Surgical instrument with user adaptable techniques
A method for coagulating and dissecting tissue. The method includes measuring a tissue property and delivering multiple energy modalities to the tissue based on the tissue property. The energy modalities being delivered from a generator either alone or in combination.
1. A method comprising:
applying a force to tissue using an end effector of a surgical instrument;
measuring, by a processor, the force applied to the tissue;
comparing, by the processor, the measured force to a threshold minimum force value;
determining, by the processor, that the measured force satisfies the threshold minimum force value;
measuring, by the processor, a value of power by the end effector when the end effector applies the force to the tissue;
computing, by the processor, a coefficient of determination value using the value of power and the measured force;
determining, by the processor, a coefficient of friction of the tissue using the coefficient of determination value;
determining, by the processor, a type of tissue by comparing the determined coefficient of friction to a database relating stored coefficients of friction to predetermined types of tissue; and
selecting, by the processor, a power delivery profile for delivering energy from a generator to the end effector that is suitable for performing a surgical operation on the determined type of tissue; and
delivering the energy having the selected power delivery profile from the generator to perform the surgical operation on the determined type of tissue.
2. The method of claim 1 , wherein determining the coefficient of friction of the tissue comprises:
wherein applying a force to the tissue comprises applying and measuring a plurality of forces to the tissue, each at different values, using the end effector;
measuring, by the processor, for each of the plurality of forces, a respective value of power; and
computing, by the processor, for each pair of the plurality of forces and respective values of power, a slope value using said pair.
3. The method of claim 2 , wherein determining the coefficient of friction of the tissue further comprises:
determining, by the processor, a respective coefficient of determination for each of the slope values.
4. The method of claim 3 , wherein determining the coefficient of friction of the tissue further comprises:
determining, by the processor, a best fit slope value among each of the slope values that corresponds to the highest coefficient of determination among the respective coefficients of determination.
5. The method of claim 4 , wherein determining the coefficient of friction of the tissue further comprises:
determining that the highest coefficient of determination satisfies a predetermined threshold; and
based on the determination that the predetermined threshold is satisfied, computing the coefficient of friction using the best fit slope value.
6. The method of claim 1 , further comprising dynamically changing the power delivery profile based on determining a change in the tissue coefficient of friction of the tissue.
7. The method of claim 1 , further comprising entering a learning mode to improve accuracy of determining the coefficient of friction.
8. A method comprising:
applying a force to tissue using an end effector of a surgical instrument;
measuring, by a processor, the force applied to the tissue;
comparing, by the processor, the measured force to a threshold minimum force value;
determining, by the processor, that the measured force satisfies the threshold minimum force value;
measuring, by the processor, a value of power by the end effector when the end effector applies the force to the tissue;
computing, by the processor, a coefficient of determination value using the value of power and the measured force;
determining, by the processor, a coefficient of friction of the tissue using the coefficient of determination value;
determining, by the processor, a type of tissue by comparing the determined coefficient of friction to a database relating stored coefficients of friction to predetermined types of tissue, the predetermined types of tissue including porcine carotid with a coefficient of friction of 0.30, porcine carotid with a coefficient of friction of 0.35, porcine bowel with a coefficient of friction of 0.19, and dry chamois with a coefficient of friction of 0.75; and
selecting, by the processor, a power delivery profile for delivering energy from a generator to the end effector that is suitable for performing a surgical operation on the determined type of tissue; and
delivering the energy having the selected power delivery profile from the generator to perform the surgical operation on the determined type of tissue.
9. The method of claim 8 , wherein determining the coefficient of friction of the tissue comprises:
wherein applying a force to the tissues comprises applying and measuring a plurality of forces to the tissue, each at different values, using the end effector;
measuring, by the processor, for each of the plurality of forces, a respective value of power; and
computing, by the processor, for each pair of the plurality of forces and respective values of power, a slope value using said pair.
10. The method of claim 9 , wherein determining the coefficient of friction of the tissue further comprises:
determining, by the processor, a respective coefficient of determination for each of the slope values.
11. The method of claim 10 , wherein determining the coefficient of friction of the tissue further comprises:
determining, by the processor, a best fit slope value among each of the slope values that corresponds to a highest coefficient of determination among the respective coefficients of determination.
12. The method of claim 11 , wherein determining the coefficient of friction of the tissue further comprises:
determining that the highest coefficient of determination satisfies a predetermined threshold; and
based on the determination that the predetermined threshold is satisfied, computing the coefficient of friction using the best fit slope value.
13. The method of claim 8 , further comprising dynamically changing the power delivery profile based on determining a change in the coefficient of friction of the tissue.
14. The method of claim 8 , further comprising entering a learning mode to improve accuracy of determining the coefficient of friction.
15. A method comprising:
applying a force to tissue using an end effector of a surgical instrument;
measuring, by a processor, the force applied to the tissue;
comparing, by the processor, the measured force to a threshold minimum force value;
measuring, by the processor, a value of power by the end effector when the end effector applies the force to the tissue;
computing, by the processor, a coefficient of determination value using the value of power and the measured force;
determining, by the processor, a coefficient of friction of the tissue using the coefficient of determination value;
determining, by the processor, a type of tissue by comparing the determined coefficient of friction to a database relating stored coefficients of friction to predetermined types of tissue; and
selecting, by the processor, a power delivery profile for delivering energy from a generator to the end effector that is suitable for performing a surgical operation on the determined type of tissue; and
delivering the energy having the selected power delivery profile from the generator to perform the surgical operation on the determined type of tissue.
16. The method of claim 15 , wherein determining the coefficient of friction of the tissue comprises:
wherein applying a force to the tissue comprises applying and measuring a plurality of forces to the tissue, each at different values, using the end effector;
measuring, by the processor, for each of the plurality of forces, a respective value of power; and
computing, by the processor, for each pair of the plurality of forces and respective values of power, a slope value using said pair.
17. The method of claim 16 , wherein determining the coefficient of friction of the tissue further comprises:
determining, by the processor, a respective coefficient of determination for each of the slope values.
18. The method of claim 17 , wherein determining the coefficient of friction of the tissue further comprises:
determining, by the processor, a best fit slope value among each of the slope values that corresponds to the highest coefficient of determination among the respective coefficients of determination.
19. The method of claim 18 , wherein determining the coefficient of friction of the tissue further comprises:
determining that the highest coefficient of determination satisfies a predetermined threshold; and
based on the determination that the predetermined threshold is satisfied, computing the coefficient of friction using the best fit slope value.
20. The method of claim 15 , further comprising entering a learning mode to improve accuracy of determining the coefficient of friction.