Powered surgical stapling device
A surgical stapler includes a handle assembly, an end effector, a firing rod disposed in mechanical cooperation with the end effector, a drive motor coupled to the firing rod, a sensor, and a controller. The end effector includes a first and second jaw member moveable relative to one another. The first jaw member includes a surgical fastener and the second jaw member includes an anvil. The drive motor is configured to advance the firing rod to cause the first and second jaw members to clamp tissue and to eject a surgical fastener. The surgical stapler includes a sensor that is configured measure a clamping force exerted on tissue by the first and second jaw members. The controller control a speed of the drive motor based on the measured clamping force.
1. A surgical stapler, comprising:
a handle assembly;
an end effector coupled to the handle assembly, the end effector including:
a first jaw member including a surgical fastener; and
a second jaw member including an anvil portion, at least one of the first jaw member or the second jaw member is moveable relative to one another between an open position and a clamped position;
a firing rod disposed in mechanical cooperation with the end effector;
a drive motor coupled to the firing rod, the drive motor configured to advance the firing rod to cause the first and second jaw members to clamp tissue and to eject the surgical fastener;
a sensor configured to measure a clamping force exerted on tissue by the first and second jaw members; and
a controller operatively coupled to the drive motor and configured to:
measure a maximum clamp force of the first and second jaw member on tissue;
set a speed of the drive motor based on the measured maximum clamp force; and
control the speed of the drive motor based on the measured clamping force.
2. The surgical stapler according to claim 1 , wherein the controller is further configured to set the speed of the drive motor to a first firing speed in response to the measured clamping force being between a first threshold clamping force and a second threshold clamping force.
3. The surgical stapler according to claim 2 , wherein the first threshold clamping force is about 0 pound-force (lbf) and the second threshold clamping force is about 33 lbf.
4. The surgical stapler according to claim 2 , wherein the first threshold clamping force is about 33 lbf and the second threshold clamping force is about 72 lbf.
5. The surgical stapler according to claim 2 , wherein the first threshold clamping force is about 72 lbf and the second threshold clamping force is about 145 lbf.
6. The surgical stapler according to claim 1 , wherein the controller is further configured to stop the drive motor in response to the measured clamping force being greater than a first threshold clamping force.
7. The surgical stapler according to claim 6 , wherein the first threshold clamping force is about 145 lbf.
8. The surgical stapler according to claim 1 , wherein the sensor is further configured to measure a firing force exerted on the surgical fastener.
9. The surgical stapler according to claim 8 , wherein the controller is further configured to set the speed of the drive motor to a second firing speed in response to the measured clamping force being between a first firing force threshold and a second firing force threshold.
10. The surgical stapler according to claim 9 , wherein the first firing force threshold is about 0 lbf and the second firing force threshold is about 65 lbf.
11. The surgical stapler according to claim 9 , wherein the first firing force threshold is about 65 lbf and the second firing force threshold is about 80 lbf.
12. The surgical stapler according to claim 9 , wherein the first firing force threshold is about 80 lbf and the second firing force threshold is about 145 lbf.
13. The surgical stapler according to claim 9 , wherein the controller stops the drive motor based on the firing force being greater than a first firing force threshold.
14. The surgical stapler according to claim 13 , wherein the first firing force threshold is about 145 lbf.
15. The surgical stapler according to claim 1 , wherein the sensor is a strain gauge sensor disposed on at least one of the first jaw member, the second jaw member, or the firing rod.
16. The surgical stapler according to claim 1 , wherein the sensor is configured to measure the clamping force by monitoring at least one of a speed of the drive motor, a torque being applied by the drive motor, a distance between the first and second jaw members, a temperature of the drive motor, or a load exerted on the firing rod.
17. A method of controlling a firing speed of a surgical stapler, the method comprising:
positioning tissue between a first jaw member and a second jaw member of an end effector, at least one of the first jaw member or the second jaw member being moveable relative to one another, the first jaw member including a staple cartridge;
measuring a maximum clamp force of the first and second jaw member on the tissue;
setting a firing speed of a drive motor for ejecting a staple from the staple cartridge based on the measured maximum clamp force;
initiating firing of the staple from the staple cartridge;
measuring a firing force exerted on the staple; and
adjusting the firing speed of the surgical stapler based on the measured firing force.
18. The method according to claim 17 , further comprising stopping the firing of the staple from the staple cartridge in response to the measured firing force being greater than a first firing force threshold.
19. The method according to claim 18 , wherein the first firing force threshold is about 145 pound-force (lbf).
20. The method according to claim 17 , wherein the maximum clamp force is measured by a sensor configured to measure the maximum clamping force by monitoring at least one of a speed of the drive motor, a torque being applied by the drive motor, or a distance between the first and second jaw members.