SURGICAL INSTRUMENT WITH SENSOR AND POWERED CONTROL
A surgical instrument includes a temperature sensor and a control unit that is operable to deactivate an end effector of the surgical instrument. In some versions the temperature sensor detects the temperature of a transducer, while in others the temperature sensor detects the temperature of the end effector. The surgical instrument may also include a trigger and a trigger position sensor. A force sensor or a position sensor may be included to determine the force and/or position of the transmission assembly. The end effector may also include a force sensor or a micro coil. A surgical instrument having a sensor may be included in a surgical system that includes a control unit and a remote controller. In some instances the remote controller may have one or more force-feedback components. In addition, a device interface and a surgeon interface may be included to remotely adjust the settings of the control unit.
1 - 20 . (canceled)
21 . A surgical instrument, comprising:
an end effector, comprising:
a first jaw;
a second jaw movable relative to the first jaw; and
a sensor configured to measure a parameter associated with tissue grasped between the first jaw and the second jaw;
an elongate member movable between a first position and a second position to actuate the end effector;
a motor configured to drive the elongate member between the first position and the second position;
a processor; and
a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the motor to drive the elongate member at a speed based on a measurement of the parameter.
22 . The surgical instrument of claim 21 , wherein the sensor comprises a first sensor, and wherein the surgical instrument further comprises a second sensor configured to sense the speed of the elongate member.
23 . The surgical instrument of claim 22 , further comprising a visual feedback device in communication with the processor, wherein the visual feedback device is configured to display the speed of the elongate member sensed by the second sensor.
24 . The surgical instrument of claim 21 , wherein the parameter comprises a thickness of the tissue.
25 . The surgical instrument of claim 21 , wherein the memory further stores instructions that, when executed by the processor, cause the motor to:
drive the elongate member during a first time period;
pause the elongate member after the first time period; and
drive the elongate member during a second time period.
26 . The surgical instrument of claim 21 , wherein the memory further stores instructions that, when executed by the processor, cause the motor to change a direction in which the elongate member is driven based on the measurement of the parameter.
27 . A surgical system, comprising:
an end effector, comprising:
a first jaw;
a second jaw rotatable relative to the first jaw; and
a sensor configured to measure a parameter associated with tissue grasped between the first jaw and the second jaw;
an elongate member movable between a first position and a second position to rotate the second jaw relative to the first jaw;
a motor configured to drive the elongate member between the first position and the second position at a motor speed; and
a control module configured to adjust the motor speed based on a measurement of the parameter.
28 . The surgical system of claim 27 , wherein the sensor comprises a first sensor, and wherein the surgical system further comprises a second sensor configured to sense a speed of the elongate member.
29 . The surgical system of claim 28 , further comprising a visual feedback device in communication with the control module, wherein the visual feedback device is configured to display the speed of the elongate member sensed by the second sensor.
30 . The surgical system of claim 27 , wherein the parameter comprises a thickness of the tissue.
31 . The surgical system of claim 27 , wherein the control module is further configured to:
cause the motor to drive the elongate member during a first time period;
pause the elongate member after the first time period; and
drive the elongate member during a second time period.
32 . The surgical system of claim 27 , wherein the control module is further configured to cause the motor to change a direction in which the elongate member is driven based on the measurement of the parameter.
33 . A surgical instrument, comprising:
an end effector, comprising:
a first jaw;
a second jaw pivotable relative to the first jaw to transition the end effector from an open configuration to a closed configuration; and
a sensor configured to measure a parameter associated with tissue grasped between the first jaw and the second jaw;
an elongate member movable between a first position and a second position to actuate the end effector;
a motor configured to drive the elongate member between the first position and the second position; and
a control system, configured to:
cause the motor to drive the elongate member at a speed during a time period during which the end effector is transitioned to the closed configuration;
receive a measurement of the parameter measured by the sensor during the time period;
adjust the speed according to the measurement of the parameter; and
cause the motor to drive the elongate member at the adjusted speed.
34 . The surgical instrument of claim 33 , wherein the sensor comprises a first sensor, and wherein the surgical instrument further comprises a second sensor configured to sense the speed of the elongate member.
35 . The surgical instrument of claim 34 , further comprising a visual feedback device in communication with the control system, wherein the visual feedback device is configured to display the speed of the elongate member sensed by the second sensor.
36 . The surgical instrument of claim 33 , wherein the parameter comprises a thickness of the tissue.
37 . The surgical instrument of claim 33 , wherein the control system is further configured to cause the motor to pause the elongate member after the time period.
38 . The surgical instrument of claim 33 , wherein the control system is further configured to cause the motor to change a direction in which the elongate member is driven based on the measurement of the parameter.