Source: https://patents.google.com/patent/EP2675365B1/en
Timestamp: 2019-07-18 22:04:12
Document Index: 389100294

Matched Legal Cases: ['art 22', 'art 24', 'art 22', 'art 22', 'art 24', 'art 24', 'art 56', 'art 22', 'art 54']

EP2675365B1 - Systems for detecting clamping or firing failure - Google Patents
Systems for detecting clamping or firing failure Download PDF
EP2675365B1
EP2675365B1 EP12701605.3A EP12701605A EP2675365B1 EP 2675365 B1 EP2675365 B1 EP 2675365B1 EP 12701605 A EP12701605 A EP 12701605A EP 2675365 B1 EP2675365 B1 EP 2675365B1
EP12701605.3A
EP2675365A1 (en
2011-02-15 Priority to US201161443148P priority Critical
2012-01-13 Priority to PCT/US2012/021319 priority patent/WO2012112249A1/en
2013-12-25 Publication of EP2675365A1 publication Critical patent/EP2675365A1/en
2018-01-25 First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=45554853&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2675365(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
2018-04-25 Publication of EP2675365B1 publication Critical patent/EP2675365B1/en
US 2005 0192609 discloses an electromechanical surgical device which includes: a housing; an elongated shaft extending from the housing, a distal end of the elongated shaft being detachably coupleable to a surgical instrument; at least two axially rotatable drive shafts disposed within the elongated shaft, a distal end of each of the drive shafts being configured to couple with the surgical instrument; a steering cable arrangement, the steering cable arrangement being configured to steer the distal end of the elongated shaft; and a motor system disposed within the housing, the motor system being configured to drive the drive shafts and the steering cable arrangement. A control system may be provided for controlling the motor system. A remote control unit may also be provided for controlling the motor system via the control system.; Sensors, such as optical or Hall-effect devices, may be provided for determining the position of the elements of the surgical instrument based on the detected rotation of the drive shafts. A memory unit stores a plurality of operating programs or algorithms, each corresponding to a type of surgical instrument attachable to the electromechanical surgical device. The control system reads or selects from the plurality of operating programs or algorithms, the operating program or algorithm corresponding to the type of surgical instrument attached to the electromechanical surgical device.
EP 1728475 discloses a surgical instrument for operating on tissue. The surgical instrument includes an end effector including a first tissue engaging member and a second tissue engaging member in juxtaposed relation to the first tissue engaging member; a gap determination element operatively associated with each of the first tissue engaging member and the second tissue engaging member for measuring a gap distance between the first tissue engaging member and the second tissue engaging member; and a tissue contact determining element operatively associated with a respective tissue contacting surface of at least one of the first tissue engaging member and the second tissue engaging member.
US 2010 198220 discloses a surgical instrument comprising a first portion encapsulated by a membrane and a second portion comprising a surgical instrument body and a cavity in the surgical instrument body. The cavity is configured to receive the first portion. The second portion comprises a first region comprising an opening in communication with the cavity, and a closure member movable between a first position and a second position. The closure member is in sealable engagement with the second region when it is in the first position and is at least partially free from sealable engagement with the second region when it is in the second position. One or more electrical contacts on the first portion or the second portion are configured to penetrate the membrane to allow a connection to be made between the first portion and the second portion when the closure member moves from the second position into the first position.
EP 0630612 discloses an endoscopic surgical instrument including a pair of jaws. An electromagnetic sensor is disposed in said jaws to determine the relative position of said jaws.
