Powered medical device including measurement of closure state of jaws
A powered surgical instrument including an end effector, which includes jaws that are configured to transition between various closure states. The surgical instrument includes a sensor configured to measure the closure state of the jaws and a display configured to display information indicative to the detected closure state. The surgical instrument further includes a firing member movable between a first position and a second position to transition the end effector between the plurality of closure states and a motor configured to drive the firing member between the first position and the second position.
1. A surgical instrument, comprising:
an end effector configured to receive a staple cartridge, the end effector comprising:
a first jaw member; and
a second jaw member pivotable relative to the first jaw member to transition the end effector between a plurality of closure states;
a firing member movable between a first position and a second position to transition the end effector between the plurality of closure states;
a motor configured to drive the firing member between the first position and the second position;
a processor;
a sensor coupled to the processor, wherein the sensor is configured to measure a parameter indicative of a closure state of the end effector;
a display coupled to the processor; and
a memory coupled to the processor, the memory storing program instructions that, when executed by the processor, cause the processor to:
determine a thickness of a tissue positioned between the first jaw member and the second jaw member according to a measurement of the parameter; and
cause the display to display the determined thickness,
wherein the sensor is a first sensor and the parameter is a first parameter, and
wherein the surgical instrument further comprises: a second sensor coupled to the processor, wherein the second sensor is configured to measure a second parameter indicative of the closure state of the end effector;
wherein the memory further stores program instructions that, when executed by the processor, cause the processor to adjust the measurement of the first parameter according to the second parameter;
wherein the thickness of the tissue is determined according to the adjusted measurement of the first parameter.
2. The surgical instrument of claim 1 , wherein the sensor comprises a Hall effect sensor and the parameter comprises a distance between the first jaw member and the second jaw member.
3. The surgical instrument of claim 1 , wherein the memory stores program instructions that, when executed by the processor, further cause the processor to control the motor to move the firing member at a rate of motion corresponding to the determined thickness.
4. The surgical instrument of claim 1 , wherein:
the first sensor comprises a Hall effect sensor;
the first parameter is a distance between the first jaw member and the second jaw member;
the second sensor comprises a strain gauge; and
the second parameter comprises a position of the tissue within the end effector.
5. The surgical instrument of claim 1 , wherein the surgical instrument further comprises:
a third sensor coupled to the motor and the processor, wherein the third sensor is configured to measure an electrical current draw of the motor;
wherein the memory stores program instructions that, when executed by the processor, cause the processor to control the motor to adjust a speed at which the firing member is driven according to the parameter and the electrical current draw.
6. A surgical instrument, comprising:
an end effector configured to receive a staple cartridge and transition between an open configuration and a closed configuration;
a motor coupled to the end effector, the motor configured to transition the end effector between the open configuration and the closed configuration;
a processor;
a sensor coupled to the processor, wherein the sensor is configured to measure a parameter corresponding to a closure state of the end effector;
a display coupled to the processor; and
a memory coupled to the processor, the memory storing program instructions that, when executed by the processor, cause the processor to:
determine a thickness of a tissue grasped by the end effector according to a measurement of the parameter; and
cause the display to display the determined thickness,
wherein the sensor is a first sensor and the parameter is a first parameter, the surgical instrument further comprising: a second sensor coupled to the processor, wherein the second sensor is configured to measure a second parameter indicative of the closure state of the end effector;
wherein the memory further stores program instructions that, when executed by the processor, cause the processor to adjust the measurement of the first parameter according to the second parameter;
wherein the thickness of the tissue is determined according to the adjusted measurement of the first parameter.
7. The surgical instrument of claim 6 , wherein the end effector comprises a first jaw member and a second jaw member, and wherein the sensor comprises a Hall effect sensor and the parameter comprises a distance between the first jaw member and the second jaw member.
8. The surgical instrument of claim 6 , further comprising a firing member, wherein the memory stores program instructions that, when executed by the processor, further cause processor to control the motor to move the firing member at a rate of motion corresponding to the determined thickness.
9. The surgical instrument of claim 6 , wherein:
the end effector comprises a first jaw member and a second jaw member,
the first sensor comprises a Hall effect sensor;
the first parameter is a distance between the first jaw member and the second jaw member;
the second sensor comprises a strain gauge; and
the second parameter is a position of the tissue within the end effector.
10. The surgical instrument of claim 6 , the surgical instrument further comprising:
a third sensor coupled to the motor and the processor, wherein the third sensor is configured to measure an electrical current draw of the motor; and
a firing member configured to be driven between a first position and a second position by the motor;
wherein the memory further stores program instructions that, when executed by the processor, cause the processor to control the motor to adjust a speed at which the firing member is driven according to the parameter and the electrical current draw.