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 a housing and an instrument shaft assembly extending therefrom, the shaft having at a distal end thereof an end effector including a pair of jaws and an actuator extending through the shaft assembly and operably coupled to the end effector, the actuator being configured to selectively move the jaws between an open configuration and a closed configuration;
a motor operably coupled to the actuator and configured to actuate the actuator to effect movement of the jaws between the open and closed configurations; and
a control system configured to determine a depth of insertion of the jaws into tissue and to determine a motor force during jaw opening, the control system having a predetermined threshold for the motor force corresponding to each of a plurality of insertion depths, the control system further configured to permit jaw opening at a predetermined velocity until the motor force exceeds the predetermined threshold corresponding to the determined depth of insertion and thereafter limit the motor force during jaw opening so that the motor force does not exceed the predetermined threshold for the determined insertion depth.
2. The system of claim 1 , wherein, when the motor force exceeds the predetermined threshold, the controller is configured to reduce velocity of the jaw opening.
3. The system of claim 1 , wherein the end effector includes at least one pair of sensors in communication with the control system, and the at least one pair of sensors being configured to provide the depth of insertion of the jaws into tissue to the control system.
4. The system of claim 3 , wherein the at least one pair of sensors includes a first pair of sensors having opposing first and second sensors, and wherein a first jaw of the pair of jaws includes the first sensor and a second jaw of the pair of jaws includes the second sensor.
5. The system of claim 1 , wherein the housing comprises a tool mounting portion configured to mount to a motor housing on a surgical robot.
6. The system of claim 1 , wherein the end effector is monopolar.
7. The system of claim 1 , wherein the control system is configured to determine the depth of insertion of the jaws with the jaws being in the closed configuration.
8. A surgical method, comprising:
inserting into tissue an end effector having opposed pivotable jaws that are configured to be moved between open and closed configurations;
determining through a control system a depth of insertion of the jaws; and
controlling opening of the jaws through the control system such that the jaws open at a predetermined velocity until a force on a motor driving jaw opening exceeds a predetermined threshold for the determined depth of insertion and thereafter limiting the motor force during jaw opening so that the motor force does not exceed the predetermined threshold for the determined insertion depth.
9. The method of claim 8 , wherein, when the motor force exceeds the predetermined threshold, further comprising reducing velocity during jaw opening.
10. The method of claim 8 , wherein the end effector includes at least one pair of sensors in communication with the control system, and wherein determining the depth of insertion comprises,
sensing the depth of insertion of the jaws using the at least one pair of sensors; and
providing the depth of insertion to the control system.
11. The method of claim 8 , further comprising, actuating a motor operably coupled to the end effector to move the jaws between the open and closed configurations.
12. The method of claim 8 , wherein, when the end effector is inserted into tissue, the jaws are in the closed configuration.