Surgical stapler knife motion controls
A surgical instrument includes an end effector, a firing member movable distally to effect a firing motion at the end effector, wherein the firing member comprises a cam slot, and a lockout pawl. The lockout pawl has a cam feature receivable in the cam slot, wherein the cam slot is configured to guide the cam feature to cause a rotation of the lockout pawl between a first position where the lockout pawl permits the distal movement of the firing member, and a second position where the lockout pawl prevents the distal movement of the firing member.
1 . A surgical instrument, comprising:
an end effector;
a motor;
a firing beam drivable by the motor to implement a firing motion and a retraction motion, wherein the firing beam moves within the end effector away from a first position towards a second position during the firing motion and moves away from the second position towards the first position during the retraction motion;
a sensor to detect the firing beam in the first position; and
a control circuit operatively coupled to the motor and the sensor, wherein the control circuit is to:
activate the motor to implement the firing motion;
activate the motor to implement the retraction motion; and
deactivate the motor based on the sensor detecting the firing beam in the first position during the retraction motion, wherein the end effector comprises a hard stop to block the firing beam from moving past the first position during the retraction motion, and wherein the sensor is to detect a force of the firing beam against the hard stop.
2 . The surgical instrument of claim 1 , wherein the sensor comprises a load cell.
3 . The surgical instrument of claim 2 , wherein the control circuit is to deactivate the motor based on comparing the force detected by the sensor to a predetermined threshold.
4 . The surgical instrument of claim 1 , wherein the first position is a proximal position in the end effector, and wherein the second position is a distal position in the end effector.
5 . The surgical instrument of claim 1 , further comprising a motor driver operatively coupled to the motor and the control circuit.
6 . The surgical instrument of claim 1 , wherein the end effector is to receive a staple cartridge, and wherein the firing motion is to eject staples from the staple cartridge.
7 . The surgical instrument of claim 1 , further comprising a lockout pawl to lock the firing beam in the first position after the retraction motion to prevent a second firing motion.
8 . The surgical instrument of claim 7 , wherein the firing beam comprises a cam slot, a protrusion, and a retaining pocket, wherein the lockout pawl comprises a cam receivable in the cam slot during the retraction motion, wherein the cam slot is to guide the cam and move the lockout pawl toward locking the firing beam in the first position, and wherein the retaining pocket is configured to receive the cam such that the lockout pawl locks the firing beam in the first position.
9 . The surgical instrument of claim 8 , wherein the end effector is configured to receive a staple cartridge comprising a sled, wherein the firing beam is to push the sled from an unfired position to a fired position during the firing motion, and wherein the sled in the unfired position prevents the lockout pawl from locking the firing beam in the first position.
10 . A control circuit comprising a processor configured to:
activate a motor of a surgical instrument to implement a firing motion that causes a firing beam to move within an end effector of the surgical instrument away from a first position towards a second position;
activate the motor of the surgical instrument to implement a retraction motion that causes the firing beam to move within the end effector of the surgical instrument away from the second position towards the first position;
receive a signal from a sensor of the surgical instrument indicating that the firing beam is in the first position during the retraction motion; and
deactivate the motor based on receiving the signal, wherein the signal received from the sensor indicates a force of the firing beam against a hard stop blocking the firing beam from moving past the first position during the retraction motion.
11 . The control circuit of claim 10 , wherein the signal received from the sensor is a load cell signal.
12 . The control circuit of claim 10 , wherein the processor is configured to deactivate the motor based on comparing the force indicated by the signal to a predetermined threshold.
13 . The control circuit of claim 11 , further comprising a motor driver to activate and deactivate the motor.