Smart Circular Stapler

Abstract

A surgical stapler, the surgical stapler comprising: an end effector configured to receive a staple cartridge; a trocar movable relative to the end effector; an anvil removably connectable to the trocar, the anvil being movable relative to the end effector based on movement of the trocar, the anvil being configured to apply a force to tissue positioned between the anvil and the end effector; a sensor configured to sense the position of the anvil relative to the end effector; a housing including a display portion; and a control circuit operably coupled to the sensor and the display portion, the control circuit being configured to send a signal to the sensor to determine the position of the anvil and to display a representation of the determined position on the display portion. A surgical stapler is disclosed.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 353,279, filed on June 17, 2022, with the title "SMART CIRCULAR STAPLERS", the disclosure of which is incorporated herein by reference in its entirety.

Background Art

[0002] The present disclosure relates to devices, systems, and methods for providing feedback to a user of a circular stapler during a surgical procedure.

Summary of the Invention

Means for Solving the Problems

[0003] In various embodiments, a surgical stapler is disclosed that includes an end - effector configured to receive a staple cartridge, a trocar movable relative to the end - effector, an anvil removably connectable to the trocar, a sensor, a housing including a display, and a control circuit operably coupled to the sensor and the display. The anvil is movable relative to the end - effector based on movement of the trocar. The anvil is configured to apply a force to tissue positioned between the anvil and the end - effector. The sensor is configured to sense the force. The control circuit is configured to send a signal to the sensor to determine the force and display a representation of the determined force on the display.

[0004] In various embodiments, a surgical stapler is disclosed that includes an end effector configured to receive a staple cartridge, a trocar movable relative to the end effector, an anvil removably connectable to the trocar, a sensor, a housing having a display, and a control circuit operably coupled to the sensor and the display. The anvil is movable relative to the end effector based on movement of the trocar. The sensor is configured to sense the position of the anvil relative to the end effector. The control circuit is configured to send a signal to the sensor to determine the position of the anvil and display an indication of the determined position on the display.

[0005] In various embodiments, a surgical stapler is disclosed that includes an end effector configured to receive a staple cartridge, a trocar movable relative to the end effector, an anvil removably connectable to the trocar, a sensor, a housing having a display, and a control circuit operably coupled to the sensor and the display. The anvil is movable relative to the end effector based on movement of the trocar. The anvil is configured to apply a force to tissue positioned between the anvil and the end effector. The sensor is configured to sense attachment of the anvil to the trocar. The control circuit is configured to send a signal to the sensor to determine that the anvil is connected to the trocar and display an indication that the anvil is connected to the trocar on the display. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The various aspects described herein, both as to their construction and method of operation, together with further objects and advantages, will be best understood from the following description, taken in conjunction with the accompanying drawings.

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[0007] Throughout the several views, corresponding reference numerals indicate corresponding parts. The examples set forth herein illustrate one form of the various disclosed embodiments and such examples should in no way be construed as limiting its scope.

DETAILED DESCRIPTION OF THE INVENTION

[0008] The applicant of the present application owns the following US patent applications, the disclosures of which are incorporated herein by reference in their entirety: · US Patent Application No. 17 / 688,589, filed on March 7, 2022, entitled "METHOD FOR INTRAOPERATIVE DISPLAY FOR SURGICAL SYSTEMS".

[0009] The applicant of the present application owns the following US patent applications, the disclosures of which are incorporated herein by reference in their entirety: · U.S. Patent Application No. 16 / 209,423 (now U.S. Patent Application Publication No. 2019 / 0200981-(A1)), titled "METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS", · U.S. Patent Application No. 16 / 209,453 (now U.S. Patent Application Publication No. 2019 / 0201046-(A1)), titled "METHOD FOR CONTROLLING SMART ENERGY DEVICES", and · U.S. Provisional Patent Application No. 63 / 348,218, filed on June 2, 2022, titled "CUSTOMIZATION, TROUBLESHOOTING, AND WIRELESS PAIRING TECHNIQUES FOR SURGICAL INSTRUMENTS".

[0010] Before describing various aspects of the surgical device and the generator in detail, it should be noted that the exemplary embodiments are not limited in their application or use to the details of the structure and arrangement of the components illustrated in the accompanying drawings and description. The exemplary embodiments may be implemented in other aspects, variations, and modifications, or incorporated therein, and may be practiced or carried out in various ways. Further, unless otherwise specified, the terms and expressions used herein are selected for the purpose of explaining the exemplary embodiments for the convenience of the reader and are not intended to limit them. Furthermore, it should be understood that one or more of the aspects, aspect presentations, and / or embodiments described below can be combined with any one or more of the other aspects, aspect presentations, and / or embodiments described below.

[0011] Various aspects relate to an on-screen display for a surgical system for various energy and surgical stapler-based medical devices. Energy-based medical devices include, but are not limited to, radio-frequency (RF)-based monopolar and bipolar electrosurgical instruments, ultrasonic surgical instruments, combinations of RF electrosurgical instruments and ultrasonic instruments, and combinations of RF electrosurgical staplers and mechanical staplers. Surgical stapler devices include surgical staplers combined with electrosurgical devices and / or ultrasonic devices. Aspects of ultrasonic surgical devices can be configured, for example, to transect and / or coagulate tissue during a surgical procedure. Aspects of electrosurgical devices can be configured, for example, to transect, coagulate, seal, weld, and / or dry tissue during a surgical procedure. Aspects of surgical stapler devices can be configured to transect and staple tissue during a surgical procedure, and in some aspects, the surgical stapler device can be configured to deliver RF energy to tissue during a surgical procedure. Electrosurgical devices are configured to deliver therapeutic RF energy and / or non-therapeutic RF energy to tissue. Elements of the surgical stapler, electrosurgical device, and ultrasonic device may be used in combination in a single surgical instrument.

[0012] In various aspects, the present disclosure provides an on-screen display of real-time information to an OR (Operating Room) team during a surgical procedure. According to various aspects of the present disclosure, many new and unique on-screen displays are provided to display various visual information feedback to the OR team on-screen. According to the present disclosure, the visual information may include one or more of various visual media with or without sound. Generally, visual information includes still photographs, motion pictures, videos or audio recordings, graphic art, visual aids, models, displays, visual display services, and support processes. The visual information can communicate, for example, on any number of display options, such as, among other things, a primary OR screen, the energy or surgical stapler device itself, a tablet, augmented reality glasses, etc.

[0013] In various aspects, the present disclosure provides a list of many potential options for communicating visual information to the OR team in real time without overwhelming the OR team with too much visual information. For example, in various aspects, the present disclosure enables a surgeon, or other members of the OR team, to selectively activate an on-screen display, such as an icon surrounding a screen option, to manage the rich visual information. One or a combination of factors can be used to determine the active display, and these may include, among other things, the energy-based (e.g., electro-surgery, ultrasound) or mechanical-based (e.g., stapler) surgical device in use, the estimated risk associated with a given display, the surgeon's level of experience, and the surgeon's selection. In other aspects, the visual information may include rich data overlaid or superimposed on the surgical field to manage the visual information. In various aspects described below, it includes superimposed images that require video analysis and tracking to properly overlay the data. The visual information data communicated in this way may provide additional useful visual information to the OR team in a more concise and understandable way as compared to static icons.

[0014] In various aspects, the present disclosure provides techniques for selectively activating an on-screen display, such as an icon surrounding a screen, to manage visual information during a surgical procedure. In other aspects, the present disclosure provides techniques for determining an active display using one or a combination of factors. In various aspects, the techniques according to the present disclosure may include, among other things, selecting an energy-based or mechanical-based surgical device in use as the active display, estimating the risk associated with a given display, and leveraging the level of experience of the surgeon or OR team making the selection.

[0015] In other aspects, the techniques according to the present disclosure may include overlaying or superimposing rich data over a surgical field to manage visual information. Some of the display arrangements described by the present disclosure involve overlaying various visual displays of surgical data over a live stream of a surgical field. As used herein, the term "overlay" includes translucent overlays, partial overlays, and / or moving overlays. A graphical overlay may be in the form of a transparent graphic, a translucent graphic, or an opaque graphic, or a combination of transparent, translucent, and opaque elements or effects. Further, the overlay may be positioned on, or at least partially on, or near an object in the surgical field, such as, for example, an end effector and / or an important surgical structure. Certain display arrangements may include changes in one or more display elements of the overlay, including changes in color, size, shape, display time, display location, display frequency, highlighting, or combinations thereof, based on changes in display priority values. The graphical overlay is rendered on an active display monitor to communicate important information to the OR team quickly and efficiently.

[0016] In other aspects, the techniques according to the present disclosure may include superimposing images that require video analysis and tracking to properly overlay visual information data. In other aspects, the techniques according to the present disclosure may include communicating rich visual information, as opposed to simple static icons, to provide additional visual information to the OR team in a more concise and understandable manner. In other aspects, the visual overlay may be used in combination with an auditory overlay and / or a somatosensory overlay, such as, for example, thermal devices, chemical devices, and mechanical devices, and combinations thereof.

[0017] The following description generally relates to devices, systems, and methods for providing an augmented reality (AR) interactive experience during a surgical procedure. In this context, images of the surgical field and the surgical instruments and other objects appearing in the surgical field are enhanced by overlaying computer-generated visual, auditory, tactile, somatosensory, olfactory, or other sensory information on the real-world images of the surgical field, the instruments appearing in the surgical field, and / or other objects. The images may be streamed in real time or may be still images. Augmented reality is a technology for rendering and displaying virtual or "augmented" virtual objects, data, or visual effects overlaid on a real environment. The real environment may include the surgical field. Virtual objects overlaid on the real environment may be represented at a fixed or set position relative to one or more aspects of the real environment. In a non-limiting example, when a real-world object exits the field of view of the real environment, a virtual object fixed to the real-world object also exits the field of view of the augmented reality.

[0018] Some of the display arrangements described by this disclosure involve overlaying various visual displays of surgical data on a live stream of the surgical field. As used herein, the term overlay includes translucent overlays, partial overlays, and / or moving overlays. Further, the overlay may be positioned on, at least partially on, or near an object in the surgical field, such as an end effector and / or a critical surgical structure. Certain display arrangements may include changes to one or more display elements of the overlay, including changes in color, size, shape, display time, display location, display frequency, highlighting, or combinations thereof, based on changes in a display priority value.

[0019] As described herein, AR is an extended version of the real physical world achieved through the use of digital visual elements, sounds, or other sensory stimuli delivered via technology. Virtual Reality (VR) is a computer-generated environment having scenes and objects that appear to be real and that give the user the feeling of being immersed within them. This environment is perceived through a device known as a virtual reality headset or helmet. Mixed Reality (MR) and AR are both considered immersive technologies, but they are not the same. MR is an extension of mixed reality that enables real and virtual elements to interact within the environment. AR, in many cases, adds digital elements to a live view by using a camera, while an MR experience combines elements of both AR and VR where the real world and digital objects interact.

[0020] In an AR environment, one or more computer-generated virtual objects may be displayed along with one or more real-world (i.e., so-called "real world") elements. For example, a real-time image or video of the surrounding environment may be shown on a computer screen display along with one or more overlay virtual objects. Such virtual objects may provide supplementary information about the environment or, generally, enhance the user's perception and engagement with the environment. Conversely, a real-time image or video of the surrounding environment may additionally or alternatively enhance the user's engagement with virtual objects shown on the display portion.

[0021] Devices, systems, and methods in the context of the present disclosure enhance images received from one or more imaging devices during a surgical procedure. The imaging devices may include various scopes, AR devices, and / or cameras that provide images during non-invasive surgical procedures and minimally invasive surgical procedures and / or during open surgical procedures. The images may be streamed in real time or may be still images. The devices, systems, and methods provide an extended reality interactive experience by overlaying the display of virtual objects or data and / or real-world objects onto a real-world surgical environment, thereby enhancing the image of the real-world surgical environment. The extended reality experience may be viewed on a display unit and / or an AR device that enables a user to view virtual objects overlaid on the real-world surgical environment. The display unit may be located within the operating room or may be remote from the operating room. The AR device is worn on the head of a surgeon or other operating room personnel and typically includes two stereoscopic display unit lenses or screens, one for each eye of the user. Natural light is able to pass through the two transparent or semi-transparent display unit lenses such that aspects of the real environment are visible while projecting light to make the virtual objects visible to the user of the AR device.

[0022] Two or more display units and AR devices may be used in cooperation, for example, with a first display unit or AR device that controls one or more additional display units or AR devices within a system having defined roles. For example, when activating a display unit or AR device, a user may select a role (e.g., a surgeon, surgical assistant, nurse, etc. during a surgical procedure), and the display unit or AR device may display information related to that role. For example, a surgical assistant may cause the display of a virtual representation of an instrument that a surgeon needs to perform the next step of a surgical procedure. The focus of a surgeon on the current step may be different from viewing the displayed information for a surgical assistant.

[0023] There are many well-known on-screen displays and warnings, but the present disclosure provides many new and unique augmented reality interactive experiences during a surgical procedure. Such augmented reality interactive experiences include visual, auditory, tactile, proprioceptive, olfactory, or other sensory feedback information to the surgical team inside or outside the operating room. Virtual feedback information overlaid on a real-world surgical environment may be provided to an operating room (OR) team, including, for example, but not limited to, personnel within the OR, including the operating surgeon, the surgeon's assistant, the scrubbed personnel, the anesthesiologist, and the circulating nurse. The virtual feedback information may be communicated on any number of display options, such as a primary OR screen display, an AR device, an energy or surgical stapler instrument, a tablet, augmented reality glasses, a device, etc.

[0024] FIG. 1 shows a computer-implemented interactive surgical system 1 including one or more surgical systems 2 and a cloud-based system 4. The cloud-based system 4 may include a remote server 13 coupled to a remote storage device 5. Each surgical system 2 includes at least one surgical hub 6 that communicates with the cloud 4. For example, the surgical system 2 may include a visualization system 8, a robotic system 10, and a handheld intelligent surgical instrument 12, each configured to communicate with one another and / or with the hub 6. In some aspects, the surgical system 2 may include M surgical hubs 6, N visualization systems 8, O robotic systems 10, and P handheld intelligent surgical instruments 12, where M, N, O, and P are integers greater than or equal to 1. The computer-implemented interactive surgical system 1 may be configured to provide an augmented reality interactive experience during a surgical procedure as described herein.

[0025] Figure 2 shows an example of a surgical system 2 for performing a surgical procedure on a patient lying on the operating table 14 within the operating room 16. The robotic system 10 is used as part of the surgical system 2 in the surgical procedure. The robotic system 10 includes a surgeon's console 18, a patient-side cart 20 (surgical robot), and a surgical robot hub 22. The patient-side cart 20 can operate at least one removably connected surgical tool 17 through a minimally invasive incision in the patient's body while the surgeon visually observes the surgical site through the surgeon's console 18 or an augmented reality (AR) device 66 worn by the surgeon. Images of the surgical site during the minimally invasive procedure (e.g., still images or live images streamed in real time) can be acquired by a medical imaging device 24. The patient-side cart 20 can operate the imaging device 24 to orient the imaging device 24. Images of the open surgical procedure can be acquired by a medical imaging device 96. The robot hub 22 processes images of the surgical site for subsequent display on the surgeon's console 18 or an AR device 66 worn by the surgeon or another person within the operating room 16.

[0026] The optical components of the imaging devices 24, 96, or the AR device 66 may include one or more light sources and / or one or more lenses. The one or more light sources may be directed to illuminate a portion of the surgical field. The one or more image sensors may receive light reflected or refracted from tissues and instruments within the surgical field.

[0027] In various aspects, the imaging device 24 is configured for use in minimally invasive surgical procedures. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, arthroscopes, angioscopes, bronchoscopes, choledochoscopes, colonoscopes, cystoscopes, duodenoscopes, enteroscopes, esophagogastroduodenoscopes (stomach cameras), endoscopes, laryngoscopes, nasopharyngo-ureteroscopes, sigmoidoscopes, thoracoscopes, and ureteroscopes. In various aspects, the imaging device 96 is configured for use in open (invasive) surgical procedures.

