Systems and methods for controlling a surgical stapling instrument

Abstract

A surgical stapling instrument includes an anvil assembly, a reload assembly, an adapter assembly, a processor, and a memory. When clamped to a target force, instructions cause the surgical stapling instrument to advance a pusher toward the anvil assembly from a first position to a second position, determine whether the pusher stopped advancing toward the anvil assembly before the second position, measure a staple compression force of staples ejected by the pusher from an annular cartridge of staples in response to the pusher having stopped advancing toward the anvil assembly, and determine whether the staple compression force is outside of a predetermined range.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 056,746, filed July 27, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to powered surgical staplers, and more specifically to a method for controlling a surgical stapler based on the staple formation range, and to a surgical stapler for performing the method. Background Technology

[0004] Anastomosis is the surgical joining of individual hollow organ segments. Typically, the anastomosis procedure is performed after surgery, where the diseased or defective portion of the organ is removed, and the remaining distal segments of the organ are joined using surgical staplers. Depending on the required anastomosis procedure, the remaining distal segments may be joined using, for example, circular or side-to-side organ reconstruction methods.

[0005] In a circular anastomosis procedure, the remaining distal segment of the organ is engaged using a surgical stapler that drives an array of circular staples through the distal segment while simultaneously core-taking any tissue within the driven array of staples to release a tubular channel within the organ. The staples delivered during the circular anastomosis procedure should be configured to prevent leakage of gastrointestinal contents into the abdominal or thoracic cavity.

[0006] There is a ongoing need for stapling devices that can distinguish between stapling formation that prevents leakage and stapling formation that does not close properly. Summary of the Invention

[0007] According to this disclosure, a computer-implemented method for controlling a surgical stapler to staple tissue includes advancing a pusher toward an anvil assembly of the surgical stapler from a first position to a second position, the pusher being configured to eject staples from a staple cartridge of the surgical stapler; determining whether the pusher stops advancing toward the anvil assembly before the second position; measuring the staple compression force of the staple ejected from the staple cartridge by the pusher; and determining whether the staple compression force is outside a predetermined range.

[0008] In one aspect, the method further includes entering a tissue cutting mode of the surgical stapler in response to staple compression force based on a predetermined acceptable staple compression range.

[0009] On the other hand, the compressive force of the nail can be measured using a strain gauge.

[0010] On the other hand, the nail compression force can be measured based on the current of a motor configured to propel the pusher forward.

[0011] In one aspect, the method may further include preventing the nail from firing in response to the nail compressive force being greater than a predetermined range.

[0012] On the other hand, the method may further include displaying a warning in response to the nail compression force exceeding a predetermined range.

[0013] On the other hand, the warnings displayed may include warnings to check the surgical site and / or loosen the tissue.

[0014] In another aspect, the method may further include a retraction actuator.

[0015] In another aspect, the method may further include generating an audio warning in response to the nail compression force exceeding a predetermined range.

[0016] In another aspect, the method may further include determining whether functional closure pin formation has been achieved.

[0017] According to various aspects of this disclosure, a surgical stapler includes: an anvil assembly including an anvil head and an anvil center bar extending proximally from the anvil head; and a reloading assembly including a pusher and an annular cartridge containing a plurality of staples. The pusher is configured to eject staples from the annular cartridge. The surgical stapler further includes a processor and a memory. The memory includes instructions stored thereon that, when executed, cause the surgical stapler to advance the pusher toward the anvil assembly from a first position to a second position, determine whether the pusher stops advancing toward the anvil assembly before the second position, measure the staple compression force of the staple ejected from the annular cartridge by the pusher in response to the pusher stopping advancing toward the anvil assembly, and determine whether the staple compression force is outside a predetermined range.

[0018] On the one hand, when the instructions are executed by the processor, the surgical stapler can further cause the surgical stapler to enter the tissue cutting mode of the surgical stapler in response to the staple compression force based on a predetermined acceptable staple compression range.

[0019] On the other hand, the compressive force of the nail is measured using a strain gauge.

[0020] On the other hand, the nail compression force is measured based on the current of a motor configured to propel the pusher forward.

[0021] On another front, when the instructions are executed by the processor, the surgical stapler can further prevent the staple from firing in response to the staple compression force being greater than a predetermined range.

[0022] On another front, if the compressive force of the staple exceeds a predetermined range when the instruction is executed by the processor, the surgical stapler can further display a warning on the monitor.