The invention provides systems as set out in the appended claims. Improved systems to detect and indicate clamping and/or staple firing failure are provided. The claimed systems relate to detecting whether clamping of a material grasped between jaws or firing of a staple into the clamped material is likely to fail. The claimed systems may detect failure in clamping or firing during the process of clamping or firing, thereby reducing the potential for tissue damage from continuing to clamp or fire a staple after failure has occurred. The claimed systems are particularly useful in surgical applications involving clamping of a body tissue between two jaws of an end effector and firing of a staple into the clamped tissue. Many surgical applications require clamping of a body tissue at a clamping force sufficient for cutting, sealing and/or stapling of the clamped tissue. Since clamping and firing of a staple may require relatively higher forces than tissue manipulation, failure in clamping or firing may potentially cause damage to the delicate tissues. The present systems are particularly advantageous in minimally invasive surgical applications as they indicate failure as soon as it occurs and allows for detection of failure from outside the body. While the various embodiments disclosed herein are primarily described with regard to surgical applications, these surgical applications are merely example applications, and the disclosed end effectors and tools can be used in other suitable applications, both inside and outside a human body, as well as in non-surgical applications.
Disclosed is a method of detecting failure in clamping of a material between jaws driven by a motor or detecting failure in firing of staple, the firing force being driven by an actuator, such as a motor. The method includes monitoring a drive parameter of the actuator or motor that effects a clamping or a firing force during application of the clamping or firing force determining an indication of success or failure of clamping or firing in response to the monitored drive parameter of the actuator, the drive parameter comprising a torque or a force, wherein the indication is of failure when the drive parameter during clamping is outside of an acceptable range of desired drive parameters for clamping or when the drive parameter during firing is outside an acceptable range of desired drive parameters for firing; and, outputting the indication on a user interface of clamping or firing failure. Typically, an indication of clamping or firing failure occurs when the monitored drive parameter of the actuator, such as a torque output of a motor or displacement of a driving mechanism, is outside an acceptable range of drive parameters. The indication may also be indicative of a likelihood of clamping or firing failure, wherein the likelihood of failure falls within a gradient between a first and second likelihood, the first likelihood being likely failure and the second likelihood being likely success. In many embodiments, the material clamped and stapled is a body tissue, including an outer skin or internal organs, such as a bowel, stomach or lung.
Often, the clamped tissue is cut after opposing sides of the tissue along the cutting line are stapled by a row of surgical staples to seal the tissue. The end effector is generally part of a minimally invasive robotic surgical system. The first and second jaw may comprise two separate jaws or a first jaw articulable against a portion of the end effector, in which case the portion of the end effector comprises the second jaw. The methods may also include clamping of a material between the first and second jaw of an end effector or firing of a staple into the clamped material, typically in response to a command from a user to clamp or fire.
The system effects clamping or firing by applying a clamping force to a clamp or firing force to a staple. As the clamping or firing occurs, the system monitors the drive parameter of the actuator applying the clamping or firing force. In response to the monitored drive parameter, the system outputs an indication on a user interface of clamping or firing failure or the clamping or firing success.
Often, the acceptable range of drive parameters vary with the displacement of the actuator or motor, such that the acceptable range of drive parameters may be different depending on the configuration of the end effector. For example, the acceptable range of drive parameters at an initial displacement of the actuator or motor (as the clamp starts from an open configuration) may be different from the acceptable range of drive parameters at a final displacement (such as when the clamp is in a closed/clamped configuration). The same is true for the different initial configuration and final configuration of the firing mechanism. The system may detect the configuration of the end effector by sensing the displacement of the actuator effecting movement, or the mechanism through which the actuator effects clamping or firing. The clamping or firing is effected by the drive parameter through one or more mechanisms coupling the actuator to the end effector and/or the staple. The mechanism(s) may include a cable, a hypotube, or a leadscrew. In many embodiments, the indication of likely clamping failure is a visual indicator shown on a display of a user interface, but may also be communicated to the user by an audio signal, visual signal, or other sensory indicator.
Also disclosed is a method or system which may suspend driving of the actuator in response to an indication of failure or likely failure in clamping or firing of the staple. The methods may also include maintaining a driving parameter after an indication of failure, or maintaining a driving parameter driving clamping while suspending a force driving firing of a staple. The clamping mechanism may be non-back driveable such that no input is needed to maintain the clamping force once it is applied or established. In such cases, an input may be needed to unclamp and reverse the motion of the leadscrew. The methods may include reversing a driving force so as to unclamp after outputting the indication of failure.