[0028] In various aspects, the visualization system 8 includes one or more imaging sensors strategically positioned with respect to the sterile field, one or more image processing devices, one or more storage device arrays, and one or more display units. In one aspect, the visualization system 8 includes interfaces for HL7, PACS, and EMR. In one aspect, the imaging device 24 may use multispectral monitoring to distinguish topography from underlying structures. Multispectral images capture image data within a specific wavelength range in the electromagnetic spectrum. The wavelengths are separated by filters or by instruments having sensitivity to specific wavelengths including frequencies beyond the visible light range, e.g., IR, and light from ultraviolet. Spectral imaging can extract information not visible to the human eye. Multispectral monitoring can reposition the surgical field after a surgical task for performing tests on the treated tissue has been completed.

[0029] FIG. 2 shows a primary display 19 positioned within the sterile field as seen by an operator of the operating table 14. The visualization tower 11 is positioned outside the sterile field and includes a first non-sterile display 7 and a second non-sterile display 9 facing opposite each other. The visualization system 8 guided by the hub 6 is configured to regulate the information flow to the operators inside and outside the sterile field using the displays 7, 9, 19. For example, the hub 6 may cause the visualization system 8 to display an AR image of the surgical site recorded by the imaging devices 24, 96 through the non-sterile displays 7, 9 or the AR device 66 while maintaining a live video of the surgical site on the primary display 19 or the AR device 66. The non-sterile displays 7, 9 may, for example, enable a non-sterile operator to perform diagnostic steps related to the surgical procedure.

[0030] FIG. 3 shows a hub 6 that communicates with a visualization system 8, a robotic system 10, and a handheld intelligent surgical instrument 12. The hub 6 includes a hub display 35, an imaging module 38, a generator module 40, a communication module 30, a processor module 32, a memory device array 34, and an operating room mapping module 33. The hub 6 further includes a smoke exhaust module 26 and / or a suction / irrigation module 28. In various aspects, the imaging module 38 includes an AR device 66, and the processor module 32 includes an integrated video processor and an augmented reality modeler (e.g., as shown in FIG. 10). The modular light source may be adapted for use with various imaging devices. In various examples, a plurality of imaging devices may be disposed at different positions in the surgical field to provide a plurality of views (e.g., for non-invasive, minimally invasive, invasive, or open surgical procedures). The imaging module 38 may be configured to switch between imaging devices to provide an optimal view. In various aspects, the imaging module 38 may be configured to integrate images from different imaging devices and provide an augmented reality interactive experience during a surgical procedure as described herein.

[0031] FIG. 4 shows a surgical data network 51 including a modular communication hub 53 configured to connect modular devices located in one or more operating sites / rooms of a medical facility to a cloud-based system. The cloud 54 may include a remote server 63 (FIG. 5) coupled to a storage device 55. The modular communication hub 53 includes a network hub 57 and / or a network switch 59 that communicates with a network router 61. The modular communication hub 53 is coupled to a local computer system 60 for processing data. The modular devices 1a-1n at the operating site may be coupled to the modular communication hub 53. The network hub 57 and / or the network switch 59 may be coupled to the network router 61 to connect the devices 1a-1n to the cloud 54 or the local computer system 60. Data associated with the devices 1a-1n may be transferred via the router to a cloud-based computer for remote data processing and manipulation. The operating site devices 1a-1n may be connected to the modular communication hub 53 via a wired channel or a wireless channel. The surgical data network 51 environment may be used, as described herein, to provide an augmented reality interactive experience during a surgical procedure, and in particular to provide an augmented image of the surgical field to one or more remote displays 58.

[0032] FIG. 5 illustrates a computer-implemented interactive surgical system 50. The computer-implemented interactive surgical system 50 is similar in many respects to the computer-implemented interactive surgical system 1. The computer-implemented interactive surgical system 50 includes one or more surgical systems 52 that are similar in many respects to the surgical system 2. Each surgical system 52 includes at least one surgical hub 56 that communicates with a cloud 54 that may include a remote server 63. In one aspect, the computer-implemented interactive surgical system 50 includes a modular control tower 23 connected to a plurality of operating room devices such as, for example, intelligent surgical instruments, robots, and other computerized devices located within the operating room. As shown in FIG. 6, the modular control tower 23 includes a modular communication hub 53 coupled to a computer system 60.

[0033] Returning to FIG. 5, the modular control tower 23 is connected to an imaging module 38 connected to an endoscope 98, a generator module 27 connected to an energy device 99, a smoke exhaust module 76, a suction / irrigation module 78, a communication module 13, a processor module 15, a memory device array 16, a smart device / instrument 21 optionally connected to a display 39, and a sensor module 29. The surgical site device is connected via the modular control tower 23 to cloud computing resources such as a server 63, a data storage device 55, and a display 58. The robot hub 72 may also be connected to the modular control tower 23, and the server 63, the data storage device 55, and the display 58. In particular, the device / instrument 21, the visualization system 58 may be connected to the modular control tower 23 via a wired or wireless communication standard or protocol as described herein. The modular control tower 23 may be connected to a hub display 65 (e.g., a monitor, a screen) for displaying a received extended image including a virtual object overlaid on the actual surgical field received from the imaging module 38, the device / instrument display 39, and / or another visualization system 58. The hub display 65 may further display data received from devices connected to the modular control tower 23 together with the image and the overlay image.

[0034] FIG. 6 illustrates a surgical hub 56 having a plurality of modules coupled to a modular control tower 23. The modular control tower 23 includes, for example, a modular communication hub 53 such as a network connection device, and a computer system 60 for performing local processing, visualization, and imaging of extended surgical information, for example. The modular communication hub 53 is connected in a hierarchical configuration to expand the number of modules (e.g., devices) that can be connected to the modular communication hub 53, and may transfer data associated with the modules to the computer system 60, cloud computing resources, or both. Each of the network hubs / switches 57, 59 within the modular communication hub 53 may include three downstream ports and one upstream port. The upstream network hubs / switches 57, 59 are connected to the processor 31 to provide communication connections to cloud computing resources and the local display 67. Communication to the cloud 54 may be performed via either a wired communication channel or a wireless communication channel.

[0035] The computer system 60 includes a processor 31 and a network interface 37. The processor 31 is coupled via a system bus to a communication module 41, a storage device 45, a memory 46, a non-volatile memory 47, and an input / output interface 48. The system bus may be any of several types of bus structures (plural), including a memory bus or memory controller, a peripheral bus or external bus, and / or a local bus using various available bus architectures.

[0036] Processor 31 includes an extended reality modeler (such as shown in FIG. 10 for example) and may be implemented as a single-core processor or a multi-core processor such as those well-known under the trade name ARM Cortex by Texas Instruments. In one aspect, the processor may be, for example, the LM4F230H5QR ARM Cortex-M4F processor core available from Texas Instruments, which processor core has on-chip memory of 256 KB single-cycle flash memory or other non-volatile memory with a maximum of 40 MHz, a prefetch buffer for improving performance beyond 40 MHz, 32 KB of single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with StellarisWare (registered trademark) software, 2 KB of electrically erasable programmable read-only memory (EEPROM) and / or one or more pulse width modulation (PWM) modules, one or more quadrature encoder input (QEI) analogs, and one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, the details of which are available in the product datasheet.

[0037] Examples of system memory include volatile memory and non-volatile memory. The Basic Input / Output System (BIOS), which contains basic routines for transferring information between elements within a computer system during startup and the like, is stored in non-volatile memory. For example, examples of non-volatile memory may include ROM, Programmable ROM (PROM), Electrically Programmable ROM (EPROM), EEPROM, or flash memory. Examples of volatile memory include Random-Access Memory (RAM) that functions as an external cache memory. Further, RAM is available in many forms such as SRAM, Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

[0038] The computer system 60 further includes a removable / non-removable, volatile / non-volatile computer storage device medium, such as a disk storage device and the like. Examples of disk storage devices include, but are not limited to, magnetic disk drives, floppy disk drives, tape drives, Jaz drives, Zip drives, LS-60 drives, flash memory cards, or memory sticks. Note that the disk storage device may include the above storage media independently or in combination with other storage media. Other storage media include, but are not limited to, optical disk drives such as compact disc ROM devices (Compact Disc ROM, CD-ROM), compact disc recordable drives (Compact Disc Recordable drive, CD-R drive), compact disc rewritable drives (Compact Disc ReWritable drive, CD-RW drive), or digital versatile disc ROM (Digital Versatile Disc ROM, DVD-ROM) drives. A removable or non-removable interface may be used to facilitate connection of the disk storage device to the system bus.

[0039] In various aspects, the computer system 60 of FIG. 6, the imaging module 38 of FIGS. 4 - 6, and / or the visualization system 58, and / or the processor module 15 may include an image processor, an image processing engine, a Graphics Processing Unit (GPU), a media processor, or any dedicated digital signal processor (DSP) used for processing digital images. The image processor may use parallel computing with Single Instruction, Multiple Data (SIMD), or Multiple Instruction, Multiple Data (MIMD) techniques to increase speed and efficiency. The digital image processing engine may perform various tasks. The image processor may be a system - on - chip with a multi - core processor architecture.

[0040] FIG. 7 illustrates an augmented reality system 263 that includes an intermediate signal combiner 64 positioned within a communication path between the imaging module 38 and the surgical hub display 67. The signal combiner 64 combines audio and / or image data received from the imaging module 38 and / or the AR device 66. The surgical hub 56 receives the combined data from the combiner 64, overlays the data provided to the display 67, and the overlaid data is displayed. The imaging device 68 may be a digital video camera, and the audio device 69 may be a microphone. The signal combiner 64 may include a wireless head - up display adapter for coupling to an AR device 66 disposed within the communication path of the display 67 to a console that enables the surgical hub 56 to overlay data on the display 67.

[0041] FIG. 8 illustrates an augmented reality (AR) system that includes an intermediate signal coupler positioned within a communication path between an imaging module and a surgical hub display. FIG. 8 illustrates an AR device 66 worn by a surgeon 73 for communicating data to a surgical hub 56. The peripheral information of the AR device 66 does not include active video. Rather, the peripheral information includes only device settings or signals that do not have the same requirements for a refresh rate. The interaction may expand the information of the surgeon 73 based on a link with preoperative computed tomography (CT) or other data linked within the surgical hub 56. The AR device 66 can identify structures and, for example, can query whether an instrument is touching a nerve, blood vessel, or adhesion. The AR device 66 may include preoperative scan data, an optical view, tissue examination characteristics obtained throughout the procedure, and / or processing in the surgical hub 56 used to provide answers. The surgeon 73 can write a memo to the AR device 66 so that it is stored with patient data in the hub storage device 45 for later use in reports or follow-up.

[0042] The AR device 66 worn by the surgeon 73 links to the surgical hub 56 using auditory and visual information to avoid the need for an overlay and enables customization of the information displayed around the periphery of the field of view. The AR device 66 provides signals from devices (e.g., instruments) and answers queries regarding position information linked to video to identify device settings or quadrants or positions. The AR device 66 has voice control and voice feedback from the AR device 66. The AR device 66 is capable of interacting with other systems within the surgical site and can have feedback and interaction available wherever the surgeon 73 is looking. For example, the AR device 66 may receive voice or gesture start commands and queries from the surgeon, and the AR device 66 may provide feedback in the form of one or more modalities including voice, vision, or tactile touch.

[0043] FIG. 9 illustrates a surgeon 73 wearing an AR device 66 and a patient 74, and may include a camera 96 within an operating room 75. The AR device 66 worn by the surgeon 73 may be used to present virtual objects overlaid on a real-time image of the surgical field to the surgeon 73, either through the augmented reality display portion 89 or through the hub-connected display 67. The real-time image may include portions of the surgical instrument 77. The virtual objects may not be visible to others (e.g., a surgical assistant or a nurse) within the operating room 75, although they may also wear the AR device 66. Even if another person is viewing the operating room 75 using the AR device 66, that person may not be able to see the virtual objects, or may be able to see the virtual objects in the augmented reality shared with the surgeon 73, or may be able to see a modified version of the virtual objects (e.g., according to customizations specific to the surgeon 73), or may see different virtual objects.

[0044] The virtual objects and / or data may be configured to appear on portions of the surgical instrument 77 or within the surgical field captured by the imaging module 38, the imaging device 68 during minimally invasive surgical procedures, and / or the camera 96 during open surgical procedures. In the illustrated embodiment, the imaging module 38 is a laparoscope camera that provides live video of the surgical area during minimally invasive surgical procedures. The AR system may present virtual objects that are fixed to real objects regardless of the viewpoint of one or more viewers (e.g., the surgeon 73) of the AR system. For example, the virtual objects may be visible to viewers of the AR system within the operating room 75 and not visible to viewers of the AR system outside the operating room 75. The virtual objects may be displayed to viewers outside the operating room 75 when the viewer enters the operating room 75. The augmented image may be displayed on the surgical hub display 67 or the augmented reality display portion 89.

[0045] The AR device 66 may include one or more screens or lenses, such as a single screen or two screens (for example, one for each eye of the user). The screen may be configured to allow light to pass through it such that aspects of the real environment are visible while virtual objects are being displayed. The virtual objects may become visible to the surgeon 73 by projecting light. The virtual objects may appear to have a certain degree of transparency or may be opaque (i.e., block aspects of the real environment).

[0046] The AR system may be visible to one or more viewers and may include differences between views available to one or more viewers while maintaining some aspects common between the views. For example, the heads-up display may vary between two views, but the virtual objects and / or data may be fixed to real objects or regions within both views. Aspects such as the color, illumination, or other modifications of the objects may be made between the views without changing the fixed position of at least one virtual object.

[0047] The user can view the virtual objects and / or data presented within the AR system as opaque or with a certain level of transparency. In one embodiment, the user may interact with the virtual object, such as by moving the virtual object from a first position to a second position. For example, the user may move the object with their hand. This may be virtually performed in the AR system by determining that the hand has moved to a position that coincides with or is adjacent to the object (using one or more cameras, which may be mounted on the AR device 66, such as the AR device camera 79 or a separate 96, and may be static, or may be controlled to move), and moving the object accordingly. The virtual aspect may include a virtual representation of a real-world object or may include visual effects such as lighting effects. The AR system may include rules for governing the behavior of the virtual object, such as exposing the virtual object to gravity or friction, or other predefined rules that negate real-world physical constraints (such as floating objects, perpetual motion, etc.). The AR device 66 may include a camera 79 on the AR device 66 (not to be confused with a separate camera 96 from the AR device 66). The AR device camera 79 or camera 96 may include an infrared camera, an infrared filter, a visible light filter, multiple cameras, a depth camera, etc. The AR device 66 may project virtual items on top of the display of the real environment that the user can visually recognize.

[0048] The AR device 66 may be used in the operating room 75, for example, during a surgical procedure performed on a patient 74 by a surgeon 73. The AR device 66 may project or display virtual objects, such as virtual objects during a surgical procedure, to expand the vision of the surgeon. The surgeon 73 may visually recognize the virtual object using the AR device 66, a remote controller for the AR device 66, or may interact with the virtual object by using a hand to "interact" with, for example, a virtual object or gesture recognized by the camera 79 of the AR device 66. The virtual object may expand a surgical tool such as a surgical instrument 77. For example, the virtual object may appear to be connected to the surgical instrument 77 or remain at a fixed distance from the surgical instrument 77 (to the surgeon 73 who visually recognizes the virtual object through the AR device 66). In another embodiment, the virtual object may be used to guide the surgical instrument 77 and may appear to be fixed to the patient 74. In a particular embodiment, the virtual object may respond to the movement of other virtual world or real world objects in the surgical field of view. For example, the virtual object may be changed when the surgeon is operating a surgical instrument in proximity to the virtual object.

