Mechanisms for compensating for drivetrain failure in powered surgical instruments
View Patent ↗A surgical apparatus includes an end effector configured to interact with a tissue and a surgical instrument. The surgical instrument includes at least one drive mechanism operable to effect at least one motion in the end effector. The surgical instrument further includes one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the sensed vibrations, and wherein the output signal is employed to select between an acceptable status, a marginal status, and a critical status of the surgical instrument.
1. A surgical apparatus, comprising:
an end effector configured to interact with a tissue; and
a surgical instrument, comprising:
at least one drive mechanism operable to effect at least one motion in the end effector; and
one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the recorded vibrations, and wherein the output signal is compared to a first threshold value indicative of an acceptable status of the at least one drive mechanism, to a second threshold value indicative of a marginal status of the at least one drive mechanism, and to a third threshold value indicative of a critical status of the at least one drive mechanism to determine one of the acceptable status, the marginal status, and the critical status, wherein:
a value of the second threshold value is between a value of the first threshold value and a value of the third threshold value.
2. The surgical apparatus of claim 1 , further comprising at least one frequency filter configured to receive the output signal of the one or more vibration sensors, wherein the at least one frequency filter is configured to generate a filtered signal based on the received output signal.
3. The surgical apparatus of claim 2 , further comprising:
a memory storing the first threshold value, the second threshold value, and the third threshold value respectively associated with the acceptable status, the marginal status, and the critical status; and
a processor in communication with the at least one frequency filter.
4. The surgical apparatus of claim 3 , wherein the memory includes program instructions which, when executed by the processor, cause the processor to generate a processed signal based on the filtered signal.
5. The surgical apparatus of claim 4 , wherein the memory includes program instructions which, when executed by the processor, cause the processor to employ a fast Fourier transform to develop the processed signal.
6. The surgical apparatus of claim 4 , wherein the program instructions, when executed by the processor, cause the processor to compare the first threshold value, the second threshold value, and the third threshold value to corresponding values of the processed signal.
7. The surgical apparatus of claim 6 , wherein the program instructions, when executed by the processor, cause the processor to detect a critical malfunction of the surgical instrument when the third threshold value is equal to or less than the corresponding value of the processed signal.
8. The surgical apparatus of claim 7 , wherein the program instructions, when executed by the processor, cause the processor to detect an acute malfunction of the surgical instrument when the third threshold value is greater than the corresponding value of the processed signal, and the second threshold is equal to or less than the corresponding value of the processed signal.
9. The surgical apparatus of claim 3 , wherein the first, second, and third threshold values are generated from a test output signal of the one or more vibration sensors.
10. The surgical apparatus of claim 9 , wherein the test output signal is based on test vibrations recorded by the one or more vibration sensors during a testing procedure of the surgical instrument.
11. The surgical apparatus of claim 3 , wherein the first, second, and third threshold values are generated from a previously processed signal.
12. A surgical stapler, comprising:
a staple cartridge comprising a plurality of staples deployable into tissue;
at least one drive mechanism operable to deploy the plurality of staples into the tissue during a firing sequence of the surgical stapler; and
one or more vibration sensors configured to record vibrations generated by the at least one drive mechanism, wherein the one or more vibration sensors are configured to generate an output signal based on the recorded vibrations, and wherein the output signal is compared to a first threshold value indicative of an acceptable status of the at least one drive mechanism, to a second threshold value indicative of a marginal status of the at least one drive mechanism, and to a third threshold value indicative of a critical status of the at least one drive mechanism to determine one of the acceptable status, the marginal status, and the critical status, wherein:
a value of the second threshold value is between a value of the first threshold value and a value of the third threshold value.
13. The surgical stapler of claim 12 , further comprising at least one frequency filter configured to receive the output signal of the one or more vibration sensors, wherein the at least one frequency filter is configured to generate a filtered signal based on the received output signal.
14. The surgical stapler of claim 13 , further comprising:
a memory storing the first threshold value, the second threshold value, and the third threshold value respectively associated with the acceptable status, the marginal status, and the critical status; and
a processor in communication with the at least one frequency filter.