The present invention provides an apparatus comprising: an end effector having a first and second jaw for clamping a material therebetween, and a staple for stapling the material clamped between the first and second jaw; a drive system operatively coupled to the end effector by one or more driving mechanisms such that driving an actuator of the drive system articulates the end effector, wherein the drive system can move the first jaw toward the second jaw so as to clamp the material between the jaws at a clamping force, and wherein the drive system is coupled to the staple such that driving the actuator to staple produces a firing force so as to fire the staple into the material clamped between the first and second jaws; a sensor for monitoring a drive parameter of the actuator when the actuator induces the clamping force and/or the firing force and detecting a displacement of the actuator; a processor configured for determining an indicator of success or failure of clamping or staple firing in response to the monitored drive parameter, the drive parameter comprising a torque or a force, wherein the indicator is of failure when the drive parameter during clamping is outside of an acceptable range of desired drive parameters for clamping or when the drive parameter during firing is outside an acceptable range of desired drive parameters for firing the acceptable range of desired drive parameters varies with the displacement of the actuator; and a user interface configured to communicate the indicator of success or failure of clamping or firing, to a user.
The system may comprise a first and second actuation mechanism for effecting clamping and firing, respectively. The first and second actuation mechanisms can employ different force transmission mechanisms corresponding with the force requirements for the clamping mode and the firing force mode. For example, a force used by the first jaw actuation mechanism to move the jaw from the open to the close position can include a linear force or a torque, and a force used by the second jaw actuation mechanism to fire a staple through the tissue can include a torque. The first actuation mechanism may include a leadscrew-driven mechanism for use in the high force clamping mode, and the second actuation mechanism includes a second leadscrew-driven mechanism for use in the firing of the staple. Alternatively, the clamping and firing may utilize a portion of or the same mechanism.
FIGS. 8C through 8F illustrate opposite side components of the cable actuation mechanism of FIG. 8A .
FIG. 9B is a perspective view illustrating the cable actuation mechanism of FIG. 9A , showing a cable used to articulate the jaw towards an open configuration.
Typically, a system utilizing the claimed invention includes an end effector having two jaws for clamping a material and/or firing a staple or fastener through the clamped material. The two jaws may comprise an articulated jaw attached to an end effector, such that moving the articulated jaw towards a portion of the end effector, the second jaw being that portion of the end effector. In many embodiments, the system uses two independent mechanisms to articulate the jaws of the end effector. A first actuation mechanism provides a fast response/low force mode that varies the position of the articulated jaw between a closed (grasped) configuration and an open configuration. In many embodiments, the first actuation mechanism is back-drivable. For example, in the low force mode grasping mode the first actuation mechanism can be designed to provide 5 lbs (2.27kg) of clamping force between the tips of the first and second jaw. A second actuation mechanism provides a high clamping force mode for clamping the body tissue between the jaws at the higher clamping force. Often, the second actuation mechanism is non-back-drivable. The second actuation mechanism converts a relatively weak force or torque (but with large displacement available) to a relatively high torque rotating the jaw of the end effector. The second actuation mechanism can be designed to provide, for example, 50 pounds (22.7kg) of clamping force between the tips of the clamped jaws.
