Electrically-powered surgical systems with articulation-compensated ultrasonic energy delivery
Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.
1. A surgical system, comprising:
an end effector having an ultrasonic blade and a clamping element, the ultrasonic blade configured to receive ultrasonic vibrations from an ultrasonic transducer and the clamping element configured to clamp and treat tissue disposed between the clamping element and the ultrasonic blade as ultrasonic vibrations are applied to the tissue from the ultrasonic blade;
a shaft assembly having a longitudinal axis and the end effector disposed at a distal end thereof, wherein the shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis at an articulation angle between a minimum articulation angle of about 0 degrees when the end effector is aligned with the longitudinal axis of the shaft assembly, to a maximum non-zero articulation angle when the end effector is not aligned with the longitudinal axis of the shaft assembly;
an interface assembly having one or more drive shafts coupled to the end effector and the shaft assembly configured to drive movement of the end effector and the shaft assembly; and
a control system including at least one processor configured to determine the articulation angle of the end effector and to control an amplitude of ultrasonic vibrations received by the ultrasonic blade such that the amplitude increases with an increase in the articulation angle of the end effector.
2. The system of claim 1 , wherein the control system is configured to measure rotation of a first drive shaft that is operable to adjust the articulation angle of the end effector.
3. The system of claim 2 , wherein the control system is configured to control the amplitude of the ultrasonic vibrations based upon the measured rotation of the first drive shaft.
4. The system of claim 3 , wherein the control system is configured to control the amplitude of the ultrasonic vibrations during articulation of the end effector.
5. The system of claim 1 , wherein the control system is configured to control a rate of change of the amplitude of the ultrasonic vibrations with respect to the articulation of the end effector between the minimum and maximum articulation angles.
6. The system of claim 5 , wherein the rate of change of the amplitude is approximately constant between the minimum and maximum articulation angles.
7. The system of claim 5 , wherein the rate of change of the amplitude varies between the minimum and maximum articulation angles.