	US 11,811,253 B2
	Surgical robotic system with fault state detection configurations based on motor current draw
Frederick E. Shelton, Hillsboro, OH (US); Mark D. Overmyer, Cincinnati, OH (US); David C. Yates, Morrow, OH (US); and Jason L. Harris, Lebanon, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 30, 2022, as Appl. No. 17/708,064.
Application 17/708,064 is a continuation of application No. 16/432,319, filed on Jun. 5, 2019, granted, now 11,350,928.
Application 16/432,319 is a continuation of application No. 15/131,963, filed on Apr. 18, 2016, abandoned.
Prior Publication US 2022/0218332 A1, Jul. 14, 2022
Int. Cl. A61B 17/072 (2006.01); A61B 17/068 (2006.01); H02J 7/00 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 17/29 (2006.01); A61B 90/98 (2016.01)

CPC H02J 7/007 (2013.01) [A61B 17/068 (2013.01); A61B 17/07207 (2013.01); H02J 7/0029 (2013.01); H02J 7/0063 (2013.01); A61B 90/98 (2016.02); A61B 2017/0003 (2013.01); A61B 2017/003 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00154 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/00876 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2931 (2013.01); A61B 2017/2943 (2013.01); A61B 2090/034 (2016.02); A61B 2090/0808 (2016.02); A61B 2090/0809 (2016.02); A61B 2090/0814 (2016.02); H02J 7/00714 (2020.01); H02J 7/007182 (2020.01); H02J 7/007194 (2020.01)]

8 Claims

1. A surgical robotic system for deploying staples from a staple cartridge including a sled, the surgical robotic system comprising:

a housing, wherein the housing comprises a rotary drive;

a motor that applies a rotary motion to the rotary drive;

a surgical tool that releasably attaches to the housing, the surgical tool comprising:

an end effector, comprising:

a first jaw; and

a second jaw movable relative to the first jaw from an open configuration toward a closed configuration, wherein the second jaw comprises a longitudinal channel configured to releasably receive the staple cartridge;

a rotary interface that releasably couples to the rotary drive;

a firing assembly, wherein the rotary interface is configured to effect a motion of the firing assembly to advance the sled from an unspent position within the staple cartridge, wherein the firing assembly comprises a firing member, comprising:

a first camming portion configured to engage the first jaw; and

a second camming portion configured to engage the second jaw;

a lockout member movable from a locked state to an unlocked state by the sled while the sled is in the unspent position, wherein the lockout member is configured to block advancement of the firing member while the lockout member is in the locked state;

a user interface; and

a control circuit communicably coupled to the motor and the user interface, wherein the control circuit is configured to:

activate the motor to effect the motion of the firing assembly;

monitor a current draw of the motor during the motion of the firing assembly;

detect a fault state in the motion of the firing assembly based on the current draw of the motor;

stop the motor based on the detection of the fault state; and

cause the user interface to alert a user regarding the fault state.