Reactive algorithm for surgical system
A modular surgical instrument is disclosed. The modular surgical instrument comprises a control interface, a shaft extending from the control interface, an end effector extending from said shaft, and a control circuit. The control circuit is configured to sense the electrical potential applied to the modular surgical instrument, determine if the sensed electrical potential is above a predetermined threshold, and adjust the operation of the modular surgical instrument when the sensed electrical potential exceeds the predetermined threshold.
1. A surgical suturing system, comprising:
an actuation interface, comprising:
a motor;
an attachment interface; and
an output drive configured to be driven by said motor;
a modular attachment configured to be attached to and detached from said actuation interface, wherein said modular attachment comprises:
a shaft;
an input drive configured to be coupled with said output drive upon the attachment of said modular attachment and said actuation interface; and
an end effector extending distally from said shaft, wherein said end effector comprises:
a needle configured to be driven through a firing stroke by said input drive; and
suturing material attached to said needle; and
a load sensor configured to detect the load applied to said input drive and said output drive when said input drive and said output drive are actuated by said motor to advance said needle through said firing stroke, wherein said surgical suturing system further comprises a control circuit configured to:
monitor said detected load from said load sensor, wherein said detected load corresponds to a force experienced by said needle as said needle is advanced through said firing stroke;
limit current flow through said motor when said detected load reaches a first threshold; and
stop power to said motor when said detected load reaches a second threshold.
2. The surgical suturing system of claim 1 , wherein said second threshold is less than said first threshold.
3. The surgical suturing system of claim 1 , wherein said second threshold is greater than said first threshold.
4. The surgical suturing system of claim 1 , further comprising a replaceable suturing cartridge, wherein said needle and said suturing material are part of said replaceable suturing cartridge.
5. A surgical suturing system, comprising:
a first motor;
a second motor;
a shaft;
an end effector attached to said shaft, wherein said end effector comprises:
a longitudinal axis, wherein said second motor is configured to rotate said end effector about said longitudinal axis;
a needle configured to be driven through a firing stroke by said first motor; and
suturing material attached to said needle;
a first sensor configured to sense force experienced by said needle as said needle is advanced through said firing stroke;
a second sensor configured to sense load torque experienced by said end effector as said end effector is rotated about said longitudinal axis;
a third sensor configured to sense bending load experienced by said shaft; and
a control program configured to:
monitor said force experienced by said needle such that, if said force experienced by said needle exceeds a first predetermined threshold, said control program limits current flow through said first motor;
monitor said load torque experienced by said end effector such that, if said load torque experienced by said end effector exceeds a second predetermined threshold, said control program limits the current flow through said second motor; and
monitor said bending load experienced by said shaft such that, if said bending load experienced by said shaft exceeds a third predetermined threshold, said control program reduces the current flow through said second motor.
6. The surgical suturing system of claim 5 , wherein said first sensor comprises a strain gauge.
7. The surgical suturing system of claim 5 , wherein said second sensor comprises a strain gauge.
8. The surgical suturing system of claim 5 , wherein said third sensor comprises a strain gauge.
9. The surgical suturing system of claim 5 , wherein data measured by said first sensor, said second sensor, and said third sensor are indicated to a user of said surgical suturing system.
10. The surgical suturing system of claim 5 , further comprising a surgical suturing cartridge.
11. The surgical suturing system of claim 5 , further comprising a replaceable suturing cartridge, wherein said needle and said suturing material are part of said replaceable suturing cartridge.
12. A surgical suturing system, comprising:
an actuation interface, comprising:
a motor;
an attachment interface; and
an output drive configured to be driven by said motor;
a surgical instrument attachment configured to be attached to and detached from said actuation interface, wherein said surgical instrument attachment comprises:
a shaft;
an input drive configured to be coupled with said output drive upon the attachment of said surgical instrument attachment and said actuation interface; and
an end effector, comprising:
a replaceable suturing cartridge, comprising:
a needle configured to be driven through a firing stroke by said input drive; and
suturing material attached to said needle; and
a load sensor configured to sense load applied to said input drive and said output drive when said input drive and said output drive are actuated by said motor to advance said needle through said firing stroke, wherein said surgical suturing system further comprises a control circuit configured to:
monitor said sensed load from said load sensor, wherein said sensed load corresponds to a force experienced by said needle as said needle is advanced through said firing stroke;
limit current flow through said motor when said sensed load reaches a first threshold; and
stop power to said motor when said sensed load reaches a second threshold.