[0049] The imaging device 38 of the augmented reality display system captures a real image of the surgical area during a surgical procedure. The augmented reality display units 89, 67 present an overlay of the operating mode of the surgical instrument 77 on the real image of the surgical area. The surgical instrument 77 includes a communication circuit 231 for communicating the operating mode and functional data from the surgical instrument 77 to the AR device 66 via the communication circuit 233 on the AR device 66. The surgical instrument 77 and the AR device 66 are shown in RF wireless communication between the circuits 231, 233 as indicated by the arrows B, C, although other communication technologies (e.g., wired, ultrasonic, infrared, etc.) may be used. The overlay is related to the operating mode of the surgical instrument 77 that is actively visualized. The overlay combines the mode of tissue interaction in the surgical area with the functional data from the surgical instrument 77. The processor portion of the AR device 66 is configured to receive the operating mode and functional data from the surgical instrument 77, determine an overlay related to the operation of the surgical instrument 77, and combine the mode of the tissue within the surgical area with the functional data from the surgical instrument 77. The augmented image indicates warnings regarding device performance considerations, warnings regarding improper use, and warnings regarding incomplete capture. Improper use includes out-of-range tissue conditions and inaccurately balanced tissue within the jaws of the end effector. Additional augmented images provide indicators of attendant events, including an indicator of tissue tension and an indicator of foreign object detection. Other augmented images indicate a device status overlay and an instrument indicator.

[0050] FIG. 10 illustrates a system 83 for augmenting an image of a surgical field with information using an AR display unit 89, according to at least one aspect of the present disclosure. The system 83 may be used to perform the techniques described below, for example, by using a processor 85. The system 83 includes an aspect of an AR device 66 that can communicate with a database 93. The AR device 66 includes a processor 85, a memory 87, an AR display unit 89, and a camera 79. The AR device 66 may include a sensor 90, a speaker 91, and / or a tactile controller 92. The database 93 may include an image storage device 94 or a preoperative planning storage device 95.

[0051] The processor 85 of the AR device 66 includes an augmented reality modeler 86. The augmented reality modeler 86 may be used by the processor 85 to create an augmented reality environment. For example, the augmented reality modeler 86 may receive an image of an instrument within the surgical field from, for example, the camera 79 or the sensor 90, and create an augmented reality environment so as to fit within the displayed image of the surgical field. In another embodiment, physical objects and / or data may be overlaid on the surgical field and / or the surgical instrument image, and the augmented reality modeler 86 may use the physical objects and data to present an augmented reality display of virtual objects and / or data within the augmented reality environment. For example, the augmented reality modeler 86 may use or detect an instrument at the surgical site of a patient, and present virtual objects and / or data on the surgical instrument, and / or an image of the surgical site within the surgical field captured by the camera 79. The AR display unit 89 may display an AR environment overlaid on the real environment. The display unit 89 may use the AR device 66 at a fixed position or the like within the AR environment to show virtual objects and / or data.

[0052] The AR device 66 may include a sensor 90 such as an infrared sensor. The camera 79 or the sensor 90 may be used to detect movements such as gestures by the surgeon or other users, and the movements may be interpreted by the processor 85 as attempted or intended interactions with virtual targets by the user. The processor 85 may identify an object within the real environment, such as by processing information received using the camera 79. In other aspects, the sensor 90 may be a tactile sensor, an audible sensor, a chemical sensor, or a thermal sensor for generating corresponding signals that can be combined with various data feeds to create an augmented environment. The sensor 90 may include a binaural (both ears) audio sensor (spatial sound), an inertial measurement (accelerometer, gyroscope, magnetometer) sensor, an environmental sensor, a depth camera sensor, a hand and eye tracking sensor, and a voice command recognition function.

[0053] The AR display unit 89 may present virtual features corresponding to physical features hidden by the patient's anatomical aspects within the surgical field or the like, while enabling the surgical field to be viewed through the AR display unit 89, for example, during a surgical procedure. The virtual feature unit may have a virtual position or orientation corresponding to the first physical position or orientation of the physical feature unit. In one embodiment, the virtual position or orientation of the virtual feature unit may include an offset from the first physical position or orientation of the physical feature unit. The offset may include a predetermined distance from the augmented reality display unit, a relative distance from the augmented reality display unit to the anatomical aspect, and the like.

[0054] In one embodiment, the AR device 66 may be an individual AR device. In one aspect, the AR device 66 may be a HoloLens 2 AR device manufactured by Microsoft of Redmond, Washington. This AR device 66 includes a visor with lenses and binocular audio features (spatial sound), inertial measurement (accelerometer, gyroscope, magnetometer), environmental sensors, a depth camera, a video camera, hand and eye tracking, and a voice command recognition function. It provides an improved field of view with high resolution by using a mirror to direct the waveguide in front of the wearer's eyes. The image can be enlarged by changing the angle of the mirror. It further provides eye tracking for recognizing the user and adjusting the lens width for a specific user.

[0055] In another embodiment, the AR device 66 may be a Snapchat Spectacles 3 AR device. This AR device provides the ability to capture paired images, recreate 3D depth mapping, add virtual effects, and play 3D videos. The AR device includes two HD cameras for capturing 3D photos and videos at 60 fps, while four built-in microphones record immersive high-fidelity audio. Images from both cameras are combined to construct a geometric map of the real world around the user, providing a new sense of depth perception. Photos and videos may be wirelessly synchronized to an external display device.

[0056] In yet another embodiment, the AR device 66 may be the Glass 2 AR device by Google. This AR device provides inertial measurement (accelerometer, gyroscope, magnetometer) information overlaid on the lens (outside the field of view) to supplement information.

[0057] In another embodiment, the AR device 66 may be the Echo Frames AR device by Amazon. This AR device does not have a camera / display unit. The microphone and speaker are linked to Alexa. This AR device has fewer functions than a head-up display unit.

[0058] In yet another embodiment, the AR device 66 may be the Focals AR device by North (Google). This AR device provides a notification pusher / smartwatch analog, inertial measurement, screen overlay of information (weather, calendar, messages), and voice control (Alexa) integration. This AR device provides basic head-up display unit functions.

[0059] In another embodiment, the AR device 66 may be the Nreal AR device. This AR device includes spatial sound, two environmental cameras, a photo camera, an IMU (accelerometer, gyroscope), an ambient light sensor, and a proximity sensor function. Nebula projects application information onto the lens.

[0060] In various other embodiments, the AR device 66 may be any one of the following commercially available AR devices, namely, Magic Leap 1, Epson Moverio, Vuzix Blade AR, ZenFone AR, Microsoft AR glasses prototype, EyeTap, which creates light on the retina directly in line with the light of the environment. The beam splitter, for example, makes the same visible light available to the computer for processing and overlaying information. The AR visualization system includes a HUD, contact lenses, glasses, virtual reality (VR) headsets, virtual retinal displays, in - operating - room displays, and / or smart contact lenses (bionic lenses).

[0061] The multi - user interface for the AR device 66 includes a virtual retinal display such as a raster display directly drawn on the retina rather than on a screen in front of the eyes, a spatial display such as a smart TV, a smartphone, and / or a Sony spatial display system.

[0062] Other AR technologies may include, for example, AR capture devices and software applications, AR creation devices and software applications, and AR cloud devices and software applications. AR capture devices and software applications include, for example, the Apple Polycam app, Ubiquity 6 (Mirrorworld using the Display.land app), and a user can scan and obtain 3D images of the real world (for creating 3D models). AR creation devices and software applications include, for example, Adobe Aero, Vuforia, ARToolKit, Google ARCore, Apple ARKit, MAXST, Aurasma, Zappar, Blippar. AR cloud devices and software applications include, for example, Facebook, Google (world geometry, object recognition, predictive data), Amazon AR Cloud (commerce), Microsoft Azure, Samsung Project Whare, Niantic, Magic Leap.

[0063] Situation awareness is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from a database and / or instrument. The information may include the type of procedure being performed, the type of tissue being operated on, or the body cavity that is the subject of the procedure. According to the context information regarding the surgical procedure, the surgical system can be improved, for example, in a manner where the surgical system controls the modular devices (e.g., robotic arms and / or robotic surgical tools) connected to it and provides contextualized information or suggestions to the surgeon during the surgical procedure.

[0064] Figure 11 illustrates the timeline of a situation-aware surgical procedure. Figure 11 illustrates an exemplary surgical procedure timeline 5200 and the context information that can be derived by the surgical hub 5104 from data received from the data source 5126 at each step of the surgical procedure. The timeline 5200 shows the general steps that a nurse, surgeon, and other medical staff would take during a lobectomy procedure that begins with the setup of the operating room and ends with transferring the patient to the post-operative recovery room. The situation-aware surgical hub 5104 receives data from the data source 5126 that includes data generated each time a healthcare provider uses a modular device 5102 paired with the surgical hub 5104 throughout the course of the surgical procedure. The surgical hub 5104 receives this data from the paired modular device 5102 and other data sources 5126 and can continuously derive an estimate (i.e., context information) about the ongoing procedure whenever new data is received, such as which step of the procedure is being performed at any given time. The situation-aware system of the surgical hub 5104 can, for example, record data about the procedure to generate a report, verify the steps being taken by the healthcare provider, provide data or prompts that may be relevant to a particular procedure step (e.g., via a display screen), adjust the modular device 5102 based on the context (e.g., activate a monitor, adjust the FOV of a medical imaging device, or change the energy level of an ultrasonic surgical instrument or an RF electrosurgical instrument), and perform any other such actions as described above.

[0065] In the first 5202, hospital staff retrieve the patient's EMR from the hospital's EMR database. Based on the patient data selected in the EMR, the surgical hub 5104 determines that the procedure to be performed is a chest surgery.

[0066] In the second 5204, the staff scans the medical supplies that come in for treatment. The surgical hub 5104 cross-references the scanned supplies with a list of supplies to be used in various types of treatment and confirms that the mixture of supplies corresponds to a chest treatment. Further, the surgical hub 5104 can further determine that the treatment is not a wedge resection (since either the incoming supplies do not include the specific supplies required for a chest wedge resection or are otherwise not suitable for a chest wedge resection).

[0067] In the third 5206, the healthcare worker scans the patient band via a scanner 5128 communicably connected to the surgical hub 5104. Next, the surgical hub 5104 can identify the patient based on the scanned data.

[0068] At the fourth step 5208, the medical staff turns on the auxiliary device. The auxiliary devices used can vary according to the type of surgical procedure and the techniques used by the surgeon. In this exemplary case, examples include a smoke evacuator, an insufflator, and a medical imaging device. When activated, the auxiliary device, which is the modular device 5102, can automatically pair with a surgical hub 5104 located within a specific vicinity of the modular device 5102 as part of its initialization process. Next, the surgical hub 5104 can derive context information regarding the surgical procedure by detecting the type of modular device 5102 paired with it during this preoperative or initialization stage. In this particular embodiment, the surgical hub 5104 determines that the surgical procedure is a VATS surgery based on this specific combination of paired modular devices 5102. Based on a combination of data from the patient's EMR, a list of medical supplies used in the procedure, and the type of modular device 5102 connected to the hub, the surgical hub 5104 can generally estimate the specific procedure being performed by the surgical team. Once the surgical hub 5104 knows what specific procedure is being performed, the surgical hub 5104 then reads the steps of that procedure from memory or from the cloud and then cross-references the data subsequently received from the connected data sources 5126 (e.g., modular device 5102 and patient monitoring device 5124) to estimate which steps of the surgical procedure the surgical team is performing.

[0069] At the fifth step 5210, the staff attaches EKG electrodes and other patient monitoring devices 5124 to the patient. The EKG electrodes and other patient monitoring devices 5124 can be paired with the surgical hub 5104. When the surgical hub 5104 starts receiving data from the patient monitoring device 5124, the surgical hub 5104 confirms that the patient is present at the surgical site.

[0070] In the sixth step 5212, a healthcare provider induces anesthesia in the patient. The surgical hub 5104 can infer that the patient is under anesthesia based on data from the modular device 5102 and / or the patient monitoring device 5124, including, for example, EKG data, blood pressure data, ventilator data, or a combination thereof. When the sixth step 5212 is completed, the preoperative portion of the pneumonectomy is complete and a portion of the surgery begins.

[0071] In the seventh step 5214, the lung of the patient being operated on is deflated (while ventilation is switched to the contralateral lung). The surgical hub 5104 can infer from the ventilator data that the patient's lung has been deflated. Since the surgical hub 5104 can compare the detection that the patient's lung has been deflated with the expected steps of the procedure (which can be accessed or read beforehand), it can estimate that the surgical portion of the procedure has started, and thereby determine that deflating the lung is the first surgical step in this particular procedure.

[0072] In the eighth 5216, a medical imaging device 5108 (e.g., a scope) is inserted and video imagery from the medical imaging device is initiated. The surgical hub 5104 receives medical imaging device data (i.e., still image data or real-time live streaming video) through the connection to the medical imaging device. When receiving the medical imaging device data, the surgical hub 5104 may determine that the laparoscopic portion of the surgical procedure has been initiated. Further, the surgical hub 5104 may determine that the particular procedure being performed is a segmentectomy as opposed to a lobectomy (note that based on the data received in the second step 5204 of the procedure, a wedge resection has already been accounted for by the surgical hub 5104). Using the data from the medical imaging device 124 (FIG. 2), in various ways, such as by determining the angle of the medical imaging device directed towards the visualization of the patient's anatomical structure, by monitoring the number or medical imaging devices being utilized (i.e., activated and paired with the surgical hub 5104), and by monitoring the type of visualization device being utilized, context information regarding the type of procedure being performed may be determined.

[0073] For example, one technique for performing VATS lobectomy places the camera above the diaphragm at the anteroinferior corner of the patient's chest cavity, while one technique for performing VATS segmentectomy places the camera at an intercostal position anterior to the segmental fissure. The situation recognition system can be trained to recognize the position of the medical imaging device according to the visualization of the patient's anatomical structure, for example, using pattern recognition techniques or machine learning techniques. As another example, one technique for performing VATS lobectomy utilizes a single medical imaging device, while another technique for performing VATS segmentectomy utilizes multiple cameras. As yet another example, one technique for performing VATS segmentectomy utilizes an infrared light source (which can be communicatively coupled to a surgical hub as part of the visualization system) to visualize the segmental fissure, which is not utilized in VATS lobectomy. By tracking any or all of this data from the medical imaging device 5108, the surgical hub 5104 can thereby determine the specific type of surgical procedure being performed and / or the technique being used for the specific type of surgical procedure.

[0074] In step 5218 of the ninth, the surgical team begins the incision step of the procedure. The surgical hub 5104 can presume that the surgeon is in the process of incising and separating the patient's lung because it receives data from an RF or ultrasonic generator indicating that an energy instrument is being fired. The surgical hub 5104 can determine that the energy instrument being fired at this point in the process (i.e., after the steps of the procedure described above are completed) corresponds to the incision step by cross-referencing the received data with the read steps of the surgical procedure.

[0075] In step 5220 of the tenth, the surgical team proceeds to the ligation step of the procedure. The surgical hub 5104 can presume that the surgeon is ligating arteries and veins because it receives data from a surgical stapling and cutting instrument indicating that an instrument is being fired. Similar to the previous step, the surgical hub 5104 can derive this presumption by cross-referencing the receipt of data from the surgical stapling and cutting instrument with the steps within the read process.

[0076] In the 11th step 5222, a partial resection of the treatment area is performed. The surgical hub 5104 estimates that the surgeon is transecting the parenchymal tissue based on data from the surgical instrument, including data from the staple cartridge. The cartridge data may correspond, for example, to the size or type of staples being fired by the instrument. The cartridge data may indicate the type of staples being used and / or the type of tissue being transected for different types of tissue. The type of staples being fired is used for parenchymal tissue or other similar tissue types, and the surgical hub 5104 may estimate that a resection procedure is being performed.