Referring now to the drawings, in which like reference numerals represent like parts throughout the several views, FIG. 1 is a plan view illustration of an embodiment of the present invention. FIG. 1 illustrates a Minimally Invasive Robotic Surgical (MIRS) system 10, typically used for performing a minimally invasive diagnostic or surgical procedure on a Patient 12 who is lying down on an Operating table 14. The system can include a Surgeon's Console 16 for use by a Surgeon 18 during the procedure. One or more Assistants 20 may also participate in the procedure. The MIRS system 10 can further include a Patient Side Cart 22 (surgical robot), and an Electronics Cart 24. The Patient Side Cart 22 can manipulate at least one removably coupled tool assembly 26 (hereinafter simply referred to as a "tool") through a minimally invasive incision in the body of the Patient 12 while the Surgeon 18 views the surgical site through the Console 16. Tool assembly 26 includes end effector 25, the end effector having jaws for clamping the tissue and a mechanism for firing a staple through the clamped tissue. An image of the surgical site can be obtained by an endoscope 28, such as a stereoscopic endoscope, which can be manipulated by the Patient Side Cart 22 so as to orient the endoscope 28. The Electronics Cart 24 can be used to process the images of the surgical site for subsequent display to the Surgeon 18 through the Surgeon's Console 16. Electronics Cart 24 includes a Processor 27 for monitoring the drive parameter provided by the motor output to the end effector. Processor 27 may monitor the drive parameter by comparing the drive parameter to an acceptable range of drive parameters. As the acceptable range of drive parameters may vary with the displacement of the motor or the mechanism effecting movement of the end effector, the Processor 27 may also receive displacement data as to the displacement of the motor or the end effector mechanism during clamping and/or firing such that Processor 27 compares the monitored drive parameters against a range of acceptable drive parameters for any given displacement. The displacement data may be measured directly or may be determined from positional data, or derivatives thereof, obtained by the robotic system, such as a robotic patient-side manipulator (PSM) system, for example, described in U.S. Patent Application Publication No 2007/0005045 . In response to the monitored drive parameter, Processor 27 may output a clamping failure indication to a user interface. The system 10 then communicates an indicator of the prediction to the physician on the Surgeon's Console 16 so as to communicate to the surgeon whether clamping or firing has failed.
FIG. 4 diagrammatically illustrates a robotic surgery system 50 (such as MIRS system 10 of FIG. 1 ), in which the Processor 58 and Display 60 are depicted separately from Electronics Cart 56 and Surgeon's Console 52. As discussed above, a Surgeon's Console 52 (such as Surgeon's Console 16 in FIG.1 ) can be used by a Surgeon to control a Patient Side Cart (Surgical Robot) 54 (such as Patent Side Cart 22 in FIG. 1 ) during a minimally invasive procedure. In preparation for firing a staple to seal a body tissue, the Surgeon can command the tool of the Patient Side Cart 54 to clamp between jaw members of an end effector. In response to this command, Processor 58 can command the system to begin driving the motor to engage a mechanism that begins moving the jaws together and increase a clamping force to a desired clamping force. As the jaws begin moving together and the clamping force increases, the Processor 58 continuously monitors a drive parameter of the motor and compares the drive parameter to an acceptable range of drive parameters as the motor drives the jaws to clamp at a desired clamping force. If at any point during clamping, the drive parameter exceeds or drops below an acceptable drive parameter, Processor 58 may output the indication of clamping failure on the user interface. In response to detection of clamping failure, Processor 58 may also command additional functions, such as suspending driving of the motor, preventing firing of the staple, maintaining the clamping force at the point of detected clamping failure, waiting for user input, and unclamping the tissue. Similarly, the Processor 58 continuously monitors the drive parameter during firing of a staple through successfully clamped tissue. In response to the drive parameter falling outside the acceptable range of desired drive parameters, Processor 58 may output a failure indication on the user interface. In response to detected firing failure, Processor 58 may command other functions, such as terminating firing, suspending driving of the motor, maintaining clamping of the tissue while preventing firing, or waiting for user input.
