Surgical devices having power-assisted jaw closure and methods for compressing and sensing tissue
View Patent ↗Surgical devices are provided having power-assisted or fully powered jaw closure. The devices herein generally include a handle portion, an elongate shaft, and an effector having first and second jaws configured to engage tissue. A motor and one or more compression springs can be operatively coupled, and activation of the motor can compress the spring(s) to reduce the amount of user supplied force to compress tissue between the jaws. In some embodiments, the devices can be configured to regulate an amount of compression applied by the jaws prior to, during, and/or after cutting of the tissue to promote hemostasis. For example, the devices can include sensors, processors, and/or other components that analyze data indicative of tissue type and tissue load. Based on this feedback, the device can automatically adjust the amount of compression or energy applied to the tissue to seal the tissue.
1. A surgical device, comprising:
a proximal handle portion that includes a motor and an actuator operatively coupled to the motor;
an elongate shaft extending distally from the handle portion;
an end effector having first and second jaws pivotably coupled to each other with at least one of the first and second jaws being coupled to a distal end of the elongate shaft, at least one of the first and second jaws including an electrode configured to apply energy to tissue disposed between the jaws, and a cutting element disposed between the jaws, the cutting element being operatively coupled to the motor;
a tissue-determining sensor configured to measure one or more mechanical parameters that change based on the type of tissue or other object disposed between the jaws to determine the type of tissue or object disposed between the jaws;
a controller configured to adjust at least one of a speed of the cutting element and an amount of energy applied by the electrode to tissue disposed between the jaws based on the one or more mechanical parameters measured by the tissue-determining sensor; and
a processor configured to analyze a change in distance between the jaws for a given change in force applied to the tissue disposed in the jaws and to determine a tissue-spring rate, the processor being configured to determine the type of tissue or object disposed between the jaws based on the tissue-spring rate.
2. The device of claim 1 , wherein the change in distance between the jaws is determined based on a torque of the motor.
3. The device of claim 1 , further comprising a compression spring in series with a counterbalance spring such that activation of the motor decreases compression on the counterbalance spring and increases compression of the compression spring to compress tissue disposed in the jaws.
4. The device of claim 1 , wherein activation of the motor is configured to close the jaws and to advance the cutting member within the jaws to cut tissue disposed therebetween.
5. The device of claim 1 , wherein the cutting member is disposed on a distal end of an I-shaped compression member.
6. A surgical method, comprising:
positioning tissue between first and second jaws of an end effector of a surgical device;
opening and closing the jaws at least two times such that a cyclical compression force is applied to the tissue disposed therebetween;
measuring the applied compression force over time;
determining a tissue spring rate based on the applied compression force and a change in distance between the jaws when the jaws move between the opened and closed positions; and
modulating an amount of the power supplied to the motor based on the tissue spring rate so as to adjust a speed of a cutting element that travels through the tissue disposed between the first and second jaws.
7. The method of claim 6 , further comprising applying energy to the tissue disposed in the jaws to seal the tissue.
8. The method of claim 7 , wherein the jaws are opened and closed repeatedly along the tissue seal so that a tissue spring rate of the seal is determined.
9. The method of claim 6 , wherein a change in distance between the jaws from the opened to the closed positions is determined using a Hall Effect sensor.
10. A surgical device, comprising:
a proximal handle portion that includes a motor and an actuator operatively coupled to the motor;
an elongate shaft extending distally from the handle portion;
an end effector having first and second jaws pivotably coupled to each other with at least one of the first and second jaws being coupled to a distal end of the elongate shaft, at least one of the first and second jaws including an electrode configured to apply energy to tissue disposed between the jaws, and a cutting element disposed between the jaws, the cutting element being operatively coupled to the motor;
a tissue-determining sensor configured to measure one or more mechanical parameters that change based on the type of tissue or other object disposed between the jaws to determine the type of tissue or object disposed between the jaws;
a controller configured to adjust at least one of a speed of the cutting element and an amount of energy applied by the electrode to tissue disposed between the jaws based on the one or more mechanical parameters measured by the tissue-determining sensor, and
a compression spring in series with a counterbalance spring such that activation of the motor decreases compression on the counterbalance spring and increases compression of the compression spring to compress tissue disposed in the jaws.
11. The device of claim 10 , wherein activation of the motor is configured to close the jaws and to advance the cutting member within the jaws to cut tissue disposed therebetween.
12. The device of claim 10 , wherein the cutting member is disposed on a distal end of an I-shaped compression member.