[0023] On the other hand, the warnings displayed may include warnings about checking the surgical site and / or loosening the tissue.

[0024] On another front, when the instructions are executed by the processor, they can further cause the surgical stapler to retract into the pusher.

[0025] On another front, when the instructions are executed by the processor, the surgical stapler can further generate an audio warning in response to the staple compression force exceeding a predetermined range.

[0026] According to other aspects of this disclosure, a non-transitory computer-readable medium stores instructions that, when executed by a processor, cause the processor to perform a method for controlling a surgical stapler, the method comprising: advancing a pusher toward an anvil assembly of the surgical stapler from a first position to a second position, the pusher being configured to eject staples from a staple cartridge of the surgical stapler; determining whether the pusher stops advancing toward the anvil assembly before the second position; measuring the staple compression force of the staple ejected from the staple cartridge by the pusher; and determining whether the staple compression force is outside a predetermined range. Attached Figure Description

[0027] This article discloses, with reference to the accompanying drawings, a system and method for controlling surgical staplers to clamp and staple, wherein:

[0028] Figure 1 This is a perspective view of the surgical stapler according to this disclosure;

[0029] Figure 2A Through in Figure 1 The image shows a side cross-sectional view of the proximal portion of the adapter assembly of the surgical stapler.

[0030] Figure 2B Through in Figure 1 The image shows a cross-sectional view of the distal portion of the adapter assembly and tool assembly of the surgical stapler.

[0031] Figure 2C Through in Figure 1 The image shows a cross-sectional view of the distal portion of the handle assembly of a surgical stapler.

[0032] Figure 3A It is provided and configured in accordance with this disclosure. Figure 1 A block diagram of the controller used in the surgical system;

[0033] Figure 3B Based on this disclosure Figure 1 A block diagram of the surgical system's handle assembly, adapter assembly, and reloading assembly; and

[0034] Figure 4 This is a flowchart of a method for controlling surgical staplers to staple according to this disclosure; and

[0035] Figure 5A and Figure 5B It is in accordance with this disclosure and configured to be with Figure 1 The illustration shows the nails used in the surgical system. Detailed Implementation

[0036] The disclosed surgical apparatus is now described in detail with reference to the accompanying drawings, in which the same reference numerals refer to the same or corresponding elements in each of the several views. However, it should be understood that aspects of this disclosure are merely examples and can be implemented in various forms. To avoid obscuring this disclosure with unnecessary detail, well-known functions or constructions have not been described in detail. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but rather serve only as the basis for the claims and as a representative basis for teaching those skilled in the art to adopt this disclosure differently in virtually any suitable detailed construction. Furthermore, directional terms such as front, rear, upper, lower, top, bottom, distal, proximal, and similar terms are used to aid understanding of the description and are not intended to limit this disclosure.

[0037] This disclosure relates to surgical staplers that control tissue stapler placement by, in part, determining the closure state of the staples, and specifically, distinguishing between adequate and leak-proof staple formation and inadequate staple formation.

[0038] Figure 1 The surgical stapler, generally shown as stapler 10, is illustrated. Stapler 10 is a circular stapler and includes a handle assembly 20, an adapter assembly 100 extending distally from the handle assembly 20, a reloading assembly 16 supported on the distal portion of the adapter assembly 100, an anvil assembly 50 operably coupled to the adapter assembly 100, and a controller 300 supported within the handle assembly 20. Figure 3A The reloading assembly 16 supports an annular nail magazine 48 comprising a plurality of nails (not shown). The anvil assembly 50 includes an anvil head 28, which includes a nail forming surface 29. Figure 2B ), which defines the recessed portion 48a of the nail. Figure 2B It can also move between the open and clamped positions relative to the staple cartridge 48.

[0039] Handle assembly 20 is described as a power assembly and includes a handle 22, an actuation button 24 for controlling the firing of nails (not shown) from the annular cartridge 48 of reloading assembly 16, and proximity buttons 26a, 26b for controlling axial displacement of anvil assembly 50 toward and away from reloading assembly 16 between open and clamping positions. For a detailed description of the structure and function of the exemplary power handle assembly, refer to U.S. Patent Application Publications Nos. 2020 / 0015820 and 2019 / 0343517. Although this disclosure describes a power assembly, it is contemplated that the advantages of this disclosure, as described in detail below, also apply to robotically actuated surgical instruments.