The leadscrew actuation mechanism can be configured to provide a desired clamping force between the articulated jaw and an opposing jaw of the end effector to facilitate cutting or sealing of the tissue. For example, in many embodiments, the leadscrew actuation mechanism is configured to provide at least 20 lbs (9kg) of clamping force at the tip of the articulated jaw 72 (approximately 2 inches (5,08cm) from the pivot pin 88). In many embodiments, the leadscrew actuation mechanism is configured to provide at least 50 lbs (22.7kg) of clamping force at the tip of the articulated jaw 72. In many embodiments, to produce 50 lbs (22,7kg) of clamping force at the tip of the articulated jaw 72, the input torque to the leadscrew 82 is approximately 0.2 N m and the leadscrew 82 has 29 turns. The system may detect the displacement of the motor, of the clamping or firing mechanism or the configuration of the end effector by sensing the displacement of the leadscrew. For example, in many embodiments, the system is calibrated before starting the procedure so as to determine the range of motion of both the clamping and the firing mechanism and the displacement of the leadscrew within that range of motion. Such calibration allows the system to determine the configuration of the end effector or the displacement of the mechanism solely from the displacement of the leadscrew.
FIGS. 8A through 8F illustrate components of a cable actuation mechanism 110, in accordance with many embodiments. As described above, the leadscrew driven cam 84 can be positioned at the distal end of the cam slot 86 (i.e., near the pivot pin 88). For such a distal position of the leadscrew driven cam 84, as discussed above, the rotational position of the articulated jaw 72 about the pivot pin 88 is unconstrained for a range of rotational positions of the articulated jaw 72. Accordingly, the rotational position of the articulated jaw 72 about the pivot pin 88 can be controlled by the cable actuation mechanism 110. The cable actuation mechanism 110 is operable to vary the rotational position of the articulated jaw between the clamped configuration and the open configuration. The cable actuation mechanism 110 includes a pair of pull cables 112, 114. The cable actuation mechanism 110 also includes a first linkage 116 that is used to rotate the articulated jaw 72 about the pivot pin 88 towards the clamped configuration, and an analogous second linkage 118 that is used to rotate the articulated jaw 72 about the pivot pin 88 towards the open configuration. The first linkage 116 (shown in FIGS. 8A and 8B ) includes a rotary link 120 that is mounted for rotation relative to the end effector base 74 via a pivot pin 122. A connecting link 124 couples the rotary link 120 to the articulated jaw 72 via a pivot pin 126 and a pivot pin 128. The first linkage 116 is articulated via a pulling motion of the pull cable 112. In operation, a pulling motion of the pull cable 112 rotates the rotary link 120 in a clockwise direction about the pivot pin 122. The resulting motion of the connecting link 124 rotates the articulated jaw 72 in a counter-clockwise direction about the pivot pin 88 towards the clamped configuration.
The second linkage 118 (shown in FIGS. 8C through 8F ) of the cable actuation mechanism 110 includes analogous components to the first linkage 116, for example, a rotary link 130 mounted for rotation relative to the end effector base 74 via a pivot pin 132, and a connecting link 134 that couples the rotary link 130 to the articulated jaw 72 via two pivot pins 136, 138. The second linkage 118 is articulated via a pulling motion of the pull cable 114. The second linkage 118 is configured such that a pulling motion of the pull cable 114 rotates the articulated jaw 72 about the pivot pin 88 towards the open configuration. In many embodiments, the pivot pin 136 between the connecting link 134 and the rotary link 130 of the second linkage 118 is 180 degrees out of phase with the pivot pin 126 between the connecting link 124 and the rotary link 120 of the first linkage 116. Coordinated pulling and extension of the pull cables 112, 114 of the cable actuation mechanism 110 is used to articulate the articulated jaw 72 between the open and clamped configurations. In order to best provide equal and opposite cable motion (and thereby maintain cable tension in a capstan-driven system described below), a common rotational axis for the pivot pins 122, 132 is configured to lie on a plane that contains the rotational axes for pivot pins 128, 138 when the articulated jaw 72 is closed (or nearly closed) and again when the when the articulated jaw 72 is open (or nearly open). The connecting links 124, 134 are assembled symmetrically opposite about this same plane for the first and second linkages 116, 118. The distance between the pivot pins 122, 126 and between the pivot pins 132, 136 is the same for both the first and second linkages 116, 118, and the distance between the pivot pins 126, 128 and between the pivot pins 136, 138 is the same for both the first and second linkages 116, 118.