[0077] Subsequently, in the 12th step 5224, a nodule incision step is performed. The surgical hub 5104 may estimate that the surgical team is incising the nodule and performing a leak test based on data received from the generator indicating that an RF or ultrasonic instrument is being fired. In this particular treatment, the RF or ultrasonic instrument used after the parenchymal tissue has been transected corresponds to the nodule incision step, enabling the surgical hub 5104 to make this estimate. Since different instruments are better suited for specific tasks, it should be noted that the surgeon may periodically alternate between a surgical stapling / cutting instrument and a surgical energy (i.e., RF or ultrasonic) instrument depending on the specific step during the treatment. Thus, the specific sequence in which the stapling / cutting instrument and the surgical energy instrument are used may indicate which step of the treatment the surgeon is performing. When the 12th step 5224 is completed, the incision is closed and the postoperative part of the treatment begins.

[0078] In the 13th step 5226, the patient's anesthesia is reversed. The surgical hub 5104 may estimate that the patient is waking up from anesthesia based on, for example, ventilator data (i.e., the patient's respiratory rate begins to increase).

[0079] Finally, at the fourteenth 5228, medical personnel remove various patient monitoring devices 5124 from the patient. Thus, the surgical hub 5104 can presume that the patient has been transferred to the recovery room if the hub has lost EKG, BP, and other data from the patient monitoring device 5124. According to data received from various data sources 5126 communicatively coupled to the surgical hub 5104, the surgical hub 5104 can determine or presume when each step of a given surgical procedure has occurred.

[0080] As shown in the first step 5202 of the timeline 5200 shown in FIG. 11, in addition to using patient data from the EMR database(s) to estimate the type of surgical procedure being performed, the patient data can further be utilized by the situation-aware surgical hub 5104 to generate control adjustments for the paired modular devices 5102.

[0081] Referring now to FIG. 12, a circular stapler 1000 is provided in accordance with at least one aspect of the present disclosure. The circular stapler 1000 includes a housing 1002, a shaft 1004 extending from the housing 1002, and an end effector 1006 extending from the shaft 1004. In various embodiments, the housing 1002 includes a handle that is gripped by a user of the circular stapler 1000. The end effector 1006 is sized to receive therein a staple cartridge 1007 that includes staples deployable from the staple cartridge 1007 into tissue. In various embodiments, the staple cartridge 1007 includes a cartridge body, an annular array of staple cavities defined in the cartridge body, and staples removably housed in the annular array of staple cavities. The circular stapler 1000 further includes a firing drive configured to drive staples from the staple cavities into tissue and to drive a knife into stapled tissue based on actuation of a firing trigger 1008 on the housing 1002. The housing 1002 further includes a safety device 1010 configured to prevent inadvertent actuation of the firing trigger 1008 by engaging the firing trigger 1008 until the safety device 1010 is manually moved away from the firing trigger 1008.

[0082] The circular stapler 1000 further includes a trocar 1012 sized and configured to couple to an anvil shaft 1014 of an anvil 1016. In some embodiments, the trocar 1012 is manually extendable and retractable relative to the end effector 1006 by a manual adjustment knob or a rotary actuator 1013 on the proximal end of the housing 1002. In some embodiments, the trocar 1012 is extendable and retractable relative to the end effector 1006 by a motor-driven system. The trocar 1012 includes a band 1018 for providing visual feedback regarding the trocar 1012, such as a visual indication of the position of the trocar 1012, or for visually determining whether the anvil 1016 is coupled to the trocar 1012, as described below.

[0083] During operation, trocar 1012 is inserted into anvil shaft 1014 until locking spring 1020 of anvil 1016 locks onto trocar 1012, thereby releasably connecting anvil 1016 to trocar 1012. In one aspect, anvil 1016 is connected to trocar 1012 by gripping gripping region 1022 of anvil 1016 with a gripping tool and moving anvil 1016 towards trocar 1012, as seen in FIG. 19 as an example. In the connected state, anvil shaft 1014 covers band 1018 and provides the user with a visual confirmation that anvil 1016 is connected to trocar 1012. When anvil 1016 is connected to trocar 1012, the user can adjust the position of anvil 1016 relative to staple cartridge 1007. For example, in some embodiments, the user can move / rotate manually adjustable knob 1013 on housing 1002, which moves trocar 1012 and thus anvil 1016. The user can rotate knob 1013 in a first direction to move anvil 1016 towards staple cartridge 1007 and end effector 1006 by trocar 1012 and capture tissue between anvil 1016 and staple cartridge 1007. Similarly, the user can rotate knob 1013 in a second direction opposite to the first direction to move anvil 1016 away from staple cartridge 1007 and end effector 1006 by trocar 1012. Other embodiments are envisioned where the user uses the motor-driven system referenced above to adjust the position of anvil 1016 relative to staple cartridge 1007.

[0084] When the user is satisfied with the position of the anvil 1016, the user can move the safety device 1010 to disengage it from the engagement with the firing trigger 1008 and activate the firing trigger 1008. Based on the activation of the firing trigger 1008, the firing drive unit drives the staples from the staple cartridge 1007 through the tissue captured between the anvil 1016 and the staple cartridge 1007 into the staple pocket 1009 defined within the anvil 1016 to form staples. Note that the knife cuts the stapled tissue based on the activation of the firing trigger. In many cases, the circular stapler 1000 includes a display unit 1030 for providing visual feedback to the user, as will be described in more detail below.

[0085] In various embodiments, the rotary actuator 1013 comprises a sensor 1040 configured to sense various parameters associated with the circular stapler 1000. In some embodiments, the sensor 1040 senses the rotational movement of the rotary actuator 1013 indicating the longitudinal positions of the trocar 1012 and the anvil 1016 relative to the end effector 1006. In various embodiments, the sensor 1040 senses the torque applied by the user to the rotary actuator 1013, which torque indicates the force applied by the anvil 1016 to the tissue captured between the anvil 1016 and the end effector 1006.

[0086] In various embodiments, the trocar 1012 comprises a sensor 1042 configured to sense various parameters associated with the circular stapler 1000. In some embodiments, the sensor 1042 senses the longitudinal position of the trocar 1012 relative to the end effector 1006 and thus the relative position of the anvil 1016 relative to the end effector 1006. In various embodiments, the sensor 1042 senses the force received by the trocar 1012, which force indicates the force applied by the anvil 1016 to the tissue captured between the anvil 1016 and the end effector 1006. In some embodiments, the sensor 1042 senses when the anvil 1016 is connected to the trocar 1012.

[0087] In various embodiments, the anvil 1016 comprises a sensor 1044 configured to sense various parameters associated with the circular stapler 1000. In some embodiments, the sensor 1044 senses when the anvil 1016 is connected to the trocar 1012. In some embodiments, the anvil 1016 senses its position relative to the end effector. In some embodiments, the anvil 1016 senses the force applied to the tissue captured between the anvil 1016 and the end effector 1006.

[0088] In various embodiments, the circular stapler further comprises a control system 1050 configured to control various aspects of the circular stapler 1000. In some embodiments, the control system 1030 communicates with various sensors 1040, 1042, 1044, either wired or wirelessly, sends signals to the sensors 1040, 1042, 1042, and can determine what is being sensed. Based on this determination, the control system 1050 controls various aspects of the circular stapler 1000. In some embodiments, based on the determination, the control system adjusts the display unit 1030. For example, based on the determination, the control system 1050 displays on the display unit 1030 the display of the determined parameters, as will be described in more detail below.

[0089] Various other circular staplers are described in U.S. Patent Nos. 8,066,167, 8,353,438, 8,672,207, 8,801,734, 8,801,735, 8,827,903, 8,622,275, 8,899,466, 8,978,955, 9,033,204, 9,113,883, 9,125,654, 10,426,476, 10,980,538, 11,284,890, 10,675,021, 10,682,136, the contents of which are hereby incorporated by reference in their entirety.

[0090] Embodiment A: Indicator Position Feedback FIGS. 13A and 13B show a display unit 1100 for providing visual feedback to a user of a circular stapler, according to at least one aspect of the present disclosure. In various embodiments, the display unit 1100 is incorporated into the housing 1002 of the circular stapler 1000. In various embodiments, the display unit 1100 is shown on the display unit 1030. In various other embodiments, the display unit 1100 is visually displayed on any other suitable location described herein that is configured to communicate visual information to the user, such as on a display unit such as display unit 7, display unit 9, display unit 19, within the display unit of the surgeon console 18, on the AR device 66, or the like. In various embodiments, the display unit 1100 is operably communicable with a control system, such as control system 1030, that controls various aspects of the display unit 1100, as described herein below. In various embodiments, the control system comprises a processor and a memory storing instructions executable by the processor. In various embodiments, the control system is any suitable controller, control circuit, hub, etc. described herein.

[0091] The display unit 1100 provides visual feedback to the user indicating the position of an anvil, such as anvil 1016, relative to a staple cartridge, such as staple cartridge 1007. In various embodiments, the display unit 1100 includes a vertically extending bar 1102 that defines an acceptable zone 1104 and unacceptable zones 1106, 1108 that surround the acceptable zone 1104. As shown in FIG. 13A, the unacceptable zone 1106 and the acceptable zone 1104 are separated by a threshold boundary 1114 that is visible to the user. Similarly, the unacceptable zone 1108 and the acceptable zone 1104 are separated by a threshold boundary 1116 that is visible to the user. In one aspect, the acceptable zone 1104 corresponds to a position of the anvil relative to the staple cartridge that is suitable for firing staples from the staple cartridge. In one aspect, the unacceptable zone 1106 corresponds to a position of the anvil that is too far from the staple cartridge, such as beyond a threshold limit, and is thus not suitable for firing staples from the staple cartridge. In one aspect, the unacceptable zone 1108 corresponds to a position of the anvil that is too close to the staple cartridge, such as below a threshold limit, and is thus not suitable for firing staples from the staple cartridge. In various embodiments, the sizes of zones 1104, 1106, 1108 are predefined, stored in memory, and retrievable by a control system. Various other embodiments are envisioned in which the sizes of zones 1104, 1106, 1108 and the positions of threshold boundaries 1114, 1116 are set by the user at the user interface.

[0092] In some embodiments, when the anvil is initially coupled to the trocar of the surgical instrument, the control system detects the attachment of the anvil and generates an indicator 1110 on the display unit 1100 to identify the position on bar 1102. As seen in FIG. 13A, when the anvil is initially attached, the control system detects the position of the anvil and positions the indicator 1110 within the unacceptable zone 1106 because the detected position of the anvil is too far from the staple cartridge. The control system detects the attachment of the anvil using any suitable sensor, detector, or equivalent, as described elsewhere herein. In various embodiments, the control system utilizes an anvil connectivity sensor integrated with the anvil, such as sensor 1044, to detect the attachment of the anvil. Thus, the control system, by way of example, communicates with various sensors within the anvil, such as force and / or position sensors, such that the control circuitry can receive, process, and / or wirelessly transmit data from the anvil sensor to other devices within the OR for display to the user. The indicator 1110 indicating the unacceptable zone 1106 indicates to the user that the anvil is too far from the staple cartridge, i.e., is positioned “out of range,” and that the anvil should be moved closer to the staple cartridge, such as by utilizing the manual retraction knob 1013 on the housing or the electric system. When the anvil is within one of the unacceptable zones 1106, 1108, a portion 1112 of bar 1102 is displayed or illuminated in a first color, such as gray, to indicate that the stapler is not ready to fire. In some embodiments, the control system prevents the actuation of the firing drive for deploying staples from the staple cartridge 1007 based on the determination that the indicator 1110 is positioned within one of the unacceptable zones 1106, 1108.

[0093] When the display unit 1100 indicates that the anvil is within the unacceptable zone 1106, the user can move the anvil (via the trocar) towards the staple cartridge using the retraction knob 1013 or the electric system. When the user retracts the anvil, the control system detects the movement of the anvil (using any number of position sensors, etc. described elsewhere in this specification), moves the indicator 1110 along the bar 1102 with respect to zones 1104, 1106, 1108, and visually conveys to the user that the anvil is approaching the acceptable zone 1104. In various embodiments, the circular stapler includes a rotational position sensor, such as sensor 1040, that measures the rotation of the retraction knob 1013 to determine the position of the anvil with respect to the staple cartridge. In various embodiments, the circular stapler includes a linear position sensor, such as sensor 1042, that measures the movement of various components of the stapler, such as the trocar itself, to determine the position of the anvil with respect to the staple cartridge. When the indicator 1110 reaches the acceptable zone 1104 indicating that the circular stapler is in the "ready-to-fire" state (Figure 13B), the control system lights or displays a second color, different from the first color such as green, on the portion 1112 of the bar 1102, indicating to the user that the anvil is within the acceptable zone 1104 and thus the stapler can be fired. In various other embodiments, the control system activates a tactile feedback module to inform the user that the anvil is within the acceptable zone 1104. In various other embodiments, the control system activates an auditory module to provide auditory feedback to inform the user that the anvil is within the acceptable zone 1104. In various embodiments, the circular stapler includes a lockout portion that prevents the user from activating the firing drive unless the control system determines that the anvil is within the acceptable zone 1104.

[0094] FIG. 13C and FIG. 13D show another display portion 1120 for providing visual feedback to a user of a circular stapler according to at least one aspect of the present disclosure. The display portion 1120 is substantially the same as the display portion 1100, except that the display portion 1120 includes a horizontally extending bar 1152 as opposed to the vertically extending bar 1102. The use of the horizontally extending bar 1152 utilizes more area of the display portion 1120 as compared to the horizontally extending bar 1152, which may make it easier to track the position of the indicator along the bar 1102.

[0095] FIG. 13E illustrates another display portion 1130 for providing visual feedback to a user of a circular stapler, according to at least one aspect of the present disclosure. The display portion 1130 includes a vertically extending bar 1132, an indicator 1134 visually representing the position of the anvil relative to the staple cartridge, a first feedback portion 1136 surrounding at least a portion of the bar 1132, and a second feedback portion 1138. In one aspect, the first feedback portion 1136 displays or illuminates a first color, such as gray, when the anvil is within a non - acceptable zone similar to the non - acceptable zones 1106, 1108 for firing, and displays or illuminates a second color, such as green, when the anvil is within an acceptable zone similar to the acceptable zone 1104 for firing. In one aspect, the second feedback portion 1138 is a visual cue, such as a checkmark or any other suitable symbol, that displays or illuminates a first color, such as gray, when the anvil is within one of the non - acceptable zones for firing and displays or illuminates a second color, such as green, when the anvil is within the acceptable zone for firing. Other embodiments are envisioned where the second feedback portion 1138 is dimmed when the anvil is within a non - acceptable zone for firing and illuminated when the anvil is within an acceptable zone for firing. In the embodiment shown in FIG. 13E, the control system detects that the anvil is within the acceptable zone and thus controls the first feedback portion 1136 to illuminate with the second color and controls the second feedback portion 1138 to illuminate the checkmark with the second color.

[0096] Figures 14 and 15 illustrate an exemplary implementation of the display unit 1100. The display unit 1100 is displayed on a display unit such as any number of display units described elsewhere in this specification. In FIG. 14, the anvil and the trocar are not yet connected, and thus the display unit 1100, by default, shows the indicator 1110 within the unacceptable zone 1106. In various other embodiments, when the anvil is not connected to the trocar, the indicator 1110 does not exist on the display unit 1100, indicating to the user that the anvil is not yet connected to the trocar. In various other embodiments, when the anvil is not connected to the trocar, the display unit 1100 provides any number of text or visual feedback to indicate that the anvil is not connected to the trocar, as shown in FIGS. 17A or 46A as examples. In FIG. 15, the anvil is connected to the trocar and the anvil has been moved within an acceptable firing range with respect to the staple cartridge, and thus the control system controls the indicator 1110 to point within the acceptable zone 1104 and lights up the portion 1112 green, indicating to the user that the stapler is ready to fire.

