Surgical instrument cartridge sensor assemblies
Various cartridge assemblies for surgical instruments are provided. Cartridge assemblies can include active sensors for applying stimuli to a tissue clamped by an end effector of the surgical instrument and a circuit configured to determine a tissue type of the tissue according to a change in the tissue parameter detected by the sensor resulting from a stimulus from the active element. Cartridge assemblies can also include physical features and/or stored data that identify the cartridge. Surgical instruments further can be configured to resolve conflicts when the physical features and/or stored data are not consistent with each other in their identification of the cartridge type.
1. A staple cartridge assembly for use with a surgical stapling tool of a robotic surgical system configured to grasp patient tissue, wherein the robotic surgical system comprises a communication hub, the staple cartridge assembly comprising:
an anvil;
a cartridge body, comprising:
a deck comprising a proximal end and a distal end;
a longitudinal slot extending from the proximal end toward the distal end; and
staple cavities defined in the deck;
staples removably stored in the staple cavities, wherein the staples are ejected from the staple cavities and deformed against the anvil during a staple firing stroke; and
a circuit, comprising:
an active element coupled to the deck of the cartridge body and configured to apply, when energized, a pressure to the patient tissue positioned between the deck and the anvil;
a sensor coupled to the deck and configured to take an impedance measurement of the patient tissue positioned between the deck and the anvil while the active element applies the pressure to the patient tissue, wherein the circuit is configured to communicate with the communication hub to transmit the impedance measurement to the communication hub, and wherein the communication hub is located remote from the staple cartridge assembly and the surgical stapling tool.
2. The staple cartridge assembly of claim 1 , wherein the robotic surgical system comprises a closure motor operable to move the anvil from an open position to clamped position, wherein the communication hub is in communication with a closure motor control circuit of the robotic surgical system, and wherein the communication hub is configured to control the closure motor through the closure motor control circuit.
3. The staple cartridge assembly of claim 1 , wherein the robotic surgical system comprises a firing motor operable to move a firing member through the staple firing stroke, wherein the communication hub is in communication with a firing motor control circuit of the robotic surgical system, and wherein the communication hub is configured to control the firing motor through the firing motor control circuit.
4. A staple cartridge assembly for use with a surgical stapling tool of a robotic surgical system configured to grasp patient tissue, wherein the robotic surgical system comprises a communication hub, wherein the robotic surgical system comprises a firing motor operable to move a firing member through the staple firing stroke, wherein the communication hub is in communication with a firing motor control circuit of the robotic surgical system, wherein the communication hub is configured to control the firing motor through the firing motor control circuit, the staple cartridge assembly comprising:
an anvil;
a cartridge body, comprising:
a deck comprising a proximal end and a distal end;
a longitudinal slot extending from the proximal end toward the distal end; and
staple cavities defined in the deck;
staples removably stored in the staple cavities, wherein the staples are ejected from said the cavities and deformed against the anvil during a staple firing stroke; and
a circuit comprising (i) an active element configured to apply, when energized, a pressure to the patient tissue positioned between the deck and the anvil and (ii) a sensor configured to take impedance measurements of the patient tissue positioned between the deck and the anvil, wherein the circuit is configured to communicate the impedance measurement to the communication hub, wherein the communication hub is external to the surgical stapling tool, and wherein the robotic surgical system uses the impedance measurement to control the firing motor control circuit.
5. A surgical stapling tool for use with a robotic surgical system, the surgical stapling tool comprising:
an end effector, comprising:
an anvil jaw; and
a channel;
a replaceable staple cartridge configured to be seated in the channel, wherein the replaceable staple cartridge comprises:
a deck;
staple cavities defined in the deck; and
staples removably stored in the staple cavities, wherein the staples are ejected from the staple cavities and deformed against the anvil during a staple firing stroke;
an active element configured to deform in shape when energized to apply a pressure to the patient tissue positioned between the deck and the anvil;
a sensor configured to detect an impedance of patient tissue positioned between the anvil and the deck of the replaceable staple cartridge over a period of time while the active element applies the pressure to the patient tissue, wherein the sensor is configured to communicate with a remote communication hub positioned remote to the surgical stapling tool to provide data indicative of the detected impedance to the remote communication hub.
6. The surgical staling tool of claim 5 , wherein the remote communication hub is configured to control an operating parameter of the surgical stapling tool using the detected impedance.
7. The surgical stapling tool of claim 5 , wherein the robotic surgical system comprises a closure motor operable to move the end effector from an open position to a clamped position, wherein the remote communication hub is in communication with a closure motor control circuit of the robotic surgical system, and wherein the remote communication hub is configured to control the closure motor through the closure motor control circuit.
8. The surgical stapling tool of claim 5 , wherein the robotic surgical system comprises a closure motor operable to move the end effector from an open position to a clamped position during a closure stroke, wherein the remote communication hub is configured to control the closure motor using the impedance measurements received from the sensor.
9. The surgical stapling tool of claim 5 , wherein the robotic surgical system comprises a firing motor operable to move a firing member through the staple firing stroke, wherein the remote communication hub is in communication with a firing motor control circuit of the robotic surgical system, and wherein the remote communication hub is configured to control the firing motor through the firing motor control circuit.
10. The surgical stapling tool of claim 5 , wherein the robotic surgical system comprises a firing motor operable to move a firing member through the staple firing stroke, wherein the remote communication hub is configured to control the firing motor using the impedance measurements received from the sensor.