FIG. 11 is a simplified diagrammatic illustration of a tool assembly 170, in accordance with many embodiments. The tool assembly 170 includes a proximal actuation mechanism 172, an elongate shaft 174 having a proximal end and a distal end, a tool body 176 disposed at the distal end of the shaft, a jaw 178 movable relative to the tool body 176 between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw, and a second actuation mechanism coupled with the jaw. The first actuation mechanism is operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism. The first actuation mechanism is operatively coupled with the proximal actuation mechanism. In many embodiments, the first actuation mechanism comprises a pair of pull cables that are actuated by the proximal actuation mechanism. The second actuation mechanism is operatively coupled with the proximal actuation mechanism. In many embodiments, the second actuation mechanism includes a leadscrew driven cam located in the tool body that is driven by the proximal actuation mechanism via a drive shaft extending through the elongate shaft 174 from the proximal actuation mechanism.
FIG. 13 is a diagrammatic view of a telerobotic surgical system which incorporates an embodiment of the present invention. In the example of FIG. 13 , a physician inputs a command to the system to clamp a tissue or fire a staple. In response to the user command, the system begins driving the motor 210 so as to drive clamping or firing through the clamping and/or firing mechanism 240. As mechanism 240 effects clamping or firing, Processor 220 monitors a drive parameter, such a torque output, of Motor 210. Monitoring may comprise comparing the torque output to an acceptable range of torque outputs for a given displacement of the motor or mechanism. The Processor 220 may be coupled to any or all of the Motor 210, the Mechanism 240 or a Sensor 230 for detecting a displacement of the motor or mechanism during the clamping or firing. In response to the monitored drive parameter falling outside an acceptable range of torque outputs (or displacements of the driving mechanism), Processor 220 outputs a Failure Indication 250 on Display 60 of the user interface, indicating that clamping or firing has failed, or a likelihood of failure. Typically, Display 60 includes images of the end effector during clamping or firing.
FIGS. 21-22 depict flowcharts illustrating embodiments of the claimed methods. FIG. 21 is a flow chart showing an embodiment of the claimed method as applied to clamping as it would be incorporated into a minimally invasive robotic surgical system. FIG. 22 is a flow chart showing an embodiment of the claimed method as applied to firing of a staple into clamped tissue as it would be incorporated into the robotic surgical system of FIG. 20 . The described robotic system may require user input to command the system to clamp and/or firing the staple into the clamped tissue.
an end effector (70) having a first and second jaw (72,76) for clamping a material therebetween, and a staple for stapling the material clamped between the first and second jaw (72,76);
a drive system operatively coupled to the end effector (70) by one or more driving mechanisms such that driving an actuator of the drive system articulates the end effector (70), wherein the drive system can move the first jaw (72) toward the second jaw (76) so as to clamp the material between the jaws (72,76) at a clamping force, and wherein the drive system is coupled to the staple such that driving the actuator to staple produces a firing force so as to fire the staple into the material clamped between the first and second jaws (72,76);
a sensor (230) for monitoring a drive parameter of the actuator when the actuator induces the clamping force and/or the firing force and detecting a displacement of the actuator;
a processor (220) configured for determining an indicator of success or failure of clamping or staple firing in response to the monitored drive parameter, the drive parameter comprising a torque or a force, wherein the indicator is of failure when the drive parameter during clamping is outside of an acceptable range of desired drive parameters for clamping or when the drive parameter during firing is outside an acceptable range of desired drive parameters for firing, and
a user interface (60) configured to communicate the indicator (250) of success or failure of clamping or firing, to a user, said apparatus being characterized in that the acceptable range of desired drive parameters varies with the displacement of the actuator.
The apparatus of claim 1, wherein the indicator (250) is of a likelihood of clamping or firing failure.
The apparatus of claim 1, wherein the driving mechanisms comprise any or all of a cable, hypotube, drive shaft, universal, single or double cardan joint, and a leadscrew.
