Loading unit velocity and position feedback
A loading unit for a surgical stapling device has a cartridge assembly and an anvil assembly, the cartridge assembly including a channel and a staple cartridge having a plurality of surgical staples therein. An axial drive assembly has a clamping member, the clamping member having an upper flange for engaging the anvil assembly, and a lower flange for engaging the channel. The axial drive assembly is movable through the staple cartridge to drive the staples out of the staple cartridge and against the anvil assembly. Mechanical features are defined in the channel for indicating an end of stroke for the axial drive assembly, the mechanical features having a first pattern and a second pattern.
1. A loading unit for a surgical stapling device, comprising:
a cartridge assembly and an anvil assembly, the cartridge assembly including a channel and a staple cartridge having a plurality of surgical staples therein;
an axial drive assembly with a clamping member, the clamping member having an upper flange for engaging the anvil assembly, and a lower flange for engaging the channel;
mechanical features defined in the channel for indicating an end of stroke for the axial drive assembly, the mechanical features having a first pattern and a second pattern;
a motor coupled to the axial drive assembly, the motor configured to move the axial drive assembly through the staple cartridge to drive the staples out of the staple cartridge and against the anvil assembly; and
a controller coupled to the motor and configured to determine the end of stroke based on a change in torque at the motor in response to the clamping member engaging the mechanical features.
2. The loading unit according to claim 1 , wherein the staple cartridge has a plurality of staple retaining recesses and the surgical staples are disposed in the staple retaining recesses.
3. The loading unit according to claim 2 , wherein the staple retaining recesses are arranged in linear rows.
4. The loading unit according to claim 1 , wherein the axial drive assembly includes a drive beam.
5. The loading unit according to claim 1 , further comprising a sensor for determining a gap between the anvil assembly and the cartridge assembly.
6. A surgical stapling device, comprising an elongate portion and a loading unit according to claim 1 .
7. The surgical stapling device according to claim 6 , further comprising a handle portion.
8. The surgical stapling device according to claim 1 , wherein the controller is configured to determine the end of stroke.
9. The surgical stapling device according to claim 8 , wherein the first pattern of mechanical features has mechanical features of a different size than a size of the mechanical features of the second pattern.
10. The loading unit according to claim 1 , wherein the staple cartridge defines a longitudinal axis and staple retaining recesses arranged in linear rows along the longitudinal axis.
11. The loading unit according to claim 1 , wherein the channel defines a slot.
12. The loading unit according to claim 11 , wherein a distal end of the slot forms the end of stroke.
13. The loading unit according to claim 12 , wherein the second pattern of mechanical features is closer to the distal end of the slot than the first pattern of mechanical features.