Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
View Patent ↗A powered surgical cutting and stapling instrument is disclosed. The instrument includes at least one sensor to measure at least one parameter associated with the instrument, at least one processor, and a memory operatively associated with the processor. The memory includes machine executable instructions that when executed by the processor cause the processor to monitor the at least one sensor over a predetermined time period and determine a rate of change of the measured parameter.
1. A powered surgical cutting and stapling instrument comprising:
at least one sensor configured to measure at least one parameter associated with the instrument;
at least one processor; and
a memory operatively associated with the processor, the memory including machine executable instructions that when executed by the processor cause the processor to:
monitor the at least one sensor over a predetermined time period;
determine a rate of change of the measured parameter; and
determine a physiological tissue type according to the rate of change of the measured parameter.
2. The powered surgical cutting and stapling instrument of claim 1 , comprising an end effector comprising a first jaw member and a second jaw member, wherein at least one of the first and second jaw members is movable relative to the other jaw member, and wherein the at least one sensor is positioned on at least one of the first and second jaw members.
3. The powered surgical cutting and stapling instrument of claim 2 , further comprising:
a magnet positioned on the first jaw member; and
a magnetic field sensor, wherein the magnetic field sensor is coupled to the processor and the processor is configured to determine a gap distance between the first and second jaw members based on a signal received from the magnetic field sensor, wherein the signal from the magnetic field sensor is proportional to the gap distance between the magnet and the magnetic field sensor, and wherein the processor is configured to monitor the gap distance over the predetermined time period to determined the rate of change of the gap distance over the predetermined time period.
4. The powered surgical cutting and stapling instrument of claim 2 , further comprising:
a knife channel defined in at least one of the first or second jaw members, wherein the knife channel is configured to translate a knife therealong;
a knife configured to translate along the knife channel;
a motor operatively coupled to the knife to advance and retract the knife along the knife channel; and
a current sensor configured to measure current draw of the motor while the motor advances the knife to cut tissue grasped between the first and second jaw members;
wherein the processor is configured to receive a signal from the current sensor over the predetermined time period, wherein the signal is representative of the current draw of the motor while the motor advances the knife through the tissue; and
wherein the processor is configured to determine a rate of change of the current draw of the motor while the motor advances the knife through the tissue over the predetermined time period.
5. The powered surgical cutting and stapling instrument of claim 2 , further comprising a force sensor positioned in at least one of the first or second jaw members to measure compression of tissue grasped between the first and second jaw members, wherein the processor is configured to receive a signal from the force sensor over the predetermined time period, wherein the signal is representative of the tissue compression, and wherein the processor is configured to determine a rate of change of the tissue compression over the predetermined time period.
6. The powered surgical cutting and stapling instrument of claim 2 , further comprising at least one electrode coupled to a sub-therapeutic radio frequency (RF) energy source configured to drive a low energy level RF signal through tissue grasped between the first and second jaw members to measure electrical impedance of the tissue, wherein the processor is configured to receive a signal from the at least one electrode over the predetermined time period, wherein the signal is representative of the tissue impedance, and wherein the processor is configured to determine a rate of change of the tissue impedance over the predetermined time period.
7. The powered surgical cutting and stapling instrument of claim 2 , further comprising a strain gauge positioned in a movable jaw member of the first or second jaw members to measure strain of the jaw member when tissue is grasped between the first and second jaw members, wherein the processor is configured to receive a signal from the strain gauge over the predetermined time period, wherein the signal is representative of the strain of the movable jaw member, and wherein the processor is configured to determine a rate of change of the strain over the predetermined time period.
8. The powered surgical cutting and stapling instrument of claim 1 , further comprising:
a handle;
a trigger movable relative to the handle; and
a pressure sensor or a strain gauge positioned on the movable trigger;
wherein the processor is configured to receive a signal from the strain gauge over the predetermined time period, wherein the signal is representative of a force applied to the movable trigger, and wherein the processor is configured to determine a rate of change of the force over the predetermined time period.
9. A powered surgical cutting and stapling instrument comprising:
an end effector comprising a first jaw member and a second jaw member, wherein at least one of the first and second jaw members is movable relative to the other jaw member, and wherein at least one sensor is positioned on at least one of the first and second jaw members;
a pressure sensor or strain gauge positioned in at least one of the first or second jaw members;
at least one processor; and
a memory operatively associated with the processor, the memory including machine executable instructions that when executed by the processor cause the processor to:
monitor a pressure applied to tissue grasped between the first and second jaw members; and
determine a physiological type of the tissue grasped between the first and second jaw members based on the tissue pressure.
10. The powered surgical cutting and stapling instrument of claim 9 , wherein the processor is configured to determine tissue displacement by measuring tissue pressure along a first axis and along a second axis, wherein the first and second axes are transverse relative to each other.
11. The powered surgical cutting and stapling instrument of claim 10 , wherein the processor is configured to determine the physiological type of the tissue further based on an amount of the tissue displacement and a rate of the tissue displacement.
12. The powered surgical cutting and stapling instrument of claim 9 , wherein the processor is configured to determine tissue displacement based on multiple thresholds or progressive thresholds to provide higher resolution of tissue types with similar viscoelastic properties.
13. A powered surgical cutting and stapling instrument comprising:
an end effector comprising a first jaw member and a second jaw member, wherein at least one of the first and second jaw members is movable relative to the other jaw member, and wherein at least one sensor is positioned on at least one of the first and second jaw members;
a pressure sensor or strain gauge positioned in at least one of the first or second jaw members;
a gap sensor to measure a gap distance between the first and second jaw members;
at least one processor; and
a memory operatively associated with the processor, the memory including machine executable instructions that when executed by the processor cause the processor to:
monitor the pressure applied to tissue grasped between the first and second jaw members;
monitor the gap distance between the first and second jaw members;
compensate tissue compression measurements according to an amount of the tissue located between the first and second jaw member; and
determine a type of tissue grasped between the first and second jaw members based on the tissue pressure and the gap distance.
14. The powered surgical cutting and stapling instrument of claim 13 , wherein the tissue pressure and the gap distance are used by the processor to determine the amount of tissue grasped between the first and second jaw members.
15. The powered surgical cutting and stapling instrument of claim 14 , wherein the processor is configured to determine elapsed time in conjunction with pressure and gap distance measurements to determine a derivative parameter.
16. The powered surgical cutting and stapling instrument of claim 15 , wherein the processor is configured to determine that a measured parameter has reached an asymptotic value when a rate of change remains constant after a set period of time.
17. The powered surgical cutting and stapling instrument of claim 15 , wherein the processor employs rate of change information to determine when a steady state has been achieved and thereby signaling a next step in a process.
18. The powered surgical cutting and stapling instrument of claim 17 , wherein the processor is configured to send a signal to a display alerting a user of the instrument to start a next step in the process.
19. The powered surgical cutting and stapling instrument of claim 17 , wherein the processor is configured to automatically start a next step of the process once a steady state is reached.
20. The powered surgical cutting and stapling instrument of claim 15 , wherein the processor is configured to combine impedance rate of change with strain in at least one of the first and second jaw members to relate force and compression.