[0040] Handle assembly 20 may include an electrical assembly including a strain gauge 51 configured to measure strain applied to lead screw 125. Figure 2B The strain also indicates the stress on the motor of the stapler 10 (e.g., when the staple cartridge 48 of the reloading assembly 16 is abutted against the anvil assembly 50 to fire the staple "S" due to staple formation. Figure 2C Mechanical loads on motors 152, 154, and 156.

[0041] Figure 2A An adapter assembly 100 is shown, comprising a first drive shaft 106, a second drive shaft 108, and a third drive shaft 110. When the adapter assembly 100 is coupled to a handle assembly 20 to control various functions of the stapler 10 (e.g., clamping, staplering, and / or cutting tissue), the first drive shaft 106, the second drive shaft 108, and the third drive shaft 110 are coupled to supports on the handle assembly 20. Figure 1 Motors 152, 154, and 156 inside the motors Figure 2C The drive shafts 152a, 154a, and 156a of the adapter assembly 100 are connected to the drive assembly 114 via gears to control the movement of the anvil assembly 50 relative to the staple cartridge 48 between the open and clamping positions. The drive shaft 108 of the adapter assembly 100 is connected to the drive assembly 119 via gears to control the pusher assembly 61 ( Figure 2B ) In reloading assembly 16 ( Figure 1 Movement within the cartridge 48 ( ) to control movement from the cartridge 48 ( Figure 1 The firing pin. The drive shaft 110 of the adapter assembly 100 is connected to the drive assembly 116 via gears to control the cutting of tissue. Drive assemblies 114, 116, 119 ( Figure 2A Each of the components includes a screw and a nut (not described in detail herein), wherein the nut is driven relative to the screw to achieve longitudinal movement of the screw.

[0042] Figure 1A reloading assembly 16 is shown, which is supported on the distal portion of the outer tube 122 of the adapter assembly 100 and includes a housing 46 supporting a staple cartridge 48. In aspects of this disclosure, the staple cartridge 48 defines a staple receiving recess 48a for receiving an annular row of staples “S”. In some aspects of this disclosure, the reloading assembly 16 is releasably coupled to the distal portion of a tubular shaft (not shown) to facilitate replacement of the annular staple cartridge 48 after each use, thereby facilitating the reuse of the surgical instrument 10. A detailed description of exemplary aspects of the power handle assembly and the releasable adapter assembly can be found in U.S. Patent No. 10,085,744.

[0043] The staple receiving recess 48a of the staple cartridge 48 Figure 2B Each support pin (not shown) in the assembly 16 can be fired from the pin magazine 48 via an actuation button 24 of the actuation handle assembly 20. The housing 46 of the reloading assembly 16 defines an annular cavity 60. The annular cavity 60 supports the drive assembly 119 respectively. Figure 2A ) and drive assembly 116 ( Figure 2A ) knife driver nut 264 nail pusher 61 ( Figure 2B The staple pusher 61 and the annular blade 62 are movable relative to the staple cartridge 48 to eject staples from the staple cartridge 48 and dissect or cut tissue located within the ring defined by the staple cartridge 48. When the staple "S" is fired from the staple cartridge 48, the staple "S" is driven to the staple forming recess 29a of the staple forming surface 29 of the staple forming surface 29 of the anvil head 28 of the anvil assembly 50. Figure 2B It is formed within it.

[0044] As described above, the first, second, and third shafts 106, 108, and 110 of the adapter assembly 100 are connected to the power handle assembly 20 via motor shafts 152a, 154a, and 156a, which are connected to motors 152, 154, and 156 within the handle assembly 20 via gear assemblies (not shown). Figure 2CThe rotation of motor shafts 152a, 154a, and 156a by motors 152, 154, and 156 is controlled by controller 300, causing motors 152, 154, and 156 to move drive shafts 106, 108, and 110. This causes drive assemblies 114, 119, and 116 to move through a predetermined stroke, moving the anvil assembly 50 relative to the staple cartridge 48 from an open position to a clamping position, defining a predetermined tissue gap between the anvil assembly 50 and the staple cartridge 48. This allows the pusher 61 within the housing 46 to advance to eject staples “S” from the staple cartridge 48, and the blade holder (not shown) within the housing 46 to advance to cut tissue. The predetermined stroke is calculated based on a reference position, which is based on the rotational position of the motor drive shafts 152a, 154a, and 156a within the handle assembly 20.