[0097] Embodiment B: Graphical Position Feedback Figures 16A and 16B show a display unit 1400 for providing visual feedback to a user of a circular stapler according to at least one aspect of the present disclosure. In various embodiments, the display unit 1400 is incorporated into the housing 1002 of the circular stapler 1000. In various embodiments, the display unit 1400 is shown on the display unit 1030. In various other embodiments, the display unit 1400 is visually displayed on any other suitable location described herein that is configured to communicate visual information to the user, such as on the display unit 7, the display unit 9, the display unit 19, etc., within the display unit of the surgeon console 18, on the AR device 66, or on any other suitable location described herein. In various embodiments, the display unit 1400 is operably communicable with a control system, such as the control system 1030, that controls various aspects of the display unit 1400 as described hereinbelow. In various embodiments, the control system comprises a processor and a memory storing instructions executable by the processor. In various embodiments, the control system is any suitable controller, control circuit, hub, etc. described herein.

[0098] The display unit 1400 provides visual feedback to the user indicating the position of an anvil, such as anvil 1016, relative to a staple cartridge, such as staple cartridge 1007. In one aspect, the display unit 1400 is similar to the display unit 1100. In various embodiments, the display unit 1400 is a graphical feedback mechanism that includes a movable indicator 1410, which is a graphical depiction of the anvil, and an indicator 1411, which is a graphical depiction of the staple cartridge. In one aspect, the indicator 1410 includes an indicator line 1412, which is a graphical representation of the tissue contact surface of the anvil. The display unit 1400 further includes an acceptable zone 1404 defined by threshold boundaries 1403 and 1405, both of which are visible to the user. In one aspect, the acceptable zone 1404 corresponds to the position of the anvil relative to the staple cartridge that is suitable for firing staples from the staple cartridge. In one aspect, the threshold boundary 1403 is aligned with the boundary of the indicator 1411. Other embodiments where the threshold boundary 1403 is offset from the boundary of the indicator 1411 are envisioned. In some embodiments, the size of the acceptable zone 1404 and the positions of the threshold boundaries 1403, 1405 are predefined, stored in memory, and retrievable by the control system. Various other embodiments where the size of the acceptable zone 1404 and the positions of the threshold boundaries 1403, 1405 are set by the user at the user interface are envisioned.

[0099] In some embodiments, when the anvil is initially coupled to the trocar of the surgical instrument, the indicator 1410 on the display unit 1400 indicates that the anvil is outside the acceptable zone 1404 and within the unacceptable zone 1406. The control system detects the attachment of the anvil using any suitable sensor, detector, or equivalent, as described elsewhere herein. In various embodiments, the control system utilizes an anvil connectivity sensor integrated with the anvil, such as sensor 1044, to detect the attachment of the anvil. Thus, the control system, by way of example, communicates with various sensors within the anvil, such as force and / or position sensors, such that the control circuitry can receive, process, and / or wirelessly transmit data from the anvil sensor to other devices within the OR for display to the user. In one aspect, the control system displays or illuminates the indicator line 1412 in a first color, such as gray, when the anvil is not coupled to the trocar, and displays or illuminates the indicator line 1412 in a second color different from the first color, such as orange, when the anvil is coupled to the trocar. When the indicator line 1412 of the indicator 1410 is within the unacceptable zone 1406 (FIG. 16A), this indicates to the user that the anvil is too far from the staple cartridge, i.e., is positioned "out of range," and that the anvil should be moved closer to the staple cartridge, such as by utilizing the manual retraction knob 1013 on the electromechanical system. When the anvil is within the unacceptable zone 1406, the control system lights a portion 1414 of the display unit 1400 in a first color, such as gray. In various embodiments, the size of the portion 1414 is defined by the boundaries 1403, 1405. In some embodiments, the control system prevents the actuation of the firing drive unit for deploying staples from the staple cartridge 1007 based on the determination that the indicator line 1412 is positioned within the unacceptable zone 1406.

[0100] When the display unit 1400 indicates that the anvil is within the unacceptable zone 1406, the user may use the retraction knob 1013 or the electric system to move the anvil (via the trocar) towards the staple cartridge. When the user retracts the anvil, the control system detects the movement of the anvil (using any number of position sensors etc. described elsewhere in this specification), moves the indicator 1410, and thus the indicator line 1412, towards the indicator 1411, visually communicating to the user that the anvil is approaching the acceptable zone 1404. In various embodiments, the circular stapler includes a rotational position sensor such as sensor 1040 that measures the rotation of the retraction knob 1013 to determine the position of the anvil relative to the staple cartridge. In various embodiments, the circular stapler includes a linear position sensor such as sensor 1042 that measures the movement of various components of the stapler, such as the trocar itself, to determine the position of the anvil relative to the staple cartridge. When the indicator line 1412 reaches or crosses the threshold boundary 1405, it indicates that the anvil has reached the acceptable zone 1404 (FIG. 16B), and the control system lights up a second color, different from the first color such as green, in portion 1414, indicating to the user that the anvil is within the acceptable zone 1404 and thus the stapler is ready to be fired.

[0101] Figures 17A - 17F show various states of the display unit 1400 for visually communicating information to the user. The states of the display unit 1400 include when the anvil is not attached to the trocar (Figure 17A), when the anvil is initially attached to the trocar (Figure 17B), when the anvil is moving towards the staple cartridge (Figure 17C), when the user reaches the desired position of the anvil and a countdown is started to relax the tissue before firing the staple cartridge (Figure 17D), when the circular stapler is firing (Figure 17E), and when the firing is complete (Figure 17F). In one aspect, the countdown in Figure 17D is initiated by the user by providing an input to the control system indicating that the anvil is in the desired position and the user wants to fire the stapler. In various embodiments, the input includes actuating a button on the housing such as the housing 1002 of the circular stapler. In various embodiments, the input includes moving a safety device such as the safety device 1010 to disengage it from engagement with a firing trigger such as the firing trigger 1008 of the circular stapler.

[0102] In one aspect, as seen in Figures 17B and 17C, the display unit 1400 further includes a feedback portion 1420 defined on the upper and lower boundaries of the acceptable zone 1404. When the anvil is not moving relative to the staple cartridge (Figure 17B), the feedback portion 1420 is illuminated by the control system in a color such as green at a first luminance or not illuminated at all. When the anvil is moving relative to the staple cartridge (Figure 17C), the feedback portion 1420 is illuminated by the control system in a color such as green at a second luminance higher than the first luminance or, in embodiments where the feedback portion 1420 was not illuminated when the anvil was stationary, is illuminated. Thus, the feedback portion 1420 provides visual feedback regarding whether the anvil is moving.

[0103] In one aspect, the control system causes a portion 1414 of the display unit 1400 to display or illuminate a first color, such as green, at a first luminance, indicating to the user that the anvil is within the acceptable zone 1404 but not firing (FIGS. 17D and 17F). When the stapler is firing (FIG. 17E), the control system causes the portion 1414 to display or illuminate a first color having a second luminance higher than the first luminance, indicating that the stapler is firing (FIG. 17E). Additionally, when the anvil is not within the acceptable zone 1404 (FIG. 17C), the control system causes the portion 1414 to be displayed or illuminated with a second color, such as gray, or does not illuminate the portion 1414 at all (FIG. 17A). In some embodiments, when the stapler is not firing, the control system causes a portion 1422 of the display unit 1400 to be displayed or illuminated with a first color, such as gray, indicating to the user that the stapler is not firing (FIGS. 17A - 17D, and 17F). When the stapler is firing (FIG. 17E), the control system causes the portion 1422 to be displayed or illuminated with a second color (e.g., white) different from the first color to indicate to the user that the stapler is firing. Thus, the portion 1422 provides a separate visual indicator when the stapler is firing.

[0104] In some embodiments, as shown in FIG. 17A, when the anvil is not attached to the trocar, some or all of the display unit 1400 is turned off, indicating to the user that the anvil is not attached to the trocar. When the anvil is connected to the trocar (FIG. 17B), the control system visually communicates to the user that the anvil is connected to the trocar by displaying or illuminating various portions of the display unit 1400. In one aspect, when the anvil is not connected to the trocar, the control system displays or illuminates the boundary of the graphic display portion 1410 of the anvil in a first color such as gray, or does not illuminate the boundary of the graphic display portion 1410 of the anvil at all. In one aspect, when the anvil is not connected to the trocar, the control system displays or illuminates the feedback portion 1420 in a first color such as gray, or does not illuminate the feedback portion 1420 at all. In one aspect, when the anvil is not connected to the trocar, the control system displays or illuminates the indicator line 1412 in a first color such as gray, or does not illuminate the indicator line 1412 at all. When the anvil is connected to the trocar (FIG. 17B), the boundary of the graphic display portion 1410 of the anvil is illuminated in a color such as white, the feedback portion 1420 is illuminated in a color of a first brightness as described above, and the indicator line 1412 is illuminated in a first color such as orange as described above. Thus, the display unit 1400 provides the user with a number of visual cues as to the state of the surgical stapler.

[0105] In various embodiments, the display unit 1400 displays notifications 1424, 1426, 1428 that provide text information to the user. In one aspect, the control system causes the display unit 1400 to display a notification 1424 (FIG. 17D) when the countdown is started. The notification 1424 includes a bar that visually illustrates the time remaining in the countdown. In one aspect, the control system causes the display unit 1400 to display a notification 1426 (FIG. 17E) when the stapler is firing. In one aspect, the control system causes the display unit 1400 to display a notification 1438 (FIG. 17F) when the firing is complete.

[0106] Figures 18 - 25 illustrate exemplary implementations of the display unit 1400. The display unit 1400 is displayed on a display unit such as any number of display units described elsewhere in this specification. Figure 18 illustrates the anvil not yet connected to the trocar, and thus, the display unit 1400 is displaying the state of Figure 17A. Figure 19 illustrates the grasping tool moving the anvil towards the trocar but not yet coupled to the trocar, and thus, the display unit 1400 is displaying the state of Figure 17A. Figure 20 illustrates the anvil connected to the trocar, and thus, the display unit 1400 is displaying the state of Figure 17B. Figure 21 illustrates the anvil moved within the acceptable zone 1404. Figure 22 illustrates the anvil that has reached the desired position and the countdown started to relax the tissue prior to firing, and thus, the display unit 1400 is displaying the state of Figure 17D. Figure 23 illustrates the stapler in a ready - to - fire state after the countdown has ended. As seen in Figure 23, the control system causes the display unit 1400 to display a notification 1430 indicating that the device is ready to be fired. Figure 24 illustrates the state where the stapler is being fired, and thus, the display unit 1400 is displaying the state of Figure 17E. Figure 25 illustrates the state where the stapler has completed firing, and thus, the display unit 1400 is displaying the state of Figure 17F.

[0107] Embodiment C: Numerical Gap and Force Feedback Figures 26A and 26B show a display unit 1500 for providing visual feedback to a user of a circular stapler, according to at least one aspect of the present disclosure. In various embodiments, the display unit 1500 is incorporated into the housing 1002 of the circular stapler 1000. In various embodiments, the display unit 1500 is shown on the display unit 1030. In various other embodiments, the display unit 1500 is visually displayed on a display unit such as display unit 7, display unit 9, display unit 19, within the display unit of the surgeon console 18, on the AR device 66, or any other suitable location described herein configured to communicate visual information to the user. In various embodiments, the display unit 1500 is operably communicable with a control system, such as control system 1030, that controls various aspects of the display unit 1500, as described hereinbelow. In various embodiments, the control system comprises a processor and a memory storing instructions executable by the processor. In various embodiments, the control system is any suitable controller, control circuit, hub, etc. described herein.

[0108] In one aspect, the display unit 1500 includes a first feedback portion 1502, a second feedback portion 1504, and a third feedback portion 1506. In one aspect, the first feedback portion 1502 numerically provides a gap distance between the anvil and the staple cartridge. In various embodiments, the gap distance is determined in any suitable manner known in the art using a position sensor, a Hall effect sensor, an encoder incorporated into the manual adjustment knob 1013, an optical feedback sensor, or any other suitable sensor described elsewhere herein. In various embodiments, the circular stapler includes a rotational position sensor, such as sensor 1040, that measures the rotation of the retraction knob 1013 to determine the position of the anvil relative to the staple cartridge. In various embodiments, the circular stapler includes a linear position sensor, such as sensor 1042, that measures the movement of various components of the stapler, such as the trocar itself, to determine the position of the anvil relative to the staple cartridge.

[0109] In one aspect, the second feedback portion 1504 is a visual indicator of whether the anvil is within an acceptable zone for firing. In one aspect, the second feedback portion 1504 is in a first state (FIG. 26A) showing a circle filled with a first color such as gray, or the second feedback portion 1504 is in a second state (FIG. 26B) showing a symbol such as a check mark and / or a second color different from the first color, such as green, indicating that the anvil is within an acceptable zone for firing the surgical stapler. In various embodiments, the second feedback portion 1504 indicates a first state when the anvil is within a non-acceptable zone, indicating to the user that the anvil is not in a suitable position for firing the stapler. In some embodiments, the control system prevents the actuation of the firing drive for deploying staples from the staple cartridge 1007 based on the determination that the second feedback portion 1504 is in the first state.

[0110] In one aspect, the third feedback portion 1506 is a numerical display of the amount of force the anvil is applying to the tissue positioned between the anvil and the staple cartridge. In various embodiments, the force is determined by any suitable method known in the art, such as a force sensor, a strain gauge, or any other suitable sensor, as described elsewhere in this specification. In various embodiments, a torque sensor is integrated with the rotary knob 1013 of the circular stapler to measure the torque applied by the user. In various embodiments, a force sensor is integrated with the inner shaft of the stapler that drives the trocar to measure the force received by the shaft, or is inside the trocar itself. In various embodiments, the anvil includes a force sensor for measuring the force applied to the tissue. In one aspect, the control system communicates with the anvil using an anvil connectivity sensor integrated with the anvil, such as sensor 1044, whereby the control system can send signals to and receive data from the force sensor.

[0111] Figures 27A through 27F show various states of the display unit 1500 for visually communicating information to the user. The states of the display unit 1500 include when the anvil is not attached to the trocar (Figure 27A), when the anvil is attached to the trocar (Figure 27B), when the anvil is within an acceptable zone for firing the stapler as indicated by the second feedback portion 1504 (Figure 27C), when the user has reached the desired position of the anvil and the countdown has started to relax the tissue before firing the staple cartridge (Figure 27D), when the circular stapler is being fired (Figure 27E), and when the firing is complete (Figure 27F).

[0112] In one aspect, when the stapler is not firing, the control system lights the portion 1522 of the display unit 1500 with a first color, such as gray, to indicate to the user that the stapler is not firing (Figures 27A through 27D, and Figure 27F), or does not light the portion 1522 at all. When the stapler is firing (Figure 27E), the control system illuminates the portion 1522 with a second color, such as white, to indicate to the user that the stapler is firing.

[0113] In various embodiments, the display unit 1500 displays notifications 1524, 1526, 1528, 1530 that provide text information to the user. In one aspect, the control system causes the display unit 1500 to display a notification 1524 (FIG. 27B) that the anvil has been attached. In various embodiments, the control system uses sensors described elsewhere herein to detect that the anvil has been attached to the trocar. In one aspect, the control system causes the display unit 1500 to display a notification 1526 (FIG. 27D) when the countdown has started. Notification 1526 also includes a bar that visually illustrates the time remaining in the countdown. In one aspect, the control system causes the display unit 1500 to display a notification 1528 (FIG. 27E) when the stapler is firing. In one aspect, the control system causes the display unit 1500 to display a notification 1530 (FIG. 27F) when the firing is complete.

