Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
A mechanism is disclosed for adapting operations of a surgical instrument based on data from actual, expected or predicted properties of tissue, data from measuring operation of the surgical instrument itself, and data based on clinician conduct. The adaptive measures can be based on predetermined control measures such as algorithms stored in operative communication with the surgical instrument, based on dynamically generated control measures, or a combination of both. Utilizing such mechanisms can help to adjust closure and firing algorithms based on tissue properties, improve battery usage, and learn from user operations, enhancing functioning of the instrument within an operational envelope.
1. A surgical cutting and stapling instrument comprising:
at least one processor and operatively associated memory, the instrument configured to:
store a parameter, wherein the parameter comprises a rate of average tissue pressure change;
store an acceptable value for the parameter, wherein the acceptable value includes a predetermined threshold value for the rate of average tissue pressure change;
store a first control measure associated with the parameter; and
determine, in response to determining that a measured value of the rate of average tissue pressure change is equal to or greater than the predetermined threshold value, that a second control measure be identified,
wherein the second control measure is associated with a closure rate of a first jaw and a second jaw of the instrument, and the second control measure comprises decreasing the closure rate during a closing phase based on a reference closing speed in response to determining that the measured value of the rate of average tissue pressure change is equal to or greater than the predetermined threshold value,
wherein the second control measure is modified by setting forth a new acceptable value.
2. The instrument of claim 1 , wherein the first control measure is associated with a property of a cartridge operatively engaged with the instrument.
3. The instrument of claim 1 , wherein the first control measure is associated with an expected value for a property of a tissue.
4. The instrument of claim 3 , wherein the expected value for the property of the tissue is based on at least one tissue compression value.
5. The instrument of claim 1 , wherein the first control measure is associated with a voltage related to at least one motor of the instrument.
6. The instrument of claim 1 , wherein the first control measure is associated with a current related to at least one motor of the instrument.
7. The instrument of claim 1 , wherein the first control measure is associated with a usage metric related to at least one battery of the instrument.
8. The instrument of claim 1 , wherein the first control measure is associated with a distance between a first jaw and a second jaw of the instrument.
9. The instrument of claim 1 , wherein the first control measure is associated with a measured behavior of a clinician using the instrument during a surgical procedure.
10. The instrument of claim 1 , wherein the second control measure is associated with a firing rate.
11. The instrument of claim 1 , wherein a clinician is alerted during the course of a surgical procedure performed by the instrument that the measured value of the parameter has exceeded the acceptable value.
12. The instrument of claim 1 , wherein the instrument is further configured to:
measure a differential value of tissue compression along a staple line length over time, and
adjust a curve of the tissue compression during a firing phase based on the measured differential value of tissue compression.