Patent ID: 9439649
Filing Date: 2016-09-13
CPC Classification: A61B

Claim Text:
1. A surgical instrument configured to deliver a surgical function, the surgical instrument comprising: a handle comprising a force delivery system, wherein the force delivery system is configured to operably deliver a changing force to a user holding the handle; a shaft; an end effector extending from the shaft; a moving element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises a position indicative of a limit position of the surgical function; and a sensor configured to detect when the moving element reaches the position indicative of the limit of the surgical function, wherein the sensor operably communicates with the force delivery system, and wherein the sensor signals the force delivery system to deliver the changing force when the moving element reaches the position indicative of the limit position of the surgical function, wherein the sensor signals the force delivery system with one of the group consisting of a square wave signal and a sine wave signal.