[0045] Drive assembly 119 ( Figure 2A The assembly includes a nail guide screw 253 and a nail driver nut 254, wherein the nail driver nut 254 is driven relative to the nail guide screw 253 to achieve longitudinal movement of the nail guide screw 253. Drive assembly 116 Figure 2A It includes a tool guide screw 263 and a tool driver nut 264, wherein the tool driver nut 264 is driven relative to the tool guide screw 263 to achieve longitudinal movement of the tool guide screw 263.

[0046] When the surgical stapler 10 is fired, the staple leg 504 ( Figure 5A and 5B The corresponding nail forming recess 48a is received in the anvil assembly 50. Figure 2B Within the recess (not shown) defined in the ), when the pin leg 504 moves into the recess, the pin 504 engages the pin to form a recess 48a. Figure 2B The nail forms a surface (not shown) and is formed.

[0047] Handle assembly 20 may include sensors such as strain gauge 51. Figure 2B ), which is related to controller 300 ( Figure 3A The device communicates and is configured to determine the load on the motor of the surgical stapler 10 caused by tissue being clamped between the anvil assembly 50 and the staple cartridge 48. This determination can be used to determine the compressive force on the tissue clamped between the anvil assembly 50 and the staple cartridge 48.

[0048] Figure 3AA controller 300 according to this disclosure is shown, which includes a processor 320 connected to a computer-readable storage medium or memory 330. The computer-readable storage medium or memory 330 may be a volatile type of memory, such as RAM, or a non-volatile type of memory, such as flash memory, disk media, etc. In various aspects of this disclosure, the processor 320 may be another type of processor, such as, but not limited to, a digital signal processor, microprocessor, ASIC, graphics processing unit (GPU), field-programmable gate array (FPGA), or central processing unit (CPU). In some aspects of this disclosure, in contrast to a processor, network inference may also be performed in a system that implements weights as memristors, chemically, or otherwise inference calculations.

[0049] In various aspects of this disclosure, memory 330 may be random access memory, read-only memory, disk storage, solid-state storage, optical disk storage, and / or another type of memory. In some aspects of this disclosure, memory 330 may be separable from controller 300 and may communicate with processor 320 via a communication bus on a circuit board and / or via a communication cable (such as a serial ATA cable or other type of cable). Memory 330 includes computer-readable instructions executable by processor 320 to operate controller 300. Memory 330 may include volatile (e.g., RAM) and non-volatile storage devices configured to store data, including software instructions for operating handle assembly 20. In other aspects of this disclosure, controller 300 may include network interface 340 for communicating with other computers or servers. Storage device 310 may be used to store data.

[0050] In various aspects of this disclosure, strain gauge 51 ( Figure 2B The method is connected to the processor and runs on the controller 300 or on a user device (including, for example, a mobile device, an IoT device, or a server system).

[0051] refer to Figure 3B A schematic diagram of the handle assembly 20, adapter assembly 200, and reloading assembly 16 is shown. For simplicity, only one of motors 152, 154, and 156 is shown, namely motor 152. Motor 152 is connected to battery 144. In embodiments, motor 152 may be connected to any suitable power source configured to provide electrical power to motor 152, such as an AC / DC transformer.

[0052] Battery 144 and motor 152 are connected to a motor controller circuit board 142a with a motor controller 143, which controls the operation of motor 152, including the flow of electrical energy from battery 144 to motor 152. Main controller 300 ( Figure 3AThe control handle assembly 20. The motor controller 143 includes multiple sensors 408a, 408b, ... 408n configured to measure the operating status of the motor 152 and the battery 144. Sensors 408a-n may include voltage sensors, current sensors, temperature sensors, telemetry sensors, optical sensors, and combinations thereof. Sensors 408a-408n can measure the voltage, current, and other electrical characteristics of the electrical energy supplied by the battery 144. Sensors 408a-408n can also measure the angular velocity (e.g., rotational speed) (revolutions per minute (RPM)), torque, temperature, current draw, and other operating characteristics of the motor 152. Measurements can be taken of the motor 152 or the drive shafts 106, 108, 110 (connected to and rotatable by the motor 152). Figure 2A The angular velocity is determined by the rotation of the motor 152. The position of various axially movable drive shafts can also be determined or extrapolated from RPM measurements using various linear sensors mounted in or near the shaft. In some respects, torque can be calculated based on the regulated current draw of the motor 152 at a constant RPM. In other respects, the motor controller 143 and / or the main controller 300 can measure time and process the aforementioned values ​​that vary over time, including integration and / or differentiation, to determine, for example, the rate of change of the measured values. The main controller 300 is also configured to determine the travel distance of the various components of the circular adapter assembly 200 and / or reloading assembly 16 by counting the revolutions of the motors 152, 154, and 156.

