JPH05226945A - 電圧電流変換回路及び該回路を有する差動増幅回路 - Google Patents
電圧電流変換回路及び該回路を有する差動増幅回路Info
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Abstract
(57)【要約】
【目的】この発明の差動増幅回路は、モータ駆動用のH
ブリッジ回路の電流を検出するために、2つのウィルソ
ン型カレントミラーを使用してその出力の差電圧を電流
に変換することを特徴とする。 【構成】この差動増幅回路は、差動入力電圧Vin−、V
in+を電流に変換する電圧電流変換回路1と、フィード
バック抵抗R1 を有したオペアンプOPによりV/I変
換された後の電流を電圧に戻す電流電圧変換部2で構成
される。そして入力電圧Vinが電圧電流変換回路1のV
/I変換により、電流n(Vin/R0 )に変換され、そ
の電流が電流電圧変換部2に流れることにより、リファ
レンス電圧VREF にn・Vin(R1 /R0 )を加えた電
圧を出力する。
ブリッジ回路の電流を検出するために、2つのウィルソ
ン型カレントミラーを使用してその出力の差電圧を電流
に変換することを特徴とする。 【構成】この差動増幅回路は、差動入力電圧Vin−、V
in+を電流に変換する電圧電流変換回路1と、フィード
バック抵抗R1 を有したオペアンプOPによりV/I変
換された後の電流を電圧に戻す電流電圧変換部2で構成
される。そして入力電圧Vinが電圧電流変換回路1のV
/I変換により、電流n(Vin/R0 )に変換され、そ
の電流が電流電圧変換部2に流れることにより、リファ
レンス電圧VREF にn・Vin(R1 /R0 )を加えた電
圧を出力する。
Description
【0001】
【産業上の利用分野】この発明は、差動増幅回路に関
し、特にモータ駆動用Hブリッジ回路に於いて駆動電流
の検出に適した電圧電流変換回路及び該回路を有する差
動増幅回路に関するものである。
し、特にモータ駆動用Hブリッジ回路に於いて駆動電流
の検出に適した電圧電流変換回路及び該回路を有する差
動増幅回路に関するものである。
【0002】
【従来の技術】図4は、モータ駆動用のHブリッジ回路
を示すもので、同回路で駆動するときの電流検出方法を
説明する。同図に於いて、Hブリッジ回路はそれぞれコ
レクタとエミッタ間にダイオードD1 〜D4 が接続され
たトランジスタQ1 〜Q4 と、モータMで構成されるも
ので、更に電流検出用抵抗Rcs1 及びRcs2 と、上記回
路の出力をn倍するオペアンプOP1 が接続されてい
る。
を示すもので、同回路で駆動するときの電流検出方法を
説明する。同図に於いて、Hブリッジ回路はそれぞれコ
レクタとエミッタ間にダイオードD1 〜D4 が接続され
たトランジスタQ1 〜Q4 と、モータMで構成されるも
ので、更に電流検出用抵抗Rcs1 及びRcs2 と、上記回
路の出力をn倍するオペアンプOP1 が接続されてい
る。
【0003】図示構成のHブリッジ回路に於いて、トラ
ンジスタQ1 及びQ2 をオンすると、モータMに電流I
L が流れる。このとき、抵抗Rcs1 の両端には、電圧R
sc1 ×IL が生じる。また、トランジスタQ1 及びQ4
をオフした直後には、モータM内のコイルの逆起電力に
より、電流IR が流れ、抵抗Rcs2 の両端に電圧Rcs×
IR が生じる。
ンジスタQ1 及びQ2 をオンすると、モータMに電流I
L が流れる。このとき、抵抗Rcs1 の両端には、電圧R
sc1 ×IL が生じる。また、トランジスタQ1 及びQ4
をオフした直後には、モータM内のコイルの逆起電力に
より、電流IR が流れ、抵抗Rcs2 の両端に電圧Rcs×
IR が生じる。
【0004】以上述べた動作に於いて、縦軸を抵抗Rcs
1 、Rcs2 の電圧で表すと、図5(a)に示されるよう
に変化することがわかる。また、図5(b)は、上記抵
抗Rcs1 、Rcs2 の電圧を、差動増幅回路の入力に加え
たときの出力電圧を表したものである。そして、図5
(a)及び(b)から、抵抗Rcs1 、Rcs2 の電圧を差
動増幅回路により増幅した電圧を見れば、トランジスタ
Q1 、Q4 をオフからオン、そしてオフとしたときに、
