Electrically-powered surgical systems
Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.
1. A surgical system, comprising:
an electromechanical tool including an instrument shaft and an end effector with an energy-delivering electrode disposed thereon;
an electromechanical arm configured for movement with respect to multiple axes, wherein the electromechanical tool is configured to be mounted on the electromechanical arm;
a motor operably coupled to the electromechanical tool and configured to drive insertion of the end effector into tissue in an insertion direction; and
a control system operably coupled to the motor and the electromechanical tool and configured to measure a force acting upon the end effector when the end effector is laterally moving through tissue at a treatment velocity and in an advancement direction that is substantially perpendicular to the insertion direction, to determine a depth of insertion within tissue of the end effector, and to selectively control at least one of a power delivered to the electromechanical tool and the treatment velocity based on at least one of the measured force and the determined depth of insertion so as to maintain the end effector in a position that is substantially perpendicular to the advancement direction while the end effector laterally moves through and cuts tissue.
2. The system of claim 1 , further including a machine vision system coupled to the control system and configured to determine the insertion depth of the end effector.
3. The system of claim 1 , wherein the end effector includes indicia formed thereon.
4. The system of claim 1 , wherein the control system is configured to lower the power delivered to electromechanical tool when the measured force exceeds a predetermined force threshold.
5. The system of claim 1 , wherein the control system is configured to lower the treatment velocity of the end effector when the measured force exceeds a predetermined force threshold.
6. The system of claim 1 , wherein the control system is configured to stop movement of the end effector through tissue when the determined force exceeds a predetermined force threshold.
7. The system of claim 1 , wherein the control system is configured to selectively deliver power to the electromechanical tool at a first power setting and a second power setting that is greater than the first power setting, and wherein the control system is configured to move the end effector at a first treatment velocity at the first power setting and at a second treatment velocity at the second power setting.
8. The system of claim 7 , wherein the control system is configured to lower the first treatment velocity of the end effector when the control system is operated at the first power setting and the measured force exceeds a first predetermined force threshold.
9. The system of claim 7 , wherein the control system is configured to lower the second treatment velocity of the end effector when the control system is operated at the second power setting and the measured force exceeds a second predetermined force threshold.
10. The system of claim 1 , wherein the energy-delivery electrode is a monopolar device.
11. A surgical system, comprising:
an electromechanical tool including an instrument shaft and a monopolar cutting blade;
an electromechanical arm configured for movement with respect to multiple axes, wherein the electromechanical tool is configured to be mounted on the electromechanical arm;
a motor operably coupled to the electromechanical tool and configured to drive the mono-polar cutting blade into tissue; and
a control system operably coupled to the motor and the electromechanical tool and configured to measure a force acting upon the end effector when the end effector is laterally moving through tissue at a treatment velocity, to determine a depth of insertion within tissue of the end effector, and to selectively control at least one of a power delivered to the electromechanical tool and the treatment velocity based on at least one of the measured force and the determined depth of insertion such that the treatment velocity at which the end effector laterally moves through tissue allows the mono-polar cutting blade to delivery an energy density to tissue that concurrently cuts and cauterizes tissue.
12. The system of claim 11 , further including a machine vision system coupled to the control system and configured to determine the insertion depth of the end effector.
13. The system of claim 11 , wherein the end effector includes indicia formed thereon.
14. The system of claim 11 , wherein the control system is configured to lower the power delivered to electromechanical tool when the measured force exceeds a predetermined force threshold.
15. The system of claim 11 , wherein the control system is configured to lower the treatment velocity of the end effector when the measured force exceeds a predetermined force threshold.
16. The system of claim 11 , wherein the control system is configured to stop movement of the end effector through tissue when the determined force exceeds a predetermined force threshold.
17. The system of claim 11 , wherein the control system is configured to selectively deliver power to the electromechanical tool at a first power setting and a second power setting that is greater than the first power setting, and wherein the control system is configured to move the end effector at a first treatment velocity at the first power setting and at a second treatment velocity at the second power setting.
18. The system of claim 17 , wherein the control system is configured to lower the first treatment velocity of the end effector when the control system is operated at the first power setting and the measured force exceeds a first predetermined force threshold.
19. The system of claim 17 , wherein the control system is configured to lower the second treatment velocity of the end effector when the control system is operated at the second power setting and the measured force exceeds a second predetermined force threshold.