Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems
A method for controlling a powered surgical stapler that includes an end effector with jaws that are movable between an open and a closed position and a firing member that is movable between a starting position and an ending position within the end effector. The jaws and firing member are controlled by separate rotary systems and the end effector includes a firing member lockout system that prevents axial movement of the firing member unless the surgical staple cartridge is in ready to fire condition.
1. A method for controlling a powered surgical stapler that includes an end effector with a second jaw that is movable between an open position and a closed position relative to a first jaw of the end effector, wherein the first jaw comprises an onboard rotary drive shaft configured to drive a firing member that is movable between a starting position and an ending position within the end effector, and wherein said method comprises:
installing a surgical staple cartridge in the first jaw of the end effector such that a camming assembly that is movably supported in the surgical staple cartridge for axial travel therein between an unfired position and a fired position is positioned to drivingly engage the onboard rotary drive shaft in the first jaw;
generating a first rotary control motion;
converting the first rotary control motion to a first axial motion;
converting the first axial motion to a pivoting closure motion;
applying the pivoting closure motion to the second jaw to pivot the second jaw to the closed position;
generating a second rotary control motion;
applying the second rotary control motion to the onboard rotary drive shaft, wherein said generating the first rotary control motion is maintained during said applying the second rotary control motion to the onboard rotary drive shaft; and
preventing axial movement of the firing member from the starting position to the ending position unless the camming assembly in the installed surgical staple cartridge is in the unfired position.
2. The method of claim 1 , wherein said preventing axial movement comprises:
engaging a firing member lockout system in a locked position to prevent axial movement of the firing member prior to said installing; and
maintaining the firing member lockout system in the locked position unless the camming assembly in the installed surgical staple cartridge is in the unfired position in which the camming assembly unlockingly engages the firing member lockout system when the surgical staple cartridge is installed in the end effector.
3. The method of claim 1 , further comprising preventing the second jaw from moving to the closed position unless the installed surgical staple cartridge is compatible with the end effector.
4. The method of claim 3 , wherein said preventing the second jaw from moving to the closed position comprises:
engaging a closure lockout system in a locked open position to prevent the second jaw from pivoting to the closed position; and
maintaining the closure lockout system in the locked open position unless an unlocking feature is present on the installed surgical staple cartridge to unlockingly engage the closure lockout system when the surgical staple cartridge is installed in the end effector.
5. The method of claim 1 , wherein the camming assembly is configured to be axially moved through the surgical staple cartridge upon said generating the second rotary control motion.
6. The method of claim 5 , wherein the camming assembly is configured to threadably interface with the onboard rotary drive shaft.
7. The method of claim 5 , wherein the camming assembly includes a movable cutting member that is movable from a deployed position to a stored position.
8. The method of claim 7 , further comprising moving the cutting member to the stored position when the firing member has reached the ending position.
9. The method of claim 1 , wherein said generating the first rotary control motion is discontinued after said applying the pivoting closure motion to the second jaw to pivot the second jaw to the closed position.
10. A method for controlling a powered surgical stapler that includes an end effector with jaws that are movable between an open position and a closed position by an axially movable closure member, wherein a first jaw of the jaws comprises a rotary drive shaft configured to axially drive a firing member between a starting position and an ending position within the end effector, and wherein said method comprises:
installing a surgical staple cartridge in the first jaw of the jaws such that a camming assembly that is axially movable between an unfired position and a fired position within the surgical staple cartridge drivingly engages the rotary drive shaft;
applying a first rotary control motion to the axially movable closure member to cause the axially movable closure member to apply a closure motion to the jaws to move the jaws to the closed position;
applying a second rotary control motion to the firing member, wherein said applying the first rotary control motion is maintained during said applying the second rotary control motion to the firing member; and
preventing axial movement of the firing member from the starting position to the ending position unless the camming assembly in the installed surgical staple cartridge is in the unfired position.
11. The method of claim 10 , wherein said preventing axial movement comprises:
engaging a firing member lockout system in a locked position to prevent axial movement of the firing member prior to said installing; and
maintaining the firing member lockout system in the locked position unless the camming assembly in the installed surgical staple cartridge unlockingly engages the firing member lockout system when the surgical staple cartridge is installed in the end effector.