[0114] Figures 28 to 36 illustrate exemplary implementations of the display unit 1500. The display unit 1500 is displayed on a display unit such as any number of display units described elsewhere in this specification. Figure 28 illustrates an anvil that is not yet connected to the trocar, and thus, the display unit 1500 is displaying the state of Figure 27A. Figure 29 illustrates a grasping tool that is moving the anvil towards the trocar but is not yet coupled to the trocar, and thus, the display unit 1500 is displaying the state of Figure 27A. Figure 30 illustrates an anvil connected to the trocar, and thus, the display unit 1500 is displaying the state of Figure 27B. Figure 31 illustrates a state where the anvil is moving relative to the staple cartridge but is not yet within the acceptable zone, as indicated by the second feedback portion 1504. Figure 32 illustrates an anvil that has reached the acceptable zone for firing, as indicated by the second feedback portion 1504, and thus, the display unit 1500 is displaying the state of Figure 27C. Figure 33 illustrates an anvil that has reached the desired position and a countdown that has been started to relax the tissue prior to firing, and thus, the display unit 1500 is displaying the state of Figure 27D. Figure 34 illustrates a stapler that is ready for firing. As seen in Figure 34, the control system causes the display unit 1500 to display a notification 1532 indicating that the device is ready to be fired. Figure 35 illustrates a state where the stapler is being fired, and thus, the display unit 1500 is displaying the state of Figure 27E. Figure 36 illustrates a state where the stapler has completed firing, and thus, the display unit 1500 is displaying the state of Figure 27F.

[0115] Embodiment D: Graphic Gap and Force Feedback FIG. 37A and FIG. 37B show a display unit 1600 for providing visual feedback to a user of a circular stapler according to at least one aspect of the present disclosure. In various embodiments, the display unit 1600 is incorporated into the housing 1002 of the circular stapler 1000. In various embodiments, the display unit 1600 is shown on the display unit 1030. In various other embodiments, the display unit 1600 is visually displayed on any other suitable location described herein that is configured to communicate visual information to the user, such as on the display unit 7, the display unit 9, the display unit 19, etc., within the display unit of the surgeon console 18, on the AR device 66, or elsewhere. In various embodiments, the display unit 1600 is operably communicable with a control system, such as the control system 1030, that controls various aspects of the display unit 1600 as described herein below. In various embodiments, the control system comprises a processor and a memory storing instructions executable by the processor. In various embodiments, the control system is any suitable controller, control circuit, hub, etc. described herein.

[0116] The display unit 1600 provides visual feedback to the user indicating the position of the anvil relative to the staple cartridge and the force applied to the tissue captured by the anvil and the staple cartridge. In various embodiments, the display unit 1600 includes a first feedback portion 1610 and a second feedback portion 1620. In one aspect, the first feedback portion 1610 provides visual feedback regarding the relative positioning between an anvil, such as anvil 1016, and a staple cartridge, such as staple cartridge 1007. The first feedback portion 1610 includes a bar 1612 that defines an acceptable zone 1614 and unacceptable zones 1616, 1618 that surround the acceptable zone 1614. The unacceptable zone 1616 and the acceptable zone 1614 are separated by a threshold boundary 1615 visible to the user. Similarly, the unacceptable zone 1618 and the acceptable zone 1614 are separated by a threshold boundary 1617 visible to the user. In one aspect, the acceptable zone 1614 corresponds to the position of the anvil relative to the staple cartridge that is suitable for firing staples from the staple cartridge. In one aspect, the unacceptable zone 1616 corresponds to a position of the anvil that is too far from the staple cartridge, such as exceeding a threshold limit, and is thus not suitable for firing staples from the staple cartridge. In one aspect, the unacceptable zone 1618 corresponds to a position of the anvil that is too close to the staple cartridge, such as less than a threshold limit, and is thus not suitable for firing staples from the staple cartridge. In various embodiments, the sizes of zones 1614, 1616, 1618 and the positions of threshold boundaries 1615, 1617 are predefined, stored in memory, and retrievable by a control system. Various other embodiments are envisioned where the sizes of zones 1614, 1616, 1618 and the positions of threshold boundaries 1615, 1617 are set by the user at the user interface.

[0117] The first feedback portion 1610 further includes an indicator 1619 that moves along bar 1612 and visually indicates in which of zones 1614, 1616, 1618 the anvil is positioned, as determined by the control system. As described elsewhere herein, the position of the anvil is detected by the control system using any suitable sensor or the like. In various embodiments, the circular stapler includes a rotational position sensor, such as sensor 1040, that measures rotation of the retraction knob 1013 to determine the position of the anvil relative to the staple cartridge. In various embodiments, the circular stapler includes a linear position sensor, such as sensor 1042, that measures movement of various components of the stapler, such as the trocar itself, to determine the position of the anvil relative to the staple cartridge. At the determined position, the control system controls the position of indicator 1619 along bar 1612 to visually indicate in which zone 1614, 1616, or 1618 the anvil is located.

[0118] In some embodiments, when the anvil is initially coupled to the trocar of the surgical instrument, the control system detects the attachment of the anvil and, as shown in FIG. 37A, an indicator 1619 on a first feedback portion 1610 points to a position on a bar 1612, indicating that the anvil is within a non - acceptable zone 1616. In various embodiments, the control system detects the attachment of the anvil using any suitable sensor, detector, or equivalent, as described elsewhere herein. In various embodiments, the control system utilizes an anvil connectivity sensor integrated with the anvil, such as sensor 1044, to detect the attachment of the anvil. Thus, as an example, the control system may communicate with various sensors within the anvil, such as force and / or position sensors, and thereby the control circuitry may receive, process, and / or wirelessly transmit data from the anvil sensors to other devices within the OR for display to the user. The indicator 1619 positioned within the non - acceptable zone 1616 indicates to the user that the anvil is too far from the staple cartridge, i.e., is positioned "out of range", and that the anvil should be moved closer to the staple cartridge, such as by using the manual retraction knob 1013 on the housing or the electric system. When the anvil is within one of the non - acceptable zones 1616, 1618, the control system indicates that the stapler is not ready to fire by displaying or illuminating a portion 1613 of the bar 1612 in a first color, such as gray. In various other embodiments, when the anvil is within one of the non - acceptable zones 1616, 1618, the portion 1613 of the bar 1612 is darkened to indicate that the stapler is not ready to fire. In some cases, the size of the portion 1613 is defined by boundaries 1615, 1617. In some embodiments, the control system prevents the actuation of the firing drive for deploying staples from the staple cartridge 1007 based on the determination that the indicator 1619 is positioned within one of the non - acceptable zones 1616, 1618.

[0119] When the control system uses indicator 1619 to indicate that the anvil is within the unacceptable zone 1616, the user can move the anvil towards the staple cartridge (through the trocar) using the reverse knob 1013 or the electric system. When the user retracts the anvil, the control system detects the movement of the anvil and moves indicator 1619 along bar 1612 to visually convey to the user that the anvil is approaching the acceptable zone 1614. When indicator 1619 reaches the acceptable zone 1614 (Figure 37B), the control system displays or illuminates portion 1613 of bar 1612 with a second color different from the first color, such as green, to indicate to the user that the anvil is within the acceptable zone 1614 and, thus, the stapler can be fired.

[0120] As referenced above, display portion 1600 also includes a second feedback portion 1620. In one aspect, second feedback portion 1620 provides visual feedback regarding the amount of force applied to tissue positioned between the anvil and the staple cartridge. Second feedback portion 1620 includes bar 1622 which defines an acceptable zone 1624 and unacceptable zones 1626, 1628 surrounding acceptable zone 1624. Unacceptable zone 1626 and acceptable zone 1624 are separated by a threshold boundary 1625 visible to the user. Similarly, unacceptable zone 1628 and acceptable zone 1624 are separated by a threshold boundary 1627 visible to the user. In one aspect, acceptable zone 1624 corresponds to a force suitable for firing staples from the staple cartridge. In one aspect, unacceptable zone 1626 corresponds to a force that is too low, such as below a threshold limit, and is thus unacceptable for firing staples. For example, the anvil may not be applying sufficient force to the tissue to enable the staples to properly form and seal the tissue. In one aspect, unacceptable zone 1628 corresponds to a force that is too high, such as above a threshold limit, and is thus unacceptable for firing staples. For example, the anvil may be applying excessive force to the tissue and may thus damage the tissue.

[0121] In various embodiments, the sizes of zones 1624, 1626, 1628 and the positions of threshold boundaries 1625, 1627 are predefined, stored in memory, and retrievable by the control system. Various other embodiments are envisioned where the sizes of zones 1624, 1626, 1628 and the positions of threshold boundaries 1625, 1627 are set by the user at the user interface.

[0122] The second feedback portion 1620 further includes an indicator 1629 that moves along bar 1622 to visually indicate how much force is being applied to the staple through zones 1624, 1626, 1628. As described elsewhere herein, the force being applied to the tissue is detected by a control system using any suitable sensor such as a force sensor, strain gauge, or any other suitable means for sensing force as described elsewhere herein. In various embodiments, a torque sensor is integrated with the rotary knob 1013 of the circular stapler to measure the torque applied by the user. In various embodiments, a force sensor is integrated with the internal shaft of the stapler that drives the trocar or is within the trocar itself to measure the force received by the shaft. In various embodiments, the anvil includes a force sensor for measuring the force applied to the tissue. In one aspect, the control system utilizes an anvil connectivity sensor integrated with the anvil, such as sensor 1044, to communicate with the anvil, whereby the control system can send signals to and receive data from the force sensor. Using the determined force, the control system controls the position of indicator 1629 to visually indicate in which force zone 1624, 1626, 1628 to position indicator 1629.

[0123] In some embodiments, when the anvil is initially coupled to the trocar of the surgical instrument, the control system detects that the anvil is not yet applying force to tissue and thus, as shown in FIG. 37A, directs indicator 1629 on the second feedback portion 1620 into the non - allowable zone 1616. Indicator 1629, which indicates the non - allowable zone 1626, indicates to the user that the anvil should be moved closer to the staple cartridge, such as by using the manual retraction knob 1013 on the housing or the electric system, to apply additional force to the tissue. When the anvil is within one of the non - allowable zones 1626, 1628, a portion 1623 of bar 1622 displays or illuminates a first color, such as gray, to indicate that the stapler is not ready to fire. In some cases, the size of portion 1623 is defined by boundaries 1625, 1627. In some embodiments, the control system prevents actuation of the firing drive for deploying staples from staple cartridge 1007 based on the determination that indicator 1629 is positioned within one of the non - allowable zones 1626, 1628.

[0124] When indicator 1629 is positioned within non - allowable zone 1626, indicating that the force applied to the tissue is too small, the user can move the anvil toward the staple cartridge (through the trocar) using retraction knob 1013 and apply additional force to the tissue. When the user retracts the anvil, the control system detects an increase in force (using any number of force sensors, etc., as described elsewhere in this specification) and moves indicator 1629 along bar 1622, visually communicating to the user that the force applied to the tissue is approaching the allowable zone 1624. When indicator 1629 reaches the allowable zone 1624 (FIG. 37B), a portion 1623 of bar 1622 displays or illuminates a second color different from the first color, such as green, indicating to the user that a sufficient amount of force has been applied to the tissue and thus the stapler can be fired.

[0125] Figures 38A - 38F show various states of the display unit 1600 for visually communicating information to the user. The states of the display unit 1600 include when the anvil is not attached to the trocar (Figure 38A), when the anvil is attached to the trocar (Figure 38B), when the position of the anvil is within the acceptable zone for firing the stapler, but the force applied to the tissue is not within the acceptable zone for firing (Figure 38C), when the user has reached the desired position of the anvil and sufficient force has been applied to the tissue and a countdown has started to relax the tissue before firing the staple cartridge (Figure 38D), when the circular stapler is firing (Figure 38E), and when the firing is complete (Figure 38F).

[0126] As shown in Figure 38A, before the attachment of the anvil 1016 to the trocar 1012, the control system controls the display unit 1600 to a first state to visually show the user that the anvil 1016 is not attached to the trocar 1012 as determined by the anvil connectivity sensor described elsewhere in this specification. When the connection of the anvil 1016 to the trocar 1012 is detected (through a connectivity sensor in one example), the control system transitions the display unit 1600 to a second state to show the user that the anvil 1016 is attached to the trocar 1012. For example, in some embodiments, in the second state, the control system may display a visual representation of the position of the anvil 1016 relative to the staple cartridge 1017 and / or a visual representation of the force that the anvil 1016 is applying to the tissue, as described elsewhere in this specification and also shown in Figure 38B. Thus, the control system does not provide visual feedback regarding various sensed parameters until the attachment of the anvil 1016 to the trocar 1012 is detected.

[0127] In one aspect, when the stapler is not firing, the control system lights up portion 1632 of display unit 1600 with a first color such as gray to indicate to the user that the stapler is not firing (Figs. 38A - 38D, and Fig. 38F). When the stapler is firing (Fig. 38E), the control system lights up portion 1632 with a second color different from the first color such as white to indicate to the user that the stapler is firing.

[0128] In various embodiments, display unit 1600 displays notifications 1634, 1636, 1638 that provide text information to the user. In one aspect, the control system causes display unit 1600 to display a notification 1634 (Fig. 38D) that the countdown has started. In various embodiments, notification 1634 also includes a bar that visually illustrates the time remaining in the countdown. In one aspect, the control system causes display unit 1600 to display a notification 1636 (Fig. 38E) when the stapler is firing. In one aspect, the control system causes display unit 1600 to display a notification 1638 (Fig. 38F) when the firing is complete.

[0129] Figures 39 to 45 illustrate exemplary implementations of the display unit 1600. The display unit 1600 is displayed on a display unit such as any number of display units described elsewhere in this specification. Figure 39 illustrates an anvil that is not yet connected to the trocar, and thus, the display unit 1600 is displaying the state of Figure 38A. Figure 40 illustrates an anvil connected to the trocar, and thus, the display unit 1600 is displaying the state of Figure 38B. Figure 41 illustrates an anvil that has reached an acceptable zone for firing, as indicated by the first feedback portion 1610, and has reached an acceptable force zone for firing, as indicated by the second feedback portion 1620. Figure 42 illustrates a countdown that has been initiated to relax the tissue prior to firing, and thus, the display unit 1600 is displaying the state of Figure 38D. Figure 43 illustrates a stapler that is in a ready-to-fire state after the countdown has completed. As seen in Figure 43, the control system causes the display unit 1600 to display a notification 1640 indicating that the device is ready to be fired. Figure 44 illustrates a state in which the stapler is being fired, and thus, the display unit 1600 is displaying the state of Figure 38E. Figure 45 illustrates a state in which the stapler has completed firing, and thus, the display unit 1600 is displaying the state of Figure 38F.

[0130] Embodiment E: Graphic Gap and Graphical Force Feedback FIG. 46 illustrates a display unit 1700 for providing visual feedback to a user of a circular stapler according to at least one aspect of the present disclosure. In various embodiments, the display unit 1700 is incorporated into the housing 1002 of the circular stapler 1000. In various embodiments, the display unit 1700 is shown on the display unit 1030. In various other embodiments, the display unit 1100 is visually displayed on any other suitable location described herein that is configured to communicate visual information to the user, such as on a display unit such as display unit 7, display unit 9, display unit 19, within the display unit of the surgeon console 18, on the AR device 66, or the like. In various embodiments, the display unit 1700 operably communicates with a control system, such as control system 1030, that controls various aspects of the display unit 1700 as described hereinbelow. In various embodiments, the control system comprises a processor and a memory storing instructions executable by the processor. In various embodiments, the control system is any suitable controller, control circuit, hub, or the like described herein. In one aspect, the display unit 1700 is similar to the display unit 1600.

