# How Surgical Tools Give Haptic Feedback Near Operation Limits > This patent describes a surgical instrument that uses a motor to move a tool, continuously tracking its position and providing a tactile vibration or haptic feedback to the surgeon as the tool approaches the end of its movement, improving precision and safety. - **Patent:** US 12402879 - **Original title:** Surgical instrument having force feedback capabilities - **Owner:** Cilag GmbH International - **Granted:** 2025 - **Status:** Active - **Times cited:** 0 - **Field:** medical_devices, robotics, software, mechanical, consumer_electronics ## What it does This surgical instrument includes a shaft and an end effector, which has a first and second jaw that move relative to each other. A motor-driven 'driver' moves these jaws through a specific action, like closing or firing staples. A control circuit continuously monitors the driver's position throughout this movement. As the driver gets close to the end of its motion, the control circuit delivers a feedback to the user, such as a tactile vibration (Claim 2) or a haptic signal (Claim 5), to indicate that the limit of the surgical function is approaching. For example, a surgeon using a motorized stapler might feel a specific vibration pattern in the handle as the staples are almost fully deployed, preventing them from over-compressing tissue. ## What it does NOT cover - Does not cover surgical instruments that provide only visual or auditory feedback without any tactile or haptic component. - Does not cover feedback systems that only alert the user *after* the driver has already reached or exceeded its limit position. - Does not cover surgical instruments where the driver's movement is not motorized. - Does not cover feedback based on factors other than the driver's position or status throughout its motion. - Does not cover surgical instruments where the end effector does not include a first and second jaw movable relative to each other. ## The clever bit The clever bit is the continuous monitoring of the driver's position and the delivery of a *modulating signal profile* (Claim 4) for haptic feedback *as the driver approaches* the conclusion of its motion. This provides a nuanced, anticipatory warning, allowing the surgeon to react proactively rather than just being alerted when a hard stop is hit. ## Real-world examples 1. Motorized surgical staplers 2. Advanced laparoscopic instruments with power assist 3. Robotic surgery systems providing haptic feedback to the surgeon's console 4. Powered articulation joints in endoscopic tools ## Why it matters In surgery, precision and avoiding tissue damage are critical. This patent aims to enhance surgeon control and patient safety by providing real-time, anticipatory feedback. This can help prevent errors like over-clamping, over-stapling, or improper articulation in complex procedures, especially in minimally invasive surgery where direct tactile feel is often reduced. ## Frequently asked questions ### What does How Surgical Tools Give Haptic Feedback Near Operation Limits cover? This patent describes a surgical instrument that uses a motor to move a tool, continuously tracking its position and providing a tactile vibration or haptic feedback to the surgeon as the tool approaches the end of its movement, improving precision and safety. ### Who owns patent US 12402879? Cilag GmbH International owns this patent, granted in 2025. ### When does this patent expire? This patent is expected to expire on February 21, 2044, when the invention enters the public domain. ### What problem does this patent solve? In surgery, precision and avoiding tissue damage are critical. This patent aims to enhance surgeon control and patient safety by providing real-time, anticipatory feedback. This can help prevent errors like over-clamping, over-stapling, or improper articulation in complex procedures, especially in minimally invasive surgery where direct tactile feel is often reduced. ### What does this patent NOT cover? Does not cover surgical instruments that provide only visual or auditory feedback without any tactile or haptic component. **Full plain-English explainer:** https://patentbrief.org/patent/us/12402879/surgical-instrument-having-force-feedback-capabilities **Original patent:** https://patents.google.com/patent/US12402879 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [Uniform Scaling of Haptic Forces in Surgical Systems](https://patentbrief.org/patent/us/12114954/uniform-scaling-of-haptic-actuators) — This patent describes a surgical system that uses a single scaling factor to adjust the strength of touch feedback from multiple motors, ensuring the feedback feels consistent even when one motor reaches its maximum power. - [How a Robotic Surgical Tool Clamps Tissue Manually and Automatically](https://patentbrief.org/patent/us/11786761/ultrasonic-robotic-tool-actuation) — This patent describes a surgical tool for robotic operations that can clamp tissue using a motor-driven yoke, but also allows a surgeon to manually control the clamping action. - [Surgical Tool with Flexible, Articulating, and Rotating End Effectors](https://patentbrief.org/patent/us/10736702/activating-and-rotating-surgical-end-effectors) — This patent describes a surgical tool with a flexible tip that can bend in multiple directions and also twist, allowing surgeons to precisely control instruments like graspers and cutters inside the body. - [How a Surgical Robot Arm's Wrist Moves Instruments](https://patentbrief.org/patent/us/12414825/surgical-arm) — This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools. - [How a Surgical Robot Attaches Tools and Stays Sterile](https://patentbrief.org/patent/us/12127807/surgical-system-instrument-mounting) — Intuitive Surgical's patent details a robotic surgical system that securely mounts medical instruments, transfers precise movements, and ensures sterility through a unique rotating drape mechanism.