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1. (WO2019043507) CIRCULAR STAPLER
Anmerkung: Text basiert auf automatischer optischer Zeichenerkennung (OCR). Verwenden Sie bitte aus rechtlichen Gründen die PDF-Version.

What is claimed is:

1. A surgical stapling system, comprising:

a circular stapling tool having a housing and an instrument shaft extending therefrom with an end effector at a distal end thereof, the end effector including a staple deck and an anvil movable relative to the staple deck, the circular stapling tool being configured to drive inner and outer circular rows of staples through tissue engaged between the staple deck and the anvil to thereby staple the tissue, and being configured to drive a knife through tissue engaged between the staple deck and the anvil to thereby cut the tissue; and

a control system configured to communicate with the circular stapling tool and configured to selectively actuate the circular stapling tool to independently drive any one of the inner circular row of staples, the outer circular row of staples, and the knife.

2. The surgical stapling system of claim 1 , wherein the control system is configured to initiate actuation of the knife prior to commencement of actuation of at least one of the inner circular row of staples and the outer circular row of staples.

3. The surgical system of claim 1, wherein the housing comprises a tool mounting portion configured to mount to a motor housing on a surgical robot.

4. The surgical system of claim 1, wherein the control system is configured to control a displacement of the anvil from the staple deck and drive the knife when a threshold displacement is reached.

5. The surgical system of claim 1, wherein the control system is configured to monitor a displacement of the knife from the housing and retract the knife when the knife reaches a threshold displacement away from the housing.

6. The surgical system of claim 1, wherein the control system is configured to drive any one of the inner circular row of staples, the outer circular row of staples, and the knife based on a predetermined time offset after driving one of the others of the inner circular row of staples, the outer circular row of staples, and the knife.

7. The surgical stapling system of claim 1 , wherein the circular stapling tool includes an inner staple drive assembly operable to drive the inner circular row of staples through the staple deck toward the anvil, an outer staple drive assembly operable to drive the outer circular row of staples through the staple deck toward the anvil, and a knife drive assembly configured to drive the knife through the staple deck toward the anvil.

8. The surgical system of claim 7, wherein the control system is configured to control a travel distance of the inner staple drive assembly and the outer staple drive assembly.

9. The surgical system of claim 7, wherein the control system is configured to control a rate of advancement of at least one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly based on a measured thickness of a tissue engaged between the anvil and the staple deck.

10. A surgical stapling system, comprising:

an electromechanical tool including an instrument shaft and an end effector at a distal end thereof, the end effector including

a staple deck having inner and outer rows of staples disposed therein, an anvil movable relative to the staple deck,

an inner staple driver operable to drive the inner row of staples through the staple deck toward the anvil,

an outer staple driver operable to drive the outer row of staples through the staple deck toward the anvil,

a knife movable through an opening in the staple deck for cutting tissue engaged between the staple deck and the anvil;

a housing coupled to the shaft, the housing having drive assemblies comprising

an inner staple drive assembly operable to drive the inner stapler driver, an outer staple drive assembly operable to drive the outer staple driver, a knife drive assembly operable to drive the knife; and

a control system configured to communicate with the electromechanical tool and configured to selectively initiate actuation of each of the drive assemblies such that any one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly can be actuated prior to commencement of actuation of any other one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly.

11. The surgical system of claim 10, wherein the control system is configured to control a travel distance of the inner staple drive assembly and the outer staple drive assembly to thereby control a shape of staples being formed by the anvil.

12. The surgical system of claim 10, wherein the control system is configured to control a rate of advancement of at least one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly based on a measured thickness of a tissue engaged between the anvil and the staple deck.

13. The surgical system of claim 10, wherein the housing comprises a tool mounting portion configured to mount to a motor housing on a surgical robot.

14. A method for stapling tissue, comprising:

manipulating a surgical stapling device to engage tissue between an anvil and a staple deck on an end effector of the surgical stapling device;

inputting a command into a control system to instructing the control system to initiate actuation of the surgical stapling device, the control system communicating with the surgical stapling device to independently actuate each of

an inner staple drive assembly to drive an inner circular row of staples from the staple deck toward the anvil to staple the tissue engaged therebetween,

an outer staple drive assembly to drive an outer circular row of staples from the staple deck toward the anvil to staple the tissue engaged therebetween, and

a knife drive assembly to drive a knife from the staple deck toward the anvil to cut the tissue engaged therebetween.

15. The method of claim 14, wherein the control system wirelessly communicates with the surgical stapling device to actuate the surgical stapling device.

16. The method of claim 14, wherein the control system controls a travel distance of the inner staple drive assembly and the outer staple drive assembly to thereby control a shape of staples being formed by the anvil.

17. The method of claim 16, wherein the travel distance is controlled based on a measured thickness of the tissue engaged between the staple deck and the anvil.

18. The method of claim 14, wherein the control system controls a rate of advancement of at least one of the inner staple drive assembly, the outer staple drive assembly, and the knife drive assembly based on a measured thickness of the tissue engaged between the staple deck and the anvil.

19. The method of claim 14, wherein manipulating a surgical stapling device comprises manipulating a user input device wirelessly coupled to a surgical robotic system having the surgical stapling device coupled thereto.

20. The method of claim 14, wherein manipulating a surgical stapling device comprises manipulating a handle housing of the surgical stapling device.