[0131] In one aspect, the first feedback portion 1702 is similar to the display portion 1400. The first feedback portion 1702 provides graphical visual feedback indicating the position of the anvil relative to the staple cartridge to the user. In various embodiments, the first feedback portion 1702 is a graphical feedback mechanism including a movable indicator 1710 that is a graphical depiction of the anvil and an indicator 1711 that is a graphical depiction of the staple cartridge. In one aspect, the indicator 1710 includes an indicator line 1712 that is a graphic display of the tissue contact surface of the anvil. The first feedback portion 1702 further includes an acceptable zone 1714 defined by threshold boundaries 1713 and 1715, both of which are visible to the user. In one aspect, the acceptable zone 1714 corresponds to the position of the anvil relative to the staple cartridge that is suitable for firing staples from the staple cartridge. In one aspect, the threshold boundary 1715 is aligned with the boundary of the indicator 1711. Other embodiments where the threshold boundary 1715 is offset from the boundary of the indicator 1711 are envisioned. In various embodiments, the size of the acceptable zone 1714 and the positions of the threshold boundaries 1713, 1715 are predefined, stored in memory, and retrievable by the control system. Various other embodiments where the size of the acceptable zone 1714 and the positions of the threshold boundaries 1713, 1715 are set by the user at the user interface are envisioned.

[0132] In some embodiments, when the anvil is initially coupled to the trocar of the surgical instrument, the indicator 1710 on the first feedback portion 1702 indicates that the anvil is outside the acceptable zone 1714, i.e., within the unacceptable zone 1716. In various embodiments, the control system utilizes any suitable sensor, detector, or equivalent, as described elsewhere herein, to detect the attachment of the anvil. In various embodiments, the control system utilizes an anvil connectivity sensor integrated with the anvil, such as sensor 1044, to detect the attachment of the anvil. Thus, the control system can communicate with various sensors within the anvil, such as force and / or position sensors, by way of example, and thereby the control circuitry can receive, process, and / or wirelessly transmit data from the anvil sensor to other devices within the OR for display to the user. In one aspect, the control system displays or illuminates the indicator line 1712 in a first color, such as gray, when the anvil is not coupled to the trocar, and displays or illuminates the indicator line 1712 in a second color different from the first color, such as orange, when the anvil is coupled to the trocar. When the indicator line 1712 of the indicator 1710 is within the unacceptable zone 1716, this indicates to the user that the anvil is too far away from the staple cartridge, i.e., is positioned "out of range", and that the anvil should be moved closer to the staple cartridge, such as by utilizing the manual retraction knob 1013 on the housing or electric drive system. When the anvil is within the unacceptable zone 1716, the control system lights the portion 1719 in a first color, such as gray. In various embodiments, the size of the portion 1719 is defined by the boundaries 1713, 1715. In some embodiments, the control system prevents actuation of the firing drive for deploying staples from the staple cartridge 1007 based on the determination that the indicator line 1712 is positioned within the unacceptable zone 1716.

[0133] When the first feedback portion 1702 indicates that the anvil is within the unacceptable zone 1716, the user can move the anvil (through the trocar) towards the staple cartridge using the reverse knob 1013 or the electric system. When the user retracts the anvil, the control system detects the movement of the anvil (using any number of position sensors etc. described elsewhere in this specification) and moves the indicator 1710, and thus the indicator line 1712, towards the indicator 1711, visually communicating to the user that the anvil is approaching the acceptable zone 1714. In various embodiments, the circular stapler includes a rotational position sensor such as sensor 1040 that measures the rotation of the reverse knob 1013 to determine the position of the anvil relative to the staple cartridge. In various embodiments, the circular stapler includes a linear position sensor such as sensor 1042 that measures the movement of various components of the stapler, such as the trocar itself, to determine the position of the anvil relative to the staple cartridge. When the indicator line 1712 reaches or crosses the threshold boundary 1713, it indicates that the anvil has reached the acceptable zone 1714, and the control system lights up a second color, different from the first color such as green, in portion 1719, indicating to the user that the anvil is within the acceptable zone 1714 and thus the stapler can be fired.

[0134] As referenced above, display unit 1700 also includes a second feedback portion 1720. In one aspect, the second feedback portion 1720 provides visual feedback regarding the amount of force applied to tissue positioned between the anvil and the staple cartridge. The second feedback portion includes a bar 1722 that defines an acceptable zone 1724 and unacceptable zones 1726, 1728 that surround the acceptable zone 1724. The unacceptable zone 1726 and the acceptable zone 1724 are separated by a threshold boundary 1725 visible to the user. Similarly, the unacceptable zone 1728 and the acceptable zone 1724 are separated by a threshold boundary 1727 visible to the user. In one aspect, the acceptable zone 1724 corresponds to a force suitable for firing staples from the staple cartridge. In one aspect, the unacceptable zone 1726 corresponds to a force that is too low, such as below a threshold limit, and is thus unacceptable for firing staples. For example, the anvil may not be applying sufficient force to the tissue to enable the staples to properly form and seal the tissue. In one aspect, the unacceptable zone 1728 corresponds to a force that is too high, such as above a threshold limit, and is thus unacceptable for firing staples. For example, the anvil may be applying excessive force to the tissue and may thus damage the tissue. In various embodiments, the sizes of zones 1724, 1726, 1728 and the positions of threshold boundaries 1725, 1727 are predefined, stored in memory, and retrievable by a control system. Various other embodiments are envisioned in which the sizes of zones 1724, 1726, 1728 and the positions of threshold boundaries 1725, 1727 are set by the user at a user interface.

[0135] The second feedback portion 1720 further includes an indicator 1729 that moves along bar 1722 and visually indicates how much force is being applied to the tissue through zones 1724, 1726, 1728. In various embodiments, the force is determined in any suitable manner well known in the art, such as by a force sensor, a strain gauge, or any other suitable sensor that senses force, as described elsewhere in this specification. In various embodiments, the torque sensor is integrated with the rotation knob 1013 of the circular stapler to measure the torque applied by the user. In various embodiments, the force sensor is integrated with the internal shaft of the stapler that drives the trocar to measure the force received by the shaft, or is within the trocar itself. In various embodiments, the anvil includes a force sensor for measuring the force applied to the tissue. In one aspect, the control system may communicate with the anvil using an anvil connectivity sensor integrated with the anvil, such as sensor 1044, whereby the control system can send signals to and receive data from the force sensor. Using the determined force, the control system controls the position of indicator 1729 to visually indicate in which force zone 1724, 1726, 1728 the indicator 1729 is positioned.

[0136] In some embodiments, when the anvil is initially coupled to the trocar of the surgical instrument, the control system detects that the anvil is not yet applying force to tissue and thus positions the indicator 1729 on the second feedback portion 1720 within the unacceptable zone 1726 as shown in FIG. 46. The indicator 1729 indicating the unacceptable zone 1726 indicates to the user that the anvil should be moved closer to the staple cartridge to apply additional force to the tissue, such as by utilizing the manual retraction knob 1013 on the housing or the electric system. When the anvil is within one of the unacceptable zones 1726, 1728, a portion 1723 of the bar 1722 displays or illuminates a first color, such as gray, to indicate that the stapler is not ready to fire. In some cases, the size of the portion 1723 is defined by the threshold boundaries 1725, 1727. In some embodiments, the control system prevents the actuation of the firing drive for deploying staples from the staple cartridge 1007 based on the determination that the indicator 1729 is positioned within one of the unacceptable zones 1726, 1728.

[0137] When the indicator 1729 is positioned within the unacceptable zone 1726, indicating that the force applied to the tissue is too low, the user may utilize the retraction knob 1013 to move the anvil toward the staple cartridge (through the trocar) and apply additional force to the tissue. When the user retracts the anvil, the control system detects an increase in force (using any number of force sensors, etc., as described elsewhere herein) and moves the indicator 1729 along the bar 1722, visually communicating to the user that the force applied to the tissue is approaching the acceptable zone 1724. When the indicator 1729 reaches the acceptable zone 1724, the portion 1723 of the bar 1722 displays or illuminates a second color different from the first color, such as green, indicating to the user that a sufficient amount of force has been applied to the tissue and thus the stapler may be fired.

[0138] Figures 47A - 47F show various states of the display unit 1700 for visually communicating information to the user. The states of the display unit 1700 include when the anvil is not attached to the trocar (Figure 47A), when the anvil is attached to the trocar (Figure 47B), when the position of the anvil is moving towards the acceptable zone 1724 but is still within the unacceptable zone 1726 and the force applied to the tissue is within the unacceptable zone 1728, i.e., when excessive force is being applied (Figure 47C), when the user has reached the desired location of the anvil and sufficient force is being applied to the tissue and a countdown has started and it is possible to relax the tissue before firing the staple cartridge (Figure 47D), when the circular stapler is being fired (Figure 47E), and when the firing is complete (Figure 46F).

[0139] In one aspect, when the stapler is not firing, the control system lights up a portion 1732 of the display unit 1700 with a first color such as gray to indicate to the user that the stapler is not firing (Figures 47A - 47D, and Figure 47F). When the stapler is firing (Figure 47E), the control system lights up the portion 1732 with a second color different from the first color, such as white, to indicate to the user that the stapler is firing.

[0140] In various embodiments, the display unit 1700 displays notifications 1734, 1736, 1738 that provide text information to the user. In one aspect, the control system causes the display unit 1700 to display a notification 1734 (Figure 47D) that the countdown has started. The notification 1734 also includes a bar that visually illustrates the time remaining in the countdown. In one aspect, the control system causes the display unit 1700 to display a notification 1736 (Figure 47E) when the stapler is firing. In one aspect, the control system causes the display unit 1700 to display a notification 1738 (Figure 47F) when the firing is complete.

[0141] Figures 48 and 49 illustrate exemplary implementations of display unit 1700. Display unit 1700 is displayed on a display unit, such as any number of display units described elsewhere in this specification. FIG. 48 illustrates an anvil that is not yet connected to the trocar, and thus, display unit 1700 is displaying the state of FIG. 47B. In other embodiments, when the anvil is not yet connected to the trocar, display unit 1700 may display the state of FIG. 47A. FIG. 49 illustrates an anvil that has reached an acceptable zone for firing, as indicated by the first feedback portion 1702, and has reached an acceptable force zone for firing, as indicated by the second feedback portion 1704.

[0142] Although several forms have been shown and described, it is not the intention of the applicant to limit or restrict the appended claims in such detail. Many modifications, variations, changes, substitutions, combinations, and equivalents of these forms may be implemented and would be contemplated by one of ordinary skill in the art without departing from the scope of the present disclosure. Further, the structure of each element related to the forms described may alternatively be described as a means for providing the function implemented by that element. Also, although materials are disclosed with respect to specific components, other materials may be used. Accordingly, it is to be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and variations as being within the scope of the disclosed forms. The appended claims are intended to cover all such modifications, variations, changes, substitutions, revisions, and equivalents.

[0143] The foregoing detailed description has described various forms of devices and / or processes using block diagrams, logic diagrams, and / or examples. As should be understood by those skilled in the art, as long as such block diagrams, logic diagrams, and / or examples include one or more functions and / or operations, each function and / or operation included in such block diagrams, logic diagrams, and / or examples can be implemented individually and / or collectively by a variety of hardware, software, firmware, or virtually any combination thereof. It should be understood by those skilled in the art that all or part of some aspects of the forms disclosed herein can be implemented equivalently on an integrated circuit as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or in virtually any combination thereof. Designing circuits and / or writing software and / or firmware code is within the skill of those skilled in the art in view of the present disclosure. It should be understood by those skilled in the art that the mechanisms of the subject matter described herein can be distributed in various forms as one or more program products, and the specific forms described herein apply regardless of the particular type of signal carrier medium used to actually carry out the distribution.

[0144] The instructions used to program the logic to implement the various disclosed aspects may be stored in system memory such as Dynamic Random Access Memory (DRAM), cache, flash memory, or other storage devices. Further, the instructions may be distributed via a network or by other computer-readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to tangible machine-readable storage devices such as floppy disks, optical disks, compact disks, Compact Disc Read Only Memory (CD-ROM), and magneto-optical disks, Read-Only Memory (ROM), Random Access Memory (RAM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), magnetic or optical cards, flash memory, or tangible machine-readable storage devices used for transmitting information via the Internet via electrical, optical, acoustic, or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Thus, a non-transitory computer-readable medium can include any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0145] When used in any aspect of this specification, the terms "control circuit" or "control system" may refer to, for example, a hardwired circuit, a programmable circuit (e.g., a computer processor, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA) that includes one or more individual instruction processing cores), a state machine circuit, firmware that stores instructions executed by a programmable circuit, and any combination thereof. The control circuit may be embodied, collectively or individually, as a circuit that forms part of a larger system, such as an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, etc.Accordingly, as used herein, a "control circuit" includes, but is not limited to, an electrical circuit having at least one discrete electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application specific integrated circuit, an electrical circuit forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program that at least partially executes the processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially executes the processes and / or devices described herein), an electrical circuit forming a memory device (e.g., in the form of a random access memory), and / or an electrical circuit forming a communication device (e.g., a modem, a communication switch, or an optical-electrical facility). Those skilled in the art will recognize that the subject matter described herein may be implemented in analog form, digital form, or some combination thereof.

[0146] As used in any aspect of this specification, the term "logic" may refer to an application, software, firmware, and / or circuit configured to perform any of the foregoing operations. The software may be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. The firmware may be embodied as code, instructions, or instruction sets within a memory device, and / or hard-coded (e.g., non-volatile) data.

[0147] As used in any aspect of this specification, terms such as "component", "system", "module", etc. may refer to any of a control circuit, a computer-related entity, hardware, a combination of hardware and software, software, or software in execution.

[0148] As used in any aspect of this specification, "algorithm" refers to a self-collision-free sequence of steps leading to a desired result, and "step" refers to an operation of physical quantities and / or logical states that, although not necessarily required, can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common practice to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, etc. These and similar terms may be associated with appropriate physical quantities or may simply be convenient labels applied to these quantities and / or states.

[0149] Unless otherwise explicitly specified, as will be apparent from the foregoing disclosure, throughout the foregoing disclosure, the use of terms such as "processing," "computing," "calculating," "determining," "displaying," etc. refers to the action and processing of a computer system or similar electronic computing device that manipulates and transforms data represented as physical (electronic) quantities in the registers and memories of the computer system into other data similarly represented as physical quantities in the memory or registers of the computer system or other such information storage, transmission, or display device.

[0150] One or more components may be referred to herein as "configured to", "configurable to", "operable / operative to", "adapted / adaptable", "able to", "conformable / conformed to", etc. Those skilled in the art will understand that "configured to" generally may include components in an active state and / or components in a non-active state and / or components in a standby state, unless otherwise interpreted in context.

[0151] The terms "proximal" and "distal" are used herein with reference to a clinician operating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located farther from the clinician. For convenience and clarity, it will be further understood that spatial terms such as "vertical", "horizontal", "up", and "down" may be used herein with respect to the drawings. However, the surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0152] Those skilled in the art will generally understand that terms used herein, and particularly those used in the appended claims (e.g., the body of the appended claims), are generally intended to be "open" terms (e.g., the term "including" should be construed as "including but not limited to", the term "having" should be construed as "having at least", the term "includes" should be construed as "includes but is not limited to", etc.). It will further be understood by those skilled in the art that where a specific number is intended in an introduced claim recitation, such intent is clearly recited in the claim, and where there is no such recitation, there is no such intent. For example, for purposes of illustration, the following appended claims may include introductory phrases such as "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed as suggesting that any particular claim that introduces a claim recitation with an indefinite article such as "a" or "an" is limited to a claim containing only one such recited item, even if the same claim contains introductory phrases such as "one or more" or "at least one" and the indefinite article "a" or "an" (e.g., "a" and / or "an" should generally be construed to mean "at least one" or "one or more"). The same applies when introducing a claim recitation with a definite article.

