Surgical stapling instrument having load sensing control circuitry
View Patent ↗A surgical instrument for being endoscopically or laparoscopically inserted into a surgical site for simultaneous stapling and severing of tissue includes load sensing pressure transducers strategically placed for closed loop control and monitoring. Load sensing within a staple applying assembly (end effector) may provide feedback for preventing firing with insufficient or too much tissue, or to sense appropriate presence buttress material, to deploy buttress material after firing is sensed.
1. A surgical instrument, comprising:
an end effector comprising first and second opposing compression surfaces;
a shaft proximally attached to the end effector;
a handle portion proximally attached to the shaft comprising an actuating mechanism operatively coupled through the shaft to selectively actuate the end effector;
a pressure transducer positioned to receive a compression load when the end effector is actuated; and
control circuitry responsive to a signal received from the pressure transducer to generate a control signal.
2. The surgical instrument of claim 1 , further comprising an indicator attached to the handle portion activated by the control signal.
3. The surgical instrument of claim 1 , wherein the actuating mechanism comprises a closure mechanism operatively configured to selectively close the first and second opposing compression surfaces upon tissue, the pressure transducer positioned in the end effector to receive a compressive load.
4. The surgical instrument of claim 3 , further comprising a firing member received for longitudinal reciprocation in the shaft, wherein the end effector comprises a staple applying assembly responsive to movement of the firing member to sever and staple clamped tissue.
5. The surgical instrument of claim 4 , further comprising a firing lockout mechanism responsive to the control signal from the control circuitry to prevent firing, wherein the control circuitry is operatively configured to generate the control signal in response to a comparison between the sensed compressive load and a threshold value.
6. The surgical instrument of claim 1 , further comprising a firing member received for longitudinal reciprocation in the shaft, wherein the end effector comprises a staple applying assembly responsive to movement of the firing member to sever and staple clamped tissue.
7. The surgical instrument of claim 6 , wherein the pressure transducer is positioned proximate to the firing member to receive a compressive load representative of firing.
8. The surgical instrument of claim 7 , wherein the firing member comprises a laterally expanded portion positioned for longitudinal translation within a recess defined in the shaft, the pressure transducer attached within the recess in the shaft to contact the expanded portion of the firing member approaching full firing travel of the firing member.
9. The surgical instrument of claim 7 , wherein the firing member comprises a wedge positioned for translation in the staple applying assembly, the pressure transducer positioned in the staple applying assembly to receive a compressive load in response to the firing member distally translating the wedge to dispense and form staples through clamped tissue.
10. The surgical instrument of claim 9 , wherein the pressure transducer is positioned at a distal end of the staple applying assembly to contact the wedge at full firing travel.
11. The surgical instrument of claim 9 , wherein the pressure transducer is positioned at an intermediate longitudinal portion of firing travel of the wedge on a surface underlying the wedge.
12. The surgical instrument of claim 9 , wherein the pressure transducer comprises a plurality of longitudinally aligned pressure transducers registered along full firing travel of a portion of the wedge.
13. The surgical instrument of claim 9 , wherein the pressure transducer comprises an elongate pressure sensor registered on an undersurface contacted by the wedge during full firing travel.
14. The surgical instrument of claim 9 , wherein the firing member further comprises a firing bar having a contact surface that proximally abuts the wedge, the pressure transducer attached to the contact surface of the firing bar.
15. The surgical instrument of claim 1 , wherein the shaft further comprises an articulation joint, the actuating mechanism comprises an articulation mechanism operatively configured to actuate the end effector by rotating the end effector about the articulation joint, the pressure sensor positioned to receive a compressive force from the articulation mechanism representative of an articulation angle of the articulation joint.
16. The surgical instrument of claim 15 , wherein the pressure transducer comprises a limit sensor.
17. The surgical instrument of claim 15 , wherein the pressure transducer comprises a continuous angle sensor.
18. The surgical instrument of claim 15 , further comprising an electrical articulation actuator, the control circuitry operatively configured to respond to the sensed articulation angle to control the electrical articulation actuator.
19. The surgical instrument of claim 15 , further comprising an electrical articulation lock actuator, the control circuitry operatively configured to respond to the sensed articulation angle to control the electrical articulation lock actuator.
20. The surgical instrument of claim 1 , wherein the pressure transducer comprises an electroactive polymer pressure transducer.
21. A surgical instrument, comprising:
a staple applying assembly comprising first and second opposing compression surfaces;
a shaft proximally attached to the staple applying assembly;
a firing member received for longitudinal reciprocation in the shaft;
a handle portion proximally attached to the shaft operatively coupled through the shaft to close the first and second opposing compression surfaces upon tissue and to translate the firing member to actuate the staple applying assembly;
an electrical actuator responsive to a command signal;
a pressure transducer positioned to receive a compression load when the end effector is actuated; and
control circuitry responsive to a signal received from the pressure transducer to generate the control signal.
22. The surgical instrument of claim 21 , wherein the electrical actuator comprises a buttress deployment actuator.
23. The surgical instrument of claim 21 , wherein the electrical actuator comprises a firing lockout mechanism coupled to the firing member to disable firing in response to the control signal.
24. A surgical instrument, comprising:
an end effector;
a shaft proximally attached to the end effector;
a firing member received for longitudinal reciprocation in the shaft;
a handle portion proximally attached to the shaft and operatively configured to translate the firing member to actuate the end effector;
a pressure transducer positioned to receive a compression load in response to a translation of the firing member; and
control circuitry responsive to a signal received from the pressure transducer to generate a control signal.
25. The surgical instrument of claim 24 , further comprising a resilient retraction bias on the firing member and an electrical anti-backup actuator responsive to the control signal to allow retraction of the firing member by the resilient retraction bias.
26. The surgical instrument of claim 24 , further comprising an electrically activated medical substance delivery actuator responsive to the control signal to dispense a medical substance at the end effector.
27. The surgical instrument of claim 24 , wherein the end effector comprises a staple applying assembly, the surgical instrument further comprising an electrically activated buttress deployment actuator responsive to the control signal to deploy buttress material from the staple applying assembly.
28. A surgical instrument, comprising:
an end effector;
a shaft proximally attached to the end effector;
an articulation joint formed in the shaft;
a pressure transducer positioned to receive a compression load in response to articulation movement of the articulation joint; and
control circuitry responsive to a signal received from the pressure transducer to generate a control signal.
29. The surgical instrument of claim 28 , further comprising an articulation actuator coupled to the articulation joint to effect articulation movement, wherein the control circuitry is operatively configured to generate the control signal in comparison to a commanded articulation angle compared to a sensed compression load from the pressure transducer.
30. The surgical instrument of claim 28 , further comprising an electrically activated articulation joint lock responsive to the control signal to selectively lock the articulation joint at a current articulation angle.