Powered surgical instrument with parameter-based firing rate
A surgical instrument comprising an end effector, which comprises a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member of the end effector. The surgical instrument further comprises a firing member to effect motion at the end effector, which is driven by a motor. Instructions stored in the memory of the surgical instrument cause the motor to driven the firing member at a firing rate that is a function of a measurement of the parameter. The parameter can, for example, include a thickness of the tissue grasped by the end effector.
1. A surgical instrument, comprising:
an end effector, comprising:
a first jaw member;
a second jaw member pivotable relative to the first jaw member; and
a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member;
a firing member axially movable between a first position and a second position to effect a motion at the end effector;
a motor configured to drive the firing member between the first position and the second position at a firing rate;
a processor; and
a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to:
measure the parameter via the sensor in a time period during which the tissue is grasped between the first jaw member and the second jaw member;
determine whether the measured parameter exceeds a threshold;
adjust the firing rate from a first value to a second value corresponding to the measured parameter; and
cause the motor to drive the firing member at the second value of the firing rate in the time period.
2. The surgical instrument of claim 1 , further comprising a display in communication with the processor, the display configured to display the firing rate.
3. The surgical instrument of claim 2 , wherein the displayed firing rate is updatable as a function of the parameter.
4. The surgical instrument of claim 1 , wherein the parameter is associated with a thickness of the grasped tissue.
5. The surgical instrument of claim 1 , wherein the parameter is associated with a pressure applied to the grasped tissue by the first and second jaw members.
6. A surgical instrument comprising:
an end effector, comprising:
a first jaw member;
a second jaw member pivotable relative to the first jaw member to transition the end effector from an open configuration to a closed configuration over a closing time period; and
a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member;
a firing member axially movable between a first position and a second position over the closing time period to actuate the end effector;
a motor configured to drive the firing member between the first position and the second position at a firing rate;
a processor; and
a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to:
measure the parameter via the sensor in the closing time period;
determine whether a first measurement of the parameter exceeds a first threshold;
adjust the firing rate from a first value to a second value corresponding to the first measurement of the parameter;
cause the motor to drive the firing member at the second value of the firing rate in the closing time period;
measure the parameter in a firing time period during which tissue is treated;
determine whether a second measurement of the parameter exceeds a second threshold;
adjust the firing rate from a third value to a fourth value corresponding to the second measurement; and
cause the motor to drive the firing member at the fourth value of the firing rate in the firing time period.
7. The surgical instrument of claim 6 , wherein the end effector is configured to receive a staple cartridge, and wherein the firing member is configured to cause staples to be deployed from the staple cartridge.
8. The surgical instrument of claim 6 , wherein the firing member further comprises a knife, and wherein the knife is movable relative to the end effector.
9. The surgical instrument of claim 6 , further comprising a display in communication with the processor, wherein the display is configured to display the firing rate.
10. The surgical instrument of claim 9 , wherein the displayed firing rate is updatable as a function of the parameter.
11. The surgical instrument of claim 6 , wherein the parameter is associated with a pressure applied to the grasped tissue by the first and second jaw members.
12. The surgical instrument of claim 6 , wherein the parameter is associated with a thickness of the grasped tissue.