Surgical instrument for assessing the state of a staple cartridge
A surgical stapling instrument comprising a handle, an elongate shaft, an end effector, a motor couplable with a supply of current, a firing member operably responsive to the motor, a current sensor, and a control circuit is disclosed. The firing member is movable from a proximal position to a distal position during a firing stroke. The control circuit comprises a processor and a memory configured to store instructions which, when executed from the memory cause the processor to activate the motor in response to an actuation input, receive an input from the current sensor regarding the current draw of the motor, deactivate the motor when the current draw of the motor exceeds a threshold current when the firing member is within a threshold distance relative to the proximal position, and retract the firing member to the proximal position.
1. A surgical stapling instrument, comprising:
a handle;
an elongate shaft extending from said handle;
an end effector extending from said elongate shaft, wherein said end effector comprises:
an anvil;
a channel; and
a staple cartridge configured to be replaceably positioned within said channel, wherein said staple cartridge comprises an unfired state prior to being fired and a fired state after being at least partially fired;
a motor, wherein said motor is couplable with a supply of current;
a firing member movable from a proximal position to a distal position during a firing stroke, wherein said firing member moves a stroke distance during said firing stroke, and wherein said firing member is operably responsive to said motor;
a current sensor configured to detect the current draw of said motor; and
a control circuit, comprising:
a processor; and
a memory configured to store instructions which, when executed from said memory cause said processor to:
activate said motor in response to an actuation input;
receive an input from said current sensor regarding the current draw of said motor as said firing member moves toward said distal position;
assess a state of said staple cartridge based on the current draw of said motor when said firing member is within a threshold distance relative to said proximal position, wherein said threshold distance is less than said stroke distance, wherein the current draw of said motor exceeds a threshold current as said firing member moves through said threshold distance when said staple cartridge is positioned in said channel and is in said fired state; and
retract said firing member to said proximal position.
2. The surgical stapling instrument of claim 1 , wherein said threshold distance is less than or equal to 0.06 inches from said proximal position.
3. The surgical stapling instrument of claim 1 , further comprising a lockout, wherein said firing member is prevented from moving distally by said lockout when said staple cartridge is positioned within said channel and is in said fired state.
4. The surgical stapling instrument of claim 1 , further comprising a lockout, wherein said firing member is prevented from moving distally by said lockout when said staple cartridge is not within said channel.
5. A surgical stapling instrument, comprising:
a handle;
an elongate shaft extending from said handle;
an end effector extending from said elongate shaft, wherein said end effector comprises:
an anvil;
a channel; and
a staple cartridge configured to be replaceably positioned within said channel, wherein said staple cartridge comprises a fired state and an unfired state;
a motor, wherein said motor is couplable with a supply of current;
a firing member movable from a proximal position to a distal position during a firing stroke, wherein said firing member moves a stroke distance during said firing stroke, wherein said firing member is operably responsive to said motor;
a current sensor configured to detect the current draw of said motor; and
a control circuit, comprising:
a processor; and
a memory configured to store instructions which, when executed from said memory cause said processor to:
activate said motor in response to an actuation input;
receive an input from said current sensor regarding the current draw of said motor as said firing member moves from said proximal position toward said distal position;
deactivate said motor when the current draw of said motor exceeds a threshold current when said firing member is within a threshold distance relative to said proximal position, wherein said threshold distance is less than said stroke distance; and
retract said firing member to said proximal position.
6. The surgical stapling instrument of claim 5 , wherein said threshold distance is less than or equal to 0.06 inches from said proximal position.
7. The surgical stapling instrument of claim 5 , further comprising a lockout, wherein said firing member is prevented from moving distally by said lockout when said staple cartridge is positioned in said channel and is in said fired state.
8. The surgical stapling instrument of claim 5 , further comprising a lockout, wherein said firing member is prevented from moving distally by said lockout when said staple cartridge is not within said channel.
9. A surgical stapling instrument, comprising:
a housing;
an elongate shaft extending from said housing;
an end effector extending from said elongate shaft, wherein said end effector comprises:
an anvil;
a channel; and
a staple cartridge configured to be replaceably positioned within said channel, wherein said staple cartridge comprises a fired state and an unfired state;
a motor configured to output rotary motions;
a firing member movable between a proximal position and a distal position in response to said rotary motions, wherein said firing member moves from said proximal position to said distal position during a firing stroke, and wherein said firing member moves a stroke distance during said firing stroke;
a power source configured to supply power to said motor;
a current sensor configured to detect the current draw of said motor; and
a control system, comprising:
a memory; and
a processor, wherein said control system is configured to:
activate said motor to move said firing member from said proximal position toward said distal position;
receive an input from said current sensor regarding the current draw of said motor as said firing member moves toward said distal position;
de-activate said motor when the current draw exceeds a threshold current when said firing member is within a threshold distance relative to said proximal position, wherein said threshold distance is less than said stroke distance; and
retract said firing member to said proximal position.
10. The surgical stapling instrument of claim 9 , wherein said threshold distance is less than or equal to 0.06 inches from said proximal position.
11. The surgical stapling instrument of claim 9 , further comprising a lockout, wherein said firing member is prevented from moving distally by said lockout when said staple cartridge is positioned in said channel and is in said fired state.
12. The surgical stapling instrument of claim 9 , further comprising a lockout, wherein said firing member is prevented from moving distally by said lockout when said staple cartridge is not within said channel.