モータMに流れる電流を示すことがわかる。
1 、Rcs2 の電圧で表すと、図5(a)に示されるよう
に変化することがわかる。また、図5(b)は、上記抵
抗Rcs1 、Rcs2 の電圧を、差動増幅回路の入力に加え
たときの出力電圧を表したものである。そして、図5
(a)及び(b)から、抵抗Rcs1 、Rcs2 の電圧を差
動増幅回路により増幅した電圧を見れば、トランジスタ
Q1 、Q4 をオフからオン、そしてオフとしたときに、
モータMに流れる電流を示すことがわかる。
【0005】
【発明が解決しようとする課題】ところで、図4、図5
(a)及び(b)に示されるように、Hブリッジに流れ
る電流は、検出用抵抗Rcs1 及びRcs2 にかかる電圧
を、差動増幅回路で増幅した出力である。このときの差
動増幅回路の入力電圧は、Vcc−IL ・Rcs(Rc
s1 )、Vcc+IL ・Rcs(Rcs2 )となる。例えばRc
s=0.5Ω、IL =1Aとすると、Vcc=±0.5V
である。このため、Hブリッジ回路と電流検出回路を同
一電源で構成しようとすると、電源電圧がVccのときに
Vcc±0.5Vの入力で動作する差動増幅回路が必要と
なる。
(a)及び(b)に示されるように、Hブリッジに流れ
る電流は、検出用抵抗Rcs1 及びRcs2 にかかる電圧
を、差動増幅回路で増幅した出力である。このときの差
動増幅回路の入力電圧は、Vcc−IL ・Rcs(Rc
s1 )、Vcc+IL ・Rcs(Rcs2 )となる。例えばRc
s=0.5Ω、IL =1Aとすると、Vcc=±0.5V
である。このため、Hブリッジ回路と電流検出回路を同
一電源で構成しようとすると、電源電圧がVccのときに
Vcc±0.5Vの入力で動作する差動増幅回路が必要と
なる。
【0006】この入力電圧に対して、図6に示されるよ
うなオペアンプOP1 の入力電圧範囲を見てみると、以
下のような値となる。 VIN(MAX) =Vcc−VBE−VCE=Vcc−1.0[V] オペアンプを電源電圧Vccで動作させると、直接モータ
の電流検出出力に接続することはできない。そのため、
図7に示されるように、Hブリッジの電源Vccに対して
オペアンプの電源をVcc+VAとして、検出抵抗の出力
電圧を、オペアンプOP1 の入力電圧範囲内にしなけれ
ばならない。
うなオペアンプOP1 の入力電圧範囲を見てみると、以
下のような値となる。 VIN(MAX) =Vcc−VBE−VCE=Vcc−1.0[V] オペアンプを電源電圧Vccで動作させると、直接モータ
の電流検出出力に接続することはできない。そのため、
図7に示されるように、Hブリッジの電源Vccに対して
オペアンプの電源をVcc+VAとして、検出抵抗の出力
電圧を、オペアンプOP1 の入力電圧範囲内にしなけれ
ばならない。
【0007】この発明は上記のような点に鑑みてなされ
たもので、オペアンプで差動増幅回路を構成するときの
ように、Vcc以上の別電源を必要とせず、電源電圧Vcc
で動作させていても電流検出電圧Vcc+IL ・Rcsが入
力可能である差動増幅回路を提供することを目的とす
る。
たもので、オペアンプで差動増幅回路を構成するときの
ように、Vcc以上の別電源を必要とせず、電源電圧Vcc
で動作させていても電流検出電圧Vcc+IL ・Rcsが入
力可能である差動増幅回路を提供することを目的とす
る。
【0008】
【課題を解決するための手段】すなわちこの発明は、入
力電圧が印加されるべく入力端子としてのエミッタ抵抗
を各々有した第1及び第2のウィルソン型カレントミラ
ー回路と、上記第1及び第2のウィルソン型カレントミ
ラー回路の入力電流となるべく接続された第1及び第2
の定電流源と、上記第1のウィルソン型カレントミラー
回路と第2のウィルソン型カレントミラー回路の共通ベ
ース端子間に接続された抵抗と、上記第1及び第2のウ
ィルソン型カレントミラー回路の何れか一方の出力端に
接続されるもので、出力電流を折返すカレントミラー回
路とを具備し、このカレントミラー回路の出力と、上記
第1及び第2のウィルソン型カレントミラー回路の他方
の出力間に生じる差電圧を電流に変換することを特徴と
する。
力電圧が印加されるべく入力端子としてのエミッタ抵抗
を各々有した第1及び第2のウィルソン型カレントミラ