[0053] Motor controller 143 is coupled to main controller 300, which includes multiple inputs and outputs for interfacing with motor controller 143. Specifically, main controller 300 receives measured sensor signals from motor controller 143 regarding the operating state of motor 152 and battery 144, and then outputs control signals to motor controller 143 to control the operation of motor 152 based on sensor readings and specific algorithm instructions (discussed in more detail below). Main controller 300 is also configured to accept multiple user inputs from a user interface (e.g., switches, buttons, touchscreens, etc. coupled to main controller 300).

[0054] The main controller 300 is also connected to the strain gauge 51 of the circular adapter assembly 200 via a wired or wireless connection and is configured to receive strain measurements from the strain gauge 51 used during operation of the handle assembly 20.

[0055] The reload assembly 16 includes a storage device 405 (e.g., chip 464c). The circular adapter assembly 200 also includes a storage device 407. Storage devices 405 and 407 include non-volatile storage media (e.g., EEPROM) configured to store any data relating to the reload assembly 16 and the circular adapter assembly 200, respectively, including but not limited to usage counts, identification information, model number, serial number, pin size, stroke length, maximum approximate power, minimum actuation power, factory calibration data, etc. In each respect, the data may be encrypted and decryptable only by a device with the appropriate key (e.g., the main controller 300). The data may also be used by the main controller 300 to authenticate the circular adapter assembly 200 and / or the reload assembly 16. Storage devices 405 and 407 may be configured in read-only or read / write mode, thereby allowing the main controller 300 to read and write data to storage devices 405 and 407.

[0056] Figure 4 A flowchart is shown of a computer-implemented method 400 for controlling a surgical stapler 10 to determine whether functional closure staple formation has been achieved when measuring current or force limitations. The method for forming end-to-end anastomosis using the disclosed surgical stapler 10 includes tissue clamping and firing a staple “S” into the tissue via the surgical stapler 10. During the staple firing phase, a motor 154 drives a shaft 108 to move a drive assembly 119 through a predetermined stroke (e.g., from a first position to a second position) to advance a pusher 61 within a housing 46 to eject the staple “S” from a staple cartridge 48 (step 402).

[0057] Once the pusher 61 has moved relative to the anvil assembly 50, if the controller 300 determines that the pusher 61 has stopped advancing toward the anvil assembly 50 before reaching a predetermined second position (step 404), the nail compression force on the nails "S" clamped between the nail cartridge 48 and the anvil assembly 50 is measured (step 406). As discussed above, a strain gauge 51 communicating with the controller 300 can be used to measure the force clamped in the anvil assembly 50 and the reloading assembly 16. Figure 1 The clamping force of the nail "S" between the pusher 61 and the anvil assembly 50. Alternatively, other force and variable measuring devices can be used to measure the clamping pressure of the tissue held between the anvil assembly 50 and the pusher 61. In various aspects, the current draw of the motor 154 can be used by the controller 300 to indicate the nail compression force.

[0058] The controller 300 determines whether the nail compression force is outside a predetermined acceptable range (step 408). For example, the nail compression force may exceed the range of forces measured during nail formation.

[0059] If the compressive force on the staple is within a predetermined acceptable compression range, the surgical stapler 10 enters a tissue cutting mode to allow the surgeon to cut the tissue and complete the procedure (step 410). In various aspects, the predetermined acceptable staple compression range can vary depending on the type of tissue being treated and can be set automatically by the instrument 10 or by the user. In various aspects, the predetermined acceptable staple compression range can be based on the use of different reloading elements, different staple heights, and / or different types of surgical staplers.

[0060] If the compressive force exceeds a predetermined acceptable compression range, the actuator 61 retracts, and the surgical stapler 10 exits the firing mode (step 412). In some aspects of this disclosure, the controller can be located on the display 146 ( Figure 1 The device provides warnings, such as those provided by the handle assembly of the surgical stapler, to alert the surgeon that the compressive force on the tissue is not within the predetermined range, allowing the surgeon to reposition the surgical stapler 10 onto the tissue. In some aspects, the warnings may be audio alarms, such as beeping sounds or verbal warnings used to check the surgical site.

