Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
A powered surgical cutting and stapling instrument is disclosed. The instrument includes at least one sensor to measure at least one parameter associated with the instrument, at least one processor, and a memory operatively associated with the processor. The memory includes machine executable instructions that when executed by the processor cause the processor to monitor the at least one sensor over a predetermined time period and determine a rate of change of the measured parameter.
1. A powered surgical cutting and stapling instrument comprising:
a motor;
at least one sensor to measure at least one parameter associated with the instrument;
at least one processor; and
a memory operatively associated with the at least one processor, the memory including machine executable instructions that when executed by the at least one processor cause the at least one processor to:
monitor the at least one sensor over a predetermined time period;
determine a rate of change of the measured parameter;
operate the motor in a first operating mode when the measured parameter is below a predetermined threshold, wherein the at least one processor controls a drive current that is supplied to the motor in the first operating mode; and
operate the motor in a second operating mode when the measured parameter is above the predetermined threshold, wherein the at least one processor increases the drive current that is supplied to the motor in the second operating mode based on the rate of change of the measured parameter.
2. The powered surgical cutting and stapling instrument of claim 1 , further comprising an end effector comprising a first jaw member and a second jaw member, and wherein at least one of the first and second jaw members is movable relative to the other jaw member.
3. The powered surgical cutting and stapling instrument of claim 2 , further comprising:
a magnet positioned on the first jaw member; and
a magnetic field sensor, wherein the magnetic field sensor is coupled to the at least one processor and the at least one processor is configured to determine a gap distance between the first and second jaw members based on a signal received form the magnetic field sensor, wherein the signal from the magnetic field sensor is proportional to the gap distance between the magnet and the magnetic field sensor, wherein the at least one processor is configured to monitor the gap distance over the predetermined time period to determined the rate of change of the gap distance over the predetermined time period.
4. The powered surgical cutting and stapling instrument of claim 2 , further comprising:
a knife channel defined in at least one of the first or second jaw members; and
a knife configured to translate along the knife channel, wherein the motor is configured to drive the knife through a tissue cutting stroke, and wherein the at least one sensor comprises a current sensor configured to measure the current draw of the motor during the tissue cutting stroke;
wherein the at least one processor is configured to receive a signal from the current sensor over the predetermined time period, wherein the signal is representative of the current draw of the motor while the motor advances the knife through the tissue during the tissue cutting stroke; and
wherein the at least one processor is configured to determine a rate of change of the current draw of the motor while the motor advances the knife through the tissue over the predetermined time period.
5. The powered surgical cutting and stapling instrument of claim 2 , wherein the at least one sensor comprises a force sensor positioned in at least one of the first or second jaw members to measure compression of tissue grasped between the first and second jaw members, wherein the at least one processor is configured to receive a signal from the force sensor over the predetermined time period, wherein the signal is representative of the tissue compression, and wherein the at least one processor is configured to determine a rate of change of tissue compression over the predetermined time period.
6. The powered surgical cutting and stapling instrument of claim 2 , further comprising at least one electrode coupled to a sub-therapeutic radio frequency (RF) energy source configured to drive a low energy level RF signal through tissue grasped between the first and second jaw members to measure electrical impedance of the tissue, wherein the at least one processor is configured to receive a signal from the at least one electrode over the predetermined time period, wherein the signal is representative of the tissue impedance, and wherein the at least one processor is configured to determine a rate of change of the tissue impedance over the predetermined time period.
7. The powered surgical cutting and stapling instrument of claim 2 , further comprising a strain gauge positioned in a movable jaw member of the first or second jaw members to measure the strain in the movable jaw member when tissue is grasped between the first and second jaw members, wherein the at least one processor is configured to receive a signal from the strain gauge over the predetermined time period, wherein the signal is representative of the strain in the movable jaw member, and wherein the processor is configured to determine a rate of change of the strain over the predetermined time period.
8. The powered surgical cutting and stapling instrument of claim 1 , further comprising:
a handle;
a trigger movable relative to the handle; and
a strain gauge;
wherein the at least one processor is configured to receive a signal from the strain gauge over the predetermined time period, wherein the signal is representative of the force applied to the trigger, and wherein the at least one processor is configured to determine a rate of change of the force over the predetermined time period.
9. A powered surgical cutting and stapling instrument, comprising:
an end effector comprising a first jaw member and a second jaw member, wherein at least one of the first and second jaw members is movable relative to the other jaw member;
a force-related sensor positioned in at least one of the first or second jaw members;
a motor;
at least one processor;
a memory operatively associated with the at least one processor, the memory including machine executable instructions that when executed by the at least one processor cause the at least one processor to:
monitor the pressure applied to tissue grasped between the first and second jaw members using at least one force-related measurement from the force-related sensor; and
determine the characteristics of the tissue grasped between the first and second jaw members based on the at least one force-related measurement.
10. The powered surgical cutting and stapling instrument of claim 9 , wherein the at least one processor is configured to determine a displacement of the tissue by measuring tissue pressure along a first axis and along a second axis, and wherein the first and second axes are transverse relative to each other.
11. The powered surgical cutting and stapling instrument of claim 10 , wherein the memory further includes machine executable instructions that when executed by the at least one processor cause the at least one processor to adjust the operation of the motor based on the characteristics of the tissue grasped between the first and second jaw members.
12. The powered surgical cutting and stapling instrument of claim 9 , wherein the at least one processor is configured to determine a displacement of the tissue based on multiple thresholds or progressive thresholds to provide higher resolution of tissue types with similar viscoelastic properties.
13. A powered surgical cutting and stapling instrument comprising:
an end effector comprising a first jaw member and a second jaw member, wherein at least one of the first and second jaw members is movable relative to the other jaw member;
a force-responsive sensor positioned in at least one of the first or second jaw members;
a gap sensor to measure a gap distance between the first and second jaw members;
at least one processor;
a memory operatively associated with the at least one processor, the memory including machine executable instructions that when executed by the at least one processor cause the at least one processor to:
monitor the pressure applied to tissue grasped between the first and second jaw members;
monitor a gap distance between the first and second jaw members; and
determine the characteristics of the tissue grasped between the first and second jaw members based on the tissue pressure and the gap distance measurement.
14. The powered surgical cutting and stapling instrument of claim 13 , wherein the pressure and gap distance measurements are used by the at least one processor to determine an amount of tissue grasped between the first and second jaw members.
15. The powered surgical cutting and stapling instrument of claim 14 , wherein when only a small portion of the first and second jaw members are covered in tissue, the at least one processor is configured to compensate tissue compression measurements.
16. The powered surgical cutting and stapling instrument of claim 14 , wherein the at least one processor is configured to determine elapsed time in conjunction with the pressure and gap distance measurements to determine a derivative parameter.
17. The powered surgical cutting and stapling instrument of claim 16 , wherein the at least one processor is configured to determine that a measured parameter has reached an asymptotic value when a rate of change remains constant after a set period of time.
18. The powered surgical cutting and stapling instrument of claim 16 , wherein the at least one processor employs rate of change information to determine when a steady state has been achieved and thereby signaling a next step in a process.
19. The powered surgical cutting and stapling instrument of claim 18 , wherein the at least one processor is configured to send a signal to a display alerting a user of the instrument to start a next step in the process or the at least one processor is configured to automatically start the next step of the process once a steady state is reached.
20. The powered surgical cutting and stapling instrument of claim 16 , wherein the at least one processor is configured to combine impedance rate of change with strain in at least one of the first ands second jaw members to relate force and compression.