Surgical instrument with detection sensors
Aspects of the present disclosure are presented for a surgical instrument having one or more sensors at or a near an end effector and configured to aide in the detection of tissues and other materials and structures at a surgical site. The detections may then be used to aide in the placement of the end effector and to confirm which objects to operate on, or alternatively, to avoid. Examples of sensors include laser sensors used to employ Doppler shift principles to detect movement of objects at the surgical site, such as blood cells; resistance sensors to detect the presence of metal; monochromatic light sources that allow for different levels of absorption from different types of substances present at the surgical site, and near infrared spectrometers with small form factors.
1. A surgical instrument, comprising:
an end effector, comprising:
a first jaw;
a second jaw, wherein the first jaw is movable relative to the second jaw between an open position and a closed position to clamp tissue therebetween;
a firing member movable through the end effector between a proximal position and a distal position; and
a sensor arrangement, configured to:
sense a position of the tissue clamped between the first jaw and the second jaw;
sense a position of the firing member; and
sense a parameter of the tissue; and
a control circuit operably coupled to the sensor arrangement, wherein the control circuit is configured to adjust an operation of the surgical instrument based on the position of the tissue, a value of the parameter, and the position of the firing member.
2. The surgical instrument of claim 1 , wherein the sensor arrangement comprises a plurality of LEDs configured to sense the position of the tissue between the first jaw and the second jaw.
3. The surgical instrument of claim 1 , wherein the sensor arrangement comprises a plurality of electrodes configured to sense the position of the tissue between the first jaw and the second jaw.
4. The surgical instrument of claim 1 , wherein the sensor arrangement comprises a position sensor configured to sense the position of the firing member.
5. The surgical instrument of claim 1 , wherein the parameter of the tissue is a function of tissue compression of the tissue clamped between the first jaw and the second jaw.
6. The surgical instrument of claim 1 , wherein:
the sensor arrangement comprises:
an electrode positioned on the first jaw; and
a contact positioned on the second jaw; and
the parameter comprises an impedance of the tissue.
7. The surgical instrument of claim 1 , wherein the sensor arrangement comprises a capacitive sensor, and wherein the parameter comprises a capacitance of the tissue.
8. The surgical instrument of claim 1 , wherein the sensor arrangement comprises a resistive sensor, and wherein the parameter comprises a resistance of the tissue.
9. The surgical instrument of claim 1 , wherein the operation comprises a speed at which the first jaw is moved relative to the second jaw toward the closed position.
10. The surgical instrument of claim 1 , wherein the operation comprises a speed at which the firing member moves toward the distal position.
11. An end effector for use with a control circuit, the end effector comprising:
a first jaw;
a second jaw, wherein the first jaw is movable relative to the second jaw between an open position and a closed position to clamp tissue therebetween;
a firing member movable through the end effector between a proximal position and a distal position; and
a sensor arrangement operably coupled to the control circuit, wherein the sensor arrangement is configured to:
sense a position of the tissue clamped between the first jaw and the second jaw;
sense a position of the firing member; and
sense a characteristic of the tissue;
wherein the control circuit is configured to adjust an operation of the end effector based on the position of the tissue, a value of the characteristic, and the position of the firing member.
12. The end effector of claim 11 , wherein the sensor arrangement comprises a plurality of LEDs configured to sense the position of the tissue between the first jaw and the second jaw.
13. The end effector of claim 11 , wherein the sensor arrangement comprises a plurality of electrodes configured to sense the position of the tissue between the first jaw and the second jaw.
14. The end effector of claim 11 , wherein the sensor arrangement comprises a position sensor configured to sense the position of the firing member.
15. The end effector of claim 11 , wherein the characteristic of the tissue is a function of tissue compression of the tissue clamped between the first jaw and the second jaw.
16. The end effector of claim 11 , wherein:
the sensor arrangement comprises:
an electrode positioned on the first jaw; and
a contact positioned on the second jaw; and
the characteristic comprises an impedance of the tissue.
17. The end effector of claim 11 , wherein the sensor arrangement comprises a capacitive sensor, and wherein the characteristic comprises a capacitance of the tissue.
18. The end effector of claim 11 , wherein the sensor arrangement comprises a resistive sensor, and wherein the characteristic comprises a resistance of the tissue.
19. The end effector of claim 11 , wherein the operation comprises a speed at which the first jaw is moved relative to the second jaw toward the closed position.
20. A surgical system, comprising:
an end effector, comprising:
an anvil;
a staple cartridge comprising a plurality of staples removably positioned therein, wherein the anvil and the staple cartridge are configurable between an open configuration and a clamped configuration;
a firing member movable through the end effector between a proximal position and a distal position; and
a sensor system, configured to:
detect a position of tissue clamped between the anvil and the staple cartridge;
detect a position of the firing member; and
detect a parameter of the tissue; and
a control system operably coupled to the sensor system, wherein the control system is configured to adjust an operation of the surgical system based on the position of the tissue, a value of the parameter, and the position of the firing member.
21. A surgical system, comprising:
an end effector, comprising:
a first jaw;
a second jaw, wherein the first jaw is movable relative to the second jaw from an open position toward a closed position to grasp tissue between the first jaw and the second jaw;
a firing member movable between a proximal position at a proximal portion of the end effector and a distal position at a distal portion of the end effector; and
sensors;
a control circuit operably coupled to the sensors, wherein the control circuit is configured to:
receive a first input indicative of a position of the tissue between the first jaw and the second jaw;
receive a second input indicative of a position of the firing member;
receive a third input indicative of a characteristic of the tissue; and
adjust an operation of the surgical system based on the position of the tissue, a value of the characteristic of the tissue, and the position of the firing member.
22. The surgical system of claim 21 , wherein the sensors comprise a capacitive sensor, and wherein the characteristic comprises a capacitance of the tissue.
23. The surgical system of claim 21 , wherein the sensors comprise a resistive sensor, and wherein the characteristic comprises a resistance of the tissue.
24. The surgical system of claim 21 , wherein the operation comprises a speed at which the first jaw is moved relative to the second jaw toward the closed position.