21. A surgical stapling system, comprising:

a circular stapling tool having a housing and an instrument shaft extending therefrom with an end effector at a distal end thereof, the end effector including a staple deck and an anvil movable relative to the staple deck, the circular stapling tool having a staple drive assembly configured to drive inner and outer circular rows of staples through tissue engaged between the staple deck and the anvil to thereby staple the tissue, and having a knife drive assembly configured to drive a knife through tissue engaged between the staple deck and the anvil to thereby cut the tissue; and

a control system configured to control advancement of the knife drive assembly toward the anvil, and configured to stop advancement of the knife drive assembly when the control system detects that the knife has fully passed through tissue engaged between the staple deck and the anvil.

22. The surgical stapling system of claim 21, wherein the control system detects that the knife has fully passed through tissue by monitoring a force required to advance the knife drive assembly.

23. The surgical stapling system of claim 22, wherein, when the force required to advance the knife drive assembly changes at a rate that exceeds a predetermined threshold rate of change, the control system stops advancement of the knife drive assembly.

24. The surgical stapling system of claim 22, wherein, when the force required to advance the knife drive assembly changes by an amount that exceeds a predetermined delta, the control system stops advancement of the knife drive assembly.

25. The surgical stapling system of claim 22, wherein the knife drive assembly is coupled to a motor that advances the knife drive assembly, and wherein the force to advance the knife drive assembly is measured based on a current required to drive the motor.

26. The surgical stapling system of claim 21, wherein the control system detects that the knife has fully passed through tissue by monitoring a velocity of the knife drive assembly.

27. The surgical stapling system of claim 26, wherein, when the velocity of the knife drive assembly changes by an amount that exceeds a predetermined delta, the control system stops advancement of the knife drive assembly.

28. The surgical stapling system of claim 21, wherein the control system stops advancement of the knife drive assembly when the knife contacts a knife support surface on the anvil.

29. The surgical system of claim 21, wherein the housing comprises a tool mounting portion configured to mount to a motor housing on a surgical robot, and wherein the control system is coupled to the surgical robot.

30. The surgical system of claim 21, wherein the housing includes at least one motor disposed therein for driving the staple drive assembly and the knife drive assembly, and at least one actuator thereon for actuating the at least one motor.

31. A surgical stapling system, comprising:

an electromechanical tool including an instrument shaft and an end effector at a distal end thereof, the end effector including

a staple deck having inner and outer rows of staples disposed therein,

an anvil movable relative to the staple deck,

an inner staple driver operable to drive the inner row of staples through the staple deck toward the anvil,

an outer staple driver operable to drive the outer row of staples through the staple deck toward the anvil,

a knife movable through an opening in the staple deck for cutting tissue engaged between the staple deck and the anvil;

a housing coupled to the shaft, the housing having drive assemblies comprising at least one staple drive assembly operable to drive the inner and outer staple drivers, and

a knife drive assembly operable to drive the knife; and

a control system configured to communicate with the electromechanical tool and configured to actuate and control the drive assemblies, the control system being configured to control the knife drive assembly based on at least one of a force required to advance the knife drive assembly and a velocity of the knife drive assembly.

32. The surgical stapling system of claim 27, wherein the at least one staple drive assembly comprises an inner staple drive assembly operable to drive the inner staple drivers, and an outer drive assembly operable to drive the outer staple drivers.

33. The surgical stapling system of claim 27, wherein the control system is configured to detect passage of the knife through tissue engaged between the staple deck and the anvil based on at least one of the force and the velocity.

34. The surgical stapling system of claim 33, wherein the control system is configured to stop advancement of the knife drive assembly when the control system detects passage of the knife through tissue engaged between the staple deck and the anvil based on at least one of the force and the velocity.

35. The surgical stapling system of claim 27, wherein, when the force required to advance the knife drive assembly changes at a rate that exceeds a predetermined threshold rate of change, the control system stops advancement of the knife drive assembly.

36. The surgical stapling system of claim 27, wherein, when the force required to advance the knife drive assembly changes by an amount that exceeds a predetermined delta, the control system stops advancement of the knife drive assembly.

37. The surgical stapling system of claim 27, wherein the knife drive assembly is coupled to a motor that advances the knife drive assembly, and wherein the force to advance the knife drive assembly is measured based on a current required to drive the motor.

38. The surgical stapling system of claim 27, wherein, when the velocity of the knife drive assembly changes by an amount that exceeds a predetermined delta, the control system stops advancement of the knife drive assembly.

39. The surgical stapling system of claim 27, wherein the control system is configured to stop advancement of the knife drive assembly when the knife contacts a knife support surface on the anvil.

40. A method for stapling tissue, comprising:

manipulating a surgical stapling device to engage tissue between an anvil and a staple deck on an end effector of the surgical stapling device;

inputting a command into a control system such that the control system initiates actuation of the surgical stapling device, the control system communicating with the surgical stapling device to advance the knife drive assembly to drive a knife from the staple deck toward the anvil to cut the tissue engaged therebetween, and to stop advancement of the knife drive assembly when the control system detects that the knife has fully passed through the tissue.

41. The method of claim 31, wherein the control system detects that the knife has fully passed through the tissue by monitoring a force required to advance the knife drive assembly.

42. The method of claim 31, wherein the control system detects that the knife has fully passed through the tissue by monitoring a velocity of the knife drive assembly.