The apparatus of claim 1, wherein the indicator (250) comprises any or all of an audio, visual, or other sensory indicator (250) for communication failure to a user on the user interface (60).
a controller, wherein the controller is arranged to terminate the clamping and/or firing force when the sensor (230) detects that the drive parameter during clamping or firing is different from a desired acceptable range of drive parameters for clamping or firing.
The apparatus of claim 5, wherein the controller is arranged to terminate the firing force and to maintain the clamping force when the sensor (230) detects the firing force is greater than a desired range of firing forces.
The apparatus of claim 1, wherein driving the actuator effects movement of the first jaw (72) or surgical staple.
The apparatus of claim 1, wherein the drive parameter comprises a torque output of the actuator.
The apparatus of claim 1, wherein a measured force output that is greater than a maximum acceptable force is indicative of jamming within the system.
a controller arranged to terminate driving of the actuator before a maximum clamping time during clamping and before completing clamping in response to the drive parameter of the actuator being outside the acceptable range.
a controller arranged to immediately terminate the firing force if the drive parameter applying the firing force is less than a lower limit of the acceptable range of drive parameters.
a controller arranged to reverse the direction of the clamping force by reversing the drive parameter applying the clamping force, thereby unclamping the clamp, when the monitored drive parameter during clamping is less than a lower limit of the acceptable range.
EP12701605.3A 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure Active EP2675365B1 (en)
US201161443148P true 2011-02-15 2011-02-15
PCT/US2012/021319 WO2012112249A1 (en) 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure
EP18152115.4A EP3326551A1 (en) 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure
EP18152115.4A Division EP3326551A1 (en) 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure
EP18152115.4A Division-Into EP3326551A1 (en) 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure
EP2675365A1 EP2675365A1 (en) 2013-12-25
EP2675365B1 true EP2675365B1 (en) 2018-04-25
EP18152115.4A Pending EP3326551A1 (en) 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure
EP12701605.3A Active EP2675365B1 (en) 2011-02-15 2012-01-13 Systems for detecting clamping or firing failure
2012-01-13 JP JP2013554453A patent/JP6293486B2/en active Active
2012-01-13 CN CN201710351466.XA patent/CN107007355A/en active Search and Examination
2012-01-13 EP EP18152115.4A patent/EP3326551A1/en active Pending
2012-01-13 KR KR1020137015656A patent/KR20130140794A/en not_active Application Discontinuation
2012-01-13 CN CN201280008948.0A patent/CN103391751B/en active IP Right Grant
2012-01-13 US US13/350,512 patent/US9226750B2/en active Active
2012-01-13 WO PCT/US2012/021319 patent/WO2012112249A1/en active Application Filing
2012-01-13 EP EP12701605.3A patent/EP2675365B1/en active Active
2015-11-23 US US14/949,827 patent/US9877718B2/en active Active
2015-12-11 JP JP2015242511A patent/JP2016032775A/en active Pending
2017-12-08 US US15/836,506 patent/US20180098766A1/en active Pending
JP6293486B2 (en) 2018-03-14
EP3326551A1 (en) 2018-05-30
WO2012112249A1 (en) 2012-08-23
JP2014512885A (en) 2014-05-29
US9226750B2 (en) 2016-01-05
JP2016032775A (en) 2016-03-10
US20160074036A1 (en) 2016-03-17
KR20130140794A (en) 2013-12-24
CN103391751A (en) 2013-11-13
CN107007355A (en) 2017-08-04
US20120205419A1 (en) 2012-08-16
CN103391751B (en) 2017-06-06
EP2675365A1 (en) 2013-12-25
US9877718B2 (en) 2018-01-30
US20180098766A1 (en) 2018-04-12
AU2014223714B2 (en) 2017-10-26 Joystick switch assemblies for surgical instruments
EP3210561A1 (en) 2017-08-30 Electrode connections for rotary driven surgical tools
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