12. The method of claim 10 , wherein said applying the first rotary control motion is periodically maintained during said applying the second rotary control motion to the firing member while the firing member moves from the starting position to the ending position within the end effector.
13. The method of claim 10 , wherein said applying the first rotary control motion to the axially movable closure member to cause the axially movable closure member to apply the closure motion to the jaws to move the jaws to the closed position comprises energizing a closure motor to apply a rotary closure motion to a rotary closure shaft that rotatably interfaces with the axially movable closure member, and wherein said applying the second rotary control motion to the firing member comprises energizing a firing motor to apply a rotary firing motion to the rotary drive shaft.
14. The method of claim 13 , further comprising:
discontinuing said energizing of the closure motor after the axially movable closure member has moved the jaws to the closed position;
monitoring an amount of current drawn by the firing motor while the firing member is moved from the starting position to the ending position; and
re-energizing the closure motor to apply rotary closure motions to the axially movable closure member when the amount of current drawn by the firing motor exceeds a predetermined threshold.
15. A method for controlling a powered surgical stapler that includes an end effector with jaws that are movable between an open position and a closed position by an axially movable closure member, wherein a first jaw of the jaws comprises a rotary drive shaft configured to axially drive a firing member between a starting position and an ending position within the end effector, and wherein said method comprises:
installing a surgical staple cartridge in the first jaw of the jaws such that a camming assembly that is axially movable between an unfired position and a fired position within the surgical staple cartridge drivingly engages the rotary drive shaft;
applying a first rotary control motion to the axially movable closure member to cause the axially movable closure member to apply a closure motion to the jaws to move the jaws to the closed position;
applying a second rotary control motion to the firing member, wherein said applying the first rotary control motion is periodically maintained during said applying the second rotary control motion to the firing member while the firing member moves from the starting position to the ending position within the end effector; and
preventing axial movement of the firing member from the starting position to the ending position unless the camming assembly in the installed surgical staple cartridge is in the unfired position.
16. The method of claim 15 , wherein said preventing axial movement comprises:
engaging a firing member lockout system in a locked position to prevent axial movement of the firing member prior to said installing; and
maintaining the firing member lockout system in the locked position unless the camming assembly in the installed surgical staple cartridge unlockingly engages the firing member lockout system when the surgical staple cartridge is installed in the end effector.
17. The method of claim 15 , wherein said applying the first rotary control motion to the axially movable closure member to cause the axially movable closure member to apply the closure motion to the jaws to move the jaws to the closed position comprises energizing a closure motor to apply a rotary closure motion to a rotary closure shaft that rotatably interfaces with the axially movable closure member, and wherein said applying the second rotary control motion to the firing member comprises energizing a firing motor to apply a rotary firing motion to the rotary drive shaft.
18. A method for controlling a powered surgical stapler that includes an end effector with jaws that are movable between an open position and a closed position by an axially movable closure member, wherein a first jaw of the jaws comprises a rotary drive shaft configured to axially drive a firing member between a starting position and an ending position within the end effector, and wherein said method comprises:
installing a surgical staple cartridge in the first jaw of the jaws such that a camming assembly that is axially movable between an unfired position and a fired position within the surgical staple cartridge drivingly engages the rotary drive shaft;
applying a first rotary control motion to the axially movable closure member to cause the axially movable closure member to apply a closure motion to the jaws to move the jaws to the closed position, wherein said applying the first rotary control motion comprises energizing a closure motor to apply a rotary closure motion to a rotary closure shaft that rotatably interfaces with the axially movable closure member;
applying a second rotary control motion to the firing member, wherein said applying the second rotary control motion to the firing member comprises energizing a firing motor to apply a rotary firing motion to the rotary drive shaft;
preventing axial movement of the firing member from the starting position to the ending position unless the camming assembly in the installed surgical staple cartridge is in the unfired position;
discontinuing said energizing of the closure motor after the axially movable closure member has moved the jaws to the closed position;
monitoring an amount of current drawn by the firing motor while the firing member is moved from the starting position to the ending position; and
re-energizing the closure motor to apply other rotary closure motions to the axially movable closure member when the amount of current drawn by the firing motor exceeds a predetermined threshold.