Autonomous intra-instrument surgical system actuation
Systems, methods, and instrumentalities are described herein for autonomous operation of a surgical device within a predefined boundary. A discrete signal associated with clamping control (e.g., closure of a clamping jaw) may be received by the surgical device. The discrete signal may be triggered by a healthcare professional or autonomously activated. The surgical device, in response to the discrete signal and based on an algorithm, may generate a continuous signal to cause a continuous application of force or deployment of an operation. The surgical device, based at least on a measurement associated with one of tissue, inrush current, or the distance between the smart energy device and the smart grasper may determine a safety adjustment associated with the operation of the surgical device.
1 . A smart surgical device, the smart surgical device comprising:
a processor configured to:
receive a first discrete signal associated with clamping control;
generate, in response to the first discrete signal, a first continuous signal to cause a first continuous application of force based on a first autonomous control algorithm, wherein the first continuous application of the force causes the smart surgical device to control the clamping control to reach a pre-defined pressure operation range;
obtain a first measurement that is associated with the first continuous application of the force for the clamping control, wherein the first measurement comprises a load measurement on a clamping jaw for the clamping control, a tissue measurement, and a position of a tissue;
based on the first measurement, determine whether to autonomously adjust the first continuous application of the force;
based on a determination to autonomously adjust the first continuous application of the force, autonomously adjust the first continuous application of the force using an updated pressure operation range;
while the first continuous application of the force causes the smart surgical device to control the clamping control using the updated pressure operation range, autonomously generate a second continuous signal, wherein the second continuous signal is configured to cause a second continuous application of a deployment operation based on a second autonomous control algorithm, wherein the second continuous application of the deployment operation causes the smart surgical device to advance a cutting member, generate energy, and retract the cutting member;
obtain a second measurement associated with the second continuous application of the deployment operation, wherein the second measurement comprises a ratio of collagen to elastin in the tissue;
based on the second measurement, determine whether to autonomously adjust the second continuous application of the deployment operation; and
based on a determination to autonomously adjust the second continuous application of the deployment operation, autonomously adjust the deployment operation based on at least the second measurement.
2 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical cutting device or a smart surgical energy device, wherein the first discrete signal is associated with initiating closure of the clamping jaw, and wherein the first discrete signal is triggered by a healthcare professional.
3 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical cutting device, wherein the first continuous application of the force is applied during at least one of: initial contact, clamping down, waiting, maintaining a pressure, or relieving the pressure.
4 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical cutting device, wherein the first measurement further comprises at least one of: a load on the clamping jaw at a first contact with the tissue, a load on the tissue when clamping down, and the tissue measurement that indicates presence of a rigid object.
5 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical cutting device.
6 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical energy device, wherein the second continuous signal is associated with initiating a firing sequence.
7 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical energy device, wherein the processor being configured to generate the energy comprises the processor being configured to generate the energy to a first pre-defined power level to at least cut the tissue or seal the tissue and wherein the processor being configured to autonomously adjust the deployment operation based on at least the second measurement comprises the processor being configured to:
adjust the energy from the first pre-defined power level to a second pre-defined power level, wherein the second pre-defined power level has a lower power level than the first pre-defined power level.
8 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical energy device, wherein the first continuous application of the force is further associated with the clamping control using the pre-defined pressure operation range and is applied during at least one of: initial contact, clamping down, waiting, or maintaining pressure.
9 . The smart surgical device of claim 1 , wherein the smart surgical device is a smart surgical energy device, and wherein the first measurement further comprises the position of the tissue between a clamping arm and an energy blade.
10 . The smart surgical device of claim 1 , wherein the smart surgical device comprises the clamping jaw controlled by the clamping control, and wherein the first continuous application of the force causes the clamping jaw to make an initial contact with the tissue, clamp down on the tissue using the pre-defined pressure operation range, maintain a pressure for the clamping jaw on the tissue, relieve pressure on the tissue, and open the clamping jaw.
11 . A method, the method comprising:
receiving a first discrete signal associated with clamping control;
generating, in response to the first discrete signal, a first continuous signal to cause a first continuous application of force based on a first autonomous control algorithm, wherein the first continuous application of the force is configured to control the clamping control to reach a pre-defined pressure operation range;
obtaining a first measurement that is associated with the first continuous application of the force for the clamping control, wherein the first measurement comprises a load measurement on a clamping jaw for the clamping control, a tissue measurement, and a position of a tissue;
based on the first measurement, determining whether to autonomously adjust the first continuous application of the force;
based on a determination to autonomously adjust the first continuous application of the force, autonomously adjusting the first continuous application of the force using an updated pressure operation range;
while the first continuous application of the force is configured to control the clamping control using the updated pressure operation range, autonomously generating a second continuous signal, wherein the second continuous signal is configured to cause a second continuous application of a deployment operation based on a second autonomous control algorithm, wherein the second continuous application of the deployment operation is configured to perform advancing of a cutting member, generating of energy, and retracting the cutting member;
obtaining a second measurement associated with the second continuous application of the deployment operation, wherein the second measurement comprises a ratio of collagen to elastin in the tissue;
based on the second measurement, determining whether to autonomously adjust the second continuous application of the deployment operation; and
based on a determination to autonomously adjust the second continuous application of the deployment operation, autonomously adjusting the deployment operation based on at least the second measurement.
12 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical cutting device or a smart surgical energy device, wherein the first discrete signal is associated with initiating closure of the clamping jaw, and wherein the first discrete signal is triggered by a healthcare professional.
13 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical cutting device, wherein the first continuous application of the force is applied during at least one of: initial contact, clamping down, waiting, maintaining a pressure, or relieving the pressure.
14 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical cutting device, wherein the first measurement further comprises at least one of: a load on the clamping jaw at a first contact with the tissue, a load on the tissue when clamping down, and the tissue measurement that indicates presence of a rigid object.
15 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical cutting device.
16 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical energy device, wherein the second continuous signal is associated with initiating a firing sequence.
17 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical energy device, wherein generating the energy further comprises generating the energy to a first pre-defined power level to at least cut the tissue or seal the tissue, and wherein autonomously adjusting the deployment operation based on at least the second measurement comprises:
adjusting the energy from the first pre-defined power level to a second pre-defined power level, wherein the second pre-defined power level has a lower power level than the first pre-defined power level.
18 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical energy device, wherein the first continuous application of the force is further associated with the clamping control using the pre-defined pressure operation range and is applied during at least one of: initial contact, clamping down, waiting, or maintaining pressure.
19 . The method of claim 11 , wherein the method is performed by a smart surgical device, wherein the smart surgical device is a smart surgical energy device, and wherein the first measurement further comprises the position of the tissue between a clamping arm and an energy blade.
20 . The method of claim 11 , wherein the method is performed by a smart surgical device comprising the clamping jaw controlled by the clamping control, and wherein the first continuous application of the force causes the clamping jaw to make an initial contact with the tissue, clamp down on the tissue using the pre-defined pressure operation range, maintain a pressure for the clamping jaw on the tissue, relieve pressure on the tissue, and open the clamping jaw.