System and method for controlling electrode gap during tissue sealing
View Patent ↗An electrosurgical system for sealing tissue is disclosed that includes an electrosurgical forceps. The forceps includes a drive rod and an end effector assembly coupled to the drive rod at a distal end thereof. The end effector assembly includes jaw members wherein longitudinal reciprocation of the drive rod moves the jaw members from a first position in spaced relation relative to one another to a subsequent position wherein the jaw members cooperate to grasp tissue therebetween. Each of the jaw members includes a sealing plate that communicates electrosurgical energy through tissue held therebetween. The jaw members are adapted to connect to an electrosurgical generator. The system also includes one or more sensors that determine a gap distance between the sealing plates of the jaw members and a pressure applicator coupled to the drive rod. The pressure applicator is configured to move the drive rod in a longitudinal direction. The system further includes a controller adapted to communicate with the sensors and to control the pressure applicator in response to the determined gap distance during the sealing process.
1. A method for sealing tissue comprising the steps of: providing an electrosurgical forceps having a drive rod and an end effector assembly coupled to the drive rod at a distal end thereof, the end effector assembly including jaw members wherein longitudinal reciprocation of the drive rod moves the jaw members from a first position in spaced relation relative to one another to at least one subsequent position wherein the jaw members cooperate to grasp tissue therebetween; providing a pressure applicator coupled to the drive rod; grasping tissue between sealing plates associated with the jaw members; sensing a gap distance between the sealing plates; and controlling the pressure applicator in response to the sensed gap distance in order to reciprocate the drive rod.
2. A method as in claim 1 , further comprising the step of generating a desired gap distance trajectory based on an initial gap distance, wherein the desired gap distance trajectory includes a plurality of desired target gap distance values.
3. A method as in claim 2 , wherein the step of generating the desired gap trajectory further includes substantially matching the sensed gap distance to a corresponding desired target gap distance value.
4. A method as in claim 1 , wherein the step of sensing the gap distance between the sealing plates comprises sensing the gap distance between the sealing plates through at least one sensor selected from the group consisting of a laser distancer, an LED distancer and an optical encoder.
5. A method as in claim 1 , wherein the pressure applicator is selected from the group consisting of an electrical motor, a linear actuator, a pneumatic cylinder and a hydraulic cylinder.
6. A method as in claim 1 , further comprising the step of determining at least one pre-surgical tissue parameter and transmitting data pertaining to the at least one pre-surgical tissue parameter to a controller.
7. A method as in claim 6 , wherein the step of determining at least one pre-surgical tissue parameter further includes selecting the least one pre-surgical tissue parameter from the group consisting of boundary conditions, jaw fill and hydration.
8. A method as in claim 1 , wherein the step of controlling the pressure applicator further comprises controlling the pressure applicator as a function of the at least one pre-surgical tissue parameter during the sealing process.