Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters
Various forms are directed to systems and methods for dissection and coagulation of tissue. A method for detecting a short circuit in a surgical system configured to apply radio frequency energy and ultrasonic energy to a target surgical site that includes delivering radio frequency (RF) energy to an electrode of a surgical instrument, transitioning from delivering the RF energy to delivering ultrasonic energy to an ultrasonic blade of the surgical instrument, delivering an exploratory ultrasonic pulse to the ultrasonic blade, measuring an ultrasonic property of tissue engaged by the surgical instrument, wherein the ultrasonic property is associated with the exploratory ultrasonic pulse, determining whether the measured ultrasonic property is consistent with a behavior of low impedance tissue, and delivering ultrasonic energy to the ultrasonic blade to cut the tissue upon determining that the measured ultrasonic property is consistent with ultrasonic energy being applied to low impedance tissue.
1. A method for distinguishing a short circuit from a low impedance measurement in tissue in a surgical system configured to apply radio frequency energy and ultrasonic energy to a target surgical site, the method comprising:
delivering, by a radio frequency (RF) drive circuit, RF energy to an electrode of a surgical instrument, wherein the electrode is in contact with tissue at the target surgical site;
receiving a low impedance measurement from the target surgical site consistent with the short circuit;
in response to the low impedance measurement, transitioning from delivering, by the RF drive circuit, the RF energy to delivering, by an ultrasonic drive circuit, ultrasonic energy to an ultrasonic blade of the surgical instrument;
delivering, by the ultrasonic drive circuit, an exploratory ultrasonic pulse to the ultrasonic blade;
measuring, by a processor, in the tissue at the target surgical site, an acoustic response to the exploratory ultrasonic pulse;
determining, by the processor, that the target surgical site is consistent with a low impedance area and not the short circuit by determining that the acoustic response is not consistent with the exploratory ultrasonic pulse contacting metal or other material that would cause the short circuit; and
based on the determination, delivering, by the ultrasonic drive circuit, ultrasonic energy to the ultrasonic blade to cut the tissue.
2. The method of claim 1 , wherein the exploratory ultrasonic pulse is a first exploratory ultrasonic pulse and the acoustic response is a first acoustic response, the method further comprising:
delivering, by the ultrasonic drive circuit, a second exploratory ultrasonic pulse to the ultrasonic blade;
measuring, by the processor, in the tissue at the target surgical site, a second acoustic response to the second exploratory ultrasonic pulse;
determining, by the processor, that the short circuit has occurred based on determining that the second acoustic response measured by the processor is consistent with the second exploratory ultrasonic pulse contacting metal or other material that would cause the short circuit; and
upon determining, by the processor, that the short circuit has occurred, ceasing delivery of the ultrasonic energy to the surgical instrument.
3. The method of claim 1 , wherein determining that the target surgical site is consistent with the low impedance area and not the short circuit comprises utilizing a nested neural network of the surgical system.
4. The method of claim 3 , further comprising: measuring, by the nested neural network, at least one of: a tissue impedance of the tissue, a drive current, or a moving average of tissue impedance of the tissue when the exploratory ultrasonic pulse is delivered to the ultrasonic blade; and continuing to deliver ultrasonic energy to cut the tissue based on the at least one of the tissue impedance, the drive current, or the moving average of tissue impedance.
5. A surgical instrument for coagulating and dissecting tissue, the surgical instrument comprising:
a processor;
an end effector at a distal end of the surgical instrument, the end effector configured to interact with tissue, the end effector comprising:
a clamp arm comprising an electrode; and
an ultrasonic blade; and
an ultrasonic transducer acoustically coupled to the ultrasonic blade and configured to receive a drive signal from a generator to cause ultrasonic motion of the ultrasonic blade and deliver ultrasonic energy to the ultrasonic blade;
wherein the processor is configured to:
control delivery of radio frequency (RF) energy to the electrode;
when the electrode is in contact with the tissue at a surgical site, receive a low impedance measurement from the surgical site consistent with a short circuit;
in response to the low impedance measurement, transition from delivery of the RF energy to the electrode to delivery of the ultrasonic energy to the ultrasonic blade;
control delivery of an exploratory ultrasonic pulse to the ultrasonic transducer;
measure in the tissue, an acoustic response to the exploratory ultrasonic pulse;
determine that the surgical site is consistent with a low impedance area and not the short circuit by determining that the acoustic response is not consistent with the exploratory ultrasonic pulse contacting metal or other material that would cause the short circuit; and
based on the determination, control delivery of the ultrasonic energy to the ultrasonic blade to cut the tissue.
