Devices and techniques for cutting and coagulating tissue
View Patent ↗Various embodiments are directed to an apparatus and method of driving an end effector coupled to an ultrasonic drive system of a surgical instrument. The method comprises generating at least one electrical signal. The at least one electrical signal is monitored against a first set of logic conditions.
1. A method of driving an ultrasonic transducer of a surgical instrument, the method comprising:
generating by a generator coupled to an ultrasonic transducer at least one time varying electrical signal at a resonant frequency of the ultrasonic transducer;
sampling the frequency of the at least one time varying electrical signal over a predetermined time period to obtain at least two sampled frequency data points of the at least one time varying signal;
calculating a frequency slope between the at least two sampled frequency data points of the at least one time varying electrical signal over the predetermined time period, where the frequency slope is the difference between the at least two sampled frequency data points over the predetermined time period;
comparing the frequency slope to a frequency slope threshold; and
triggering a first response of the generator when the frequency slope crosses the frequency slope threshold.
2. The method of claim 1 , comprising:
comparing the frequency slope to the frequency slope threshold; and
triggering a second response of the generator when the frequency slope crosses the frequency slope threshold.
3. The method of claim 2 , comprising:
determining when the frequency slope is less than the frequency slope threshold;
incrementing a timer when the frequency slope is less than the frequency slope threshold;
determining when the timer is greater than a required trigger time;
setting a logic condition when the timer is greater than the required trigger time.
4. The method of claim 3 , comprising:
incrementing the timer when the resonant frequency is less than frequency threshold and the frequency slope is less than the frequency slope threshold.
5. The method of claim 2 , comprising:
comparing the frequency slope to a cross-back frequency slope threshold, wherein the cross-back frequency slope threshold is the frequency slope threshold above which a triggered response stops.
6. The method of claim 1 , comprising:
providing the sampled frequency data points to a moving average filter; and
calculating by the moving average filter an exponentially weighted moving average of the sampled frequency.
7. The method of claim 6 , comprising:
calculating the exponentially weighted moving average of the sampled frequency according to the following formula:
S′ tf =α′Y′ tf +(1−α′) S′ tf-1
where:
S′ tf is the current moving average of the frequency slope of the sampled frequency;
S′ tf-1 is the previous moving average of the frequency slope of the sampled frequency;
α′ is the smoothing factor; and
Y′ tf is the current slope data point of the sampled frequency.
8. The method of claim 1 , comprising sampling a voltage of the at least one time varying electrical signal.
9. The method of claim 8 , comprising:
providing the sampled voltage to a moving average filter; and
calculating by the moving average filter an exponentially weighted moving average of the sampled voltage.
10. The method of claim 9 , comprising:
calculating the exponentially weighted moving average of the sampled voltage according to the following formula:
S′ tv =α′Y′ tv +(1−α′) S′ tv-1
where:
S′ tv is the current moving average of the sampled voltage;
S′ tv-1 is the previous moving average of the sampled voltage;
α′ is the smoothing factor; and
Y′ tv is current data point of the sampled voltage.
11. An ultrasonic drive system for driving an ultrasonic transducer of a surgical instrument, the ultrasonic drive system comprising:
a generator coupled to the ultrasonic transducer to generate at least one time varying electrical signal at a resonant frequency of the ultrasonic transducer;
an analog-to-digital converter coupled to the generator to sample the frequency of the at least one time varying electrical signal over a predetermined time period to obtain at least two sampled frequency data points of the at least one time varying signal; and
a processor coupled to the analog-to-digital converter, wherein the processor is operative to:
calculate a frequency slope between the at least two sampled frequency data points of the at least one time varying electrical signal over a predetermined time period, where the frequency slope is the difference between the at least two sampled frequency data points over the predetermined time period;
compare the frequency slope to a frequency slope threshold; and
trigger a first response of the generator when the frequency slope crosses the frequency slope threshold.
12. The ultrasonic drive system of claim 11 , wherein the processor is operative to:
compare the frequency slope to the frequency slope threshold; and
trigger a second response of the generator when the frequency slope crosses the frequency slope threshold.
13. The ultrasonic drive system of claim 12 , wherein the processor is operative to:
determine when the frequency slope is less than the frequency slope threshold;
increment a timer when the frequency slope is less than the frequency slope threshold;
determine when the timer is greater than a required trigger time;
set a logic condition when the timer is greater than the required trigger time.
14. The ultrasonic drive system of claim 12 , wherein the processor is operative to:
increment the timer when the resonant frequency is less than the frequency threshold and the frequency slope is less than the frequency slope threshold.
15. The ultrasonic drive system of claim 12 , wherein the processor is operative to:
compare the frequency slope to a cross-back frequency slope threshold, wherein the cross-back frequency slope threshold is the frequency slope threshold above which a triggered response stops.
16. The ultrasonic drive system of claim 11 , comprising:
a moving average filter coupled to the processor, the moving average filter to receive the sampled frequency data points; and
calculate an exponentially weighted moving average of the sampled frequency.
17. The ultrasonic drive system of claim 16 , wherein the moving average filter is operative to calculate the exponentially weighted moving average of the sampled frequency according to the following formula:
S′ tf =α′Y′ tf +(1−α′) S′ tf-1
where:
S′ tf is the current moving average of the frequency slope of the sampled frequency;
S′ tf-1 is the previous moving average of the frequency slope of the sampled frequency;
α′ is the smoothing factor; and
Y′ tf is the current slope data point of the sampled frequency.
18. The ultrasonic drive system of claim 11 , wherein the analog-to-digital converter is operative to sample a voltage of the at least one time varying electrical signal.
19. The ultrasonic drive system of claim 18 , comprising:
a moving average filter coupled to the processor, the moving average filter to receive the sampled voltage data points; and
calculate an exponentially weighted moving average of the sampled voltage.
20. The ultrasonic drive system of 19 , wherein the moving average filter is operative to calculate the exponentially weighted moving average of the sampled voltage according to the following formula:
S′ tv =α′Y′ tv +(1−α′) S′ tv-1
where:
S′ tv is the current moving average of the sampled voltage;
S′ tv-1 is the previous moving average of the sampled voltage;
α′ is the smoothing factor; and
Y′ tv is current data point of the sampled voltage.
21. A surgical instrument, comprising:
an ultrasonic transducer;
an end effector coupled to the ultrasonic transducer; and
an ultrasonic drive system coupled to the ultrasonic transducer, the ultrasonic drive system comprising:
a generator coupled to the end effector to generate at least one time varying electrical signal at a resonant frequency of the ultrasonic transducer;
an analog-to-digital converter coupled to the generator to sample the frequency of the at least one time varying electrical signal over a predetermined time period to obtain at least two sampled frequency data points of the at least one time varying signal; and
a processor coupled to the analog-to-digital converter, wherein the processor is operative to:
calculate a frequency slope between the at least two sampled frequency data points of the at least one time varying electrical signal over a predetermined time period, where the frequency slope is the difference between the at least two sampled frequency data points over the predetermined time period;
compare the frequency slope to a frequency slope threshold; and
trigger a first response of the generator when the frequency slope crosses the frequency slope threshold.