ー回路と、上記第1及び第2のウィルソン型カレントミ
ラー回路の入力電流となるべく接続された第1及び第2
の定電流源と、上記第1のウィルソン型カレントミラー
回路と第2のウィルソン型カレントミラー回路の共通ベ
ース端子間に接続された抵抗と、上記第1及び第2のウ
ィルソン型カレントミラー回路の何れか一方の出力端に
接続されるもので、出力電流を折返すカレントミラー回
路とを具備し、このカレントミラー回路の出力と、上記
第1及び第2のウィルソン型カレントミラー回路の他方
の出力間に生じる差電圧を電流に変換することを特徴と
する。
【0009】
【作用】この発明の差動増幅回路は、第1及び第2のウ
ィルソン型カレントミラー回路と、第1及び第2の電流
源と、上記第1のウィルソン型カレントミラー回路と第
2のウィルソン型カレントミラー回路の共通ベース端子
間に接続された抵抗を有している。そして、一方のウィ
ルソン型カレントミラー回路の出力電流を折返すカレン
トミラー回路の出力と、他方のウィルソン型カレントミ
ラー回路の出力との間に生じる差電圧が、電流に変換さ
れる。
ィルソン型カレントミラー回路と、第1及び第2の電流
源と、上記第1のウィルソン型カレントミラー回路と第
2のウィルソン型カレントミラー回路の共通ベース端子
間に接続された抵抗を有している。そして、一方のウィ
ルソン型カレントミラー回路の出力電流を折返すカレン
トミラー回路の出力と、他方のウィルソン型カレントミ
ラー回路の出力との間に生じる差電圧が、電流に変換さ
れる。
【0010】
【実施例】以下図面を参照して、この発明の実施例を説
明する。
明する。
【0011】図1は、この発明の差動増幅回路の基本的
構成を概略的に示す回路図である。この差動増幅回路
は、差動入力電圧(Vin−、Vin+)を電流に変換する
電圧電流(V/I)変換回路1と、フィードバック抵抗
R1 を有したオペアンプOPを利用してV/I変換され
た後の電流を電圧に戻す電流電圧(I/V)変換部2で
構成されている。
構成を概略的に示す回路図である。この差動増幅回路
は、差動入力電圧(Vin−、Vin+)を電流に変換する
電圧電流(V/I)変換回路1と、フィードバック抵抗
R1 を有したオペアンプOPを利用してV/I変換され
た後の電流を電圧に戻す電流電圧(I/V)変換部2で
構成されている。
【0012】このように構成された差動増幅回路は、入
力電圧VinをV/I変換回路1のV/I変換により、電
流n(Vin/R0 )[A]に変換する。そして、その電
流が、後段のI/V変換部2に流れることにより、リフ
ァレンス電圧VREF にn・Vin(R1 /R0 )を加えた
電圧を出力する動作が行われる。図2は、この発明の実
施例で、図1のV/I変換回路1の部分を詳細に示した
差動増幅回路の回路構成図である。
力電圧VinをV/I変換回路1のV/I変換により、電
流n(Vin/R0 )[A]に変換する。そして、その電
流が、後段のI/V変換部2に流れることにより、リフ
ァレンス電圧VREF にn・Vin(R1 /R0 )を加えた
電圧を出力する動作が行われる。図2は、この発明の実
施例で、図1のV/I変換回路1の部分を詳細に示した
差動増幅回路の回路構成図である。
【0013】同図に於いて、入力端子VIN−とグラウン
ド間には、抵抗R3 、トランジスタQ11及び定電流源I
0 の直列回路と、抵抗R4 、トランジスタQ12、Q13及
びQ17の直列回路が図示の如く接続されている。同様
に、入力端子VIN+とグラウンド間には、抵抗R5 、ト
ランジスタQ14、Q16及びQ18の直列回路と、抵抗
R6 、トランジスタQ15及び定電流源I0 の直列回路
が、図示の如く接続されている。そして、トランジスタ
Q12とQ13の接続点aと、トランジスタQ14とQ16の接
続点bの間には、抵抗R0 が接続される。
ド間には、抵抗R3 、トランジスタQ11及び定電流源I
0 の直列回路と、抵抗R4 、トランジスタQ12、Q13及
びQ17の直列回路が図示の如く接続されている。同様
に、入力端子VIN+とグラウンド間には、抵抗R5 、ト
ランジスタQ14、Q16及びQ18の直列回路と、抵抗
R6 、トランジスタQ15及び定電流源I0 の直列回路
が、図示の如く接続されている。そして、トランジスタ