6. The surgical instrument of claim 5 , wherein the exploratory ultrasonic pulse is a first exploratory ultrasonic pulse and the acoustic response is a first acoustic response, and wherein the processor is further configured to:
cause delivery of a second exploratory ultrasonic pulse to the ultrasonic blade;
measure in the tissue a second acoustic response to the second exploratory ultrasonic pulse; determine that the short circuit has occurred based on determining that the second acoustic response measured by the processor is consistent with the second exploratory ultrasonic pulse contacting metal or other material that would cause the short circuit; and upon determining that the short circuit has occurred, cease delivery of the ultrasonic energy to the ultrasonic blade.
7. The surgical instrument of claim 5 , further comprising a nested neural network, and wherein the processor is configured to determine that the surgical site is consistent with the low impedance area and not the short circuit using the nested neural network.
8. The surgical instrument of claim 7 , wherein the processor is configured to use the nested neural network to measure at least one of: a tissue impedance of the tissue, a drive current, or a moving average of tissue impedance of the tissue when the exploratory ultrasonic pulse is delivered to the ultrasonic blade, and wherein the processor is configured to continue to control delivery of the ultrasonic energy to the ultrasonic blade to cut the tissue based on the at least one of: the tissue impedance of the tissue, the drive current, or the moving average of tissue impedance of the tissue when the exploratory ultrasonic pulse is delivered to the ultrasonic blade.
9. A generator for delivering energy to a surgical instrument for coagulating and dissecting tissue, the surgical instrument comprising an end effector at a distal end thereof, the end effector configured to interact with the tissue, the end effector comprising a clamp arm, an ultrasonic blade, an ultrasonic transducer acoustically coupled to the ultrasonic blade and configured to receive a drive signal from the generator to cause ultrasonic motion of the ultrasonic blade and deliver ultrasonic energy to the ultrasonic blade, the generator comprising:
a first drive circuit configured to deliver a drive signal to the ultrasonic transducer;
a second drive circuit configured to deliver radio frequency (RF) energy to an electrode; and
a processor configured to control the first drive circuit and the second drive circuit, and wherein the processor is configured to:
control the second drive circuit to deliver the RF energy to the electrode;
when the electrode is in contact with the tissue at a surgical site, receive a low impedance measurement from the surgical site consistent with a short circuit;
in response to the low impedance measurement, transition from the second drive circuit delivering the RF energy to the electrode to the first drive circuit delivering the drive signal to the ultrasonic transducer;
control the first drive circuit to deliver the drive signal comprising an exploratory ultrasonic pulse to the ultrasonic transducer;
measure in the tissue, an acoustic response to the exploratory ultrasonic pulse;
determine that the surgical site is consistent with a low impedance area and not the short circuit by determining that the acoustic response is not consistent with the exploratory ultrasonic pulse contacting metal or other material that would cause the short circuit; and
based on the determination, control the first drive circuit to deliver the drive signal to the ultrasonic transducer to cut the tissue.
10. The generator of claim 9 , wherein the exploratory ultrasonic pulse is a first exploratory ultrasonic pulse and the acoustic response is a first acoustic response, and wherein the processor is further configured to:
cause delivery of a second exploratory ultrasonic pulse to the ultrasonic blade;
measure in the tissue a second acoustic response to the second exploratory ultrasonic pulse;
determine that the short circuit has occurred based on determining that the second acoustic response measured by the processor is consistent with the second exploratory ultrasonic pulse contacting metal or other material that would cause the short circuit; and
upon determining that the short circuit has occurred, control the first drive circuit to cease delivery of the drive signal to the ultrasonic transducer.
11. The generator of claim 9 , further comprising a nested neural network, and wherein the processor is configured to determine that the surgical site is consistent with the low impedance area and not the short circuit using the nested neural network.
12. The generator of claim 11 , wherein the processor is configured to use the nested neural network to measure at least one of: a tissue impedance of the tissue, a drive current, or a moving average of tissue impedance of the tissue when the exploratory ultrasonic pulse is delivered to the ultrasonic transducer, and wherein the processor is configured to continue to control the first drive circuit to deliver the drive signal to the ultrasonic transducer to cut the tissue based on the at least one of: the tissue impedance of the tissue, the drive current, or the moving average of tissue impedance of the tissue when the exploratory ultrasonic pulse is delivered to the ultrasonic transducer.