[0061] Although this disclosure relates to powered surgical staplers, the principles of this disclosure are contemplated for application to manually powered staplers. For example, as the stapler moves through a predetermined acceptable tissue gap range, the clamping pressure on the tissue held between the anvil assembly and the staple cartridge of the stapler can be measured. In such devices, an indicator, such as a lamp, can be provided on the instrument. When the clamping pressure on the tissue enters a predetermined acceptable compression range and the instrument is within a predetermined acceptable gap range, the indicator can be activated to notify the surgeon that the instrument is ready to fire.

[0062] It is envisioned that, although aspects of this disclosure are illustrated in conjunction with circular staplers, the aspects of this disclosure are equally applicable to other types of staplers, including linear staplers, vascular sealing devices, and other devices for joining tissue segments together.

[0063] Those skilled in the art will understand that one or more operations of method 500 may be performed in a different order, repeated, and / or omitted without departing from the scope of this disclosure. In various aspects, the illustrated method 400 can be implemented in controller 300 ( Figure 3A This method can be operated in a remote device or on another server or system. Other variations are considered within the scope of this disclosure. The operation of method 400 will be relative to a controller, such as surgical stapler 10. Figure 3A ) controller 300 ( Figure 3A The description is provided, but it should be understood that the operations shown may also be applicable to other systems and their components.

[0064] Those skilled in the art will understand that the apparatus and methods specifically described herein and illustrated in the accompanying drawings are not limiting. It is envisioned that elements and features may be combined with other elements and features without departing from the scope of this disclosure. Similarly, those skilled in the art will understand other features and advantages of this disclosure.

Claims

1. A surgical stapler, comprising: An anvil assembly, comprising an anvil head and an anvil center rod extending proximally from the anvil head; A reloading assembly comprising a pusher and an annular staple cartridge containing a plurality of staples, wherein the pusher is configured to eject staples from the annular staple cartridge; processor; and A memory, including instructions stored thereon, which, when executed, cause the surgical stapler instrument to: The pusher is moved from the first position to the second position toward the anvil assembly; Determine whether the pusher stops advancing toward the anvil assembly before reaching the second position; In response to the pusher stopping its advance toward the anvil assembly, the nail compression force of the nail ejected from the annular nail cartridge by the pusher is measured; and Determine whether the nail compression force is outside the predetermined range.

2. The surgical stapler according to claim 1, wherein the instruction, when executed by the processor, further causes the surgical stapler to enter a tissue cutting mode in response to the staple compression force based on a predetermined acceptable staple compression range.

3. The surgical stapler according to claim 1, wherein the staple compressive force is measured by a strain gauge.

4. The surgical stapler of claim 1, wherein the staple compression force is measured based on the current of a motor configured to advance the pusher.

5. The surgical stapler of claim 1, wherein the instruction, when executed by the processor, further causes the surgical stapler to prevent staple firing in response to the staple compression force being greater than the predetermined range.

6. The surgical stapler of claim 5, wherein the instruction, when executed by the processor, further causes the surgical stapler to display a warning on a display when the staple compression force is greater than the predetermined range.

7. The surgical stapler of claim 6, wherein the displayed warnings include at least one of the warnings for checking the surgical site or loosening tissue.

8. The surgical stapler of claim 5, wherein the instruction, when executed by the processor, further causes the surgical stapler to retract the actuator.

9. The surgical stapler of claim 1, wherein the instruction, when executed by the processor, further causes the surgical stapler to generate an audio warning in response to the staple compression force exceeding the predetermined range.

10. A non-transitory computer-readable medium storing instructions, said instructions, when executed by a processor, causing the processor to perform a method for controlling a surgical stapler, said method comprising: The pusher is advanced from a first position to a second position toward the anvil assembly of the surgical stapler, the pusher being configured to eject staples from the staple cartridge of the surgical stapler; Determine whether the pusher stops advancing toward the anvil assembly before reaching the second position; In response to the pusher stopping its advance toward the anvil assembly, the compressive force of the nail ejected from the nail cartridge by the pusher is measured; and Determine whether the nail compression force is outside the predetermined range.

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