Q12とQ13の接続点aと、トランジスタQ14とQ16の接
続点bの間には、抵抗R0 が接続される。
【0014】上記I/V変換部2の抵抗R1 の一端は、
オペアンプOPの負入力端と共にトランジスタQ16とQ
18の間に接続され、他端はオペアンプOPの出力端に接
続されている。また、オペアンプOPの正入力端は、リ
ファレンス電圧VREF に接続されている。
オペアンプOPの負入力端と共にトランジスタQ16とQ
18の間に接続され、他端はオペアンプOPの出力端に接
続されている。また、オペアンプOPの正入力端は、リ
ファレンス電圧VREF に接続されている。
【0015】尚、上記トランジスタQ11〜Q16は2つの
ウィルソン型カレントミラー回路を構成するもので、P
NP型トランジスタを使用している。一方、上記トラン
ジスタQ17及びQ18は、カレントミラー回路を構成する
もので、NPN型トランジスタを使用している。次に、
このように構成された差動増幅回路の動作を、VIN−=
Vcc、VIN+=Vcc+Vx の時を例に説明する。
ウィルソン型カレントミラー回路を構成するもので、P
NP型トランジスタを使用している。一方、上記トラン
ジスタQ17及びQ18は、カレントミラー回路を構成する
もので、NPN型トランジスタを使用している。次に、
このように構成された差動増幅回路の動作を、VIN−=
Vcc、VIN+=Vcc+Vx の時を例に説明する。
【0016】V/I変換回路1は、抵抗R3 、R4 、ト
ランジスタQ11〜Q13、定電流源I0 と、抵抗R5 、R
6 、トランジスタQ14〜Q16、定電流源I0 とで構成さ
れる2つのウィルソン型カレントミラーと、トランジス
タQ17及びQ18で構成されるカレントミラーと、抵抗R
0 により構成される。したがって、上記入力がVIN−、
VIN+に入ったとき、以下のように動作される。
ランジスタQ11〜Q13、定電流源I0 と、抵抗R5 、R
6 、トランジスタQ14〜Q16、定電流源I0 とで構成さ
れる2つのウィルソン型カレントミラーと、トランジス
タQ17及びQ18で構成されるカレントミラーと、抵抗R
0 により構成される。したがって、上記入力がVIN−、
VIN+に入ったとき、以下のように動作される。
【0017】先ず、トランジスタQ12及びQ14のコレク
タ電流(ベース電流はコレクタ電流に対して十分に小さ
いものとする)を考えると、それぞれウィルソン型カレ
ントミラーにより、I0 となる。更に、a点及びb点の
電圧をそれぞれV(a) V(b)とすると、(1)式のよう
に表される。 V(a) =Vcc−R・I0 −VBE(Q12) V(b) =Vcc+Vx −RI0 −VBE(Q14) …(1) また、抵抗R0 の両端には、(2)式の差の電圧が現
れ、電流Ix が流れる。 V(b) −V(a) =Vx Ix =Vx /R0 …(2) 以上により、電流I1 及びI2 は(3)式及び(4)式
で表される。 I1 =I0 +Ix =I0 +Vx /R0 …(3) I2 =I0 −Ix =I0 −Vx /R0 …(4) また、トランジスタQ17及びQ18で構成されるカレント
ミラー回路により、I1 =I1 ′であることから、V/
I変換回路1の出力電流I3 は、(5)式のようにな
る。 I3 =I1 ′−I2 =I1 −I2 =I0 +Vx /R0 −I0 +Vx /R0 =2(Vx /R0 ) …(5)
タ電流(ベース電流はコレクタ電流に対して十分に小さ
いものとする)を考えると、それぞれウィルソン型カレ
ントミラーにより、I0 となる。更に、a点及びb点の
電圧をそれぞれV(a) V(b)とすると、(1)式のよう
に表される。 V(a) =Vcc−R・I0 −VBE(Q12) V(b) =Vcc+Vx −RI0 −VBE(Q14) …(1) また、抵抗R0 の両端には、(2)式の差の電圧が現
れ、電流Ix が流れる。 V(b) −V(a) =Vx Ix =Vx /R0 …(2) 以上により、電流I1 及びI2 は(3)式及び(4)式
で表される。 I1 =I0 +Ix =I0 +Vx /R0 …(3) I2 =I0 −Ix =I0 −Vx /R0 …(4) また、トランジスタQ17及びQ18で構成されるカレント
