the drive system comprises a motor and measuring the transmitted actuation force comprises measuring a drive parameter of the motor.
16. The method of claim 1 , wherein:
the drive system comprises an actuator operably coupled to actuate the surgical instrument end effector; and
measuring the transmitted actuation force comprises detecting a displacement, velocity, and/or position of the actuator during the stapling procedure.
17. The method of claim 16 , further comprising:
outputting an indication of staple firing failure on a user interface in response to a detected displacement, velocity, and/or position of the actuator being outside defined ranges for the detected displacement, velocity, and position of the actuator; and
terminating a firing sequence of the staple cartridge in response to the detected displacement, velocity, and/or position of the actuator being outside the defined ranges.
18. The method of claim 1 , wherein transmitting the actuation force to actuate the surgical instrument end effector causes actuation of a staple deployment element of the staple cartridge.
19. The method of claim 18 , further comprising:
prior to transmitting the actuation force to cause actuation of the staple deployment element, transmitting a clamping actuation force to actuate the surgical instrument end effector to exert a clamping force; and
maintaining the clamping force of the surgical instrument end effector while stopping transmission of the actuation force to cause actuation of the staple deployment element of the staple cartridge if the measured actuation force is outside the defined range.