[0153] Even when a specific number is explicitly stated in the introduced claim description, those skilled in the art will recognize that such a description should typically be construed to mean at least the stated number (e.g., in the case of a simple recitation of "two recitations" without other modifiers, it generally means at least two recitations, or two or more recitations). Further, when notations similar to "at least one of A, B, and C, etc." are used, generally, such syntax is intended in a sense that those skilled in the art will understand it (e.g., "a system having at least one of A, B, and C" includes, but is not limited to, a system having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). When notations similar to "at least one of A, B, or C, etc." are used, generally, such syntax is intended in a sense that those skilled in the art will understand it (e.g., "a system having at least one of A, B, or C" includes, but is not limited to, a system having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C). Further, generally, any disjunctive word and / or phrase representing two or more alternative terms should be understood to be intended to include one of those terms, any of those terms, or both of those terms, whether in the specification, in the claims, or in the drawings, unless the context indicates otherwise. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B".

[0154] Regarding the appended claims, those skilled in the art will understand that the recited operations herein can generally be performed in any order. Also, although the flowcharts of the various operations are shown in sequence(s), it will be understood that the various operations may be performed in orders other than those shown, or may be performed concurrently. Examples of such alternative orderings may include overlapping, interleaving, interrupting, reordering, incremental, preparatory, additional, simultaneous, reverse, or other different orderings, except where the context dictates otherwise or where it should be interpreted in some other sense. Further, terms such as "responsive to," "related to," or other past tense adjectives are generally not intended to exclude such variations, except where the context dictates otherwise or where it should be interpreted in some other sense.

[0155] Any reference to "one aspect," "an aspect," "an exemplification," "one exemplification," etc. is worth noting as meaning that the particular feature, structure, or characteristic described in relation to that aspect is included in at least one aspect. Thus, the phrases "in one aspect," "in an aspect," "in an exemplification," and "in one exemplification" that appear in various places throughout this specification are not necessarily all referring to the same aspect. Further, a particular feature, structure, or characteristic may be combined in any suitable manner in one or more aspects.

[0156] Any patent application, patent, non-patent publication, or other disclosure material referenced in this specification and / or listed in any application data sheet is incorporated herein by reference to the extent that the incorporated material is not inconsistent with this specification. By itself, and to the extent necessary, the disclosure expressly set forth in this specification shall supersede any conflicting description incorporated herein by reference. Although reference is made to being incorporated herein by reference, any content, or portions thereof, that conflict with the current definitions, views, or other disclosure content set forth in this specification shall be incorporated only to the extent that no conflict arises between the incorporated content and the current disclosure content.

[0157] In summary, many benefits resulting from using the concepts described herein have been described. The foregoing description of one or more forms is presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. One or more forms are selected and described in order to illustrate the principles and practical applications thereof, thereby enabling one of ordinary skill in the art to utilize the various forms in various modifications suitable for the particular uses contemplated, together with the claims presented herewith which are intended to define the overall scope.

[0158] The following is a non-exhaustive list of embodiments that are, or may be, claimed. 1. A surgical stapler, the surgical stapler comprising: an end effector configured to receive a staple cartridge; a trocar movable relative to the end effector; an anvil removably connectable to the trocar, the anvil being movable relative to the end effector based on movement of the trocar, the anvil being configured to apply a force to tissue positioned between the anvil and the end effector. A sensor configured to sense the force, A housing including a display unit, A control circuit operably coupled to the sensor and the display unit, the control circuit being configured to: Send a signal to the sensor to determine the force, A control circuit configured to display the determined force on the display unit. A surgical stapler comprising the above components. 2. The housing of the surgical stapler according to Embodiment 1, comprising a rotary actuator configured to move the trocar relative to the end effector, the rotary actuator comprising the sensor. 3. The surgical stapler according to Embodiment 1, wherein the trocar comprises the sensor. 4. The surgical stapler according to Embodiment 1, wherein the housing comprises a handle. 5. The surgical stapler according to Embodiment 1, wherein the display includes a numerical display. 6. The display unit includes a feedback portion, the feedback portion being: A bar, the bar being: An unacceptable zone corresponding to a force that is unacceptable for firing staples from the staple cartridge, An acceptable zone corresponding to a force that is acceptable for firing staples from the staple cartridge, An indicator movable along the bar, the display of the determined force including the position of the indicator along the bar. The surgical stapler according to Embodiment 1, comprising a bar defining the above components. 7. The bar defines a portion, and the control circuit is configured to: Based on the indicator indicating that the determined force is within the unacceptable zone, display a first color within the portion, The surgical stapler according to Embodiment 6, further configured to display a second color on the portion based on the indicator indicating that the determined force is within the allowable zone. 8. A surgical stapler, the surgical stapler comprising: An end effector configured to receive a staple cartridge; A trocar movable relative to the end effector; An anvil removably connectable to the trocar, the anvil being movable relative to the end effector based on movement of the trocar; A sensor configured to sense the position of the anvil relative to the end effector; A housing including a display portion; A control circuit operably connected to the sensor and the display portion, the control circuit: Sends a signal to the sensor to determine the position of the anvil; And is configured to display the determined position on the display portion. The surgical stapler comprises the control circuit. 9. The surgical stapler according to Embodiment 8, wherein the housing comprises a rotary actuator configured to move the trocar relative to the end effector, and the rotary actuator comprises the sensor. 10. The surgical stapler according to Embodiment 8, wherein the trocar comprises the sensor. 11. The surgical stapler according to Embodiment 8, wherein the housing comprises a handle. 12. The surgical stapler according to Embodiment 8, wherein the display includes a numerical display. 13. The display portion includes a feedback portion, and the feedback portion is: A bar, and the bar is: An unacceptable zone corresponding to an unacceptable position of the anvil for firing staples from the staple cartridge; To fire staples from the staple cartridge, an acceptable zone corresponding to an acceptable position of the anvil, and An indicator movable along the bar, wherein the indication of the determined position includes the position of the indicator along the bar, and an indicator, a bar defining the same, a surgical stapler according to embodiment 8. 14. The bar defines a portion, and the control circuit Based on the indicator indicating that the determined position is within the unacceptable zone, display a first color within the portion, A surgical stapler according to embodiment 13, further configured to display a second color on the portion based on the indicator indicating that the determined position is within the acceptable zone. 15. A surgical stapler, the surgical stapler comprising An end effector configured to receive a staple cartridge, A trocar movable relative to the end effector, An anvil removably connectable to the trocar, the anvil being movable relative to the end effector based on movement of the trocar, the anvil being configured to apply a force to tissue positioned between the anvil and the end effector, an anvil, A sensor configured to sense attachment of the anvil to the trocar, A housing including a display unit, A control circuit operably connected to the sensor and the display unit, the control circuit Sending a signal to the sensor to determine that the anvil is connected to the trocar, A control circuit configured to display an indication that the anvil is connected to the trocar on the display unit, a surgical stapler comprising the same. 16. The display unit A first state in which the display unit indicates that the anvil is not connected to the trocar, and a second state in which the display unit indicates that the anvil is connected to the trocar, the surgical stapler being configurable between the two states, the display including causing the display unit to transition to the second state, the surgical stapler according to Embodiment 15. 17. The surgical stapler further includes a sensor configured to sense the force, and the control circuit sends a signal to the sensor to determine the force, and is further configured to display the determined force on the display unit in the second state of the display unit, the surgical stapler according to Embodiment 16. 18. The surgical stapler further includes a sensor configured to sense the position of the anvil relative to the end effector, and the control circuit sends a signal to the sensor to determine the position of the anvil, and is further configured to display the determined position on the display unit in the second state of the display unit, the surgical stapler according to Embodiment 16. 19. The housing includes a handle, the surgical stapler according to Embodiment 15.

[0159] 〔Embodiment〕 (1) A surgical stapler (1000), the surgical stapler (1000) including an end effector (1006) configured to receive a staple cartridge (1007), a trocar (1012) movable relative to the end effector, an anvil (1016) removably connectable to the trocar, the anvil being movable relative to the end effector based on movement of the trocar, and the anvil being configured to apply a force to tissue positioned between the anvil and the end effector. Sensors (1040, 1042, 1044) configured to sense the position of the anvil relative to the end effector, A housing (1002) including a display unit (1030), A control circuit (1050) operably coupled to the sensor and the display unit, the control circuit Sends a signal to the sensor to determine the position of the anvil, A control circuit (1050) configured to display the determined position on the display unit, and a surgical stapler (1000). (2) The surgical stapler according to embodiment 1, wherein the housing includes a rotary actuator (1013) configured to move the trocar relative to the end effector, and the rotary actuator includes the sensor. (3) The surgical stapler according to embodiment 1 or 2, wherein the trocar includes the sensor. (4) The surgical stapler according to any one of embodiments 1 to 3, wherein the display includes a numerical display (1502). (5) The display unit includes a feedback portion (1102, 1152, 1610, 1702), and the feedback portion An unacceptable zone (1106, 1108, 1406, 1616, 1618, 1716) corresponding to a position of the anvil that is unacceptable for firing staples from the staple cartridge, and An acceptable zone (1102, 1404, 1614, 1714) corresponding to a position of the anvil that is acceptable for firing staples from the staple cartridge, and An indicator (1110, 1134, 1410, 1619, 1712) movable relative to the unacceptable zone and the acceptable zone, wherein the display of the determined position includes the position of the indicator relative to the unacceptable zone and the acceptable zone, and the surgical stapler according to any one of embodiments 1 to 4.

[0160] (6) The feedback portion defines parts (1112, 1136, 1138, 1412, 1414, 1420, 1504, 1613, 1719), and the control circuit displays a first color within the part based on the indicator indicating that the determined position is within the unacceptable zone, and is further configured to display a second color on the part based on the indicator indicating that the determined position is within the acceptable zone. The surgical stapler according to Embodiment 5. (7) The surgical stapler according to any one of Embodiments 1 to 6 further includes a second sensor (1040, 1042, 1044) configured to sense the force, and the control circuit sends a signal to the second sensor to determine the force, and is configured to display the indication of the determined force on the display unit. (8) The surgical stapler according to any one of Embodiments 1 to 7, wherein the housing includes a rotary actuator (1013) configured to move the trocar relative to the end effector, and the rotary actuator includes the sensor. (9) The surgical stapler according to any one of Embodiments 1 to 8, wherein the trocar includes the sensor. (10) The surgical stapler according to any one of Embodiments 1 to 9, wherein the display includes a numerical display (1506).

[0161] (11) The display unit includes a feedback portion (1620, 1720), and the feedback portion includes unacceptable zones (1626, 1628, 1726, 1728) corresponding to unacceptable forces for firing staples from the staple cartridge, and acceptable zones (1624, 1724) corresponding to acceptable forces for firing staples from the staple cartridge. Indicators (1629, 1729) movable with respect to the unacceptable zone and the acceptable zone, wherein the display of the determined force includes the positions of the indicators with respect to the unacceptable zone and the acceptable zone, and an indicator (1629, 1729), the surgical stapler according to any one of Embodiments 1 to 10. (12) The feedback portion defines a portion (1613, 1723), and the control circuit Based on the indicator indicating that the determined force is within the unacceptable zone, display a first color within the portion, The surgical stapler according to Embodiment 11, further configured to display a second color on the portion based on the indicator indicating that the determined force is within the acceptable zone. (13) Further comprising a second sensor (1042, 1044) configured to sense the attachment of the anvil to the trocar, the control circuit Send a signal to the second sensor to determine that the anvil is connected to the trocar, The surgical stapler according to any one of Embodiments 1 to 12, configured to display a display that the anvil is connected to the trocar on the display unit. (14) The display unit A first state in which the display unit indicates that the anvil is not connected to the trocar, and A second state in which the display unit indicates that the anvil is connected to the trocar, and is configurable between, The surgical stapler according to Embodiment 13, wherein the display includes transitioning the display unit to the second state. (15) The surgical stapler further comprises a third sensor (1040, 1042, 1044) configured to sense the force, and the control circuit Send a signal to the sensor to determine the force, The surgical stapler according to Embodiment 14, further configured to display the determined force on the display unit in the second state of the display unit.

Claims

1. A surgical stapler (1000), wherein the surgical stapler (1000) comprises: An end effector (1006) configured to receive a staple cartridge (1007); A trocar (1012) movable relative to the end effector; An anvil (1016) removably connectable to the trocar, the anvil being movable relative to the end effector based on the movement of the trocar, and the anvil being configured to apply a force to tissue positioned between the anvil and the end effector; Sensors (1040, 1042, 1044) configured to sense the position of the anvil relative to the end effector; A housing (1002) comprising a display unit (1030); A control circuit (1050) operably coupled to the sensors and the display unit, the control circuit being configured to: Send a signal to the sensors to determine the position of the anvil; Display the determined position on the display unit. A surgical stapler (1000) comprising the above components.

2. The surgical stapler according to claim 1, wherein the housing comprises a rotary actuator (1013) configured to move the trocar relative to the end effector, and the rotary actuator comprises the sensors.

3. The surgical stapler according to claim 1 or claim 2, wherein the trocar comprises the sensors.

4. The surgical stapler according to claim 1, wherein the display includes a numerical display (1502).

5. The display unit includes feedback portions (1102, 1152, 1610, 1702), and the feedback portions include: Non - allowable zones (1106, 1108, 1406, 1616, 1618, 1716) corresponding to positions of the anvil that are non - allowable for firing staples from the staple cartridge; Allowable zones (1102, 1404, 1614, 1714) corresponding to positions of the anvil that are allowable for firing staples from the staple cartridge. An indicator (1110, 1134, 1410, 1619, 1712) movable with respect to the unacceptable zone and the acceptable zone, wherein the display of the determined position includes the position of the indicator with respect to the unacceptable zone and the acceptable zone, and the indicator, the surgical stapler according to claim 1.

6. The feedback portion defines a portion (1112, 1136, 1138, 1412, 1414, 1420, 1504, 1613, 1719), and the control circuit Based on the indicator indicating that the determined position is within the unacceptable zone, display a first color within the portion The surgical stapler according to claim 5, further configured to display a second color on the portion based on the indicator indicating that the determined position is within the acceptable zone.

7. Further comprising a second sensor (1040, 1042, 1044) configured to sense the force, and the control circuit Send a signal to the second sensor to determine the force The surgical stapler according to claim 1, configured to display the determined force indication on the display unit.

8. The housing includes a rotary actuator (1013) configured to move the trocar relative to the end effector, and the rotary actuator includes the sensor, the surgical stapler according to claim 1.

9. The surgical stapler according to claim 1, wherein the trocar includes the sensor.

10. The surgical stapler according to claim 1, wherein the display includes a numerical display (1506).

11. The display unit includes a feedback portion (1620, 1720), and the feedback portion An unacceptable zone (1626, 1628, 1726, 1728) corresponding to a force that is unacceptable for firing staples from the staple cartridge; An acceptable zone (1624, 1724) corresponding to a force that is acceptable for firing staples from the staple cartridge; Indicators (1629, 1729) movable with respect to the unacceptable zone and the acceptable zone, wherein the display of the determined force includes the position of the indicator with respect to the unacceptable zone and the acceptable zone, and an indicator (1629, 1729). The surgical stapler according to claim 1.

12. The feedback portion defines a portion (1613, 1723), and the control circuit Based on the indicator indicating that the determined force is within the unacceptable zone, display a first color within the portion, The surgical stapler according to claim 11, further configured to display a second color on the portion based on the indicator indicating that the determined force is within the acceptable zone.

13. Further comprising a second sensor (1042, 1044) configured to sense the attachment of the anvil to the trocar, the control circuit Send a signal to the second sensor to determine that the anvil is coupled to the trocar, The surgical stapler according to claim 1, configured to display a display that the anvil is coupled to the trocar on the display unit.

14. The display unit A first state in which the display unit indicates that the anvil is not coupled to the trocar, and Between a second state in which the display unit indicates that the anvil is coupled to the trocar, and is configurable, The surgical stapler according to claim 13, wherein the display includes transitioning the display unit to the second state.

15. The surgical stapler further comprises a third sensor (1040, 1042, 1044) configured to sense the force, and the control circuit Send a signal to the sensor to determine the force, The surgical stapler according to claim 14, further configured to display the determined force on the display unit in the second state of the display unit.

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