ミラー回路により、I1 =I1 ′であることから、V/
I変換回路1の出力電流I3 は、(5)式のようにな
る。 I3 =I1 ′−I2 =I1 −I2 =I0 +Vx /R0 −I0 +Vx /R0 =2(Vx /R0 ) …(5)
【0018】次に、I/V変換部2について説明する
と、V/I変換回路1の出力電流I3は、抵抗R1 を流
れるので、その出力は(6)式の如くなる。 VOUT =VREF +(R1 /R0 )・2Vx …(6) このときの差動増幅回路の増幅率は2(R1 /R0 )で
あるから、抵抗R1 、R0 の組合わせによって、任意の
増幅率を得ることができる。
と、V/I変換回路1の出力電流I3は、抵抗R1 を流
れるので、その出力は(6)式の如くなる。 VOUT =VREF +(R1 /R0 )・2Vx …(6) このときの差動増幅回路の増幅率は2(R1 /R0 )で
あるから、抵抗R1 、R0 の組合わせによって、任意の
増幅率を得ることができる。
【0019】上述した第1の実施例は、モータのHブリ
ッジの電流検出抵抗に生じるVcc±IL ・Rcsを入力可
能とした差動増幅回路について述べたものであった。こ
の発明の回路を利用すれば、GND±Vx という電圧を
入力可能な差動増幅回路を構成することもできる。
ッジの電流検出抵抗に生じるVcc±IL ・Rcsを入力可
能とした差動増幅回路について述べたものであった。こ
の発明の回路を利用すれば、GND±Vx という電圧を
入力可能な差動増幅回路を構成することもできる。
【0020】図3は、このような構成の差動増幅回路を
示したもので、基本的な構成及び動作は図2に示された
回路と同様である。但し、図3に於いて、ウィルソン型
カレントミラー回路を構成するトランジスタQ11′〜Q
16′はNPN型トランジスタを使用し、カレントミラー
回路を構成するトランジスタQ17′及びQ18′はPNP
型トランジスタを使用して電流の折返しを行っている点
が、図2の回路構成と異なる部分である。
示したもので、基本的な構成及び動作は図2に示された
回路と同様である。但し、図3に於いて、ウィルソン型
カレントミラー回路を構成するトランジスタQ11′〜Q
16′はNPN型トランジスタを使用し、カレントミラー
回路を構成するトランジスタQ17′及びQ18′はPNP
型トランジスタを使用して電流の折返しを行っている点
が、図2の回路構成と異なる部分である。
【0021】
【発明の効果】以上のようにこの発明によれば、別電源
を必要とせず、所定の電源電圧で動作させていても電流
検出電圧が入力可能である差動増幅回路を提供すること
ができる。
を必要とせず、所定の電源電圧で動作させていても電流
検出電圧が入力可能である差動増幅回路を提供すること
ができる。
【図1】この発明の差動増幅回路の基本的構成を概略的
に示す回路図である。
に示す回路図である。
【図2】この発明の実施例で、図1のV/I変換回路1
の部分を詳細に示した差動増幅回路の回路構成図であ
る。
の部分を詳細に示した差動増幅回路の回路構成図であ
る。
【図3】この発明の別の実施例で図1のV/I変換回路
1の部分を詳細に示した差動増幅回路の回路構成図であ
る。
1の部分を詳細に示した差動増幅回路の回路構成図であ
る。
【図4】従来のモータ駆動用のHブリッジ回路の回路構
成図である。
成図である。
【図5】(a)は図4の電流検出抵抗にかかる電圧の経
時変化を示した図、(b)は図4の回路の出力電圧の経
時変化を示した図である。
時変化を示した図、(b)は図4の回路の出力電圧の経
時変化を示した図である。
【図6】図4のオペアンプの回路構成を示した図であ
る。
る。
【図7】Hブリッジの電源Vccに対してオペアンプの電
源をVcc+VAとして検出抵抗の出力電圧をオペアンプ
OP1 の入力電圧とした場合の回路構成図である。
源をVcc+VAとして検出抵抗の出力電圧をオペアンプ
OP1 の入力電圧とした場合の回路構成図である。
1…電圧電流(V/I)変換回路、2…電流電圧(I/
V)変換部、I0 …定電流源、OP、OP1 …オペアン
プ、Q1 〜Q18、Q11′〜Q18′…トランジスタ、R0
〜R6 …抵抗。
V)変換部、I0 …定電流源、OP、OP1 …オペアン
プ、Q1 〜Q18、Q11′〜Q18′…トランジスタ、R0
〜R6 …抵抗。
─────────────────────────────────────────────────────
【手続補正書】
【提出日】平成4年3月11日
【手続補正1】
【補正対象書類名】図面
【補正対象項目名】図6
【補正方法】変更
【補正内容】
【図6】
Claims (2)
- 【請求項1】 入力電圧が印加されるべく入力端子とし
てのエミッタ抵抗を各々有した第1及び第2のウィルソ
ン型カレントミラー回路と、 上記第1及び第2のウィルソン型カレントミラー回路の
入力電流となるべく接続された第1及び第2の定電流源
と、 上記第1のウィルソン型カレントミラー回路と第2のウ
ィルソン型カレントミラー回路の共通ベース端子間に接
続された抵抗と、 上記第1及び第2のウィルソン型カレントミラー回路の
何れか一方の出力端に接続されるもので、出力電流を折
返すカレントミラー回路とを具備し、 このカレントミラー回路の出力と、上記第1及び第2の
ウィルソン型カレントミラー回路の他方の出力間に生じ
る差電圧を電流に変換することを特徴とする電圧電流変
換回路。 - 【請求項2】 請求項1の電圧電流変換回路と、 一方の入力端と出力間に抵抗を有し、他方の入力端に基
準電圧を印加するべく基準電源が接続されたオペアンプ
から成る電流電圧変換回路とを具備することを特徴とす
る差動増幅回路。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3076327A JPH05226945A (ja) | 1991-04-09 | 1991-04-09 | 電圧電流変換回路及び該回路を有する差動増幅回路 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3076327A JPH05226945A (ja) | 1991-04-09 | 1991-04-09 | 電圧電流変換回路及び該回路を有する差動増幅回路 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH05226945A true JPH05226945A (ja) | 1993-09-03 |
Family
ID=13602262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP3076327A Withdrawn JPH05226945A (ja) | 1991-04-09 | 1991-04-09 | 電圧電流変換回路及び該回路を有する差動増幅回路 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH05226945A (ja) |
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US11918217B2 (en) | 2021-05-28 | 2024-03-05 | Cilag Gmbh International | Stapling instrument comprising a staple cartridge insertion stop |
US11723662B2 (en) | 2021-05-28 | 2023-08-15 | Cilag Gmbh International | Stapling instrument comprising an articulation control display |
US11826047B2 (en) | 2021-05-28 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising jaw mounts |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
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US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
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